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Commit 3bb51791 由 张东亮
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1 个父辈 75c17094
内嵌 并排
正在显示 21 个修改的文件 包含 723 行增加 和 1419 行删除
AGVControl-ProductionLine/BLL/AgvServer.cs
...@@ -236,10 +236,6 @@ namespace BLL ...@@ -236,10 +236,6 @@ namespace BLL
} }
else else
{ {
//if (clientNode.Action == ClientAction.ReadyEnter || clientNode.Action == ClientAction.ReadyLeave)
//{
// continue;
//}
if (clientNode.StateEquals(eNodeStatus.None)) if (clientNode.StateEquals(eNodeStatus.None))
{ {
byte[] buff = new byte[] { 0X00, 0X00 }; byte[] buff = new byte[] { 0X00, 0X00 };
......
AGVControl-ProductionLine/BLL/Common.cs
...@@ -49,6 +49,8 @@ namespace AGVControl ...@@ -49,6 +49,8 @@ namespace AGVControl
/// </summary> /// </summary>
public const string C4_AGV_IPs = "10.85.199.71,10.85.199.72,10.85.199.73"; public const string C4_AGV_IPs = "10.85.199.71,10.85.199.72,10.85.199.73";
public const string C4_STANDBY1 = "C4_STANDBY1";
public const string C4_STANDBY2 = "C4_STANDBY2";
/// <summary> /// <summary>
/// 上料区 /// 上料区
/// </summary> /// </summary>
...@@ -212,6 +214,7 @@ namespace AGVControl ...@@ -212,6 +214,7 @@ namespace AGVControl
//public static Dictionary<string, string> agvProductionLine; //public static Dictionary<string, string> agvProductionLine;
public static System.Configuration.Configuration appConfig; public static System.Configuration.Configuration appConfig;
public static MissionManager missionManager; public static MissionManager missionManager;
public static StandbyStation StandbyStation = new StandbyStation() { C4_Station1 = "", C4_Station2 = "" };
private static List<string> msg = new List<string>(); private static List<string> msg = new List<string>();
private static string preLog = ""; private static string preLog = "";
...@@ -730,10 +733,10 @@ namespace AGVControl ...@@ -730,10 +733,10 @@ namespace AGVControl
} }
else else
{ {
if (FullShelfDestInfo !=null) if (FullShelfDestInfo != null)
{ {
Common.LogInfo("A6的出料信息不正确，请检查：" + FullShelfDestInfo.ShowInfo("ERROR")); Common.LogInfo("A6的出料信息不正确，请检查：" + FullShelfDestInfo.ShowInfo("ERROR"));
return false; //return false;
} }
} }
} }
...@@ -744,7 +747,7 @@ namespace AGVControl ...@@ -744,7 +747,7 @@ namespace AGVControl
if (Common.GetNodeNameByLineName(woData.line, out string loc)) if (Common.GetNodeNameByLineName(woData.line, out string loc))
{ {
nodeName = loc; nodeName = loc;
doubleLine_WO = "工单料信息：" + woData.ToTxt(loc); doubleLine_WO = woData.ToTxt(loc);
Common.log.Debug(doubleLine_WO); Common.log.Debug(doubleLine_WO);
idx = nodeInfo.FindIndex(s => s.Name.Equals(loc) && s.EmptyShelfCnt > 0); idx = nodeInfo.FindIndex(s => s.Name.Equals(loc) && s.EmptyShelfCnt > 0);
...@@ -807,64 +810,62 @@ namespace AGVControl ...@@ -807,64 +810,62 @@ namespace AGVControl
} }
else//主动拉料架 else//主动拉料架
{ {
//双层线是否需要小料架
if (CheckA6State(agv, eShelfType.SmallShelf, out string lineNodeName1)) if (CheckA5State(agv, eShelfType.SmallShelf, out string lineNodeName2))
{ {
//if (curPlace.Equals(""))//待机位
// {
//4C车间寻找 //4C车间寻找
if (SettingString.C4_AGV_IPs.Contains(agv.IP)) if (SettingString.C4_AGV_IPs.Contains(agv.IP))
{ {
idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals("G22") && s.IsUse); string nearNodeName = CalculateNearNode(agv, "G");
if (idx == -1) if (!nearNodeName.Equals(""))
{ {
return false; nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4C-" + nearNodeName);
return true;
} }
nodeName = nodeInfo[idx].Name;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4C-" + nodeName);
return true;
} }
//4D车间寻找 //4D车间寻找
if (!SettingString.C4_AGV_IPs.Contains(agv.IP)) if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
{ {
idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals("E22") && s.IsUse); string nearNodeName = CalculateNearNode(agv, "E");
if (idx == -1) if (!nearNodeName.Equals(""))
{ {
return false; nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4D-" + nearNodeName);
return true;
} }
nodeName = nodeInfo[idx].Name;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4D-" + nodeName);
return true;
} }
} }
//双层线是否需要小料架 else if (CheckA6State(agv, eShelfType.SmallShelf, out string lineNodeName1))
else if (CheckA5State(agv, eShelfType.SmallShelf, out string lineNodeName2))
{ {
//if (curPlace.Equals(""))//待机位
// {
//4C车间寻找 //4C车间寻找
if (SettingString.C4_AGV_IPs.Contains(agv.IP)) if (SettingString.C4_AGV_IPs.Contains(agv.IP))
{ {
string nearNodeName = CalculateNearNode(agv, "G"); idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals("G22") && s.IsUse);
if (nearNodeName.Equals("")) if (idx > -1)
{ {
return false; nodeName = nodeInfo[idx].Name;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4C-" + nodeName);
return true;
} }
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4C-" + nearNodeName);
return true;
} }
//4D车间寻找 //4D车间寻找
if (!SettingString.C4_AGV_IPs.Contains(agv.IP)) if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
{ {
string nearNodeName = CalculateNearNode(agv, "E"); idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals("E22") && s.IsUse);
if (nearNodeName.Equals("")) if (idx > -1)
{ {
return false; nodeName = nodeInfo[idx].Name;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4D-" + nodeName);
return true;
} }
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4D-" + nearNodeName);
return true;
} }
} }
} }
...@@ -1367,32 +1368,32 @@ namespace AGVControl ...@@ -1367,32 +1368,32 @@ namespace AGVControl
} }
public static void CheckAGVMissionState() //public static void CheckAGVMissionState()
{ //{
foreach (Agv_Info agv in agvInfo) // foreach (Agv_Info agv in agvInfo)
{ // {
Thread.Sleep(50); // Thread.Sleep(50);
bool rtn = Common.mir.Get_Register(agv, 20, out int regValue); // bool rtn = Common.mir.Get_Register(agv, 20, out int regValue);
if (rtn) // if (rtn)
{ // {
agv.GetPlace(regValue); // agv.GetPlace(regValue);
Common.log.Debug(string.Format("软件开启：{0} Get_Register PLC{1}={2} Place={3} PlaceState={4}", agv.Name, 20, regValue, agv.Place, agv.PlaceState)); // Common.log.Debug(string.Format("软件开启：{0} Get_Register PLC{1}={2} Place={3} PlaceState={4}", agv.Name, 20, regValue, agv.Place, agv.PlaceState));
if (!agv.Place.Equals("")) // if (!agv.Place.Equals(""))
{ // {
int idx = nodeInfo.FindIndex(s => s.Name == agv.Place); // int idx = nodeInfo.FindIndex(s => s.Name == agv.Place);
if (idx > -1) // if (idx > -1)
{ // {
nodeInfo[idx].AgvName = agv.Name; // nodeInfo[idx].AgvName = agv.Name;
} // }
agv.TaskSend = "Move" + agv.Place; // agv.TaskSend = "Move" + agv.Place;
} // }
} // }
else // else
{ // {
Common.log.Debug("CheckAGVMissionState 获取PLC20失败"); // Common.log.Debug("CheckAGVMissionState 获取PLC20失败");
} // }
} // }
} //}
public static void GetNodesPosition() public static void GetNodesPosition()
{ {
Agv_Info agv = agvInfo[0]; Agv_Info agv = agvInfo[0];
...@@ -1412,6 +1413,78 @@ namespace AGVControl ...@@ -1412,6 +1413,78 @@ namespace AGVControl
} }
} }
} }
/// <summary>
/// 检查该目的地是否有车占用
/// </summary>
/// <param name="nodeName"></param>
/// <returns>false:未被占用</returns>
public static bool Check4CTarget(Agv_Info agv, string nodeName)
{
List<Agv_Info> agvs = agvInfo.FindAll(s => !s.IP.Equals(agv.IP) && (s.CurJob is GoEmptyShelfLineJob || s.CurJob is SendFullShelfToLineJob)
); //&& !s.Name.Equals(StandbyStation.C4_Station1) && !s.Name.Equals(StandbyStation.C4_Station2)
if (agvs.Count.Equals(0))
return false;
else if (agvs.Count > 0)
{
foreach (Agv_Info item in agvs)
{
if (item.CurJob is GoEmptyShelfLineJob)
{
if (((GoEmptyShelfLineJob)item.CurJob).EmptyShelfPlace.Equals(nodeName) && item.CurTaskName.Equals(SettingString.Move + nodeName))
{
log.Debug(item.Name + " 在目的地：" + ((GoEmptyShelfLineJob)item.CurJob).EmptyShelfPlace + " " + agv.Name + "暂不去" + nodeName);
return true;
}
}
else if (item.CurJob is SendFullShelfToLineJob)
{
if (((SendFullShelfToLineJob)item.CurJob).FullShelfPlace.Equals(nodeName) && item.CurTaskName.Equals(SettingString.Move + nodeName))
{
log.Debug(item.Name + " 在目的地：" + ((SendFullShelfToLineJob)item.CurJob).FullShelfPlace + " " + agv.Name + "暂不去" + nodeName);
return true;
}
}
}
}
return false;
}
/// <summary>
/// 移动到4C待机位
/// </summary>
/// <param name="agv"></param>
public static void MoveTo4CStandy(Agv_Info agv)
{
if (StandbyStation.C4_Station1.Equals(""))
{
StandbyStation.C4_Station1 = agv.Name;
Common.MoveToNode(agv, SettingString.C4_STANDBY1);
}
else if (StandbyStation.C4_Station2.Equals(""))
{
StandbyStation.C4_Station2 = agv.Name;
Common.MoveToNode(agv, SettingString.C4_STANDBY2);
}
}
/// <summary>
/// 清除该小车在待机位的信息
/// </summary>
public static void DeleteStandyInfo(Agv_Info agv)
{
if (StandbyStation.C4_Station1.Equals(agv.Name))
{
StandbyStation.C4_Station1 = "";
}
else if (StandbyStation.C4_Station2.Equals(agv.Name))
{
StandbyStation.C4_Station2 = "";
}
}
} }
public static class API public static class API
...@@ -1574,6 +1647,14 @@ namespace AGVControl ...@@ -1574,6 +1647,14 @@ namespace AGVControl
} }
/// <summary> /// <summary>
/// 4C待机位
/// </summary>
public struct StandbyStation
{
public string C4_Station1;
public string C4_Station2;
}
/// <summary>
/// 任务信息结构 /// 任务信息结构
/// </summary> /// </summary>
public struct MissionStru public struct MissionStru
......
AGVControl-ProductionLine/BLL/Control.cs
...@@ -77,7 +77,7 @@ namespace BLL ...@@ -77,7 +77,7 @@ namespace BLL
if (!Common.nodeInfo[j].Online) if (!Common.nodeInfo[j].Online)
{ {
isAlarm = true; isAlarm = true;
msglist.Add(new AlarmMsg(Common.nodeInfo[j].AliceName, "lineAgv." + Common.nodeInfo[j].Name + ".OffLine", "接驳台状态：离线")); msglist.Add(new AlarmMsg(Common.nodeInfo[j].AliceName, "lineAgv." + Common.nodeInfo[j].Name + ".OffLine", "离线"));
} }
} }
...@@ -285,1241 +285,5 @@ namespace BLL ...@@ -285,1241 +285,5 @@ namespace BLL
return rtn; return rtn;
} }
#region 老程序
/// <summary>
/// agv空闲
/// </summary>
/// <param name="idx"></param>
//private void StateNone(int idx)
//{
// Agv_Info agv = Common.agvInfo[idx];
// Common.log.Info(agv.Name + " TaskSend=" + agv.TaskSend);
// if (!agv.TaskSend.Equals("")) return;
// agv.PlaceAliceName = "";
// agv.Msg = "";
// //空闲状态下,清空空架任务agv名字
// Common.missionManager.AGV_Name_EmptyTask = "";
// //空闲状态下清除节点上的agv名称
// for (int i = 0; i < Common.nodeInfo.Count; i++)
// {
// if (Common.nodeInfo[i].AgvName.Equals(agv.Name))
// Common.nodeInfo[i].AgvName = "";
// }
// if (agv.IsExistShelf)//满载则先将架子清空
// {
// Common.log.Debug(agv.Name + " IsExistShelf=" + agv.IsExistShelf);
// if (agv.RFID.StartsWith("C"))
// {
// CheckA5A6State_BigShelf(agv);
// }
// else
// {
// CheckA5A6State_SmallShelf(agv);
// }
// return;
// }
// //检查是否需要充电
// if (CheckIsNeedCharge(agv))
// return;
// if (CheckA6State(agv))
// return;
// CheckEmptyShelf(agv, agv.Place, true);//先出空料架
// AgvChanged?.Invoke(idx);
// #region 出空料架，带节点状态-不用
// //ClientLevel clientLevel = Common.linePlace.Values.Max<ClientLevel>();
// ////出空料架
// //foreach (var item in Common.linePlace)
// //{
// // if (!clientLevel.Equals(item.Value))
// // continue;
// // string name = item.Key;
// // index = Common.nodeInfo.FindIndex(s => s.Name.Equals(name) && s.Action == ClientAction.NeedLeave && s.IsUse);
// // if (index > -1)
// // {
// // rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + name]);
// // if (rtn)
// // {
// // Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
// // Common.linePlace.Remove(name);
// // }
// // agv.TaskSend = rtn ? "Move" + name : "";
// // }
// // Common.LogInfo(string.Format("[{0}-{1}] 出空料架.", name, item.Value));
// // if (Common.linePlace.Count.Equals(0).Equals(false))
// // Common.LogInfo("剩余需要出空料架的节点：" + string.Join(",", Common.linePlace.Keys.ToArray())
// // + "；对应紧急程度：" + string.Join(",", Common.linePlace.Values.ToArray()));
// // if (rtn) break;
// //}
// //for (int i = 0; i < Common.linePlace.Count; i++)
// //{
// // string name = Common.linePlace[i];
// // index = Common.nodeInfo.FindIndex(s => s.Name.Equals(name) && s.IsUse);
// // if (index > -1)
// // {
// // rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + name]);
// // if (rtn)
// // {
// // Common.nodeInfo[index].AgvName = Common.agvInfo[idx].Name;
// // Common.LogInfo(string.Format("[{0}] 出空料架.", name));
// // Common.linePlace.RemoveAt(i);
// // System.IO.File.WriteAllLines(Common.CONFIG_PATH + "LinePlace.txt", Common.linePlace);
// // }
// // agv.TaskSend = rtn ? "Move" + name : "";
// // }
// // if (Common.linePlace.Count.Equals(0).Equals(false))
// // Common.LogInfo("剩余需要出空料架的节点：" + string.Join(",", Common.linePlace.ToArray()));
// // if (rtn) break;
// //}
// #endregion
//}
/// <summary>
/// 判断是否需要充电
/// </summary>
/// <param name="agv"></param>
/// <returns></returns>
//private bool CheckIsNeedCharge(Agv_Info agv)
//{
// if (Common.chargeStatus.AutoCharge)
// {
// if (agv.Battery <= Common.chargeStatus.chargeMin)
// {
// Common.LogInfo(agv.Name + " 电量小于20%", false);
// if (StatusCharge(agv))
// return true;
// }
// else if (agv.Battery <= Common.chargeStatus.chargeMax && agv.WaitTime >= Common.chargeStatus.chargeWait * 60000)
// {
// Common.LogInfo(agv.Name + " 闲置时间超过" + Common.chargeStatus.chargeWait + "分钟", false);
// if (StatusCharge(agv))
// return true;
// }
// return false;
// }
// return false;
//}
/// <summary>
///A6是否有满料架要出
/// </summary>
/// <param name="agv"></param>
//private bool CheckA6State(Agv_Info agv)
//{
// bool rtn;
// int index;
// string RFID = "";
// Thread.Sleep(3000);
// if (!agv.TaskSend.Equals(""))
// return false;
// //判断小车负载与实际是否匹配
// Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
// if (input != null && input.Length == 4)
// {
// if (!agv.IsExistShelf.Equals(input[3]))
// {
// agv.IsUse = false;
// agv.Msg = "IO信号与负载不匹配，不分配任务并关闭调用";
// int i = Common.agvInfo.FindIndex(s => s.Name.Equals(agv.Name));
// AgvChanged?.Invoke(i);
// return false;
// }
// }
// //A6出满料
// rtn = FindA6Leave(out string nextNode);
// if (rtn && !agv.IsExistShelf)
// {
// int ii = Common.missionManager.missionList.FindIndex(s => s.NodeName.Equals(nextNode));
// if (ii > -1)//出满料节点有空架子任务
// {
// return false;
// }
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["CheckShelf"]);
// if (!rtn)
// return false;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
// if (rtn)
// {
// agv.NextPlace = nextNode;
// index = FindNode("A6");
// Common.nodeInfo[index].AgvName = agv.Name;
// RFID = Common.nodeInfo[index].RFID;
// agv.RFID = RFID;
// index = FindNode(nextNode);
// Common.nodeInfo[index].AgvName = agv.Name;
// }
// agv.Msg = string.Format("{0} A6有满料架[{1}]要出,目的地为{2}", agv.Name, RFID, nextNode);
// Common.LogInfo(string.Format("{0} A6有满料架[{1}]要出,目的地为{2}[{3}]", agv.Name, RFID, nextNode, agv.PlaceState));
// agv.TaskSend = rtn ? "MoveA6" : "";
// return true;
// }
// return false;
//}
int EmptyTaskCnt = 0;
/// <summary>
/// 查看是否有空料架出。分配顺序：双层线需要-》小车所在当前车间，-》距离分配任务;分产线接任务与待机位接任务
/// </summary>
/// <param name="agv"></param>
/// <param name="isAgvAtStandy">待机位接任务;默认false，即从产线接任务</param>
/// <returns>有空料架要出</returns>
//private bool CheckEmptyShelf(Agv_Info agv, string agvPlace, bool isAgvAtStandy = false)
//{
// if (!agv.TaskSend.Equals(""))
// return false;
// //判断小车负载与实际是否匹配
// Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
// if (input != null && input.Length == 4)
// {
// if (!agv.IsExistShelf.Equals(input[3]))
// {
// agv.IsUse = false;
// agv.Msg = "IO信号与负载不匹配，不分配任务并关闭调用";
// int i = Common.agvInfo.FindIndex(s => s.Name.Equals(agv.Name));
// AgvChanged?.Invoke(i);
// return false;
// }
// }
// //有空架任务
// //限制待机位车辆只有一台执行空架任务
// if (isAgvAtStandy)
// {
// if (Common.missionManager.AGV_Name_EmptyTask.Equals("").Equals(false))//已有一辆车执行空料架任务
// {
// Common.LogInfo(Common.missionManager.AGV_Name_EmptyTask + " 正在执行空料架任务，不允许分配该小车 " + agv.Name, false);
// return false;
// }
// }
// bool rtn = false;
// MissionStru missionNode = CalculateNearNode(agv);
// if (missionNode.NodeName.Equals(""))
// {
// return false;
// }
// int index = -1;
// index = Common.nodeInfo.FindIndex(s => s.Name.Equals(missionNode.NodeName) && s.AgvName == "" && s.IsUse);
// if (index == -1)
// return false;
// if (missionNode.NodeName.StartsWith("G"))
// {
// if (!missionNode.NodeName.Equals("G14") && !missionNode.NodeName.Equals("G15"))//4C产线
// {
// if (agvPlace.StartsWith("E") || isAgvAtStandy)//4D->4C产线
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorDToC"]);
// if (!rtn)
// return false;
// }
// else if (agvPlace.Equals("G14") || agvPlace.Equals("G15"))//air->4c
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorAirOut"]);
// if (!rtn)
// return false;
// }
// }
// else//Air
// {
// if (agvPlace.StartsWith("E"))//4D->4C产线->air
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorDToC"]);
// if (!rtn)
// return false;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorAirIn"], false);
// if (!rtn)
// return false;
// }
// else if (agvPlace.Equals("G14") || agvPlace.Equals("G15"))//air->air
// {
// }
// }
// }
// else//目标地点4D
// {
// if (agvPlace.Equals("G14") || agvPlace.Equals("G15"))//AIR->4C->4D
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorAirOut"]);
// if (!rtn)
// return false;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"], false);
// if (!rtn)
// return false;
// }
// else if (agvPlace.StartsWith("G"))//4C->D
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"]);
// if (!rtn)
// return false;
// }
// }
// if (index > -1)
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + missionNode.NodeName], false);
// if (rtn)
// {
// agv.TaskSend = "Move" + missionNode.NodeName;
// Common.nodeInfo[index].AgvName = agv.Name;
// agv.Msg = string.Format("{0} [{1}] 出空料架.", agv.Name, missionNode.NodeName);
// Common.LogInfo(string.Format("{0} [{1}] 出空料架.[{2}]", agv.Name, missionNode.NodeName, agv.PlaceState));
// AgvMissionChanged?.Invoke();
// Common.missionManager.missionList.Remove(missionNode);
// if (isAgvAtStandy)
// Common.missionManager.AGV_Name_EmptyTask = agv.Name;
// using (System.IO.StreamWriter file = new System.IO.StreamWriter(Common.CONFIG_PATH + "LinePlace.txt"))
// {
// foreach (var item in Common.missionManager.missionList)
// {
// file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName));
// }
// }
// }
// agv.TaskSend = rtn ? "Move" + missionNode.NodeName : "";
// }
// if (Common.missionManager.missionList.Count.Equals(0).Equals(false))
// {
// if (EmptyTaskCnt != Common.missionManager.missionList.Count)
// {
// EmptyTaskCnt = Common.missionManager.missionList.Count;
// AgvMissionChanged?.Invoke();
// Common.LogInfo("剩余需要出空料架的节点：", false);
// Common.missionManager.missionList.ForEach(s => Common.LogInfo(string.Format("创建时间:{0}，任务节点{1}", s.CreateTime, s.NodeName), false));
// }
// }
// if (rtn) return true;
// return false;
//}
/// <summary>
/// agv运动
/// </summary>
/// <param name="idx"></param>
private void StateMove(int idx)
{
}
/// <summary>
/// agv运动完成
/// </summary>
/// <param name="idx"></param>
//private void StateMoveFinish(int idx)
//{
// bool rtn;
// Agv_Info agv = Common.agvInfo[idx];
// if (!agv.TaskSend.Equals(""))
// return;
// int index = FindNode(agv.Place);
// if (agv.Place.StartsWith("F"))
// {
// ProcessDoor(agv);
// return;
// }
// if (agv.Place.StartsWith("J"))
// {
// ProcessStandyTemp(agv);
// return;
// }
// if (index == -1) return;
// ClientNode node = Common.nodeInfo[index];
// switch (agv.Place)
// {
// case "A5":
// if (node.StateEquals(eNodeStatus.MayEnter))
// {
// if (agv.TaskSend == "Leave") return;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
// agv.TaskSend = rtn ? "Leave" : "";
// if (rtn)
// Common.LogInfo(string.Format("{0}到达{1},{1}可以进入料架", agv.Name, agv.Place));
// }
// else
// {
// rtn = Common.server.ReadyEnter(agv.Place);
// if (!rtn) return;
// Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place), false);
// }
// break;
// case "A6":
// if (node.StateEquals(eNodeStatus.MayEnter))
// {
// if (agv.TaskSend == "Leave") return;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
// agv.TaskSend = rtn ? "Leave" : "";
// if (rtn)
// Common.LogInfo(string.Format("{0}到达{1},{1}可以进入料架", agv.Name, agv.Place));
// }
// else if (node.StateEquals(eNodeStatus.MayLeave))
// {
// if (agv.TaskSend == "Enter") return;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
// agv.TaskSend = rtn ? "Enter" : "";
// if (rtn)
// Common.LogInfo(string.Format("{0}到达{1},{1}可以出去料架", agv.Name, agv.Place));
// }
// else if (node.StateEquals(eNodeStatus.NeedEnter))
// {
// if (agv.IsExistShelf)//车上有料架
// {
// rtn = Common.server.ReadyEnter(agv.Place);
// if (!rtn) return;
// Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place), false);
// }
// }
// else if (node.StateEquals(eNodeStatus.NeedLeave))
// {
// if (agv.IsExistShelf)//车上有料架,回待机位。避免在待机位时，空架信号误感应
// {
// StatusCharge(agv, true);
// return;
// }
// rtn = Common.server.ReadyLeave(agv.Place);
// if (!rtn) return;
// Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyLeave信号", agv.Name, agv.Place), false);
// }
// else if (node.StateEquals(eNodeStatus.NeedEnterLeave))
// {
// if (agv.IsExistShelf)//车上有料架
// {
// rtn = Common.server.ReadyEnter(agv.Place);
// if (!rtn) return;
// Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place), false);
// }
// else
// {
// rtn = Common.server.ReadyLeave(agv.Place);
// if (!rtn) return;
// Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyLeave信号", agv.Name, agv.Place), false);
// }
// }
// break;
// case "E1":
// case "E2":
// case "E3":
// case "E4":
// case "E5":
// case "E6":
// case "E7":
// case "E8":
// case "E9":
// case "E10":
// case "E11":
// case "E12":
// case "E14":
// case "E15":
// case "E16":
// if (node.StateEquals(eNodeStatus.MayEnter))
// {
// if (agv.TaskSend == "Leave") return;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
// agv.TaskSend = rtn ? "Leave" : "";
// if (rtn)
// Common.LogInfo(string.Format("{0}到达{1},{1}可以进入料架", agv.Name, agv.Place));
// }
// else if (node.StateEquals(eNodeStatus.MayLeave))
// {
// if (agv.TaskSend == "Enter") return;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
// agv.TaskSend = rtn ? "Enter" : "";
// if (rtn)
// Common.LogInfo(string.Format("{0}到达{1},{1}可以出去料架", agv.Name, agv.Place));
// }
// //C是大料架，D是小料架
// //大料架
// else if (agv.RFID.StartsWith("C"))
// {
// //获取大料架解绑状态
// bool state = GetRackBy(agv.RFID, out string linename);
// if (state)//解绑了
// {
// if (AGVControl.Common.agvProductionLine.TryGetValue(linename, out string nodeName))
// {
// int nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5" && (s.StateEquals(eNodeStatus.NeedC) || s.StateEquals(eNodeStatus.NeedEnter)) && s.AgvName == "" && s.IsUse);
// if (nodeIdx > -1)
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + Common.nodeInfo[nodeIdx].Name]);
// if (rtn)
// {
// agv.TaskSend = rtn ? "Move" + Common.nodeInfo[nodeIdx].Name : "";
// Common.nodeInfo[nodeIdx].AgvName = agv.Name;
// agv.Msg = string.Format("{0} 大料架[RFID={1}]解绑 运往[{2}],", agv.Name, agv.RFID, Common.nodeInfo[nodeIdx].Name);
// Common.LogInfo(string.Format("{0} 大料架[RFID={1}]解绑 运往[{2}],", agv.Name, agv.RFID, Common.nodeInfo[nodeIdx].Name));
// return;
// }
// }
// nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" && (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.AgvName == "" && s.IsUse);
// if (nodeIdx > -1)
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + Common.nodeInfo[nodeIdx].Name]);
// if (rtn)
// {
// agv.TaskSend = rtn ? "Move" + Common.nodeInfo[nodeIdx].Name : "";
// Common.nodeInfo[nodeIdx].AgvName = agv.Name;
// agv.Msg = string.Format("{0} 大料架[RFID={1}]解绑 运往[{2}],", agv.Name, agv.RFID, Common.nodeInfo[nodeIdx].Name);
// Common.LogInfo(string.Format("{0} 大料架[RFID={1}]解绑 运往[{2}],", agv.Name, agv.RFID, Common.nodeInfo[nodeIdx].Name));
// return;
// }
// }
// //StatusCharge(agv, true);
// //agv.Msg = string.Format("{0} 大料架[RFID={1}]解绑,A5、A6暂无空位,运往[{2}]", agv.Name, agv.RFID, "待机位");
// //Common.LogInfo(string.Format("{0} 大料架[RFID={1}]解绑,A5、A6暂无空位,运往[{2}]", agv.Name, agv.RFID, "待机位"));
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]);
// if (rtn)
// {
// agv.NextPlace = "";
// node.AgvName = "";
// agv.TaskSend = rtn ? "MoveStandbyTemp" : "";
// agv.Msg = string.Format("{0} 大料架[RFID={1}]解绑,A5、A6暂无空位,运往[{2}]", agv.Name, agv.RFID, "待机位");
// Common.LogInfo(string.Format("{0} 大料架[RFID={1}]解绑,A5、A6暂无空位,运往[{2}]", agv.Name, agv.RFID, "待机位"));
// }
// }
// }
// else
// {
// agv.Msg = string.Format("{0}载大料架到达{1}[RFID={2}],等待料架解绑...", agv.Name, agv.Place, agv.RFID);
// Common.LogInfo(string.Format("{0}载大料架到达{1}[RFID={2}],等待料架解绑...", agv.Name, agv.Place, agv.RFID), false);
// return;
// }
// }
// else if (agv.RFID.StartsWith("D"))//小料架
// {
// rtn = Common.server.ReadyEnter(agv.Place);
// if (!rtn) return;
// Common.LogInfo(string.Format("{0}载小料架到达{1}[RFID={2}],服务器发送ReadyEnter信号", agv.Name, agv.Place, agv.RFID), false);
// }
// else if (agv.IsExistShelf)//有负载，可能软件重启导致RFID丢失
// {
// //rtn = Common.server.ReadyEnter(agv.Place);
// //if (!rtn) return;
// //Common.LogInfo(string.Format("{0}载小料架到达{1}[RFID={2}],服务器发送ReadyEnter信号", agv.Name, agv.Place, agv.RFID));
// }
// else//其他地方到E区域，则是空车
// {
// rtn = Common.server.ReadyLeave(agv.Place);
// if (!rtn) return;
// Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyLeave信号", agv.Name, agv.Place), false);
// }
// break;
// case "G1":
// case "G2":
// case "G3":
// case "G4":
// case "G5":
// case "G6":
// case "G7":
// case "G8":
// case "G9":
// case "G10":
// case "G11":
// case "G12":
// case "G13":
// case "G14":
// case "G15":
// case "G16":
// case "E21":
// case "E22":
// if (node.StateEquals(eNodeStatus.MayEnter))
// {
// if (agv.TaskSend == "Leave") return;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
// agv.TaskSend = rtn ? "Leave" : "";
// if (rtn)
// Common.LogInfo(string.Format("{0}到达{1},{1}可以进入料架", agv.Name, agv.Place));
// }
// else if (node.StateEquals(eNodeStatus.MayLeave))
// {
// if (agv.TaskSend == "Enter") return;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
// agv.TaskSend = rtn ? "Enter" : "";
// if (rtn)
// Common.LogInfo(string.Format("{0}到达{1},{1}可以出去料架", agv.Name, agv.Place));
// }
// else if (agv.RFID.StartsWith("D") || agv.RFID.StartsWith("C"))//不分大小料架
// {
// rtn = Common.server.ReadyEnter(agv.Place);
// if (!rtn) return;
// Common.LogInfo(string.Format("{0}载小料架到达{1}[RFID={2}],服务器发送ReadyEnter信号", agv.Name, agv.Place, agv.RFID), false);
// }
// else//其他地方到E区域，则是空车
// {
// rtn = Common.server.ReadyLeave(agv.Place);
// if (!rtn) return;
// Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyLeave信号", agv.Name, agv.Place), false);
// }
// break;
// case "G21":
// //Feeder区，入料
// //if (!Common.IsAllowLeaveOrEnter)
// // return;
// if (agv.TaskSend == "Leave") return;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
// agv.TaskSend = rtn ? "Leave" : "";
// if (rtn)
// {
// Common.IsAllowLeaveOrEnter = false;
// Common.LogInfo(string.Format("{0}到达{1},{1}可以进入料架", agv.Name, agv.Place));
// }
// break;
// case "G22":
// //Feeder区，出料
// //if (!Common.IsAllowLeaveOrEnter)
// // return;
// if (agv.TaskSend == "Enter") return;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
// agv.TaskSend = rtn ? "Enter" : "";
// if (rtn)
// {
// Common.IsAllowLeaveOrEnter = false;
// Common.LogInfo(string.Format("{0}到达{1},{1}可以出去料架", agv.Name, agv.Place));
// }
// break;
// }
// AgvChanged?.Invoke(idx);
//}
//private void ProcessStandyTemp(Agv_Info agv)
//{
// switch (agv.Place)
// {
// case "J1":
// case "J2":
// case "J3":
// case "J4":
// case "J5":
// case "J6":
// case "J7":
// case "J8":
// CheckA5A6State_SmallShelf(agv);
// break;
// }
//}
//private void ProcessDoor(Agv_Info agv)
//{
// switch (agv.Place)
// {
// case "F1":
// case "F2":
// case "F3":
// case "F4":
// case "F5":
// case "F6":
// case "F7":
// case "F8":
// //ResetNodeState(node, agv);
// Common.log.Debug(string.Format("{0} MoveDoor {1}[RFID={2}] Finish.", agv.Name, agv.Place, agv.RFID));
// break;
// }
//}
/// <summary>
/// 料架进入小车
/// </summary>
/// <param name="idx"></param>
private void StateEnter(int idx)
{
}
/// <summary>
/// 料架进入小车完成
/// </summary>
/// <param name="idx"></param>
//private void StateEnterFinish(int idx)
//{
// bool rtn;
// Agv_Info agv = Common.agvInfo[idx];
// if (!agv.TaskSend.Equals("")) return;
// int index = FindNode(agv.Place);
// if (index == -1) return;
// ClientNode node = Common.nodeInfo[index];
// agv.IsExistShelf = true;
// switch (agv.Place)
// {
// case "A6":
// // if (node.Action == ClientAction.FinishLeave)
// // {
// Common.server.FinishEnter(agv.Place, agv.RFID);
// Common.LogInfo(string.Format("节点名：{0}，节点动作：{1}", node.Name, node.GetState()));
// string nextPlace = agv.NextPlace;
// if (nextPlace.Equals(""))
// return;
// if (nextPlace.StartsWith("G")) //4D->4C
// {
// if (nextPlace.Equals("G14") || nextPlace.Equals("G15"))
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorDToC"]);
// if (!rtn)
// break;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorAirIn"], false);
// if (!rtn)
// break;
// }
// else
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorDToC"]);
// if (!rtn)
// break;
// }
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + nextPlace], false);
// if (rtn)
// {
// agv.NextPlace = "";
// node.AgvName = "";
// agv.TaskSend = rtn ? "Move" + nextPlace : "";
// Common.LogInfo(string.Format("{0}装载满料架，运往{1}", agv.Name, nextPlace));
// }
// }
// else
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + nextPlace]);
// if (rtn)
// {
// agv.NextPlace = "";
// node.AgvName = "";
// agv.TaskSend = rtn ? "Move" + nextPlace : "";
// Common.LogInfo(string.Format("{0}装载满料架，运往{1}", agv.Name, nextPlace));
// }
// }
// //}
// break;
// case "E1":
// case "E2":
// case "E3":
// case "E4":
// case "E5":
// case "E6":
// case "E7":
// case "E8":
// case "E9":
// case "E10":
// case "E11":
// case "E12":
// case "E14":
// case "E15":
// case "E16":
// case "E21":
// case "E22":
// //产线客户端不发FinishLeave
// //产线空料架进入小车
// //node.AgvName = "";
// //node.Action = ClientAction.None;
// ResetNodeState(node, agv);
// CheckA5A6State_SmallShelf(agv, node);
// break;
// case "G1":
// case "G2":
// case "G3":
// case "G4":
// case "G5":
// case "G6":
// case "G7":
// case "G8":
// case "G9":
// case "G10":
// case "G11":
// case "G12":
// case "G13":
// case "G21":
// case "G22":
// //产线客户端不发FinishLeave
// //产线空料架进入小车
// //node.AgvName = "";
// //node.Action = ClientAction.None;
// ResetNodeState(node, agv);
// //检查A5、A6需要小料架的状况
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"]);
// if (!rtn)
// break;
// CheckA5A6State_SmallShelf(agv, node, false);
// break;
// case "G14":
// case "G15":
// case "G16":
// ResetNodeState(node, agv);
// //检查A5、A6需要小料架的状况
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorAirOut"]);
// if (!rtn)
// break;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"], false);
// if (!rtn)
// break;
// CheckA5A6State_SmallShelf(agv, node, false);
// break;
// }
// AgvChanged?.Invoke(idx);
//}
/// <summary>
/// 空闲状态查看A5、A6需要小料架的状况
/// </summary>
/// <param name="agv"></param>
//private void CheckA5A6State_SmallShelf(Agv_Info agv)
//{
// if (!agv.TaskSend.Equals(""))
// return;
// bool rtn = false;
// int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
// && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.AgvName == "" && s.IsUse);
// if (tarIdx == -1)
// {
// Common.log.Debug(string.Format("{0} 已装载料架 {1}，A5不需要料架", agv.Name, agv.RFID));//小
// }
// else
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"]);
// if (rtn)
// {
// agv.TaskSend = "MoveA5";
// Common.nodeInfo[tarIdx].AgvName = agv.Name;
// agv.Msg = string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID);
// Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID));//小
// }
// return;
// }
// tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" &&
// (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.AgvName == "" && s.IsUse);
// if (tarIdx == -1)
// {
// Common.log.Debug(string.Format("{0} 已装载料架 {1}，A6不需要料架", agv.Name, agv.RFID));//小
// }
// else
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
// if (rtn)
// {
// agv.TaskSend = "MoveA6";
// Common.nodeInfo[tarIdx].AgvName = agv.Name;
// agv.Msg = string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID);
// Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID));//小
// }
// }
//}
/// <summary>
/// 空闲 查看A5、A6需要大料架的状况
/// </summary>
/// <param name="agv"></param>
//private void CheckA5A6State_BigShelf(Agv_Info agv)
//{
// if (!agv.TaskSend.Equals(""))
// return;
// bool rtn = false;
// int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
// && (s.StateEquals(eNodeStatus.NeedC) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
// if (tarIdx == -1)
// {
// Common.log.Debug(string.Format("{0} 已装载料架 {1}，A5不需要料架", agv.Name, agv.RFID));//小
// }
// else
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"]);
// if (rtn)
// {
// agv.TaskSend = "MoveA5";
// Common.nodeInfo[tarIdx].AgvName = agv.Name;
// agv.Msg = string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID);
// Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A5", agv.Name, agv.RFID));//小
// }
// return;
// }
// tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" &&
// (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
// if (tarIdx == -1)
// {
// Common.log.Debug(string.Format("{0} 已装载料架 {1}，A6不需要料架", agv.Name, agv.RFID));//小
// }
// else
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
// if (rtn)
// {
// Common.nodeInfo[tarIdx].AgvName = agv.Name;
// agv.TaskSend = "MoveA6";
// agv.Msg = string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID);
// Common.LogInfo(string.Format("{0} 已装载料架 {1}，送往A6", agv.Name, agv.RFID));//小
// }
// }
//}
///// <summary>
///// 料架离开小车
///// </summary>
///// <param name="idx">agv索引</param>
//private void StateLeave(int idx)
//{
// Agv_Info agv = Common.agvInfo[idx];
//}
/// <summary>
/// 料架离开小车完成
/// </summary>
/// <param name="idx"></param>
//private void StateLeaveFinish(int idx)
//{
// Agv_Info agv = Common.agvInfo[idx];
// if (!agv.TaskSend.Equals("")) return;
// int index = FindNode(agv.Place);
// if (index == -1) return;
// ClientNode node = Common.nodeInfo[index];
// agv.IsExistShelf = false;
// switch (agv.Place)
// {
// case "A5":
// //if (node.Action == ClientAction.FinishEnter)
// //{
// // Common.LogInfo(string.Format("{0}在{1}完成进入料架", agv.Name, agv.Place));
// //}
// //break;
// case "A6":
// //if (node.Action == ClientAction.FinishEnter)
// //{
// Common.server.FinishEnter(agv.Place, agv.RFID);
// Common.LogInfo(string.Format("{0}在{1}完成进入料架", agv.Name, agv.Place));
// //agv.RFID = "";
// //清除执行空架任务的小车
// Common.missionManager.AGV_Name_EmptyTask = "";
// ResetAGVState(agv, true);
// ResetNodeState(node, agv);
// //查询附近是否有空料架要出,没有则去待机位
// // if (!CheckEmptyShelf(agv, agv.Place))
// StatusCharge(agv, true);
// //MoveStandby(agv);
// // }
// break;
// case "E1":
// case "E2":
// case "E3":
// case "E4":
// case "E5":
// case "E6":
// case "E7":
// case "E8":
// case "E9":
// case "E10":
// case "E11":
// case "E12":
// case "E14":
// case "E15":
// case "E16":
// case "E21":
// case "E22":
// /// agv.RFID = "";
// // node.AgvName = "";
// //node.Action = ClientAction.None;
// //上报物料状态
// try
// {
// var key = Common.agvProductionLine.Where(q => q.Value == agv.Place).Select(q => q.Key);
// string lineName = key.ToList()[0];
// UpdateStatus(agv.RFID, lineName);
// }
// catch (Exception ex) { Common.log.Error("UpdateStatus " + ex.Message); }
// ResetAGVState(agv, true);
// ResetNodeState(node, agv);
// int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5" && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
// if (tarIdx == -1)
// {
// tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" && (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
// if (tarIdx == -1)
// {
// Common.LogInfo("A5,A6不需要料架，小车不载空架，直接返回待机位");
// StatusCharge(agv);
// return;
// }
// }
// //查询附近是否有空料架要出,没有则去待机位
// if (!CheckEmptyShelf(agv, agv.Place))
// StatusCharge(agv, true);
// //MoveStandby(agv);
// break;
// case "G1":
// case "G2":
// case "G3":
// case "G4":
// case "G5":
// case "G6":
// case "G7":
// case "G8":
// case "G9":
// case "G10":
// case "G11":
// case "G12":
// case "G13":
// case "G21":
// case "G22":
// /// agv.RFID = "";
// // node.AgvName = "";
// //node.Action = ClientAction.None;
// //上报物料状态
// try
// {
// var key = Common.agvProductionLine.Where(q => q.Value == agv.Place).Select(q => q.Key);
// string lineName = key.ToList()[0];
// UpdateStatus(agv.RFID, lineName);
// }
// catch (Exception ex) { Common.log.Error("UpdateStatus " + ex.Message); }
// ResetAGVState(agv, true);
// ResetNodeState(node, agv);
// bool rtn = false;
// int tarIdx1 = Common.nodeInfo.FindIndex(s => s.Name == "A5" && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
// if (tarIdx1 == -1)
// {
// tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" && (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
// if (tarIdx == -1)
// {
// Common.LogInfo("A5,A6不需要料架，小车不载空架，直接返回待机位");
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"]);
// if (!rtn)
// break;
// StatusCharge(agv);
// return;
// }
// }
// //查询附近是否有空料架要出,没有则去待机位
// if (!CheckEmptyShelf(agv, agv.Place))
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"]);
// if (!rtn)
// break;
// StatusCharge(agv);
// }
// //MoveStandby(agv);
// break;
// case "G14":
// case "G15":
// case "G16":
// try
// {
// var key = Common.agvProductionLine.Where(q => q.Value == agv.Place).Select(q => q.Key);
// string lineName = key.ToList()[0];
// UpdateStatus(agv.RFID, lineName);
// }
// catch (Exception ex) { Common.log.Error("UpdateStatus " + ex.Message); }
// ResetAGVState(agv, true);
// ResetNodeState(node, agv);
// int tarIdx2 = Common.nodeInfo.FindIndex(s => s.Name == "A5" && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
// if (tarIdx2 == -1)
// {
// tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" && (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
// if (tarIdx == -1)
// {
// Common.LogInfo("A5,A6不需要料架，小车不载空架，直接返回待机位");
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorAirOut"]);
// if (!rtn)
// break;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"], false);
// if (!rtn)
// break;
// StatusCharge(agv);
// return;
// }
// }
// //查询附近是否有空料架要出,没有则去待机位
// if (!CheckEmptyShelf(agv, agv.Place))
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorAirOut"]);
// if (!rtn)
// break;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"], false);
// if (!rtn)
// break;
// StatusCharge(agv);
// }
// break;
// }
// AgvChanged?.Invoke(idx);
//}
/// <summary>
/// 重置节点状态
/// </summary>
/// <param name="clientNode"></param>
//private void ResetNodeState(ClientNode clientNode, Agv_Info agv)
//{
// clientNode.StateEquals(eNodeStatus.None);
// if (agv.Name == clientNode.AgvName)
// clientNode.AgvName = "";
// clientNode.RFID = "";
//}
//private bool MoveStandby(Agv_Info agv)
//{
// string log;
// if (!agv.TaskSend.Equals(""))
// return false;
// //清除当前任务点
// if (!agv.Place.Equals(""))
// {
// int idx = Common.nodeInfo.FindIndex(s => s.Name == agv.Place);
// if (idx > -1)
// {
// Common.nodeInfo[idx].AgvName = "";
// }
// else
// {
// log = "清理AgvName，没有找到 " + agv.Name;
// Common.LogInfo(log);
// }
// }
// //执行下一个任务
// //agv.Place = "";
// bool rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandby"]); //返回待机区
// if (rtn)
// {
// agv.TaskSend = "";
// agv.Place = "";
// log = string.Format("{0} MoveStandby", agv.Name);
// Common.LogInfo(log);
// Common.mir.State_Ready(agv);
// }
// else
// {
// agv.TaskSend = "";
// log = string.Format("{0} MoveStandby 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;
//}
// Task<bool> continueTask;
/// <summary>
/// 清空错误并继续任务
/// </summary>
/// <param name="idx"></param>
//private bool ClearErrorAndContinueTask(int idx)
//{
// continueTask = Task.Run<bool>(() =>
// {
// Agv_Info agv = Common.agvInfo[idx];
// Common.LogInfo(string.Format("{0}在执行任务[{1}]出现错误：{2}", agv.Name, agv.TaskSend, agv.MissionText));
// if (Common.agvInfo[idx].IsCon)
// {
// Common.mir.Clear_Error(Common.agvInfo[idx]);
// Thread.Sleep(1000);
// Common.mir.State_Ready(Common.agvInfo[idx]);
// Thread.Sleep(1000);
// //bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission[agv.TaskSend]);
// //if (!rtn)
// // return false;
// Common.LogInfo(string.Format("{0}清除错误，继续任务", agv.Name, agv.TaskSend, agv.MissionText));
// return true;
// }
// return false;
// });
// continueTask.Start();
// return continueTask.Result;
//}
/// <summary>
/// 小车重试次数
/// </summary>
//static int[] reTryTimes = new int[Common.agvInfo.Count];
///// <summary>
///// 错误状态
///// </summary>
///// <param name="idx"></param>
//private void StateError(int idx)
//{
// if (continueTask != null && !continueTask.IsCompleted)
// return;
// if (reTryTimes[idx] > 5)//重试5次
// {
// Common.LogInfo(string.Format("{0} 发生错误，重试5次失败，需要手动清除错误！", Common.agvInfo[idx]));
// reTryTimes[idx] = 0;
// return;
// }
// if (!ClearErrorAndContinueTask(idx))
// reTryTimes[idx]++;
// else
// reTryTimes[idx] = 0;
//}
//private bool FindA6Leave(out string nextNode)
//{
// nextNode = "";
// int idx = Common.nodeInfo.FindIndex(s => s.Name.Equals("A6")
// && (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals ( eNodeStatus.NeedEnterLeave))
// && s.AgvName == "" && s.IsUse);//&& (s.RFID.StartsWith("C")|| s.RFID.StartsWith("D"))
// if (idx == -1) return false;
// bool rtn = FindA6Destination(Common.nodeInfo[idx].RFID, out string dest);
// if (!rtn) return false;
// idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(dest) && s.IsUse);
// if (idx == -1)
// {
// return false;
// }
// else
// {
// nextNode = dest;
// return true;
// }
//}
#endregion
} }
} }
\ No newline at end of file \ No newline at end of file
AGVControl-ProductionLine/FrmMain.Designer.cs
...@@ -69,12 +69,15 @@ ...@@ -69,12 +69,15 @@
this.Column24 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column24 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column8 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column8 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.groupBox8 = new System.Windows.Forms.GroupBox(); this.groupBox8 = new System.Windows.Forms.GroupBox();
this.lblStandy2 = new System.Windows.Forms.Label();
this.lblStandy1 = new System.Windows.Forms.Label();
this.lblCharge4 = new System.Windows.Forms.Label(); this.lblCharge4 = new System.Windows.Forms.Label();
this.lblCharge3 = new System.Windows.Forms.Label(); this.lblCharge3 = new System.Windows.Forms.Label();
this.tabPage2 = new System.Windows.Forms.TabPage(); this.tabPage2 = new System.Windows.Forms.TabPage();
this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel(); this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
this.TxtLog = new System.Windows.Forms.TextBox(); this.TxtLog = new System.Windows.Forms.TextBox();
this.tabPage3 = new System.Windows.Forms.TabPage(); this.tabPage3 = new System.Windows.Forms.TabPage();
this.btnClearC4StandyInfo = new System.Windows.Forms.Button();
this.button5 = new System.Windows.Forms.Button(); this.button5 = new System.Windows.Forms.Button();
this.btnWO = new System.Windows.Forms.Button(); this.btnWO = new System.Windows.Forms.Button();
this.groupBox7 = new System.Windows.Forms.GroupBox(); this.groupBox7 = new System.Windows.Forms.GroupBox();
...@@ -84,10 +87,7 @@ ...@@ -84,10 +87,7 @@
this.btnDeleteMission = new System.Windows.Forms.Button(); this.btnDeleteMission = new System.Windows.Forms.Button();
this.btnAddMission = new System.Windows.Forms.Button(); this.btnAddMission = new System.Windows.Forms.Button();
this.cmbBoxLineName = new System.Windows.Forms.ComboBox(); this.cmbBoxLineName = new System.Windows.Forms.ComboBox();
this.btnSetRFID = new System.Windows.Forms.Button();
this.txtAgvRFID = new System.Windows.Forms.TextBox();
this.groupBox2 = new System.Windows.Forms.GroupBox(); this.groupBox2 = new System.Windows.Forms.GroupBox();
this.ChkAutoCharge = new System.Windows.Forms.CheckBox();
this.BtnClearError = new System.Windows.Forms.Button(); this.BtnClearError = new System.Windows.Forms.Button();
this.BtnMissionAdd = new System.Windows.Forms.Button(); this.BtnMissionAdd = new System.Windows.Forms.Button();
this.BtnMissionPause = new System.Windows.Forms.Button(); this.BtnMissionPause = new System.Windows.Forms.Button();
...@@ -565,6 +565,8 @@ ...@@ -565,6 +565,8 @@
// //
// groupBox8 // groupBox8
// //
this.groupBox8.Controls.Add(this.lblStandy2);
this.groupBox8.Controls.Add(this.lblStandy1);
this.groupBox8.Controls.Add(this.lblCharge4); this.groupBox8.Controls.Add(this.lblCharge4);
this.groupBox8.Controls.Add(this.lblCharge3); this.groupBox8.Controls.Add(this.lblCharge3);
this.groupBox8.Dock = System.Windows.Forms.DockStyle.Fill; this.groupBox8.Dock = System.Windows.Forms.DockStyle.Fill;
...@@ -574,7 +576,27 @@ ...@@ -574,7 +576,27 @@
this.groupBox8.Size = new System.Drawing.Size(251, 224); this.groupBox8.Size = new System.Drawing.Size(251, 224);
this.groupBox8.TabIndex = 3; this.groupBox8.TabIndex = 3;
this.groupBox8.TabStop = false; this.groupBox8.TabStop = false;
this.groupBox8.Text = "充电位"; this.groupBox8.Text = "位置占用情况";
//
// lblStandy2
//
this.lblStandy2.AutoSize = true;
this.lblStandy2.Dock = System.Windows.Forms.DockStyle.Top;
this.lblStandy2.Location = new System.Drawing.Point(3, 66);
this.lblStandy2.Name = "lblStandy2";
this.lblStandy2.Size = new System.Drawing.Size(87, 15);
this.lblStandy2.TabIndex = 3;
this.lblStandy2.Text = "lblStandy2";
//
// lblStandy1
//
this.lblStandy1.AutoSize = true;
this.lblStandy1.Dock = System.Windows.Forms.DockStyle.Top;
this.lblStandy1.Location = new System.Drawing.Point(3, 51);
this.lblStandy1.Name = "lblStandy1";
this.lblStandy1.Size = new System.Drawing.Size(87, 15);
this.lblStandy1.TabIndex = 2;
this.lblStandy1.Text = "lblStandy1";
// //
// lblCharge4 // lblCharge4
// //
...@@ -603,7 +625,7 @@ ...@@ -603,7 +625,7 @@
this.tabPage2.Margin = new System.Windows.Forms.Padding(4); this.tabPage2.Margin = new System.Windows.Forms.Padding(4);
this.tabPage2.Name = "tabPage2"; this.tabPage2.Name = "tabPage2";
this.tabPage2.Padding = new System.Windows.Forms.Padding(4); this.tabPage2.Padding = new System.Windows.Forms.Padding(4);
this.tabPage2.Size = new System.Drawing.Size(1407, 396); this.tabPage2.Size = new System.Drawing.Size(1407, 373);
this.tabPage2.TabIndex = 3; this.tabPage2.TabIndex = 3;
this.tabPage2.Text = "日志"; this.tabPage2.Text = "日志";
this.tabPage2.UseVisualStyleBackColor = true; this.tabPage2.UseVisualStyleBackColor = true;
...@@ -620,7 +642,7 @@ ...@@ -620,7 +642,7 @@
this.tableLayoutPanel1.Name = "tableLayoutPanel1"; this.tableLayoutPanel1.Name = "tableLayoutPanel1";
this.tableLayoutPanel1.RowCount = 1; this.tableLayoutPanel1.RowCount = 1;
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F)); this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
this.tableLayoutPanel1.Size = new System.Drawing.Size(1399, 388); this.tableLayoutPanel1.Size = new System.Drawing.Size(1399, 365);
this.tableLayoutPanel1.TabIndex = 6; this.tableLayoutPanel1.TabIndex = 6;
// //
// TxtLog // TxtLog
...@@ -631,35 +653,42 @@ ...@@ -631,35 +653,42 @@
this.TxtLog.Multiline = true; this.TxtLog.Multiline = true;
this.TxtLog.Name = "TxtLog"; this.TxtLog.Name = "TxtLog";
this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both; this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both;
this.TxtLog.Size = new System.Drawing.Size(1391, 380); this.TxtLog.Size = new System.Drawing.Size(1391, 357);
this.TxtLog.TabIndex = 5; this.TxtLog.TabIndex = 5;
// //
// tabPage3 // tabPage3
// //
this.tabPage3.Controls.Add(this.button5);
this.tabPage3.Controls.Add(this.btnWO);
this.tabPage3.Controls.Add(this.groupBox7); this.tabPage3.Controls.Add(this.groupBox7);
this.tabPage3.Controls.Add(this.groupBox6); this.tabPage3.Controls.Add(this.groupBox6);
this.tabPage3.Controls.Add(this.btnSetRFID);
this.tabPage3.Controls.Add(this.txtAgvRFID);
this.tabPage3.Controls.Add(this.groupBox2); this.tabPage3.Controls.Add(this.groupBox2);
this.tabPage3.Controls.Add(this.BtnMissionPause);
this.tabPage3.Controls.Add(this.BtnClearError); this.tabPage3.Controls.Add(this.BtnClearError);
this.tabPage3.Controls.Add(this.BtnMissionAdd); this.tabPage3.Controls.Add(this.BtnMissionAdd);
this.tabPage3.Controls.Add(this.BtnMissionPause);
this.tabPage3.Controls.Add(this.BtnMissionReady);
this.tabPage3.Controls.Add(this.LstAgvPlace); this.tabPage3.Controls.Add(this.LstAgvPlace);
this.tabPage3.Controls.Add(this.BtnMissionReady);
this.tabPage3.Location = new System.Drawing.Point(4, 25); this.tabPage3.Location = new System.Drawing.Point(4, 25);
this.tabPage3.Margin = new System.Windows.Forms.Padding(4); this.tabPage3.Margin = new System.Windows.Forms.Padding(4);
this.tabPage3.Name = "tabPage3"; this.tabPage3.Name = "tabPage3";
this.tabPage3.Padding = new System.Windows.Forms.Padding(4); this.tabPage3.Padding = new System.Windows.Forms.Padding(4);
this.tabPage3.Size = new System.Drawing.Size(1407, 396); this.tabPage3.Size = new System.Drawing.Size(1407, 373);
this.tabPage3.TabIndex = 2; this.tabPage3.TabIndex = 2;
this.tabPage3.Text = "agv手动"; this.tabPage3.Text = "手动";
this.tabPage3.UseVisualStyleBackColor = true; this.tabPage3.UseVisualStyleBackColor = true;
// //
// btnClearC4StandyInfo
//
this.btnClearC4StandyInfo.Location = new System.Drawing.Point(261, 22);
this.btnClearC4StandyInfo.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.btnClearC4StandyInfo.Name = "btnClearC4StandyInfo";
this.btnClearC4StandyInfo.Size = new System.Drawing.Size(100, 65);
this.btnClearC4StandyInfo.TabIndex = 44;
this.btnClearC4StandyInfo.Text = "清除4C待机位占用";
this.btnClearC4StandyInfo.UseVisualStyleBackColor = true;
this.btnClearC4StandyInfo.Click += new System.EventHandler(this.btnClearC4StandyInfo_Click);
//
// button5 // button5
// //
this.button5.Location = new System.Drawing.Point(551, 207); this.button5.Location = new System.Drawing.Point(138, 22);
this.button5.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.button5.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.button5.Name = "button5"; this.button5.Name = "button5";
this.button5.Size = new System.Drawing.Size(100, 65); this.button5.Size = new System.Drawing.Size(100, 65);
...@@ -670,7 +699,7 @@ ...@@ -670,7 +699,7 @@
// //
// btnWO // btnWO
// //
this.btnWO.Location = new System.Drawing.Point(402, 207); this.btnWO.Location = new System.Drawing.Point(10, 22);
this.btnWO.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.btnWO.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.btnWO.Name = "btnWO"; this.btnWO.Name = "btnWO";
this.btnWO.Size = new System.Drawing.Size(100, 65); this.btnWO.Size = new System.Drawing.Size(100, 65);
...@@ -751,55 +780,26 @@ ...@@ -751,55 +780,26 @@
this.cmbBoxLineName.Size = new System.Drawing.Size(181, 23); this.cmbBoxLineName.Size = new System.Drawing.Size(181, 23);
this.cmbBoxLineName.TabIndex = 39; this.cmbBoxLineName.TabIndex = 39;
// //
// btnSetRFID
//
this.btnSetRFID.Location = new System.Drawing.Point(227, 57);
this.btnSetRFID.Margin = new System.Windows.Forms.Padding(4);
this.btnSetRFID.Name = "btnSetRFID";
this.btnSetRFID.Size = new System.Drawing.Size(100, 44);
this.btnSetRFID.TabIndex = 34;
this.btnSetRFID.Text = "设置RFID";
this.btnSetRFID.UseVisualStyleBackColor = true;
this.btnSetRFID.Click += new System.EventHandler(this.btnSetRFID_Click);
//
// txtAgvRFID
//
this.txtAgvRFID.Location = new System.Drawing.Point(227, 26);
this.txtAgvRFID.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.txtAgvRFID.Name = "txtAgvRFID";
this.txtAgvRFID.Size = new System.Drawing.Size(100, 25);
this.txtAgvRFID.TabIndex = 33;
//
// groupBox2 // groupBox2
// //
this.groupBox2.Controls.Add(this.ChkAutoCharge); this.groupBox2.Controls.Add(this.btnClearC4StandyInfo);
this.groupBox2.Location = new System.Drawing.Point(1088, 30); this.groupBox2.Controls.Add(this.btnWO);
this.groupBox2.Controls.Add(this.button5);
this.groupBox2.Location = new System.Drawing.Point(935, 30);
this.groupBox2.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2); this.groupBox2.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.groupBox2.Name = "groupBox2"; this.groupBox2.Name = "groupBox2";
this.groupBox2.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2); this.groupBox2.Padding = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.groupBox2.Size = new System.Drawing.Size(157, 71); this.groupBox2.Size = new System.Drawing.Size(388, 151);
this.groupBox2.TabIndex = 32; this.groupBox2.TabIndex = 32;
this.groupBox2.TabStop = false; this.groupBox2.TabStop = false;
this.groupBox2.Text = "充电"; this.groupBox2.Text = "操作";
//
// ChkAutoCharge
//
this.ChkAutoCharge.AutoSize = true;
this.ChkAutoCharge.Location = new System.Drawing.Point(18, 27);
this.ChkAutoCharge.Margin = new System.Windows.Forms.Padding(4);
this.ChkAutoCharge.Name = "ChkAutoCharge";
this.ChkAutoCharge.Size = new System.Drawing.Size(89, 19);
this.ChkAutoCharge.TabIndex = 10;
this.ChkAutoCharge.Text = "自动充电";
this.ChkAutoCharge.UseVisualStyleBackColor = true;
this.ChkAutoCharge.CheckedChanged += new System.EventHandler(this.ChkAutoCharge_CheckedChanged);
// //
// BtnClearError // BtnClearError
// //
this.BtnClearError.Location = new System.Drawing.Point(227, 301); this.BtnClearError.Location = new System.Drawing.Point(539, 201);
this.BtnClearError.Margin = new System.Windows.Forms.Padding(4); this.BtnClearError.Margin = new System.Windows.Forms.Padding(4);
this.BtnClearError.Name = "BtnClearError"; this.BtnClearError.Name = "BtnClearError";
this.BtnClearError.Size = new System.Drawing.Size(100, 44); this.BtnClearError.Size = new System.Drawing.Size(100, 65);
this.BtnClearError.TabIndex = 19; this.BtnClearError.TabIndex = 19;
this.BtnClearError.Text = "清除错误"; this.BtnClearError.Text = "清除错误";
this.BtnClearError.UseVisualStyleBackColor = true; this.BtnClearError.UseVisualStyleBackColor = true;
...@@ -807,10 +807,10 @@ ...@@ -807,10 +807,10 @@
// //
// BtnMissionAdd // BtnMissionAdd
// //
this.BtnMissionAdd.Location = new System.Drawing.Point(227, 118); this.BtnMissionAdd.Location = new System.Drawing.Point(227, 30);
this.BtnMissionAdd.Margin = new System.Windows.Forms.Padding(4); this.BtnMissionAdd.Margin = new System.Windows.Forms.Padding(4);
this.BtnMissionAdd.Name = "BtnMissionAdd"; this.BtnMissionAdd.Name = "BtnMissionAdd";
this.BtnMissionAdd.Size = new System.Drawing.Size(100, 44); this.BtnMissionAdd.Size = new System.Drawing.Size(100, 75);
this.BtnMissionAdd.TabIndex = 3; this.BtnMissionAdd.TabIndex = 3;
this.BtnMissionAdd.Text = "添加任务"; this.BtnMissionAdd.Text = "添加任务";
this.BtnMissionAdd.UseVisualStyleBackColor = true; this.BtnMissionAdd.UseVisualStyleBackColor = true;
...@@ -818,10 +818,10 @@ ...@@ -818,10 +818,10 @@
// //
// BtnMissionPause // BtnMissionPause
// //
this.BtnMissionPause.Location = new System.Drawing.Point(227, 237); this.BtnMissionPause.Location = new System.Drawing.Point(691, 201);
this.BtnMissionPause.Margin = new System.Windows.Forms.Padding(4); this.BtnMissionPause.Margin = new System.Windows.Forms.Padding(4);
this.BtnMissionPause.Name = "BtnMissionPause"; this.BtnMissionPause.Name = "BtnMissionPause";
this.BtnMissionPause.Size = new System.Drawing.Size(100, 44); this.BtnMissionPause.Size = new System.Drawing.Size(100, 65);
this.BtnMissionPause.TabIndex = 2; this.BtnMissionPause.TabIndex = 2;
this.BtnMissionPause.Text = "暂停"; this.BtnMissionPause.Text = "暂停";
this.BtnMissionPause.UseVisualStyleBackColor = true; this.BtnMissionPause.UseVisualStyleBackColor = true;
...@@ -829,10 +829,10 @@ ...@@ -829,10 +829,10 @@
// //
// BtnMissionReady // BtnMissionReady
// //
this.BtnMissionReady.Location = new System.Drawing.Point(227, 174); this.BtnMissionReady.Location = new System.Drawing.Point(396, 201);
this.BtnMissionReady.Margin = new System.Windows.Forms.Padding(4); this.BtnMissionReady.Margin = new System.Windows.Forms.Padding(4);
this.BtnMissionReady.Name = "BtnMissionReady"; this.BtnMissionReady.Name = "BtnMissionReady";
this.BtnMissionReady.Size = new System.Drawing.Size(100, 44); this.BtnMissionReady.Size = new System.Drawing.Size(100, 65);
this.BtnMissionReady.TabIndex = 1; this.BtnMissionReady.TabIndex = 1;
this.BtnMissionReady.Text = "运行"; this.BtnMissionReady.Text = "运行";
this.BtnMissionReady.UseVisualStyleBackColor = true; this.BtnMissionReady.UseVisualStyleBackColor = true;
...@@ -847,7 +847,7 @@ ...@@ -847,7 +847,7 @@
this.LstAgvPlace.Location = new System.Drawing.Point(4, 4); this.LstAgvPlace.Location = new System.Drawing.Point(4, 4);
this.LstAgvPlace.Margin = new System.Windows.Forms.Padding(4); this.LstAgvPlace.Margin = new System.Windows.Forms.Padding(4);
this.LstAgvPlace.Name = "LstAgvPlace"; this.LstAgvPlace.Name = "LstAgvPlace";
this.LstAgvPlace.Size = new System.Drawing.Size(199, 388); this.LstAgvPlace.Size = new System.Drawing.Size(199, 365);
this.LstAgvPlace.TabIndex = 0; this.LstAgvPlace.TabIndex = 0;
// //
// tableLayoutPanel4 // tableLayoutPanel4
...@@ -893,9 +893,9 @@ ...@@ -893,9 +893,9 @@
this.label6.AutoSize = true; this.label6.AutoSize = true;
this.label6.Dock = System.Windows.Forms.DockStyle.Fill; this.label6.Dock = System.Windows.Forms.DockStyle.Fill;
this.label6.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.label6.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label6.Location = new System.Drawing.Point(944, 104); this.label6.Location = new System.Drawing.Point(944, 119);
this.label6.Name = "label6"; this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(461, 98); this.label6.Size = new System.Drawing.Size(461, 114);
this.label6.TabIndex = 5; this.label6.TabIndex = 5;
this.label6.Text = "label6"; this.label6.Text = "label6";
// //
...@@ -904,9 +904,9 @@ ...@@ -904,9 +904,9 @@
this.label5.AutoSize = true; this.label5.AutoSize = true;
this.label5.Dock = System.Windows.Forms.DockStyle.Fill; this.label5.Dock = System.Windows.Forms.DockStyle.Fill;
this.label5.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.label5.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label5.Location = new System.Drawing.Point(475, 104); this.label5.Location = new System.Drawing.Point(475, 119);
this.label5.Name = "label5"; this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(460, 98); this.label5.Size = new System.Drawing.Size(460, 114);
this.label5.TabIndex = 4; this.label5.TabIndex = 4;
this.label5.Text = "label5"; this.label5.Text = "label5";
// //
...@@ -915,9 +915,9 @@ ...@@ -915,9 +915,9 @@
this.label4.AutoSize = true; this.label4.AutoSize = true;
this.label4.Dock = System.Windows.Forms.DockStyle.Fill; this.label4.Dock = System.Windows.Forms.DockStyle.Fill;
this.label4.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.label4.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label4.Location = new System.Drawing.Point(6, 104); this.label4.Location = new System.Drawing.Point(6, 119);
this.label4.Name = "label4"; this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(460, 98); this.label4.Size = new System.Drawing.Size(460, 114);
this.label4.TabIndex = 3; this.label4.TabIndex = 3;
this.label4.Text = "label4"; this.label4.Text = "label4";
// //
...@@ -928,7 +928,7 @@ ...@@ -928,7 +928,7 @@
this.label3.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.label3.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label3.Location = new System.Drawing.Point(944, 3); this.label3.Location = new System.Drawing.Point(944, 3);
this.label3.Name = "label3"; this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(461, 98); this.label3.Size = new System.Drawing.Size(461, 113);
this.label3.TabIndex = 2; this.label3.TabIndex = 2;
this.label3.Text = "label3"; this.label3.Text = "label3";
// //
...@@ -939,7 +939,7 @@ ...@@ -939,7 +939,7 @@
this.label2.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.label2.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label2.Location = new System.Drawing.Point(475, 3); this.label2.Location = new System.Drawing.Point(475, 3);
this.label2.Name = "label2"; this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(460, 98); this.label2.Size = new System.Drawing.Size(460, 113);
this.label2.TabIndex = 1; this.label2.TabIndex = 1;
this.label2.Text = "label2"; this.label2.Text = "label2";
// //
...@@ -950,7 +950,7 @@ ...@@ -950,7 +950,7 @@
this.label1.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.label1.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label1.Location = new System.Drawing.Point(6, 3); this.label1.Location = new System.Drawing.Point(6, 3);
this.label1.Name = "label1"; this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(460, 98); this.label1.Size = new System.Drawing.Size(460, 113);
this.label1.TabIndex = 0; this.label1.TabIndex = 0;
this.label1.Text = "label1"; this.label1.Text = "label1";
// //
...@@ -986,12 +986,10 @@ ...@@ -986,12 +986,10 @@
this.tableLayoutPanel1.ResumeLayout(false); this.tableLayoutPanel1.ResumeLayout(false);
this.tableLayoutPanel1.PerformLayout(); this.tableLayoutPanel1.PerformLayout();
this.tabPage3.ResumeLayout(false); this.tabPage3.ResumeLayout(false);
this.tabPage3.PerformLayout();
this.groupBox7.ResumeLayout(false); this.groupBox7.ResumeLayout(false);
this.groupBox7.PerformLayout(); this.groupBox7.PerformLayout();
this.groupBox6.ResumeLayout(false); this.groupBox6.ResumeLayout(false);
this.groupBox2.ResumeLayout(false); this.groupBox2.ResumeLayout(false);
this.groupBox2.PerformLayout();
this.tableLayoutPanel4.ResumeLayout(false); this.tableLayoutPanel4.ResumeLayout(false);
this.tableLayoutPanel6.ResumeLayout(false); this.tableLayoutPanel6.ResumeLayout(false);
this.tableLayoutPanel6.PerformLayout(); this.tableLayoutPanel6.PerformLayout();
...@@ -1011,10 +1009,7 @@ ...@@ -1011,10 +1009,7 @@
private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1; private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
private System.Windows.Forms.TextBox TxtLog; private System.Windows.Forms.TextBox TxtLog;
private System.Windows.Forms.TabPage tabPage3; private System.Windows.Forms.TabPage tabPage3;
private System.Windows.Forms.Button btnSetRFID;
private System.Windows.Forms.TextBox txtAgvRFID;
private System.Windows.Forms.GroupBox groupBox2; private System.Windows.Forms.GroupBox groupBox2;
private System.Windows.Forms.CheckBox ChkAutoCharge;
private System.Windows.Forms.Button BtnClearError; private System.Windows.Forms.Button BtnClearError;
private System.Windows.Forms.Button BtnMissionAdd; private System.Windows.Forms.Button BtnMissionAdd;
private System.Windows.Forms.Button BtnMissionPause; private System.Windows.Forms.Button BtnMissionPause;
...@@ -1069,6 +1064,9 @@ ...@@ -1069,6 +1064,9 @@
private System.Windows.Forms.GroupBox groupBox8; private System.Windows.Forms.GroupBox groupBox8;
private System.Windows.Forms.Label lblCharge4; private System.Windows.Forms.Label lblCharge4;
private System.Windows.Forms.Label lblCharge3; private System.Windows.Forms.Label lblCharge3;
private System.Windows.Forms.Button btnClearC4StandyInfo;
private System.Windows.Forms.Label lblStandy2;
private System.Windows.Forms.Label lblStandy1;
} }
} }
AGVControl-ProductionLine/FrmMain.cs
...@@ -223,6 +223,15 @@ namespace AGVControl ...@@ -223,6 +223,15 @@ namespace AGVControl
Common.agvInfo[e.RowIndex].IsUse = false; Common.agvInfo[e.RowIndex].IsUse = false;
Common.agvInfo[e.RowIndex].CurJob = null; Common.agvInfo[e.RowIndex].CurJob = null;
Common.agvInfo[e.RowIndex].RFID = ""; Common.agvInfo[e.RowIndex].RFID = "";
//清除4c临时待机位的占用
if (Common.agvInfo[e.RowIndex].Name.Equals(Common.StandbyStation.C4_Station1))
{
Common.StandbyStation.C4_Station1 = "";
}
else if (Common.agvInfo[e.RowIndex].Name.Equals(Common.StandbyStation.C4_Station2))
{
Common.StandbyStation.C4_Station2 = "";
}
Common.LogInfo(string.Format("手动关闭小车自动模式，{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo())); Common.LogInfo(string.Format("手动关闭小车自动模式，{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo()));
} }
} }
...@@ -350,7 +359,15 @@ namespace AGVControl ...@@ -350,7 +359,15 @@ namespace AGVControl
if (MessageBox.Show("确定在自动模式下对小车手动分配任务？", Common.agvInfo[idx].Name, MessageBoxButtons.YesNo) == DialogResult.No) if (MessageBox.Show("确定在自动模式下对小车手动分配任务？", Common.agvInfo[idx].Name, MessageBoxButtons.YesNo) == DialogResult.No)
return; return;
} }
//清除4c临时待机位的占用
if (Common.agvInfo[idx].Name.Equals(Common.StandbyStation.C4_Station1))
{
Common.StandbyStation.C4_Station1 = "";
}
else if (Common.agvInfo[idx].Name.Equals(Common.StandbyStation.C4_Station2))
{
Common.StandbyStation.C4_Station2 = "";
}
bool rtn = Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission[Common.showNameMissionName[LstAgvPlace.Text]]); bool rtn = Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission[Common.showNameMissionName[LstAgvPlace.Text]]);
if (!rtn) if (!rtn)
return; return;
...@@ -406,6 +423,8 @@ namespace AGVControl ...@@ -406,6 +423,8 @@ namespace AGVControl
lblDestInfo.Text = AGVManager.A6_Target; lblDestInfo.Text = AGVManager.A6_Target;
lblCharge3.Text = "充电桩3:" + Common.chargeStatus.charge3; lblCharge3.Text = "充电桩3:" + Common.chargeStatus.charge3;
lblCharge4.Text = "充电桩4:" + Common.chargeStatus.charge4; lblCharge4.Text = "充电桩4:" + Common.chargeStatus.charge4;
lblStandy1.Text = "4C待机位1:" + Common.StandbyStation.C4_Station1;
lblStandy2.Text = "4C待机位2:" + Common.StandbyStation.C4_Station2;
})); }));
InShhow = false; InShhow = false;
...@@ -712,5 +731,11 @@ namespace AGVControl ...@@ -712,5 +731,11 @@ namespace AGVControl
{ {
ShowEmptyTask(); ShowEmptyTask();
} }
private void btnClearC4StandyInfo_Click(object sender, EventArgs e)
{
Common.StandbyStation.C4_Station1 = "";
Common.StandbyStation.C4_Station2 = "";
}
} }
} }
AGVControl-ProductionLine/bean/Agv_Info.cs
...@@ -253,7 +253,7 @@ namespace AGVControl ...@@ -253,7 +253,7 @@ namespace AGVControl
if (value == 0) if (value == 0)
{ {
Place = ""; Place = "";
PlaceState = ePlaceState.None; PlaceState = ePlaceState.None;
} }
else if (value > 0 && value < 1000) else if (value > 0 && value < 1000)
{ {
......
AGVControl-ProductionLine/bean/Job.cs
...@@ -11,7 +11,6 @@ namespace AGVControl ...@@ -11,7 +11,6 @@ namespace AGVControl
/// </summary> /// </summary>
public bool IsProcess { get; set; } public bool IsProcess { get; set; }
/// <summary> /// <summary>
/// 运行信息 /// 运行信息
/// </summary> /// </summary>
......
AGVControl-ProductionLine/bean/job/ChargeJob.cs
...@@ -39,6 +39,7 @@ namespace AGVControl ...@@ -39,6 +39,7 @@ namespace AGVControl
get { return runInfo; } get { return runInfo; }
} }
private JobStep<CHARGE_STEP> ChargeStep = new JobStep<CHARGE_STEP>(CHARGE_STEP.NONE); private JobStep<CHARGE_STEP> ChargeStep = new JobStep<CHARGE_STEP>(CHARGE_STEP.NONE);
/// <summary> /// <summary>
......
AGVControl-ProductionLine/bean/job/GoEmptyShelfLineJob.cs
...@@ -78,6 +78,24 @@ namespace AGVControl ...@@ -78,6 +78,24 @@ namespace AGVControl
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC); Common.DoorMission(agv, SettingString.DoorDToC);
} }
else if(agvPlae.StartsWith("G") && EmptyShelfPlace.StartsWith("G"))
{
if(Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
else else
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
...@@ -90,10 +108,36 @@ namespace AGVControl ...@@ -90,10 +108,36 @@ namespace AGVControl
{ {
if (Common.CheckTaskFinished(agv, SettingString.DoorDToC, agv.CurTaskGUID)) if (Common.CheckTaskFinished(agv, SettingString.DoorDToC, agv.CurTaskGUID))
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
runInfo= "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]"; {
msg += runInfo; TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
TakeEmptyStep.Msg = msg; runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE))
{
if (Common.CheckTaskFinished(agv, SettingString.C4_STANDBY1, agv.CurTaskGUID)|| Common.CheckTaskFinished(agv, SettingString.C4_STANDBY2, agv.CurTaskGUID))
{
if (!Common.Check4CTarget(agv, EmptyShelfPlace))//未占用
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DeleteStandyInfo(agv);
}
} }
} }
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR)) else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR))
...@@ -261,6 +305,10 @@ namespace AGVControl ...@@ -261,6 +305,10 @@ namespace AGVControl
/// </summary> /// </summary>
WAIT_REACH_PLACE, WAIT_REACH_PLACE,
/// <summary> /// <summary>
/// 等待AGV到达临时停车位
/// </summary>
WAIT_REACH_TEMP_PLACE,
/// <summary>
/// 等待产线回应 /// 等待产线回应
/// </summary> /// </summary>
WAIT_LINE_RESPONSE, WAIT_LINE_RESPONSE,
......
AGVControl-ProductionLine/bean/job/SendFullShelfToLineJob.cs
...@@ -87,11 +87,38 @@ namespace AGVControl ...@@ -87,11 +87,38 @@ namespace AGVControl
{ {
if (Common.CheckTaskFinished(agv,SettingString.DoorDToC,agv.CurTaskGUID)) if (Common.CheckTaskFinished(agv,SettingString.DoorDToC,agv.CurTaskGUID))
{ {
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE); if (Common.Check4CTarget(agv, FullShelfPlace))//被占用
runInfo= "满料架从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]"; {
msg += runInfo; SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_REACH_TEMP_PLACE);
SendFullShelfStep.Msg = msg; runInfo = "目的地" + FullShelfPlace + "有小车占用，先到临时待机位";
Common.MoveToNode(agv, FullShelfPlace); msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.MoveTo4CStandy(agv);
}
else
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "满料架从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.MoveToNode(agv, FullShelfPlace);
}
}
}
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_REACH_TEMP_PLACE))
{
if (Common.CheckTaskFinished(agv, SettingString.C4_STANDBY1, agv.CurTaskGUID) || Common.CheckTaskFinished(agv, SettingString.C4_STANDBY2, agv.CurTaskGUID))
{
if (!Common.Check4CTarget(agv, FullShelfPlace))//未占用
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "满料架从临时待机位送往[" + FullShelfPlace + "][" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.DeleteStandyInfo(agv);
Common.MoveToNode(agv, FullShelfPlace);
}
} }
} }
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE)) else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE))
...@@ -214,6 +241,10 @@ namespace AGVControl ...@@ -214,6 +241,10 @@ namespace AGVControl
/// </summary> /// </summary>
WAIT_AGV_REACH_DOOR, WAIT_AGV_REACH_DOOR,
/// <summary> /// <summary>
/// 等待agv到达4C临时待机位
/// </summary>
WAIT_REACH_TEMP_PLACE,
/// <summary>
/// 等待小车到达目的地 /// 等待小车到达目的地
/// </summary> /// </summary>
WAIT_AGV_REACH_LINE, WAIT_AGV_REACH_LINE,
......
AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4C.cs
...@@ -65,50 +65,52 @@ namespace AGVControl ...@@ -65,50 +65,52 @@ namespace AGVControl
} }
} }
//出满料
if (Common.FindFullShelfTask(currentAgv))
{
//回收空料架
if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
{
if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP)) if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{ {
int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP)); int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
if (i > -1) if (i > -1)
return null; return null;
//foreach (Agv_Info agv in Common.agvInfo) //foreach (Agv_Info agv in Common.agvInfo)
//{ //{
// if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
// if (agv.CurJob is GoFullShelfStationJob) // continue;
// if (agv.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)agv.CurJob).EmptyShelfPlace.Equals(emptyNodeName))
// { // {
// return null; // return null;
// } // }
//} //}
return new GoFullShelfStationJob(currentAgv.Place); return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
} }
} }
//回收空料架 //出满料
if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName)) if (Common.FindFullShelfTask(currentAgv))
{ {
if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP)) if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{ {
int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName)); int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
if (i > -1) if (i > -1)
return null; return null;
//foreach (Agv_Info agv in Common.agvInfo) //foreach (Agv_Info agv in Common.agvInfo)
//{ //{
// if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
// continue; // if (agv.CurJob is GoFullShelfStationJob)
// if (agv.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)agv.CurJob).EmptyShelfPlace.Equals(emptyNodeName))
// { // {
// return null; // return null;
// } // }
//} //}
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName); return new GoFullShelfStationJob(currentAgv.Place);
} }
} }
return null; return null;
} }
} }
......
AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4D.cs
using log4net.Util; using BLL;
using log4net.Util;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
...@@ -41,7 +42,7 @@ namespace AGVControl ...@@ -41,7 +42,7 @@ namespace AGVControl
emptyJobCnt++; emptyJobCnt++;
} }
} }
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(2))//保留两辆小车出满料架 if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(1))//保留1辆小车出满料架
{ {
return null; return null;
} }
...@@ -69,20 +70,6 @@ namespace AGVControl ...@@ -69,20 +70,6 @@ namespace AGVControl
} }
} }
//出满料
if (Common.FindFullShelfTask(currentAgv))
{
if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
if (i > -1)
return null;
return new GoFullShelfStationJob(currentAgv.Place);
}
}
//回收空料架 //回收空料架
if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName)) if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
{ {
...@@ -104,6 +91,38 @@ namespace AGVControl ...@@ -104,6 +91,38 @@ namespace AGVControl
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName); return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
} }
} }
//出满料
if (Common.FindFullShelfTask(currentAgv))
{
if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
if (i > -1)
{
return null;
}
ClientNode node = Common.nodeInfo.Find(s => s.Name.Equals(SettingString.A6)
&& (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.Equals("00"));
if (node != null && node.Name.Equals(SettingString.A6))
{
if (AGVManager.FindFullShelfTarget(node.RFID, out AGVManager.BoxDestInfo boxDestInfo))
{
if (boxDestInfo != null)
{
i = Common.agvInfo.FindIndex(s => s.CurJob is SendFullShelfToLineJob && !s.IP.Equals(currentAgv.IP)
&& ((SendFullShelfToLineJob)s.CurJob).FullShelfPlace.Equals(boxDestInfo.location));
if (i > -1)
return null;
}
}
}
return new GoFullShelfStationJob(currentAgv.Place);
}
}
return null; return null;
} }
} }
......
AGVControl-ProductionLine/bin/Debug/logs/AgvServer.log2020-09-07 0 → 100644
[2020-09-07 04:48:23,483][1][AgvServer:47]INFO =====程序开始=====
[2020-09-07 04:48:23,878][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/7ed952c3-b520-11ea-b6ad-00012998f5a0 Return:
[2020-09-07 04:48:23,930][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:23,931][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/929eb1c2-b520-11ea-b6ad-00012998f5a0 Return:
[2020-09-07 04:48:23,983][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:23,984][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/3b823fe4-b368-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,035][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,039][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/ede15fcb-b367-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,091][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,093][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/43855a9b-b365-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,144][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,154][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/73c8b98c-b368-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,206][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,207][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/5436efd7-b432-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,258][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,260][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/6b7710c1-b432-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,312][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,314][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/8f039d2e-b432-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,366][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,367][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/9e0b64ab-b432-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,418][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,420][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/aec7da80-b432-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,471][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,472][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/c10984c9-b432-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,524][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,525][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/d6e0b92a-b432-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,576][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,579][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/efb04c55-b432-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,631][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,635][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/fd6b1f95-b432-11ea-a1a5-00012999830e Return:
[2020-09-07 04:48:24,687][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,689][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/1e546c3a-8abe-11ea-ab63-000129922ca6 Return:
[2020-09-07 04:48:24,749][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,823][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/431649a4-8abe-11ea-ab63-000129922ca6 Return:
[2020-09-07 04:48:24,877][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,883][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/d402fbc2-cdac-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:24,934][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,935][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/ce0d60e9-cdac-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:24,986][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:24,988][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/c768170a-cdac-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:25,039][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,041][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/c2de9745-cdac-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:25,092][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,094][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/be468ef4-cdac-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:25,146][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,148][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/b9117881-cdac-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:25,199][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,200][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/b3cda9db-cdac-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:25,252][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,254][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/ae09fc56-cdac-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:25,305][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,306][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/a64bdbbb-cdac-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:25,357][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,358][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/604b1c3c-ca4e-11ea-810b-00012999830e Return:
[2020-09-07 04:48:25,410][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,411][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/07841fc6-d0d4-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:25,462][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,463][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/0efca2c6-d0d4-11ea-a3e4-94c691a7387d Return:
[2020-09-07 04:48:25,515][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,516][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/cb7f117b-ca88-11ea-9b28-0001299981d4 Return:
[2020-09-07 04:48:25,568][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,569][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/cb7f117b-ca88-11ea-9b28-0001299981d4 Return:
[2020-09-07 04:48:25,621][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,623][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/positions/ac6c413e-895e-11ea-9374-000129922ca6 Return:
[2020-09-07 04:48:25,673][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,724][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,775][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,826][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,877][1][AgvServer:1408]DEBUG GetNodesPosition 获取节点位置失败
[2020-09-07 04:48:25,879][1][AgvServer:54]INFO Server Start
[2020-09-07 04:48:26,488][1][AgvServer:161]ERROR Open
System.ArgumentException: 此集合已经采用方案 http 的地址。此集合中每个方案中最多只能包含一个地址。如果服务承载于 IIS 中，则可以通过将“system.serviceModel/serviceHostingEnvironment/multipleSiteBindingsEnabled”设置为 true，或指定“system.serviceModel/serviceHostingEnvironment/baseAddressPrefixFilters”来解决此问题。
参数名: item
在 System.ServiceModel.UriSchemeKeyedCollection.InsertItem(Int32 index, Uri item)
在 System.Collections.Generic.SynchronizedCollection`1.Add(T item)
在 System.ServiceModel.ServiceHostBase.AddBaseAddress(Uri baseAddress)
在 System.ServiceModel.ServiceHostBase.LoadConfigurationSectionHelper(Uri baseAddress)
在 System.ServiceModel.Description.ConfigLoader.LoadHostConfig(ServiceElement serviceElement, ServiceHostBase host, Action`1 addBaseAddress)
在 System.ServiceModel.Description.ConfigLoader.LoadServiceDescription(ServiceHostBase host, ServiceDescription description, ServiceElement serviceElement, Action`1 addBaseAddress, Boolean skipHost)
在 System.ServiceModel.ServiceHostBase.LoadConfigurationSectionInternal(ConfigLoader configLoader, ServiceDescription description, ServiceElement serviceSection)
在 System.ServiceModel.ServiceHostBase.ApplyConfiguration()
在 System.ServiceModel.ServiceHost.ApplyConfiguration()
在 System.ServiceModel.ServiceHostBase.InitializeDescription(UriSchemeKeyedCollection baseAddresses)
在 System.ServiceModel.ServiceHost.InitializeDescription(Type serviceType, UriSchemeKeyedCollection baseAddresses)
在 System.ServiceModel.ServiceHost.InitializeDescription(Object singletonInstance, UriSchemeKeyedCollection baseAddresses)
在 System.ServiceModel.ServiceHost..ctor(Object singletonInstance, Uri[] baseAddresses)
在 System.ServiceModel.Web.WebServiceHost..ctor(Object singletonInstance, Uri[] baseAddresses)
在 BLL.WebService.Open(String url) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\LineWebService.cs:行号 155
[2020-09-07 04:48:27,029][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.71/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status Return:
[2020-09-07 04:48:27,034][1][AgvServer:72]DEBUG URL: http://10.85.199.71/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status
Return:
[2020-09-07 04:48:27,048][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.72/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status Return:
[2020-09-07 04:48:27,048][1][AgvServer:72]DEBUG URL: http://10.85.199.72/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status
Return:
[2020-09-07 04:48:27,053][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.73/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status Return:
[2020-09-07 04:48:27,053][1][AgvServer:72]DEBUG URL: http://10.85.199.73/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status
Return:
[2020-09-07 04:48:27,058][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.74/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status Return:
[2020-09-07 04:48:27,058][1][AgvServer:72]DEBUG URL: http://10.85.199.74/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status
Return:
[2020-09-07 04:48:27,063][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.80/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status Return:
[2020-09-07 04:48:27,063][1][AgvServer:72]DEBUG URL: http://10.85.199.80/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status
Return:
[2020-09-07 04:48:27,067][1][AgvServer:650]DEBUG HttpGet URL: http://10.85.199.81/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status Return:
[2020-09-07 04:48:27,068][1][AgvServer:72]DEBUG URL: http://10.85.199.81/api/v2.0.0/io_modules/007615a5-2220-11ea-99f2-94c691a73b53/status
Return:
[2020-09-07 04:48:28,272][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:28,274][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:28,712][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:28,712][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:29,075][6][AgvServer:622]INFO Ping 10.85.199.71 请求没有响应
[2020-09-07 04:48:29,077][6][AgvServer:284]DEBUG MiR_R1763 Offline
[2020-09-07 04:48:29,709][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:29,709][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:30,727][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:30,727][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:31,075][6][AgvServer:622]INFO Ping 10.85.199.72 请求没有响应
[2020-09-07 04:48:31,075][6][AgvServer:284]DEBUG MiR_R1764 Offline
[2020-09-07 04:48:31,092][6][AgvServer:629]ERROR CheckIP
System.Net.NetworkInformation.PingException: Ping 请求期间发生异常。 ---> System.ComponentModel.Win32Exception: Unknown error (0x2b2a)
在 System.Net.NetworkInformation.Ping.InternalSend(IPAddress address, Byte[] buffer, Int32 timeout, PingOptions options, Boolean async)
在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout, Byte[] buffer, PingOptions options)
在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout)
在 BLL.MiR_API.CheckIP(String ip) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\MiR_API.cs:行号 618
[2020-09-07 04:48:31,093][6][AgvServer:284]DEBUG MiR_R1767 Offline
[2020-09-07 04:48:31,364][8][AgvServer:232]DEBUG KeepLive 没有找到A5
[2020-09-07 04:48:31,669][8][AgvServer:232]DEBUG KeepLive 没有找到A6
[2020-09-07 04:48:31,743][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:31,743][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:31,975][8][AgvServer:232]DEBUG KeepLive 没有找到E1
[2020-09-07 04:48:32,279][8][AgvServer:232]DEBUG KeepLive 没有找到E2
[2020-09-07 04:48:32,584][8][AgvServer:232]DEBUG KeepLive 没有找到E3
[2020-09-07 04:48:32,741][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:32,741][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:32,889][8][AgvServer:232]DEBUG KeepLive 没有找到E4
[2020-09-07 04:48:33,074][6][AgvServer:622]INFO Ping 10.85.199.74 请求没有响应
[2020-09-07 04:48:33,074][6][AgvServer:284]DEBUG MiR_R1768 Offline
[2020-09-07 04:48:33,194][8][AgvServer:232]DEBUG KeepLive 没有找到E5
[2020-09-07 04:48:33,499][8][AgvServer:232]DEBUG KeepLive 没有找到E6
[2020-09-07 04:48:33,742][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:33,742][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:33,804][8][AgvServer:232]DEBUG KeepLive 没有找到E8
[2020-09-07 04:48:34,109][8][AgvServer:232]DEBUG KeepLive 没有找到E9
[2020-09-07 04:48:34,413][8][AgvServer:232]DEBUG KeepLive 没有找到E10
[2020-09-07 04:48:34,716][8][AgvServer:232]DEBUG KeepLive 没有找到E11
[2020-09-07 04:48:34,742][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:34,742][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:35,021][8][AgvServer:232]DEBUG KeepLive 没有找到E12
[2020-09-07 04:48:35,075][6][AgvServer:622]INFO Ping 10.85.199.80 请求没有响应
[2020-09-07 04:48:35,075][6][AgvServer:284]DEBUG MiR_R1579 Offline
[2020-09-07 04:48:35,325][8][AgvServer:232]DEBUG KeepLive 没有找到E14
[2020-09-07 04:48:35,629][8][AgvServer:232]DEBUG KeepLive 没有找到E15
[2020-09-07 04:48:35,758][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:35,759][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:35,934][8][AgvServer:232]DEBUG KeepLive 没有找到E21
[2020-09-07 04:48:36,239][8][AgvServer:232]DEBUG KeepLive 没有找到E22
[2020-09-07 04:48:36,544][8][AgvServer:232]DEBUG KeepLive 没有找到G1
[2020-09-07 04:48:36,772][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:36,772][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:36,850][8][AgvServer:232]DEBUG KeepLive 没有找到G2
[2020-09-07 04:48:37,075][6][AgvServer:622]INFO Ping 10.85.199.81 请求没有响应
[2020-09-07 04:48:37,075][6][AgvServer:284]DEBUG MiR_R1580 Offline
[2020-09-07 04:48:37,085][6][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:37,085][6][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22%e4%b8%8b%e6%96%99%e5%8c%ba(A5)%22%2c%22msgKey%22%3a%22lineAgv.A5.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%22%e4%b8%8a%e6%96%99%e5%8c%ba(A6)%22%2c%22msgKey%22%3a%22lineAgv.A6.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-1%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E1.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-2%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E2.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-3%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E3.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-4%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E4.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-5%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E5.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-6%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E6.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-8%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E8.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-9%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E9.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-10%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E10.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-11%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E11.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-12%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E12.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-14%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E14.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-15%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E15.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-FeedeerIn%22%2c%22msgKey%22%3a%22lineAgv.E21.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-FeederOut%22%2c%22msgKey%22%3a%22lineAgv.E22.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-1%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G1.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-2%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G2.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-3%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G3.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-4%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G4.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-5%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G5.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-6%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G6.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-7%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G7.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-8%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G8.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-9%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G9.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-10%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G10.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-14%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G14.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-15%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G15.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-FeederIn%22%2c%22msgKey%22%3a%22lineAgv.G21.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-FeederOut%22%2c%22msgKey%22%3a%22lineAgv.G22.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224D-16%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.E16.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-11%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G11.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-12%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G12.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-13%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G13.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%2c%7b%22name%22%3a%224C-16%e7%ba%bf%22%2c%22msgKey%22%3a%22lineAgv.G16.OffLine%22%2c%22msgValue%22%3a%22%e6%8e%a5%e9%a9%b3%e5%8f%b0%e7%8a%b6%e6%80%81%ef%bc%9a%e7%a6%bb%e7%ba%bf%22%2c%22type%22%3a0%7d%5d】【】
[2020-09-07 04:48:37,155][8][AgvServer:232]DEBUG KeepLive 没有找到G3
[2020-09-07 04:48:37,460][8][AgvServer:232]DEBUG KeepLive 没有找到G4
[2020-09-07 04:48:37,765][8][AgvServer:232]DEBUG KeepLive 没有找到G5
[2020-09-07 04:48:37,776][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:37,776][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:38,070][8][AgvServer:232]DEBUG KeepLive 没有找到G6
[2020-09-07 04:48:38,375][8][AgvServer:232]DEBUG KeepLive 没有找到G7
[2020-09-07 04:48:38,680][8][AgvServer:232]DEBUG KeepLive 没有找到G8
[2020-09-07 04:48:38,789][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:38,789][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:38,989][8][AgvServer:232]DEBUG KeepLive 没有找到G9
[2020-09-07 04:48:39,293][8][AgvServer:232]DEBUG KeepLive 没有找到G10
[2020-09-07 04:48:39,574][6][AgvServer:622]INFO Ping 10.85.199.71 请求没有响应
[2020-09-07 04:48:39,574][6][AgvServer:284]DEBUG MiR_R1763 Offline
[2020-09-07 04:48:39,597][8][AgvServer:232]DEBUG KeepLive 没有找到G14
[2020-09-07 04:48:39,791][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:39,791][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:39,902][8][AgvServer:232]DEBUG KeepLive 没有找到G15
[2020-09-07 04:48:40,208][8][AgvServer:232]DEBUG KeepLive 没有找到G21
[2020-09-07 04:48:40,513][8][AgvServer:232]DEBUG KeepLive 没有找到G22
[2020-09-07 04:48:40,788][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:40,788][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:40,817][8][AgvServer:232]DEBUG KeepLive 没有找到E16
[2020-09-07 04:48:41,121][8][AgvServer:232]DEBUG KeepLive 没有找到G11
[2020-09-07 04:48:41,426][8][AgvServer:232]DEBUG KeepLive 没有找到G12
[2020-09-07 04:48:41,575][6][AgvServer:622]INFO Ping 10.85.199.72 请求没有响应
[2020-09-07 04:48:41,575][6][AgvServer:284]DEBUG MiR_R1764 Offline
[2020-09-07 04:48:41,582][6][AgvServer:629]ERROR CheckIP
System.Net.NetworkInformation.PingException: Ping 请求期间发生异常。 ---> System.ComponentModel.Win32Exception: Unknown error (0x2b2a)
在 System.Net.NetworkInformation.Ping.InternalSend(IPAddress address, Byte[] buffer, Int32 timeout, PingOptions options, Boolean async)
在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.NetworkInformation.Ping.Send(IPAddress address, Int32 timeout, Byte[] buffer, PingOptions options)
在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout, Byte[] buffer, PingOptions options)
在 System.Net.NetworkInformation.Ping.Send(String hostNameOrAddress, Int32 timeout)
在 BLL.MiR_API.CheckIP(String ip) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\MiR_API.cs:行号 618
[2020-09-07 04:48:41,583][6][AgvServer:284]DEBUG MiR_R1767 Offline
[2020-09-07 04:48:41,731][8][AgvServer:232]DEBUG KeepLive 没有找到G13
[2020-09-07 04:48:41,790][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:41,790][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:42,037][8][AgvServer:232]DEBUG KeepLive 没有找到G16
[2020-09-07 04:48:42,790][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:42,790][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
[2020-09-07 04:48:43,575][6][AgvServer:622]INFO Ping 10.85.199.74 请求没有响应
[2020-09-07 04:48:43,575][6][AgvServer:284]DEBUG MiR_R1768 Offline
[2020-09-07 04:48:43,804][1][AgvServer:147]ERROR POST ERROR:System.Net.WebException: 无法连接到远程服务器 ---> System.Net.Sockets.SocketException: 套接字操作尝试一个无法连接的主机。 10.85.199.25:80
在 System.Net.Sockets.Socket.DoConnect(EndPoint endPointSnapshot, SocketAddress socketAddress)
在 System.Net.ServicePoint.ConnectSocketInternal(Boolean connectFailure, Socket s4, Socket s6, Socket& socket, IPAddress& address, ConnectSocketState state, IAsyncResult asyncResult, Exception& exception)
--- 内部异常堆栈跟踪的结尾 ---
在 System.Net.WebClient.UploadDataInternal(Uri address, String method, Byte[] data, WebRequest& request)
在 System.Net.WebClient.UploadString(Uri address, String method, String data)
在 System.Net.WebClient.UploadString(String address, String method, String data)
在 BLL.HttpHelper.Post(String url, String paramData, Encoding encoding) 位置 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\BLL\HttpHelper.cs:行号 142
[2020-09-07 04:48:43,805][1][AgvServer:351]DEBUG 异常看板【http://10.85.199.25/myproject/rest/api/qisda/device/updateDeviceAlarmMsg?deviceAlarmList=%5b%7b%22name%22%3a%22MiR_R1763%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1763.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1764%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1764.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1767%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1767.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1768%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1768.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1579%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1579.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%2c%7b%22name%22%3a%22MiR_R1580%22%2c%22msgKey%22%3a%22lineAgv.MiR_R1580.Msg%22%2c%22msgValue%22%3a%22%22%2c%22type%22%3a1%7d%5d】【】
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