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Commit 4f2ed27e 由 张东亮
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添加与4C对接

1 个父辈 0f1ba7f9
内嵌 并排
正在显示 51 个修改的文件 包含 1459 行增加 和 608 行删除
AGVControl-ProductionLine/BLL/AgvServer.cs
...@@ -125,6 +125,7 @@ namespace BLL ...@@ -125,6 +125,7 @@ namespace BLL
{ {
while (_loop) while (_loop)
{ {
Thread.Sleep(30000);
foreach (ClientNode clientNode in Common.nodeInfo) foreach (ClientNode clientNode in Common.nodeInfo)
{ {
Thread.Sleep(3000); Thread.Sleep(3000);
...@@ -203,7 +204,7 @@ namespace BLL ...@@ -203,7 +204,7 @@ namespace BLL
ping.Dispose(); ping.Dispose();
if (result.Status != System.Net.NetworkInformation.IPStatus.Success) if (result.Status != System.Net.NetworkInformation.IPStatus.Success)
{ {
Common.LogInfo(name + " Ping " + ip + " 请求没有响应", false); Common.log.Debug(name + " Ping " + ip + " 请求没有响应");
return false; return false;
} }
return true; return true;
...@@ -455,41 +456,28 @@ namespace BLL ...@@ -455,41 +456,28 @@ namespace BLL
private int FindClient(string ip) private int FindClient(string ip)
{ {
int index = -1; int index = -1;
try
foreach (Client item in _client)
{ {
if (item.IsConn) foreach (Client item in _client)
{ {
//Common.log.Info("已连接客户端：" + string.Join("#", item.IP)); if (item.IsConn)
if (item.IP.Contains(ip))
{ {
index = _client.IndexOf(item); //Common.log.Info("已连接客户端：" + string.Join("#", item.IP));
break; if (item.IP.Contains(ip))
{
index = _client.IndexOf(item);
break;
}
//int idx = item.nodeName.FindIndex(a => a == name);
//if (idx != -1)
//{
// index = _client.IndexOf(item);
// break;
//}
} }
//int idx = item.nodeName.FindIndex(a => a == name);
//if (idx != -1)
//{
// index = _client.IndexOf(item);
// break;
//}
} }
} }
catch { };
//for (int i = 0; i < _client.Count; i++)
//{
// if (_client[i].IsConn)
// {
// Common.log.Info("已连接客户端：" + _client[i].nodeName[i]);
// int idx = _client[i].nodeName.FindIndex(a => a == name);
// if (idx != -1)
// {
// index = i;
// break;
// }
// }
//}
return index; return index;
} }
......
AGVControl-ProductionLine/BLL/Common.cs
...@@ -22,10 +22,6 @@ namespace AGVControl ...@@ -22,10 +22,6 @@ namespace AGVControl
/// 小车信息 /// 小车信息
/// </summary> /// </summary>
public static List<Agv_Info> agvInfo; public static List<Agv_Info> agvInfo;
/// <summary>
/// 任务列表
/// </summary>
public static List<MissionStru> missionList;
public static System.Windows.Forms.TextBox logTextBox; public static System.Windows.Forms.TextBox logTextBox;
public static System.Windows.Forms.DataGridView missionView; public static System.Windows.Forms.DataGridView missionView;
public static BLL.AgvServer server; public static BLL.AgvServer server;
...@@ -36,28 +32,19 @@ namespace AGVControl ...@@ -36,28 +32,19 @@ namespace AGVControl
public static string itsHttp; public static string itsHttp;
public static log4net.ILog log; public static log4net.ILog log;
public static Dictionary<string, string> agvMission; public static Dictionary<string, string> agvMission;
public static Dictionary<string, string> showNameMissionName;
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 readonly string CONFIG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Config\\"; public static readonly string CONFIG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Config\\";
private static string msg = ""; /// <summary>
/// E21 E22 是否允许离开/进入
/// </summary>
public static bool IsAllowLeaveOrEnter = false;
private static List<string> msg = new List<string>();
private static string preLog = ""; private static string preLog = "";
private static int logCnt = 0;
public struct MissionStru
{
public string NodeName;
public string CreateTime;
/// <summary>
/// 任务结构
/// </summary>
/// <param name="dateTime">创建时间</param>
/// <param name="name">节点名称</param>
public MissionStru(string dateTime, string name)
{
NodeName = name;
CreateTime = dateTime;
}
}
public static void LogInfo(string text, bool isShow = true) public static void LogInfo(string text, bool isShow = true)
{ {
if (logTextBox.InvokeRequired) if (logTextBox.InvokeRequired)
...@@ -69,22 +56,21 @@ namespace AGVControl ...@@ -69,22 +56,21 @@ namespace AGVControl
if (preLog.Equals(text))//连续重复的日志只打印一次 if (preLog.Equals(text))//连续重复的日志只打印一次
return; return;
preLog = text; preLog = text;
logCnt++; if (msg.Count > 25)
if (logCnt > 200)
{ {
logCnt = 0; msg.RemoveRange(0,10);
msg = "";
} }
log.Info(text); log.Info(text);
string tmpStr="";
if (isShow) if (isShow)
{ {
msg += string.Format("[{0}] {1}\r\n", DateTime.Now.ToString("HH:mm:ss"), text); msg.Add(string.Format("[{0}] {1}\r\n", DateTime.Now.ToString("HH:mm:ss"), text));
logTextBox.Text = msg; msg.ForEach(s=> tmpStr+= s);
logTextBox.Text = tmpStr;
} }
} }
public static void ReadLinePlace() public static void ReadLinePlace()
{ {
missionList = new List<MissionStru>();
if (!System.IO.File.Exists(CONFIG_PATH + "LinePlace.txt")) if (!System.IO.File.Exists(CONFIG_PATH + "LinePlace.txt"))
{ {
File.Create(CONFIG_PATH + "LinePlace.txt"); File.Create(CONFIG_PATH + "LinePlace.txt");
...@@ -97,7 +83,7 @@ namespace AGVControl ...@@ -97,7 +83,7 @@ namespace AGVControl
string[] mission = s[i].Split(','); string[] mission = s[i].Split(',');
if (mission.Length != 2) if (mission.Length != 2)
continue; continue;
missionList.Add(new MissionStru(mission[0], mission[1])); missionManager.missionList.Add(new MissionStru(mission[0], mission[1]));
} }
...@@ -109,10 +95,10 @@ namespace AGVControl ...@@ -109,10 +95,10 @@ namespace AGVControl
int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName); int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
if (idx > -1) if (idx > -1)
{ {
Common.missionList.Add(new MissionStru(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),nodeName)); Common.missionManager.missionList.Add(new MissionStru(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),nodeName));
using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt")) using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt"))
{ {
foreach (var item in Common.missionList) foreach (var item in Common.missionManager.missionList)
{ {
file.WriteLine(string.Format("{0},{1}",item.CreateTime, item.NodeName)); file.WriteLine(string.Format("{0},{1}",item.CreateTime, item.NodeName));
} }
...@@ -134,13 +120,13 @@ namespace AGVControl ...@@ -134,13 +120,13 @@ namespace AGVControl
int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName); int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
if (idx > -1) if (idx > -1)
{ {
idx = Common.missionList.FindIndex(s => s.NodeName == nodeName); idx = Common.missionManager.missionList.FindIndex(s => s.NodeName == nodeName);
if(idx>-1) if(idx>-1)
{ {
Common.missionList.RemoveAt(idx); Common.missionManager.missionList.RemoveAt(idx);
using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt")) using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt"))
{ {
foreach (var item in Common.missionList) foreach (var item in Common.missionManager.missionList)
{ {
file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName)); file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName));
} }
...@@ -182,7 +168,7 @@ namespace AGVControl ...@@ -182,7 +168,7 @@ namespace AGVControl
} }
else else
{ {
Common.log.Error("CheckAGVMissionState 获取PLC20失败"); Common.log.Debug("CheckAGVMissionState 获取PLC20失败");
} }
} }
} }
...@@ -201,7 +187,7 @@ namespace AGVControl ...@@ -201,7 +187,7 @@ namespace AGVControl
} }
else else
{ {
Common.log.Error("GetNodesPosition 获取节点位置失败"); Common.log.Debug("GetNodesPosition 获取节点位置失败");
} }
} }
} }
...@@ -312,16 +298,19 @@ namespace AGVControl ...@@ -312,16 +298,19 @@ namespace AGVControl
/// 节点位置坐标 /// 节点位置坐标
/// </summary> /// </summary>
public PositionStru position; public PositionStru position;
public string AliceName { get; set; }
/// <summary> /// <summary>
/// 客户端节点 /// 客户端节点
/// </summary> /// </summary>
/// <param name="name"></param> /// <param name="name"></param>
/// <param name="ip"></param> /// <param name="ip"></param>
/// <param name="isUse"></param> /// <param name="isUse"></param>
public ClientNode(string name, string ip, bool isUse, string pos_name, string pos_guid) public ClientNode(string name, string ip, string aliceName, string pos_name, string pos_guid, bool isUse)
{ {
Name = name; Name = name;
IP = ip; IP = ip;
AliceName = aliceName;
RFID = rfid; RFID = rfid;
Action = ClientAction.None; Action = ClientAction.None;
AgvName = ""; AgvName = "";
...@@ -362,7 +351,7 @@ namespace AGVControl ...@@ -362,7 +351,7 @@ namespace AGVControl
{ {
//节点,IP,动作,RFID,AGV名称,在线,调用,清除AGV //节点,IP,动作,RFID,AGV名称,在线,调用,清除AGV
string[] s = new string[9]; string[] s = new string[9];
s[0] = Name; s[0] = AliceName;
s[1] = IP; s[1] = IP;
if (Online) if (Online)
{ {
...@@ -428,6 +417,10 @@ namespace AGVControl ...@@ -428,6 +417,10 @@ namespace AGVControl
/// 地点 /// 地点
/// </summary> /// </summary>
public string Place { set; get; } public string Place { set; get; }
/// <summary>
/// 地点
/// </summary>
public string PlaceAliceName { set; get; } = "";
/// <summary> /// <summary>
/// 地点的状态 /// 地点的状态
...@@ -459,7 +452,10 @@ namespace AGVControl ...@@ -459,7 +452,10 @@ namespace AGVControl
/// 下一个地点 /// 下一个地点
/// </summary> /// </summary>
public string NextPlace { set; get; } public string NextPlace { set; get; }
/// <summary>
/// 下一个地点
/// </summary>
public string NextPlaceAliceName { set; get; } = "";
/// <summary> /// <summary>
/// 关门，用于执行一次 /// 关门，用于执行一次
...@@ -547,9 +543,18 @@ namespace AGVControl ...@@ -547,9 +543,18 @@ namespace AGVControl
int a = value / 1000; int a = value / 1000;
int b = (value - a * 1000) / 10; int b = (value - a * 1000) / 10;
int c = value - a * 1000 - b * 10; int c = value - a * 1000 - b * 10;
if (c.Equals(1) || c.Equals(3) || c.Equals(5)) if (c.Equals(1) || c.Equals(3) || c.Equals(5))//Move,Enter,Leave
TaskSend = ""; TaskSend = "";
Place = (char)(64 + a) + b.ToString(); Place = (char)(64 + a) + b.ToString();
if(Common.nodeInfo !=null && Common.nodeInfo.Count !=0)
{
ClientNode node = Common.nodeInfo.Find(s => s.Name == Place);
if (node != null)
PlaceAliceName = node.AliceName;
else
PlaceAliceName = "";
}
PlaceState = (PlaceState)c; PlaceState = (PlaceState)c;
} }
} }
...@@ -565,9 +570,17 @@ namespace AGVControl ...@@ -565,9 +570,17 @@ namespace AGVControl
s.Add(StateText); s.Add(StateText);
s.Add(RFID); s.Add(RFID);
s.Add(MissionText); s.Add(MissionText);
s.Add(Place); s.Add(PlaceAliceName);
s.Add(PlaceState.ToString()); s.Add(PlaceState.ToString());
s.Add(NextPlace); if (Common.nodeInfo != null && Common.nodeInfo.Count != 0)
{
ClientNode node = Common.nodeInfo.Find(q => q.Name == NextPlace);
if (node != null)
NextPlaceAliceName = node.AliceName;
else
NextPlaceAliceName = "";
}
s.Add(NextPlaceAliceName);
} }
else else
{ {
...@@ -751,5 +764,42 @@ namespace AGVControl ...@@ -751,5 +764,42 @@ namespace AGVControl
} }
/// <summary>
/// 任务信息结构
/// </summary>
public struct MissionStru
{
public string NodeName;
public string CreateTime;
/// <summary>
/// 任务结构
/// </summary>
/// <param name="dateTime">创建时间</param>
/// <param name="name">节点名称</param>
public MissionStru(string dateTime, string name)
{
NodeName = name;
CreateTime = dateTime;
}
}
/// <summary>
/// 任务管理
/// </summary>
public class MissionManager
{
/// <summary>
/// 任务列表
/// </summary>
public List<MissionStru> missionList;
/// <summary>
/// 主动执行空架任务的小车名称
/// </summary>
public string AGV_Name_EmptyTask { get; set; } = "";
public MissionManager()
{
missionList = new List<MissionStru>();
}
}
} }
\ No newline at end of file \ No newline at end of file
AGVControl-ProductionLine/BLL/Control.cs
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Drawing.Text;
using System.Linq; using System.Linq;
using System.Threading; using System.Threading;
using System.Threading.Tasks;
using System.Web.Script.Serialization; using System.Web.Script.Serialization;
using AGVControl; using AGVControl;
using log4net.Util;
using RestSharp; using RestSharp;
namespace BLL namespace BLL
...@@ -57,15 +60,15 @@ namespace BLL ...@@ -57,15 +60,15 @@ namespace BLL
//获取AGV状态 //获取AGV状态
rtn = Common.mir.Get_State(Common.agvInfo[i], out int stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.clsPosition position); rtn = Common.mir.Get_State(Common.agvInfo[i], out int stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.clsPosition position);
Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output); Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
bool change = false; bool change = false;
if (rtn) change = Common.agvInfo[i].SetState(stateID, stateText, battery, mission_text, position,input,output); if (rtn) change = Common.agvInfo[i].SetState(stateID, stateText, battery, mission_text, position, input, output);
//上报异常 //上报异常
if (Common.agvInfo[i].MissionText != mission_text) if (Common.agvInfo[i].MissionText != mission_text)
{ {
Common.agvInfo[i].MissionText = mission_text; Common.agvInfo[i].MissionText = mission_text;
if (mission_text.Equals("停靠") || mission_text.ToLower().Equals("DOCKING")) if (mission_text.Equals("正在停靠") || mission_text.ToUpper().Equals("DOCKING"))
{ {
Common.agvInfo[i].DockingInfo.startTime = DateTime.Now; Common.agvInfo[i].DockingInfo.startTime = DateTime.Now;
Common.agvInfo[i].DockingInfo.IsDocking = true; Common.agvInfo[i].DockingInfo.IsDocking = true;
...@@ -100,7 +103,7 @@ namespace BLL ...@@ -100,7 +103,7 @@ namespace BLL
if (change) if (change)
{ {
Common.LogInfo(string.Format("{0} Get_State StateID={1}, StateText={2}, Battery={3}, Mission_text={4}", Common.agvInfo[i].Name, stateID, stateText, battery, mission_text), false); Common.log.Debug(string.Format("{0} Get_State StateID={1}, StateText={2}, Battery={3}, Mission_text={4},IsExistShelf={5}", Common.agvInfo[i].Name, stateID, stateText, battery, mission_text, Common.agvInfo[i].IsExistShelf));
} }
//执行任务更新状态 //执行任务更新状态
if (stateID == 5 || change) if (stateID == 5 || change)
...@@ -130,51 +133,56 @@ namespace BLL ...@@ -130,51 +133,56 @@ namespace BLL
private void AgvCall() private void AgvCall()
{ {
while (loop) try
{ {
Thread.Sleep(1000); while (loop)
for (int i = 0; i < Common.agvInfo.Count; i++)
{ {
if (!loop) break; Thread.Sleep(1000);
if (!Common.agvInfo[i].IsCon) continue; //AGV网络连接 for (int i = 0; i < Common.agvInfo.Count; i++)
if (!Common.agvInfo[i].IsUse) continue; //AGV是否可用
//Ready,Pause,Executing
if (Common.agvInfo[i].StateID != 3 && Common.agvInfo[i].StateID != 4 && Common.agvInfo[i].StateID != 5)
{ {
Common.LogInfo(string.Format("{0}不能调用 StateID={1}, StateText={2}", Common.agvInfo[i].Name, Common.agvInfo[i].StateID, Common.agvInfo[i].StateText)); if (!loop) break;
continue; if (!Common.agvInfo[i].IsCon) continue; //AGV网络连接
} if (!Common.agvInfo[i].IsUse) continue; //AGV是否可用
switch (Common.agvInfo[i].PlaceState) //Ready,Pause,Executing
{ if (Common.agvInfo[i].StateID != 3 && Common.agvInfo[i].StateID != 4 && Common.agvInfo[i].StateID != 5)
case PlaceState.None: {
StateNone(i); Common.LogInfo(string.Format("{0}不能调用 StateID={1}, StateText={2}", Common.agvInfo[i].Name, Common.agvInfo[i].StateID, Common.agvInfo[i].StateText));
break; continue;
case PlaceState.Move: }
StateMove(i);
break; switch (Common.agvInfo[i].PlaceState)
case PlaceState.MoveFinish: {
StateMoveFinish(i); case PlaceState.None:
break; StateNone(i);
case PlaceState.Enter: break;
StateEnter(i); case PlaceState.Move:
break; StateMove(i);
case PlaceState.EnterFinish: break;
StateEnterFinish(i); case PlaceState.MoveFinish:
break; StateMoveFinish(i);
case PlaceState.Leave: break;
StateLeave(i); case PlaceState.Enter:
break; StateEnter(i);
case PlaceState.LeaveFinish: break;
StateLeaveFinish(i); case PlaceState.EnterFinish:
break; StateEnterFinish(i);
case PlaceState.Error: break;
StateError(i); case PlaceState.Leave:
break; StateLeave(i);
break;
case PlaceState.LeaveFinish:
StateLeaveFinish(i);
break;
case PlaceState.Error:
StateError(i);
break;
}
} }
} }
} }
catch (Exception ex) { Common.log.Error("AgvCall " + ex.Message); }
} }
/// <summary> /// <summary>
...@@ -182,21 +190,21 @@ namespace BLL ...@@ -182,21 +190,21 @@ namespace BLL
/// </summary> /// </summary>
/// <param name="agv"></param> /// <param name="agv"></param>
/// <returns>节点名称</returns> /// <returns>节点名称</returns>
private Common.MissionStru CalculateNearNode(Agv_Info agv) private MissionStru CalculateNearNode(Agv_Info agv)
{ {
Common.MissionStru missionNode = new Common.MissionStru("",""); MissionStru missionNode = new MissionStru("", "");
double minDis = Double.MaxValue; double minDis = Double.MaxValue;
try try
{ {
if (Common.missionList.Count == 0) if (Common.missionManager.missionList.Count == 0)
return missionNode; return missionNode;
foreach (var item in Common.missionList) foreach (var item in Common.missionManager.missionList)
{ {
int index = Common.nodeInfo.FindIndex(s => s.Name == item.NodeName); int index = Common.nodeInfo.FindIndex(s => s.Name == item.NodeName);
if (index > -1) if (index > -1)
{ {
double dis = Math.Sqrt(Math.Pow((agv.Position.x - Common.nodeInfo[index].position.X), 2) + Math.Pow((agv.Position.y - Common.nodeInfo[index].position.Y), 2)); double dis = Math.Sqrt(Math.Pow((agv.Position.x - Common.nodeInfo[index].position.X), 2) + Math.Pow((agv.Position.y - Common.nodeInfo[index].position.Y), 2));
Common.LogInfo(string.Format("{0} 距离{1}={2}", agv.Name, Common.nodeInfo[index].Name, dis.ToString("f2")), false); Common.log.Debug(string.Format("{0} 距离{1}={2}", agv.Name, Common.nodeInfo[index].Name, dis.ToString("f2")));
if (dis < minDis) if (dis < minDis)
{ {
minDis = dis; minDis = dis;
...@@ -204,12 +212,12 @@ namespace BLL ...@@ -204,12 +212,12 @@ namespace BLL
} }
} }
} }
Common.LogInfo(string.Format("{0} 运动到产线 {1}", agv.Name, missionNode), false); Common.log.Debug(string.Format("{0} 运动到产线 {1}", agv.Name, missionNode.NodeName));
return missionNode; return missionNode;
} }
catch (Exception e) catch (Exception e)
{ {
Common.log.Error("CalculateNearNode + " + e.ToString()); Common.log.Error("CalculateNearNode " + e.ToString());
} }
return missionNode; return missionNode;
} }
...@@ -248,15 +256,36 @@ namespace BLL ...@@ -248,15 +256,36 @@ namespace BLL
Agv_Info agv = Common.agvInfo[idx]; Agv_Info agv = Common.agvInfo[idx];
if (agv.TaskSend != "") return; if (agv.TaskSend != "") return;
agv.PlaceAliceName = "";
//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
{
if (agv.RFID.StartsWith("C"))
{
CheckA5A6State_BigShelf(agv);
}
else
{
CheckA5A6State_SmallShelf(agv);
}
return;
}
//检查是否需要充电 //检查是否需要充电
if (CheckIsNeedCharge(agv)) if (CheckIsNeedCharge(agv))
return; return;
if (CheckEmptyShelf(agv, agv.Place, true))//先出空料架
return;
if (CheckA6State(agv)) if (CheckA6State(agv))
return; return;
CheckEmptyShelf(agv);
#region 出空料架，带节点状态-不用 #region 出空料架，带节点状态-不用
//ClientLevel clientLevel = Common.linePlace.Values.Max<ClientLevel>(); //ClientLevel clientLevel = Common.linePlace.Values.Max<ClientLevel>();
////出空料架 ////出空料架
...@@ -447,7 +476,7 @@ namespace BLL ...@@ -447,7 +476,7 @@ namespace BLL
#region 指定充电位置 #region 指定充电位置
if (agv.IP == "10.85.199.72")//1764 if (agv.IP == "10.85.199.72")//1764
{ {
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge3"]); rtn = Common.mir.Add_Mission(agv, Common.agvMission["AutoCharge3"]);
if (rtn) if (rtn)
{ {
//agv.TaskSend = "AutoCharge3"; //agv.TaskSend = "AutoCharge3";
...@@ -470,7 +499,7 @@ namespace BLL ...@@ -470,7 +499,7 @@ namespace BLL
} }
else if (agv.IP == "10.85.199.71")//1763 else if (agv.IP == "10.85.199.71")//1763
{ {
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge4"]); rtn = Common.mir.Add_Mission(agv, Common.agvMission["AutoCharge4"]);
if (rtn) if (rtn)
{ {
//agv.TaskSend = "AutoCharge4"; //agv.TaskSend = "AutoCharge4";
...@@ -493,7 +522,7 @@ namespace BLL ...@@ -493,7 +522,7 @@ namespace BLL
} }
else if (agv.IP == "10.85.199.73")//1767 else if (agv.IP == "10.85.199.73")//1767
{ {
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge5"]); rtn = Common.mir.Add_Mission(agv, Common.agvMission["AutoCharge5"]);
if (rtn) if (rtn)
{ {
//agv.TaskSend = "AutoCharge5"; //agv.TaskSend = "AutoCharge5";
...@@ -516,7 +545,7 @@ namespace BLL ...@@ -516,7 +545,7 @@ namespace BLL
} }
else if (agv.IP == "10.85.199.74")//1768 else if (agv.IP == "10.85.199.74")//1768
{ {
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["AutoCharge6"]); rtn = Common.mir.Add_Mission(agv, Common.agvMission["AutoCharge6"]);
if (rtn) if (rtn)
{ {
//agv.TaskSend = "AutoCharge6"; //agv.TaskSend = "AutoCharge6";
...@@ -553,12 +582,13 @@ namespace BLL ...@@ -553,12 +582,13 @@ namespace BLL
bool rtn; bool rtn;
int index; int index;
string RFID = ""; string RFID = "";
if (agv.TaskSend != "")
return false;
//A6出满料 //A6出满料
rtn = FindA6Leave(out string nextNode); rtn = FindA6Leave(out string nextNode);
if (rtn) if (rtn)
{ {
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]); rtn = Common.mir.Add_Mission(agv, Common.agvMission["MoveA6"]);
if (rtn) if (rtn)
{ {
agv.NextPlace = nextNode; agv.NextPlace = nextNode;
...@@ -569,76 +599,89 @@ namespace BLL ...@@ -569,76 +599,89 @@ namespace BLL
index = FindNode(nextNode); index = FindNode(nextNode);
Common.nodeInfo[index].AgvName = agv.Name; Common.nodeInfo[index].AgvName = agv.Name;
} }
Common.LogInfo(string.Format("A6有满料架[{0}]要出,目的地为{1}", RFID, nextNode)); Common.LogInfo(string.Format("{0} A6有满料架[{1}]要出,目的地为{2}", agv.Name, RFID, nextNode));
agv.TaskSend = rtn ? "MoveA6" : ""; agv.TaskSend = rtn ? "MoveA6" : "";
return true; return true;
} }
return false; return false;
} }
/// <summary> /// <summary>
/// 查看是否有空料架出，有则根据距离分配任务 /// 查看是否有空料架出。根据距离分配任务;分产线接任务与待机位接任务
/// </summary> /// </summary>
/// <param name="agv"></param> /// <param name="agv"></param>
/// <returns>true:有空料架要出</returns> /// <param name="isAgvAtStandy">待机位接任务;默认false，即从产线接任务</param>
private bool CheckEmptyShelf(Agv_Info agv) /// <returns>有空料架要出</returns>
private bool CheckEmptyShelf(Agv_Info agv, string agvPlace, bool isAgvAtStandy = false)
{ {
//if (Common.linePlace.Count == 0) //有空架任务
//{ //限制待机位车辆只有一台执行空架任务
// //Common.LogInfo("当前无空料架要出"); if (isAgvAtStandy)
// return false; {
//} if (Common.missionManager.AGV_Name_EmptyTask.Equals("").Equals(false))//已有一辆车执行空料架任务
bool rtn = false; {
//int index = -1; 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);
//foreach (var nodeName in Common.linePlace) return false;
//{ }
// index = Common.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.IsUse);
// if (index > -1) }
// {
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + nodeName]);
// if (rtn)
// {
// Common.nodeInfo[index].AgvName = agv.Name;
// Common.LogInfo(string.Format("[{0}] 出空料架.", nodeName));
// Common.linePlace.Remove(nodeName);
// System.IO.File.WriteAllLines(Common.CONFIG_PATH + "LinePlace.txt", Common.linePlace);
// }
// agv.TaskSend = rtn ? "Move" + nodeName : "";
// }
// 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) return true;
//}
Common.MissionStru missionNode = CalculateNearNode(agv); bool rtn = false;
MissionStru missionNode = CalculateNearNode(agv);
if (missionNode.NodeName.Equals("")) if (missionNode.NodeName.Equals(""))
{ {
return false; return false;
} }
int index = Common.nodeInfo.FindIndex(s => s.Name.Equals(missionNode.NodeName) && s.AgvName == "" && s.IsUse); 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")) //4C
{
if (!agvPlace.StartsWith("G"))//4D->4C
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorDToC"]);
if (!rtn)
return false;
}
}
else//目标地点4D
{
if (agvPlace.StartsWith("G"))//4C->4D
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"]);
if (!rtn)
return false;
}
}
if (index > -1) if (index > -1)
{ {
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + missionNode.NodeName]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + missionNode.NodeName]);
if (rtn) if (rtn)
{ {
agv.TaskSend = "Move" + missionNode.NodeName;
Common.nodeInfo[index].AgvName = agv.Name; Common.nodeInfo[index].AgvName = agv.Name;
Common.LogInfo(string.Format("[{0}] 出空料架.", missionNode.NodeName)); Common.LogInfo(string.Format("{0} [{1}] 出空料架.", agv.Name, missionNode.NodeName));
Common.missionList.Remove(missionNode); 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")) using (System.IO.StreamWriter file = new System.IO.StreamWriter(Common.CONFIG_PATH + "LinePlace.txt"))
{ {
foreach (var item in Common.missionList) foreach (var item in Common.missionManager.missionList)
{ {
file.WriteLine(string.Format("{0},{1}", item.CreateTime,item.NodeName)); file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName));
} }
} }
} }
agv.TaskSend = rtn ? "Move" + missionNode.NodeName : ""; agv.TaskSend = rtn ? "Move" + missionNode.NodeName : "";
} }
if (Common.missionList.Count.Equals(0).Equals(false)) if (Common.missionManager.missionList.Count.Equals(0).Equals(false))
{ {
AgvChanged?.Invoke(0); AgvChanged?.Invoke(0);
Common.LogInfo("剩余需要出空料架的节点："); Common.LogInfo("剩余需要出空料架的节点：", false);
Common.missionList.ForEach(s => Common.LogInfo(string.Format("创建时间:{0}，任务节点{1}", s.CreateTime, s.NodeName))); 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; if (rtn) return true;
...@@ -725,7 +768,7 @@ namespace BLL ...@@ -725,7 +768,7 @@ namespace BLL
} }
else if (node.Action == ClientAction.NeedEnterLeave) else if (node.Action == ClientAction.NeedEnterLeave)
{ {
if(agv.IsExistShelf)//车上有料架 if (agv.IsExistShelf)//车上有料架
{ {
rtn = Common.server.ReadyEnter(agv.Place); rtn = Common.server.ReadyEnter(agv.Place);
if (!rtn) return; if (!rtn) return;
...@@ -740,6 +783,88 @@ namespace BLL ...@@ -740,6 +783,88 @@ namespace BLL
} }
break; break;
case "E1": case "E1":
//C是大料架，D是小料架
//大料架
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.Action == ClientAction.NeedC || s.Action == ClientAction.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;
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.Action == ClientAction.NeedEnter || s.Action == ClientAction.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;
Common.LogInfo(string.Format("{0} 大料架[RFID={1}]解绑 运往[{2}],", agv.Name, agv.RFID, Common.nodeInfo[nodeIdx].Name));
return;
}
}
}
}
else
{
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));
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));
}
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));
}
if (node.Action == ClientAction.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},可以进入料架", agv.Name, agv.Place));
}
else if (node.Action == ClientAction.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},可以出去料架", agv.Name, agv.Place));
}
break;
case "E2": case "E2":
case "E3": case "E3":
case "E4": case "E4":
...@@ -754,55 +879,8 @@ namespace BLL ...@@ -754,55 +879,8 @@ namespace BLL
case "E14": case "E14":
case "E15": case "E15":
case "E16": case "E16":
case "E21": case "G10":
case "E22":
//C是大料架，D是小料架
//大料架
//if (agv.RFID.StartsWith("C"))
//{
// if (Common.linePlace.Contains(node.Name))
// {
// int nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5" && (s.Action == ClientAction.NeedC || s.Action == ClientAction.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;
// Common.linePlace.Remove(node.Name);
// Common.LogInfo(string.Format("{0}载大料架运往{1}[RFID={2}][{3}],", agv.Name, Common.nodeInfo[nodeIdx].Name, agv.RFID, Common.nodeInfo[nodeIdx].Action));
// return;
// }
// }
// nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" && (s.Action == ClientAction.NeedEnter || s.Action == ClientAction.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;
// Common.linePlace.Remove(node.Name);
// Common.LogInfo(string.Format("{0}载大料架运往{1}[RFID={2}][{3}],", agv.Name, Common.nodeInfo[nodeIdx].Name, agv.RFID, Common.nodeInfo[nodeIdx].Action));
// return;
// }
// }
// }
// else
// {
// Common.LogInfo(string.Format("{0}载大料架到达{1}[RFID={2}],等待料架清空。。。", agv.Name, agv.Place, agv.RFID));
// 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));
//}
if (agv.RFID.StartsWith("D") || agv.RFID.StartsWith("C"))//不分大小料架 if (agv.RFID.StartsWith("D") || agv.RFID.StartsWith("C"))//不分大小料架
{ {
rtn = Common.server.ReadyEnter(agv.Place); rtn = Common.server.ReadyEnter(agv.Place);
...@@ -832,24 +910,120 @@ namespace BLL ...@@ -832,24 +910,120 @@ namespace BLL
if (rtn) if (rtn)
Common.LogInfo(string.Format("{0}到达{1},可以出去料架", agv.Name, agv.Place)); Common.LogInfo(string.Format("{0}到达{1},可以出去料架", agv.Name, agv.Place));
} }
//else if (node.Action == ClientAction.NeedEnter) break;
//{ case "E21":
// rtn = Common.server.ReadyEnter(agv.Place); case "G21":
// if (!rtn) return; //Feeder区，入料
// Common.LogInfo(string.Format("{0}到达{1},服务器发送ReadyEnter信号", agv.Name, agv.Place)); //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},可以进入料架", agv.Name, agv.Place));
}
break;
case "E22":
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},可以出去料架", agv.Name, agv.Place));
}
//}
//else if (node.Action == ClientAction.NeedLeave)
//{
// 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));
//}
break; break;
} }
} }
/// <summary>
/// 获取大料架解绑情况
/// </summary>
/// <param name="rfid"></param>
/// <param name="lineName"></param>
/// <returns></returns>
private bool GetRackBy(string rfid, out string lineName)
{
lineName = "";
//GET /ESMTCommonInterface/CommonService.asmx/GetRackBy?id=string HTTP/1.1
//Host: 10.85.17.233
string addr = "http://10.85.17.233/ESMTCommonInterface/CommonService.asmx/GetRackBy?id=" + rfid;
//[{"msg":"1OKD1"}]
//[{"msg":"0NGFeeder"}]
try
{
string result = HttpHelper.Get(addr);
if (!result.Equals(""))
{
List<Msg> msgs = JsonHelper.DeserializeJsonToList<Msg>(result);
if (msgs == null || msgs.Count == 0)
return false;
int.TryParse(msgs[0].msg.Substring(0, 1), out int resCode);
string resStr = msgs[0].msg.Substring(1, 2);
lineName = msgs[0].msg.Substring(3);
Common.LogInfo(string.Format("resCode={0},resStr={1},lineName={2}", resCode, resStr, lineName));
if (lineName.Equals("").Equals(true))
return false;
if (resStr.Equals("OK") || resCode.Equals(1))
return true;
else
return false;
}
}
catch { return false; }
return false;
}
/// <summary>
/// 物料状态上报
/// </summary>
/// <param name="rfid"></param>
/// <param name="lineName"></param>
/// <returns></returns>
private bool UpdateStatus(string rfid, string lineName)
{
//GET /ESMTCommonInterface/CommonService.asmx/UpdateStatusBy?id=string&location=string HTTP/1.1
//Host: 10.85.17.233
string addr = "http://10.85.17.233/ESMTCommonInterface/CommonService.asmx/UpdateStatusBy?id=" + rfid + "&location=" + lineName;
//[{"msg":"1更新成功"}]
try
{
string result = HttpHelper.Get(addr);
if (!result.Equals(""))
{
List<Msg> msgs = JsonHelper.DeserializeJsonToList<Msg>(result);
if (msgs == null || msgs.Count == 0)
return false;
bool resRtn = int.TryParse(msgs[0].msg.Substring(0, 1), out int resCode);
if (resRtn)
{
if (resCode.Equals(1))
{
Common.LogInfo(string.Format("{0}物料状态更新成功[{1}]", lineName, rfid));
return true;
}
else
return false;
}
return false;
}
}
catch { return false; }
return false;
}
/// <summary> /// <summary>
/// 料架进入小车 /// 料架进入小车
/// </summary> /// </summary>
...@@ -873,21 +1047,28 @@ namespace BLL ...@@ -873,21 +1047,28 @@ namespace BLL
switch (agv.Place) switch (agv.Place)
{ {
case "A6": case "A6":
if (node.Action == ClientAction.FinishLeave) // if (node.Action == ClientAction.FinishLeave)
// {
string nextPlace = agv.NextPlace;
if (nextPlace.Equals(""))
return;
if (nextPlace.StartsWith("G")) //4D->4C
{ {
string nextPlace = agv.NextPlace; rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorDToC"]);
if (nextPlace.Equals("")) if (!rtn)
return; break;
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}", "A6", agv.Name,nextPlace));
}
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; break;
case "E1": case "E1":
case "E2": case "E2":
...@@ -906,55 +1087,216 @@ namespace BLL ...@@ -906,55 +1087,216 @@ namespace BLL
case "E16": case "E16":
case "E21": case "E21":
case "E22": case "E22":
//产线客户端不发FinishLeave //产线客户端不发FinishLeave
//产线空料架进入小车 //产线空料架进入小车
//node.AgvName = ""; //node.AgvName = "";
//node.Action = ClientAction.None; //node.Action = ClientAction.None;
ResetNodeState(node); ResetNodeState(node, agv);
//目前条件：根据需求运料架,需要就运行【后续需要更改为从产线进入小车的料架均为小料架】 s.Action == ClientAction.NeedD || s.Action == ClientAction.NeedEnter CheckA5A6State_SmallShelf(agv, node);
int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5" break;
&& (s.Action == ClientAction.NeedD || s.Action == ClientAction.NeedEnter || s.Action == ClientAction.NeedC) && s.IsUse); case "G10":
if (tarIdx == -1) case "G21":
{ case "G22":
Common.LogInfo(string.Format("{0} 已装载料架，A5不需要料架", agv.Name));//小 //产线客户端不发FinishLeave
} //产线空料架进入小车
else //node.AgvName = "";
{ //node.Action = ClientAction.None;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"]); ResetNodeState(node, agv);
if (rtn) //检查A5、A6需要小料架的状况
{ rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"]);
agv.NextPlace = ""; if (!rtn)
node.AgvName = "";
agv.TaskSend = rtn ? "MoveA5" : "";
Common.LogInfo(string.Format("{0} 已装载料架，送往A5", agv.Name));//小
}
break; break;
} CheckA5A6State_SmallShelf(agv, node);
//int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
//&& (s.Action == ClientAction.NeedD || s.Action == ClientAction.NeedEnter) && s.IsUse);
//if (tarIdx == -1)
//{
// Common.LogInfo(string.Format("{0} 已装载小料架，A5不需要料架", agv.Name));//小
//}
//else
//{
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"]);
// if (rtn)
// {
// agv.NextPlace = "";
// node.AgvName = "";
// agv.TaskSend = rtn ? "MoveA5" : "";
// Common.LogInfo(string.Format("{0} 已装载小料架，送往A5", agv.Name));//小
// }
// break;
//}
tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" && //tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" &&
(s.Action == ClientAction.NeedEnter || s.Action == ClientAction.NeedEnterLeave) && s.IsUse); //(s.Action == ClientAction.NeedEnter || s.Action == ClientAction.NeedEnterLeave) && s.IsUse);
if (tarIdx == -1) //if (tarIdx == -1)
{ //{
Common.LogInfo(string.Format("{0} 已装载料架，A6不需要料架", agv.Name));//小 // Common.LogInfo(string.Format("{0} 已装载小料架，A6不需要料架", agv.Name));//小
} //}
else //else
{ //{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]); // rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
if (rtn) // if (rtn)
{ // {
agv.NextPlace = ""; // agv.NextPlace = "";
node.AgvName = ""; // node.AgvName = "";
agv.TaskSend = rtn ? "MoveA6" : ""; // agv.TaskSend = rtn ? "MoveA6" : "";
Common.LogInfo(string.Format("{0} 已装载料架，送往A6", agv.Name));//小 // Common.LogInfo(string.Format("{0} 已装载小料架，送往A6", agv.Name));//小
} // }
} //}
break; break;
} }
} }
/// <summary> /// <summary>
/// 查看A5、A6需要小料架的状况
/// </summary>
/// <param name="agv"></param>
/// <param name="node"></param>
private void CheckA5A6State_SmallShelf(Agv_Info agv, ClientNode node)
{
bool rtn = false;
int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
&& (s.Action == ClientAction.NeedD || s.Action == ClientAction.NeedEnter) && s.AgvName == "" && s.IsUse);
if (tarIdx == -1)
{
Common.LogInfo(string.Format("{0} 已装载小料架，A5不需要料架", agv.Name), false);//小
}
else
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA5"]);
if (rtn)
{
agv.NextPlace = "";
node.AgvName = "";
Common.nodeInfo[tarIdx].AgvName = agv.Name;
agv.TaskSend = rtn ? "MoveA5" : "";
Common.LogInfo(string.Format("{0} 已装载小料架，送往A5", agv.Name));//小
}
return;
}
tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" &&
(s.Action == ClientAction.NeedEnter || s.Action == ClientAction.NeedEnterLeave) && s.AgvName == "" && s.IsUse);
if (tarIdx == -1)
{
StatusCharge(agv);
Common.LogInfo(string.Format("{0} 已装载小料架，A6不需要料架,到待机位等待", agv.Name), false);//小
}
else
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveA6"]);
if (rtn)
{
agv.NextPlace = "";
node.AgvName = "";
Common.nodeInfo[tarIdx].AgvName = agv.Name;
agv.TaskSend = rtn ? "MoveA6" : "";
Common.LogInfo(string.Format("{0} 已装载小料架，送往A6", agv.Name));//小
}
}
}
/// <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 != "")
return;
bool rtn = false;
int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
&& (s.Action == ClientAction.NeedD || s.Action == ClientAction.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(agv, Common.agvMission["MoveA5"]);
if (rtn)
{
agv.NextPlace = "";
agv.TaskSend = rtn ? "MoveA5" : "";
Common.nodeInfo[tarIdx].AgvName = agv.Name;
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.Action == ClientAction.NeedEnter || s.Action == ClientAction.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(agv, Common.agvMission["MoveA6"]);
if (rtn)
{
agv.NextPlace = "";
agv.TaskSend = rtn ? "MoveA6" : "";
Common.nodeInfo[tarIdx].AgvName = agv.Name;
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)
{
bool rtn = false;
int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A5"
&& (s.Action == ClientAction.NeedC || s.Action == ClientAction.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(agv, Common.agvMission["MoveA5"]);
if (rtn)
{
agv.NextPlace = "";
agv.TaskSend = rtn ? "MoveA5" : "";
Common.nodeInfo[tarIdx].AgvName = agv.Name;
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.Action == ClientAction.NeedEnter || s.Action == ClientAction.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(agv, Common.agvMission["MoveA6"]);
if (rtn)
{
agv.NextPlace = "";
Common.nodeInfo[tarIdx].AgvName = agv.Name;
agv.TaskSend = rtn ? "MoveA6" : "";
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 /// 料架离开小车
/// </summary> /// </summary>
/// <param name="idx">agv索引</param> /// <param name="idx">agv索引</param>
...@@ -968,7 +1310,7 @@ namespace BLL ...@@ -968,7 +1310,7 @@ namespace BLL
/// <param name="idx"></param> /// <param name="idx"></param>
private void StateLeaveFinish(int idx) private void StateLeaveFinish(int idx)
{ {
bool rtn;
Agv_Info agv = Common.agvInfo[idx]; Agv_Info agv = Common.agvInfo[idx];
if (agv.TaskSend != "") return; if (agv.TaskSend != "") return;
int index = FindNode(agv.Place); int index = FindNode(agv.Place);
...@@ -984,16 +1326,19 @@ namespace BLL ...@@ -984,16 +1326,19 @@ namespace BLL
//} //}
//break; //break;
case "A6": case "A6":
if (node.Action == ClientAction.FinishEnter) //if (node.Action == ClientAction.FinishEnter)
{ //{
Common.LogInfo(string.Format("{0}在{1}完成进入料架", agv.Name, agv.Place)); Common.LogInfo(string.Format("{0}在{1}完成进入料架", agv.Name, agv.Place));
//agv.RFID = ""; //agv.RFID = "";
ResetAGVState(agv, true); //清除执行空架任务的小车
ResetNodeState(node); Common.missionManager.AGV_Name_EmptyTask = "";
//查询附近是否有空料架要出,没有则去待机位 ResetAGVState(agv, true);
if (!CheckEmptyShelf(agv)) ResetNodeState(node, agv);
MoveStandby(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);
//MoveStandby(agv);
// }
break; break;
case "E1": case "E1":
case "E2": case "E2":
...@@ -1015,11 +1360,78 @@ namespace BLL ...@@ -1015,11 +1360,78 @@ namespace BLL
/// agv.RFID = ""; /// agv.RFID = "";
// node.AgvName = ""; // node.AgvName = "";
//node.Action = ClientAction.None; //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.Action == ClientAction.NeedD || s.Action == ClientAction.NeedEnter) && s.IsUse);
if (tarIdx == -1)
{
tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" && (s.Action == ClientAction.NeedEnter || s.Action == ClientAction.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);
//MoveStandby(agv);
break;
case "G10":
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); ResetAGVState(agv, true);
ResetNodeState(node); ResetNodeState(node, agv);
bool rtn = false;
int tarIdx1 = Common.nodeInfo.FindIndex(s => s.Name == "A5" && (s.Action == ClientAction.NeedD || s.Action == ClientAction.NeedEnter) && s.IsUse);
if (tarIdx1 == -1)
{
tarIdx = Common.nodeInfo.FindIndex(s => s.Name == "A6" && (s.Action == ClientAction.NeedEnter || s.Action == ClientAction.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 //查询附近是否有空料架要出,没有则去待机位
if (!CheckEmptyShelf(agv)) if (!CheckEmptyShelf(agv, agv.Place))
MoveStandby(agv); {
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveDoorCToD"]);
if (!rtn)
break;
StatusCharge(agv);
}
//MoveStandby(agv);
break; break;
} }
} }
...@@ -1028,10 +1440,11 @@ namespace BLL ...@@ -1028,10 +1440,11 @@ namespace BLL
/// 重置节点状态 /// 重置节点状态
/// </summary> /// </summary>
/// <param name="clientNode"></param> /// <param name="clientNode"></param>
private void ResetNodeState(ClientNode clientNode) private void ResetNodeState(ClientNode clientNode, Agv_Info agv)
{ {
clientNode.Action = ClientAction.None; clientNode.Action = ClientAction.None;
clientNode.AgvName = ""; if (agv.Name == clientNode.AgvName)
clientNode.AgvName = "";
clientNode.RFID = ""; clientNode.RFID = "";
} }
...@@ -1040,7 +1453,7 @@ namespace BLL ...@@ -1040,7 +1453,7 @@ namespace BLL
/// </summary> /// </summary>
/// <param name="agv"></param> /// <param name="agv"></param>
/// <param name="IsNextPlace">是否清除下一目的地</param> /// <param name="IsNextPlace">是否清除下一目的地</param>
private void ResetAGVState(Agv_Info agv,bool IsNextPlace=false) private void ResetAGVState(Agv_Info agv, bool IsNextPlace = false)
{ {
agv.RFID = ""; agv.RFID = "";
if (IsNextPlace) if (IsNextPlace)
...@@ -1049,7 +1462,8 @@ namespace BLL ...@@ -1049,7 +1462,8 @@ namespace BLL
private bool MoveStandby(Agv_Info agv) private bool MoveStandby(Agv_Info agv)
{ {
string log; string log;
if (agv.TaskSend != "")
return false;
//清除当前任务点 //清除当前任务点
if (!agv.Place.Equals("")) if (!agv.Place.Equals(""))
{ {
...@@ -1091,14 +1505,59 @@ namespace BLL ...@@ -1091,14 +1505,59 @@ namespace BLL
} }
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> /// <summary>
/// 错误状态 /// 错误状态
/// </summary> /// </summary>
/// <param name="idx"></param> /// <param name="idx"></param>
private void StateError(int idx) private void StateError(int idx)
{ {
Agv_Info agv = Common.agvInfo[idx]; if (continueTask != null && !continueTask.IsCompleted)
Common.LogInfo(string.Format("{0}在执行任务[{1}]出现错误：{2}", agv.Name, agv.TaskSend, agv.MissionText)); 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;
} }
/// <summary> /// <summary>
/// 查找节点是否存在以及是否调用 /// 查找节点是否存在以及是否调用
...@@ -1139,6 +1598,8 @@ namespace BLL ...@@ -1139,6 +1598,8 @@ namespace BLL
dest = ""; dest = "";
try try
{ {
if (rfid.Equals("") || rfid.Equals("00"))
return false;
string url = Common.itsHttp + rfid; string url = Common.itsHttp + rfid;
var client = new RestClient(url) { Timeout = -1 }; var client = new RestClient(url) { Timeout = -1 };
var request = new RestRequest(Method.GET); var request = new RestRequest(Method.GET);
...@@ -1148,12 +1609,12 @@ namespace BLL ...@@ -1148,12 +1609,12 @@ namespace BLL
json = json.Replace("\r", ""); json = json.Replace("\r", "");
json = json.Replace("\n", ""); json = json.Replace("\n", "");
json = json.Replace(" ", ""); json = json.Replace(" ", "");
Common.LogInfo("ITS URL: " + url + " Return: " + json); Common.LogInfo("ITS URL: " + url + " Return: " + json, false);
if (string.IsNullOrWhiteSpace(json)) return false; if (string.IsNullOrWhiteSpace(json)) return false;
List<BoxDestInfo> res = JsonHelper.DeserializeJsonToList<BoxDestInfo>(json); List<BoxDestInfo> res = JsonHelper.DeserializeJsonToList<BoxDestInfo>(json);
//JavaScriptSerializer serializer = new JavaScriptSerializer(); //JavaScriptSerializer serializer = new JavaScriptSerializer();
if (res == null || res.Count==0) if (res == null || res.Count == 0)
return false; return false;
if (res[0].id == rfid) if (res[0].id == rfid)
...@@ -1162,11 +1623,40 @@ namespace BLL ...@@ -1162,11 +1623,40 @@ namespace BLL
{ {
res[0].location = "FeederIn"; res[0].location = "FeederIn";
} }
else if (res[0].location.Equals("4CFeeder"))
{
res[0].location = "4CFeederIn";
}
if (Common.agvProductionLine.TryGetValue(res[0].location, out string loc)) if (Common.agvProductionLine.TryGetValue(res[0].location, out string loc))
{ {
dest = loc; int i = FindNode(loc);
Common.LogInfo("出满料架任务：目的地为 "+ loc+" [产线名 "+ res[0].location + "]"); if (i > -1)
return true; {
#region 检查是否有空料架要出，有则先出空料架
foreach (var item in Common.missionManager.missionList)
{
if (loc.Equals(item.NodeName))
{
Common.LogInfo("节点[" + loc + "]当前有空架任务，延迟A6出满料架任务", false);
return false;
}
}
#endregion
//if (Common.nodeInfo[i].AgvName.Equals("").Equals(false))//有小车在目标任务点，等待结束后再接任务
//{
// Common.LogInfo("节点[" + loc + "]当前有任务，延迟A6出满料架任务");
// return false;
//}
dest = loc;
Common.LogInfo("出满料架任务：目的地为 " + loc + " [产线名 " + res[0].location + "]");
return true;
}
else
{
Common.LogInfo("节点[" + loc + "]不存在或者未开启调用");
return false;
}
} }
} }
//Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json); //Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
...@@ -1205,6 +1695,13 @@ namespace BLL ...@@ -1205,6 +1695,13 @@ namespace BLL
public string location { get; set; } public string location { get; set; }
} }
/// <summary>
/// 大料架接口回复
/// </summary>
public class Msg
{
public string msg { get; set; }
}
} }
} }
\ No newline at end of file \ No newline at end of file
AGVControl-ProductionLine/BLL/HttpHelper.cs
...@@ -157,30 +157,30 @@ namespace BLL ...@@ -157,30 +157,30 @@ namespace BLL
return result; return result;
} }
//public static string Get(string url) public static string Get(string url)
//{ {
// return Get(url, Encoding.UTF8); return Get(url, Encoding.UTF8);
//} }
//public static string Get(string url, Encoding encoding) public static string Get(string url, Encoding encoding)
//{ {
// try try
// { {
// LogUtil.info("HTTP GET FROM: " + url); Common.log.Debug("HTTP GET FROM: " + url);
// var wc = new WebClient { Encoding = encoding }; var wc = new WebClient { Encoding = encoding };
// var readStream = wc.OpenRead(url); var readStream = wc.OpenRead(url);
// using (var sr = new StreamReader(readStream, encoding)) using (var sr = new StreamReader(readStream, encoding))
// { {
// var result = sr.ReadToEnd(); var result = sr.ReadToEnd();
// LogUtil.info("receive << " + result); Common.log.Debug("receive << " + result);
// return result; return result;
// } }
// } }
// catch (Exception e) catch (Exception e)
// { {
// LogUtil.error("HTTP GET ERROR:" + e.Message, 2); Common.log.Error("HTTP GET ERROR:" + e.Message);
// } }
// return ""; return "";
//} }
} }
} }
\ No newline at end of file \ No newline at end of file
AGVControl-ProductionLine/BLL/MiR_API.cs
...@@ -358,7 +358,7 @@ namespace BLL ...@@ -358,7 +358,7 @@ namespace BLL
Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json); Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
if (dic == null) return false; if (dic == null) return false;
stateID = Convert.ToInt32(dic["state_id"].ToString()); stateID = Convert.ToInt32(dic["state_id"].ToString());
stateText = dic["state_text"].ToString(); stateText = dic["state_text"].ToString();
mission_text = dic["mission_text"].ToString(); mission_text = dic["mission_text"].ToString();
string s = dic["battery_percentage"].ToString(); string s = dic["battery_percentage"].ToString();
...@@ -373,7 +373,7 @@ namespace BLL ...@@ -373,7 +373,7 @@ namespace BLL
} }
catch (Exception ex) catch (Exception ex)
{ {
Common.log.Error("Get_State", ex); //Common.log.Error("Get_State", ex);
return false; return false;
} }
} }
...@@ -442,7 +442,7 @@ namespace BLL ...@@ -442,7 +442,7 @@ namespace BLL
} }
catch (Exception ex) catch (Exception ex)
{ {
Common.log.Error("State_Ready", ex); //Common.log.Error("State_Ready", ex);
return false; return false;
} }
} }
...@@ -525,7 +525,7 @@ namespace BLL ...@@ -525,7 +525,7 @@ namespace BLL
ping.Dispose(); ping.Dispose();
if (result.Status != System.Net.NetworkInformation.IPStatus.Success) if (result.Status != System.Net.NetworkInformation.IPStatus.Success)
{ {
Common.LogInfo("Ping " + ip + " 请求没有响应", false); Common.LogInfo("Ping " + ip + " 请求没有响应");
return false; return false;
} }
return true; return true;
......
AGVControl-ProductionLine/BLL/WebService.cs
...@@ -65,7 +65,7 @@ namespace BLL ...@@ -65,7 +65,7 @@ namespace BLL
if (AGVControl.Common.agvProductionLine.TryGetValue(emptyStation, out string value)) if (AGVControl.Common.agvProductionLine.TryGetValue(emptyStation, out string value))
{ {
res = new Result() { Succeed = true, ResultData = null, ErrorMessage = "" }; res = new Result() { Succeed = true, ResultData = null, ErrorMessage = "" };
AGVControl.Common.LogInfo("WebService Response OK"); AGVControl.Common.log.Debug("WebService Response OK");
//加到任务 //加到任务
//int idx = AGVControl.Common.nodeInfo.FindIndex(s => s.Name == value); //int idx = AGVControl.Common.nodeInfo.FindIndex(s => s.Name == value);
...@@ -101,6 +101,10 @@ namespace BLL ...@@ -101,6 +101,10 @@ namespace BLL
{ {
line = "FeederOut"; line = "FeederOut";
} }
else if (line.Equals("4CFeeder"))
{
line = "4CFeederOut";
}
AGVControl.Common.LogInfo("WebService Request emptyStation=" + line,false); AGVControl.Common.LogInfo("WebService Request emptyStation=" + line,false);
//if (line == null) //if (line == null)
// res = new Result() { Succeed = "false", ResultData = null, ErrorMessage = "line =null " }; // res = new Result() { Succeed = "false", ResultData = null, ErrorMessage = "line =null " };
......
AGVControl-ProductionLine/FrmMain.Designer.cs
...@@ -43,8 +43,6 @@ ...@@ -43,8 +43,6 @@
this.Column16 = new System.Windows.Forms.DataGridViewButtonColumn(); this.Column16 = new System.Windows.Forms.DataGridViewButtonColumn();
this.Column15 = new System.Windows.Forms.DataGridViewButtonColumn(); this.Column15 = new System.Windows.Forms.DataGridViewButtonColumn();
this.tabPage3 = new System.Windows.Forms.TabPage(); this.tabPage3 = new System.Windows.Forms.TabPage();
this.txtBoxMission = new System.Windows.Forms.TextBox();
this.btnDeleteMission = new System.Windows.Forms.Button();
this.groupBox2 = new System.Windows.Forms.GroupBox(); this.groupBox2 = new System.Windows.Forms.GroupBox();
this.cmbBoxAGVName = new System.Windows.Forms.ComboBox(); this.cmbBoxAGVName = new System.Windows.Forms.ComboBox();
this.label3 = new System.Windows.Forms.Label(); this.label3 = new System.Windows.Forms.Label();
...@@ -64,17 +62,22 @@ ...@@ -64,17 +62,22 @@
this.TxtCharge4 = new System.Windows.Forms.TextBox(); this.TxtCharge4 = new System.Windows.Forms.TextBox();
this.BtnWriteCharge4 = new System.Windows.Forms.Button(); this.BtnWriteCharge4 = new System.Windows.Forms.Button();
this.BtnReadCharge4 = new System.Windows.Forms.Button(); this.BtnReadCharge4 = new System.Windows.Forms.Button();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.dgvLineMission = new System.Windows.Forms.DataGridView();
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();
this.BtnMissionReady = new System.Windows.Forms.Button(); this.BtnMissionReady = new System.Windows.Forms.Button();
this.LstAgvPlace = new System.Windows.Forms.ListBox(); this.LstAgvPlace = new System.Windows.Forms.ListBox();
this.tabPage2 = new System.Windows.Forms.TabPage(); this.tabPage2 = new System.Windows.Forms.TabPage();
this.TxtLog = new System.Windows.Forms.TextBox(); this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.cmbBoxLineName = new System.Windows.Forms.ComboBox();
this.button1 = new System.Windows.Forms.Button();
this.btnDeleteMission = new System.Windows.Forms.Button();
this.dgvLineMission = new System.Windows.Forms.DataGridView();
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.TxtLog = new System.Windows.Forms.TextBox();
this.txtBoxAGV_EmptyTask = new System.Windows.Forms.TextBox();
this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn();
...@@ -88,15 +91,18 @@ ...@@ -88,15 +91,18 @@
this.Column19 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column19 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column11 = new System.Windows.Forms.DataGridViewButtonColumn(); this.Column11 = new System.Windows.Forms.DataGridViewButtonColumn();
this.Column17 = new System.Windows.Forms.DataGridViewButtonColumn(); this.Column17 = new System.Windows.Forms.DataGridViewButtonColumn();
this.txtAgvRFID = new System.Windows.Forms.TextBox();
this.btnSetRFID = new System.Windows.Forms.Button();
((System.ComponentModel.ISupportInitialize)(this.DgvAgv)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.DgvAgv)).BeginInit();
this.tabControl1.SuspendLayout(); this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout(); this.tabPage1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.DgvNode)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.DgvNode)).BeginInit();
this.tabPage3.SuspendLayout(); this.tabPage3.SuspendLayout();
this.groupBox2.SuspendLayout(); this.groupBox2.SuspendLayout();
this.tabPage2.SuspendLayout();
this.tableLayoutPanel1.SuspendLayout();
this.groupBox1.SuspendLayout(); this.groupBox1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.dgvLineMission)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.dgvLineMission)).BeginInit();
this.tabPage2.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
// DgvAgv // DgvAgv
...@@ -105,8 +111,6 @@ ...@@ -105,8 +111,6 @@
this.DgvAgv.AllowUserToDeleteRows = false; this.DgvAgv.AllowUserToDeleteRows = false;
this.DgvAgv.AllowUserToResizeColumns = false; this.DgvAgv.AllowUserToResizeColumns = false;
this.DgvAgv.AllowUserToResizeRows = false; this.DgvAgv.AllowUserToResizeRows = false;
this.DgvAgv.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.DgvAgv.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize; this.DgvAgv.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.DgvAgv.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] { this.DgvAgv.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Column1, this.Column1,
...@@ -122,30 +126,29 @@ ...@@ -122,30 +126,29 @@
this.Column19, this.Column19,
this.Column11, this.Column11,
this.Column17}); this.Column17});
this.DgvAgv.Location = new System.Drawing.Point(16, 15); this.DgvAgv.Dock = System.Windows.Forms.DockStyle.Top;
this.DgvAgv.Location = new System.Drawing.Point(0, 0);
this.DgvAgv.Margin = new System.Windows.Forms.Padding(4); this.DgvAgv.Margin = new System.Windows.Forms.Padding(4);
this.DgvAgv.Name = "DgvAgv"; this.DgvAgv.Name = "DgvAgv";
this.DgvAgv.ReadOnly = true; this.DgvAgv.ReadOnly = true;
this.DgvAgv.RowHeadersVisible = false; this.DgvAgv.RowHeadersVisible = false;
this.DgvAgv.RowHeadersWidth = 51; this.DgvAgv.RowHeadersWidth = 51;
this.DgvAgv.RowTemplate.Height = 23; this.DgvAgv.RowTemplate.Height = 23;
this.DgvAgv.Size = new System.Drawing.Size(1470, 196); this.DgvAgv.Size = new System.Drawing.Size(1531, 171);
this.DgvAgv.TabIndex = 3; this.DgvAgv.TabIndex = 3;
this.DgvAgv.CellClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvAgv_CellClick); this.DgvAgv.CellClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvAgv_CellClick);
// //
// tabControl1 // tabControl1
// //
this.tabControl1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.tabControl1.Controls.Add(this.tabPage1); this.tabControl1.Controls.Add(this.tabPage1);
this.tabControl1.Controls.Add(this.tabPage3);
this.tabControl1.Controls.Add(this.tabPage2); this.tabControl1.Controls.Add(this.tabPage2);
this.tabControl1.Location = new System.Drawing.Point(16, 219); this.tabControl1.Controls.Add(this.tabPage3);
this.tabControl1.Dock = System.Windows.Forms.DockStyle.Top;
this.tabControl1.Location = new System.Drawing.Point(0, 171);
this.tabControl1.Margin = new System.Windows.Forms.Padding(4); this.tabControl1.Margin = new System.Windows.Forms.Padding(4);
this.tabControl1.Name = "tabControl1"; this.tabControl1.Name = "tabControl1";
this.tabControl1.SelectedIndex = 0; this.tabControl1.SelectedIndex = 0;
this.tabControl1.Size = new System.Drawing.Size(1470, 492); this.tabControl1.Size = new System.Drawing.Size(1531, 601);
this.tabControl1.TabIndex = 6; this.tabControl1.TabIndex = 6;
// //
// tabPage1 // tabPage1
...@@ -155,7 +158,7 @@ ...@@ -155,7 +158,7 @@
this.tabPage1.Margin = new System.Windows.Forms.Padding(4); this.tabPage1.Margin = new System.Windows.Forms.Padding(4);
this.tabPage1.Name = "tabPage1"; this.tabPage1.Name = "tabPage1";
this.tabPage1.Padding = new System.Windows.Forms.Padding(4); this.tabPage1.Padding = new System.Windows.Forms.Padding(4);
this.tabPage1.Size = new System.Drawing.Size(1462, 463); this.tabPage1.Size = new System.Drawing.Size(1523, 572);
this.tabPage1.TabIndex = 0; this.tabPage1.TabIndex = 0;
this.tabPage1.Text = "节点"; this.tabPage1.Text = "节点";
this.tabPage1.UseVisualStyleBackColor = true; this.tabPage1.UseVisualStyleBackColor = true;
...@@ -185,7 +188,7 @@ ...@@ -185,7 +188,7 @@
this.DgvNode.RowHeadersVisible = false; this.DgvNode.RowHeadersVisible = false;
this.DgvNode.RowHeadersWidth = 50; this.DgvNode.RowHeadersWidth = 50;
this.DgvNode.RowTemplate.Height = 23; this.DgvNode.RowTemplate.Height = 23;
this.DgvNode.Size = new System.Drawing.Size(1454, 455); this.DgvNode.Size = new System.Drawing.Size(1515, 564);
this.DgvNode.TabIndex = 1; this.DgvNode.TabIndex = 1;
this.DgvNode.CellClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvNode_CellClick); this.DgvNode.CellClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvNode_CellClick);
// //
...@@ -196,7 +199,7 @@ ...@@ -196,7 +199,7 @@
this.Column6.Name = "Column6"; this.Column6.Name = "Column6";
this.Column6.ReadOnly = true; this.Column6.ReadOnly = true;
this.Column6.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable; this.Column6.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
this.Column6.Width = 70; this.Column6.Width = 125;
// //
// Column12 // Column12
// //
...@@ -269,10 +272,9 @@ ...@@ -269,10 +272,9 @@
// //
// tabPage3 // tabPage3
// //
this.tabPage3.Controls.Add(this.txtBoxMission); this.tabPage3.Controls.Add(this.btnSetRFID);
this.tabPage3.Controls.Add(this.btnDeleteMission); this.tabPage3.Controls.Add(this.txtAgvRFID);
this.tabPage3.Controls.Add(this.groupBox2); this.tabPage3.Controls.Add(this.groupBox2);
this.tabPage3.Controls.Add(this.groupBox1);
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.BtnMissionPause);
...@@ -282,28 +284,11 @@ ...@@ -282,28 +284,11 @@
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(1462, 463); this.tabPage3.Size = new System.Drawing.Size(1523, 572);
this.tabPage3.TabIndex = 2; this.tabPage3.TabIndex = 2;
this.tabPage3.Text = "任务"; this.tabPage3.Text = "agv手动";
this.tabPage3.UseVisualStyleBackColor = true; this.tabPage3.UseVisualStyleBackColor = true;
// //
// txtBoxMission
//
this.txtBoxMission.Location = new System.Drawing.Point(1143, 82);
this.txtBoxMission.Name = "txtBoxMission";
this.txtBoxMission.Size = new System.Drawing.Size(100, 25);
this.txtBoxMission.TabIndex = 34;
//
// btnDeleteMission
//
this.btnDeleteMission.Location = new System.Drawing.Point(1143, 140);
this.btnDeleteMission.Name = "btnDeleteMission";
this.btnDeleteMission.Size = new System.Drawing.Size(100, 48);
this.btnDeleteMission.TabIndex = 33;
this.btnDeleteMission.Text = "删除任务";
this.btnDeleteMission.UseVisualStyleBackColor = true;
this.btnDeleteMission.Click += new System.EventHandler(this.btnDeleteMission_Click);
//
// groupBox2 // groupBox2
// //
this.groupBox2.Controls.Add(this.cmbBoxAGVName); this.groupBox2.Controls.Add(this.cmbBoxAGVName);
...@@ -512,36 +497,9 @@ ...@@ -512,36 +497,9 @@
this.BtnReadCharge4.UseVisualStyleBackColor = true; this.BtnReadCharge4.UseVisualStyleBackColor = true;
this.BtnReadCharge4.Click += new System.EventHandler(this.BtnReadWriteCharge_Click); this.BtnReadCharge4.Click += new System.EventHandler(this.BtnReadWriteCharge_Click);
// //
// groupBox1
//
this.groupBox1.Controls.Add(this.dgvLineMission);
this.groupBox1.Location = new System.Drawing.Point(716, 19);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(392, 434);
this.groupBox1.TabIndex = 31;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "产线任务";
//
// dgvLineMission
//
this.dgvLineMission.AllowUserToAddRows = false;
this.dgvLineMission.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.dgvLineMission.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Column24,
this.Column8});
this.dgvLineMission.Dock = System.Windows.Forms.DockStyle.Fill;
this.dgvLineMission.Location = new System.Drawing.Point(3, 21);
this.dgvLineMission.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.dgvLineMission.Name = "dgvLineMission";
this.dgvLineMission.RowHeadersVisible = false;
this.dgvLineMission.RowHeadersWidth = 51;
this.dgvLineMission.RowTemplate.Height = 27;
this.dgvLineMission.Size = new System.Drawing.Size(386, 410);
this.dgvLineMission.TabIndex = 28;
//
// BtnClearError // BtnClearError
// //
this.BtnClearError.Location = new System.Drawing.Point(216, 227); this.BtnClearError.Location = new System.Drawing.Point(1038, 15);
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(128, 44); this.BtnClearError.Size = new System.Drawing.Size(128, 44);
...@@ -552,10 +510,10 @@ ...@@ -552,10 +510,10 @@
// //
// BtnMissionAdd // BtnMissionAdd
// //
this.BtnMissionAdd.Location = new System.Drawing.Point(216, 151); this.BtnMissionAdd.Location = new System.Drawing.Point(226, 72);
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(128, 44); this.BtnMissionAdd.Size = new System.Drawing.Size(128, 78);
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;
...@@ -563,7 +521,7 @@ ...@@ -563,7 +521,7 @@
// //
// BtnMissionPause // BtnMissionPause
// //
this.BtnMissionPause.Location = new System.Drawing.Point(216, 82); this.BtnMissionPause.Location = new System.Drawing.Point(882, 15);
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(128, 44); this.BtnMissionPause.Size = new System.Drawing.Size(128, 44);
...@@ -574,7 +532,7 @@ ...@@ -574,7 +532,7 @@
// //
// BtnMissionReady // BtnMissionReady
// //
this.BtnMissionReady.Location = new System.Drawing.Point(216, 8); this.BtnMissionReady.Location = new System.Drawing.Point(717, 15);
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(128, 44); this.BtnMissionReady.Size = new System.Drawing.Size(128, 44);
...@@ -593,31 +551,96 @@ ...@@ -593,31 +551,96 @@
this.LstAgvPlace.Location = new System.Drawing.Point(8, 8); this.LstAgvPlace.Location = new System.Drawing.Point(8, 8);
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, 447); this.LstAgvPlace.Size = new System.Drawing.Size(199, 556);
this.LstAgvPlace.TabIndex = 0; this.LstAgvPlace.TabIndex = 0;
// //
// tabPage2 // tabPage2
// //
this.tabPage2.Controls.Add(this.TxtLog); this.tabPage2.Controls.Add(this.tableLayoutPanel1);
this.tabPage2.Location = new System.Drawing.Point(4, 25); this.tabPage2.Location = new System.Drawing.Point(4, 25);
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(1462, 463); this.tabPage2.Size = new System.Drawing.Size(1523, 572);
this.tabPage2.TabIndex = 3; this.tabPage2.TabIndex = 3;
this.tabPage2.Text = "日志"; this.tabPage2.Text = "日志&产线任务";
this.tabPage2.UseVisualStyleBackColor = true; this.tabPage2.UseVisualStyleBackColor = true;
// //
// TxtLog // tableLayoutPanel1
//
this.tableLayoutPanel1.ColumnCount = 2;
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 45.27163F));
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 54.72837F));
this.tableLayoutPanel1.Controls.Add(this.groupBox1, 1, 0);
this.tableLayoutPanel1.Controls.Add(this.TxtLog, 0, 0);
this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
this.tableLayoutPanel1.Location = new System.Drawing.Point(4, 4);
this.tableLayoutPanel1.Name = "tableLayoutPanel1";
this.tableLayoutPanel1.RowCount = 1;
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 480F));
this.tableLayoutPanel1.Size = new System.Drawing.Size(1515, 564);
this.tableLayoutPanel1.TabIndex = 6;
// //
this.TxtLog.Dock = System.Windows.Forms.DockStyle.Fill; // groupBox1
this.TxtLog.Location = new System.Drawing.Point(4, 4); //
this.TxtLog.Margin = new System.Windows.Forms.Padding(4); this.groupBox1.Controls.Add(this.txtBoxAGV_EmptyTask);
this.TxtLog.Multiline = true; this.groupBox1.Controls.Add(this.cmbBoxLineName);
this.TxtLog.Name = "TxtLog"; this.groupBox1.Controls.Add(this.button1);
this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both; this.groupBox1.Controls.Add(this.btnDeleteMission);
this.TxtLog.Size = new System.Drawing.Size(1454, 455); this.groupBox1.Controls.Add(this.dgvLineMission);
this.TxtLog.TabIndex = 5; this.groupBox1.Dock = System.Windows.Forms.DockStyle.Fill;
this.groupBox1.Location = new System.Drawing.Point(688, 3);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(824, 558);
this.groupBox1.TabIndex = 32;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "产线任务";
//
// cmbBoxLineName
//
this.cmbBoxLineName.FormattingEnabled = true;
this.cmbBoxLineName.Location = new System.Drawing.Point(461, 104);
this.cmbBoxLineName.Name = "cmbBoxLineName";
this.cmbBoxLineName.Size = new System.Drawing.Size(96, 23);
this.cmbBoxLineName.TabIndex = 38;
//
// button1
//
this.button1.Location = new System.Drawing.Point(448, 244);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(138, 65);
this.button1.TabIndex = 37;
this.button1.Text = "Feeder允许进出料";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.button1_Click);
//
// btnDeleteMission
//
this.btnDeleteMission.Location = new System.Drawing.Point(457, 152);
this.btnDeleteMission.Name = "btnDeleteMission";
this.btnDeleteMission.Size = new System.Drawing.Size(100, 48);
this.btnDeleteMission.TabIndex = 35;
this.btnDeleteMission.Text = "删除任务";
this.btnDeleteMission.UseVisualStyleBackColor = true;
this.btnDeleteMission.Click += new System.EventHandler(this.btnDeleteMission_Click);
//
// dgvLineMission
//
this.dgvLineMission.AllowUserToAddRows = false;
this.dgvLineMission.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.dgvLineMission.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Column24,
this.Column8});
this.dgvLineMission.Dock = System.Windows.Forms.DockStyle.Left;
this.dgvLineMission.Location = new System.Drawing.Point(3, 21);
this.dgvLineMission.Margin = new System.Windows.Forms.Padding(3, 2, 3, 2);
this.dgvLineMission.Name = "dgvLineMission";
this.dgvLineMission.RowHeadersVisible = false;
this.dgvLineMission.RowHeadersWidth = 51;
this.dgvLineMission.RowTemplate.Height = 27;
this.dgvLineMission.Size = new System.Drawing.Size(386, 534);
this.dgvLineMission.TabIndex = 28;
// //
// Column24 // Column24
// //
...@@ -633,6 +656,24 @@ ...@@ -633,6 +656,24 @@
this.Column8.Name = "Column8"; this.Column8.Name = "Column8";
this.Column8.Width = 80; this.Column8.Width = 80;
// //
// TxtLog
//
this.TxtLog.Dock = System.Windows.Forms.DockStyle.Fill;
this.TxtLog.Location = new System.Drawing.Point(4, 4);
this.TxtLog.Margin = new System.Windows.Forms.Padding(4);
this.TxtLog.Multiline = true;
this.TxtLog.Name = "TxtLog";
this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both;
this.TxtLog.Size = new System.Drawing.Size(677, 556);
this.TxtLog.TabIndex = 5;
//
// txtBoxAGV_EmptyTask
//
this.txtBoxAGV_EmptyTask.Location = new System.Drawing.Point(411, 21);
this.txtBoxAGV_EmptyTask.Name = "txtBoxAGV_EmptyTask";
this.txtBoxAGV_EmptyTask.Size = new System.Drawing.Size(100, 25);
this.txtBoxAGV_EmptyTask.TabIndex = 39;
//
// Column1 // Column1
// //
this.Column1.HeaderText = "名称"; this.Column1.HeaderText = "名称";
...@@ -666,7 +707,7 @@ ...@@ -666,7 +707,7 @@
this.Column21.MinimumWidth = 6; this.Column21.MinimumWidth = 6;
this.Column21.Name = "Column21"; this.Column21.Name = "Column21";
this.Column21.ReadOnly = true; this.Column21.ReadOnly = true;
this.Column21.Width = 40; this.Column21.Width = 50;
// //
// Column14 // Column14
// //
...@@ -684,7 +725,7 @@ ...@@ -684,7 +725,7 @@
this.Column18.Name = "Column18"; this.Column18.Name = "Column18";
this.Column18.ReadOnly = true; this.Column18.ReadOnly = true;
this.Column18.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable; this.Column18.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
this.Column18.Width = 60; this.Column18.Width = 80;
// //
// Column20 // Column20
// //
...@@ -701,7 +742,7 @@ ...@@ -701,7 +742,7 @@
this.Column4.Name = "Column4"; this.Column4.Name = "Column4";
this.Column4.ReadOnly = true; this.Column4.ReadOnly = true;
this.Column4.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable; this.Column4.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
this.Column4.Width = 50; this.Column4.Width = 80;
// //
// Column23 // Column23
// //
...@@ -744,15 +785,34 @@ ...@@ -744,15 +785,34 @@
this.Column17.ReadOnly = true; this.Column17.ReadOnly = true;
this.Column17.Width = 60; this.Column17.Width = 60;
// //
// txtAgvRFID
//
this.txtAgvRFID.Location = new System.Drawing.Point(734, 103);
this.txtAgvRFID.Name = "txtAgvRFID";
this.txtAgvRFID.Size = new System.Drawing.Size(100, 25);
this.txtAgvRFID.TabIndex = 33;
//
// btnSetRFID
//
this.btnSetRFID.Location = new System.Drawing.Point(734, 154);
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);
//
// FrmMain // FrmMain
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F); this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(1502, 726); this.ClientSize = new System.Drawing.Size(1531, 776);
this.Controls.Add(this.tabControl1); this.Controls.Add(this.tabControl1);
this.Controls.Add(this.DgvAgv); this.Controls.Add(this.DgvAgv);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon"))); this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.Margin = new System.Windows.Forms.Padding(4); this.Margin = new System.Windows.Forms.Padding(4);
this.MaximizeBox = false;
this.Name = "FrmMain"; this.Name = "FrmMain";
this.Text = "AGV产线调度"; this.Text = "AGV产线调度";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.FrmMain_FormClosing); this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.FrmMain_FormClosing);
...@@ -765,10 +825,12 @@ ...@@ -765,10 +825,12 @@
this.tabPage3.PerformLayout(); this.tabPage3.PerformLayout();
this.groupBox2.ResumeLayout(false); this.groupBox2.ResumeLayout(false);
this.groupBox2.PerformLayout(); this.groupBox2.PerformLayout();
this.tabPage2.ResumeLayout(false);
this.tableLayoutPanel1.ResumeLayout(false);
this.tableLayoutPanel1.PerformLayout();
this.groupBox1.ResumeLayout(false); this.groupBox1.ResumeLayout(false);
this.groupBox1.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.dgvLineMission)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.dgvLineMission)).EndInit();
this.tabPage2.ResumeLayout(false);
this.tabPage2.PerformLayout();
this.ResumeLayout(false); this.ResumeLayout(false);
} }
...@@ -794,17 +856,6 @@ ...@@ -794,17 +856,6 @@
private System.Windows.Forms.Button BtnMissionReady; private System.Windows.Forms.Button BtnMissionReady;
private System.Windows.Forms.ListBox LstAgvPlace; private System.Windows.Forms.ListBox LstAgvPlace;
private System.Windows.Forms.TabPage tabPage2; private System.Windows.Forms.TabPage tabPage2;
private System.Windows.Forms.DataGridView dgvLineMission;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.DataGridViewTextBoxColumn Column6;
private System.Windows.Forms.DataGridViewTextBoxColumn Column12;
private System.Windows.Forms.DataGridViewTextBoxColumn Column22;
private System.Windows.Forms.DataGridViewTextBoxColumn Column7;
private System.Windows.Forms.DataGridViewTextBoxColumn Column9;
private System.Windows.Forms.DataGridViewTextBoxColumn Column10;
private System.Windows.Forms.DataGridViewTextBoxColumn Column5;
private System.Windows.Forms.DataGridViewButtonColumn Column16;
private System.Windows.Forms.DataGridViewButtonColumn Column15;
private System.Windows.Forms.GroupBox groupBox2; private System.Windows.Forms.GroupBox groupBox2;
private System.Windows.Forms.Label label3; private System.Windows.Forms.Label label3;
private System.Windows.Forms.TextBox TxtCharge5; private System.Windows.Forms.TextBox TxtCharge5;
...@@ -816,10 +867,24 @@ ...@@ -816,10 +867,24 @@
private System.Windows.Forms.Button BtnReadCharge6; private System.Windows.Forms.Button BtnReadCharge6;
private System.Windows.Forms.TextBox TxtLog; private System.Windows.Forms.TextBox TxtLog;
private System.Windows.Forms.ComboBox cmbBoxAGVName; private System.Windows.Forms.ComboBox cmbBoxAGVName;
private System.Windows.Forms.DataGridViewTextBoxColumn Column6;
private System.Windows.Forms.DataGridViewTextBoxColumn Column12;
private System.Windows.Forms.DataGridViewTextBoxColumn Column22;
private System.Windows.Forms.DataGridViewTextBoxColumn Column7;
private System.Windows.Forms.DataGridViewTextBoxColumn Column9;
private System.Windows.Forms.DataGridViewTextBoxColumn Column10;
private System.Windows.Forms.DataGridViewTextBoxColumn Column5;
private System.Windows.Forms.DataGridViewButtonColumn Column16;
private System.Windows.Forms.DataGridViewButtonColumn Column15;
private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
private System.Windows.Forms.GroupBox groupBox1;
private System.Windows.Forms.Button btnDeleteMission; private System.Windows.Forms.Button btnDeleteMission;
private System.Windows.Forms.TextBox txtBoxMission; private System.Windows.Forms.DataGridView dgvLineMission;
private System.Windows.Forms.DataGridViewTextBoxColumn Column24; private System.Windows.Forms.DataGridViewTextBoxColumn Column24;
private System.Windows.Forms.DataGridViewTextBoxColumn Column8; private System.Windows.Forms.DataGridViewTextBoxColumn Column8;
private System.Windows.Forms.Button button1;
private System.Windows.Forms.ComboBox cmbBoxLineName;
private System.Windows.Forms.TextBox txtBoxAGV_EmptyTask;
private System.Windows.Forms.DataGridViewTextBoxColumn Column1; private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
private System.Windows.Forms.DataGridViewTextBoxColumn Column2; private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
private System.Windows.Forms.DataGridViewTextBoxColumn Column3; private System.Windows.Forms.DataGridViewTextBoxColumn Column3;
...@@ -833,6 +898,8 @@ ...@@ -833,6 +898,8 @@
private System.Windows.Forms.DataGridViewTextBoxColumn Column19; private System.Windows.Forms.DataGridViewTextBoxColumn Column19;
private System.Windows.Forms.DataGridViewButtonColumn Column11; private System.Windows.Forms.DataGridViewButtonColumn Column11;
private System.Windows.Forms.DataGridViewButtonColumn Column17; private System.Windows.Forms.DataGridViewButtonColumn Column17;
private System.Windows.Forms.Button btnSetRFID;
private System.Windows.Forms.TextBox txtAgvRFID;
} }
} }
AGVControl-ProductionLine/FrmMain.cs
...@@ -6,6 +6,7 @@ using System.Data; ...@@ -6,6 +6,7 @@ using System.Data;
using System.Drawing; using System.Drawing;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
using System.Windows.Forms; using System.Windows.Forms;
...@@ -23,9 +24,9 @@ namespace AGVControl ...@@ -23,9 +24,9 @@ namespace AGVControl
InitializeComponent(); InitializeComponent();
showTimer = new System.Timers.Timer(); showTimer = new System.Timers.Timer();
showTimer.Interval = 3000; showTimer.Interval = 3000;
showTimer.Enabled = true; //showTimer.Enabled = true;
showTimer.Elapsed += ShowTimer_Elapsed; showTimer.Elapsed += ShowTimer_Elapsed;
showTimer.Start(); // showTimer.Start();
Common.logTextBox = TxtLog; Common.logTextBox = TxtLog;
} }
...@@ -41,6 +42,12 @@ namespace AGVControl ...@@ -41,6 +42,12 @@ namespace AGVControl
DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red; DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
} }
cmbBoxLineName.Items.Add("产线名称");
foreach (var item in Common.agvProductionLine.Keys)
{
cmbBoxLineName.Items.Add(item);
}
cmbBoxLineName.SelectedIndex = 0;
for (int i = 0; i < Common.nodeInfo.Count; i++) for (int i = 0; i < Common.nodeInfo.Count; i++)
{ {
n = DgvNode.Rows.Add(Common.nodeInfo[i].ToRow()); n = DgvNode.Rows.Add(Common.nodeInfo[i].ToRow());
...@@ -50,7 +57,7 @@ namespace AGVControl ...@@ -50,7 +57,7 @@ namespace AGVControl
} }
LstAgvPlace.Items.Clear(); LstAgvPlace.Items.Clear();
LstAgvPlace.Items.AddRange(Common.agvMission.Keys.ToArray()); LstAgvPlace.Items.AddRange(Common.showNameMissionName.Keys.ToArray());
LstAgvPlace.SelectedIndex = 0; LstAgvPlace.SelectedIndex = 0;
} }
...@@ -60,12 +67,14 @@ namespace AGVControl ...@@ -60,12 +67,14 @@ namespace AGVControl
{ {
DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow()); DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow());
})); }));
ShowEmptyTask();
System.GC.Collect(); System.GC.Collect();
} }
private void Server_NodeOnline(int nodeIndex) private void Server_NodeOnline(int nodeIndex)
{ {
Invoke(new Action(() => { DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online ? Color.Black : Color.Red; })); Invoke(new Action(() => { DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online ? Color.Black : Color.Red; }));
ShowEmptyTask();
System.GC.Collect(); System.GC.Collect();
} }
...@@ -75,7 +84,23 @@ namespace AGVControl ...@@ -75,7 +84,23 @@ namespace AGVControl
{ {
DgvAgv.Rows[agvIndex].SetValues(Common.agvInfo[agvIndex].ToRow()); DgvAgv.Rows[agvIndex].SetValues(Common.agvInfo[agvIndex].ToRow());
})); }));
if (!Common.missionManager.AGV_Name_EmptyTask.Equals(""))
Invoke(new Action(() =>
{
txtBoxAGV_EmptyTask.Text = Common.missionManager.AGV_Name_EmptyTask;
}));
ShowEmptyTask();
try
{
Invoke(new Action(() =>
{
for (int i = 0; i < Common.nodeInfo.Count; i++)
{
DgvNode.Rows[i].SetValues(Common.nodeInfo[i].ToRow());
}
}));
}
catch { };
System.GC.Collect(); System.GC.Collect();
} }
...@@ -169,9 +194,14 @@ namespace AGVControl ...@@ -169,9 +194,14 @@ namespace AGVControl
Common.LogInfo(string.Format("手动清除agv缓存，{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].Place)); Common.LogInfo(string.Format("手动清除agv缓存，{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].Place));
string place = Common.agvInfo[e.RowIndex].Place; string place = Common.agvInfo[e.RowIndex].Place;
Common.agvInfo[e.RowIndex].Place = ""; Common.agvInfo[e.RowIndex].Place = "";
Common.agvInfo[e.RowIndex].PlaceAliceName = "";
Common.agvInfo[e.RowIndex].RFID = ""; Common.agvInfo[e.RowIndex].RFID = "";
Common.agvInfo[e.RowIndex].NextPlace = ""; Common.agvInfo[e.RowIndex].NextPlace = "";
Common.agvInfo[e.RowIndex].NextPlaceAliceName = "";
Common.agvInfo[e.RowIndex].TaskSend = ""; Common.agvInfo[e.RowIndex].TaskSend = "";
//清除执行空架任务的小车
if (Common.missionManager.AGV_Name_EmptyTask == Common.agvInfo[e.RowIndex].Name)
Common.missionManager.AGV_Name_EmptyTask = "";
DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow()); DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
//清除节点缓存 //清除节点缓存
...@@ -207,9 +237,9 @@ namespace AGVControl ...@@ -207,9 +237,9 @@ namespace AGVControl
Common.LogInfo(string.Format("手动清除缓存，{0} {1}", Common.nodeInfo[e.RowIndex].AgvName, Common.nodeInfo[e.RowIndex].Name)); Common.LogInfo(string.Format("手动清除缓存，{0} {1}", Common.nodeInfo[e.RowIndex].AgvName, Common.nodeInfo[e.RowIndex].Name));
//string name = Common.nodeInfo[e.RowIndex].AgvName; //string name = Common.nodeInfo[e.RowIndex].AgvName;
Common.nodeInfo[e.RowIndex].AgvName = ""; Common.nodeInfo[e.RowIndex].AgvName = "";
DgvNode.Rows[e.RowIndex].Cells[5].Value = "";
Common.nodeInfo[e.RowIndex].RFID = ""; Common.nodeInfo[e.RowIndex].RFID = "";
DgvNode.Rows[e.RowIndex].Cells[4].Value = ""; DgvNode.Rows[e.RowIndex].Cells[4].Value = "";
//清除小车缓存 //清除小车缓存
//int idx = Common.agvInfo.FindIndex(s => s.Name == name); //int idx = Common.agvInfo.FindIndex(s => s.Name == name);
//if (idx > -1) //if (idx > -1)
...@@ -252,10 +282,10 @@ namespace AGVControl ...@@ -252,10 +282,10 @@ namespace AGVControl
if (idx < 0) return; if (idx < 0) return;
if (Common.agvInfo[idx].IsCon) if (Common.agvInfo[idx].IsCon)
{ {
bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission[LstAgvPlace.Text]); bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission[Common.showNameMissionName[LstAgvPlace.Text]]);
if (!rtn) if (!rtn)
return; return;
Common.agvInfo[idx].TaskSend = LstAgvPlace.Text; //Common.agvInfo[idx].TaskSend = LstAgvPlace.Text;
} }
} }
...@@ -285,13 +315,13 @@ namespace AGVControl ...@@ -285,13 +315,13 @@ namespace AGVControl
{ {
if (dgvLineMission.Rows.Count != 0) if (dgvLineMission.Rows.Count != 0)
dgvLineMission.Rows.Clear(); dgvLineMission.Rows.Clear();
foreach (var item in Common.missionList) foreach (var item in Common.missionManager.missionList)
{ {
var key = Common.agvProductionLine.Where(q => q.Value == item.NodeName).Select(q => q.Key); var key = Common.agvProductionLine.Where(q => q.Value == item.NodeName).Select(q => q.Key);
dgvLineMission.Rows.Add(item.CreateTime, key.ToList()[0]); dgvLineMission.Rows.Add(item.CreateTime, key.ToList()[0]);
} }
} }
catch(Exception ex) catch (Exception ex)
{ {
Common.log.Error(ex); Common.log.Error(ex);
} }
...@@ -311,11 +341,11 @@ namespace AGVControl ...@@ -311,11 +341,11 @@ namespace AGVControl
if (num == 3) if (num == 3)
TxtCharge3.Text = Common.chargeStatus.charge3; TxtCharge3.Text = Common.chargeStatus.charge3;
else if (num == 4) else if (num == 4)
TxtCharge4.Text = Common.chargeStatus.charge4; TxtCharge4.Text = Common.chargeStatus.charge4;
else if (num == 5) else if (num == 5)
TxtCharge5.Text = Common.chargeStatus.charge5; TxtCharge5.Text = Common.chargeStatus.charge5;
else if (num == 6) else if (num == 6)
TxtCharge6.Text = Common.chargeStatus.charge6; TxtCharge6.Text = Common.chargeStatus.charge6;
} }
else if (name.IndexOf("Write") > 0) else if (name.IndexOf("Write") > 0)
{ {
...@@ -327,7 +357,7 @@ namespace AGVControl ...@@ -327,7 +357,7 @@ namespace AGVControl
//} //}
Common.chargeStatus.charge3 = TxtCharge3.Text; Common.chargeStatus.charge3 = TxtCharge3.Text;
} }
else if (num == 4) else if (num == 4)
Common.chargeStatus.charge4 = TxtCharge4.Text; Common.chargeStatus.charge4 = TxtCharge4.Text;
else if (num == 5) else if (num == 5)
...@@ -337,7 +367,7 @@ namespace AGVControl ...@@ -337,7 +367,7 @@ namespace AGVControl
if (Common.agvInfo[idx].IsCon) if (Common.agvInfo[idx].IsCon)
{ {
bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission["AutoCharge"+num.ToString()]); bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission["AutoCharge" + num.ToString()]);
if (!rtn) if (!rtn)
return; return;
Common.agvInfo[idx].TaskSend = "AutoCharge" + num.ToString(); Common.agvInfo[idx].TaskSend = "AutoCharge" + num.ToString();
...@@ -355,9 +385,9 @@ namespace AGVControl ...@@ -355,9 +385,9 @@ namespace AGVControl
private void cmbBoxAGVName_SelectedIndexChanged(object sender, EventArgs e) private void cmbBoxAGVName_SelectedIndexChanged(object sender, EventArgs e)
{ {
if(cmbBoxAGVName.SelectedItem!=null) if (cmbBoxAGVName.SelectedItem != null)
{ {
switch(cmbBoxAGVName.SelectedIndex) switch (cmbBoxAGVName.SelectedIndex)
{ {
case 0: case 0:
TxtCharge4.Text = "MiR_R1763"; TxtCharge4.Text = "MiR_R1763";
...@@ -406,45 +436,60 @@ namespace AGVControl ...@@ -406,45 +436,60 @@ namespace AGVControl
private void btnDeleteMission_Click(object sender, EventArgs e) private void btnDeleteMission_Click(object sender, EventArgs e)
{ {
if (txtBoxMission.Text == "")
return;
try try
{ {
if (cmbBoxLineName.SelectedItem == null || cmbBoxLineName.SelectedIndex == 0)
{
ShowEmptyTask();
return;
}
if (MessageBox.Show("确定删除产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]") == DialogResult.Cancel)
return;
//int idx=Common.missionList.FindIndex(s => s.NodeName == Common.agvProductionLine[txtBoxMission.Text]); //int idx=Common.missionList.FindIndex(s => s.NodeName == Common.agvProductionLine[txtBoxMission.Text]);
if(Common.DelLinePlace(Common.agvProductionLine[txtBoxMission.Text])) if (Common.DelLinePlace(Common.agvProductionLine[cmbBoxLineName.SelectedItem.ToString()]))
{ {
//Common.missionList.RemoveAt(idx);
//using (System.IO.StreamWriter file = new System.IO.StreamWriter(Common.CONFIG_PATH + "LinePlace.txt"))
//{
// foreach (var item in Common.missionList)
// {
// file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName));
// }
//} ShowEmptyTask();
txtBoxMission.Text = ""; Common.LogInfo("手动删除任务成功：" + cmbBoxLineName.SelectedItem.ToString());
} }
else else
{ {
Common.log.Error("手动删除任务失败"); ShowEmptyTask();
txtBoxMission.Text = ""; Common.LogInfo("手动删除任务失败");
} }
} }
catch(Exception ex) catch (Exception ex)
{ {
Common.log.Error("手动删除任务失败："+ex.Message); ShowEmptyTask();
txtBoxMission.Text = ""; Common.log.Error("手动删除任务失败：" + ex.Message);
} }
} }
private void button1_Click(object sender, EventArgs e) private void button1_Click(object sender, EventArgs e)
{ {
Common.MissionStru k = Common.missionList[0]; Task.Factory.StartNew(new Action(() =>
Common.missionList.Remove(k); {
Common.LogInfo("剩余需要出空料架的节点："); Common.IsAllowLeaveOrEnter = true;
Common.missionList.ForEach(s =>Common.LogInfo(string.Format("创建时间:{0}，任务节点{1}",s.CreateTime,s.NodeName))); Common.LogInfo("IsAllowLeaveOrEnter="+ Common.IsAllowLeaveOrEnter);
Thread.Sleep(20000);
Common.IsAllowLeaveOrEnter = false;
Common.LogInfo("IsAllowLeaveOrEnter=" + Common.IsAllowLeaveOrEnter);
}
));
}
private void btnSetRFID_Click(object sender, EventArgs e)
{
if (DgvAgv.SelectedCells.Count == 0) return;
int idx = DgvAgv.SelectedCells[0].RowIndex;
if (idx < 0) return;
if (Common.agvInfo[idx].IsCon)
{
Common.agvInfo[idx].RFID = txtAgvRFID.Text.ToUpper();
Common.LogInfo("设置 " + Common.agvInfo[idx].Name +" RFID="+ txtAgvRFID.Text);
}
} }
} }
} }
AGVControl-ProductionLine/Program.cs
...@@ -4,6 +4,7 @@ using System; ...@@ -4,6 +4,7 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Diagnostics; using System.Diagnostics;
using System.Linq; using System.Linq;
using System.Text;
using System.Threading.Tasks; using System.Threading.Tasks;
using System.Windows.Forms; using System.Windows.Forms;
...@@ -40,6 +41,7 @@ namespace AGVControl ...@@ -40,6 +41,7 @@ namespace AGVControl
} }
Common.logTextBox = new TextBox(); Common.logTextBox = new TextBox();
Common.missionView = new DataGridView(); Common.missionView = new DataGridView();
Common.missionManager = new MissionManager();
Common.log = log4net.LogManager.GetLogger("AgvServer"); Common.log = log4net.LogManager.GetLogger("AgvServer");
Common.LogInfo("=====程序开始====="); Common.LogInfo("=====程序开始=====");
ReadConfig(); ReadConfig();
...@@ -76,7 +78,7 @@ namespace AGVControl ...@@ -76,7 +78,7 @@ namespace AGVControl
Common.agvInfo = new List<Agv_Info>(); Common.agvInfo = new List<Agv_Info>();
path = Common.CONFIG_PATH + "AgvName.csv"; path = Common.CONFIG_PATH + "AgvName.csv";
line = System.IO.File.ReadAllLines(path); line = System.IO.File.ReadAllLines(path,Encoding.UTF8);
for (int i = 1; i < line.Length; i++) for (int i = 1; i < line.Length; i++)
{ {
temp = line[i].Split(','); temp = line[i].Split(',');
...@@ -86,27 +88,29 @@ namespace AGVControl ...@@ -86,27 +88,29 @@ namespace AGVControl
} }
Common.agvMission = new Dictionary<string, string>(); Common.agvMission = new Dictionary<string, string>();
Common.showNameMissionName = new Dictionary<string, string>();
path = Common.CONFIG_PATH + "AgvMission.csv"; path = Common.CONFIG_PATH + "AgvMission.csv";
line = System.IO.File.ReadAllLines(path); line = System.IO.File.ReadAllLines(path, Encoding.UTF8);
for (int i = 0; i < line.Length; i++) for (int i = 1; i < line.Length; i++)
{ {
temp = line[i].Split(','); temp = line[i].Split(',');
if (temp.Length != 2) continue; if (temp.Length != 3) continue;
Common.agvMission.Add(temp[0], temp[1]); Common.agvMission.Add(temp[1], temp[2]);
Common.showNameMissionName.Add(temp[0], temp[1]);
} }
Common.nodeInfo = new List<ClientNode>(); Common.nodeInfo = new List<ClientNode>();
Common.chargeStatus = new ChargeStatus(); Common.chargeStatus = new ChargeStatus();
Common.agvProductionLine = new Dictionary<string, string>(); Common.agvProductionLine = new Dictionary<string, string>();
path = Common.CONFIG_PATH + "AgvProductionLine.csv"; path = Common.CONFIG_PATH + "AgvProductionLine.csv";
line = System.IO.File.ReadAllLines(path); line = System.IO.File.ReadAllLines(path, Encoding.GetEncoding("gb2312"));
for (int i = 1; i < line.Length; i++) for (int i = 1; i < line.Length; i++)
{ {
temp = line[i].Split(','); temp = line[i].Split(',');
if (temp.Length != 5) continue; if (temp.Length != 6) continue;
Common.agvProductionLine.Add(temp[0], temp[1]); Common.agvProductionLine.Add(temp[0], temp[1]);
bool isUse = Convert.ToBoolean(Common.appConfig.AppSettings.Settings[temp[1]].Value); bool isUse = Convert.ToBoolean(Common.appConfig.AppSettings.Settings[temp[1]].Value);
Common.nodeInfo.Add(new ClientNode(temp[1], temp[2], isUse,temp[3],temp[4])); Common.nodeInfo.Add(new ClientNode(temp[1], temp[2],temp[3],temp[4],temp[5], isUse));
} }
......
AGVControl-ProductionLine/bin/Debug/Config/AgvMission.csv
MoveA5,679f2ca1-b520-11ea-b6ad-00012998f5a0 产线任务名称,任务名称,任务GUID
MoveA6,7e5e9dc2-b521-11ea-b6ad-00012998f5a0 下料区(A5),MoveA5,679f2ca1-b520-11ea-b6ad-00012998f5a0
MoveE1,73bcddb3-b513-11ea-b6ad-00012998f5a0 上料区(A6),MoveA6,7e5e9dc2-b521-11ea-b6ad-00012998f5a0
MoveE2,9bacf16b-b515-11ea-b6ad-00012998f5a0 4D-1线,MoveE1,73bcddb3-b513-11ea-b6ad-00012998f5a0
MoveE3,f84313b5-b515-11ea-b6ad-00012998f5a0 4D-2线,MoveE2,9bacf16b-b515-11ea-b6ad-00012998f5a0
MoveE4,5683db0e-b516-11ea-b6ad-00012998f5a0 4D-3线,MoveE3,f84313b5-b515-11ea-b6ad-00012998f5a0
MoveE5,9c04b71b-b516-11ea-b6ad-00012998f5a0 4D-4线,MoveE4,5683db0e-b516-11ea-b6ad-00012998f5a0
MoveE6,f46be62a-b516-11ea-b6ad-00012998f5a0 4D-5线,MoveE5,9c04b71b-b516-11ea-b6ad-00012998f5a0
MoveE7, 4D-6线,MoveE6,f46be62a-b516-11ea-b6ad-00012998f5a0
MoveE8,41dccfcf-b517-11ea-b6ad-00012998f5a0 4D-8线,MoveE8,41dccfcf-b517-11ea-b6ad-00012998f5a0
MoveE9,7fc3ec2f-b517-11ea-b6ad-00012998f5a0 4D-9线,MoveE9,7fc3ec2f-b517-11ea-b6ad-00012998f5a0
MoveE10,e7c0ad9c-b517-11ea-b6ad-00012998f5a0 4D-10线,MoveE10,e7c0ad9c-b517-11ea-b6ad-00012998f5a0
MoveE11,2e23a510-b518-11ea-b6ad-00012998f5a0 4D-11线,MoveE11,2e23a510-b518-11ea-b6ad-00012998f5a0
MoveE12,6efb37bc-b519-11ea-b6ad-00012998f5a0 4D-12线,MoveE12,6efb37bc-b519-11ea-b6ad-00012998f5a0
MoveE13, 4D-14线,MoveE14,b03043fd-b519-11ea-b6ad-00012998f5a0
MoveE14,b03043fd-b519-11ea-b6ad-00012998f5a0 4D-15线,MoveE15,f3f9a668-b519-11ea-b6ad-00012998f5a0
MoveE15,f3f9a668-b519-11ea-b6ad-00012998f5a0 4D-16线,MoveE16,5ec0f64a-b51a-11ea-b6ad-00012998f5a0
MoveE16,5ec0f64a-b51a-11ea-b6ad-00012998f5a0 4D-FeedeerIn,MoveE21,37401585-b51b-11ea-b6ad-00012998f5a0
MoveE21,37401585-b51b-11ea-b6ad-00012998f5a0 4D-FeederOut,MoveE22,a4846723-b51b-11ea-b6ad-00012998f5a0
MoveE22,a4846723-b51b-11ea-b6ad-00012998f5a0 4C-4D门,MoveDoorCToD,d67f31c8-ca7e-11ea-9a66-94c691a7387d
Init,adcb7a04-b525-11ea-b6ad-00012998f5a0 4D-4C门,MoveDoorDToC,fd6e26ac-c1bf-11ea-9a66-94c691a7387d
Enter,51233d8c-c044-11ea-9a66-94c691a7387d 4C-10线,MoveG10,c0b75c41-ca7d-11ea-9a66-94c691a7387d
Leave,2e433130-c045-11ea-9a66-94c691a7387d 4C-FeedeerIn,MoveG21,0a657afd-ca9d-11ea-9a66-94c691a7387d
MoveStandby,ae6e4f12-c050-11ea-9a66-94c691a7387d 4C-FeedeerOut,MoveG22,0a657afd-ca9d-11ea-9a66-94c691a7387d
AutoCharge3,b7371c5f-c045-11ea-9a66-94c691a7387d 小车初始化,Init,adcb7a04-b525-11ea-b6ad-00012998f5a0
AutoCharge4,1296084c-c046-11ea-9a66-94c691a7387d 小车进料,Enter,51233d8c-c044-11ea-9a66-94c691a7387d
AutoCharge5,40c8f44e-c046-11ea-9a66-94c691a7387d 小车出料,Leave,2e433130-c045-11ea-9a66-94c691a7387d
AutoCharge6,56cca0a3-c046-11ea-9a66-94c691a7387d 待机位,MoveStandby,ae6e4f12-c050-11ea-9a66-94c691a7387d
1764充电桩,AutoCharge3,b7371c5f-c045-11ea-9a66-94c691a7387d
1763充电桩,AutoCharge4,1296084c-c046-11ea-9a66-94c691a7387d
1767充电桩,AutoCharge5,40c8f44e-c046-11ea-9a66-94c691a7387d
1768充电桩,AutoCharge6,56cca0a3-c046-11ea-9a66-94c691a7387d
AGVControl-ProductionLine/bin/Debug/Config/AgvProductionLine - 副本.csv 0 → 100644
²úÏßÃû,½ÚµãÃû,IP,λÖÃÃû³Æ,λÖÃguid
A5,A5,10.85.199.20,PA5,7ed952c3-b520-11ea-b6ad-00012998f5a0
A6,A6,10.85.199.20,PA6,929eb1c2-b520-11ea-b6ad-00012998f5a0
D1,E1,10.85.199.42,DL1,3b823fe4-b368-11ea-a1a5-00012999830e
D2,E2,10.85.199.90,DL2,ede15fcb-b367-11ea-a1a5-00012999830e
D3,E3,10.85.199.91,DL3,43855a9b-b365-11ea-a1a5-00012999830e
D4,E4,10.85.199.92,DL4,73c8b98c-b368-11ea-a1a5-00012999830e
D5,E5,10.85.199.93,DL5,5436efd7-b432-11ea-a1a5-00012999830e
D6,E6,10.85.199.94,DL6,6b7710c1-b432-11ea-a1a5-00012999830e
D8,E8,10.85.199.95,DL8,8f039d2e-b432-11ea-a1a5-00012999830e
D9,E9,10.85.199.180,DL9,9e0b64ab-b432-11ea-a1a5-00012999830e
D10,E10,10.85.199.181,DL10,aec7da80-b432-11ea-a1a5-00012999830e
D11,E11,10.85.199.182,DL11,c10984c9-b432-11ea-a1a5-00012999830e
D12,E12,10.85.199.183,DL12,d6e0b92a-b432-11ea-a1a5-00012999830e
D14,E14,10.85.199.184,DL14,efb04c55-b432-11ea-a1a5-00012999830e
D15,E15,10.85.199.185,DL15,fd6b1f95-b432-11ea-a1a5-00012999830e
D16,E16,10.85.199.96,line_16,ac6c413e-895e-11ea-9374-000129922ca6
Feeder,E21,,PA21,
FeederOut,E22,,PA22,
C1,G1,,PA23,
C2,G2,,PA24,
C3,G3,,PA25,
C4,G4,,PA26,
C5,G5,,PA27,
C6,G6,,PA28,
C7,G7,,PA29,
C8,G8,,PA30,
C9,G9,,PA31,
C10,G10,,PA32,
C11,G11,,PA33,
C12,G12,,PA34,
C13,G13,,PA35,
C14,G14,,PA36,
C15,G15,,PA37,
C16,G16,,PA38,
AGVControl-ProductionLine/bin/Debug/Config/AgvProductionLine.csv
²úÏßÃû,½ÚµãÃû,IP,λÖÃÃû³Æ,λÖÃguid 产线名,节点名,IP,产线别名,位置名称,位置guid
A5,A5,,PA5,7ed952c3-b520-11ea-b6ad-00012998f5a0 A5,A5,10.85.199.20,下料区(A5),PA5,7ed952c3-b520-11ea-b6ad-00012998f5a0
A6,A6,,PA6,929eb1c2-b520-11ea-b6ad-00012998f5a0 A6,A6,10.85.199.20,上料区(A6),PA6,929eb1c2-b520-11ea-b6ad-00012998f5a0
D1,E1,10.85.199.42,DL1,3b823fe4-b368-11ea-a1a5-00012999830e D1,E1,10.85.199.1,4D-1线,DL1,3b823fe4-b368-11ea-a1a5-00012999830e
D2,E2,10.85.199.90,DL2,ede15fcb-b367-11ea-a1a5-00012999830e D2,E2,10.85.199.1,4D-2线,DL2,ede15fcb-b367-11ea-a1a5-00012999830e
D3,E3,10.85.199.91,DL3,43855a9b-b365-11ea-a1a5-00012999830e D3,E3,10.85.199.1,4D-3线,DL3,43855a9b-b365-11ea-a1a5-00012999830e
D4,E4,10.85.199.92,DL4,73c8b98c-b368-11ea-a1a5-00012999830e D4,E4,10.85.199.1,4D-4线,DL4,73c8b98c-b368-11ea-a1a5-00012999830e
D5,E5,10.85.199.93,DL5,5436efd7-b432-11ea-a1a5-00012999830e D5,E5,10.85.199.1,4D-5线,DL5,5436efd7-b432-11ea-a1a5-00012999830e
D6,E6,10.85.199.94,DL6,6b7710c1-b432-11ea-a1a5-00012999830e D6,E6,10.85.199.1,4D-6线,DL6,6b7710c1-b432-11ea-a1a5-00012999830e
D8,E8,10.85.199.95,DL8,8f039d2e-b432-11ea-a1a5-00012999830e D8,E8,10.85.199.1,4D-8线,DL8,8f039d2e-b432-11ea-a1a5-00012999830e
D9,E9,10.85.199.180,DL9,9e0b64ab-b432-11ea-a1a5-00012999830e D9,E9,10.85.199.1,4D-9线,DL9,9e0b64ab-b432-11ea-a1a5-00012999830e
D10,E10,10.85.199.181,DL10,aec7da80-b432-11ea-a1a5-00012999830e D10,E10,10.85.199.1,4D-10线,DL10,aec7da80-b432-11ea-a1a5-00012999830e
D11,E11,10.85.199.182,DL11,c10984c9-b432-11ea-a1a5-00012999830e D11,E11,10.85.199.1,4D-11线,DL11,c10984c9-b432-11ea-a1a5-00012999830e
D12,E12,10.85.199.183,DL12,d6e0b92a-b432-11ea-a1a5-00012999830e D12,E12,10.85.199.1,4D-12线,DL12,d6e0b92a-b432-11ea-a1a5-00012999830e
D14,E14,10.85.199.184,DL14,efb04c55-b432-11ea-a1a5-00012999830e D14,E14,10.85.199.1,4D-14线,DL14,efb04c55-b432-11ea-a1a5-00012999830e
D15,E15,10.85.199.185,DL15,fd6b1f95-b432-11ea-a1a5-00012999830e D15,E15,10.85.199.1,4D-15线,DL15,fd6b1f95-b432-11ea-a1a5-00012999830e
D16,E16,10.85.199.96,line_16,ac6c413e-895e-11ea-9374-000129922ca6 D16,E16,10.85.199.1,4D-16线,line_16,ac6c413e-895e-11ea-9374-000129922ca6
FeederIn,E21,,PA21, FeederIn,E21,10.85.199.1,4D-FeedeerIn,FI,1e546c3a-8abe-11ea-ab63-000129922ca6
FeederOut,E22,,PA22, FeederOut,E22,10.85.199.1,4D-FeederOut,FO,431649a4-8abe-11ea-ab63-000129922ca6
C1,G1,,PA23, C10,G10,10.85.199.1,4C-10线,G10,604b1c3c-ca4e-11ea-810b-00012999830e
C2,G2,,PA24, 4CFeederIn,G21,10.85.199.1,4C-FeederIn,tyty,cb7f117b-ca88-11ea-9b28-0001299981d4
C3,G3,,PA25, 4CFeederOut,G22,10.85.199.1,4C-FeederOut,tyty,cb7f117b-ca88-11ea-9b28-0001299981d4
C4,G4,,PA26, C1,G1,10.85.199.1,4C-1线,PA23,
C5,G5,,PA27, C2,G2,10.85.199.1,4C-2线,PA24,
C6,G6,,PA28, C3,G3,10.85.199.1,4C-3线,PA25,
C7,G7,,PA29, C4,G4,10.85.199.1,4C-4线,PA26,
C8,G8,,PA30, C5,G5,10.85.199.1,4C-5线,PA27,
C9,G9,,PA31, C6,G6,10.85.199.1,4C-6线,PA28,
C10,G10,,PA32, C7,G7,10.85.199.1,4C-7线,PA29,
C11,G11,,PA33, C8,G8,10.85.199.1,4C-8线,PA30,
C12,G12,,PA34, C9,G9,10.85.199.1,4C-9线,PA31,
C13,G13,,PA35, C11,G11,10.85.199.1,4C-11线,PA33,
C14,G14,,PA36, C12,G12,10.85.199.1,4C-12线,PA34,
C15,G15,,PA37, C13,G13,10.85.199.1,4C-13线,PA35,
C16,G16,,PA38, C14,G14,10.85.199.1,4C-14线,PA36,
C15,G15,10.85.199.1,4C-15线,PA37,
C16,G16,10.85.199.1,4C-16线,PA38,
AGVControl-ProductionLine/bin/Debug/Config/LinePlace.txt
2020-07-15 21:20:59,E22
2020-07-15 21:21:01,E22
2020-07-15 21:21:02,E22
2020-07-15 21:21:03,E22
2020-07-15 21:21:03,E22
2020-07-15 21:21:07,E22
2020-07-15 21:21:17,E22
2020-07-15 21:21:17,E22
2020-07-15 21:21:19,E22
2020-07-15 21:21:19,E22
AGVControl-ProductionLine/obj/Debug/AGVControl-ProductionLine.csproj.FileListAbsolute.txt
...@@ -33,3 +33,4 @@ C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug ...@@ -33,3 +33,4 @@ C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug
C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.pdb C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.pdb
C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\Newtonsoft.Json.dll C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\Newtonsoft.Json.dll
C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csproj.CoreCompileInputs.cache C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csproj.CoreCompileInputs.cache
C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csprojAssemblyReference.cache
AGV逻辑.xlsx
此文件类型无法预览
AgvClientTest/Form1.Designer.cs
...@@ -53,6 +53,7 @@ ...@@ -53,6 +53,7 @@
this.button19 = new System.Windows.Forms.Button(); this.button19 = new System.Windows.Forms.Button();
this.button20 = new System.Windows.Forms.Button(); this.button20 = new System.Windows.Forms.Button();
this.groupBox1 = new System.Windows.Forms.GroupBox(); this.groupBox1 = new System.Windows.Forms.GroupBox();
this.button18 = new System.Windows.Forms.Button();
this.button5 = new System.Windows.Forms.Button(); this.button5 = new System.Windows.Forms.Button();
this.button2 = new System.Windows.Forms.Button(); this.button2 = new System.Windows.Forms.Button();
this.checkBox1 = new System.Windows.Forms.CheckBox(); this.checkBox1 = new System.Windows.Forms.CheckBox();
...@@ -63,13 +64,14 @@ ...@@ -63,13 +64,14 @@
// //
// button1 // button1
// //
this.button1.DialogResult = System.Windows.Forms.DialogResult.Cancel;
this.button1.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button1.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button1.Location = new System.Drawing.Point(316, 54); this.button1.Location = new System.Drawing.Point(455, 49);
this.button1.Margin = new System.Windows.Forms.Padding(4); this.button1.Margin = new System.Windows.Forms.Padding(4);
this.button1.Name = "button1"; this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(115, 72); this.button1.Size = new System.Drawing.Size(115, 37);
this.button1.TabIndex = 0; this.button1.TabIndex = 0;
this.button1.Text = "改变状态"; this.button1.Text = "设置";
this.button1.UseVisualStyleBackColor = true; this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.button1_Click); this.button1.Click += new System.EventHandler(this.button1_Click);
// //
...@@ -78,10 +80,10 @@ ...@@ -78,10 +80,10 @@
this.comboBox1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; this.comboBox1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.comboBox1.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.comboBox1.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.comboBox1.FormattingEnabled = true; this.comboBox1.FormattingEnabled = true;
this.comboBox1.Location = new System.Drawing.Point(81, 94); this.comboBox1.Location = new System.Drawing.Point(285, 54);
this.comboBox1.Margin = new System.Windows.Forms.Padding(4); this.comboBox1.Margin = new System.Windows.Forms.Padding(4);
this.comboBox1.Name = "comboBox1"; this.comboBox1.Name = "comboBox1";
this.comboBox1.Size = new System.Drawing.Size(227, 32); this.comboBox1.Size = new System.Drawing.Size(153, 32);
this.comboBox1.TabIndex = 2; this.comboBox1.TabIndex = 2;
// //
// comboBox2 // comboBox2
...@@ -127,12 +129,12 @@ ...@@ -127,12 +129,12 @@
this.comboBox2.Location = new System.Drawing.Point(81, 54); this.comboBox2.Location = new System.Drawing.Point(81, 54);
this.comboBox2.Margin = new System.Windows.Forms.Padding(4); this.comboBox2.Margin = new System.Windows.Forms.Padding(4);
this.comboBox2.Name = "comboBox2"; this.comboBox2.Name = "comboBox2";
this.comboBox2.Size = new System.Drawing.Size(227, 32); this.comboBox2.Size = new System.Drawing.Size(153, 32);
this.comboBox2.TabIndex = 3; this.comboBox2.TabIndex = 3;
// //
// textBox1 // textBox1
// //
this.textBox1.Location = new System.Drawing.Point(208, 22); this.textBox1.Location = new System.Drawing.Point(105, 22);
this.textBox1.Name = "textBox1"; this.textBox1.Name = "textBox1";
this.textBox1.Size = new System.Drawing.Size(100, 25); this.textBox1.Size = new System.Drawing.Size(100, 25);
this.textBox1.TabIndex = 4; this.textBox1.TabIndex = 4;
...@@ -140,7 +142,7 @@ ...@@ -140,7 +142,7 @@
// label1 // label1
// //
this.label1.AutoSize = true; this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(120, 25); this.label1.Location = new System.Drawing.Point(17, 25);
this.label1.Name = "label1"; this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(71, 15); this.label1.Size = new System.Drawing.Size(71, 15);
this.label1.TabIndex = 5; this.label1.TabIndex = 5;
...@@ -158,7 +160,7 @@ ...@@ -158,7 +160,7 @@
// label3 // label3
// //
this.label3.AutoSize = true; this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(8, 111); this.label3.Location = new System.Drawing.Point(241, 71);
this.label3.Name = "label3"; this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(37, 15); this.label3.Size = new System.Drawing.Size(37, 15);
this.label3.TabIndex = 7; this.label3.TabIndex = 7;
...@@ -167,7 +169,7 @@ ...@@ -167,7 +169,7 @@
// label4 // label4
// //
this.label4.AutoSize = true; this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(479, 64); this.label4.Location = new System.Drawing.Point(239, 22);
this.label4.Name = "label4"; this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(55, 15); this.label4.Size = new System.Drawing.Size(55, 15);
this.label4.TabIndex = 8; this.label4.TabIndex = 8;
...@@ -176,10 +178,10 @@ ...@@ -176,10 +178,10 @@
// button3 // button3
// //
this.button3.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button3.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button3.Location = new System.Drawing.Point(13, 166); this.button3.Location = new System.Drawing.Point(372, 108);
this.button3.Margin = new System.Windows.Forms.Padding(4); this.button3.Margin = new System.Windows.Forms.Padding(4);
this.button3.Name = "button3"; this.button3.Name = "button3";
this.button3.Size = new System.Drawing.Size(115, 47); this.button3.Size = new System.Drawing.Size(63, 47);
this.button3.TabIndex = 10; this.button3.TabIndex = 10;
this.button3.Text = "E6"; this.button3.Text = "E6";
this.button3.UseVisualStyleBackColor = true; this.button3.UseVisualStyleBackColor = true;
...@@ -188,10 +190,10 @@ ...@@ -188,10 +190,10 @@
// button4 // button4
// //
this.button4.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button4.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button4.Location = new System.Drawing.Point(146, 108); this.button4.Location = new System.Drawing.Point(84, 108);
this.button4.Margin = new System.Windows.Forms.Padding(4); this.button4.Margin = new System.Windows.Forms.Padding(4);
this.button4.Name = "button4"; this.button4.Name = "button4";
this.button4.Size = new System.Drawing.Size(115, 47); this.button4.Size = new System.Drawing.Size(63, 47);
this.button4.TabIndex = 11; this.button4.TabIndex = 11;
this.button4.Text = "E2"; this.button4.Text = "E2";
this.button4.UseVisualStyleBackColor = true; this.button4.UseVisualStyleBackColor = true;
...@@ -200,22 +202,22 @@ ...@@ -200,22 +202,22 @@
// button6 // button6
// //
this.button6.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button6.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button6.Location = new System.Drawing.Point(269, 218); this.button6.Location = new System.Drawing.Point(443, 47);
this.button6.Margin = new System.Windows.Forms.Padding(4); this.button6.Margin = new System.Windows.Forms.Padding(4);
this.button6.Name = "button6"; this.button6.Name = "button6";
this.button6.Size = new System.Drawing.Size(115, 47); this.button6.Size = new System.Drawing.Size(63, 47);
this.button6.TabIndex = 13; this.button6.TabIndex = 13;
this.button6.Text = "E13"; this.button6.Text = "G10";
this.button6.UseVisualStyleBackColor = true; this.button6.UseVisualStyleBackColor = true;
this.button6.Click += new System.EventHandler(this.SetLineState); this.button6.Click += new System.EventHandler(this.SetLineState);
// //
// button7 // button7
// //
this.button7.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button7.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button7.Location = new System.Drawing.Point(402, 163); this.button7.Location = new System.Drawing.Point(585, 108);
this.button7.Margin = new System.Windows.Forms.Padding(4); this.button7.Margin = new System.Windows.Forms.Padding(4);
this.button7.Name = "button7"; this.button7.Name = "button7";
this.button7.Size = new System.Drawing.Size(115, 47); this.button7.Size = new System.Drawing.Size(63, 47);
this.button7.TabIndex = 14; this.button7.TabIndex = 14;
this.button7.Text = "E9"; this.button7.Text = "E9";
this.button7.UseVisualStyleBackColor = true; this.button7.UseVisualStyleBackColor = true;
...@@ -224,10 +226,10 @@ ...@@ -224,10 +226,10 @@
// button8 // button8
// //
this.button8.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button8.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button8.Location = new System.Drawing.Point(536, 108); this.button8.Location = new System.Drawing.Point(301, 108);
this.button8.Margin = new System.Windows.Forms.Padding(4); this.button8.Margin = new System.Windows.Forms.Padding(4);
this.button8.Name = "button8"; this.button8.Name = "button8";
this.button8.Size = new System.Drawing.Size(115, 47); this.button8.Size = new System.Drawing.Size(63, 47);
this.button8.TabIndex = 15; this.button8.TabIndex = 15;
this.button8.Text = "E5"; this.button8.Text = "E5";
this.button8.UseVisualStyleBackColor = true; this.button8.UseVisualStyleBackColor = true;
...@@ -235,11 +237,12 @@ ...@@ -235,11 +237,12 @@
// //
// button9 // button9
// //
this.button9.DialogResult = System.Windows.Forms.DialogResult.Cancel;
this.button9.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button9.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button9.Location = new System.Drawing.Point(13, 111); this.button9.Location = new System.Drawing.Point(13, 108);
this.button9.Margin = new System.Windows.Forms.Padding(4); this.button9.Margin = new System.Windows.Forms.Padding(4);
this.button9.Name = "button9"; this.button9.Name = "button9";
this.button9.Size = new System.Drawing.Size(115, 47); this.button9.Size = new System.Drawing.Size(63, 47);
this.button9.TabIndex = 16; this.button9.TabIndex = 16;
this.button9.Text = "E1"; this.button9.Text = "E1";
this.button9.UseVisualStyleBackColor = true; this.button9.UseVisualStyleBackColor = true;
...@@ -248,10 +251,10 @@ ...@@ -248,10 +251,10 @@
// button10 // button10
// //
this.button10.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button10.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button10.Location = new System.Drawing.Point(536, 163); this.button10.Location = new System.Drawing.Point(13, 163);
this.button10.Margin = new System.Windows.Forms.Padding(4); this.button10.Margin = new System.Windows.Forms.Padding(4);
this.button10.Name = "button10"; this.button10.Name = "button10";
this.button10.Size = new System.Drawing.Size(115, 47); this.button10.Size = new System.Drawing.Size(63, 47);
this.button10.TabIndex = 17; this.button10.TabIndex = 17;
this.button10.Text = "E10"; this.button10.Text = "E10";
this.button10.UseVisualStyleBackColor = true; this.button10.UseVisualStyleBackColor = true;
...@@ -260,10 +263,10 @@ ...@@ -260,10 +263,10 @@
// button11 // button11
// //
this.button11.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button11.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button11.Location = new System.Drawing.Point(402, 218); this.button11.Location = new System.Drawing.Point(301, 163);
this.button11.Margin = new System.Windows.Forms.Padding(4); this.button11.Margin = new System.Windows.Forms.Padding(4);
this.button11.Name = "button11"; this.button11.Name = "button11";
this.button11.Size = new System.Drawing.Size(115, 47); this.button11.Size = new System.Drawing.Size(63, 47);
this.button11.TabIndex = 18; this.button11.TabIndex = 18;
this.button11.Text = "E14"; this.button11.Text = "E14";
this.button11.UseVisualStyleBackColor = true; this.button11.UseVisualStyleBackColor = true;
...@@ -272,10 +275,10 @@ ...@@ -272,10 +275,10 @@
// button12 // button12
// //
this.button12.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button12.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button12.Location = new System.Drawing.Point(655, 218); this.button12.Location = new System.Drawing.Point(443, 163);
this.button12.Margin = new System.Windows.Forms.Padding(4); this.button12.Margin = new System.Windows.Forms.Padding(4);
this.button12.Name = "button12"; this.button12.Name = "button12";
this.button12.Size = new System.Drawing.Size(115, 47); this.button12.Size = new System.Drawing.Size(63, 47);
this.button12.TabIndex = 28; this.button12.TabIndex = 28;
this.button12.Text = "E16"; this.button12.Text = "E16";
this.button12.UseVisualStyleBackColor = true; this.button12.UseVisualStyleBackColor = true;
...@@ -284,10 +287,10 @@ ...@@ -284,10 +287,10 @@
// button13 // button13
// //
this.button13.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button13.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button13.Location = new System.Drawing.Point(146, 218); this.button13.Location = new System.Drawing.Point(155, 163);
this.button13.Margin = new System.Windows.Forms.Padding(4); this.button13.Margin = new System.Windows.Forms.Padding(4);
this.button13.Name = "button13"; this.button13.Name = "button13";
this.button13.Size = new System.Drawing.Size(115, 47); this.button13.Size = new System.Drawing.Size(63, 47);
this.button13.TabIndex = 27; this.button13.TabIndex = 27;
this.button13.Text = "E12"; this.button13.Text = "E12";
this.button13.UseVisualStyleBackColor = true; this.button13.UseVisualStyleBackColor = true;
...@@ -296,10 +299,10 @@ ...@@ -296,10 +299,10 @@
// button14 // button14
// //
this.button14.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button14.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button14.Location = new System.Drawing.Point(269, 111); this.button14.Location = new System.Drawing.Point(159, 108);
this.button14.Margin = new System.Windows.Forms.Padding(4); this.button14.Margin = new System.Windows.Forms.Padding(4);
this.button14.Name = "button14"; this.button14.Name = "button14";
this.button14.Size = new System.Drawing.Size(115, 47); this.button14.Size = new System.Drawing.Size(63, 47);
this.button14.TabIndex = 26; this.button14.TabIndex = 26;
this.button14.Text = "E3"; this.button14.Text = "E3";
this.button14.UseVisualStyleBackColor = true; this.button14.UseVisualStyleBackColor = true;
...@@ -308,22 +311,22 @@ ...@@ -308,22 +311,22 @@
// button15 // button15
// //
this.button15.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button15.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button15.Location = new System.Drawing.Point(146, 166); this.button15.Location = new System.Drawing.Point(514, 47);
this.button15.Margin = new System.Windows.Forms.Padding(4); this.button15.Margin = new System.Windows.Forms.Padding(4);
this.button15.Name = "button15"; this.button15.Name = "button15";
this.button15.Size = new System.Drawing.Size(115, 47); this.button15.Size = new System.Drawing.Size(63, 47);
this.button15.TabIndex = 25; this.button15.TabIndex = 25;
this.button15.Text = "E7"; this.button15.Text = "G21";
this.button15.UseVisualStyleBackColor = true; this.button15.UseVisualStyleBackColor = true;
this.button15.Click += new System.EventHandler(this.SetLineState); this.button15.Click += new System.EventHandler(this.SetLineState);
// //
// button16 // button16
// //
this.button16.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button16.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button16.Location = new System.Drawing.Point(11, 218); this.button16.Location = new System.Drawing.Point(84, 163);
this.button16.Margin = new System.Windows.Forms.Padding(4); this.button16.Margin = new System.Windows.Forms.Padding(4);
this.button16.Name = "button16"; this.button16.Name = "button16";
this.button16.Size = new System.Drawing.Size(115, 47); this.button16.Size = new System.Drawing.Size(63, 47);
this.button16.TabIndex = 24; this.button16.TabIndex = 24;
this.button16.Text = "E11"; this.button16.Text = "E11";
this.button16.UseVisualStyleBackColor = true; this.button16.UseVisualStyleBackColor = true;
...@@ -332,10 +335,10 @@ ...@@ -332,10 +335,10 @@
// button17 // button17
// //
this.button17.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button17.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button17.Location = new System.Drawing.Point(536, 218); this.button17.Location = new System.Drawing.Point(372, 163);
this.button17.Margin = new System.Windows.Forms.Padding(4); this.button17.Margin = new System.Windows.Forms.Padding(4);
this.button17.Name = "button17"; this.button17.Name = "button17";
this.button17.Size = new System.Drawing.Size(115, 47); this.button17.Size = new System.Drawing.Size(63, 47);
this.button17.TabIndex = 23; this.button17.TabIndex = 23;
this.button17.Text = "E15"; this.button17.Text = "E15";
this.button17.UseVisualStyleBackColor = true; this.button17.UseVisualStyleBackColor = true;
...@@ -344,10 +347,10 @@ ...@@ -344,10 +347,10 @@
// button19 // button19
// //
this.button19.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button19.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button19.Location = new System.Drawing.Point(402, 108); this.button19.Location = new System.Drawing.Point(230, 108);
this.button19.Margin = new System.Windows.Forms.Padding(4); this.button19.Margin = new System.Windows.Forms.Padding(4);
this.button19.Name = "button19"; this.button19.Name = "button19";
this.button19.Size = new System.Drawing.Size(115, 47); this.button19.Size = new System.Drawing.Size(63, 47);
this.button19.TabIndex = 21; this.button19.TabIndex = 21;
this.button19.Text = "E4"; this.button19.Text = "E4";
this.button19.UseVisualStyleBackColor = true; this.button19.UseVisualStyleBackColor = true;
...@@ -356,10 +359,10 @@ ...@@ -356,10 +359,10 @@
// button20 // button20
// //
this.button20.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button20.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button20.Location = new System.Drawing.Point(269, 166); this.button20.Location = new System.Drawing.Point(514, 108);
this.button20.Margin = new System.Windows.Forms.Padding(4); this.button20.Margin = new System.Windows.Forms.Padding(4);
this.button20.Name = "button20"; this.button20.Name = "button20";
this.button20.Size = new System.Drawing.Size(115, 47); this.button20.Size = new System.Drawing.Size(63, 47);
this.button20.TabIndex = 20; this.button20.TabIndex = 20;
this.button20.Text = "E8"; this.button20.Text = "E8";
this.button20.UseVisualStyleBackColor = true; this.button20.UseVisualStyleBackColor = true;
...@@ -367,6 +370,7 @@ ...@@ -367,6 +370,7 @@
// //
// groupBox1 // groupBox1
// //
this.groupBox1.Controls.Add(this.button18);
this.groupBox1.Controls.Add(this.button5); this.groupBox1.Controls.Add(this.button5);
this.groupBox1.Controls.Add(this.button2); this.groupBox1.Controls.Add(this.button2);
this.groupBox1.Controls.Add(this.checkBox1); this.groupBox1.Controls.Add(this.checkBox1);
...@@ -388,20 +392,32 @@ ...@@ -388,20 +392,32 @@
this.groupBox1.Controls.Add(this.button19); this.groupBox1.Controls.Add(this.button19);
this.groupBox1.Controls.Add(this.button11); this.groupBox1.Controls.Add(this.button11);
this.groupBox1.Controls.Add(this.button20); this.groupBox1.Controls.Add(this.button20);
this.groupBox1.Location = new System.Drawing.Point(12, 145); this.groupBox1.Location = new System.Drawing.Point(11, 109);
this.groupBox1.Name = "groupBox1"; this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(796, 311); this.groupBox1.Size = new System.Drawing.Size(692, 260);
this.groupBox1.TabIndex = 29; this.groupBox1.TabIndex = 29;
this.groupBox1.TabStop = false; this.groupBox1.TabStop = false;
this.groupBox1.Text = "产线"; this.groupBox1.Text = "产线";
// //
// button18
//
this.button18.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button18.Location = new System.Drawing.Point(585, 47);
this.button18.Margin = new System.Windows.Forms.Padding(4);
this.button18.Name = "button18";
this.button18.Size = new System.Drawing.Size(63, 47);
this.button18.TabIndex = 34;
this.button18.Text = "G22";
this.button18.UseVisualStyleBackColor = true;
this.button18.Click += new System.EventHandler(this.SetLineState);
//
// button5 // button5
// //
this.button5.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button5.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button5.Location = new System.Drawing.Point(659, 166); this.button5.Location = new System.Drawing.Point(585, 163);
this.button5.Margin = new System.Windows.Forms.Padding(4); this.button5.Margin = new System.Windows.Forms.Padding(4);
this.button5.Name = "button5"; this.button5.Name = "button5";
this.button5.Size = new System.Drawing.Size(115, 47); this.button5.Size = new System.Drawing.Size(63, 47);
this.button5.TabIndex = 33; this.button5.TabIndex = 33;
this.button5.Text = "E22"; this.button5.Text = "E22";
this.button5.UseVisualStyleBackColor = true; this.button5.UseVisualStyleBackColor = true;
...@@ -410,10 +426,10 @@ ...@@ -410,10 +426,10 @@
// button2 // button2
// //
this.button2.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.button2.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.button2.Location = new System.Drawing.Point(659, 108); this.button2.Location = new System.Drawing.Point(514, 163);
this.button2.Margin = new System.Windows.Forms.Padding(4); this.button2.Margin = new System.Windows.Forms.Padding(4);
this.button2.Name = "button2"; this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(115, 47); this.button2.Size = new System.Drawing.Size(63, 47);
this.button2.TabIndex = 32; this.button2.TabIndex = 32;
this.button2.Text = "E21"; this.button2.Text = "E21";
this.button2.UseVisualStyleBackColor = true; this.button2.UseVisualStyleBackColor = true;
...@@ -422,7 +438,9 @@ ...@@ -422,7 +438,9 @@
// checkBox1 // checkBox1
// //
this.checkBox1.AutoSize = true; this.checkBox1.AutoSize = true;
this.checkBox1.Location = new System.Drawing.Point(13, 33); this.checkBox1.Checked = true;
this.checkBox1.CheckState = System.Windows.Forms.CheckState.Checked;
this.checkBox1.Location = new System.Drawing.Point(13, 24);
this.checkBox1.Name = "checkBox1"; this.checkBox1.Name = "checkBox1";
this.checkBox1.Size = new System.Drawing.Size(89, 19); this.checkBox1.Size = new System.Drawing.Size(89, 19);
this.checkBox1.TabIndex = 31; this.checkBox1.TabIndex = 31;
...@@ -432,7 +450,7 @@ ...@@ -432,7 +450,7 @@
// label5 // label5
// //
this.label5.AutoSize = true; this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(342, 79); this.label5.Location = new System.Drawing.Point(206, 24);
this.label5.Name = "label5"; this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(55, 15); this.label5.Size = new System.Drawing.Size(55, 15);
this.label5.TabIndex = 30; this.label5.TabIndex = 30;
...@@ -443,7 +461,7 @@ ...@@ -443,7 +461,7 @@
this.comboBox3.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList; this.comboBox3.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.comboBox3.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.comboBox3.Font = new System.Drawing.Font("宋体", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.comboBox3.FormattingEnabled = true; this.comboBox3.FormattingEnabled = true;
this.comboBox3.Location = new System.Drawing.Point(13, 68); this.comboBox3.Location = new System.Drawing.Point(8, 62);
this.comboBox3.Margin = new System.Windows.Forms.Padding(4); this.comboBox3.Margin = new System.Windows.Forms.Padding(4);
this.comboBox3.Name = "comboBox3"; this.comboBox3.Name = "comboBox3";
this.comboBox3.Size = new System.Drawing.Size(166, 32); this.comboBox3.Size = new System.Drawing.Size(166, 32);
...@@ -453,7 +471,8 @@ ...@@ -453,7 +471,8 @@
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F); this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(820, 490); this.ClientSize = new System.Drawing.Size(723, 388);
this.ControlBox = false;
this.Controls.Add(this.groupBox1); this.Controls.Add(this.groupBox1);
this.Controls.Add(this.label4); this.Controls.Add(this.label4);
this.Controls.Add(this.label3); this.Controls.Add(this.label3);
...@@ -464,8 +483,11 @@ ...@@ -464,8 +483,11 @@
this.Controls.Add(this.comboBox1); this.Controls.Add(this.comboBox1);
this.Controls.Add(this.button1); this.Controls.Add(this.button1);
this.Margin = new System.Windows.Forms.Padding(4); this.Margin = new System.Windows.Forms.Padding(4);
this.MaximizeBox = false;
this.MinimizeBox = false;
this.Name = "Form1"; this.Name = "Form1";
this.Text = "agv对接客户端"; this.ShowIcon = false;
this.Text = "agv对接模拟客户端";
this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Form1_FormClosing); this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.Form1_FormClosing);
this.Load += new System.EventHandler(this.Form1_Load); this.Load += new System.EventHandler(this.Form1_Load);
this.groupBox1.ResumeLayout(false); this.groupBox1.ResumeLayout(false);
...@@ -507,6 +529,7 @@ ...@@ -507,6 +529,7 @@
private System.Windows.Forms.CheckBox checkBox1; private System.Windows.Forms.CheckBox checkBox1;
private System.Windows.Forms.Button button5; private System.Windows.Forms.Button button5;
private System.Windows.Forms.Button button2; private System.Windows.Forms.Button button2;
private System.Windows.Forms.Button button18;
} }
} }
AgvClientTest/Form1.cs
...@@ -47,6 +47,9 @@ namespace AgvClientTest ...@@ -47,6 +47,9 @@ namespace AgvClientTest
client.SetStatus("E16", "", AsaPL.ClientAction.None); client.SetStatus("E16", "", AsaPL.ClientAction.None);
client.SetStatus("E21", "", AsaPL.ClientAction.None); client.SetStatus("E21", "", AsaPL.ClientAction.None);
client.SetStatus("E22", "", AsaPL.ClientAction.None); client.SetStatus("E22", "", AsaPL.ClientAction.None);
client.SetStatus("G10", "", AsaPL.ClientAction.None);
client.SetStatus("G21", "", AsaPL.ClientAction.None);
client.SetStatus("G22", "", AsaPL.ClientAction.None);
client.Connect(); client.Connect();
} }
......
AgvClientTest/bin/Debug/logs/AgvClient.log2020-07-10 0 → 100644
此文件的差异太大，无法显示。
AgvClientTest/bin/Debug/logs/AgvClient.log2020-07-16 0 → 100644
[2020-07-16 16:30:07,101][1]INFO SetStatus Name=E1, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E2, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E3, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E4, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E5, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E6, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E8, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E9, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E10, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E11, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E12, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E14, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E15, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E16, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E21, Action=None, Level=Low
[2020-07-16 16:30:07,108][1]INFO SetStatus Name=E22, Action=None, Level=Low
[2020-07-16 16:30:07,135][1]INFO Connect
[2020-07-16 16:30:07,136][3]INFO Connect 10.85.199.1:9501
[2020-07-16 16:30:07,159][3]INFO Connect OK
[2020-07-16 16:30:07,159][3]INFO Server connection successful
[2020-07-16 16:30:09,967][1]INFO Close
[2020-07-16 16:30:09,968][5]INFO 服务器没有连接
AgvClientTest/obj/Debug/AgvClientTest.csproj.FileListAbsolute.txt
...@@ -24,3 +24,4 @@ C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTe ...@@ -24,3 +24,4 @@ C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTe
C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.exe C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.exe
C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.pdb C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.pdb
C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.csproj.CoreCompileInputs.cache C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.csproj.CoreCompileInputs.cache
C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AgvClientTest\obj\Debug\AgvClientTest.csprojAssemblyReference.cache
WebServiceTest/AGVManager.cs
...@@ -78,6 +78,84 @@ namespace BLL ...@@ -78,6 +78,84 @@ namespace BLL
} }
return rb; return rb;
} }
/// <summary>
/// 获取大料架解绑情况
/// </summary>
/// <param name="rfid"></param>
/// <param name="lineName"></param>
/// <returns></returns>
public static bool GetRackBy(string rfid, out string lineName)
{
lineName = "";
//GET /ESMTCommonInterface/CommonService.asmx/GetRackBy?id=string HTTP/1.1
//Host: 10.85.17.233
string addr = "http://10.85.17.233/ESMTCommonInterface/CommonService.asmx/GetRackBy?id=" + rfid;
//[{"msg":"1OKD1"}]
//[{"msg":"0NGFeeder"}]
try
{
string result = HttpUtil.Get(addr);
if (!result.Equals(""))
{
List<Msg> msgs = JsonHelper.DeserializeJsonToList<Msg>(result);
if (msgs == null || msgs.Count == 0)
return false;
int.TryParse(msgs[0].msg.Substring(0, 1), out int resCode);
string resStr = msgs[0].msg.Substring(1, 2);
lineName = msgs[0].msg.Substring(3);
//Common.log.Debug(string.Format("resCode={0},resStr={1},lineName={2}", resCode, resStr, lineName));
if (lineName.Equals("").Equals(true))
return false;
return true;
}
}
catch { return false; }
return false;
}
/// <summary>
/// 物料状态上报
/// </summary>
/// <param name="rfid"></param>
/// <param name="lineName"></param>
/// <returns></returns>
public static bool UpdateStatus(string rfid, string lineName)
{
//GET /ESMTCommonInterface/CommonService.asmx/UpdateStatusBy?id=string&location=string HTTP/1.1
//Host: 10.85.17.233
string addr = "http://10.85.17.233/ESMTCommonInterface/CommonService.asmx/UpdateStatusBy?id=" + rfid + "&location=" + lineName;
//[{"msg":"1更新成功"}]
try
{
string result = HttpUtil.Get(addr);
if (!result.Equals(""))
{
List<Msg> msgs = JsonHelper.DeserializeJsonToList<Msg>(result);
if (msgs == null || msgs.Count == 0)
return false;
bool resRtn = int.TryParse(msgs[0].msg.Substring(0, 1), out int resCode);
if (resRtn)
{
if (resCode.Equals(1))
{
System.Windows.Forms.MessageBox.Show(string.Format("{0}物料状态更新成功[{1}]", lineName, rfid));
return true;
}
else
return false;
}
return false;
}
}
catch { return false; }
return false;
}
private class Msg
{
public string msg { get; set; }
}
} }
public class Result public class Result
......
WebServiceTest/Form1.Designer.cs
...@@ -36,6 +36,8 @@ ...@@ -36,6 +36,8 @@
this.textBox2 = new System.Windows.Forms.TextBox(); this.textBox2 = new System.Windows.Forms.TextBox();
this.textBox3 = new System.Windows.Forms.TextBox(); this.textBox3 = new System.Windows.Forms.TextBox();
this.button4 = new System.Windows.Forms.Button(); this.button4 = new System.Windows.Forms.Button();
this.button5 = new System.Windows.Forms.Button();
this.button6 = new System.Windows.Forms.Button();
this.SuspendLayout(); this.SuspendLayout();
// //
// button1 // button1
...@@ -112,11 +114,33 @@ ...@@ -112,11 +114,33 @@
this.button4.UseVisualStyleBackColor = true; this.button4.UseVisualStyleBackColor = true;
this.button4.Click += new System.EventHandler(this.button4_Click); this.button4.Click += new System.EventHandler(this.button4_Click);
// //
// button5
//
this.button5.Location = new System.Drawing.Point(592, 90);
this.button5.Name = "button5";
this.button5.Size = new System.Drawing.Size(132, 54);
this.button5.TabIndex = 8;
this.button5.Text = "大料架回收访问";
this.button5.UseVisualStyleBackColor = true;
this.button5.Click += new System.EventHandler(this.button5_Click);
//
// button6
//
this.button6.Location = new System.Drawing.Point(676, 167);
this.button6.Name = "button6";
this.button6.Size = new System.Drawing.Size(132, 54);
this.button6.TabIndex = 9;
this.button6.Text = "物料状态上报";
this.button6.UseVisualStyleBackColor = true;
this.button6.Click += new System.EventHandler(this.button6_Click);
//
// Form1 // Form1
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F); this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(678, 368); this.ClientSize = new System.Drawing.Size(879, 368);
this.Controls.Add(this.button6);
this.Controls.Add(this.button5);
this.Controls.Add(this.button4); this.Controls.Add(this.button4);
this.Controls.Add(this.textBox3); this.Controls.Add(this.textBox3);
this.Controls.Add(this.textBox2); this.Controls.Add(this.textBox2);
...@@ -142,6 +166,8 @@ ...@@ -142,6 +166,8 @@
private System.Windows.Forms.TextBox textBox2; private System.Windows.Forms.TextBox textBox2;
private System.Windows.Forms.TextBox textBox3; private System.Windows.Forms.TextBox textBox3;
private System.Windows.Forms.Button button4; private System.Windows.Forms.Button button4;
private System.Windows.Forms.Button button5;
private System.Windows.Forms.Button button6;
} }
} }
WebServiceTest/Form1.cs
...@@ -113,5 +113,16 @@ namespace WebServiceTest ...@@ -113,5 +113,16 @@ namespace WebServiceTest
{ {
AGVManager.GetWebservice(textBox1.Text, textBox2.Text); AGVManager.GetWebservice(textBox1.Text, textBox2.Text);
} }
private void button5_Click(object sender, EventArgs e)
{
bool qq = AGVManager.GetRackBy(textBox1.Text, out string kk);
textBox2.Text = qq.ToString() +" "+kk;
}
private void button6_Click(object sender, EventArgs e)
{
AGVManager.UpdateStatus("C6", "D8");
}
} }
} }
~$AGV逻辑.xlsx 0 → 100644
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