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Commit 353c7efd 由 张东亮
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1 个父辈 a569a195
内嵌 并排
正在显示 11 个修改的文件 包含 114 行增加 和 196 行删除
AGVControl-ProductionLine/BLL/Common.cs
......@@ -201,9 +201,15 @@ namespace AGVControl
}
else
{
nodeName = SettingString.A5;
Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A5));
return true;
tarIdx = Common.agvInfo.FindIndex(s=> !s.IP.Equals(agv.IP) && s.CurJob !=null && s.CurJob is EmptyShelfBackJob
&& ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace)!=null ) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A5));
if(tarIdx==-1)
{
nodeName = SettingString.A5;
Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A5));
return true;
}
}
tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A6 &&
......@@ -223,9 +229,15 @@ namespace AGVControl
}
else
{
nodeName = SettingString.A6;
Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A6));
return true;
tarIdx = Common.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
&& ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A6));
if(tarIdx==-1)
{
nodeName = SettingString.A6;
Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A6));
return true;
}
//rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A6]);
//if (rtn)
//{
......@@ -250,9 +262,15 @@ namespace AGVControl
}
else
{
nodeName = SettingString.A5;
Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A5));
return true;
tarIdx = Common.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
&& ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A5));
if(tarIdx==-1)
{
nodeName = SettingString.A5;
Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A5));
return true;
}
}
tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A6 &&
......@@ -272,9 +290,15 @@ namespace AGVControl
}
else
{
nodeName = SettingString.A6;
Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A6));
return true;
tarIdx = Common.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
&& ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A6));
if(tarIdx==-1)
{
nodeName = SettingString.A6;
Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A6));
return true;
}
//rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A6]);
//if (rtn)
//{
......@@ -868,101 +892,6 @@ namespace AGVControl
string log;
agv.Place = "";
#region 随机充电位置
//if (Common.chargeStatus.charge3 == "")
//{
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge3"]);
// if (rtn)
// {
// agv.TaskSend = "AutoCharge3";
// Common.chargeStatus.charge3 = agv.Name;
// Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
// log = string.Format("{0} AutoCharge3", agv.Name);
// Common.LogInfo(log);
// Common.mir.State_Ready(agv);
// }
// else
// {
// agv.TaskSend = "";
// log = string.Format("{0} AutoCharge3 失败", agv.Name);
// //防止上一个任务已执行但返回失败时，删除任务
// //Common.mir.Del_Mission(agv);
// Common.LogInfo(log);
// }
// return rtn;
//}
//else if (Common.chargeStatus.charge4 == "")
//{
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge4"]);
// if (rtn)
// {
// agv.TaskSend = "AutoCharge4";
// Common.chargeStatus.charge4 = agv.Name;
// Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
// log = string.Format("{0} AutoCharge4", agv.Name);
// Common.LogInfo(log);
// Common.mir.State_Ready(agv);
// }
// else
// {
// agv.TaskSend = "";
// log = string.Format("{0} AutoCharge4 失败", agv.Name);
// //防止上一个任务已执行但返回失败时，删除任务
// //Common.mir.Del_Mission(agv);
// Common.LogInfo(log);
// }
// return rtn;
//}
//else if (Common.chargeStatus.charge5 == "")
//{
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge5"]);
// if (rtn)
// {
// agv.TaskSend = "AutoCharge5";
// Common.chargeStatus.charge5 = agv.Name;
// Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
// log = string.Format("{0} AutoCharge5", agv.Name);
// Common.LogInfo(log);
// Common.mir.State_Ready(agv);
// }
// else
// {
// agv.TaskSend = "";
// log = string.Format("{0} AutoCharge5 失败", agv.Name);
// //防止上一个任务已执行但返回失败时，删除任务
// //Common.mir.Del_Mission(agv);
// Common.LogInfo(log);
// }
// return rtn;
//}
//else if (Common.chargeStatus.charge6 == "")
//{
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge6"]);
// if (rtn)
// {
// agv.TaskSend = "AutoCharge6";
// Common.chargeStatus.charge4 = agv.Name;
// Common.chargeStatus.chargeInterval = DateTime.Now.Ticks;
// log = string.Format("{0} AutoCharge6", agv.Name);
// Common.LogInfo(log);
// Common.mir.State_Ready(agv);
// }
// else
// {
// agv.TaskSend = "";
// log = string.Format("{0} AutoCharge6 失败", agv.Name);
// //防止上一个任务已执行但返回失败时，删除任务
// //Common.mir.Del_Mission(agv);
// Common.LogInfo(log);
// }
// return rtn;
//}
//else
//{
// return false;
//}
#endregion
#region 指定充电位置
if (agv.IP == "10.85.199.72")//1764
{
......@@ -1010,6 +939,7 @@ namespace AGVControl
}
return rtn;
}
//随机充电
if (Common.chargeStatus.charge3 == "")//1763 agv.IP == "10.85.199.71"
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge3"], isRemovePreMission);
......@@ -1501,7 +1431,17 @@ namespace AGVControl
chargeInterval = 0;
}
public void ClearRandomChargeInfo(Agv_Info agv)
{
if (Common.chargeStatus.charge3.Equals(agv.Name))
{
Common.chargeStatus.charge3 = "";
}
if (Common.chargeStatus.charge6.Equals(agv.Name))
{
Common.chargeStatus.charge6 = "";
}
}
}
/// <summary>
......
AGVControl-ProductionLine/FrmMain.cs
......@@ -210,16 +210,9 @@ namespace AGVControl
{
if (Common.agvInfo[e.RowIndex].IsUse.Equals(true))
{
if (Common.chargeStatus.charge3.Equals(Common.agvInfo[e.RowIndex].Name))
{
Common.chargeStatus.charge3 = "";
}
if (Common.chargeStatus.charge6.Equals(Common.agvInfo[e.RowIndex].Name))
{
Common.chargeStatus.charge6 = "";
}
Common.chargeStatus.ClearRandomChargeInfo(Common.agvInfo[e.RowIndex]);
Common.agvInfo[e.RowIndex].IsUse = false;
//Common.agvInfo[e.RowIndex].CurJob = null;
Common.agvInfo[e.RowIndex].CurJob = null;
//Common.agvInfo[e.RowIndex].RFID = "";
// }
}
......@@ -236,7 +229,7 @@ namespace AGVControl
Common.StandbyStation.C4_Station2 = "";
}
Common.LogInfo(string.Format("手动开启小车自动模式，并清除上一次的自动模式的运行信息{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo()));
Common.agvInfo[e.RowIndex].CurJob = null;
//Common.agvInfo[e.RowIndex].CurJob = null;
Common.agvInfo[e.RowIndex].RFID = "";
// Common.agvInfo[e.RowIndex].Place = "";
Common.agvInfo[e.RowIndex].IsUse = true;
......
AGVControl-ProductionLine/bean/job/ChargeJob.cs
......@@ -82,7 +82,7 @@ namespace AGVControl
msg += runInfo;
ChargeStep.Msg = msg;
//Common.StatusCharge(agv);
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
......@@ -95,7 +95,7 @@ namespace AGVControl
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],从当前位置" + agvPlace + "回到充电位，先到4D门";
msg += runInfo;
ChargeStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
......@@ -126,7 +126,7 @@ namespace AGVControl
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR))
{
if (Common.CheckTaskFinished(agv,SettingString.DoorCToD,CurTaskState))
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
if (agv.Battery > Common.chargeStatus.chargeMax)
{
......@@ -145,7 +145,7 @@ namespace AGVControl
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],充电桩有小车，从当前位置" + agvPlace + "回到待机位";
msg += runInfo;
ChargeStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
......@@ -163,7 +163,7 @@ namespace AGVControl
}
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION))
{
if (Common.CheckTaskFinished(agv,CurTaskName))
if (Common.CheckTaskFinished(agv, CurTaskName))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
runInfo = "充电任务分配完成，去充电且等待任务";
......@@ -181,14 +181,7 @@ namespace AGVControl
runInfo = "电量充足，回待机位";
msg += runInfo;
ChargeStep.Msg = msg;
if (Common.chargeStatus.charge3.Equals(agv.Name))
{
Common.chargeStatus.charge3 = "";
}
if (Common.chargeStatus.charge6.Equals(agv.Name))
{
Common.chargeStatus.charge6 = "";
}
Common.chargeStatus.ClearRandomChargeInfo(agv);
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
......@@ -197,14 +190,7 @@ namespace AGVControl
Job job = Common.control.GetJob(agv);
if (job != null && !(job is ChargeJob))
{
if (Common.chargeStatus.charge3.Equals(agv.Name))
{
Common.chargeStatus.charge3 = "";
}
if (Common.chargeStatus.charge6.Equals(agv.Name))
{
Common.chargeStatus.charge6 = "";
}
Common.chargeStatus.ClearRandomChargeInfo(agv);
runInfo = "充电过程检测到任务，电量[" + agv.Battery + "%]大于最小电量[" + Common.chargeStatus.chargeMin + "%],中断充电执行任务";
msg += runInfo;
ChargeStep.Msg = msg;
......@@ -230,14 +216,7 @@ namespace AGVControl
runInfo = "充电过程检测到任务，电量[" + agv.Battery + "%]大于最小电量[" + Common.chargeStatus.chargeMin + "%],中断充电执行任务";
msg += runInfo;
ChargeStep.Msg = msg;
if (Common.chargeStatus.charge3.Equals(agv.Name))
{
Common.chargeStatus.charge3 = "";
}
if (Common.chargeStatus.charge6.Equals(agv.Name))
{
Common.chargeStatus.charge6 = "";
}
Common.chargeStatus.ClearRandomChargeInfo(agv);
return job;
}
else if (job == null && agv.Battery < Common.chargeStatus.chargeMax / 2)
......@@ -246,14 +225,7 @@ namespace AGVControl
runInfo = "在待机位暂无任务，且当前电量小于" + Common.chargeStatus.chargeMax / 2 + "%,去充电位";
msg += runInfo;
ChargeStep.Msg = msg;
if (Common.chargeStatus.charge3.Equals(agv.Name))
{
Common.chargeStatus.charge3 = "";
}
if (Common.chargeStatus.charge6.Equals(agv.Name))
{
Common.chargeStatus.charge6 = "";
}
Common.chargeStatus.ClearRandomChargeInfo(agv);
}
}
}
......@@ -265,7 +237,7 @@ namespace AGVControl
if (Common.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{
ChargeStep.ToNextStep(CHARGE_STEP.END);
runInfo= "充电完成，到达待机位";
runInfo = "充电完成，到达待机位";
msg += runInfo;
ChargeStep.Msg = msg;
}
......@@ -276,33 +248,19 @@ namespace AGVControl
Job job = Common.control.GetJob(agv);
if (job != null && !(job is ChargeJob))
{
runInfo= "在待机位检测到任务，执行任务";
runInfo = "在待机位检测到任务，执行任务";
msg += runInfo;
ChargeStep.Msg = msg;
if (Common.chargeStatus.charge3.Equals(agv.Name))
{
Common.chargeStatus.charge3 = "";
}
if (Common.chargeStatus.charge6.Equals(agv.Name))
{
Common.chargeStatus.charge6 = "";
}
Common.chargeStatus.ClearRandomChargeInfo(agv);
return job;
}
else if (job == null && agv.Battery < Common.chargeStatus.chargeMax / 2)
{
ChargeStep.ToNextStep(CHARGE_STEP.NONE);
runInfo= "在待机位暂无任务，且当前电量小于" + Common.chargeStatus.chargeMax / 2 + "%,去充电位";
runInfo = "在待机位暂无任务，且当前电量小于" + Common.chargeStatus.chargeMax / 2 + "%,去充电位";
msg += runInfo;
ChargeStep.Msg = msg;
if (Common.chargeStatus.charge3.Equals(agv.Name))
{
Common.chargeStatus.charge3 = "";
}
if (Common.chargeStatus.charge6.Equals(agv.Name))
{
Common.chargeStatus.charge6 = "";
}
Common.chargeStatus.ClearRandomChargeInfo(agv);
}
}
return this;
......
AGVControl-ProductionLine/bean/job/EmptyAGVBackJob.cs
......@@ -155,6 +155,17 @@ namespace AGVControl
}
}
//else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR))
//{
// CurTaskState = Common.GetTakJobState(CurTaskID);
// if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
// {
// EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
// runInfo = "从产线" + agvPlace + "回待机位";
// msg += runInfo;
// EmptyAGVBackStep.Msg = msg;
// }
//}
else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
......@@ -162,14 +173,14 @@ namespace AGVControl
{
if (Common.FindFullShelfTask(agv))
{
runInfo= "从产线" + agvPlace + "到达4D门，检测到A6出满料，去A6";
runInfo = "从产线" + agvPlace + "到达4D门，检测到A6出满料，去A6";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
return new GoFullShelfStationJob(SettingString.DoorCToD);
}
else
{
runInfo= "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
runInfo = "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
return new ChargeJob(SettingString.DoorCToD);
......@@ -195,6 +206,10 @@ namespace AGVControl
/// </summary>
WAIT_AGV_REACH_4D_DOOR,
/// <summary>
/// 等待恒邑反馈
/// </summary>
WAIT_HY_RESPONSE,
/// <summary>
/// 等待AGV到达待机位
/// </summary>
WAIT_REACH_STANDBY,
......
AGVControl-ProductionLine/bean/job/EmptyShelfBackJob.cs
......@@ -38,7 +38,7 @@ namespace AGVControl
/// <summary>
/// 空料架目的地
/// </summary>
private string EmptyShelfTargetPlace { get; set; }
public string EmptyShelfTargetPlace { get; set; } = "";
private int tryTimes = 0;
private eShelfType shelfType;
......
AGVControl-ProductionLine/bean/job/SendFullShelfToLineJob.cs
......@@ -21,12 +21,12 @@ namespace AGVControl
/// <param name="palce">产线名</param>
/// <param name="rfid">料架RFID</param>
/// <param name="isIgNoreBigShelf">是否忽略大料架</param>
public SendFullShelfToLineJob(AGVManager.BoxDestInfo boxDestInfo,bool isIgNoreBigShelf=false)
public SendFullShelfToLineJob(AGVManager.BoxDestInfo boxDestInfo, bool isIgNoreBigShelf = false)
{
FullShelfPlace = boxDestInfo.location;
RFID = boxDestInfo.id;
BoxDestInfo = boxDestInfo;
IsIgnoreBigShelf = isIgNoreBigShelf;
IsIgnoreBigShelf = isIgNoreBigShelf;
}
/// <summary>
......@@ -57,7 +57,7 @@ namespace AGVControl
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name+" ";
string msg = agv.Name + " ";
bool rtn = false;
agv.RFID = RFID;
agv.Msg = runInfo;
......@@ -66,7 +66,7 @@ namespace AGVControl
if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.NONE))
{
if(FullShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
if (FullShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR);
runInfo = "满料架前往4C门，从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
......@@ -78,7 +78,7 @@ namespace AGVControl
else
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo= "满料架从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
runInfo = "满料架从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.MoveToNode(agv, FullShelfPlace);
......@@ -90,7 +90,7 @@ namespace AGVControl
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv,SettingString.DoorDToC,CurTaskState))
if (Common.CheckTaskFinished(agv, SettingString.DoorDToC, CurTaskState))
{
if (Common.Check4CTarget(agv, FullShelfPlace))//被占用
{
......@@ -133,11 +133,11 @@ namespace AGVControl
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv,FullShelfPlace, CurTaskState))
if (Common.CheckTaskFinished(agv, FullShelfPlace, CurTaskState))
{
if(FullShelfPlace.Equals(SettingString.C4FeederIn))
if (FullShelfPlace.Equals(SettingString.C4FeederIn))
{
runInfo= "AGV到达 " + FullShelfPlace + "完成";
runInfo = "AGV到达 " + FullShelfPlace + "完成";
msg += runInfo;
SendFullShelfStep.Msg = msg;
return new EnterLeaveShelfJob(FullShelfPlace, eEnterLeaveType.Leave);
......@@ -155,14 +155,14 @@ namespace AGVControl
if (RFID.StartsWith("C") && !agv.Place.Equals(SettingString.D4FeederIn))
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK);
runInfo= "AGV到达 " + FullShelfPlace + "，并等待大料架[" + RFID + "]解绑";
runInfo = "AGV到达 " + FullShelfPlace + "，并等待大料架[" + RFID + "]解绑";
msg += runInfo;
SendFullShelfStep.Msg = msg;
}
else
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE);
runInfo= "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]";
runInfo = "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.server.ReadyEnter(FullShelfPlace);
......@@ -175,25 +175,27 @@ namespace AGVControl
{
Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
System.Threading.Thread.Sleep(50);
if (AGVManager.GetRackBy(RFID, out string lineName) || (input!=null && input[0]))
if (AGVManager.GetRackBy(RFID, out string lineName) || (input != null && input[0]))
{
runInfo= "大料架在" + FullShelfPlace + "解绑完成 [" + RFID + "] [" + agv.BoxDestInfo + "]";
runInfo = "大料架在" + FullShelfPlace + "解绑完成 [" + RFID + "] [" + agv.BoxDestInfo + "]";
agv.BoxDestInfo = "";
msg += runInfo;
SendFullShelfStep.Msg = msg;
return new EmptyShelfBackJob(FullShelfPlace,eShelfType.BigShelf);
return new EmptyShelfBackJob(FullShelfPlace, eShelfType.BigShelf);
}
}
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE))
{
int id = Common.FindNode(FullShelfPlace);
ClientNode node = Common.nodeInfo[id];
Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
System.Threading.Thread.Sleep(50);
if (node.StateEquals(eNodeStatus.MayEnter))
{
if(!agv.CurTaskName.Equals("Leave"))
if (!agv.CurTaskName.Equals("Leave"))
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE);
runInfo= "收到产线入料架请求[ReadyEnter]的响应 " + FullShelfPlace + "入料架，小车链条运行";
runInfo = "收到产线入料架请求[ReadyEnter]的响应 " + FullShelfPlace + "入料架，小车链条运行";
msg += runInfo;
SendFullShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
......@@ -201,10 +203,20 @@ namespace AGVControl
}
}
else if (input != null && !input[3] && input[0])
{
runInfo = "手动操作:满料架进入" + FullShelfPlace + "完成 [RFID=" + RFID + "] [" + agv.BoxDestInfo + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
agv.RFID = "";
agv.BoxDestInfo = "";
AGVManager.UpdateStatus(RFID, FullShelfPlace);
return new EmptyAGVBackJob(FullShelfPlace);
}
else if (SendFullShelfStep.IsTimeOut(15000, out double timeOutValue))
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo= "AGV到达 " + FullShelfPlace + "，15秒后重新向产线发送入料架请求[ReadyEnter]";
runInfo = "AGV到达 " + FullShelfPlace + "，15秒后重新向产线发送入料架请求[ReadyEnter]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
}
......@@ -214,7 +226,7 @@ namespace AGVControl
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
{
runInfo= "满料架进入" + FullShelfPlace + "完成 [RFID=" + RFID + "] ["+agv.BoxDestInfo+"]";
runInfo = "满料架进入" + FullShelfPlace + "完成 [RFID=" + RFID + "] [" + agv.BoxDestInfo + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
agv.RFID = "";
......@@ -225,7 +237,7 @@ namespace AGVControl
else if (SendFullShelfStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo= "满料架在[" + FullShelfPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
runInfo = "满料架在[" + FullShelfPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
//msg += runInfo;
//SendFullShelfStep.Msg = msg;
}
......
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