1

AGVControl-ProductionLine/AGVControl-ProductionLine.csproj

@@ -83,6 +83,7 @@
     <Compile Include="bean\node\ClientNode.cs" />
     <Compile Include="bean\node\ClientNode.cs" />
     <Compile Include="bean\node\DoubleLineNodeFor4D.cs" />
     <Compile Include="bean\node\DoubleLineNodeFor4D.cs" />
     <Compile Include="bean\node\DoubleLineNodeFor4C.cs" />
     <Compile Include="bean\node\DoubleLineNodeFor4C.cs" />
+    <Compile Include="bean\UnlockedShelf.cs" />
     <Compile Include="BLL\AGVManager.cs" />
     <Compile Include="BLL\AGVManager.cs" />
     <Compile Include="BLL\AgvServer.cs" />
     <Compile Include="BLL\AgvServer.cs" />
     <Compile Include="BLL\Common.cs" />
     <Compile Include="BLL\Common.cs" />
@@ -95,6 +96,8 @@
       <SubType>Component</SubType>
       <SubType>Component</SubType>
     </Compile>
     </Compile>
     <Compile Include="BLL\LineWebService.cs" />
     <Compile Include="BLL\LineWebService.cs" />
+    <Compile Include="BLL\StationRFIDManager.cs" />
+    <Compile Include="BLL\UnlockMissionManager.cs" />
     <Compile Include="FrmMain.cs">
     <Compile Include="FrmMain.cs">
       <SubType>Form</SubType>
       <SubType>Form</SubType>
     </Compile>
     </Compile>

AGVControl-ProductionLine/App.config

@@ -18,13 +18,17 @@
       </layout>
       </layout>
     </appender>
     </appender>
     <appender name="LineWebService" type="log4net.Appender.RollingFileAppender">
     <appender name="LineWebService" type="log4net.Appender.RollingFileAppender">
-      <file value="logs/LineWebService.log"/>
+      <file value="logs/UnlockInfo.log"/>
       <param name="Encoding" value="UTF-8"/>
       <param name="Encoding" value="UTF-8"/>
       <appendToFile value="true"/>
       <appendToFile value="true"/>
-      <rollingStyle value="Date"/>
-      <datePattern value="yyyy-MM-dd"/>
+      <param name="MaxSizeRollBackups" value="10" />
+      <!-- 切割最多文件数 -->
+      <param name="MaximumFileSize" value="100MB" />
+      <!-- 每个文件的大小 -->
+      <param name="RollingStyle" value="Size" />
+      <param name="StaticLogFileName" value="true" />
       <layout type="log4net.Layout.PatternLayout">
       <layout type="log4net.Layout.PatternLayout">
-        <conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
+        <conversionPattern value="[%date]%-5p %m%n"/>
       </layout>
       </layout>
     </appender>
     </appender>
     <logger name ="LineWebService">
     <logger name ="LineWebService">
@@ -43,7 +47,8 @@
     <add key="FLEET" value="10.85.199.3" />
     <add key="FLEET" value="10.85.199.3" />
     <add key="AutoCharge" value="True" />
     <add key="AutoCharge" value="True" />
     <add key="ChargeWait" value="1" />
     <add key="ChargeWait" value="1" />
-    <add key="ChargeThreshold" value="20,70" />
-
+    <add key="ChargeThreshold" value="20,90" />
+    <add key="IP_4D_Light" value="10.85.196.40:8088" />
+    <add key="IP_4C_Light" value="10.85.197.40:8088" />
   </appSettings>
   </appSettings>
 </configuration>
 </configuration>
\ No newline at end of file

AGVControl-ProductionLine/BLL/AGVManager.cs

@@ -5,9 +5,10 @@ using System.Linq;
 using System.Text;
 using System.Text;
 using System.Threading.Tasks;
 using System.Threading.Tasks;
 using AGVControl;
 using AGVControl;
+using BLL;
 using RestSharp;
 using RestSharp;
 
 
-namespace BLL
+namespace AGVControl
 {
 {
     public class AGVManager
     public class AGVManager
     {
     {
@@ -42,7 +43,7 @@ namespace BLL
                     }
                     }
                     else
                     else
                     {
                     {
-                        if(workOrder.data.line !=null)
+                        if (workOrder.data.line != null)
                         {
                         {
                             string tempLocation = workOrder.data.line;
                             string tempLocation = workOrder.data.line;
                             if (workOrder.data.line.Equals("Feeder"))
                             if (workOrder.data.line.Equals("Feeder"))
@@ -57,9 +58,9 @@ namespace BLL
                             woData = workOrder.data;
                             woData = workOrder.data;
                             return true;
                             return true;
                         }
                         }
-                     
+
                     }
                     }
-               
+
                 }
                 }
 
 
             }
             }
@@ -90,7 +91,7 @@ namespace BLL
 
 
             public string ToTxt(string nodeName)
             public string ToTxt(string nodeName)
             {
             {
-                return string.Format("[hSerial={0}，line={1}[{3}]，so={2}]", hSerial,line,so,nodeName);
+                return string.Format("[hSerial={0}，line={1}[{3}]，so={2}]", hSerial, line, so, nodeName);
             }
             }
         }
         }
         public static string A6_Target = "";
         public static string A6_Target = "";
@@ -167,7 +168,7 @@ namespace BLL
                             #endregion
                             #endregion
                             res[0].location = loc;
                             res[0].location = loc;
                             dest = res[0];
                             dest = res[0];
-                            Common.GetLineNameByNodeName(loc,out string line);
+                            Common.GetLineNameByNodeName(loc, out string line);
                             A6_Target = res[0].ShowInfo(line);
                             A6_Target = res[0].ShowInfo(line);
                             Common.log.Debug("查找满料架任务[RFID=" + rfid + "]：目的地为 " + loc + " [产线名 " + line + "]");
                             Common.log.Debug("查找满料架任务[RFID=" + rfid + "]：目的地为 " + loc + " [产线名 " + line + "]");
                             return true;
                             return true;
@@ -203,7 +204,7 @@ namespace BLL
 
 
             public string ShowInfo(string loc)
             public string ShowInfo(string loc)
             {
             {
-                return string.Format("RFID={0},SO={1},location={2}[{3}]", id, SO, loc,location);
+                return string.Format("RFID={0},SO={1},location={2}[{3}]", id, SO, loc, location);
             }
             }
         }
         }
 
 
@@ -331,7 +332,12 @@ namespace BLL
         {
         {
             public string msg { get; set; }
             public string msg { get; set; }
         }
         }
-
+        public class Msg1
+        {
+            //{"Code":0,"Msg":"D14,,D7,D33"}
+            public int Code { get; set; }
+            public string Msg { get; set; }
+        }
         private static string Addr_updateDeviceAlarmMsg = "/rest/api/qisda/device/updateDeviceAlarmMsg";
         private static string Addr_updateDeviceAlarmMsg = "/rest/api/qisda/device/updateDeviceAlarmMsg";
         /// <summary>
         /// <summary>
         /// 异常看板
         /// 异常看板
@@ -420,6 +426,178 @@ namespace BLL
                 return e.ToString();
                 return e.ToString();
             }
             }
         }
         }
+
+        /// <summary>
+        /// 获取接驳台料架情况
+        /// </summary>
+        /// <param name="lineName"></param>
+        /// <returns></returns>
+        public static string GetRFIDs(string lineName)
+        {
+            string addr = "";
+            if (lineName.StartsWith(SettingString.D4_Name_Prefix))
+            {
+
+                addr = string.Format("http://{0}/LineGetRFID?line={1}", ConfigAppSettings.GetValue(SettingString.IP_4D_Light), lineName);
+            }
+            else if (lineName.StartsWith(SettingString.C4_Name_Prefix))
+            {
+                addr = string.Format("http://{0}/LineGetRFID?line={1}", ConfigAppSettings.GetValue(SettingString.IP_4C_Light), lineName);
+            }
+            try
+            {
+                string result = HttpHelper.Get(addr);
+                if (!result.Equals(""))
+                {
+                    Msg1 msgs = JsonHelper.DeserializeJsonToObject<Msg1>(result);
+                    if (msgs == null)
+                        return ",,,";
+                    else
+                    {
+                        Common.log.Debug(string.Format("{0}接驳台状态：{1}", lineName, msgs.Msg));
+                        return msgs.Msg;
+                    }
+
+                }
+            }
+            catch (Exception ex)
+            {
+                Common.log.Error(ex.Message);
+                return ",,,";
+            }
+            return ",,,";
+        }
+
+        /// <summary>
+        /// 获取接驳台最外面料架
+        /// </summary>
+        /// <param name="lineName"></param>
+        /// <returns></returns>
+        public static string GetFirstRFID(string lineName)
+        {
+            string addr = "";
+            if (lineName.StartsWith(SettingString.D4_Name_Prefix))
+            {
+
+                addr = string.Format("http://{0}/LineGetRFID?line={1}", ConfigAppSettings.GetValue(SettingString.IP_4D_Light), lineName);
+            }
+            else if (lineName.StartsWith(SettingString.C4_Name_Prefix))
+            {
+                addr = string.Format("http://{0}/LineGetRFID?line={1}", ConfigAppSettings.GetValue(SettingString.IP_4C_Light), lineName);
+            }
+            try
+            {
+                string result = HttpHelper.Get(addr);
+                if (!result.Equals(""))
+                {
+                    Msg1 msgs = JsonHelper.DeserializeJsonToObject<Msg1>(result);
+                    if (msgs == null)
+                        return "";
+                    else
+                    {
+                        Common.log.Debug(string.Format("{0}接驳台状态：{1}", lineName, msgs.Msg));
+                        string rfid = "";
+                        foreach (string item in msgs.Msg.Split(','))
+                        {
+                            if (!item.Equals(""))
+                            {
+                                rfid = item;
+                            }
+                        }
+                        return rfid;
+                    }
+
+                }
+            }
+            catch (Exception ex)
+            {
+                Common.log.Error(ex.Message);
+                return "";
+            }
+            return "";
+        }
+        /// <summary>
+        /// 删除接驳台料架
+        /// </summary>
+        /// <param name="lineName"></param>
+        /// <param name="rfid"></param>
+        /// <returns></returns>
+        public static bool ClearRFID(string lineName, string rfid)
+        {
+            string addr = "";
+            if (lineName.StartsWith(SettingString.D4_Name_Prefix))
+            {
+
+                addr = string.Format("http://{0}/LineClearRFID?line={1}&rfid={2}", ConfigAppSettings.GetValue(SettingString.IP_4D_Light), lineName, rfid);
+            }
+            else if (lineName.StartsWith(SettingString.C4_Name_Prefix))
+            {
+                addr = string.Format("http://{0}/LineClearRFID?line={1}&rfid={2}", ConfigAppSettings.GetValue(SettingString.IP_4C_Light), lineName, rfid);
+            }
+            try
+            {
+                string result = HttpHelper.Get(addr);
+                if (!result.Equals(""))
+                {
+                    Msg1 msgs = JsonHelper.DeserializeJsonToObject<Msg1>(result);
+                    if (msgs == null)
+                        return false;
+                    else
+                    {
+                        Common.log.Info(string.Format("删除{0}接驳台料架{1}:{2}", lineName, rfid, msgs.Msg));
+                        return true;
+                    }
+
+                }
+            }
+            catch (Exception ex)
+            {
+                Common.log.Error(ex.Message);
+                return false;
+            }
+            return false;
+        }
+
+        private static string Addr_agvRemoveRfid = "/rest/api/qisda/device/agvRemoveRfid";
+        /// <summary>
+        /// 根据RFID清理料架的缓存信息
+        /// </summary>
+        /// <param name="rfid"></param>
+        /// <returns></returns>
+        public static bool AgvRemoveRfid(string rfid)
+        {
+            try
+            {
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add("rfid", rfid.ToUpper());
+                string server = GetAddr(Addr_agvRemoveRfid, paramMap);
+                DateTime startTime = DateTime.Now;
+                string resultStr = HttpHelper.Get(server);
+                Common.log.Info("清理料架的缓存信息【" + server + "】【" + resultStr + "】");
+
+                RfidData rfidData = JsonHelper.DeserializeJsonToObject<RfidData>(resultStr);
+
+                if (rfidData == null)
+                {
+                    return false;
+                }
+                else
+                {
+
+                    if (rfidData.code.Equals(0))
+                    {
+                        return true;
+                    }
+                }
+
+            }
+            catch (Exception ex)
+            {
+                Common.log.Error(ex);
+                return false;
+            }
+            return false;
+        }
     }
     }
     public class ShelfLockInfo
     public class ShelfLockInfo
     {
     {
@@ -514,7 +692,7 @@ namespace BLL
         /// <param name="name">异常位置名称</param>
         /// <param name="name">异常位置名称</param>
         /// <param name="key">异常信息唯一标识</param>
         /// <param name="key">异常信息唯一标识</param>
         /// <param name="value">异常信息</param>
         /// <param name="value">异常信息</param>
-        public AlarmMsg(string name, string key, string value,int type=0)
+        public AlarmMsg(string name, string key, string value, int type = 0)
         {
         {
             this.name = name;
             this.name = name;
             this.msgKey = key;
             this.msgKey = key;

AGVControl-ProductionLine/BLL/Common.cs

@@ -24,6 +24,8 @@ namespace AGVControl
         public const string CheckShelf = "CheckShelf";
         public const string CheckShelf = "CheckShelf";
         public const string DoorDToC = "DoorDToC";
         public const string DoorDToC = "DoorDToC";
         public const string DoorCToD = "DoorCToD";
         public const string DoorCToD = "DoorCToD";
+        public const string DoorAirIn = "DoorAirIn";
+        public const string DoorAirOut = "DoorAirOut";
         public const string DoubleLine_Name_Prefix = "A";
         public const string DoubleLine_Name_Prefix = "A";
         public const string Wait = "Wait";
         public const string Wait = "Wait";
         public const string Done = "Done";
         public const string Done = "Done";
@@ -42,6 +44,7 @@ namespace AGVControl
         public const string IsUse = "IsUse";
         public const string IsUse = "IsUse";
         public const string RFID = "RFID";
         public const string RFID = "RFID";
         public const string EmptyShelfCnt = "EmptyShelfCnt";
         public const string EmptyShelfCnt = "EmptyShelfCnt";
+        public const string EmptyShelfRFIDs = "EmptyShelfRFIDs";
         /// <summary>
         /// <summary>
         /// 去4C的3辆车IP
         /// 去4C的3辆车IP
         /// </summary>
         /// </summary>
@@ -63,6 +66,11 @@ namespace AGVControl
         public const string A5 = "A5";
         public const string A5 = "A5";
         public const string D4_Name_Prefix = "D";
         public const string D4_Name_Prefix = "D";
         public const string C4_Name_Prefix = "C";
         public const string C4_Name_Prefix = "C";
+
+        public const string IP_4D_Light = "IP_4D_Light";
+        public const string IP_4C_Light = "IP_4C_Light";
+
+        public const string Lines_In_Air_Door = "C8,C9,C10";
     }
     }
 
 
 
 
@@ -93,7 +101,7 @@ namespace AGVControl
         public static Dictionary<string, string> showNameMissionName;
         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 UnlockMissionManager missionManager;
         public static StandbyStation StandbyStation = new StandbyStation() { C4_Station1 = "", C4_Station2 = "" };
         public static StandbyStation StandbyStation = new StandbyStation() { C4_Station1 = "", C4_Station2 = "" };
 
 
         private static List<string> msg = new List<string>();
         private static List<string> msg = new List<string>();
@@ -201,9 +209,9 @@ namespace AGVControl
                 }
                 }
                 else
                 else
                 {
                 {
-                    tarIdx = Common.agvInfo.FindIndex(s=> !s.IP.Equals(agv.IP) && s.CurJob !=null && s.CurJob is EmptyShelfBackJob 
-                    && ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace)!=null ) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A5));
-                    if(tarIdx==-1)
+                    tarIdx = Common.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
+                    && ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A5));
+                    if (tarIdx == -1)
                     {
                     {
                         nodeName = SettingString.A5;
                         nodeName = SettingString.A5;
                         Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A5));
                         Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A5));
@@ -231,7 +239,7 @@ namespace AGVControl
                 {
                 {
                     tarIdx = Common.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
                     tarIdx = Common.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
                                 && ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A6));
                                 && ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A6));
-                    if(tarIdx==-1)
+                    if (tarIdx == -1)
                     {
                     {
                         nodeName = SettingString.A6;
                         nodeName = SettingString.A6;
                         Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A6));
                         Common.log.Debug(string.Format("{0} {1}需要小料架", agv.Name, SettingString.A6));
@@ -263,8 +271,8 @@ namespace AGVControl
                 else
                 else
                 {
                 {
                     tarIdx = Common.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
                     tarIdx = Common.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
-                            && ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null)  && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A5));
-                    if(tarIdx==-1)
+                            && ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A5));
+                    if (tarIdx == -1)
                     {
                     {
                         nodeName = SettingString.A5;
                         nodeName = SettingString.A5;
                         Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A5));
                         Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A5));
@@ -292,7 +300,7 @@ namespace AGVControl
                 {
                 {
                     tarIdx = Common.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
                     tarIdx = Common.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
                                && ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A6));
                                && ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A6));
-                    if(tarIdx==-1)
+                    if (tarIdx == -1)
                     {
                     {
                         nodeName = SettingString.A6;
                         nodeName = SettingString.A6;
                         Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A6));
                         Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A6));
@@ -490,50 +498,31 @@ namespace AGVControl
             }
             }
             else if (shelfType.Equals(eShelfType.BigShelf))
             else if (shelfType.Equals(eShelfType.BigShelf))
             {
             {
-                //int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A5
-                //            && (s.StateEquals(eNodeStatus.NeedC) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
-                //if (tarIdx == -1)
-                //{
-                //    Common.log.Debug(string.Format("{0} {1}不需要大料架", agv.Name, SettingString.A5));
-                //}
-                //else
-                //{
-                //    nodeName = SettingString.A5;
-                //    Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A5));
-                //    return true;
-                //}
+                int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A5
+                            && (s.StateEquals(eNodeStatus.NeedC) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
+                if (tarIdx == -1)
+                {
+                    Common.log.Debug(string.Format("{0} {1}不需要大料架", agv.Name, SettingString.A5));
+                }
+                else
+                {
+                    nodeName = SettingString.A5;
+                    Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A5));
+                    return true;
+                }
 
 
-                int tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A6 &&
+                 tarIdx = Common.nodeInfo.FindIndex(s => s.Name == SettingString.A6 &&
                 (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
                 (s.StateEquals(eNodeStatus.NeedEnter) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && s.IsUse);
 
 
                 if (tarIdx == -1)
                 if (tarIdx == -1)
                 {
                 {
-                    Common.log.Debug(string.Format("{0} {1}不需要大料架", agv.Name, SettingString.A6));
-                    //rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.MoveStandby]);
-                    //if (rtn)
-                    //{
-                    //    agv.NextPlace = "";
-                    //    agv.TaskSend = rtn ? SettingString.MoveStandby : "";
-                    //    agv.Msg = string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.MoveStandby);
-                    //    Common.LogInfo(string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.MoveStandby));
-                    //}
+                    Common.log.Debug(string.Format("{0} {1}不需要料架", agv.Name, SettingString.A6));
                 }
                 }
                 else
                 else
                 {
                 {
                     nodeName = SettingString.A6;
                     nodeName = SettingString.A6;
-                    Common.log.Debug(string.Format("{0} {1}需要大料架", agv.Name, SettingString.A6));
+                    Common.log.Debug(string.Format("{0} {1}需要料架", agv.Name, SettingString.A6));
                     return true;
                     return true;
-                    //rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + SettingString.A6]);
-                    //if (rtn)
-                    //{
-                    //    agv.NextPlace = "";
-                    //    tarNodeName = SettingString.A6;
-                    //    Common.nodeInfo[tarIdx].AgvName = agv.Name;
-                    //    agv.TaskSend = rtn ? SettingString.Move + SettingString.A6 : "";
-                    //    agv.Msg = string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.A6);
-                    //    Common.LogInfo(string.Format("{0} 在{1}已装载大料架，送往{2}", agv.Name, place, SettingString.A6));
-                    //    return true;
-                    //}
 
 
                 }
                 }
             }
             }
@@ -541,6 +530,7 @@ namespace AGVControl
             return false;
             return false;
         }
         }
 
 
+
         /// <summary>
         /// <summary>
         /// 检查AGV是否有负载
         /// 检查AGV是否有负载
         /// </summary>
         /// </summary>
@@ -555,17 +545,25 @@ namespace AGVControl
             agv.Place = doorName;
             agv.Place = doorName;
             return Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + doorName]);
             return Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + doorName]);
         }
         }
-
+        /// <summary>
+        /// 检查是否在4C风淋门内
+        /// </summary>
+        /// <param name="nodeName"></param>
+        /// <returns></returns>
+        public static bool CheckIsInAirDoor(string nodeName)
+        {
+            return SettingString.Lines_In_Air_Door.Split(',').Contains(nodeName);
+        }
         /// <summary>
         /// <summary>
         /// 检查当前任务是否结束
         /// 检查当前任务是否结束
         /// </summary>
         /// </summary>
         /// <param name="taskName">任务名称</param>
         /// <param name="taskName">任务名称</param>
         /// <param name="taskGUID">任务GUID</param>
         /// <param name="taskGUID">任务GUID</param>
         /// <returns></returns>
         /// <returns></returns>
-        public static bool CheckTaskFinished(Agv_Info agv,string nodeName, string curTaskState)
+        public static bool CheckTaskFinished(Agv_Info agv, string nodeName, string curTaskState)
         {
         {
-            log.Debug(agv.Name + " 检查当前任务是否结束: " +SettingString.Move + nodeName + " " + curTaskState);
-            return Common.agvMission[SettingString.Move+nodeName].Equals(agv.CurTaskGUID) && curTaskState.Equals(SettingString.Done);
+            log.Debug(agv.Name + " 检查当前任务是否结束: " + SettingString.Move + nodeName + " " + curTaskState);
+            return Common.agvMission[SettingString.Move + nodeName].Equals(agv.CurTaskGUID) && curTaskState.Equals(SettingString.Done);
         }
         }
         /// <summary>
         /// <summary>
         /// 检查充电任务是否分配完成
         /// 检查充电任务是否分配完成
@@ -584,6 +582,7 @@ namespace AGVControl
         }
         }
         //双层线工单信息
         //双层线工单信息
         public static string doubleLine_WO = "";
         public static string doubleLine_WO = "";
+        public static string warnMsg = "";
         /// <summary>
         /// <summary>
         /// 查找空架任务
         /// 查找空架任务
         /// </summary>
         /// </summary>
@@ -597,6 +596,8 @@ namespace AGVControl
             nodeName = "";
             nodeName = "";
             if (!Common.CheckCanExecuteMission(agv))
             if (!Common.CheckCanExecuteMission(agv))
                 return false;
                 return false;
+
+            ///双层线出口检查
             int idx = nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A6)
             int idx = nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A6)
             && (s.StateEquals(eNodeStatus.NeedEnterLeave) || (s.StateEquals(eNodeStatus.NeedLeave))) && !s.RFID.Equals(""));
             && (s.StateEquals(eNodeStatus.NeedEnterLeave) || (s.StateEquals(eNodeStatus.NeedLeave))) && !s.RFID.Equals(""));
             if (idx > -1)
             if (idx > -1)
@@ -610,14 +611,14 @@ namespace AGVControl
                         {
                         {
                             nodeName = FullShelfDestInfo.location;
                             nodeName = FullShelfDestInfo.location;
                             Common.GetLineNameByNodeName(nodeName, out string line);
                             Common.GetLineNameByNodeName(nodeName, out string line);
-                            Common.LogInfo("A6出满料架的产线有空料架，优先处理 " + FullShelfDestInfo.ShowInfo(line));
+                            Common.log.Debug("A6出满料架的产线有空料架，优先处理 " + FullShelfDestInfo.ShowInfo(line));
                             return true;
                             return true;
                         }
                         }
                         else if (FullShelfDestInfo.location.StartsWith(SettingString.D4_Name_Prefix) && !SettingString.C4_AGV_IPs.Contains(agv.IP))
                         else if (FullShelfDestInfo.location.StartsWith(SettingString.D4_Name_Prefix) && !SettingString.C4_AGV_IPs.Contains(agv.IP))
                         {
                         {
                             nodeName = FullShelfDestInfo.location;
                             nodeName = FullShelfDestInfo.location;
                             Common.GetLineNameByNodeName(nodeName, out string line);
                             Common.GetLineNameByNodeName(nodeName, out string line);
-                            Common.LogInfo("A6出满料架的产线有空料架，优先处理 " + FullShelfDestInfo.ShowInfo(line));
+                            Common.log.Debug("A6出满料架的产线有空料架，优先处理 " + FullShelfDestInfo.ShowInfo(line));
                             return true;
                             return true;
                         }
                         }
 
 
@@ -627,7 +628,7 @@ namespace AGVControl
                 {
                 {
                     if (FullShelfDestInfo != null)
                     if (FullShelfDestInfo != null)
                     {
                     {
-                        Common.LogInfo("A6的出料信息不正确，请检查：" + FullShelfDestInfo.ShowInfo("ERROR"));
+                        Common.log.Error("A6的出料信息不正确，请检查：" + FullShelfDestInfo.ShowInfo("ERROR"));
                         //return false;
                         //return false;
                     }
                     }
                 }
                 }
@@ -648,13 +649,13 @@ namespace AGVControl
                         if (loc.StartsWith(SettingString.C4_Name_Prefix) && SettingString.C4_AGV_IPs.Contains(agv.IP))
                         if (loc.StartsWith(SettingString.C4_Name_Prefix) && SettingString.C4_AGV_IPs.Contains(agv.IP))
                         {
                         {
                             nodeName = loc;
                             nodeName = loc;
-                            Common.LogInfo("双层线正在出的工单目标产线有空料架，优先处4C-" + loc);
+                            //Common.LogInfo("双层线正在出的工单目标产线有空料架，优先处4C-" + loc);
                             return true;
                             return true;
                         }
                         }
                         else if (loc.StartsWith(SettingString.D4_Name_Prefix) && !SettingString.C4_AGV_IPs.Contains(agv.IP))
                         else if (loc.StartsWith(SettingString.D4_Name_Prefix) && !SettingString.C4_AGV_IPs.Contains(agv.IP))
                         {
                         {
                             nodeName = loc;
                             nodeName = loc;
-                            Common.LogInfo("双层线正在出的工单目标产线有空料架，优先处理4D-" + loc);
+                            Common.log.Debug("双层线正在出的工单目标产线有空料架，优先处理4D-" + loc);
                             return true;
                             return true;
                         }
                         }
                     }
                     }
@@ -668,8 +669,6 @@ namespace AGVControl
                 //双层线是否需要小料架
                 //双层线是否需要小料架
                 if (CheckA5A6State(agv, eShelfType.SmallShelf, out string lineNodeName))
                 if (CheckA5A6State(agv, eShelfType.SmallShelf, out string lineNodeName))
                 {
                 {
-                    //if (curPlace.Equals(""))//待机位
-                    // {
 
 
                     //4C车间寻找
                     //4C车间寻找
                     if (SettingString.C4_AGV_IPs.Contains(agv.IP))
                     if (SettingString.C4_AGV_IPs.Contains(agv.IP))
@@ -733,32 +732,32 @@ namespace AGVControl
 
 
                     }
                     }
                 }
                 }
-                else if (CheckA6State(agv, eShelfType.SmallShelf, out string lineNodeName1))
+                else if (CheckA6State(agv, eShelfType.BigShelf, out string lineNodeName1))
                 {
                 {
-                    //4C车间寻找
+                    //4C车间备料区寻找
                     if (SettingString.C4_AGV_IPs.Contains(agv.IP))
                     if (SettingString.C4_AGV_IPs.Contains(agv.IP))
                     {
                     {
-                        idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals(SettingString.C4FeederOut) && s.IsUse);
+                        idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals(SettingString.C4FeederOut) && !s.RFID.StartsWith("0") && s.IsUse);
                         if (idx > -1)
                         if (idx > -1)
                         {
                         {
                             int idx1 = agvInfo.FindIndex(s => s.CurJob is EnterLeaveShelfJob && ((EnterLeaveShelfJob)s.CurJob).LineName.Equals(SettingString.C4FeederOut));
                             int idx1 = agvInfo.FindIndex(s => s.CurJob is EnterLeaveShelfJob && ((EnterLeaveShelfJob)s.CurJob).LineName.Equals(SettingString.C4FeederOut));
-                            if(idx1==-1)
+                            if (idx1 == -1)
                             {
                             {
                                 nodeName = nodeInfo[idx].Name;
                                 nodeName = nodeInfo[idx].Name;
-                                Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4C-" + nodeName);
+                                Common.log.Debug(agv.Name + " 双层线右侧需要料架,准备去4C-" + nodeName);
                                 return true;
                                 return true;
                             }
                             }
 
 
                         }
                         }
                     }
                     }
-                    //4D车间寻找
+                    //4D车间备料区寻找
                     if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
                     if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
                     {
                     {
-                        idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals(SettingString.D4FeederOut) && s.IsUse);
+                        idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals(SettingString.D4FeederOut) && !s.RFID.StartsWith("0") && s.IsUse);
                         if (idx > -1)
                         if (idx > -1)
                         {
                         {
                             nodeName = nodeInfo[idx].Name;
                             nodeName = nodeInfo[idx].Name;
-                            Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4D-" + nodeName);
+                            Common.log.Debug(agv.Name + " 双层线右侧需要料架,准备去4D-" + nodeName);
                             return true;
                             return true;
                         }
                         }
 
 
@@ -847,6 +846,75 @@ namespace AGVControl
             return false;
             return false;
         }
         }
         /// <summary>
         /// <summary>
+        /// 检查接驳台状态
+        /// </summary>
+        /// <returns></returns>
+        public static bool CheckStationState(ClientNode clientNode, out string rfid)
+        {
+            rfid = "";
+            if (!Common.missionManager.GetUnlockRfids(clientNode.Name).Contains(clientNode.RFID))
+            {
+                if (clientNode.Name.Equals(SettingString.C4FeederOut) || clientNode.Name.Equals(SettingString.D4FeederOut))
+                {
+                    warnMsg = string.Format("[{1}]最外侧是料架[{0}]，但没有解绑信息，请检查接驳台", clientNode.RFID, clientNode.Name);
+                    Common.log.Debug(warnMsg);
+                }
+                else
+                {
+                    string res = AGVManager.GetRFIDs(clientNode.Name);
+                    warnMsg = string.Format("[{1}]最外侧是料架[{0}]，但没有解绑信息，请检查接驳台：料架由里到外顺序：{2}", clientNode.RFID, clientNode.Name,res);
+                    Common.log.Debug(warnMsg);
+                }
+                return false;
+            }
+            rfid = clientNode.RFID;
+            warnMsg = "";
+            return true;
+        }
+
+        /// <summary>
+        /// 上报接驳台状态
+        /// </summary>
+        /// <param name="clientNode"></param>
+        /// <returns>true:表示正常</returns>
+        public static bool UpdateStationState(ClientNode clientNode)
+        {
+
+            if (!Common.missionManager.GetUnlockRfids(clientNode.Name).Contains(clientNode.RFID))
+            {
+                if (clientNode.Name.Equals(SettingString.C4FeederOut) || clientNode.Name.Equals(SettingString.D4FeederOut))
+                {
+                    clientNode.WarnMsg = string.Format("接驳台最外侧料架[{0}]没有解绑信息，请检查接驳台状况", clientNode.RFID);
+                    return false;
+                }
+                else
+                {
+                    string res = AGVManager.GetRFIDs(clientNode.Name);
+                    clientNode.WarnMsg = string.Format("接驳台最外侧料架[{0}]没有解绑信息，当前料架由里到外顺序：{1}", clientNode.RFID, res);
+                    return false;
+                }
+            }
+            clientNode.WarnMsg = "";
+            return true;
+        }
+        /// <summary>
+        /// 出料前检查接驳台状态
+        /// </summary>
+        /// <returns></returns>
+        public static bool CheckStationState(ClientNode clientNode)
+        {
+            if (Common.missionManager.GetUnlockCnt(clientNode.Name)>0)
+            {
+                // if (warnMsg.Equals(""))
+                {
+                    warnMsg = string.Format("接驳台[{1}]有空料架未回收完，无法出满料，请检查接驳台RFID读取情况", clientNode.RFID, clientNode.Name);
+                    Common.LogInfo(warnMsg);
+                }
+                return false;
+            }
+            return true;
+        }
+        /// <summary>
         ///  计算当前小车距离最近的任务点(只针对产线)
         ///  计算当前小车距离最近的任务点(只针对产线)
         /// </summary>
         /// </summary>
         /// <param name="agv"></param>
         /// <param name="agv"></param>
@@ -1053,122 +1121,24 @@ namespace AGVControl
                 //logTextBox.ScrollToCaret();
                 //logTextBox.ScrollToCaret();
             }
             }
         }
         }
-        public static void ReadLinePlace()
-        {
-            if (!System.IO.File.Exists(CONFIG_PATH + "LinePlace.txt"))
-            {
-                File.Create(CONFIG_PATH + "LinePlace.txt");
-                return;
-            }
-
-            string[] s = System.IO.File.ReadAllLines(CONFIG_PATH + "LinePlace.txt");
-            for (int i = 0; i < s.Count(); i++)
-            {
-                string[] mission = s[i].Split(',');
-                if (mission.Length != 2)
-                    continue;
-                //missionManager.missionList.Add(new MissionStru(mission[0], mission[1]));
-                missionManager.AddMission(new MissionStru(mission[0], mission[1]));
-            }
-
-        }
-
         /// <summary>
         /// <summary>
-        /// 添加空料架解绑
+        /// 读取料架解绑信息
         /// </summary>
         /// </summary>
-        /// <param name="nodeName"></param>
-        /// <returns></returns>
-        public static bool AddEmptyShelfTask(string nodeName)
+        public static void ReadUnlockLineInfo()
         {
         {
-            int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
-            if (idx > -1)
+            if (!System.IO.File.Exists(Common.CONFIG_PATH + "UnlockInfo.json"))
             {
             {
-               // Common.missionManager.missionList.Add(new MissionStru(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), nodeName));
-                Common.missionManager.AddMission(new MissionStru(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), nodeName));
-                Common.nodeInfo[idx].IncreEmptyShelfCnt(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"));
-                using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt"))
-                {
-                    foreach (var item in Common.missionManager.missionList)
-                    {
-                        file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName));
-                    }
-
-                }
-
-                return true;
-            }
-            else
-            {
-                log.Error("AddLinePlace 失败 节点" + nodeName + "不存在");
-                return false;
-            }
-
-        }
-        /// <summary>
-        /// 删除空架任务
-        /// </summary>
-        /// <param name="nodeName"></param>
-        /// <returns></returns>
-        public static bool DelEmptyShelfTask(string nodeName)
-        {
-            int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
-            if (idx > -1)
-            {
-                Common.nodeInfo[idx].DecreEmptyShelfCnt();
-                idx = Common.missionManager.missionList.FindIndex(s => s.NodeName == nodeName);
-                if (idx > -1)
-                {
-                    LogInfo("删除一个空料架任务：" + nodeName);
-                    Common.missionManager.DelMission(idx);
-                    //Common.missionManager.missionList.RemoveAt(idx);
-                    using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt"))
-                    {
-                        foreach (var item in Common.missionManager.missionList)
-                        {
-                            file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName));
-                        }
-
-                    }
-
-                    return true;
-                }
-                log.Error("DelLinePlace 失败 节点任务" + nodeName + "不存在");
-                return false;
-            }
-            else
-            {
-                log.Error("DelLinePlace 失败 节点" + nodeName + "不存在");
-                return false;
+                File.Create(Common.CONFIG_PATH + "UnlockInfo.json");
+                missionManager = new UnlockMissionManager(nodeInfo);
+                return;
             }
             }
-
+            string s = File.ReadAllText(Common.CONFIG_PATH + "UnlockInfo.json");
+            missionManager = JsonHelper.DeserializeJsonToObject<UnlockMissionManager>(s);
+            if (missionManager == null)
+                missionManager = new UnlockMissionManager(nodeInfo);
+            missionManager.Init();
         }
         }
 
 
-        //public static void CheckAGVMissionState()
-        //{
-        //    foreach (Agv_Info agv in agvInfo)
-        //    {
-        //        Thread.Sleep(50);
-        //        bool rtn = Common.mir.Get_Register(agv, 20, out int regValue);
-        //        if (rtn)
-        //        {
-        //            agv.GetPlace(regValue);
-        //            Common.log.Debug(string.Format("软件开启：{0} Get_Register PLC{1}={2} Place={3} PlaceState={4}", agv.Name, 20, regValue, agv.Place, agv.PlaceState));
-        //            if (!agv.Place.Equals(""))
-        //            {
-        //                int idx = nodeInfo.FindIndex(s => s.Name == agv.Place);
-        //                if (idx > -1)
-        //                {
-        //                    nodeInfo[idx].AgvName = agv.Name;
-        //                }
-        //                agv.TaskSend = "Move" + agv.Place;
-        //            }
-        //        }
-        //        else
-        //        {
-        //            Common.log.Debug("CheckAGVMissionState 获取PLC20失败");
-        //        }
-        //    }
-        //}
         public static void GetNodesPosition()
         public static void GetNodesPosition()
         {
         {
             Agv_Info agv = agvInfo[0];
             Agv_Info agv = agvInfo[0];
@@ -1184,7 +1154,7 @@ namespace AGVControl
                 }
                 }
                 else
                 else
                 {
                 {
-                    Common.log.Error(clientNode.Name+ " GetNodesPosition 获取节点位置失败");
+                    Common.log.Error(clientNode.Name + " GetNodesPosition 获取节点位置失败");
                 }
                 }
             }
             }
         }
         }
@@ -1244,7 +1214,7 @@ namespace AGVControl
                 StandbyStation.C4_Station2 = agv.Name;
                 StandbyStation.C4_Station2 = agv.Name;
                 Common.MoveToNode(agv, SettingString.C4_STANDBY2);
                 Common.MoveToNode(agv, SettingString.C4_STANDBY2);
             }
             }
-           
+
         }
         }
         /// <summary>
         /// <summary>
         /// 清除该小车在待机位的信息
         /// 清除该小车在待机位的信息
@@ -1452,63 +1422,5 @@ namespace AGVControl
         public string C4_Station1;
         public string C4_Station1;
         public string C4_Station2;
         public string C4_Station2;
     }
     }
-    /// <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
-    {
-        public delegate void MissionChangedHandler();
-        public event MissionChangedHandler MissionChanged;
-        /// <summary>
-        /// 任务列表
-        /// </summary>
-        public List<MissionStru> missionList;
-
-        /// <summary>
-        /// 空料架解绑总数
-        /// </summary>
-        public Int32 EmptyMissionCount
-        {
-            get { return missionList.Count; }
-        }
-
-        public void AddMission(MissionStru missionStru)
-        {
-            missionList.Add(missionStru);
-            MissionChanged?.Invoke();
-        }
-        public void DelMission(int idx)
-        {
-            if (idx == -1)
-                return;
-            Common.missionManager.missionList.RemoveAt(idx);
-            MissionChanged?.Invoke();
-        }
-        public MissionManager()
-        {
-            missionList = new List<MissionStru>();
-        }
-
-    }
 
 
 }
 }
\ No newline at end of file

AGVControl-ProductionLine/BLL/Control.cs

@@ -7,24 +7,25 @@ using System.Threading;
 using System.Threading.Tasks;
 using System.Threading.Tasks;
 using System.Web.Script.Serialization;
 using System.Web.Script.Serialization;
 using AGVControl;
 using AGVControl;
+using BLL;
 using log4net.Util;
 using log4net.Util;
 using RestSharp;
 using RestSharp;
 
 
-namespace BLL
+namespace AGVControl.BLL
 {
 {
     public class Control
     public class Control
     {
     {
         //private int areaC_Index;
         //private int areaC_Index;
         private System.Timers.Timer AgvCallTimer;
         private System.Timers.Timer AgvCallTimer;
         private System.Timers.Timer AgvStateTimer;
         private System.Timers.Timer AgvStateTimer;
+        private System.Timers.Timer NodeStateTimer;
         //public List<string> Marks;
         //public List<string> Marks;
         private const int REG_STATUS = 20;
         private const int REG_STATUS = 20;
         //private List<string> shelfLockedNodeNames;
         //private List<string> shelfLockedNodeNames;
         public delegate void AgvChangedEvent(int agvIndex);
         public delegate void AgvChangedEvent(int agvIndex);
-        public delegate void AgvMissionEvent();
         public event AgvChangedEvent AgvChanged;
         public event AgvChangedEvent AgvChanged;
         public event AgvChangedEvent AgvOnline;
         public event AgvChangedEvent AgvOnline;
-
+        public event AgvChangedEvent NodeChangedEvent;
         public Control()
         public Control()
         {
         {
             AgvCallTimer = new System.Timers.Timer
             AgvCallTimer = new System.Timers.Timer
@@ -37,11 +38,18 @@ namespace BLL
 
 
             AgvStateTimer = new System.Timers.Timer
             AgvStateTimer = new System.Timers.Timer
             {
             {
-                Interval = 1500,
+                Interval = 3000,
                 AutoReset = true,
                 AutoReset = true,
                 Enabled = false
                 Enabled = false
             };
             };
             AgvStateTimer.Elapsed += AgvStateTimer_Elapsed;
             AgvStateTimer.Elapsed += AgvStateTimer_Elapsed;
+            NodeStateTimer = new System.Timers.Timer
+            {
+                Interval = 5000,
+                AutoReset = true,
+                Enabled = false
+            };
+            NodeStateTimer.Elapsed += NodeStateTimer_Elapsed;
         }
         }
 
 
 
 
@@ -49,42 +57,93 @@ namespace BLL
         {
         {
             AgvCallTimer.Enabled = true;
             AgvCallTimer.Enabled = true;
             AgvStateTimer.Enabled = true;
             AgvStateTimer.Enabled = true;
+            NodeStateTimer.Enabled = true;
             AgvCallTimer.Start();
             AgvCallTimer.Start();
             AgvStateTimer.Start();
             AgvStateTimer.Start();
+            NodeStateTimer.Start();
         }
         }
 
 
         public void Stop()
         public void Stop()
         {
         {
             AgvCallTimer.Enabled = false;
             AgvCallTimer.Enabled = false;
             AgvStateTimer.Enabled = false;
             AgvStateTimer.Enabled = false;
+            NodeStateTimer.Enabled = false;
             AgvCallTimer.Stop();
             AgvCallTimer.Stop();
             AgvStateTimer.Stop();
             AgvStateTimer.Stop();
+            NodeStateTimer.Stop();
         }
         }
+        private bool NodeStateInProcess = false;
+        private void NodeStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
+        {
+            if (NodeStateInProcess) return;
+            NodeStateInProcess = true;
+            List<AlarmMsg> msglist = new List<AlarmMsg>();
+            try
+            {
+                String tmp = "";
+                for (int j = 0; j < Common.nodeInfo.Count; j++)
+                {
+                    bool isAlarm = false;
+                    if (!Common.UpdateStationState(Common.nodeInfo[j]))
+                    {
+                        isAlarm = true;
+                        msglist.Add(new AlarmMsg(Common.nodeInfo[j].AliceName, "lineAgv." + Common.nodeInfo[j].Name + ".WarnMsg", Common.nodeInfo[j].WarnMsg));
+                    }
+                    if (!isAlarm && !Common.nodeInfo[j].Online)
+                    {
+                        msglist.Add(new AlarmMsg(Common.nodeInfo[j].AliceName, "lineAgv." + Common.nodeInfo[j].Name + ".OffLine", "离线"));
+                    }
+                    if (Common.nodeInfo[j].Name.StartsWith(SettingString.D4_Name_Prefix) || Common.nodeInfo[j].Name.StartsWith(SettingString.C4_Name_Prefix))
+                    {
+                        if (!Common.nodeInfo[j].Name.Equals(SettingString.C4FeederIn) && !Common.nodeInfo[j].Name.Equals(SettingString.C4FeederOut) &&
+                            !Common.nodeInfo[j].Name.Equals(SettingString.D4FeederIn) && !Common.nodeInfo[j].Name.Equals(SettingString.D4FeederOut))
+                        {
+                            tmp = AGVManager.GetFirstRFID(Common.nodeInfo[j].Name);
+                            if (!tmp.Equals(Common.nodeInfo[j].RFID))
+                            {
+                                Common.nodeInfo[j].RFID = tmp;
+                                NodeChangedEvent?.Invoke(j);
+                            }
 
 
+                        }
+                        if (Common.nodeInfo[j].Name.Equals(SettingString.C4FeederOut) || Common.nodeInfo[j].Name.Equals(SettingString.D4FeederOut))
+                        {
+                            if (Common.missionManager.GetUnlockCnt(Common.nodeInfo[j].Name) > 0)
+                            {
+                                tmp = Common.missionManager.GetUnlockRfids(Common.nodeInfo[j].Name)[0];
+                                if (!tmp.Equals(Common.nodeInfo[j].RFID))
+                                {
+                                    Common.nodeInfo[j].RFID = tmp;
+                                    NodeChangedEvent?.Invoke(j);
+                                }
 
 
+                            }
+
+                        }
+                    }
+                }
+                AGVManager.updateDeviceAlarmMsg(msglist);
+            }
+            catch(Exception ex)
+            {
+                Common.log.Error("NodeStateTimer " + ex.Message + ex.StackTrace);
+            }
+            NodeStateInProcess = false;
+        }
         private bool AgvStateInProcess = false;
         private bool AgvStateInProcess = false;
-        private eAGVState preAGVState = eAGVState.None;
+        //private eAGVState preAGVState = eAGVState.None;
         private void AgvStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         private void AgvStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
         {
             bool rtn;
             bool rtn;
             if (AgvStateInProcess) return;
             if (AgvStateInProcess) return;
             AgvStateInProcess = true;
             AgvStateInProcess = true;
             List<AlarmMsg> msglist = new List<AlarmMsg>();
             List<AlarmMsg> msglist = new List<AlarmMsg>();
-            for (int j = 0; j < Common.nodeInfo.Count; j++)
-            {
-                if (!Common.nodeInfo[j].Online)
-                {
-                    msglist.Add(new AlarmMsg(Common.nodeInfo[j].AliceName, "lineAgv." + Common.nodeInfo[j].Name + ".OffLine", "离线"));
-                }
-            }
-            BLL.AGVManager.updateDeviceAlarmMsg(msglist);
-
             for (int i = 0; i < Common.agvInfo.Count; i++)
             for (int i = 0; i < Common.agvInfo.Count; i++)
             {
             {
                 //上报异常
                 //上报异常
                 bool isAlarm = false;
                 bool isAlarm = false;
-                if (msglist.Count > 0)
-                    msglist.Clear();
+                //if (msglist.Count > 0)
+                //    msglist.Clear();
                 try
                 try
                 {
                 {
                     if (!CheckOnline(i)) continue;
                     if (!CheckOnline(i)) continue;
@@ -96,30 +155,24 @@ namespace BLL
                     Thread.Sleep(50);
                     Thread.Sleep(50);
                     if (rtn) change = Common.agvInfo[i].SetState(stateID, stateStr, battery, mission_text, position);
                     if (rtn) change = Common.agvInfo[i].SetState(stateID, stateStr, battery, mission_text, position);
 
 
-                    //更新状态stateID.Equals(eAGVState.Executing)
-                    if (change)
+                   // if (change)
                     {
                     {
                         AgvChanged?.Invoke(i);
                         AgvChanged?.Invoke(i);
                     }
                     }
-                    Common.log.Debug("获取AGV状态");     
 
 
                     Thread.Sleep(50);
                     Thread.Sleep(50);
-                    rtn = Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
-                    Common.log.Debug("获取IO状态");
-
-                    preAGVState = Common.agvInfo[i].StateID;
-
-                    if (Common.agvInfo[i].StandTimeOut)
+                    if (stateText.Equals("Error") || stateText.Equals("EmergencyStop") || stateText.Equals("Pause"))
                     {
                     {
                         isAlarm = true;
                         isAlarm = true;
-                        msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".StandTimeOut", "在" + Common.agvInfo[i].PlaceAliceName + "停留超时" + (DateTime.Now - Common.agvInfo[i].StandStartTime).TotalMinutes.ToString("f2") + "分钟"));
+                        msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Error.EmergencyStop", "agv状态:" + stateText + ""));
                     }
                     }
 
 
-                    if (stateText.Equals("Error") || stateText.Equals("EmergencyStop") || stateText.Equals("Pause"))
+                    if (!isAlarm && Common.agvInfo[i].StandTimeOut)
                     {
                     {
                         isAlarm = true;
                         isAlarm = true;
-                        msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Error.EmergencyStop", "agv状态:" + stateText + ""));
+                        msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".StandTimeOut", "在" + Common.agvInfo[i].PlaceAliceName + "停留超时" + (DateTime.Now - Common.agvInfo[i].StandStartTime).TotalMinutes.ToString("f2") + "分钟"));
                     }
                     }
+
                     if (!isAlarm)
                     if (!isAlarm)
                     {
                     {
                         try
                         try
@@ -139,7 +192,7 @@ namespace BLL
                             Common.log.Error(Common.agvInfo[i].Name + "上报小车运行步骤失败" + ex.Message + ex.StackTrace);
                             Common.log.Error(Common.agvInfo[i].Name + "上报小车运行步骤失败" + ex.Message + ex.StackTrace);
                         }
                         }
                     }
                     }
-                    BLL.AGVManager.updateDeviceAlarmMsg(msglist);
+                    AGVManager.updateDeviceAlarmMsg(msglist);
                 }
                 }
                 catch (Exception ex)
                 catch (Exception ex)
                 {
                 {
@@ -147,7 +200,6 @@ namespace BLL
                 }
                 }
             }
             }
 
 
-
             AgvStateInProcess = false;
             AgvStateInProcess = false;
         }
         }
 
 

AGVControl-ProductionLine/BLL/JsonHelper.cs

@@ -4,7 +4,7 @@ using System;
 using System.Collections.Generic;
 using System.Collections.Generic;
 using System.IO;
 using System.IO;
 
 
-namespace BLL
+namespace AGVControl
 {
 {
     /// <summary>
     /// <summary>
     /// Json帮助类
     /// Json帮助类

AGVControl-ProductionLine/BLL/LineWebService.cs

@@ -20,7 +20,7 @@ namespace BLL
                                                      //?emptyStation={line}
                                                      //?emptyStation={line}
         [OperationContract]
         [OperationContract]
         [WebInvoke(UriTemplate = "CreateEmptyRecycleTask?emptyStation={line}&rfid={RFID}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Xml)]
         [WebInvoke(UriTemplate = "CreateEmptyRecycleTask?emptyStation={line}&rfid={RFID}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Xml)]
-        string CreateEmptyRecycleTaskGET(string line,string RFID="");
+        string CreateEmptyRecycleTaskGET(string line, string RFID = "");
 
 
     }
     }
 
 
@@ -70,38 +70,35 @@ namespace BLL
                 }
                 }
                 if (Common.GetNodeNameByLineName(emptyStation, out string value))
                 if (Common.GetNodeNameByLineName(emptyStation, out string value))
                 {
                 {
-                    if (!Common.AddEmptyShelfTask(value))
+                    if (rfid == null)
                     {
                     {
-                        Common.log.Error("CreateEmptyRecycleTask(POST) 节点[" + value + "]不存在");
-                        res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "CreateEmptyRecycleTask failed: " + emptyStation };
+                        res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "rfid=null" };
+                        Log.Error(string.Format("Unlock Request(POST) Failed [emptyStation={0},rfid=null]", emptyStation));
                     }
                     }
                     else
                     else
                     {
                     {
-                        if (rfid == null)
+                        res = new Result() { Succeed = true, ResultData = rfid, ErrorMessage = "" };
+                        Log.Info(string.Format("Unlock Request(POST) [emptyStation={0},rfid={1}]", emptyStation, rfid.ToUpper()));
+                        if (!Common.missionManager.AddMission(value, rfid.ToUpper()))
                         {
                         {
-                            res = new Result() { Succeed = true, ResultData = null, ErrorMessage = "" };
-                            Log.Info(string.Format("WebService Request(POST) emptyStation={0},rfid=null", emptyStation));
-                            Common.LogInfo("任务[POST]：" + value + " 出空料架 [" + emptyStation + "]");
+                            Common.log.Error("CreateEmptyRecycleTask(POST) 节点[" + value + "]不存在");
+                            res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "CreateEmptyRecycleTask failed: " + emptyStation + " rfid=" + rfid };
                         }
                         }
                         else
                         else
-                        {
-                            res = new Result() { Succeed = true, ResultData = rfid, ErrorMessage = "" };
-                            Log.Info(string.Format("WebService Request(POST) emptyStation={0},rfid={1}", emptyStation, rfid));
-                            Common.LogInfo("任务[POST]：" + value + " 出空料架 [location=" + emptyStation + ",rfid=" + rfid + "]");
-                        }
+                            Common.LogInfo("任务[POST]：" + value + " 出空料架 [location=" + emptyStation + ",rfid=" + rfid.ToUpper() + "]");
                     }
                     }
-                   // AGVControl.Common.log.Debug("WebService POST Response OK");
+                    // AGVControl.Common.log.Debug("WebService POST Response OK");
                 }
                 }
                 else
                 else
                 {
                 {
                     res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "Not find " + emptyStation };
                     res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "Not find " + emptyStation };
-                    AGVControl.Common.log.Error("WebService POST Response false " + "Not find " + emptyStation);
+                    AGVControl.Common.log.Error("Unlock POST Response false " + "Not find " + emptyStation);
                 }
                 }
             }
             }
             return JsonHelper.SerializeObject(res);
             return JsonHelper.SerializeObject(res);
         }
         }
 
 
-        public string CreateEmptyRecycleTaskGET(string line,string RFID)
+        public string CreateEmptyRecycleTaskGET(string line, string RFID)
         {
         {
             Result res;
             Result res;
             if (line.Equals("Feeder"))
             if (line.Equals("Feeder"))
@@ -115,7 +112,7 @@ namespace BLL
             if (Common.GetNodeNameByLineName(line, out string value))
             if (Common.GetNodeNameByLineName(line, out string value))
             {
             {
 
 
-                if (!Common.AddEmptyShelfTask(value))
+                if (!Common.missionManager.AddMission(value,RFID.ToUpper()))
                 {
                 {
                     Common.log.Error("CreateEmptyRecycleTask 节点[" + value + "]不存在");
                     Common.log.Error("CreateEmptyRecycleTask 节点[" + value + "]不存在");
                     res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "CreateEmptyRecycleTask failed: " + line };
                     res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "CreateEmptyRecycleTask failed: " + line };
@@ -123,14 +120,14 @@ namespace BLL
                 else
                 else
                 {
                 {
                     res = new Result() { Succeed = true, ResultData = RFID, ErrorMessage = "" };
                     res = new Result() { Succeed = true, ResultData = RFID, ErrorMessage = "" };
-                    Log.Info(string.Format("WebService Request(GET) emptyStation={0},rfid={1}", line, RFID));
-                    Common.LogInfo("任务[GET]：" + value + " 出空料架 [emptyStation=" + line + ",rfid="+RFID+"]");
+                    Log.Info(string.Format("Unlock Request(GET) [emptyStation={0},rfid={1}]", line, RFID.ToUpper()));
+                    Common.LogInfo("任务[GET]：" + value + " 出空料架 [emptyStation=" + line + ",rfid=" + RFID.ToUpper() + "]");
                 }
                 }
             }
             }
             else
             else
             {
             {
                 res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "Not find " + line };
                 res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "Not find " + line };
-                AGVControl.Common.LogInfo("WebService GET Response false " + "Not find " + line);
+                AGVControl.Common.LogInfo("Unlock GET Response false " + "Not find " + line);
             }
             }
             //Log.Info(string.Format("WebService GET Request emptyStation={0},rfid={1}", line, RFID));
             //Log.Info(string.Format("WebService GET Request emptyStation={0},rfid={1}", line, RFID));
             return JsonHelper.SerializeObject(res);
             return JsonHelper.SerializeObject(res);

AGVControl-ProductionLine/BLL/StationRFIDManager.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl.BLL
+{
+    /// <summary>
+    /// 接驳台RFID管理
+    /// </summary>
+    public class StationRFIDManager
+    {
+    }
+}

AGVControl-ProductionLine/BLL/UnlockMissionManager.cs

+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl
+{
+    /// <summary>
+    ///解绑料架任务管理
+    /// </summary>
+    public class UnlockMissionManager
+    {
+        public delegate void MissionChangedHandler(Dictionary<string, UnlockInfo> pairs);
+        public event MissionChangedHandler MissionChanged;
+        /// <summary>
+        /// 任务列表
+        /// </summary>
+        public Dictionary<string, UnlockedShelf> NodeUnlockMissions { get; private set; }
+        Dictionary<string, UnlockInfo> UnlockMissions;
+        public UnlockMissionManager(List<ClientNode> clientNodes)
+        {
+            NodeUnlockMissions = new Dictionary<string, UnlockedShelf>();
+            UnlockMissions = new Dictionary<string, UnlockInfo>();
+            foreach (ClientNode item in clientNodes)
+            {
+                if (item.Name.StartsWith("A") || item.Name.Equals(SettingString.D4FeederIn) || item.Name.Equals(SettingString.C4FeederIn))
+                    continue;
+                NodeUnlockMissions.Add(item.Name, new UnlockedShelf());
+                UnlockMissions = new Dictionary<string, UnlockInfo>();
+            }
+        }
+        public UnlockMissionManager()
+        {
+            NodeUnlockMissions = new Dictionary<string, UnlockedShelf>();
+            UnlockMissions = new Dictionary<string, UnlockInfo>();
+        }
+        public void Init()
+        {
+            foreach (var item in NodeUnlockMissions.Keys)
+            {
+                UnlockMissions.Add(item, new UnlockInfo(item, NodeUnlockMissions[item].EmptyCnt, NodeUnlockMissions[item].GetRfidWithTime()));
+            }
+            MissionChanged?.Invoke(UnlockMissions);
+        }
+        public UnlockedShelf GetUnlockInfo(string nodeName)
+        {
+            if (NodeUnlockMissions.ContainsKey(nodeName))
+            {
+                return NodeUnlockMissions[nodeName];
+            }
+            return null;
+        }
+        public int GetUnlockCnt(string nodeName)
+        {
+            if (NodeUnlockMissions.ContainsKey(nodeName))
+            {
+                return NodeUnlockMissions[nodeName].EmptyCnt;
+            }
+            return -1;
+        }
+        public List<string> GetUnlockRfids(string nodeName)
+        {
+            if (NodeUnlockMissions.ContainsKey(nodeName))
+            {
+                return NodeUnlockMissions[nodeName].GetRfids();
+            }
+            return new List<string>();
+        }
+        public bool AddMission(string nodeName, string rfid)
+        {
+            bool rtn = NodeUnlockMissions[nodeName].Add(rfid);
+            if (rtn)
+            {
+                UnlockMissions[nodeName] = new UnlockInfo(nodeName, NodeUnlockMissions[nodeName].EmptyCnt, NodeUnlockMissions[nodeName].GetRfidWithTime());
+                WriteUnlockLineInfo();
+                Common.WriteIni(nodeName, SettingString.EmptyShelfCnt, NodeUnlockMissions[nodeName].EmptyCnt.ToString());
+                Common.LogInfo(string.Format("{0}解绑任务添加成功:RFID={1}", nodeName, rfid));
+                MissionChanged?.Invoke(UnlockMissions);
+            }
+            else
+                Common.LogInfo(string.Format("{0}解绑任务添加失败:RFID={1}", nodeName, rfid));
+            return rtn;
+        }
+        public bool DelMission(string nodeName, string rfid)
+        {
+            bool rtn = NodeUnlockMissions[nodeName].Delete(rfid);
+            if (rtn)
+            {
+                UnlockMissions[nodeName] = new UnlockInfo(nodeName, NodeUnlockMissions[nodeName].EmptyCnt, NodeUnlockMissions[nodeName].GetRfidWithTime());
+                WriteUnlockLineInfo();
+                Common.WriteIni(nodeName, SettingString.EmptyShelfCnt, NodeUnlockMissions[nodeName].EmptyCnt.ToString());
+                Common.LogInfo(string.Format("{0}解绑任务删除成功:RFID={1}", nodeName, rfid));
+                MissionChanged?.Invoke(UnlockMissions);
+            }
+            else
+                Common.LogInfo(string.Format("{0}解绑任务删除失败:RFID={1}", nodeName, rfid));
+            return rtn;
+        }
+        /// <summary>
+        /// 保存料架解绑信息
+        /// </summary>
+        void WriteUnlockLineInfo()
+        {
+            using (System.IO.StreamWriter file = new System.IO.StreamWriter(Common.CONFIG_PATH + "UnlockInfo.json"))
+            {
+                string s = JsonHelper.SerializeObject(this);
+                file.WriteLine(s);
+            }
+        }
+    }
+
+    public class UnlockInfo
+    {
+        public string Line { get; set; }
+        public int Count { get; set; }
+        public string RFID { get; set; }
+        public List<UnlockRfid> UnlockRfids { get; private set; }
+        public UnlockInfo(string nodeName, int count, Dictionary<string, string> rfids)
+        {
+            if (Common.GetLineNameByNodeName(nodeName, out string line))
+            {
+                Line = line;
+            }
+            else
+            {
+                Line = nodeName;
+            }
+            Count = count;
+            RFID = string.Join(",", rfids.Keys);
+            UnlockRfids = new List<UnlockRfid>();
+            foreach (var item in rfids.Keys)
+            {
+                UnlockRfids.Add(new UnlockRfid(nodeName, rfids[item], item));
+            }
+        }
+    }
+    public class UnlockRfid
+    {
+        public String Line { get; set; }
+        public string RFID { get; set; }
+        public string Time { get; set; }
+        public UnlockRfid(string line, string time, string rfid)
+        {
+            Time = time;
+            RFID = rfid;
+            Line = line;
+        }
+    }
+}

AGVControl-ProductionLine/FrmMain.Designer.cs

@@ -28,11 +28,19 @@
         /// </summary>
         /// </summary>
         private void InitializeComponent()
         private void InitializeComponent()
         {
         {
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle1 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle2 = new System.Windows.Forms.DataGridViewCellStyle();
-            System.Windows.Forms.DataGridViewCellStyle dataGridViewCellStyle3 = new System.Windows.Forms.DataGridViewCellStyle();
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FrmMain));
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FrmMain));
             this.DgvAgv = new System.Windows.Forms.DataGridView();
             this.DgvAgv = new System.Windows.Forms.DataGridView();
+            this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column4 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column14 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column21 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column18 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column23 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column13 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column19 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column11 = new System.Windows.Forms.DataGridViewButtonColumn();
             this.tableLayoutPanel3 = new System.Windows.Forms.TableLayoutPanel();
             this.tableLayoutPanel3 = new System.Windows.Forms.TableLayoutPanel();
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabPage1 = new System.Windows.Forms.TabPage();
             this.tabPage1 = new System.Windows.Forms.TabPage();
@@ -53,26 +61,33 @@
             this.groupBox3 = new System.Windows.Forms.GroupBox();
             this.groupBox3 = new System.Windows.Forms.GroupBox();
             this.lblWO = new System.Windows.Forms.Label();
             this.lblWO = new System.Windows.Forms.Label();
             this.tableLayoutPanel7 = new System.Windows.Forms.TableLayoutPanel();
             this.tableLayoutPanel7 = new System.Windows.Forms.TableLayoutPanel();
-            this.groupBox4 = new System.Windows.Forms.GroupBox();
-            this.dgvLineMission = new System.Windows.Forms.DataGridView();
-            this.Column24 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column8 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.lblWarn = new System.Windows.Forms.Label();
+            this.grpUnlock = new System.Windows.Forms.GroupBox();
+            this.tblLayoutUnlock = new System.Windows.Forms.TableLayoutPanel();
+            this.dgvUnlockDetail = new System.Windows.Forms.DataGridView();
+            this.dgvUnlockInfo = new System.Windows.Forms.DataGridView();
+            this.tabPage2 = new System.Windows.Forms.TabPage();
+            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
             this.groupBox8 = new System.Windows.Forms.GroupBox();
             this.groupBox8 = new System.Windows.Forms.GroupBox();
             this.lblStandy2 = new System.Windows.Forms.Label();
             this.lblStandy2 = new System.Windows.Forms.Label();
             this.lblStandy1 = new System.Windows.Forms.Label();
             this.lblStandy1 = new System.Windows.Forms.Label();
             this.lblCharge4 = new System.Windows.Forms.Label();
             this.lblCharge4 = new System.Windows.Forms.Label();
             this.lblCharge3 = new System.Windows.Forms.Label();
             this.lblCharge3 = new System.Windows.Forms.Label();
-            this.tabPage2 = new System.Windows.Forms.TabPage();
-            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
             this.TxtLog = new System.Windows.Forms.TextBox();
             this.TxtLog = new System.Windows.Forms.TextBox();
             this.tabPage3 = new System.Windows.Forms.TabPage();
             this.tabPage3 = new System.Windows.Forms.TabPage();
-            this.groupBox7 = new System.Windows.Forms.GroupBox();
+            this.groupBox4 = new System.Windows.Forms.GroupBox();
+            this.btnClearStationRFID = new System.Windows.Forms.Button();
+            this.label11 = new System.Windows.Forms.Label();
             this.txtBoxLineName = new System.Windows.Forms.TextBox();
             this.txtBoxLineName = new System.Windows.Forms.TextBox();
+            this.btnUpdateStatus = new System.Windows.Forms.Button();
+            this.btnGetStationRfid = new System.Windows.Forms.Button();
             this.label8 = new System.Windows.Forms.Label();
             this.label8 = new System.Windows.Forms.Label();
             this.label7 = new System.Windows.Forms.Label();
             this.label7 = new System.Windows.Forms.Label();
-            this.btnUpdateStatus = new System.Windows.Forms.Button();
             this.txtBoxRFID = new System.Windows.Forms.TextBox();
             this.txtBoxRFID = new System.Windows.Forms.TextBox();
             this.groupBox6 = new System.Windows.Forms.GroupBox();
             this.groupBox6 = new System.Windows.Forms.GroupBox();
+            this.label10 = new System.Windows.Forms.Label();
+            this.label9 = new System.Windows.Forms.Label();
+            this.txtRfid = new System.Windows.Forms.TextBox();
             this.btnDeleteMission = new System.Windows.Forms.Button();
             this.btnDeleteMission = new System.Windows.Forms.Button();
             this.btnAddMission = new System.Windows.Forms.Button();
             this.btnAddMission = new System.Windows.Forms.Button();
             this.cmbBoxLineName = new System.Windows.Forms.ComboBox();
             this.cmbBoxLineName = new System.Windows.Forms.ComboBox();
@@ -91,17 +106,9 @@
             this.label3 = new System.Windows.Forms.Label();
             this.label3 = new System.Windows.Forms.Label();
             this.label2 = new System.Windows.Forms.Label();
             this.label2 = new System.Windows.Forms.Label();
             this.label1 = new System.Windows.Forms.Label();
             this.label1 = new System.Windows.Forms.Label();
-            this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column4 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column14 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column21 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column18 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column23 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column13 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column19 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column11 = new System.Windows.Forms.DataGridViewButtonColumn();
+            this.backgroundWorker1 = new System.ComponentModel.BackgroundWorker();
+            this.agvRemoveRfid = new System.Windows.Forms.Button();
+            this.label12 = new System.Windows.Forms.Label();
             ((System.ComponentModel.ISupportInitialize)(this.DgvAgv)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.DgvAgv)).BeginInit();
             this.tableLayoutPanel3.SuspendLayout();
             this.tableLayoutPanel3.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.tabControl1.SuspendLayout();
@@ -113,13 +120,15 @@
             this.groupBox5.SuspendLayout();
             this.groupBox5.SuspendLayout();
             this.groupBox3.SuspendLayout();
             this.groupBox3.SuspendLayout();
             this.tableLayoutPanel7.SuspendLayout();
             this.tableLayoutPanel7.SuspendLayout();
-            this.groupBox4.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.dgvLineMission)).BeginInit();
-            this.groupBox8.SuspendLayout();
+            this.grpUnlock.SuspendLayout();
+            this.tblLayoutUnlock.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.dgvUnlockDetail)).BeginInit();
+            ((System.ComponentModel.ISupportInitialize)(this.dgvUnlockInfo)).BeginInit();
             this.tabPage2.SuspendLayout();
             this.tabPage2.SuspendLayout();
             this.tableLayoutPanel1.SuspendLayout();
             this.tableLayoutPanel1.SuspendLayout();
+            this.groupBox8.SuspendLayout();
             this.tabPage3.SuspendLayout();
             this.tabPage3.SuspendLayout();
-            this.groupBox7.SuspendLayout();
+            this.groupBox4.SuspendLayout();
             this.groupBox6.SuspendLayout();
             this.groupBox6.SuspendLayout();
             this.groupBox2.SuspendLayout();
             this.groupBox2.SuspendLayout();
             this.tableLayoutPanel4.SuspendLayout();
             this.tableLayoutPanel4.SuspendLayout();
@@ -157,9 +166,97 @@
             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(1061, 125);
+            this.DgvAgv.Size = new System.Drawing.Size(1105, 141);
             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);
+            this.DgvAgv.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvAgv_CellContentClick);
+            // 
+            // Column1
+            // 
+            this.Column1.HeaderText = "名称";
+            this.Column1.MinimumWidth = 6;
+            this.Column1.Name = "Column1";
+            this.Column1.ReadOnly = true;
+            this.Column1.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            // 
+            // Column2
+            // 
+            this.Column2.HeaderText = "IP";
+            this.Column2.MinimumWidth = 6;
+            this.Column2.Name = "Column2";
+            this.Column2.ReadOnly = true;
+            this.Column2.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            // 
+            // Column4
+            // 
+            this.Column4.HeaderText = "小车状态";
+            this.Column4.MinimumWidth = 6;
+            this.Column4.Name = "Column4";
+            this.Column4.ReadOnly = true;
+            this.Column4.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            // 
+            // Column14
+            // 
+            this.Column14.HeaderText = "任务ID";
+            this.Column14.MinimumWidth = 6;
+            this.Column14.Name = "Column14";
+            this.Column14.ReadOnly = true;
+            this.Column14.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            // 
+            // Column21
+            // 
+            this.Column21.HeaderText = "任务名称";
+            this.Column21.MinimumWidth = 6;
+            this.Column21.Name = "Column21";
+            this.Column21.ReadOnly = true;
+            this.Column21.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            // 
+            // Column3
+            // 
+            this.Column3.HeaderText = "任务状态";
+            this.Column3.MinimumWidth = 6;
+            this.Column3.Name = "Column3";
+            this.Column3.ReadOnly = true;
+            this.Column3.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            // 
+            // Column18
+            // 
+            this.Column18.HeaderText = "目的地";
+            this.Column18.MinimumWidth = 6;
+            this.Column18.Name = "Column18";
+            this.Column18.ReadOnly = true;
+            this.Column18.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            // 
+            // Column23
+            // 
+            this.Column23.HeaderText = "负载";
+            this.Column23.MinimumWidth = 6;
+            this.Column23.Name = "Column23";
+            this.Column23.ReadOnly = true;
+            this.Column23.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            // 
+            // Column13
+            // 
+            this.Column13.HeaderText = "连接";
+            this.Column13.MinimumWidth = 6;
+            this.Column13.Name = "Column13";
+            this.Column13.ReadOnly = true;
+            this.Column13.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            // 
+            // Column19
+            // 
+            this.Column19.HeaderText = "电量";
+            this.Column19.MinimumWidth = 6;
+            this.Column19.Name = "Column19";
+            this.Column19.ReadOnly = true;
+            this.Column19.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            // 
+            // Column11
+            // 
+            this.Column11.HeaderText = "自动";
+            this.Column11.MinimumWidth = 6;
+            this.Column11.Name = "Column11";
+            this.Column11.ReadOnly = true;
             // 
             // 
             // tableLayoutPanel3
             // tableLayoutPanel3
             // 
             // 
@@ -170,13 +267,13 @@
             this.tableLayoutPanel3.Controls.Add(this.tableLayoutPanel4, 0, 1);
             this.tableLayoutPanel3.Controls.Add(this.tableLayoutPanel4, 0, 1);
             this.tableLayoutPanel3.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel3.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel3.Location = new System.Drawing.Point(0, 0);
             this.tableLayoutPanel3.Location = new System.Drawing.Point(0, 0);
-            this.tableLayoutPanel3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.tableLayoutPanel3.Margin = new System.Windows.Forms.Padding(2);
             this.tableLayoutPanel3.Name = "tableLayoutPanel3";
             this.tableLayoutPanel3.Name = "tableLayoutPanel3";
             this.tableLayoutPanel3.RowCount = 3;
             this.tableLayoutPanel3.RowCount = 3;
             this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 20F));
             this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 20F));
             this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 30F));
             this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 30F));
             this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel3.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel3.Size = new System.Drawing.Size(1067, 656);
+            this.tableLayoutPanel3.Size = new System.Drawing.Size(1111, 735);
             this.tableLayoutPanel3.TabIndex = 7;
             this.tableLayoutPanel3.TabIndex = 7;
             // 
             // 
             // tabControl1
             // tabControl1
@@ -185,10 +282,10 @@
             this.tabControl1.Controls.Add(this.tabPage2);
             this.tabControl1.Controls.Add(this.tabPage2);
             this.tabControl1.Controls.Add(this.tabPage3);
             this.tabControl1.Controls.Add(this.tabPage3);
             this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tabControl1.Location = new System.Drawing.Point(3, 330);
+            this.tabControl1.Location = new System.Drawing.Point(3, 370);
             this.tabControl1.Name = "tabControl1";
             this.tabControl1.Name = "tabControl1";
             this.tabControl1.SelectedIndex = 0;
             this.tabControl1.SelectedIndex = 0;
-            this.tabControl1.Size = new System.Drawing.Size(1061, 323);
+            this.tabControl1.Size = new System.Drawing.Size(1105, 362);
             this.tabControl1.TabIndex = 7;
             this.tabControl1.TabIndex = 7;
             // 
             // 
             // tabPage1
             // tabPage1
@@ -196,8 +293,8 @@
             this.tabPage1.Controls.Add(this.tableLayoutPanel2);
             this.tabPage1.Controls.Add(this.tableLayoutPanel2);
             this.tabPage1.Location = new System.Drawing.Point(4, 22);
             this.tabPage1.Location = new System.Drawing.Point(4, 22);
             this.tabPage1.Name = "tabPage1";
             this.tabPage1.Name = "tabPage1";
-            this.tabPage1.Padding = new System.Windows.Forms.Padding(3, 3, 3, 3);
-            this.tabPage1.Size = new System.Drawing.Size(1053, 297);
+            this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
+            this.tabPage1.Size = new System.Drawing.Size(1097, 336);
             this.tabPage1.TabIndex = 0;
             this.tabPage1.TabIndex = 0;
             this.tabPage1.Text = "节点状态&产线任务";
             this.tabPage1.Text = "节点状态&产线任务";
             this.tabPage1.UseVisualStyleBackColor = true;
             this.tabPage1.UseVisualStyleBackColor = true;
@@ -211,11 +308,11 @@
             this.tableLayoutPanel2.Controls.Add(this.groupBox1, 1, 0);
             this.tableLayoutPanel2.Controls.Add(this.groupBox1, 1, 0);
             this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel2.Location = new System.Drawing.Point(3, 3);
             this.tableLayoutPanel2.Location = new System.Drawing.Point(3, 3);
-            this.tableLayoutPanel2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.tableLayoutPanel2.Margin = new System.Windows.Forms.Padding(2);
             this.tableLayoutPanel2.Name = "tableLayoutPanel2";
             this.tableLayoutPanel2.Name = "tableLayoutPanel2";
             this.tableLayoutPanel2.RowCount = 1;
             this.tableLayoutPanel2.RowCount = 1;
             this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel2.Size = new System.Drawing.Size(1047, 291);
+            this.tableLayoutPanel2.Size = new System.Drawing.Size(1091, 330);
             this.tableLayoutPanel2.TabIndex = 34;
             this.tableLayoutPanel2.TabIndex = 34;
             // 
             // 
             // DgvNode
             // DgvNode
@@ -247,7 +344,7 @@
             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(584, 285);
+            this.DgvNode.Size = new System.Drawing.Size(609, 324);
             this.DgvNode.TabIndex = 1;
             this.DgvNode.TabIndex = 1;
             this.DgvNode.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvNode_CellClick);
             this.DgvNode.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvNode_CellClick);
             // 
             // 
@@ -326,11 +423,11 @@
             this.groupBox1.Controls.Add(this.tableLayoutPanel5);
             this.groupBox1.Controls.Add(this.tableLayoutPanel5);
             this.groupBox1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.groupBox1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.groupBox1.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.groupBox1.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.groupBox1.Location = new System.Drawing.Point(592, 2);
-            this.groupBox1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.groupBox1.Location = new System.Drawing.Point(617, 2);
+            this.groupBox1.Margin = new System.Windows.Forms.Padding(2);
             this.groupBox1.Name = "groupBox1";
             this.groupBox1.Name = "groupBox1";
-            this.groupBox1.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox1.Size = new System.Drawing.Size(453, 287);
+            this.groupBox1.Padding = new System.Windows.Forms.Padding(2);
+            this.groupBox1.Size = new System.Drawing.Size(472, 326);
             this.groupBox1.TabIndex = 33;
             this.groupBox1.TabIndex = 33;
             this.groupBox1.TabStop = false;
             this.groupBox1.TabStop = false;
             this.groupBox1.Text = "任务信息";
             this.groupBox1.Text = "任务信息";
@@ -342,26 +439,28 @@
             this.tableLayoutPanel5.Controls.Add(this.groupBox5, 0, 1);
             this.tableLayoutPanel5.Controls.Add(this.groupBox5, 0, 1);
             this.tableLayoutPanel5.Controls.Add(this.groupBox3, 0, 0);
             this.tableLayoutPanel5.Controls.Add(this.groupBox3, 0, 0);
             this.tableLayoutPanel5.Controls.Add(this.tableLayoutPanel7, 0, 2);
             this.tableLayoutPanel5.Controls.Add(this.tableLayoutPanel7, 0, 2);
+            this.tableLayoutPanel5.Controls.Add(this.grpUnlock, 0, 3);
             this.tableLayoutPanel5.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel5.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel5.Location = new System.Drawing.Point(2, 19);
             this.tableLayoutPanel5.Location = new System.Drawing.Point(2, 19);
-            this.tableLayoutPanel5.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.tableLayoutPanel5.Margin = new System.Windows.Forms.Padding(2);
             this.tableLayoutPanel5.Name = "tableLayoutPanel5";
             this.tableLayoutPanel5.Name = "tableLayoutPanel5";
-            this.tableLayoutPanel5.RowCount = 3;
+            this.tableLayoutPanel5.RowCount = 4;
+            this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 15F));
             this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 15F));
             this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 15F));
             this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 15F));
             this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 15F));
-            this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 70F));
-            this.tableLayoutPanel5.Size = new System.Drawing.Size(449, 266);
+            this.tableLayoutPanel5.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 55F));
+            this.tableLayoutPanel5.Size = new System.Drawing.Size(468, 305);
             this.tableLayoutPanel5.TabIndex = 2;
             this.tableLayoutPanel5.TabIndex = 2;
             // 
             // 
             // groupBox5
             // groupBox5
             // 
             // 
             this.groupBox5.Controls.Add(this.lblDestInfo);
             this.groupBox5.Controls.Add(this.lblDestInfo);
             this.groupBox5.Dock = System.Windows.Forms.DockStyle.Fill;
             this.groupBox5.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.groupBox5.Location = new System.Drawing.Point(2, 41);
-            this.groupBox5.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.groupBox5.Location = new System.Drawing.Point(2, 47);
+            this.groupBox5.Margin = new System.Windows.Forms.Padding(2);
             this.groupBox5.Name = "groupBox5";
             this.groupBox5.Name = "groupBox5";
-            this.groupBox5.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox5.Size = new System.Drawing.Size(445, 35);
+            this.groupBox5.Padding = new System.Windows.Forms.Padding(2);
+            this.groupBox5.Size = new System.Drawing.Size(464, 41);
             this.groupBox5.TabIndex = 2;
             this.groupBox5.TabIndex = 2;
             this.groupBox5.TabStop = false;
             this.groupBox5.TabStop = false;
             this.groupBox5.Text = "出料信息";
             this.groupBox5.Text = "出料信息";
@@ -373,7 +472,7 @@
             this.lblDestInfo.Location = new System.Drawing.Point(2, 19);
             this.lblDestInfo.Location = new System.Drawing.Point(2, 19);
             this.lblDestInfo.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDestInfo.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblDestInfo.Name = "lblDestInfo";
             this.lblDestInfo.Name = "lblDestInfo";
-            this.lblDestInfo.Size = new System.Drawing.Size(441, 14);
+            this.lblDestInfo.Size = new System.Drawing.Size(460, 20);
             this.lblDestInfo.TabIndex = 40;
             this.lblDestInfo.TabIndex = 40;
             this.lblDestInfo.Text = "lblDestInfo";
             this.lblDestInfo.Text = "lblDestInfo";
             // 
             // 
@@ -382,10 +481,10 @@
             this.groupBox3.Controls.Add(this.lblWO);
             this.groupBox3.Controls.Add(this.lblWO);
             this.groupBox3.Dock = System.Windows.Forms.DockStyle.Fill;
             this.groupBox3.Dock = System.Windows.Forms.DockStyle.Fill;
             this.groupBox3.Location = new System.Drawing.Point(2, 2);
             this.groupBox3.Location = new System.Drawing.Point(2, 2);
-            this.groupBox3.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.groupBox3.Margin = new System.Windows.Forms.Padding(2);
             this.groupBox3.Name = "groupBox3";
             this.groupBox3.Name = "groupBox3";
-            this.groupBox3.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox3.Size = new System.Drawing.Size(445, 35);
+            this.groupBox3.Padding = new System.Windows.Forms.Padding(2);
+            this.groupBox3.Size = new System.Drawing.Size(464, 41);
             this.groupBox3.TabIndex = 0;
             this.groupBox3.TabIndex = 0;
             this.groupBox3.TabStop = false;
             this.groupBox3.TabStop = false;
             this.groupBox3.Text = "双层线工单信息";
             this.groupBox3.Text = "双层线工单信息";
@@ -397,95 +496,120 @@
             this.lblWO.Location = new System.Drawing.Point(2, 19);
             this.lblWO.Location = new System.Drawing.Point(2, 19);
             this.lblWO.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblWO.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.lblWO.Name = "lblWO";
             this.lblWO.Name = "lblWO";
-            this.lblWO.Size = new System.Drawing.Size(441, 14);
+            this.lblWO.Size = new System.Drawing.Size(460, 20);
             this.lblWO.TabIndex = 40;
             this.lblWO.TabIndex = 40;
             this.lblWO.Text = "lblWO";
             this.lblWO.Text = "lblWO";
             // 
             // 
             // tableLayoutPanel7
             // tableLayoutPanel7
             // 
             // 
-            this.tableLayoutPanel7.ColumnCount = 2;
-            this.tableLayoutPanel7.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 56.58784F));
-            this.tableLayoutPanel7.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 43.41216F));
-            this.tableLayoutPanel7.Controls.Add(this.groupBox4, 0, 0);
-            this.tableLayoutPanel7.Controls.Add(this.groupBox8, 1, 0);
+            this.tableLayoutPanel7.ColumnCount = 1;
+            this.tableLayoutPanel7.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel7.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 20F));
+            this.tableLayoutPanel7.Controls.Add(this.lblWarn, 0, 0);
             this.tableLayoutPanel7.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel7.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tableLayoutPanel7.Location = new System.Drawing.Point(2, 80);
-            this.tableLayoutPanel7.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.tableLayoutPanel7.Location = new System.Drawing.Point(2, 92);
+            this.tableLayoutPanel7.Margin = new System.Windows.Forms.Padding(2);
             this.tableLayoutPanel7.Name = "tableLayoutPanel7";
             this.tableLayoutPanel7.Name = "tableLayoutPanel7";
             this.tableLayoutPanel7.RowCount = 1;
             this.tableLayoutPanel7.RowCount = 1;
-            this.tableLayoutPanel7.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel7.Size = new System.Drawing.Size(445, 184);
+            this.tableLayoutPanel7.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel7.Size = new System.Drawing.Size(464, 41);
             this.tableLayoutPanel7.TabIndex = 3;
             this.tableLayoutPanel7.TabIndex = 3;
             // 
             // 
-            // groupBox4
+            // lblWarn
+            // 
+            this.lblWarn.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lblWarn.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.lblWarn.ForeColor = System.Drawing.Color.Red;
+            this.lblWarn.Location = new System.Drawing.Point(2, 0);
+            this.lblWarn.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblWarn.Name = "lblWarn";
+            this.lblWarn.Size = new System.Drawing.Size(460, 41);
+            this.lblWarn.TabIndex = 41;
+            this.lblWarn.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
+            // 
+            // grpUnlock
+            // 
+            this.grpUnlock.Controls.Add(this.tblLayoutUnlock);
+            this.grpUnlock.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.grpUnlock.Font = new System.Drawing.Font("宋体", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.grpUnlock.Location = new System.Drawing.Point(3, 138);
+            this.grpUnlock.Name = "grpUnlock";
+            this.grpUnlock.Size = new System.Drawing.Size(462, 164);
+            this.grpUnlock.TabIndex = 4;
+            this.grpUnlock.TabStop = false;
+            this.grpUnlock.Text = "解绑信息";
+            // 
+            // tblLayoutUnlock
+            // 
+            this.tblLayoutUnlock.AutoSize = true;
+            this.tblLayoutUnlock.ColumnCount = 2;
+            this.tblLayoutUnlock.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tblLayoutUnlock.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tblLayoutUnlock.Controls.Add(this.dgvUnlockDetail, 1, 0);
+            this.tblLayoutUnlock.Controls.Add(this.dgvUnlockInfo, 0, 0);
+            this.tblLayoutUnlock.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tblLayoutUnlock.Location = new System.Drawing.Point(3, 19);
+            this.tblLayoutUnlock.Name = "tblLayoutUnlock";
+            this.tblLayoutUnlock.RowCount = 1;
+            this.tblLayoutUnlock.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
+            this.tblLayoutUnlock.Size = new System.Drawing.Size(456, 142);
+            this.tblLayoutUnlock.TabIndex = 1;
+            // 
+            // dgvUnlockDetail
+            // 
+            this.dgvUnlockDetail.AutoSizeColumnsMode = System.Windows.Forms.DataGridViewAutoSizeColumnsMode.AllCells;
+            this.dgvUnlockDetail.AutoSizeRowsMode = System.Windows.Forms.DataGridViewAutoSizeRowsMode.AllCells;
+            this.dgvUnlockDetail.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
+            this.dgvUnlockDetail.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.dgvUnlockDetail.Location = new System.Drawing.Point(231, 3);
+            this.dgvUnlockDetail.Name = "dgvUnlockDetail";
+            this.dgvUnlockDetail.ReadOnly = true;
+            this.dgvUnlockDetail.RowHeadersVisible = false;
+            this.dgvUnlockDetail.RowHeadersWidthSizeMode = System.Windows.Forms.DataGridViewRowHeadersWidthSizeMode.AutoSizeToAllHeaders;
+            this.dgvUnlockDetail.RowTemplate.Height = 23;
+            this.dgvUnlockDetail.Size = new System.Drawing.Size(222, 136);
+            this.dgvUnlockDetail.TabIndex = 1;
+            // 
+            // dgvUnlockInfo
+            // 
+            this.dgvUnlockInfo.AutoSizeColumnsMode = System.Windows.Forms.DataGridViewAutoSizeColumnsMode.AllCells;
+            this.dgvUnlockInfo.AutoSizeRowsMode = System.Windows.Forms.DataGridViewAutoSizeRowsMode.AllCells;
+            this.dgvUnlockInfo.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
+            this.dgvUnlockInfo.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.dgvUnlockInfo.Location = new System.Drawing.Point(3, 3);
+            this.dgvUnlockInfo.Name = "dgvUnlockInfo";
+            this.dgvUnlockInfo.ReadOnly = true;
+            this.dgvUnlockInfo.RowHeadersVisible = false;
+            this.dgvUnlockInfo.RowTemplate.Height = 23;
+            this.dgvUnlockInfo.Size = new System.Drawing.Size(222, 136);
+            this.dgvUnlockInfo.TabIndex = 0;
             // 
             // 
-            this.groupBox4.Controls.Add(this.dgvLineMission);
-            this.groupBox4.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.groupBox4.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.groupBox4.Location = new System.Drawing.Point(2, 2);
-            this.groupBox4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox4.Name = "groupBox4";
-            this.groupBox4.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox4.Size = new System.Drawing.Size(247, 180);
-            this.groupBox4.TabIndex = 2;
-            this.groupBox4.TabStop = false;
-            this.groupBox4.Text = "产线解绑信息";
-            // 
-            // dgvLineMission
-            // 
-            this.dgvLineMission.AllowUserToAddRows = false;
-            dataGridViewCellStyle1.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle1.BackColor = System.Drawing.SystemColors.Control;
-            dataGridViewCellStyle1.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            dataGridViewCellStyle1.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle1.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle1.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle1.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.dgvLineMission.ColumnHeadersDefaultCellStyle = dataGridViewCellStyle1;
-            this.dgvLineMission.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
-            this.dgvLineMission.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
-            this.Column24,
-            this.Column8});
-            dataGridViewCellStyle2.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle2.BackColor = System.Drawing.SystemColors.Window;
-            dataGridViewCellStyle2.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            dataGridViewCellStyle2.ForeColor = System.Drawing.SystemColors.ControlText;
-            dataGridViewCellStyle2.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle2.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle2.WrapMode = System.Windows.Forms.DataGridViewTriState.False;
-            this.dgvLineMission.DefaultCellStyle = dataGridViewCellStyle2;
-            this.dgvLineMission.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.dgvLineMission.Location = new System.Drawing.Point(2, 16);
-            this.dgvLineMission.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.dgvLineMission.Name = "dgvLineMission";
-            dataGridViewCellStyle3.Alignment = System.Windows.Forms.DataGridViewContentAlignment.MiddleLeft;
-            dataGridViewCellStyle3.BackColor = System.Drawing.SystemColors.Control;
-            dataGridViewCellStyle3.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            dataGridViewCellStyle3.ForeColor = System.Drawing.SystemColors.WindowText;
-            dataGridViewCellStyle3.SelectionBackColor = System.Drawing.SystemColors.Highlight;
-            dataGridViewCellStyle3.SelectionForeColor = System.Drawing.SystemColors.HighlightText;
-            dataGridViewCellStyle3.WrapMode = System.Windows.Forms.DataGridViewTriState.True;
-            this.dgvLineMission.RowHeadersDefaultCellStyle = dataGridViewCellStyle3;
-            this.dgvLineMission.RowHeadersVisible = false;
-            this.dgvLineMission.RowHeadersWidth = 51;
-            this.dgvLineMission.RowTemplate.Height = 27;
-            this.dgvLineMission.Size = new System.Drawing.Size(243, 162);
-            this.dgvLineMission.TabIndex = 28;
-            this.dgvLineMission.Click += new System.EventHandler(this.dgvLineMission_Click);
-            // 
-            // Column24
-            // 
-            this.Column24.HeaderText = "时间";
-            this.Column24.MinimumWidth = 6;
-            this.Column24.Name = "Column24";
-            this.Column24.Width = 150;
-            // 
-            // Column8
-            // 
-            this.Column8.HeaderText = "任务";
-            this.Column8.MinimumWidth = 6;
-            this.Column8.Name = "Column8";
-            this.Column8.Width = 150;
+            // tabPage2
+            // 
+            this.tabPage2.Controls.Add(this.tableLayoutPanel1);
+            this.tabPage2.Location = new System.Drawing.Point(4, 22);
+            this.tabPage2.Name = "tabPage2";
+            this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
+            this.tabPage2.Size = new System.Drawing.Size(1097, 336);
+            this.tabPage2.TabIndex = 3;
+            this.tabPage2.Text = "日志";
+            this.tabPage2.UseVisualStyleBackColor = true;
+            // 
+            // tableLayoutPanel1
+            // 
+            this.tableLayoutPanel1.ColumnCount = 2;
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 181F));
+            this.tableLayoutPanel1.Controls.Add(this.groupBox8, 0, 0);
+            this.tableLayoutPanel1.Controls.Add(this.TxtLog, 0, 0);
+            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 3);
+            this.tableLayoutPanel1.Margin = new System.Windows.Forms.Padding(2);
+            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
+            this.tableLayoutPanel1.RowCount = 1;
+            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(1091, 330);
+            this.tableLayoutPanel1.TabIndex = 6;
             // 
             // 
             // groupBox8
             // groupBox8
             // 
             // 
@@ -495,12 +619,12 @@
             this.groupBox8.Controls.Add(this.lblCharge3);
             this.groupBox8.Controls.Add(this.lblCharge3);
             this.groupBox8.Dock = System.Windows.Forms.DockStyle.Fill;
             this.groupBox8.Dock = System.Windows.Forms.DockStyle.Fill;
             this.groupBox8.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.groupBox8.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.groupBox8.Location = new System.Drawing.Point(253, 2);
-            this.groupBox8.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.groupBox8.Location = new System.Drawing.Point(912, 2);
+            this.groupBox8.Margin = new System.Windows.Forms.Padding(2);
             this.groupBox8.Name = "groupBox8";
             this.groupBox8.Name = "groupBox8";
-            this.groupBox8.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox8.Size = new System.Drawing.Size(190, 180);
-            this.groupBox8.TabIndex = 3;
+            this.groupBox8.Padding = new System.Windows.Forms.Padding(2);
+            this.groupBox8.Size = new System.Drawing.Size(177, 326);
+            this.groupBox8.TabIndex = 6;
             this.groupBox8.TabStop = false;
             this.groupBox8.TabStop = false;
             this.groupBox8.Text = "位置占用情况";
             this.groupBox8.Text = "位置占用情况";
             // 
             // 
@@ -548,32 +672,6 @@
             this.lblCharge3.TabIndex = 0;
             this.lblCharge3.TabIndex = 0;
             this.lblCharge3.Text = "lblCharge3";
             this.lblCharge3.Text = "lblCharge3";
             // 
             // 
-            // tabPage2
-            // 
-            this.tabPage2.Controls.Add(this.tableLayoutPanel1);
-            this.tabPage2.Location = new System.Drawing.Point(4, 22);
-            this.tabPage2.Name = "tabPage2";
-            this.tabPage2.Padding = new System.Windows.Forms.Padding(3, 3, 3, 3);
-            this.tabPage2.Size = new System.Drawing.Size(1053, 297);
-            this.tabPage2.TabIndex = 3;
-            this.tabPage2.Text = "日志";
-            this.tabPage2.UseVisualStyleBackColor = true;
-            // 
-            // tableLayoutPanel1
-            // 
-            this.tableLayoutPanel1.ColumnCount = 1;
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Absolute, 15F));
-            this.tableLayoutPanel1.Controls.Add(this.TxtLog, 0, 0);
-            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 3);
-            this.tableLayoutPanel1.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
-            this.tableLayoutPanel1.RowCount = 1;
-            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(1047, 291);
-            this.tableLayoutPanel1.TabIndex = 6;
-            // 
             // TxtLog
             // TxtLog
             // 
             // 
             this.TxtLog.Dock = System.Windows.Forms.DockStyle.Fill;
             this.TxtLog.Dock = System.Windows.Forms.DockStyle.Fill;
@@ -581,52 +679,98 @@
             this.TxtLog.Multiline = true;
             this.TxtLog.Multiline = true;
             this.TxtLog.Name = "TxtLog";
             this.TxtLog.Name = "TxtLog";
             this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both;
             this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both;
-            this.TxtLog.Size = new System.Drawing.Size(1041, 285);
+            this.TxtLog.Size = new System.Drawing.Size(904, 324);
             this.TxtLog.TabIndex = 5;
             this.TxtLog.TabIndex = 5;
             // 
             // 
             // tabPage3
             // tabPage3
             // 
             // 
-            this.tabPage3.Controls.Add(this.groupBox7);
+            this.tabPage3.Controls.Add(this.label12);
+            this.tabPage3.Controls.Add(this.groupBox4);
             this.tabPage3.Controls.Add(this.groupBox6);
             this.tabPage3.Controls.Add(this.groupBox6);
             this.tabPage3.Controls.Add(this.groupBox2);
             this.tabPage3.Controls.Add(this.groupBox2);
             this.tabPage3.Controls.Add(this.BtnMissionAdd);
             this.tabPage3.Controls.Add(this.BtnMissionAdd);
             this.tabPage3.Controls.Add(this.LstAgvPlace);
             this.tabPage3.Controls.Add(this.LstAgvPlace);
             this.tabPage3.Location = new System.Drawing.Point(4, 22);
             this.tabPage3.Location = new System.Drawing.Point(4, 22);
             this.tabPage3.Name = "tabPage3";
             this.tabPage3.Name = "tabPage3";
-            this.tabPage3.Padding = new System.Windows.Forms.Padding(3, 3, 3, 3);
-            this.tabPage3.Size = new System.Drawing.Size(1053, 297);
+            this.tabPage3.Padding = new System.Windows.Forms.Padding(3);
+            this.tabPage3.Size = new System.Drawing.Size(1097, 336);
             this.tabPage3.TabIndex = 2;
             this.tabPage3.TabIndex = 2;
             this.tabPage3.Text = "手动";
             this.tabPage3.Text = "手动";
             this.tabPage3.UseVisualStyleBackColor = true;
             this.tabPage3.UseVisualStyleBackColor = true;
             // 
             // 
-            // groupBox7
-            // 
-            this.groupBox7.Controls.Add(this.txtBoxLineName);
-            this.groupBox7.Controls.Add(this.label8);
-            this.groupBox7.Controls.Add(this.label7);
-            this.groupBox7.Controls.Add(this.btnUpdateStatus);
-            this.groupBox7.Controls.Add(this.txtBoxRFID);
-            this.groupBox7.Location = new System.Drawing.Point(518, 24);
-            this.groupBox7.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox7.Name = "groupBox7";
-            this.groupBox7.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox7.Size = new System.Drawing.Size(153, 121);
-            this.groupBox7.TabIndex = 36;
-            this.groupBox7.TabStop = false;
-            this.groupBox7.Text = "物料状态上报";
+            // groupBox4
+            // 
+            this.groupBox4.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
+            this.groupBox4.Controls.Add(this.agvRemoveRfid);
+            this.groupBox4.Controls.Add(this.btnClearStationRFID);
+            this.groupBox4.Controls.Add(this.label11);
+            this.groupBox4.Controls.Add(this.txtBoxLineName);
+            this.groupBox4.Controls.Add(this.btnUpdateStatus);
+            this.groupBox4.Controls.Add(this.btnGetStationRfid);
+            this.groupBox4.Controls.Add(this.label8);
+            this.groupBox4.Controls.Add(this.label7);
+            this.groupBox4.Controls.Add(this.txtBoxRFID);
+            this.groupBox4.Location = new System.Drawing.Point(800, 24);
+            this.groupBox4.Name = "groupBox4";
+            this.groupBox4.Size = new System.Drawing.Size(291, 262);
+            this.groupBox4.TabIndex = 38;
+            this.groupBox4.TabStop = false;
+            this.groupBox4.Text = "操作";
+            // 
+            // btnClearStationRFID
+            // 
+            this.btnClearStationRFID.Location = new System.Drawing.Point(8, 142);
+            this.btnClearStationRFID.Margin = new System.Windows.Forms.Padding(2);
+            this.btnClearStationRFID.Name = "btnClearStationRFID";
+            this.btnClearStationRFID.Size = new System.Drawing.Size(125, 35);
+            this.btnClearStationRFID.TabIndex = 46;
+            this.btnClearStationRFID.Text = "清除接驳台RFID";
+            this.btnClearStationRFID.UseVisualStyleBackColor = true;
+            this.btnClearStationRFID.Click += new System.EventHandler(this.btnClearStationRFID_Click);
+            // 
+            // label11
+            // 
+            this.label11.AutoSize = true;
+            this.label11.Location = new System.Drawing.Point(4, 200);
+            this.label11.Name = "label11";
+            this.label11.Size = new System.Drawing.Size(29, 12);
+            this.label11.TabIndex = 45;
+            this.label11.Text = "null";
             // 
             // 
             // txtBoxLineName
             // txtBoxLineName
             // 
             // 
-            this.txtBoxLineName.Location = new System.Drawing.Point(60, 50);
-            this.txtBoxLineName.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.txtBoxLineName.Location = new System.Drawing.Point(111, 54);
+            this.txtBoxLineName.Margin = new System.Windows.Forms.Padding(2);
             this.txtBoxLineName.Name = "txtBoxLineName";
             this.txtBoxLineName.Name = "txtBoxLineName";
-            this.txtBoxLineName.Size = new System.Drawing.Size(77, 21);
+            this.txtBoxLineName.Size = new System.Drawing.Size(111, 21);
             this.txtBoxLineName.TabIndex = 44;
             this.txtBoxLineName.TabIndex = 44;
             // 
             // 
+            // btnUpdateStatus
+            // 
+            this.btnUpdateStatus.Location = new System.Drawing.Point(147, 91);
+            this.btnUpdateStatus.Margin = new System.Windows.Forms.Padding(2);
+            this.btnUpdateStatus.Name = "btnUpdateStatus";
+            this.btnUpdateStatus.Size = new System.Drawing.Size(125, 35);
+            this.btnUpdateStatus.TabIndex = 41;
+            this.btnUpdateStatus.Text = "物料状态上报";
+            this.btnUpdateStatus.UseVisualStyleBackColor = true;
+            this.btnUpdateStatus.Click += new System.EventHandler(this.btnUpdateStatus_Click);
+            // 
+            // btnGetStationRfid
+            // 
+            this.btnGetStationRfid.Location = new System.Drawing.Point(8, 91);
+            this.btnGetStationRfid.Margin = new System.Windows.Forms.Padding(2);
+            this.btnGetStationRfid.Name = "btnGetStationRfid";
+            this.btnGetStationRfid.Size = new System.Drawing.Size(125, 35);
+            this.btnGetStationRfid.TabIndex = 41;
+            this.btnGetStationRfid.Text = "获取接驳台RFID";
+            this.btnGetStationRfid.UseVisualStyleBackColor = true;
+            this.btnGetStationRfid.Click += new System.EventHandler(this.btnGetStationRfid_Click);
+            // 
             // label8
             // label8
             // 
             // 
             this.label8.AutoSize = true;
             this.label8.AutoSize = true;
-            this.label8.Location = new System.Drawing.Point(4, 58);
+            this.label8.Location = new System.Drawing.Point(60, 63);
             this.label8.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label8.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label8.Name = "label8";
             this.label8.Name = "label8";
             this.label8.Size = new System.Drawing.Size(47, 12);
             this.label8.Size = new System.Drawing.Size(47, 12);
@@ -636,52 +780,71 @@
             // label7
             // label7
             // 
             // 
             this.label7.AutoSize = true;
             this.label7.AutoSize = true;
-            this.label7.Location = new System.Drawing.Point(4, 24);
+            this.label7.Location = new System.Drawing.Point(62, 31);
             this.label7.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label7.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label7.Name = "label7";
             this.label7.Name = "label7";
             this.label7.Size = new System.Drawing.Size(35, 12);
             this.label7.Size = new System.Drawing.Size(35, 12);
             this.label7.TabIndex = 42;
             this.label7.TabIndex = 42;
             this.label7.Text = "RFID:";
             this.label7.Text = "RFID:";
             // 
             // 
-            // btnUpdateStatus
-            // 
-            this.btnUpdateStatus.Location = new System.Drawing.Point(37, 78);
-            this.btnUpdateStatus.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.btnUpdateStatus.Name = "btnUpdateStatus";
-            this.btnUpdateStatus.Size = new System.Drawing.Size(75, 39);
-            this.btnUpdateStatus.TabIndex = 41;
-            this.btnUpdateStatus.Text = "上报";
-            this.btnUpdateStatus.UseVisualStyleBackColor = true;
-            this.btnUpdateStatus.Click += new System.EventHandler(this.btnUpdateStatus_Click);
-            // 
             // txtBoxRFID
             // txtBoxRFID
             // 
             // 
-            this.txtBoxRFID.Location = new System.Drawing.Point(60, 19);
-            this.txtBoxRFID.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.txtBoxRFID.Location = new System.Drawing.Point(111, 23);
+            this.txtBoxRFID.Margin = new System.Windows.Forms.Padding(2);
             this.txtBoxRFID.Name = "txtBoxRFID";
             this.txtBoxRFID.Name = "txtBoxRFID";
-            this.txtBoxRFID.Size = new System.Drawing.Size(77, 21);
+            this.txtBoxRFID.Size = new System.Drawing.Size(111, 21);
             this.txtBoxRFID.TabIndex = 0;
             this.txtBoxRFID.TabIndex = 0;
             // 
             // 
             // groupBox6
             // groupBox6
             // 
             // 
+            this.groupBox6.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
+            this.groupBox6.Controls.Add(this.label10);
+            this.groupBox6.Controls.Add(this.label9);
+            this.groupBox6.Controls.Add(this.txtRfid);
             this.groupBox6.Controls.Add(this.btnDeleteMission);
             this.groupBox6.Controls.Add(this.btnDeleteMission);
             this.groupBox6.Controls.Add(this.btnAddMission);
             this.groupBox6.Controls.Add(this.btnAddMission);
             this.groupBox6.Controls.Add(this.cmbBoxLineName);
             this.groupBox6.Controls.Add(this.cmbBoxLineName);
-            this.groupBox6.Location = new System.Drawing.Point(297, 21);
-            this.groupBox6.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.groupBox6.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.groupBox6.Location = new System.Drawing.Point(320, 21);
+            this.groupBox6.Margin = new System.Windows.Forms.Padding(2);
             this.groupBox6.Name = "groupBox6";
             this.groupBox6.Name = "groupBox6";
-            this.groupBox6.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox6.Size = new System.Drawing.Size(191, 124);
-            this.groupBox6.TabIndex = 35;
+            this.groupBox6.Padding = new System.Windows.Forms.Padding(2);
+            this.groupBox6.Size = new System.Drawing.Size(247, 180);
+            this.groupBox6.TabIndex = 37;
             this.groupBox6.TabStop = false;
             this.groupBox6.TabStop = false;
-            this.groupBox6.Text = "产线绑定";
+            this.groupBox6.Text = "产线手动绑定";
+            // 
+            // label10
+            // 
+            this.label10.AutoSize = true;
+            this.label10.Location = new System.Drawing.Point(14, 61);
+            this.label10.Name = "label10";
+            this.label10.Size = new System.Drawing.Size(41, 12);
+            this.label10.TabIndex = 44;
+            this.label10.Text = "RFID：";
+            // 
+            // label9
+            // 
+            this.label9.AutoSize = true;
+            this.label9.Location = new System.Drawing.Point(14, 26);
+            this.label9.Name = "label9";
+            this.label9.Size = new System.Drawing.Size(41, 12);
+            this.label9.TabIndex = 43;
+            this.label9.Text = "产线：";
+            // 
+            // txtRfid
+            // 
+            this.txtRfid.Location = new System.Drawing.Point(79, 52);
+            this.txtRfid.Name = "txtRfid";
+            this.txtRfid.Size = new System.Drawing.Size(137, 21);
+            this.txtRfid.TabIndex = 42;
             // 
             // 
             // btnDeleteMission
             // btnDeleteMission
             // 
             // 
-            this.btnDeleteMission.Location = new System.Drawing.Point(92, 50);
-            this.btnDeleteMission.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.btnDeleteMission.Location = new System.Drawing.Point(129, 105);
+            this.btnDeleteMission.Margin = new System.Windows.Forms.Padding(2);
             this.btnDeleteMission.Name = "btnDeleteMission";
             this.btnDeleteMission.Name = "btnDeleteMission";
-            this.btnDeleteMission.Size = new System.Drawing.Size(75, 52);
+            this.btnDeleteMission.Size = new System.Drawing.Size(104, 52);
             this.btnDeleteMission.TabIndex = 41;
             this.btnDeleteMission.TabIndex = 41;
             this.btnDeleteMission.Text = "删除绑定任务";
             this.btnDeleteMission.Text = "删除绑定任务";
             this.btnDeleteMission.UseVisualStyleBackColor = true;
             this.btnDeleteMission.UseVisualStyleBackColor = true;
@@ -689,10 +852,10 @@
             // 
             // 
             // btnAddMission
             // btnAddMission
             // 
             // 
-            this.btnAddMission.Location = new System.Drawing.Point(4, 50);
-            this.btnAddMission.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.btnAddMission.Location = new System.Drawing.Point(4, 105);
+            this.btnAddMission.Margin = new System.Windows.Forms.Padding(2);
             this.btnAddMission.Name = "btnAddMission";
             this.btnAddMission.Name = "btnAddMission";
-            this.btnAddMission.Size = new System.Drawing.Size(75, 52);
+            this.btnAddMission.Size = new System.Drawing.Size(93, 52);
             this.btnAddMission.TabIndex = 40;
             this.btnAddMission.TabIndex = 40;
             this.btnAddMission.Text = "添加绑定任务";
             this.btnAddMission.Text = "添加绑定任务";
             this.btnAddMission.UseVisualStyleBackColor = true;
             this.btnAddMission.UseVisualStyleBackColor = true;
@@ -701,31 +864,32 @@
             // cmbBoxLineName
             // cmbBoxLineName
             // 
             // 
             this.cmbBoxLineName.FormattingEnabled = true;
             this.cmbBoxLineName.FormattingEnabled = true;
-            this.cmbBoxLineName.Location = new System.Drawing.Point(4, 18);
-            this.cmbBoxLineName.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.cmbBoxLineName.Location = new System.Drawing.Point(79, 18);
+            this.cmbBoxLineName.Margin = new System.Windows.Forms.Padding(2);
             this.cmbBoxLineName.Name = "cmbBoxLineName";
             this.cmbBoxLineName.Name = "cmbBoxLineName";
             this.cmbBoxLineName.Size = new System.Drawing.Size(137, 20);
             this.cmbBoxLineName.Size = new System.Drawing.Size(137, 20);
             this.cmbBoxLineName.TabIndex = 39;
             this.cmbBoxLineName.TabIndex = 39;
             // 
             // 
             // groupBox2
             // groupBox2
             // 
             // 
+            this.groupBox2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
             this.groupBox2.Controls.Add(this.btnReSendTask);
             this.groupBox2.Controls.Add(this.btnReSendTask);
             this.groupBox2.Controls.Add(this.BtnClearError);
             this.groupBox2.Controls.Add(this.BtnClearError);
             this.groupBox2.Controls.Add(this.BtnMissionReady);
             this.groupBox2.Controls.Add(this.BtnMissionReady);
             this.groupBox2.Controls.Add(this.BtnMissionPause);
             this.groupBox2.Controls.Add(this.BtnMissionPause);
-            this.groupBox2.Location = new System.Drawing.Point(701, 24);
-            this.groupBox2.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.groupBox2.Location = new System.Drawing.Point(583, 24);
+            this.groupBox2.Margin = new System.Windows.Forms.Padding(2);
             this.groupBox2.Name = "groupBox2";
             this.groupBox2.Name = "groupBox2";
-            this.groupBox2.Padding = new System.Windows.Forms.Padding(2, 2, 2, 2);
-            this.groupBox2.Size = new System.Drawing.Size(262, 177);
+            this.groupBox2.Padding = new System.Windows.Forms.Padding(2);
+            this.groupBox2.Size = new System.Drawing.Size(193, 177);
             this.groupBox2.TabIndex = 32;
             this.groupBox2.TabIndex = 32;
             this.groupBox2.TabStop = false;
             this.groupBox2.TabStop = false;
-            this.groupBox2.Text = "操作";
+            this.groupBox2.Text = "小车操作";
             // 
             // 
             // btnReSendTask
             // btnReSendTask
             // 
             // 
-            this.btnReSendTask.Location = new System.Drawing.Point(152, 102);
-            this.btnReSendTask.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.btnReSendTask.Location = new System.Drawing.Point(96, 102);
+            this.btnReSendTask.Margin = new System.Windows.Forms.Padding(2);
             this.btnReSendTask.Name = "btnReSendTask";
             this.btnReSendTask.Name = "btnReSendTask";
             this.btnReSendTask.Size = new System.Drawing.Size(75, 52);
             this.btnReSendTask.Size = new System.Drawing.Size(75, 52);
             this.btnReSendTask.TabIndex = 45;
             this.btnReSendTask.TabIndex = 45;
@@ -735,7 +899,7 @@
             // 
             // 
             // BtnClearError
             // BtnClearError
             // 
             // 
-            this.BtnClearError.Location = new System.Drawing.Point(35, 102);
+            this.BtnClearError.Location = new System.Drawing.Point(5, 102);
             this.BtnClearError.Name = "BtnClearError";
             this.BtnClearError.Name = "BtnClearError";
             this.BtnClearError.Size = new System.Drawing.Size(75, 52);
             this.BtnClearError.Size = new System.Drawing.Size(75, 52);
             this.BtnClearError.TabIndex = 19;
             this.BtnClearError.TabIndex = 19;
@@ -745,7 +909,7 @@
             // 
             // 
             // BtnMissionReady
             // BtnMissionReady
             // 
             // 
-            this.BtnMissionReady.Location = new System.Drawing.Point(35, 19);
+            this.BtnMissionReady.Location = new System.Drawing.Point(5, 23);
             this.BtnMissionReady.Name = "BtnMissionReady";
             this.BtnMissionReady.Name = "BtnMissionReady";
             this.BtnMissionReady.Size = new System.Drawing.Size(75, 52);
             this.BtnMissionReady.Size = new System.Drawing.Size(75, 52);
             this.BtnMissionReady.TabIndex = 1;
             this.BtnMissionReady.TabIndex = 1;
@@ -755,7 +919,7 @@
             // 
             // 
             // BtnMissionPause
             // BtnMissionPause
             // 
             // 
-            this.BtnMissionPause.Location = new System.Drawing.Point(152, 15);
+            this.BtnMissionPause.Location = new System.Drawing.Point(96, 23);
             this.BtnMissionPause.Name = "BtnMissionPause";
             this.BtnMissionPause.Name = "BtnMissionPause";
             this.BtnMissionPause.Size = new System.Drawing.Size(75, 52);
             this.BtnMissionPause.Size = new System.Drawing.Size(75, 52);
             this.BtnMissionPause.TabIndex = 2;
             this.BtnMissionPause.TabIndex = 2;
@@ -781,7 +945,7 @@
             this.LstAgvPlace.ItemHeight = 12;
             this.LstAgvPlace.ItemHeight = 12;
             this.LstAgvPlace.Location = new System.Drawing.Point(3, 3);
             this.LstAgvPlace.Location = new System.Drawing.Point(3, 3);
             this.LstAgvPlace.Name = "LstAgvPlace";
             this.LstAgvPlace.Name = "LstAgvPlace";
-            this.LstAgvPlace.Size = new System.Drawing.Size(150, 291);
+            this.LstAgvPlace.Size = new System.Drawing.Size(150, 330);
             this.LstAgvPlace.TabIndex = 0;
             this.LstAgvPlace.TabIndex = 0;
             // 
             // 
             // tableLayoutPanel4
             // tableLayoutPanel4
@@ -790,13 +954,13 @@
             this.tableLayoutPanel4.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
             this.tableLayoutPanel4.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
             this.tableLayoutPanel4.Controls.Add(this.tableLayoutPanel6, 0, 0);
             this.tableLayoutPanel4.Controls.Add(this.tableLayoutPanel6, 0, 0);
             this.tableLayoutPanel4.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel4.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tableLayoutPanel4.Location = new System.Drawing.Point(2, 133);
-            this.tableLayoutPanel4.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.tableLayoutPanel4.Location = new System.Drawing.Point(2, 149);
+            this.tableLayoutPanel4.Margin = new System.Windows.Forms.Padding(2);
             this.tableLayoutPanel4.Name = "tableLayoutPanel4";
             this.tableLayoutPanel4.Name = "tableLayoutPanel4";
             this.tableLayoutPanel4.RowCount = 1;
             this.tableLayoutPanel4.RowCount = 1;
             this.tableLayoutPanel4.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
             this.tableLayoutPanel4.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 100F));
             this.tableLayoutPanel4.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 169F));
             this.tableLayoutPanel4.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 169F));
-            this.tableLayoutPanel4.Size = new System.Drawing.Size(1063, 192);
+            this.tableLayoutPanel4.Size = new System.Drawing.Size(1107, 216);
             this.tableLayoutPanel4.TabIndex = 8;
             this.tableLayoutPanel4.TabIndex = 8;
             // 
             // 
             // tableLayoutPanel6
             // tableLayoutPanel6
@@ -815,12 +979,12 @@
             this.tableLayoutPanel6.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel6.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tableLayoutPanel6.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.tableLayoutPanel6.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.tableLayoutPanel6.Location = new System.Drawing.Point(2, 2);
             this.tableLayoutPanel6.Location = new System.Drawing.Point(2, 2);
-            this.tableLayoutPanel6.Margin = new System.Windows.Forms.Padding(2, 2, 2, 2);
+            this.tableLayoutPanel6.Margin = new System.Windows.Forms.Padding(2);
             this.tableLayoutPanel6.Name = "tableLayoutPanel6";
             this.tableLayoutPanel6.Name = "tableLayoutPanel6";
             this.tableLayoutPanel6.RowCount = 2;
             this.tableLayoutPanel6.RowCount = 2;
             this.tableLayoutPanel6.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel6.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel6.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
             this.tableLayoutPanel6.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel6.Size = new System.Drawing.Size(1059, 188);
+            this.tableLayoutPanel6.Size = new System.Drawing.Size(1103, 212);
             this.tableLayoutPanel6.TabIndex = 0;
             this.tableLayoutPanel6.TabIndex = 0;
             // 
             // 
             // label6
             // label6
@@ -828,10 +992,10 @@
             this.label6.AutoSize = true;
             this.label6.AutoSize = true;
             this.label6.Dock = System.Windows.Forms.DockStyle.Fill;
             this.label6.Dock = System.Windows.Forms.DockStyle.Fill;
             this.label6.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.label6.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label6.Location = new System.Drawing.Point(708, 95);
+            this.label6.Location = new System.Drawing.Point(737, 107);
             this.label6.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label6.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label6.Name = "label6";
             this.label6.Name = "label6";
-            this.label6.Size = new System.Drawing.Size(346, 90);
+            this.label6.Size = new System.Drawing.Size(361, 102);
             this.label6.TabIndex = 5;
             this.label6.TabIndex = 5;
             this.label6.Text = "label6";
             this.label6.Text = "label6";
             // 
             // 
@@ -840,10 +1004,10 @@
             this.label5.AutoSize = true;
             this.label5.AutoSize = true;
             this.label5.Dock = System.Windows.Forms.DockStyle.Fill;
             this.label5.Dock = System.Windows.Forms.DockStyle.Fill;
             this.label5.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.label5.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label5.Location = new System.Drawing.Point(356, 95);
+            this.label5.Location = new System.Drawing.Point(371, 107);
             this.label5.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label5.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label5.Name = "label5";
             this.label5.Name = "label5";
-            this.label5.Size = new System.Drawing.Size(345, 90);
+            this.label5.Size = new System.Drawing.Size(359, 102);
             this.label5.TabIndex = 4;
             this.label5.TabIndex = 4;
             this.label5.Text = "label5";
             this.label5.Text = "label5";
             // 
             // 
@@ -852,10 +1016,10 @@
             this.label4.AutoSize = true;
             this.label4.AutoSize = true;
             this.label4.Dock = System.Windows.Forms.DockStyle.Fill;
             this.label4.Dock = System.Windows.Forms.DockStyle.Fill;
             this.label4.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.label4.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label4.Location = new System.Drawing.Point(5, 95);
+            this.label4.Location = new System.Drawing.Point(5, 107);
             this.label4.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label4.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label4.Name = "label4";
             this.label4.Name = "label4";
-            this.label4.Size = new System.Drawing.Size(344, 90);
+            this.label4.Size = new System.Drawing.Size(359, 102);
             this.label4.TabIndex = 3;
             this.label4.TabIndex = 3;
             this.label4.Text = "label4";
             this.label4.Text = "label4";
             // 
             // 
@@ -864,10 +1028,10 @@
             this.label3.AutoSize = true;
             this.label3.AutoSize = true;
             this.label3.Dock = System.Windows.Forms.DockStyle.Fill;
             this.label3.Dock = System.Windows.Forms.DockStyle.Fill;
             this.label3.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.label3.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label3.Location = new System.Drawing.Point(708, 3);
+            this.label3.Location = new System.Drawing.Point(737, 3);
             this.label3.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label3.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label3.Name = "label3";
             this.label3.Name = "label3";
-            this.label3.Size = new System.Drawing.Size(346, 89);
+            this.label3.Size = new System.Drawing.Size(361, 101);
             this.label3.TabIndex = 2;
             this.label3.TabIndex = 2;
             this.label3.Text = "label3";
             this.label3.Text = "label3";
             // 
             // 
@@ -876,10 +1040,10 @@
             this.label2.AutoSize = true;
             this.label2.AutoSize = true;
             this.label2.Dock = System.Windows.Forms.DockStyle.Fill;
             this.label2.Dock = System.Windows.Forms.DockStyle.Fill;
             this.label2.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.label2.Font = new System.Drawing.Font("宋体", 10.8F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label2.Location = new System.Drawing.Point(356, 3);
+            this.label2.Location = new System.Drawing.Point(371, 3);
             this.label2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label2.Name = "label2";
             this.label2.Name = "label2";
-            this.label2.Size = new System.Drawing.Size(345, 89);
+            this.label2.Size = new System.Drawing.Size(359, 101);
             this.label2.TabIndex = 1;
             this.label2.TabIndex = 1;
             this.label2.Text = "label2";
             this.label2.Text = "label2";
             // 
             // 
@@ -891,102 +1055,37 @@
             this.label1.Location = new System.Drawing.Point(5, 3);
             this.label1.Location = new System.Drawing.Point(5, 3);
             this.label1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label1.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
             this.label1.Name = "label1";
             this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(344, 89);
+            this.label1.Size = new System.Drawing.Size(359, 101);
             this.label1.TabIndex = 0;
             this.label1.TabIndex = 0;
             this.label1.Text = "label1";
             this.label1.Text = "label1";
             // 
             // 
-            // Column1
-            // 
-            this.Column1.HeaderText = "名称";
-            this.Column1.MinimumWidth = 6;
-            this.Column1.Name = "Column1";
-            this.Column1.ReadOnly = true;
-            this.Column1.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            // 
-            // Column2
-            // 
-            this.Column2.HeaderText = "IP";
-            this.Column2.MinimumWidth = 6;
-            this.Column2.Name = "Column2";
-            this.Column2.ReadOnly = true;
-            this.Column2.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            // 
-            // Column4
+            // agvRemoveRfid
             // 
             // 
-            this.Column4.HeaderText = "小车状态";
-            this.Column4.MinimumWidth = 6;
-            this.Column4.Name = "Column4";
-            this.Column4.ReadOnly = true;
-            this.Column4.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            this.agvRemoveRfid.Location = new System.Drawing.Point(147, 142);
+            this.agvRemoveRfid.Margin = new System.Windows.Forms.Padding(2);
+            this.agvRemoveRfid.Name = "agvRemoveRfid";
+            this.agvRemoveRfid.Size = new System.Drawing.Size(125, 35);
+            this.agvRemoveRfid.TabIndex = 47;
+            this.agvRemoveRfid.Text = "清理料架的缓存信息";
+            this.agvRemoveRfid.UseVisualStyleBackColor = true;
+            this.agvRemoveRfid.Click += new System.EventHandler(this.agvRemoveRfid_Click);
             // 
             // 
-            // Column14
+            // label12
             // 
             // 
-            this.Column14.HeaderText = "任务ID";
-            this.Column14.MinimumWidth = 6;
-            this.Column14.Name = "Column14";
-            this.Column14.ReadOnly = true;
-            this.Column14.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            // 
-            // Column21
-            // 
-            this.Column21.HeaderText = "任务名称";
-            this.Column21.MinimumWidth = 6;
-            this.Column21.Name = "Column21";
-            this.Column21.ReadOnly = true;
-            this.Column21.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            // 
-            // Column3
-            // 
-            this.Column3.HeaderText = "任务状态";
-            this.Column3.MinimumWidth = 6;
-            this.Column3.Name = "Column3";
-            this.Column3.ReadOnly = true;
-            this.Column3.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            // 
-            // Column18
-            // 
-            this.Column18.HeaderText = "目的地";
-            this.Column18.MinimumWidth = 6;
-            this.Column18.Name = "Column18";
-            this.Column18.ReadOnly = true;
-            this.Column18.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            // 
-            // Column23
-            // 
-            this.Column23.HeaderText = "负载";
-            this.Column23.MinimumWidth = 6;
-            this.Column23.Name = "Column23";
-            this.Column23.ReadOnly = true;
-            this.Column23.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            // 
-            // Column13
-            // 
-            this.Column13.HeaderText = "连接";
-            this.Column13.MinimumWidth = 6;
-            this.Column13.Name = "Column13";
-            this.Column13.ReadOnly = true;
-            this.Column13.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            // 
-            // Column19
-            // 
-            this.Column19.HeaderText = "电量";
-            this.Column19.MinimumWidth = 6;
-            this.Column19.Name = "Column19";
-            this.Column19.ReadOnly = true;
-            this.Column19.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            // 
-            // Column11
-            // 
-            this.Column11.HeaderText = "自动";
-            this.Column11.MinimumWidth = 6;
-            this.Column11.Name = "Column11";
-            this.Column11.ReadOnly = true;
+            this.label12.AutoSize = true;
+            this.label12.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(224)))), ((int)(((byte)(192)))));
+            this.label12.Location = new System.Drawing.Point(302, 224);
+            this.label12.Name = "label12";
+            this.label12.Size = new System.Drawing.Size(407, 60);
+            this.label12.TabIndex = 46;
+            this.label12.Text = "说明：\r\n1、获取接驳台RFID:获取指定产线上的料架RFID信息\r\n2、物料状态上报：上报料车的产线信息\r\n3、清除接驳台RFID：清理指定产线的RFID信息\r" +
+    "\n4、清理料架的缓存信息：输入RFID，清除RFID的缓存信息，使料架可以复用\r\n";
             // 
             // 
             // FrmMain
             // FrmMain
             // 
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(1067, 656);
+            this.ClientSize = new System.Drawing.Size(1111, 735);
             this.Controls.Add(this.tableLayoutPanel3);
             this.Controls.Add(this.tableLayoutPanel3);
             this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
             this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
             this.Name = "FrmMain";
             this.Name = "FrmMain";
@@ -1005,17 +1104,22 @@
             this.groupBox5.ResumeLayout(false);
             this.groupBox5.ResumeLayout(false);
             this.groupBox3.ResumeLayout(false);
             this.groupBox3.ResumeLayout(false);
             this.tableLayoutPanel7.ResumeLayout(false);
             this.tableLayoutPanel7.ResumeLayout(false);
-            this.groupBox4.ResumeLayout(false);
-            ((System.ComponentModel.ISupportInitialize)(this.dgvLineMission)).EndInit();
-            this.groupBox8.ResumeLayout(false);
-            this.groupBox8.PerformLayout();
+            this.grpUnlock.ResumeLayout(false);
+            this.grpUnlock.PerformLayout();
+            this.tblLayoutUnlock.ResumeLayout(false);
+            ((System.ComponentModel.ISupportInitialize)(this.dgvUnlockDetail)).EndInit();
+            ((System.ComponentModel.ISupportInitialize)(this.dgvUnlockInfo)).EndInit();
             this.tabPage2.ResumeLayout(false);
             this.tabPage2.ResumeLayout(false);
             this.tableLayoutPanel1.ResumeLayout(false);
             this.tableLayoutPanel1.ResumeLayout(false);
             this.tableLayoutPanel1.PerformLayout();
             this.tableLayoutPanel1.PerformLayout();
+            this.groupBox8.ResumeLayout(false);
+            this.groupBox8.PerformLayout();
             this.tabPage3.ResumeLayout(false);
             this.tabPage3.ResumeLayout(false);
-            this.groupBox7.ResumeLayout(false);
-            this.groupBox7.PerformLayout();
+            this.tabPage3.PerformLayout();
+            this.groupBox4.ResumeLayout(false);
+            this.groupBox4.PerformLayout();
             this.groupBox6.ResumeLayout(false);
             this.groupBox6.ResumeLayout(false);
+            this.groupBox6.PerformLayout();
             this.groupBox2.ResumeLayout(false);
             this.groupBox2.ResumeLayout(false);
             this.tableLayoutPanel4.ResumeLayout(false);
             this.tableLayoutPanel4.ResumeLayout(false);
             this.tableLayoutPanel6.ResumeLayout(false);
             this.tableLayoutPanel6.ResumeLayout(false);
@@ -1063,23 +1167,9 @@
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel5;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel5;
         private System.Windows.Forms.GroupBox groupBox5;
         private System.Windows.Forms.GroupBox groupBox5;
         private System.Windows.Forms.Label lblDestInfo;
         private System.Windows.Forms.Label lblDestInfo;
-        private System.Windows.Forms.GroupBox groupBox6;
-        private System.Windows.Forms.Button btnDeleteMission;
-        private System.Windows.Forms.Button btnAddMission;
-        private System.Windows.Forms.ComboBox cmbBoxLineName;
-        private System.Windows.Forms.GroupBox groupBox7;
         private System.Windows.Forms.Button btnUpdateStatus;
         private System.Windows.Forms.Button btnUpdateStatus;
         private System.Windows.Forms.TextBox txtBoxRFID;
         private System.Windows.Forms.TextBox txtBoxRFID;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel7;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel7;
-        private System.Windows.Forms.GroupBox groupBox4;
-        private System.Windows.Forms.DataGridView dgvLineMission;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column24;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column8;
-        private System.Windows.Forms.GroupBox groupBox8;
-        private System.Windows.Forms.Label lblCharge4;
-        private System.Windows.Forms.Label lblCharge3;
-        private System.Windows.Forms.Label lblStandy2;
-        private System.Windows.Forms.Label lblStandy1;
         private System.Windows.Forms.TextBox txtBoxLineName;
         private System.Windows.Forms.TextBox txtBoxLineName;
         private System.Windows.Forms.Label label8;
         private System.Windows.Forms.Label label8;
         private System.Windows.Forms.Label label7;
         private System.Windows.Forms.Label label7;
@@ -1095,6 +1185,30 @@
         private System.Windows.Forms.DataGridViewTextBoxColumn Column13;
         private System.Windows.Forms.DataGridViewTextBoxColumn Column13;
         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.GroupBox groupBox6;
+        private System.Windows.Forms.Label label10;
+        private System.Windows.Forms.Label label9;
+        private System.Windows.Forms.TextBox txtRfid;
+        private System.Windows.Forms.Button btnDeleteMission;
+        private System.Windows.Forms.Button btnAddMission;
+        private System.Windows.Forms.ComboBox cmbBoxLineName;
+        private System.Windows.Forms.GroupBox groupBox8;
+        private System.Windows.Forms.Label lblStandy2;
+        private System.Windows.Forms.Label lblStandy1;
+        private System.Windows.Forms.Label lblCharge4;
+        private System.Windows.Forms.Label lblCharge3;
+        private System.Windows.Forms.Label lblWarn;
+        private System.Windows.Forms.GroupBox grpUnlock;
+        private System.Windows.Forms.DataGridView dgvUnlockInfo;
+        private System.Windows.Forms.TableLayoutPanel tblLayoutUnlock;
+        private System.Windows.Forms.DataGridView dgvUnlockDetail;
+        private System.Windows.Forms.GroupBox groupBox4;
+        private System.Windows.Forms.Button btnGetStationRfid;
+        private System.ComponentModel.BackgroundWorker backgroundWorker1;
+        private System.Windows.Forms.Label label11;
+        private System.Windows.Forms.Button btnClearStationRFID;
+        private System.Windows.Forms.Button agvRemoveRfid;
+        private System.Windows.Forms.Label label12;
     }
     }
 }
 }
 
 

AGVControl-ProductionLine/FrmMain.cs

@@ -5,6 +5,7 @@ using System.Collections.Generic;
 using System.ComponentModel;
 using System.ComponentModel;
 using System.Data;
 using System.Data;
 using System.Drawing;
 using System.Drawing;
+using System.IO;
 using System.Linq;
 using System.Linq;
 using System.Text;
 using System.Text;
 using System.Threading;
 using System.Threading;
@@ -61,7 +62,7 @@ namespace AGVControl
             cmbBoxLineName.Items.Add("产线名称");
             cmbBoxLineName.Items.Add("产线名称");
             foreach (var item in Common.nodeInfo)
             foreach (var item in Common.nodeInfo)
             {
             {
-                if (item.Name.StartsWith("A"))
+                if (item.Name.StartsWith("A") || item.Name.Equals(SettingString.D4FeederIn) || item.Name.Equals(SettingString.C4FeederIn))
                     continue;
                     continue;
                 cmbBoxLineName.Items.Add(item.AliceName);
                 cmbBoxLineName.Items.Add(item.AliceName);
             }
             }
@@ -115,10 +116,6 @@ namespace AGVControl
             }));
             }));
             System.GC.Collect();
             System.GC.Collect();
         }
         }
-        private void MissionManager_MissionChanged()
-        {
-            ShowEmptyTask();
-        }
         private void Control_AgvOnline(int agvIndex)
         private void Control_AgvOnline(int agvIndex)
         {
         {
             Invoke(new Action(() => { DgvAgv.Rows[agvIndex].DefaultCellStyle.ForeColor = Common.agvInfo[agvIndex].IsCon ? Color.Black : Color.Red; }));
             Invoke(new Action(() => { DgvAgv.Rows[agvIndex].DefaultCellStyle.ForeColor = Common.agvInfo[agvIndex].IsCon ? Color.Black : Color.Red; }));
@@ -176,14 +173,59 @@ namespace AGVControl
             Common.control.AgvChanged += Control_AgvChanged;
             Common.control.AgvChanged += Control_AgvChanged;
             Common.control.AgvOnline += Control_AgvOnline;
             Common.control.AgvOnline += Control_AgvOnline;
             Common.server.NodeChanged += Server_NodeChanged;
             Common.server.NodeChanged += Server_NodeChanged;
+            Common.control.NodeChangedEvent += Server_NodeChanged;
             Common.server.NodeOnline += Server_NodeOnline;
             Common.server.NodeOnline += Server_NodeOnline;
+            ReadUnlockLineInfo();
+        }
+        void ReadUnlockLineInfo()
+        {
+            if (!System.IO.File.Exists(Common.CONFIG_PATH + "UnlockInfo.json"))
+            {
+                File.Create(Common.CONFIG_PATH + "UnlockInfo.json");
+                Common.missionManager = new UnlockMissionManager(Common.nodeInfo);
+                Common.missionManager.MissionChanged += MissionManager_MissionChanged;
+                return;
+            }
+            string s = File.ReadAllText(Common.CONFIG_PATH + "UnlockInfo.json");
+            Common.missionManager = JsonHelper.DeserializeJsonToObject<UnlockMissionManager>(s);
+            if (Common.missionManager == null)
+                Common.missionManager = new UnlockMissionManager(Common.nodeInfo);
             Common.missionManager.MissionChanged += MissionManager_MissionChanged;
             Common.missionManager.MissionChanged += MissionManager_MissionChanged;
-            //foreach (var item in Common.agvInfo)
-            //{
-            //    cmbBoxAGVName.Items.Add(item.Name);
-            //}
-            //cmbBoxAGVName.Items.Add("None");
-            //cmbBoxAGVName.SelectedIndex = Common.agvInfo.Count;
+            Common.missionManager.Init();
+        }
+        private void MissionManager_MissionChanged(Dictionary<string, UnlockInfo> pairs)
+        {
+            BindingSource bs = new BindingSource();
+            BindingSource bs2 = new BindingSource();
+            try
+            {
+                dgvUnlockInfo.BeginInvoke(new MethodInvoker(delegate
+                {
+                    foreach (var item in pairs.Values)
+                    {
+                        if (item.Count > 0)
+                        {
+                            bs.Add(item);
+                            foreach (var item1 in item.UnlockRfids)
+                            {
+                                bs2.Add(item1);
+                            }
+                        }
+
+                    }
+                    dgvUnlockInfo.DataSource = bs;     //赋值控件自动更新
+                    dgvUnlockDetail.DataSource = bs2;
+                }));
+                this.Invoke(new Action(() =>
+                {
+                    //grpUnlock.Text = "解绑总数："+count;
+                }
+                ));
+            }
+            catch (Exception e)
+            {
+                Common.log.Error("ShowUnlockInfo", e);
+            }
         }
         }
 
 
         private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
         private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
@@ -236,7 +278,8 @@ namespace AGVControl
                     Common.LogInfo(string.Format("手动开启小车自动模式，并清除上一次的自动模式的运行信息{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo()));
                     Common.LogInfo(string.Format("手动开启小车自动模式，并清除上一次的自动模式的运行信息{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo()));
                     //Common.agvInfo[e.RowIndex].CurJob = null;
                     //Common.agvInfo[e.RowIndex].CurJob = null;
                     Common.agvInfo[e.RowIndex].RFID = "";
                     Common.agvInfo[e.RowIndex].RFID = "";
-                   // Common.agvInfo[e.RowIndex].Place = "";
+                    if (Common.agvInfo[e.RowIndex].Place.Equals(SettingString.AutoCharge) || Common.agvInfo[e.RowIndex].Place.Equals(SettingString.Standby))
+                        Common.agvInfo[e.RowIndex].Place = "";
                     Common.agvInfo[e.RowIndex].IsUse = true;
                     Common.agvInfo[e.RowIndex].IsUse = true;
                     // }
                     // }
                     //else
                     //else
@@ -269,23 +312,10 @@ namespace AGVControl
             else if (e.ColumnIndex == 8)  //清除缓存
             else if (e.ColumnIndex == 8)  //清除缓存
             {
             {
                 //清除节点缓存
                 //清除节点缓存
-                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;
-                Common.nodeInfo[e.RowIndex].AgvName = "";
+                Common.LogInfo(string.Format("手动清除缓存，{0}", Common.nodeInfo[e.RowIndex].Name));
                 DgvNode.Rows[e.RowIndex].Cells[5].Value = "";
                 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
-                int idx = Common.agvInfo.FindIndex(s => s.Name == name);
-                if (idx > -1)
-                {
-                    Common.agvInfo[idx].Place = "";
-                    Common.agvInfo[idx].RFID = "";
-                    DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
-                    //添加Init任务
-                    Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission["Init"]);
-                    Common.mir.State_Ready(Common.agvInfo[idx]);
-                }
                 DgvNode.Rows[e.RowIndex].SetValues(Common.nodeInfo[e.RowIndex].ToRow());
                 DgvNode.Rows[e.RowIndex].SetValues(Common.nodeInfo[e.RowIndex].ToRow());
             }
             }
         }
         }
@@ -373,53 +403,27 @@ namespace AGVControl
                     try
                     try
                     {
                     {
                         agvRunInfo[i].Text = Common.agvInfo[i].RunInfo();
                         agvRunInfo[i].Text = Common.agvInfo[i].RunInfo();
-                        Application.DoEvents();
                     }
                     }
                     catch (Exception ex)
                     catch (Exception ex)
                     {
                     {
-                        Common.log.Error("显示"+ Common.agvInfo[i].Name+"运行信息异常");
+                        Common.log.Error("显示" + Common.agvInfo[i].Name + "运行信息异常");
                     }
                     }
                 }
                 }
-
-                if (!Common.doubleLine_WO.Equals(""))
-                    lblWO.Text = Common.doubleLine_WO;
-                if (!AGVManager.A6_Target.Equals(""))
-                    lblDestInfo.Text = AGVManager.A6_Target;
+                Application.DoEvents();
+                //if (!Common.doubleLine_WO.Equals(""))
+                lblWO.Text = Common.doubleLine_WO;
+                // if (!AGVManager.A6_Target.Equals(""))
+                lblDestInfo.Text = AGVManager.A6_Target;
                 lblCharge3.Text = "充电桩3:" + Common.chargeStatus.charge3;
                 lblCharge3.Text = "充电桩3:" + Common.chargeStatus.charge3;
                 lblCharge4.Text = "充电桩6:" + Common.chargeStatus.charge6;
                 lblCharge4.Text = "充电桩6:" + Common.chargeStatus.charge6;
                 lblStandy1.Text = "4C待机位1:" + Common.StandbyStation.C4_Station1;
                 lblStandy1.Text = "4C待机位1:" + Common.StandbyStation.C4_Station1;
                 lblStandy2.Text = "4C待机位2:" + Common.StandbyStation.C4_Station2;
                 lblStandy2.Text = "4C待机位2:" + Common.StandbyStation.C4_Station2;
+                lblWarn.Text = Common.warnMsg;
             }));
             }));
 
 
             InShhow = false;
             InShhow = false;
         }
         }
 
 
-        private void ShowEmptyTask()
-        {
-            if (dgvLineMission.InvokeRequired)
-            {
-                dgvLineMission.Invoke(new Action(() => ShowEmptyTask()));
-                return;
-            }
-            try
-            {
-                if (dgvLineMission.Rows.Count != 0)
-                    dgvLineMission.Rows.Clear();
-                foreach (var item in Common.missionManager.missionList)
-                {
-                    var key = Common.nodeInfo.Where(q => q.Name == item.NodeName).Select(q => q.AliceName);
-                    if (key.ToList().Count > 0)
-                        dgvLineMission.Rows.Add(item.CreateTime, key.ToList()[0]);
-                }
-                groupBox4.Text = "产线解绑信息:共" + Common.missionManager.EmptyMissionCount.ToString() + "个";
-            }
-            catch (Exception ex)
-            {
-                Common.log.Error(ex);
-            }
-
-        }
-
         private void ChkAutoCharge_CheckedChanged(object sender, EventArgs e)
         private void ChkAutoCharge_CheckedChanged(object sender, EventArgs e)
         {
         {
 
 
@@ -438,21 +442,23 @@ namespace AGVControl
                 }
                 }
                 if (MessageBox.Show("确定删除产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]", "手动删除解绑任务", MessageBoxButtons.YesNo) == DialogResult.No)
                 if (MessageBox.Show("确定删除产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]", "手动删除解绑任务", MessageBoxButtons.YesNo) == DialogResult.No)
                     return;
                     return;
-                //int idx=Common.missionList.FindIndex(s => s.NodeName == Common.agvProductionLine[txtBoxMission.Text]);
-
-                int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
-                if (idx > -1)
+                if (txtRfid.Text.ToUpper().StartsWith("D") || txtRfid.Text.ToUpper().StartsWith("C"))
                 {
                 {
-                    if (Common.DelEmptyShelfTask(Common.nodeInfo[idx].Name))
-                    {
-                        Common.LogInfo("手动删除任务成功：" + cmbBoxLineName.SelectedItem.ToString());
-                    }
-                    else
+                    int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
+                    if (idx > -1)
                     {
                     {
-                        Common.LogInfo("手动删除任务失败");
+                        if (Common.missionManager.DelMission(Common.nodeInfo[idx].Name, txtRfid.Text.ToUpper()))
+                        {
+                            Common.LogInfo(string.Format("手动删除任务成功：{0} {1}", cmbBoxLineName.SelectedItem.ToString(), txtRfid.Text.ToUpper()));
+                        }
+                        else
+                        {
+                            Common.LogInfo("手动删除任务失败");
+                        }
                     }
                     }
                 }
                 }
 
 
+
             }
             }
             catch (Exception ex)
             catch (Exception ex)
             {
             {
@@ -465,32 +471,35 @@ namespace AGVControl
         {
         {
             try
             try
             {
             {
-                if (cmbBoxLineName.SelectedItem == null || cmbBoxLineName.SelectedIndex == 0)
+                if (cmbBoxLineName.SelectedItem == null || cmbBoxLineName.SelectedIndex == 0 || txtRfid.Text.Equals(""))
                 {
                 {
                     return;
                     return;
                 }
                 }
                 if (cmbBoxLineName.SelectedItem.ToString().StartsWith("A"))
                 if (cmbBoxLineName.SelectedItem.ToString().StartsWith("A"))
                     return;
                     return;
-                if (MessageBox.Show("确定添加产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]", "手动1添加解绑", MessageBoxButtons.YesNo) == DialogResult.No)
+                if (MessageBox.Show("确定添加产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]", "手动添加解绑", MessageBoxButtons.YesNo) == DialogResult.No)
                     return;
                     return;
-                int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
-                if (idx > -1)
+                if (txtRfid.Text.ToUpper().StartsWith("D") || txtRfid.Text.ToUpper().StartsWith("C"))
                 {
                 {
-                    if (Common.AddEmptyShelfTask(Common.nodeInfo[idx].Name))
-                    {
-                        Common.LogInfo("手动添加任务成功：" + cmbBoxLineName.SelectedItem.ToString());
-                    }
-                    else
+                    int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
+                    if (idx > -1)
                     {
                     {
-                        Common.LogInfo("手动添加任务失败");
-                    }
+                        if (Common.missionManager.AddMission(Common.nodeInfo[idx].Name, txtRfid.Text.ToUpper()))
+                        {
+                            Common.LogInfo(string.Format("手动添加任务成功：{0} {1}", cmbBoxLineName.SelectedItem.ToString(), txtRfid.Text.ToUpper()));
+                        }
+                        else
+                        {
+                            Common.LogInfo("手动添加任务失败");
+                        }
 
 
+                    }
                 }
                 }
 
 
+
             }
             }
             catch (Exception ex)
             catch (Exception ex)
             {
             {
-                ShowEmptyTask();
                 Common.log.Error("手动添加任务失败：" + ex.Message);
                 Common.log.Error("手动添加任务失败：" + ex.Message);
             }
             }
         }
         }
@@ -606,9 +615,11 @@ namespace AGVControl
             {
             {
                 Task.Factory.StartNew(() =>
                 Task.Factory.StartNew(() =>
                 {
                 {
-                    AGVManager.UpdateStatus(txtBoxRFID.Text.ToUpper(), txtBoxLineName.Text.ToUpper());
+                    bool rtn = AGVManager.UpdateStatus(txtBoxRFID.Text.ToUpper(), txtBoxLineName.Text.ToUpper());
+                    this.Invoke(new Action(() => { label11.Text = rtn ? "状态上报成功" : "状态上报失败"; }));
                     Common.LogInfo(string.Format("手动上报状态 产线{0} 物料状态更新成功[{1}]", txtBoxLineName.Text.ToUpper(), txtBoxRFID.Text.ToUpper()));
                     Common.LogInfo(string.Format("手动上报状态 产线{0} 物料状态更新成功[{1}]", txtBoxLineName.Text.ToUpper(), txtBoxRFID.Text.ToUpper()));
-
+                    txtBoxLineName.Text = "";
+                    txtBoxRFID.Text = "";
                 });
                 });
             }
             }
             catch (Exception ex)
             catch (Exception ex)
@@ -617,11 +628,6 @@ namespace AGVControl
             }
             }
         }
         }
 
 
-        private void dgvLineMission_Click(object sender, EventArgs e)
-        {
-            ShowEmptyTask();
-        }
-
         private void btnClearC4StandyInfo_Click(object sender, EventArgs e)
         private void btnClearC4StandyInfo_Click(object sender, EventArgs e)
         {
         {
             Common.StandbyStation.C4_Station1 = "";
             Common.StandbyStation.C4_Station1 = "";
@@ -656,5 +662,79 @@ namespace AGVControl
                 DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
                 DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
             }
             }
         }
         }
+
+        private void btnGetStationRfid_Click(object sender, EventArgs e)
+        {
+            if (txtBoxLineName.Text.Equals(""))
+                return;
+            try
+            {
+                Task.Factory.StartNew(new Action(() => {
+                    string res = AGVManager.GetRFIDs(txtBoxLineName.Text.ToUpper());
+                    this.Invoke(new Action(() => { label11.Text = string.Format("由里到外料架顺序：{0}", res); }));
+                }));
+            }
+            catch { }
+        }
+
+        private void btnClearStationRFID_Click(object sender, EventArgs e)
+        {
+            if (!txtBoxLineName.Text.Equals("") && !txtBoxRFID.Text.Equals(""))
+            {
+                try
+                {
+                    Task.Factory.StartNew(new Action(() => {
+                        bool rtn = AGVManager.ClearRFID(txtBoxLineName.Text.ToUpper(), txtBoxRFID.Text.ToUpper());
+                        this.Invoke(new Action(() => { label11.Text = rtn ? "清除接驳RFID成功:" + txtBoxLineName.Text + " " + txtBoxRFID.Text : "清除接驳RFID失败:" + txtBoxLineName.Text + " " + txtBoxRFID.Text; }));
+                        txtBoxLineName.Text = "";
+                        txtBoxRFID.Text = "";
+                        Common.LogInfo(rtn ? "手动清除接驳RFID成功:" + txtBoxLineName.Text + " " + txtBoxRFID.Text : "手动清除接驳RFID失败:" + txtBoxLineName.Text + " " + txtBoxRFID.Text);
+                    }));
+                }
+                catch { }
+            }
+        }
+        /// <summary>
+        /// 点击小车状态刷新
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void DgvAgv_CellContentClick(object sender, DataGridViewCellEventArgs e)
+        {
+            Invoke(new Action(() =>
+            {
+                try
+                {
+                    for (int i = 0; i < Common.agvInfo.Count; i++)
+                    {
+                        DgvAgv.Rows[i].SetValues(Common.agvInfo[i].ToRow());
+                    }
+                }
+                catch { }
+
+            }));
+        }
+
+        private void agvRemoveRfid_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                Task.Factory.StartNew(() =>
+                {
+                    if(txtBoxRFID.Text.StartsWith("C") || txtBoxRFID.Text.StartsWith("D"))
+                    {
+                        bool rtn = AGVManager.AgvRemoveRfid(txtBoxRFID.Text.ToUpper());
+                        this.Invoke(new Action(() => { label11.Text = rtn ? "清理料架的缓存信息成功" : "清理料架的缓存信息失败"; }));
+                        Common.LogInfo(string.Format("手动清理料架的缓存信息成功[{0}]", txtBoxRFID.Text.ToUpper()));
+                    }
+                    txtBoxLineName.Text = "";
+                    txtBoxRFID.Text = "";
+                });
+            }
+            catch (Exception ex)
+            {
+               
+            }
+        }
     }
     }
 }
 }

AGVControl-ProductionLine/FrmMain.resx

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     <value>True</value>
     <value>True</value>
   </metadata>
   </metadata>
-  <metadata name="Column24.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
-  </metadata>
-  <metadata name="Column8.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
-    <value>True</value>
+  <metadata name="backgroundWorker1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
   </metadata>
   </metadata>
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+        AAAAAAAAAAAAAAAAAAAAAAAAAAAATcnJvOfV1cjvrq6k1dPTxezFxbjjMzMudAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAFDa2s3zkpKIys7OweqwsKTX3NzN9jo6NXMAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAQEA1fzs7B6mZmYLzl5db/UVFPuby8sN4cHBpkAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAHBwZZmVlXrhiYly5dXVusG1tZrRaWlSbAAAAHQAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAALCwt5AAAANgAAAAAAAABNDQ0NhQAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAOwAAAAIAAAAAAAAAAQQE
+        BEUAAAAAAAAAAAAAAAAAAAAAAAAAAP//AAD8jwAA/p8AAP6fAADkmQAA4AkAAOALAADwAwAA8AcAAPgP
+        AAD8HwAA/B8AAPwfAAD8HwAA/98AAP//AAAoAAAAIAAAAEAAAAABACAAAAAAAIAQAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        ACMAAACFAAAAhwAAAHMAAAA2AAAAAAAAAAAAAAADAAAAMgAAADMAAAAmAAAAGQAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAhlBQUL9ZWVnCPDw8wAYGBtwAAAAVAAAAAAAAAG07Ozu/TU1NwDc3N78WFhbJAAAAQwAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAcAAAAdwQEBNZZWVnCBQUF1AAAAAQAAAAAAAAAfxISEswWFhbJCwsLzwYG
+        BskAAAAoAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABAQEzR8fH8QCAgLOAAAAAAAAAAAAAABhCAgI1woK
+        CtYAAABuAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAMDAzAn5+f4ggICMIAAAAAAAAAAAAA
+        AF4xMTHAMjIywAAAAF0AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAQEBM82NjbABQUFywAA
+        AAAAAAAAAAAAcTk5Ob8eHh7FAAAASwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAABOAAAAowAAADUAAAAAAAAAAAAAAAAAAAAABAQE0yMj
+        I74EBATWAAAAAAAAAAAAAACHHx8fxA0NDdEAAABIAAAAAAAAAAAAAAAAAAAAAAAAABcAAAB9AAAANgAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAZAAAAOQAAAIyOjFDPHh4RxgAAACsAAAAAAAAAAAAA
+        AAAEBATSNDQ0wAYGBtoAAAAAAAAAAAAAAKIXFxfICAgI2AAAAEgAAAAAAAAAAAAAAAAAAAAPCgoFw0tJ
+        Kb8AAACDAAAAFwAAAAQAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAIs2Nh7CFBQLzKGeWtiLiE7OAAAAbAAA
+        AH0AAACnAAAAmQICAuQbGxvGAgIC5QAAAHkAAAB3AAAA00ZGRsAXFxfJAAAAtgAAAJYAAABiAAAAAAAA
+        AFNraTzELCwZwQAAAJIDAwLhAAAAUgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAVUNBJb/PzHT/x8Rw9hsb
+        D8YAAAAqBAQEsdXVyO/U1MbjzMy/2sDAs9O0tKjVrq6j1q6uo9aurqPWcnJqvDQ0L7dHR0O0hoZ9vhQU
+        E8kAAAACAAAAFxoYDsbEwW/0oZ9a1ywrGMAAAAAqAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAZwUF
+        AtcQEA/NGhoaxwAAAFIAAACb19fJ8uXl1v/l5db/5eXW/+Xl1v/l5db/5eXW/+Xl1v8gIB3HC4q30guH
+        stAeHhzKIyMixQAAAAgAAAAwDAwM1QwMCNMWFgzNAAAAfwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAdh4eHsUQEBDNAAAAmAAAAJPKyr3n5eXW/+Xl1v/l5db/5eXW/+Xl1v/l5db/5eXW/yMj
+        IMUQuvf4D67o7SsrJ8kdHRzIAAAABAEBAbigoKDkg4OD0AAAAIYAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAANCgoKy7e3t/gGBgbSAAAAl8LCteHl5db/5eXW/+Xl1v/l5db/5eXW/+Xl
+        1v/l5db/EhgayBC//v8NndDdPj46xhsbGMkAAABNGBgYyBYWFsgJCQnPAAAAFgAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAACJERERzS4uLsAAAADvvLyw3uXl1v/l5db/5eXW/+Xl
+        1v/l5db/5eXW/+Xl1v8FCgvWB1JuwQVDWb9bW1XCFBQTzQoKCs8UFBTIPDw8vwAAAG8AAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADk4ODi/c3NzyAEBAe3Gxrnk5eXW/+Xl
+        1v/l5db/5eXW/+Xl1v/k5NX+uLis26ammtKVlYvMg4N6xsjIu+UQEA/QFhYWyZOTk9YBAQHTAAAABAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAwAAAN5MTEzAGxsbxs/P
+        wuvl5db/5eXW/+Xl1v/l5db/5eXW/0tLRb8sLCzADAwM0C8vK8MPDw/NlZWNyxQUE8qKiorTBQUF3wAA
+        AFEAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAbxUV
+        Fc8DAwPk2NjJ8eXl1v/l5db/5eXW/+Xl1v/l5db/sbGm1xYWFMk/Pzu+h4d+xx4eG8aysqfWBwcH2hIS
+        EskFBQWlAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAALCAgIxAcHB9qQkIjNeXlwyFtbVsdJSUTHSUlEx0lJRMdJSUTHSUlEx0lJRMdRUUzCVlZRwFZW
+        UcACAgLnBgYGsQAAAAwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAASAAAAXAAAAIYAAACjAAAAowAAAKAAAACgAAAAoAAAAKAAAACVAAAAkgAA
+        AJIAAACMAAAAawAAABQAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAmJGRiMy4uKzUwcG11sLCteLCwrXiwsK14sDA
+        tN+urqPWn5+Uz5mZj80TExHNAAAABwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAACWycm85+Xl1v/l5db/5eXW/6ur
+        otVwcGnC2trM9OXl1v/l5db/5eXW/ycnJcMAAAALAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAJrS0sTt5eXW/+Xl
+        1v/l5db/w8O345KSiMrU1Mbu5eXW/+Xl1v/l5db/JyclwwAAAA0AAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAo9fX
+        yfLY2MvzLCwqwzo6NcDl5db/5eXW/35+dcRcXFXAv7+z4OXl1v8fHxzGAAAABAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAABAQGw4ODR+oWFfMcNDQ3REREQzeXl1v/j49P8CAgI1x4eHsUqKifE5eXW/xkZFsQAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAwMC73l5db/5eXW/9fXyPHg4NH55eXW/+Xl1v/MzL7okpKIytray/Xj49T9CAgIuwAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAABFxcWyOXl1v/l5db/5eXW/+Xl1v/l5db/5eXW/+Xl1v/l5db/3d3O9ltb
+        VL8AAABxAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAEBAQGxBQUFwAUFBcAAAADzAAAAzwAAALoAAACqAAAA4AAA
+        AL0AAAClAAAAaAAAAAIAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAEAAAAZwAAAJIAAAACAAAAAAAA
+        AAAAAAAvAAAAtgAAACsAAAAZAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAMDA5gMDAzSAAAAOgAA
+        AAAAAAAAAAAAAAAAAAAAAABPBwcH2QcHB84AAAAFAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAZgAA
+        AIEAAAAIAAAAAAAAAAAAAAAAAAAAAAAAAAMDAwOfAwMDmgAAAAEAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+        AAAAAAAAAAAAAAAAAAAAAAAAAAAAAP//////8////+Dh///44f//+Of///jn///45//++Mf//HjHx/Bg
+        wcP4QADD/EAAx/4AAIf+AACP/gAAH/8AAB//AAA//4AAP/+AAH//4AP//+AB///gAf//4AH//+AB///g
+        Af//4AH//+AD///gB////e////Pz///78///////
 </value>
 </value>
   </data>
   </data>
 </root>
 </root>
\ No newline at end of file

AGVControl-ProductionLine/Program.cs

@@ -42,11 +42,10 @@ 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.log.Info("=====程序开始=====");
             Common.log.Info("=====程序开始=====");
             ReadConfig();
             ReadConfig();
-            Common.ReadLinePlace();
+            //Common.ReadUnlockLineInfo();
 
 
             Common.mir = new MiR_API();
             Common.mir = new MiR_API();
             Common.control = new BLL.Control();
             Common.control = new BLL.Control();

AGVControl-ProductionLine/bean/Agv_Info.cs

@@ -195,27 +195,10 @@ namespace AGVControl
                 else
                 else
                     return string.Format("设备:{1}{0}RFID:{2}{0}任务信息:[任务名称={3}][任务状态={4}]{0}当前步骤:{5}{0}执行信息:{6}",
                     return string.Format("设备:{1}{0}RFID:{2}{0}任务信息:[任务名称={3}][任务状态={4}]{0}当前步骤:{5}{0}执行信息:{6}",
                         "\r\n", Name, RFID, curJobTaskName, curJobTaskState, Msg, MissionText);
                         "\r\n", Name, RFID, curJobTaskName, curJobTaskState, Msg, MissionText);
-                //if (RFID.StartsWith("C"))
-                //{
-                //    return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurJobTaskInfo:[TaskName={4}][TaskID={5}][TaskState={6}]{0}RunInfo:{7}{0}BoxDestInfo:{8}{0}GetRack:{9}{0}MissionText:{10}",
-                //        "\r\n", Name, RFID, CurJob.ToString(), curJobTaskName, curJobTaskID, curJobTaskState, Msg, BoxDestInfo, BLL.AGVManager.GetRackBy(RFID), MissionText);
-                //}
-                //else if (RFID.StartsWith("D"))
-                //{
-                //    return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurJobTaskInfo:[TaskName={4}][TaskID={5}][TaskState={6}]{0}RunInfo:{7}{0}BoxDestInfo:{8}{0}MissionText:{9}",
-                //        "\r\n", Name, RFID, CurJob.ToString(), curJobTaskName, curJobTaskID, curJobTaskState, Msg, BoxDestInfo, MissionText);
-
-                //}
-                //else
-                //    return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurJobTaskInfo:[TaskName={4}][TaskID={5}][TaskState={6}]{0}RunInfo:{7}{0}MissionText:{8}",
-                //        "\r\n", Name, RFID, CurJob.ToString(), curJobTaskName, curJobTaskID, curJobTaskState, Msg, MissionText);
-
             }
             }
             else
             else
                 return string.Format("设备:{1}{0}RFID:{2}{0}任务信息:[任务名称={3}][任务状态={4}]{0}执行信息:{5}",
                 return string.Format("设备:{1}{0}RFID:{2}{0}任务信息:[任务名称={3}][任务状态={4}]{0}执行信息:{5}",
                  "\r\n", Name, RFID, curJobTaskName, curJobTaskState, MissionText);
                  "\r\n", Name, RFID, curJobTaskName, curJobTaskState, MissionText);
-            //return string.Format("Name:{1}{0}RFID:{2}{0}CurTaskInfo:[TaskName={3}][TaskID={4}][TaskState={5}]{0}MissionText:{6}",
-            //    "\r\n", Name, RFID, curJobTaskName, curJobTaskID, curJobTaskState, MissionText);
         }
         }
         /// <summary>
         /// <summary>
         /// 任务重发
         /// 任务重发
@@ -365,39 +348,6 @@ namespace AGVControl
             }
             }
             Position = position;
             Position = position;
         }
         }
-        //public void GetPlace(int value)
-        //{
-        //    // Common.log.Debug(Name + " PLC20=" + value);
-        //    if (value == 0)
-        //    {
-        //        Place = "";
-        //        PlaceState = ePlaceState.None;  
-        //    }
-        //    else if (value > 0 && value < 1000)
-        //    {
-        //        //Place = "";
-        //        //PlaceState = PlaceState.None;
-        //        //TaskSend = "";
-        //    }
-        //    else if (value >= 1000)
-        //    {
-        //        int a = value / 1000;
-        //        int b = (value - a * 1000) / 10;
-        //        int c = value - a * 1000 - b * 10;
-        //        //if (c.Equals(1) || c.Equals(3) || c.Equals(5))//Move,Enter,Leave
-        //        //    TaskSend = "";
-        //        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 = Place;
-        //        }
-        //        PlaceState = (ePlaceState)c;
-        //    }
-        //}
 
 
         public string[] ToRow()
         public string[] ToRow()
         {
         {

AGVControl-ProductionLine/bean/Node.cs

@@ -41,7 +41,11 @@ namespace AGVControl
         {
         {
             Name = name;
             Name = name;
         }
         }
-
+        /// <summary>
+        /// 状态比较
+        /// </summary>
+        /// <param name="obj"></param>
+        /// <returns></returns>
         public bool StateEquals(eNodeStatus obj)
         public bool StateEquals(eNodeStatus obj)
         {
         {
             return nodeStatus.Equals(obj);
             return nodeStatus.Equals(obj);

AGVControl-ProductionLine/bean/UnlockedShelf.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace AGVControl
+{
+    public class UnlockedShelf
+    {
+        /// <summary>
+        /// 已解绑料架信息
+        /// </summary>
+        /// <param name="nodeName"></param>
+        public UnlockedShelf()
+        {
+            Rfids = new Dictionary<string, string>();
+        }
+        /// <summary>
+        /// 空料架数量
+        /// </summary>
+        public int EmptyCnt { get; set; }
+        public string NodeName;
+        /// <summary>
+        /// 解绑的RFID及时间
+        /// </summary>
+        public Dictionary<string, string> Rfids { get; set; }
+
+        public List<string> GetRfids()
+        {
+            if (Rfids == null || Rfids.Count <= 0)
+                return new List<string>();
+            return Rfids.Keys.ToList<string>();
+        }
+        public Dictionary<string, string> GetRfidWithTime()
+        {
+            if (Rfids == null || Rfids.Count <= 0)
+                return new Dictionary<string, string>();
+            return Rfids;
+        }
+        /// <summary>
+        ///添加解绑的空料架,如果RFID相同，不增加数量
+        /// </summary>
+        public bool Add(string rfid)
+        {
+            if (!rfid.Equals("") && !Rfids.Keys.Contains(rfid))
+            {
+                if (EmptyCnt < 0)
+                {
+                    EmptyCnt = 0;
+                    if (Rfids.Count > 0)
+                        Rfids.Clear();
+                }
+                int tmp = EmptyCnt;
+                System.Threading.Interlocked.Increment(ref tmp);
+                EmptyCnt = tmp;
+                Rfids.Add(rfid, DateTime.Now.ToString("yyyy/MM/dd/HH:mm:ss,fff"));
+                return true;
+            }
+            return false;
+        }
+        /// <summary>
+        /// 删除一个解绑任务
+        /// </summary>
+        public bool Delete(string rfid)
+        {
+            if (EmptyCnt > 0)
+            {
+                if (!rfid.Equals("") && Rfids.Keys.Contains(rfid))
+                {
+                    int tmp = EmptyCnt;
+                    System.Threading.Interlocked.Decrement(ref tmp);
+                    EmptyCnt = tmp;
+                    if (EmptyCnt.Equals(0) && Rfids.Count > 0)
+                    {
+                        Rfids.Clear();
+                    }
+                    if (rfid.Equals(SettingString.C4FeederOut) || rfid.Equals(SettingString.D4FeederOut))
+                        Rfids.Remove(rfid);
+                    return true;
+                }
+            }
+            else if (Rfids.Count > 0)
+            {
+                EmptyCnt = 0;
+                Rfids.Clear();
+                return true;
+            }
+            return false;
+        }
+    }
+}

AGVControl-ProductionLine/bean/job/ChargeJob.cs

@@ -49,23 +49,31 @@ namespace AGVControl
         {
         {
             string msg = agv.Name + " ";
             string msg = agv.Name + " ";
             bool rtn = false;
             bool rtn = false;
-            runInfo = "";
             agv.Msg = runInfo;
             agv.Msg = runInfo;
-            //if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
-            //    CurTaskState = st;
+            //runInfo = "充电任务：";
             CurTaskState = Common.GetTakJobState(CurTaskID);
             CurTaskState = Common.GetTakJobState(CurTaskID);
             if (ChargeStep.IsStep(CHARGE_STEP.NONE))
             if (ChargeStep.IsStep(CHARGE_STEP.NONE))
             {
             {
                 if (agv.Battery > Common.chargeStatus.chargeMax)
                 if (agv.Battery > Common.chargeStatus.chargeMax)
                 {
                 {
-                    if (agv.Place.Equals(SettingString.Standby))//在待机位不操作
+                    if (agvPlace.Equals(SettingString.Standby) || agvPlace.Equals(""))//在待机位不操作
                     {
                     {
                         ChargeStep.ToNextStep(CHARGE_STEP.END);
                         ChargeStep.ToNextStep(CHARGE_STEP.END);
                         runInfo = "在待机位，电量充足[" + agv.Battery + "%],等待任务";
                         runInfo = "在待机位，电量充足[" + agv.Battery + "%],等待任务";
                         msg += runInfo;
                         msg += runInfo;
                         ChargeStep.Msg = msg;
                         ChargeStep.Msg = msg;
+                        Common.MoveToNode(agv, SettingString.Standby);
+                        UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                    }
+                    else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix) && Common.CheckIsInAirDoor(agvPlace))
+                    {
+                        ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_AIR_DOOR);
+                        runInfo = "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "回到待机位，先过4C风淋门";
+                        msg += runInfo;
+                        ChargeStep.Msg = msg;
+                        Common.DoorMission(agv, SettingString.DoorAirOut);
+                        UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                     }
                     }
-
                     else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
                     else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
                     {
                     {
                         ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
                         ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
@@ -89,7 +97,17 @@ namespace AGVControl
                 }
                 }
                 else
                 else
                 {
                 {
-                    if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
+                    if (agvPlace.StartsWith(SettingString.C4_Name_Prefix) && Common.CheckIsInAirDoor(agvPlace))
+                    {
+                        ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_AIR_DOOR);
+                        runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],从当前位置" + agvPlace + "回到充电位，先过4C风淋门";
+                        msg += runInfo;
+                        ChargeStep.Msg = msg;
+
+                        Common.DoorMission(agv, SettingString.DoorAirOut);
+                        UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                    }
+                    else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
                     {
                     {
                         ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
                         ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
                         runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],从当前位置" + agvPlace + "回到充电位，先到4D门";
                         runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],从当前位置" + agvPlace + "回到充电位，先到4D门";
@@ -123,7 +141,18 @@ namespace AGVControl
                 }
                 }
 
 
             }
             }
-
+            else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_AIR_DOOR))
+            {
+                if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
+                {
+                    ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
+                    runInfo = "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "回到待机位，先到4D门";
+                    msg += runInfo;
+                    ChargeStep.Msg = msg;
+                    Common.DoorMission(agv, SettingString.DoorCToD);
+                    UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                }
+            }
             else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR))
             else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR))
             {
             {
                 if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
                 if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
@@ -166,7 +195,7 @@ namespace AGVControl
                 if (Common.CheckTaskFinished(agv, CurTaskName))
                 if (Common.CheckTaskFinished(agv, CurTaskName))
                 {
                 {
                     ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
                     ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
-                    runInfo = "充电任务分配完成，去充电且等待任务";
+                    runInfo = "充电任务分配完成，去充电并等待任务";
                     msg += runInfo;
                     msg += runInfo;
                     ChargeStep.Msg = msg;
                     ChargeStep.Msg = msg;
                 }
                 }
@@ -213,20 +242,12 @@ namespace AGVControl
                         Job job = Common.control.GetJob(agv);
                         Job job = Common.control.GetJob(agv);
                         if (job != null && !(job is ChargeJob))
                         if (job != null && !(job is ChargeJob))
                         {
                         {
-                            runInfo = "充电过程检测到任务，电量[" + agv.Battery + "%]大于最小电量[" + Common.chargeStatus.chargeMin + "%],中断充电执行任务";
+                            runInfo = "充电过程中检测到任务，电量[" + agv.Battery + "%]大于最小电量[" + Common.chargeStatus.chargeMin + "%],中断充电执行任务";
                             msg += runInfo;
                             msg += runInfo;
                             ChargeStep.Msg = msg;
                             ChargeStep.Msg = msg;
                             Common.chargeStatus.ClearRandomChargeInfo(agv);
                             Common.chargeStatus.ClearRandomChargeInfo(agv);
                             return job;
                             return job;
                         }
                         }
-                        //else if (job == null && agv.Battery < Common.chargeStatus.chargeMax / 2)
-                        //{
-                        //    ChargeStep.ToNextStep(CHARGE_STEP.NONE);
-                        //    runInfo = "在待机位暂无任务，且当前电量小于" + Common.chargeStatus.chargeMax / 2 + "%,去充电位";
-                        //    msg += runInfo;
-                        //    ChargeStep.Msg = msg;
-                        //    Common.chargeStatus.ClearRandomChargeInfo(agv);
-                        //}
                     }
                     }
                 }
                 }
 
 
@@ -291,7 +312,10 @@ namespace AGVControl
             /// 
             /// 
             /// </summary>
             /// </summary>
             NONE,
             NONE,
-
+            /// <summary>
+            /// 等待到达风淋门
+            /// </summary>
+            WAIT_AGV_REACH_AIR_DOOR,
             /// <summary>
             /// <summary>
             /// 等待到达4D门
             /// 等待到达4D门
             /// </summary>
             /// </summary>

AGVControl-ProductionLine/bean/job/EmptyAGVBackJob.cs

@@ -51,9 +51,8 @@ namespace AGVControl
         {
         {
             string msg = agv.Name + " ";
             string msg = agv.Name + " ";
             bool rtn = false;
             bool rtn = false;
-            agv.Msg = runInfo;
-            //if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
-            //    CurTaskState = st;
+            agv.Msg = "返回任务："+runInfo;
+           // runInfo = "返回任务：";
             CurTaskState = Common.GetTakJobState(CurTaskID);
             CurTaskState = Common.GetTakJobState(CurTaskID);
             if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.NONE))
             if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.NONE))
             {
             {
@@ -61,20 +60,62 @@ namespace AGVControl
                 if (Common.FindEmptyShelfNode(agv, out string nodeName, true))
                 if (Common.FindEmptyShelfNode(agv, out string nodeName, true))
                 {
                 {
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(nodeName));
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(nodeName));
-                    if(i==-1)
+                    if (i == -1)
                     {
                     {
-                        runInfo= "小车在产线 " + agvPlace + " 准备返回时检测到 " + nodeName + " 有空料架";
-                        msg += runInfo;
-                        EmptyAGVBackStep.Msg = msg;
-                        return new GoEmptyShelfLineJob(agvPlace, nodeName);
+                        ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName));
+                        if (Common.CheckStationState(clientNode, out string rfid))
+                        {
+                            runInfo = "小车在产线 " + agvPlace + " 准备返回时检测到 " + nodeName + " 有空料架";
+                            msg += runInfo;
+                            EmptyAGVBackStep.Msg = msg;
+                            return new GoEmptyShelfLineJob(agvPlace, nodeName, rfid);
+                        }
+                        else
+                        {
+                            if (Common.CheckIsInAirDoor(agvPlace))
+                            {
+                                EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR);
+                                runInfo = "从产线" + agvPlace + "回待机位，先过4C风淋门";
+                                msg += runInfo;
+                                EmptyAGVBackStep.Msg = msg;
+                                Common.DoorMission(agv, SettingString.DoorAirOut);
+                                UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                            }
+                            else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
+                            {
+                                EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
+                                runInfo = "从产线" + agvPlace + "回待机位，先到4D门";
+                                msg += runInfo;
+                                EmptyAGVBackStep.Msg = msg;
+                                Common.DoorMission(agv, SettingString.DoorCToD);
+                                UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                            }
+                            else
+                            {
+                                EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
+                                runInfo = "从产线" + agvPlace + "回待机位";
+                                msg += runInfo;
+                                EmptyAGVBackStep.Msg = msg;
+                                Common.MoveToNode(agv, SettingString.Standby);
+                                UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                            }
+                        }
                     }
                     }
                     else
                     else
                     {
                     {
-
-                        if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
+                        if (Common.CheckIsInAirDoor(agvPlace))
+                        {
+                            EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR);
+                            runInfo = "从产线" + agvPlace + "回待机位，先过4C风淋门";
+                            msg += runInfo;
+                            EmptyAGVBackStep.Msg = msg;
+                            Common.DoorMission(agv, SettingString.DoorAirOut);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+                        else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
                         {
                         {
                             EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
                             EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
-                            runInfo= "从产线" + agvPlace + "回待机位，先到4D门";
+                            runInfo = "从产线" + agvPlace + "回待机位，先到4D门";
                             msg += runInfo;
                             msg += runInfo;
                             EmptyAGVBackStep.Msg = msg;
                             EmptyAGVBackStep.Msg = msg;
                             Common.DoorMission(agv, SettingString.DoorCToD);
                             Common.DoorMission(agv, SettingString.DoorCToD);
@@ -83,22 +124,30 @@ namespace AGVControl
                         else
                         else
                         {
                         {
                             EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
                             EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
-                            runInfo= "从产线" + agvPlace + "回待机位";
-                            msg += runInfo; 
+                            runInfo = "从产线" + agvPlace + "回待机位";
+                            msg += runInfo;
                             EmptyAGVBackStep.Msg = msg;
                             EmptyAGVBackStep.Msg = msg;
                             Common.MoveToNode(agv, SettingString.Standby);
                             Common.MoveToNode(agv, SettingString.Standby);
                             UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                             UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                         }
                         }
                     }
                     }
-                    //EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.END);
 
 
                 }
                 }
                 else
                 else
                 {
                 {
-                    if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
+                    if (Common.CheckIsInAirDoor(agvPlace))
+                    {
+                        EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR);
+                        runInfo = "从产线" + agvPlace + "回待机位，先过4C风淋门";
+                        msg += runInfo;
+                        EmptyAGVBackStep.Msg = msg;
+                        Common.DoorMission(agv, SettingString.DoorAirOut);
+                        UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                    }
+                    else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
                     {
                     {
                         EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
                         EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
-                        runInfo= "从产线" + agvPlace + "回待机位，先到4D门";
+                        runInfo = "从产线" + agvPlace + "回待机位，先到4D门";
                         msg += runInfo;
                         msg += runInfo;
                         EmptyAGVBackStep.Msg = msg;
                         EmptyAGVBackStep.Msg = msg;
                         Common.DoorMission(agv, SettingString.DoorCToD);
                         Common.DoorMission(agv, SettingString.DoorCToD);
@@ -107,7 +156,7 @@ namespace AGVControl
                     else
                     else
                     {
                     {
                         EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
                         EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
-                        runInfo= "从产线" + agvPlace + "回待机位";
+                        runInfo = "从产线" + agvPlace + "回待机位";
                         msg += runInfo;
                         msg += runInfo;
                         EmptyAGVBackStep.Msg = msg;
                         EmptyAGVBackStep.Msg = msg;
                         Common.MoveToNode(agv, SettingString.Standby);
                         Common.MoveToNode(agv, SettingString.Standby);
@@ -118,19 +167,19 @@ namespace AGVControl
             else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY))
             else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY))
             {
             {
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 CurTaskState = Common.GetTakJobState(CurTaskID);
-                if (Common.CheckTaskFinished(agv, SettingString.Standby,CurTaskState))
+                if (Common.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
                 {
                 {
                     Job job = Common.control.GetJob(agv);
                     Job job = Common.control.GetJob(agv);
                     if (job == null && agv.Battery < Common.chargeStatus.chargeMax)
                     if (job == null && agv.Battery < Common.chargeStatus.chargeMax)
                     {
                     {
-                        runInfo= "到达待机位,电量[" + agv.Battery + "]小于最大电量[" + Common.chargeStatus.chargeMax + "],暂无任务，去充电";
+                        runInfo = "到达待机位,电量[" + agv.Battery + "]小于最大电量[" + Common.chargeStatus.chargeMax + "],暂无任务，去充电";
                         msg += runInfo;
                         msg += runInfo;
                         EmptyAGVBackStep.Msg = msg;
                         EmptyAGVBackStep.Msg = msg;
                         return new ChargeJob("");
                         return new ChargeJob("");
                     }
                     }
                     else
                     else
                     {
                     {
-                        runInfo= "到达待机位,检测到新任务,执行任务";
+                        runInfo = "到达待机位,检测到新任务,执行任务";
                         msg += runInfo;
                         msg += runInfo;
                         EmptyAGVBackStep.Msg = msg;
                         EmptyAGVBackStep.Msg = msg;
                         return job;
                         return job;
@@ -141,31 +190,27 @@ namespace AGVControl
                 {
                 {
                     if (Common.FindFullShelfTask(agv))
                     if (Common.FindFullShelfTask(agv))
                     {
                     {
-                        runInfo= "从产线" + agvPlace + "回待机位过程中，检测到A6出满料，去A6";
+                        runInfo = "从产线" + agvPlace + "回待机位过程中，检测到A6出满料，去A6";
                         msg += runInfo;
                         msg += runInfo;
                         EmptyAGVBackStep.Msg = msg;
                         EmptyAGVBackStep.Msg = msg;
                         return new GoFullShelfStationJob(SettingString.Standby);
                         return new GoFullShelfStationJob(SettingString.Standby);
                     }
                     }
-                    //else
-                    //{
-                    //    msg = "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
-                    //    EmptyAGVBackStep.Msg = msg;
-                    //    return new ChargeJob(SettingString.D4_DOOR_Name);
-                    //}
                 }
                 }
 
 
             }
             }
-            //else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR))
-            //{
-            //    CurTaskState = Common.GetTakJobState(CurTaskID);
-            //    if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
-            //    {
-            //        EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
-            //        runInfo = "从产线" + agvPlace + "回待机位";
-            //        msg += runInfo;
-            //        EmptyAGVBackStep.Msg = msg;
-            //    }
-            //}
+            else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR))
+            {
+                CurTaskState = Common.GetTakJobState(CurTaskID);
+                if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
+                {
+                    EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
+                    runInfo = "从产线" + agvPlace + "回待机位，先到4D门";
+                    msg += runInfo;
+                    EmptyAGVBackStep.Msg = msg;
+                    Common.DoorMission(agv, SettingString.DoorCToD);
+                    UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                }
+            }
             else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR))
             else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR))
             {
             {
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 CurTaskState = Common.GetTakJobState(CurTaskID);
@@ -180,7 +225,7 @@ namespace AGVControl
                     }
                     }
                     else
                     else
                     {
                     {
-                        runInfo = "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
+                        runInfo =  "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
                         msg += runInfo;
                         msg += runInfo;
                         EmptyAGVBackStep.Msg = msg;
                         EmptyAGVBackStep.Msg = msg;
                         return new ChargeJob(SettingString.DoorCToD);
                         return new ChargeJob(SettingString.DoorCToD);
@@ -189,8 +234,6 @@ namespace AGVControl
             }
             }
             return this;
             return this;
         }
         }
-
-
         /// <summary>
         /// <summary>
         /// AGV回收空料架流程
         /// AGV回收空料架流程
         /// </summary>
         /// </summary>
@@ -200,7 +243,10 @@ namespace AGVControl
             /// 查询任务
             /// 查询任务
             /// </summary>
             /// </summary>
             NONE,
             NONE,
-
+            /// <summary>
+            /// 等待到达4C风淋门
+            /// </summary>
+            WAIT_AGV_REACH_AIR_DOOR,
             /// <summary>
             /// <summary>
             /// 等待到达4D门
             /// 等待到达4D门
             /// </summary>
             /// </summary>

AGVControl-ProductionLine/bean/job/EmptyShelfBackJob.cs

@@ -62,16 +62,23 @@ namespace AGVControl
         {
         {
             string msg = agv.Name+ " ";
             string msg = agv.Name+ " ";
             bool rtn = false;
             bool rtn = false;
-            agv.Msg = runInfo;
-            //if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
-            //    CurTaskState = st;
-
+            agv.Msg = "空料架返回："+runInfo;
+            //runInfo = "空料架返回：";
             if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
             if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
             {
             {
-                if (EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
+                if (Common.CheckIsInAirDoor(EmptyShelfPlace))//4C车间
+                {
+                    EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR);
+                    runInfo = "从产线[" + EmptyShelfPlace + "]前往4C风淋门";
+                    msg += runInfo;
+                    EmptyBackStep.Msg = msg;
+                    Common.DoorMission(agv, SettingString.DoorAirOut);
+                    UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                }
+                else if (EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
                 {
                 {
                     EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR);
                     EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR);
-                    runInfo= "空料架从产线" + EmptyShelfPlace + "前往4D门";
+                    runInfo = "从产线[" + EmptyShelfPlace + "]前往4D门";
                     msg += runInfo;
                     msg += runInfo;
                     EmptyBackStep.Msg = msg;
                     EmptyBackStep.Msg = msg;
                     Common.DoorMission(agv, SettingString.DoorCToD);
                     Common.DoorMission(agv, SettingString.DoorCToD);
@@ -83,7 +90,7 @@ namespace AGVControl
                     {
                     {
                         EmptyShelfTargetPlace = nodeName;
                         EmptyShelfTargetPlace = nodeName;
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
-                        runInfo= "空料架从产线 [" + EmptyShelfPlace + "] 送往双层线" + EmptyShelfTargetPlace;
+                        runInfo = "从产线 [" + EmptyShelfPlace + "]送往双层线" + EmptyShelfTargetPlace;
                         msg += runInfo;
                         msg += runInfo;
                         EmptyBackStep.Msg = msg;
                         EmptyBackStep.Msg = msg;
                         if (!EmptyShelfTargetPlace.Equals(""))
                         if (!EmptyShelfTargetPlace.Equals(""))
@@ -91,12 +98,12 @@ namespace AGVControl
                             Common.MoveToNode(agv, EmptyShelfTargetPlace);
                             Common.MoveToNode(agv, EmptyShelfTargetPlace);
                             UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                             UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                         }
                         }
-                          
+
                     }
                     }
                     else
                     else
                     {
                     {
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
-                        runInfo= "双层线暂不需要空料架，从产线[" + EmptyShelfPlace + "]到待机位";
+                        runInfo = "双层线暂不需要空料架，从产线[" + EmptyShelfPlace + "]到待机位";
                         msg += runInfo;
                         msg += runInfo;
                         EmptyBackStep.Msg = msg;
                         EmptyBackStep.Msg = msg;
                         Common.MoveToNode(agv, SettingString.Standby);
                         Common.MoveToNode(agv, SettingString.Standby);
@@ -104,6 +111,19 @@ namespace AGVControl
                     }
                     }
                 }
                 }
             }
             }
+            else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR))
+            {
+                CurTaskState = Common.GetTakJobState(CurTaskID);
+                if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
+                {
+                    EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR);
+                    runInfo = "出风淋门，前往4D门";
+                    msg += runInfo;
+                    EmptyBackStep.Msg = msg;
+                    Common.DoorMission(agv, SettingString.DoorCToD);
+                    UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                }
+            }
             else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR))
             else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR))
             {
             {
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 CurTaskState = Common.GetTakJobState(CurTaskID);
@@ -113,7 +133,7 @@ namespace AGVControl
                     {
                     {
                         EmptyShelfTargetPlace = nodeName;
                         EmptyShelfTargetPlace = nodeName;
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
-                        runInfo= "空料架从产线 [" + EmptyShelfPlace + "] 送往双层线" + EmptyShelfTargetPlace;
+                        runInfo = "进4D门，送往双层线" + EmptyShelfTargetPlace;
                         msg += runInfo;
                         msg += runInfo;
                         EmptyBackStep.Msg = msg;
                         EmptyBackStep.Msg = msg;
                         Common.MoveToNode(agv, EmptyShelfTargetPlace);
                         Common.MoveToNode(agv, EmptyShelfTargetPlace);
@@ -122,7 +142,7 @@ namespace AGVControl
                     else
                     else
                     {
                     {
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
-                        runInfo= "双层线暂不需要空料架，从产线[" + EmptyShelfPlace + "]到待机位";
+                        runInfo = "进4D门，双层线暂不需要空料架，到待机位";
                         msg += runInfo;
                         msg += runInfo;
                         EmptyBackStep.Msg = msg;
                         EmptyBackStep.Msg = msg;
                         Common.MoveToNode(agv, SettingString.Standby);
                         Common.MoveToNode(agv, SettingString.Standby);
@@ -137,7 +157,7 @@ namespace AGVControl
                 {
                 {
                     EmptyShelfTargetPlace = nodeName;
                     EmptyShelfTargetPlace = nodeName;
                     EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
                     EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
-                    runInfo= "待机位检测到双层线需要料架,送往双层线 " + EmptyShelfTargetPlace;
+                    runInfo = "待机位检测到双层线需要料架,送往双层线 " + EmptyShelfTargetPlace;
                     msg += runInfo;
                     msg += runInfo;
                     EmptyBackStep.Msg = msg;
                     EmptyBackStep.Msg = msg;
                     Common.MoveToNode(agv, EmptyShelfTargetPlace);
                     Common.MoveToNode(agv, EmptyShelfTargetPlace);
@@ -149,11 +169,8 @@ namespace AGVControl
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 if (Common.CheckTaskFinished(agv, EmptyShelfTargetPlace, CurTaskState) && EmptyShelfTargetPlace.StartsWith("A"))
                 if (Common.CheckTaskFinished(agv, EmptyShelfTargetPlace, CurTaskState) && EmptyShelfTargetPlace.StartsWith("A"))
                 {
                 {
-                    //msg = "AGV到达 " + EmptyShelfTargetPlace;
-                    //EmptyBackStep.Msg = msg;
-                    //return new EnterLeaveShelfJob(EmptyShelfTargetPlace,eEnterLeaveType.Leave,shelfType);
                     EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE);
                     EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE);
-                    runInfo= "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
+                    runInfo = "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
                     msg += runInfo;
                     msg += runInfo;
                     EmptyBackStep.Msg = msg;
                     EmptyBackStep.Msg = msg;
                     Common.server.ReadyEnter(EmptyShelfTargetPlace);
                     Common.server.ReadyEnter(EmptyShelfTargetPlace);
@@ -165,7 +182,7 @@ namespace AGVControl
                 ClientNode node = Common.nodeInfo[id];
                 ClientNode node = Common.nodeInfo[id];
                 if (node.StateEquals(eNodeStatus.MayEnter))
                 if (node.StateEquals(eNodeStatus.MayEnter))
                 {
                 {
-                    if(!agv.CurTaskName.Equals("Leave"))
+                    if (!agv.CurTaskName.Equals("Leave"))
                     {
                     {
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE);
                         EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE);
                         runInfo = "收到双层线入料架请求[ReadyEnter]的响应 " + EmptyShelfTargetPlace + "入料架，小车链条运行";
                         runInfo = "收到双层线入料架请求[ReadyEnter]的响应 " + EmptyShelfTargetPlace + "入料架，小车链条运行";
@@ -179,57 +196,34 @@ namespace AGVControl
                 else if (EmptyBackStep.IsTimeOut(15000, out double timeOutValue))
                 else if (EmptyBackStep.IsTimeOut(15000, out double timeOutValue))
                 {
                 {
                     tryTimes++;
                     tryTimes++;
-                    if (tryTimes < 5)
+                    if (tryTimes < 3)
                         return this;
                         return this;
-                   // if(EmptyShelfTargetPlace.Equals(SettingString.A6))
-                   // {
-                        tryTimes = 0;
-                        EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
-                        runInfo = "双层线"+ EmptyShelfTargetPlace + "暂不需要空料架，从[" + EmptyShelfTargetPlace + "]到待机位";
-                        msg += runInfo;
-                        EmptyBackStep.Msg = msg;
-                        Common.MoveToNode(agv, SettingString.Standby);
-                        UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
-                   // }
-                    //else if(EmptyShelfTargetPlace.Equals(SettingString.A5))
-                    //{
-                    //    tryTimes = 0;
-                    //    EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
-                    //    runInfo = "双层线A5暂不需要空料架，从[" + EmptyShelfTargetPlace + "]到待机位";
-                    //    msg += runInfo;
-                    //    EmptyBackStep.Msg = msg;
-                    //    Common.MoveToNode(agv, SettingString.Standby);
-                    //    UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
-                    //}
-                    //else
-                    //{
-                    //    EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
-                    //}
-                    // EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
-                    //runInfo= "AGV到达 " + EmptyShelfTargetPlace + "，15秒后重新向双层线发送入料架请求[ReadyEnter]";
-                    //msg += runInfo;
-                    //EmptyBackStep.Msg = msg;
+                    tryTimes = 0;
+                    EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
+                    runInfo = "双层线" + EmptyShelfTargetPlace + "暂不需要空料架，从[" + EmptyShelfTargetPlace + "]到待机位";
+                    msg += runInfo;
+                    EmptyBackStep.Msg = msg;
+                    Common.MoveToNode(agv, SettingString.Standby);
+                    UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                 }
                 }
             }
             }
             else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE))
             else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE))
             {
             {
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 CurTaskState = Common.GetTakJobState(CurTaskID);
-                if (Common.CheckEnterOrLeaveFinished(agv,"Leave",CurTaskState))
+                if (Common.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
                 {
                 {
-
-                    //EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.END);
                     agv.RFID = "";
                     agv.RFID = "";
                     Job job = Common.control.GetJob(agv);
                     Job job = Common.control.GetJob(agv);
                     if (job != null)
                     if (job != null)
                     {
                     {
-                        runInfo= "在双层线检测到任务，执行任务";
+                        runInfo = "在双层线检测到任务，执行任务";
                         msg += runInfo;
                         msg += runInfo;
                         EmptyBackStep.Msg = msg;
                         EmptyBackStep.Msg = msg;
                         return job;
                         return job;
                     }
                     }
                     else
                     else
                     {
                     {
-                        runInfo= "空料架进入" + EmptyShelfTargetPlace + "完成,暂无任务，回充电位";
+                        runInfo = "空料架进入" + EmptyShelfTargetPlace + "完成,暂无任务，回充电位";
                         msg += runInfo;
                         msg += runInfo;
                         EmptyBackStep.Msg = msg;
                         EmptyBackStep.Msg = msg;
                         agv.RFID = "";
                         agv.RFID = "";
@@ -240,10 +234,7 @@ namespace AGVControl
                 }
                 }
                 else if (EmptyBackStep.IsTimeOut(60000, out double timeOutValue))
                 else if (EmptyBackStep.IsTimeOut(60000, out double timeOutValue))
                 {
                 {
-                    //链条停止
-                    runInfo= "空料架在[" + EmptyShelfTargetPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
-                    //msg += runInfo;
-                    //EmptyBackStep.Msg = msg;
+                    runInfo = "空料架在[" + EmptyShelfTargetPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
                 }
                 }
 
 
             }
             }
@@ -264,6 +255,10 @@ namespace AGVControl
             /// </summary>
             /// </summary>
             NONE,
             NONE,
             /// <summary>
             /// <summary>
+            /// 等待到达4C风淋门
+            /// </summary>
+            WAIT_AGV_REACH_AIR_DOOR,
+            /// <summary>
             /// 等待AGV到达门
             /// 等待AGV到达门
             /// </summary>
             /// </summary>
             WAIT_AGV_REACH_DOOR,
             WAIT_AGV_REACH_DOOR,

AGVControl-ProductionLine/bean/job/EnterLeaveShelfJob.cs

@@ -176,7 +176,7 @@ namespace AGVControl
                     runInfo = "料架在" + LineName + "出去完成 [" + RFID + "]";
                     runInfo = "料架在" + LineName + "出去完成 [" + RFID + "]";
                     msg += runInfo;
                     msg += runInfo;
                     EnterLeaveShelfStep.Msg = msg;
                     EnterLeaveShelfStep.Msg = msg;
-                    Common.DelEmptyShelfTask(LineName);
+                    Common.missionManager.DelMission(LineName,RFID);
                     return new EmptyShelfBackJob(LineName,eShelfType.BigShelf);
                     return new EmptyShelfBackJob(LineName,eShelfType.BigShelf);
                 }
                 }
                 else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
                 else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))

AGVControl-ProductionLine/bean/job/GoEmptyShelfLineJob.cs

@@ -19,12 +19,13 @@ namespace AGVControl
         /// </summary>
         /// </summary>
         /// <param name="agvPlae">小车当前位置，空表示在待机位</param>
         /// <param name="agvPlae">小车当前位置，空表示在待机位</param>
         /// <param name="palce">空料架位置点</param>
         /// <param name="palce">空料架位置点</param>
-        public GoEmptyShelfLineJob(string agvPlae, string palce)
+        public GoEmptyShelfLineJob(string agvPlae, string palce, string rfid)
         {
         {
             EmptyShelfPlace = palce;
             EmptyShelfPlace = palce;
             this.agvPlae = agvPlae;
             this.agvPlae = agvPlae;
+            RFID = rfid;
         }
         }
-
+        public string RFID { get; set; }
         /// <summary>
         /// <summary>
         /// 空料架位置点
         /// 空料架位置点
         /// </summary>
         /// </summary>
@@ -56,54 +57,184 @@ namespace AGVControl
         {
         {
             string msg = agv.Name + " ";
             string msg = agv.Name + " ";
             bool rtn = false;
             bool rtn = false;
-            agv.Msg = runInfo;
+            agv.Msg = "回收空料架任务："+runInfo;
+            //runInfo = "回收空料架任务：";
             int nodeIdx = Common.FindNode(EmptyShelfPlace);
             int nodeIdx = Common.FindNode(EmptyShelfPlace);
-            //if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
-            //    CurTaskState = st;
             if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
             if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
             {
             {
-                if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.D4_Name_Prefix))//4C->4D
+                if (agvPlae.StartsWith(SettingString.C4_Name_Prefix)&& Common.CheckIsInAirDoor(agvPlae) && !Common.CheckIsInAirDoor(EmptyShelfPlace))//4C风淋门内->风淋门外
                 {
                 {
-                    TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
-                    runInfo = "去空料架产线" + EmptyShelfPlace + "，先前往4D门[" + agvPlae + "->" + EmptyShelfPlace + "]";
+                    TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_OUT_DOOR);
+                    runInfo = "去产线" + EmptyShelfPlace + "，先过风淋门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
                     msg += runInfo;
                     msg += runInfo;
                     TakeEmptyStep.Msg = msg;
                     TakeEmptyStep.Msg = msg;
-                    Common.DoorMission(agv, SettingString.DoorCToD);
+                    Common.DoorMission(agv, SettingString.DoorAirOut);
                     UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                     UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                 }
                 }
-                else if ((agvPlae.StartsWith(SettingString.D4_Name_Prefix) || agvPlae.StartsWith("A") || agvPlae.Equals(SettingString.Standby) || agvPlae.Equals(SettingString.AutoCharge))
-                    && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4D->4C
+                else if (!Common.CheckIsInAirDoor(agvPlae) && Common.CheckIsInAirDoor(EmptyShelfPlace))//4C风淋门外->风淋门内
                 {
                 {
-                    TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
-                    runInfo= "去空料架产线" + EmptyShelfPlace + "，先前往4C门[" + agvPlae + "->" + EmptyShelfPlace + "]";
-                    msg += runInfo;
-                    TakeEmptyStep.Msg = msg;
-                    Common.DoorMission(agv, SettingString.DoorDToC);
-                    UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                    if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C->4C
+                    {
+                        if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
+                            runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                            Common.MoveTo4CStandy(agv);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+                        else
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_IN_DOOR);
+                            runInfo = "去产线" + EmptyShelfPlace + "，先过风淋门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                            Common.DoorMission(agv, SettingString.DoorAirIn);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+                    }
+                    else if ((agvPlae.StartsWith(SettingString.D4_Name_Prefix) || agvPlae.StartsWith("A") || agvPlae.Equals(SettingString.Standby) ||
+                            agvPlae.Equals(SettingString.AutoCharge))
+                             && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4D->4C
+                    {
+                        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
+                        runInfo = "去产线" + EmptyShelfPlace + "，先过4C门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
+                        msg += runInfo;
+                        TakeEmptyStep.Msg = msg;
+                        Common.DoorMission(agv, SettingString.DoorDToC);
+                        UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                    }
                 }
                 }
-                else if(agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
+                else//起始与目的地在风淋门同一侧
                 {
                 {
-                   if(Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
+                    if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && Common.CheckIsInAirDoor(agvPlae) && Common.CheckIsInAirDoor(EmptyShelfPlace))//都在风淋门内
                     {
                     {
-                        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
-                        runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位";
+                        if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_OUT_DOOR);
+                            runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先过风淋门，再到临时待机位" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                            Common.DoorMission(agv, SettingString.DoorAirOut);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+                        else
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
+                            runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                        }
+                    }
+                    else if(agvPlae.Equals("")|| (!Common.CheckIsInAirDoor(agvPlae)) && !Common.CheckIsInAirDoor(EmptyShelfPlace))//都在风淋门外
+                    {
+                        if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C->4C
+                        {
+                            if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
+                            {
+                                TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
+                                runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
+                                msg += runInfo;
+                                TakeEmptyStep.Msg = msg;
+                                Common.MoveTo4CStandy(agv);
+                                UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                            }
+                            else
+                            {
+                                TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
+                                runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
+                                msg += runInfo;
+                                TakeEmptyStep.Msg = msg;
+                            }
+                        }
+                        else if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.D4_Name_Prefix))//4C->4D
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
+                            runInfo = "去产线" + EmptyShelfPlace + "，先过4D门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                            Common.DoorMission(agv, SettingString.DoorCToD);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+                        else if ((agvPlae.StartsWith(SettingString.D4_Name_Prefix) || agvPlae.StartsWith("A") || agvPlae.Equals(SettingString.Standby) ||
+                            agvPlae.Equals(SettingString.AutoCharge))
+                            && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4D->4C
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
+                            runInfo = "去产线" + EmptyShelfPlace + "，先过4C门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                            Common.DoorMission(agv, SettingString.DoorDToC);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+
+                        else//4D->4D
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
+                            runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                        }
+                    }
+
+                }
+
+            }
+            else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_OUT_DOOR))
+            {
+                CurTaskState = Common.GetTakJobState(CurTaskID);
+                if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
+                {
+                    //4C风淋门内->风淋门外,到达风淋门外
+                    if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C->4C
+                    {
+                        if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
+                            runInfo = "到风淋门外，目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                            Common.MoveTo4CStandy(agv);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+                        else
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
+                            runInfo = "到风淋门外，开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                        }
+                    }
+                    else if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.D4_Name_Prefix))//4C->4D
+                    {
+                        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
+                        runInfo = "到风淋门外，去产线" + EmptyShelfPlace + "，先过4D门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
                         msg += runInfo;
                         msg += runInfo;
                         TakeEmptyStep.Msg = msg;
                         TakeEmptyStep.Msg = msg;
-                        Common.MoveTo4CStandy(agv);
+                        Common.DoorMission(agv, SettingString.DoorCToD);
                         UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                         UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
-                    } 
-                   else
+                    }
+                    //都在风淋门内，到达风淋门外
+                    else
                     {
                     {
-                        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
-                        runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
+                        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
+                        runInfo = "到风淋门外，目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
                         msg += runInfo;
                         msg += runInfo;
                         TakeEmptyStep.Msg = msg;
                         TakeEmptyStep.Msg = msg;
+                        Common.MoveTo4CStandy(agv);
+                        UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                     }
                     }
                 }
                 }
-                else
+            }
+            else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_IN_DOOR))
+            {
+                CurTaskState = Common.GetTakJobState(CurTaskID);
+                if (Common.CheckTaskFinished(agv, SettingString.DoorAirIn, CurTaskState))
                 {
                 {
+                    //4C风淋门外->风淋门内
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
-                    runInfo= "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
+                    runInfo = "到达风淋门内，开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
                     msg += runInfo;
                     msg += runInfo;
                     TakeEmptyStep.Msg = msg;
                     TakeEmptyStep.Msg = msg;
                 }
                 }
@@ -116,7 +247,7 @@ namespace AGVControl
                     if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
                     if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
                     {
                     {
                         TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
                         TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
-                        runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位";
+                        runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
                         msg += runInfo;
                         msg += runInfo;
                         TakeEmptyStep.Msg = msg;
                         TakeEmptyStep.Msg = msg;
                         Common.MoveTo4CStandy(agv);
                         Common.MoveTo4CStandy(agv);
@@ -124,10 +255,22 @@ namespace AGVControl
                     }
                     }
                     else
                     else
                     {
                     {
-                        TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
-                        runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
-                        msg += runInfo;
-                        TakeEmptyStep.Msg = msg;
+                        if(Common.CheckIsInAirDoor(EmptyShelfPlace))
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_IN_DOOR);
+                            runInfo = "去产线" + EmptyShelfPlace + "，先过风淋门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                            Common.DoorMission(agv, SettingString.DoorAirIn);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+                        else
+                        {
+                            TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
+                            runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
+                            msg += runInfo;
+                            TakeEmptyStep.Msg = msg;
+                        }
                     }
                     }
                 }
                 }
             }
             }
@@ -139,7 +282,7 @@ namespace AGVControl
                     if (!Common.Check4CTarget(agv, EmptyShelfPlace))//未占用
                     if (!Common.Check4CTarget(agv, EmptyShelfPlace))//未占用
                     {
                     {
                         TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
                         TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
-                        runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
+                        runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
                         msg += runInfo;
                         msg += runInfo;
                         TakeEmptyStep.Msg = msg;
                         TakeEmptyStep.Msg = msg;
                         Common.DeleteStandyInfo(agv);
                         Common.DeleteStandyInfo(agv);
@@ -152,7 +295,7 @@ namespace AGVControl
                 if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
                 if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
                 {
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
-                    runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
+                    runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
                     msg += runInfo;
                     msg += runInfo;
                     TakeEmptyStep.Msg = msg;
                     TakeEmptyStep.Msg = msg;
                 }
                 }
@@ -163,7 +306,7 @@ namespace AGVControl
                 if (nodeIdx > -1)
                 if (nodeIdx > -1)
                 {
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK);
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK);
-                    runInfo= "AGV 添加任务：移动到" + EmptyShelfPlace;
+                    runInfo = "AGV 添加任务：移动到" + EmptyShelfPlace + "[RFID=" + RFID + "]";
                     msg += runInfo;
                     msg += runInfo;
                     TakeEmptyStep.Msg = msg;
                     TakeEmptyStep.Msg = msg;
                     Common.MoveToNode(agv, EmptyShelfPlace);
                     Common.MoveToNode(agv, EmptyShelfPlace);
@@ -172,7 +315,7 @@ namespace AGVControl
                 else
                 else
                 {
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
-                    runInfo= EmptyShelfPlace + " 不存在或未开启调用";
+                    runInfo = EmptyShelfPlace + " 不存在或未开启调用";
                     msg += runInfo;
                     msg += runInfo;
                     TakeEmptyStep.Msg = msg;
                     TakeEmptyStep.Msg = msg;
                 }
                 }
@@ -182,7 +325,7 @@ namespace AGVControl
                 if (agv.CurTaskState.Equals(SettingString.Executing))
                 if (agv.CurTaskState.Equals(SettingString.Executing))
                 {
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
-                    runInfo= "AGV开始向目的地[" + EmptyShelfPlace + "]移动";
+                    runInfo = "AGV开始向目的地[" + EmptyShelfPlace + "]移动" + "[RFID=" + RFID + "]";
                     msg += runInfo;
                     msg += runInfo;
                     TakeEmptyStep.Msg = msg;
                     TakeEmptyStep.Msg = msg;
                 }
                 }
@@ -202,7 +345,7 @@ namespace AGVControl
                     //else
                     //else
                     {
                     {
                         TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
                         TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
-                        runInfo= "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]";
+                        runInfo = "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]" + "[RFID=" + RFID + "]";
                         msg += runInfo;
                         msg += runInfo;
                         TakeEmptyStep.Msg = msg;
                         TakeEmptyStep.Msg = msg;
                         if (nodeIdx == -1)
                         if (nodeIdx == -1)
@@ -221,9 +364,9 @@ namespace AGVControl
             }
             }
             else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE))
             else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE))
             {
             {
-                if(nodeIdx==-1)
+                if (nodeIdx == -1)
                 {
                 {
-                    runInfo= EmptyShelfPlace + " 未开启调用";
+                    runInfo = EmptyShelfPlace + " 未开启调用";
                     msg += runInfo;
                     msg += runInfo;
                     TakeEmptyStep.Msg = msg;
                     TakeEmptyStep.Msg = msg;
                     return this;
                     return this;
@@ -235,7 +378,7 @@ namespace AGVControl
                     if (!agv.CurTaskName.Equals("Enter"))
                     if (!agv.CurTaskName.Equals("Enter"))
                     {
                     {
                         TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF);
                         TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF);
-                        runInfo = "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行";
+                        runInfo = "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行" + "[RFID=" + RFID + "]";
                         msg += runInfo;
                         msg += runInfo;
                         TakeEmptyStep.Msg = msg;
                         TakeEmptyStep.Msg = msg;
                         //agv.RFID = node.RFID;
                         //agv.RFID = node.RFID;
@@ -247,9 +390,6 @@ namespace AGVControl
                 else if (TakeEmptyStep.IsTimeOut(15000, out double timeOutValue))
                 else if (TakeEmptyStep.IsTimeOut(15000, out double timeOutValue))
                 {
                 {
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
                     TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
-                    //runInfo = "AGV到达 " + EmptyShelfPlace + "，15秒后重新向产线发送出料架请求[ReadyLeave]";
-                    //msg += runInfo;
-                    //TakeEmptyStep.Msg = msg;
                 }
                 }
             }
             }
             else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF))
             else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF))
@@ -258,19 +398,19 @@ namespace AGVControl
                 if (Common.CheckEnterOrLeaveFinished(agv, "Enter", CurTaskState))
                 if (Common.CheckEnterOrLeaveFinished(agv, "Enter", CurTaskState))
                 {
                 {
                     ClientNode node = Common.nodeInfo[nodeIdx];
                     ClientNode node = Common.nodeInfo[nodeIdx];
-                    node.AgvName = "";
                     //回收空料架数量减少1
                     //回收空料架数量减少1
-                    Common.DelEmptyShelfTask(EmptyShelfPlace);
-                    runInfo= "空料架在[" + EmptyShelfPlace + "]进入小车完成";
+                    Common.missionManager.DelMission(EmptyShelfPlace, RFID);
+                    if (!agvPlae.Equals(SettingString.D4FeederOut) && !agvPlae.Equals(SettingString.C4FeederOut))
+                        AGVManager.ClearRFID(EmptyShelfPlace, RFID);
+                    runInfo = "空料架在[" + EmptyShelfPlace + "]进入小车完成" + "[RFID=" + RFID + "]";
                     msg += runInfo;
                     msg += runInfo;
                     TakeEmptyStep.Msg = msg;
                     TakeEmptyStep.Msg = msg;
                     //4DfeederOut默认大料架
                     //4DfeederOut默认大料架
                     if (agv.Place.Equals(SettingString.D4FeederOut))
                     if (agv.Place.Equals(SettingString.D4FeederOut))
                         return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
                         return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
-                    if (agv.Place.Equals(SettingString.C4FeederOut))
-                        return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
                     else if (agv.RFID.StartsWith("D"))
                     else if (agv.RFID.StartsWith("D"))
                         return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
                         return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
+                    }
                     else if (agv.RFID.StartsWith("C"))
                     else if (agv.RFID.StartsWith("C"))
                     {
                     {
                         return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
                         return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
@@ -281,8 +421,8 @@ namespace AGVControl
                 else if (TakeEmptyStep.IsTimeOut(60000, out double timeOutValue))
                 else if (TakeEmptyStep.IsTimeOut(60000, out double timeOutValue))
                 {
                 {
                     //链条停止
                     //链条停止
-                    runInfo = "空料架在[" + EmptyShelfPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
-                   // msg += runInfo;
+                    runInfo = "空料架在[" + EmptyShelfPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况" + "[RFID=" + RFID + "]";
+                    // msg += runInfo;
                     //TakeEmptyStep.Msg = msg;
                     //TakeEmptyStep.Msg = msg;
                 }
                 }
 
 
@@ -306,6 +446,14 @@ namespace AGVControl
             /// </summary>
             /// </summary>
             NONE,
             NONE,
             /// <summary>
             /// <summary>
+            /// 等待到达4C风淋门内
+            /// </summary>
+            WAIT_AGV_REACH_AIR_IN_DOOR,
+            /// <summary>
+            /// 等待到达4C风淋门外
+            /// </summary>
+            WAIT_AGV_REACH_AIR_OUT_DOOR,
+            /// <summary>
             /// 等待到达4C门
             /// 等待到达4C门
             /// </summary>
             /// </summary>
             WAIT_AGV_REACH_4C_DOOR,
             WAIT_AGV_REACH_4C_DOOR,

AGVControl-ProductionLine/bean/job/GoFullShelfStationJob.cs

@@ -56,7 +56,8 @@ namespace AGVControl
         {
         {
             string msg = agv.Name + " ";
             string msg = agv.Name + " ";
             bool rtn = false;
             bool rtn = false;
-            agv.Msg = runInfo;
+            agv.Msg = "去云仓接满料任务："+runInfo;
+            //runInfo = "去云仓接满料任务：";
             //if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
             //if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
             //    CurTaskState = st;
             //    CurTaskState = st;
             if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.NONE))
             if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.NONE))
@@ -89,7 +90,7 @@ namespace AGVControl
                         }
                         }
                         else if (input != null && !input[3])
                         else if (input != null && !input[3])
                         {
                         {
-                            if (agvPlace.Equals(SettingString.Standby) || agvPlace.StartsWith(SettingString.AutoCharge))//待机位/充电位接到任务
+                            if (agvPlace.Equals("") || agvPlace.Equals(SettingString.Standby) || agvPlace.StartsWith(SettingString.AutoCharge))//待机位/充电位接到任务
                             {
                             {
                                 GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
                                 GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
                                 runInfo = "无负载，准备运动到入料口" + FullShelfStationPlace;
                                 runInfo = "无负载，准备运动到入料口" + FullShelfStationPlace;
@@ -98,6 +99,15 @@ namespace AGVControl
                                 Common.MoveToNode(agv, FullShelfStationPlace);
                                 Common.MoveToNode(agv, FullShelfStationPlace);
                                 UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                                 UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                             }
                             }
+                            else if (Common.CheckIsInAirDoor(agvPlace))
+                            {
+                                GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR);
+                                runInfo = "在4C风淋门内，先过风淋门";
+                                msg += runInfo;
+                                GoFullShelfStationStep.Msg = msg;
+                                Common.DoorMission(agv, SettingString.DoorAirOut);
+                                UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                            }
                             else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
                             else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
                             {
                             {
                                 GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
                                 GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
@@ -132,6 +142,15 @@ namespace AGVControl
                                 Common.MoveToNode(agv, FullShelfStationPlace);
                                 Common.MoveToNode(agv, FullShelfStationPlace);
                                 UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                                 UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
                             }
                             }
+                            else if(Common.CheckIsInAirDoor(agvPlace))
+                            {
+                                GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR);
+                                runInfo = "在4C风淋门内，先过风淋门";
+                                msg += runInfo;
+                                GoFullShelfStationStep.Msg = msg;
+                                Common.DoorMission(agv, SettingString.DoorAirOut);
+                                UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                            }
                             else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
                             else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
                             {
                             {
                                 GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
                                 GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
@@ -147,6 +166,20 @@ namespace AGVControl
                 }
                 }
 
 
             }
             }
+            else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR))
+            {
+                CurTaskState = Common.GetTakJobState(CurTaskID);
+                if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
+                {
+                    GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
+                    runInfo = "过风淋门，向4D门运行，再到双层线入料口" + FullShelfStationPlace;
+                    msg += runInfo;
+                    GoFullShelfStationStep.Msg = msg;
+                    Common.MoveToNode(agv, SettingString.DoorCToD);
+                    UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                }
+
+            }
             else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR))
             else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR))
             {
             {
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 CurTaskState = Common.GetTakJobState(CurTaskID);
@@ -268,17 +301,12 @@ namespace AGVControl
                     runInfo = FullShelfStationPlace + "满料架进入小车完成";
                     runInfo = FullShelfStationPlace + "满料架进入小车完成";
                     msg += runInfo;
                     msg += runInfo;
                     GoFullShelfStationStep.Msg = msg;
                     GoFullShelfStationStep.Msg = msg;
-                    //if (FullShelfDestInfo.location.StartsWith("G"))
-                    //{
-                    //    return new SendFullShelfToLineJob(FullShelfDestInfo, true);
-                    //}
-                    //else
                     return new SendFullShelfToLineJob(FullShelfDestInfo);
                     return new SendFullShelfToLineJob(FullShelfDestInfo);
                 }
                 }
                 else if (GoFullShelfStationStep.IsTimeOut(60000, out double timeOutValue))
                 else if (GoFullShelfStationStep.IsTimeOut(60000, out double timeOutValue))
                 {
                 {
                     //链条停止
                     //链条停止
-                    runInfo= "满料架在[" + FullShelfStationPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
+                    runInfo = "满料架在[" + FullShelfStationPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
                     //msg +=runInfo;
                     //msg +=runInfo;
                     //GoFullShelfStationStep.Msg = msg;
                     //GoFullShelfStationStep.Msg = msg;
                 }
                 }
@@ -303,6 +331,10 @@ namespace AGVControl
         /// </summary>
         /// </summary>
         WAIT_CHECK_RESULT,
         WAIT_CHECK_RESULT,
         /// <summary>
         /// <summary>
+        /// 等待到达4C风淋门
+        /// </summary>
+        WAIT_AGV_REACH_AIR_DOOR,
+        /// <summary>
         /// 等待AGV到达门
         /// 等待AGV到达门
         /// </summary>
         /// </summary>
         WAIT_AGV_REACH_DOOR,
         WAIT_AGV_REACH_DOOR,

AGVControl-ProductionLine/bean/job/SendFullShelfToLineJob.cs

@@ -60,16 +60,17 @@ namespace AGVControl
             string msg = agv.Name + " ";
             string msg = agv.Name + " ";
             bool rtn = false;
             bool rtn = false;
             agv.RFID = RFID;
             agv.RFID = RFID;
-            agv.Msg = runInfo;
+            agv.Msg = "送满料任务："+runInfo;
+            //runInfo = "送满料任务：";
             //if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
             //if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
             //    CurTaskState = st;
             //    CurTaskState = st;
             if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.NONE))
             if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.NONE))
             {
             {
-
+                AGVManager.AgvRemoveRfid(RFID);
                 if (FullShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
                 if (FullShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
                 {
                 {
                     SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR);
                     SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR);
-                    runInfo = "满料架前往4C门，从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
+                    runInfo = "前往4C门，从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
                     msg += runInfo;
                     msg += runInfo;
                     SendFullShelfStep.Msg = msg;
                     SendFullShelfStep.Msg = msg;
                     Common.DoorMission(agv, SettingString.DoorDToC);
                     Common.DoorMission(agv, SettingString.DoorDToC);
@@ -78,7 +79,7 @@ namespace AGVControl
                 else
                 else
                 {
                 {
                     SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
                     SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
-                    runInfo = "满料架从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
+                    runInfo = "从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
                     msg += runInfo;
                     msg += runInfo;
                     SendFullShelfStep.Msg = msg;
                     SendFullShelfStep.Msg = msg;
                     Common.MoveToNode(agv, FullShelfPlace);
                     Common.MoveToNode(agv, FullShelfPlace);
@@ -86,7 +87,6 @@ namespace AGVControl
                 }
                 }
 
 
             }
             }
-
             else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR))
             else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR))
             {
             {
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 CurTaskState = Common.GetTakJobState(CurTaskID);
@@ -103,14 +103,39 @@ namespace AGVControl
                     }
                     }
                     else
                     else
                     {
                     {
+                        if(Common.CheckIsInAirDoor(FullShelfPlace))
+                        {
+                            SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_AIR_DOOR);
+                            runInfo = "到达4C门，过风淋门[" + FullShelfPlace + "][RFID=" + RFID + "]";
+                            msg += runInfo;
+                            SendFullShelfStep.Msg = msg;
+                            Common.DoorMission(agv, SettingString.DoorAirIn);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+                        else
+                        {
+                            SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
+                            runInfo = "从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
+                            msg += runInfo;
+                            SendFullShelfStep.Msg = msg;
+                            Common.MoveToNode(agv, FullShelfPlace);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+                    }
+
+                }
+            }
+            else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_AIR_DOOR))
+            {
+                CurTaskState = Common.GetTakJobState(CurTaskID);
+                if (Common.CheckTaskFinished(agv, SettingString.DoorAirIn, CurTaskState))
+                {
                         SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
                         SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
-                        runInfo = "满料架从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
+                        runInfo = "送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
                         msg += runInfo;
                         msg += runInfo;
                         SendFullShelfStep.Msg = msg;
                         SendFullShelfStep.Msg = msg;
                         Common.MoveToNode(agv, FullShelfPlace);
                         Common.MoveToNode(agv, FullShelfPlace);
-                        UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
-                    }
-
+                        UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);                  
                 }
                 }
             }
             }
             else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_REACH_TEMP_PLACE))
             else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_REACH_TEMP_PLACE))
@@ -120,13 +145,25 @@ namespace AGVControl
                 {
                 {
                     if (!Common.Check4CTarget(agv, FullShelfPlace))//未占用
                     if (!Common.Check4CTarget(agv, FullShelfPlace))//未占用
                     {
                     {
-                        SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
-                        runInfo = "满料架从临时待机位送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
-                        msg += runInfo;
-                        SendFullShelfStep.Msg = msg;
-                        Common.DeleteStandyInfo(agv);
-                        Common.MoveToNode(agv, FullShelfPlace);
-                        UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        if (Common.CheckIsInAirDoor(FullShelfPlace))
+                        {
+                            SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_AIR_DOOR);
+                            runInfo = "到临时待机位，去产线先过风淋门[" + FullShelfPlace + "][RFID=" + RFID + "]";
+                            msg += runInfo;
+                            SendFullShelfStep.Msg = msg;
+                            Common.DoorMission(agv, SettingString.DoorAirIn);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
+                        else
+                        {
+                            SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
+                            runInfo = "从临时待机位送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
+                            msg += runInfo;
+                            SendFullShelfStep.Msg = msg;
+                            Common.DeleteStandyInfo(agv);
+                            Common.MoveToNode(agv, FullShelfPlace);
+                            UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
+                        }
                     }
                     }
                 }
                 }
             }
             }
@@ -226,7 +263,7 @@ namespace AGVControl
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 if (Common.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
                 if (Common.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
                 {
                 {
-                    runInfo = "满料架进入" + FullShelfPlace + "完成 [RFID=" + RFID + "] [" + agv.BoxDestInfo + "]";
+                    runInfo = "满料进入" + FullShelfPlace + "完成 [RFID=" + RFID + "] [" + agv.BoxDestInfo + "]";
                     msg += runInfo;
                     msg += runInfo;
                     SendFullShelfStep.Msg = msg;
                     SendFullShelfStep.Msg = msg;
                     agv.RFID = "";
                     agv.RFID = "";
@@ -237,7 +274,7 @@ namespace AGVControl
                 else if (SendFullShelfStep.IsTimeOut(60000, out double timeOutValue))
                 else if (SendFullShelfStep.IsTimeOut(60000, out double timeOutValue))
                 {
                 {
                     //链条停止
                     //链条停止
-                    runInfo = "满料架在[" + FullShelfPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
+                    runInfo = "满料在[" + FullShelfPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
                     //msg += runInfo;
                     //msg += runInfo;
                     //SendFullShelfStep.Msg = msg;
                     //SendFullShelfStep.Msg = msg;
                 }
                 }
@@ -270,6 +307,10 @@ namespace AGVControl
         /// </summary>
         /// </summary>
         WAIT_REACH_TEMP_PLACE,
         WAIT_REACH_TEMP_PLACE,
         /// <summary>
         /// <summary>
+        /// 等待到达4C风淋门
+        /// </summary>
+        WAIT_AGV_REACH_AIR_DOOR,
+        /// <summary>
         /// 等待小车到达目的地
         /// 等待小车到达目的地
         /// </summary>
         /// </summary>
         WAIT_AGV_REACH_LINE,
         WAIT_AGV_REACH_LINE,

AGVControl-ProductionLine/bean/node/ClientNode.cs

@@ -32,11 +32,6 @@ namespace AGVControl
         }
         }
 
 
         /// <summary>
         /// <summary>
-        /// 小车名称
-        /// </summary>
-        public string AgvName { set; get; }
-
-        /// <summary>
         /// 线体名（佳世达）
         /// 线体名（佳世达）
         /// </summary>
         /// </summary>
         public string LineName { set; get; }
         public string LineName { set; get; }
@@ -54,24 +49,20 @@ namespace AGVControl
         /// 节点位置坐标
         /// 节点位置坐标
         /// </summary>
         /// </summary>
         public PositionStru position;
         public PositionStru position;
-
         /// <summary>
         /// <summary>
-        /// 空料架数量
+        /// 料架数量信息
         /// </summary>
         /// </summary>
-        public int EmptyShelfCnt
+        public int EmptyShelfCnt 
         {
         {
-            get { return _EmptyShelfCnt; }
-
-            set
+            get
             {
             {
-                EmptyShelfCnt = _EmptyShelfCnt;
-            }
+                if(Common.missionManager !=null && Common.missionManager.GetUnlockInfo(Name) !=null)
+                {
+                    return Common.missionManager.GetUnlockCnt(Name);
+                }
+                return 0;
+            } 
         }
         }
-        /// <summary>
-        /// 空架子的RFID
-        /// </summary>
-        public List<string> EmptyShelfRFIDs;
-        private int _EmptyShelfCnt = 0;
         public string AliceName { get; set; }
         public string AliceName { get; set; }
         /// <summary>
         /// <summary>
         /// 客户端节点
         /// 客户端节点
@@ -79,21 +70,18 @@ namespace AGVControl
         /// <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, string aliceName,string lineName, string pos_name, string pos_guid, bool isUse,int emptyCnt) : base(name, ip, isUse)
+        public ClientNode(string name, string ip, string aliceName, string lineName, string pos_name, string pos_guid, bool isUse, int emptyCnt) : base(name, ip, isUse)
         {
         {
 
 
             AliceName = aliceName;
             AliceName = aliceName;
             RFID = rfid;
             RFID = rfid;
-            AgvName = "";
             Online = false;
             Online = false;
             IsUse = isUse;
             IsUse = isUse;
-            _EmptyShelfCnt = emptyCnt;
             this.Pos_name = pos_name;
             this.Pos_name = pos_name;
             this.Pos_guid = pos_guid;
             this.Pos_guid = pos_guid;
             LineName = lineName;
             LineName = lineName;
-            EmptyShelfRFIDs = new List<string>();
         }
         }
-
+        public string WarnMsg { get; set; } = "";
         /// <summary>
         /// <summary>
         /// 客户端节点
         /// 客户端节点
         /// </summary>
         /// </summary>
@@ -106,41 +94,8 @@ namespace AGVControl
 
 
             RFID = rfid;
             RFID = rfid;
             nodeStatus = status;
             nodeStatus = status;
-            AgvName = "";
         }
         }
-        /// <summary>
-        ///空料架数量增加,如果RFID相同，不增加数量
-        /// </summary>
-        public void IncreEmptyShelfCnt(string rfid="")
-        {
-            if(!rfid.Equals("") && !EmptyShelfRFIDs.Contains(rfid))
-            {
-                System.Threading.Interlocked.Increment(ref _EmptyShelfCnt);
-                EmptyShelfRFIDs.Add(rfid);
-                Common.WriteIni(Name, SettingString.EmptyShelfCnt,_EmptyShelfCnt.ToString());
-            }
-            else if(rfid.Equals(""))
-            {
-                System.Threading.Interlocked.Increment(ref _EmptyShelfCnt);
-                Common.WriteIni(Name, SettingString.EmptyShelfCnt, _EmptyShelfCnt.ToString());
-            }
-        }
-        /// <summary>
-        /// 空料架数量减少1
-        /// </summary>
-        public void DecreEmptyShelfCnt()
-        {
-            if (_EmptyShelfCnt > 0)
-            {
-                System.Threading.Interlocked.Decrement(ref _EmptyShelfCnt);
-                Common.WriteIni(Name, SettingString.EmptyShelfCnt, _EmptyShelfCnt.ToString());
-            }
 
 
-            if(_EmptyShelfCnt.Equals(0) && EmptyShelfRFIDs.Count>0)
-            {
-                EmptyShelfRFIDs.Clear();
-            }
-        }
         /// <summary>
         /// <summary>
         /// 节点状态的文本形式
         /// 节点状态的文本形式
         /// </summary>
         /// </summary>
@@ -163,11 +118,11 @@ namespace AGVControl
             s[3] = nodeStatus.ToString();
             s[3] = nodeStatus.ToString();
             s[4] = ClientLevel.ToString();
             s[4] = ClientLevel.ToString();
             s[5] = RFID;
             s[5] = RFID;
-          //  s[5] = AgvName;
+            //  s[5] = AgvName;
             // }
             // }
             s[6] = Online ? "在线" : "离线";
             s[6] = Online ? "在线" : "离线";
             s[7] = IsUse ? "是" : "否";
             s[7] = IsUse ? "是" : "否";
-           // s[8] = "清除";
+            // s[8] = "清除";
             return s;
             return s;
         }
         }
 
 
@@ -178,7 +133,6 @@ namespace AGVControl
         {
         {
             RFID = "00";
             RFID = "00";
             nodeStatus = eNodeStatus.None;
             nodeStatus = eNodeStatus.None;
-            AgvName = "";
             Online = false;
             Online = false;
         }
         }
 
 

AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4C.cs

@@ -30,19 +30,17 @@ namespace AGVControl
                 return null;
                 return null;
             //执行空料架任务的小车数量
             //执行空料架任务的小车数量
             int emptyJobCnt = 0;
             int emptyJobCnt = 0;
+            string rfid = "";
             foreach (Agv_Info agv in Common.agvInfo)
             foreach (Agv_Info agv in Common.agvInfo)
             {
             {
                 if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
                 if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
                     continue;
                     continue;
-                if (agv.CurJob is GoEmptyShelfLineJob || agv.CurJob is EmptyShelfBackJob)
+                if (agv.CurJob is GoEmptyShelfLineJob || (agv.CurJob is EmptyShelfBackJob))
                 {
                 {
                     emptyJobCnt++;
                     emptyJobCnt++;
                 }
                 }
             }
             }
-            if ((SettingString.AGVCNT - emptyJobCnt).Equals(2))//保留2辆小车出满料架
-            {
-                return null;
-            }
+
             //出工单料的目的地是否有空料架
             //出工单料的目的地是否有空料架
             if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
             if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
             {
             {
@@ -60,7 +58,8 @@ namespace AGVControl
                     }
                     }
                     if (cnt < clientNode.EmptyShelfCnt)
                     if (cnt < clientNode.EmptyShelfCnt)
                     {
                     {
-                        return new GoEmptyShelfLineJob(currentAgv.Place, nodeName);
+                        if (Common.CheckStationState(clientNode, out rfid) && CanEmptyTask(emptyJobCnt))
+                            return new GoEmptyShelfLineJob(currentAgv.Place, nodeName, rfid);
                     }
                     }
                 }
                 }
 
 
@@ -73,7 +72,11 @@ namespace AGVControl
                 {
                 {
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
                     if (i == -1)
                     if (i == -1)
-                        return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
+                    {
+                        ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(emptyNodeName));
+                        if (Common.CheckStationState(clientNode, out rfid) && CanEmptyTask(emptyJobCnt))
+                            return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName, rfid);
+                    }
                 }
                 }
             }
             }
 
 
@@ -83,13 +86,43 @@ namespace AGVControl
 
 
                 if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
                 if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
                 {
                 {
+                    ClientNode node = Common.nodeInfo.Find(s => s.Name.Equals(SettingString.A6)
+                            && (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.Equals("00"));
+                    if (node != null && node.Name.Equals(SettingString.A6))
+                    {
+                        if (AGVManager.FindFullShelfTarget(node.RFID, out AGVManager.BoxDestInfo boxDestInfo))
+                        {
+                            if (boxDestInfo != null)
+                            {
+                                ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(boxDestInfo.location));
+                                if (!Common.CheckStationState(clientNode))
+                                {
+                                    return null;
+                                }
+                            }
+                        }
+                    }
+
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
-                    if (i ==  -1)
-                    return new GoFullShelfStationJob(currentAgv.Place);
+                    if (i == -1)
+                        return new GoFullShelfStationJob(currentAgv.Place);
                 }
                 }
             }
             }
 
 
             return null;
             return null;
         }
         }
+        /// <summary>
+        /// 控制出空架小车数量
+        /// </summary>
+        /// <param name="emptytASKAGV"></param>
+        /// <returns></returns>
+        private bool CanEmptyTask(int emptytASKAGV)
+        {
+            if ((SettingString.AGVCNT / 2 - emptytASKAGV).Equals(2))//保留1辆小车出满料架
+            {
+                return false;
+            }
+            return true;
+        }
     }
     }
 }
 }

AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4D.cs

@@ -33,19 +33,16 @@ namespace AGVControl
                 return null;
                 return null;
             //执行空料架任务的小车数量
             //执行空料架任务的小车数量
             int emptyJobCnt = 0;
             int emptyJobCnt = 0;
+            string rfid = "";
             foreach (Agv_Info agv in Common.agvInfo)
             foreach (Agv_Info agv in Common.agvInfo)
             {
             {
                 if (SettingString.C4_AGV_IPs.Contains(agv.IP))
                 if (SettingString.C4_AGV_IPs.Contains(agv.IP))
                     continue;
                     continue;
-                if (agv.CurJob is GoEmptyShelfLineJob || agv.CurJob is EmptyShelfBackJob)
+                if (agv.CurJob is GoEmptyShelfLineJob || agv.CurJob is EmptyShelfBackJob)//
                 {
                 {
                     emptyJobCnt++;
                     emptyJobCnt++;
                 }
                 }
             }
             }
-            if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(1))//保留1辆小车出满料架
-            {
-                return null;
-            }
             //出工单料的目的地是否有空料架
             //出工单料的目的地是否有空料架
             if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
             if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
             {
             {
@@ -65,7 +62,9 @@ namespace AGVControl
                     }
                     }
                     if (cnt < clientNode.EmptyShelfCnt)
                     if (cnt < clientNode.EmptyShelfCnt)
                     {
                     {
-                        return new GoEmptyShelfLineJob(currentAgv.Place, nodeName);
+
+                        if (Common.CheckStationState(clientNode, out rfid) && CanEmptyTask(emptyJobCnt))
+                            return new GoEmptyShelfLineJob(currentAgv.Place, nodeName, rfid);
                     }
                     }
                 }
                 }
 
 
@@ -77,7 +76,11 @@ namespace AGVControl
                 {
                 {
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
                     if (i == -1)
                     if (i == -1)
-                        return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
+                    {
+                        ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(emptyNodeName));
+                        if (Common.CheckStationState(clientNode, out rfid) && CanEmptyTask(emptyJobCnt))
+                            return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName, rfid);
+                    }
                 }
                 }
             }
             }
 
 
@@ -100,6 +103,11 @@ namespace AGVControl
                         {
                         {
                             if (boxDestInfo != null)
                             if (boxDestInfo != null)
                             {
                             {
+                                ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(boxDestInfo.location));
+                                if (!Common.CheckStationState(clientNode))
+                                {
+                                    return null;
+                                }
                                 i = Common.agvInfo.FindIndex(s => s.CurJob is SendFullShelfToLineJob && !s.IP.Equals(currentAgv.IP)
                                 i = Common.agvInfo.FindIndex(s => s.CurJob is SendFullShelfToLineJob && !s.IP.Equals(currentAgv.IP)
                                 && ((SendFullShelfToLineJob)s.CurJob).FullShelfPlace.Equals(boxDestInfo.location));
                                 && ((SendFullShelfToLineJob)s.CurJob).FullShelfPlace.Equals(boxDestInfo.location));
                                 if (i > -1)
                                 if (i > -1)
@@ -114,5 +122,18 @@ namespace AGVControl
 
 
             return null;
             return null;
         }
         }
+        /// <summary>
+        /// 控制出空架小车数量
+        /// </summary>
+        /// <param name="emptytASKAGV"></param>
+        /// <returns></returns>
+        private bool CanEmptyTask(int emptytASKAGV)
+        {
+            if ((SettingString.AGVCNT / 2 - emptytASKAGV).Equals(1))//保留1辆小车出满料架
+            {
+                return false;
+            }
+            return true;
+        }
     }
     }
 }
 }

AGVControl-ProductionLine/bin/Debug/AGVControl-ProductionLine.exe.config

@@ -18,13 +18,17 @@
       </layout>
       </layout>
     </appender>
     </appender>
     <appender name="LineWebService" type="log4net.Appender.RollingFileAppender">
     <appender name="LineWebService" type="log4net.Appender.RollingFileAppender">
-      <file value="logs/LineWebService.log"/>
+      <file value="logs/UnlockInfo.log"/>
       <param name="Encoding" value="UTF-8"/>
       <param name="Encoding" value="UTF-8"/>
       <appendToFile value="true"/>
       <appendToFile value="true"/>
-      <rollingStyle value="Date"/>
-      <datePattern value="yyyy-MM-dd"/>
+      <param name="MaxSizeRollBackups" value="10" />
+      <!-- 切割最多文件数 -->
+      <param name="MaximumFileSize" value="100MB" />
+      <!-- 每个文件的大小 -->
+      <param name="RollingStyle" value="Size" />
+      <param name="StaticLogFileName" value="true" />
       <layout type="log4net.Layout.PatternLayout">
       <layout type="log4net.Layout.PatternLayout">
-        <conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
+        <conversionPattern value="[%date]%-5p %m%n"/>
       </layout>
       </layout>
     </appender>
     </appender>
     <logger name ="LineWebService">
     <logger name ="LineWebService">
@@ -43,7 +47,8 @@
     <add key="FLEET" value="10.85.199.3" />
     <add key="FLEET" value="10.85.199.3" />
     <add key="AutoCharge" value="True" />
     <add key="AutoCharge" value="True" />
     <add key="ChargeWait" value="1" />
     <add key="ChargeWait" value="1" />
-    <add key="ChargeThreshold" value="20,70" />
-
+    <add key="ChargeThreshold" value="20,90" />
+    <add key="IP_4D_Light" value="10.85.196.40:8088" />
+    <add key="IP_4C_Light" value="10.85.197.40:8088" />
   </appSettings>
   </appSettings>
 </configuration>
 </configuration>
\ No newline at end of file

AGVControl-ProductionLine/bin/Debug/Config/AgvProductionLine.csv

@@ -15,8 +15,8 @@ D12,D12,10.85.199.183,4D-12,DL12,d6e0b92a-b432-11ea-a1a5-00012999830e
 D14,D14,10.85.199.184,4D-14线,DL14,efb04c55-b432-11ea-a1a5-00012999830e
 D14,D14,10.85.199.184,4D-14线,DL14,efb04c55-b432-11ea-a1a5-00012999830e
 D15,D15,10.85.199.185,4D-15线,DL15,fd6b1f95-b432-11ea-a1a5-00012999830e
 D15,D15,10.85.199.185,4D-15线,DL15,fd6b1f95-b432-11ea-a1a5-00012999830e
 D16,D16,10.85.199.96,4D-16线,line_16,ac6c413e-895e-11ea-9374-000129922ca6
 D16,D16,10.85.199.96,4D-16线,line_16,ac6c413e-895e-11ea-9374-000129922ca6
-FeederIn,FeederIn,10.85.199.1,4D-FeedeerIn,FI,1e546c3a-8abe-11ea-ab63-000129922ca6
-FeederOut,FeederOut,10.85.199.1,4D-FeederOut,FO,431649a4-8abe-11ea-ab63-000129922ca6
+FeederIn,D21,10.85.199.1,4D-FeedeerIn,FI,1e546c3a-8abe-11ea-ab63-000129922ca6
+FeederOut,D22,10.85.199.1,4D-FeederOut,FO,431649a4-8abe-11ea-ab63-000129922ca6
 C1,C1,10.85.199.50,4C-1线,G1,d402fbc2-cdac-11ea-a3e4-94c691a7387d
 C1,C1,10.85.199.50,4C-1线,G1,d402fbc2-cdac-11ea-a3e4-94c691a7387d
 C2,C2,10.85.199.51,4C-2线,G2,ce0d60e9-cdac-11ea-a3e4-94c691a7387d
 C2,C2,10.85.199.51,4C-2线,G2,ce0d60e9-cdac-11ea-a3e4-94c691a7387d
 C3,C3,10.85.199.52,4C-3线,G3,c768170a-cdac-11ea-a3e4-94c691a7387d
 C3,C3,10.85.199.52,4C-3线,G3,c768170a-cdac-11ea-a3e4-94c691a7387d
@@ -29,5 +29,5 @@ C9,C9,10.85.199.62,4C-9,G9,a64bdbbb-cdac-11ea-a3e4-94c691a7387d
 C10,C10,10.85.199.59,4C-10线,G10,604b1c3c-ca4e-11ea-810b-00012999830e
 C10,C10,10.85.199.59,4C-10线,G10,604b1c3c-ca4e-11ea-810b-00012999830e
 C14,C14,10.85.199.60,4C-14线,G14,07841fc6-d0d4-11ea-a3e4-94c691a7387d
 C14,C14,10.85.199.60,4C-14线,G14,07841fc6-d0d4-11ea-a3e4-94c691a7387d
 C15,C15,10.85.199.61,4C-15线,G15,0efca2c6-d0d4-11ea-a3e4-94c691a7387d
 C15,C15,10.85.199.61,4C-15线,G15,0efca2c6-d0d4-11ea-a3e4-94c691a7387d
-4CFeederIn,4CFeederIn,10.85.199.1,4C-FeederIn,G21,cb7f117b-ca88-11ea-9b28-0001299981d4
-4CFeederOut,4CFeederOut,10.85.199.1,4C-FeederOut,G22,0fcf606c-d417-11ea-9b6b-0001299981d4
+4CFeederIn,C21,10.85.199.1,4C-FeederIn,G21,cb7f117b-ca88-11ea-9b28-0001299981d4
+4CFeederOut,C22,10.85.199.1,4C-FeederOut,G22,0fcf606c-d417-11ea-9b6b-0001299981d4

AGVControl-ProductionLine/bin/Debug/Config/LinePlace.txt

-2020-11-03 14:08:42,D1
-2020-11-03 14:10:26,D1
-2020-11-03 14:12:43,D1
-2020-11-03 14:20:20,D1
-2020-11-03 14:22:26,D1
-2020-11-03 14:22:31,D1
-2020-11-03 14:22:37,D1
-2020-11-03 14:22:48,D1
-2020-11-03 14:22:59,D1

AGVControl-ProductionLine/bin/Debug/Config/UnlockInfo.json

+{"NodeUnlockMissions":{"D1":{"NodeName":"D1","EmptyCnt":0,"Rfids":{}},"D2":{"NodeName":"D2","EmptyCnt":1,"Rfids":{"D4":"2020/12/06/11:51:42,731"}},"D3":{"NodeName":"D3","EmptyCnt":1,"Rfids":{"D3":"2020/12/05/22:50:48,047"}},"D4":{"NodeName":"D4","EmptyCnt":0,"Rfids":{}},"D5":{"NodeName":"D5","EmptyCnt":0,"Rfids":{}},"D6":{"NodeName":"D6","EmptyCnt":0,"Rfids":{}},"D8":{"NodeName":"D8","EmptyCnt":0,"Rfids":{}},"D9":{"NodeName":"D9","EmptyCnt":0,"Rfids":{}},"D10":{"NodeName":"D10","EmptyCnt":0,"Rfids":{}},"D11":{"NodeName":"D11","EmptyCnt":0,"Rfids":{}},"D12":{"NodeName":"D12","EmptyCnt":0,"Rfids":{}},"D14":{"NodeName":"D14","EmptyCnt":0,"Rfids":{}},"D15":{"NodeName":"D15","EmptyCnt":0,"Rfids":{}},"D16":{"NodeName":"D16","EmptyCnt":0,"Rfids":{}},"D22":{"NodeName":"D22","EmptyCnt":0,"Rfids":{}},"C1":{"NodeName":"C1","EmptyCnt":0,"Rfids":{}},"C2":{"NodeName":"C2","EmptyCnt":0,"Rfids":{}},"C3":{"NodeName":"C3","EmptyCnt":0,"Rfids":{}},"C4":{"NodeName":"C4","EmptyCnt":0,"Rfids":{}},"C5":{"NodeName":"C5","EmptyCnt":0,"Rfids":{}},"C6":{"NodeName":"C6","EmptyCnt":0,"Rfids":{}},"C7":{"NodeName":"C7","EmptyCnt":0,"Rfids":{}},"C8":{"NodeName":"C8","EmptyCnt":0,"Rfids":{}},"C9":{"NodeName":"C9","EmptyCnt":0,"Rfids":{}},"C10":{"NodeName":"C10","EmptyCnt":0,"Rfids":{}},"C14":{"NodeName":"C14","EmptyCnt":0,"Rfids":{}},"C15":{"NodeName":"C15","EmptyCnt":0,"Rfids":{}},"C22":{"NodeName":"C22","EmptyCnt":0,"Rfids":{}}}}

AGVControl-ProductionLine/bin/Debug/Config/tempData.ini

+[D3]
+EmptyShelfCnt=1
 [MiR_R1763]
 [MiR_R1763]
 RFID=
 RFID=
 [MiR_R1764]
 [MiR_R1764]
@@ -10,5 +12,5 @@ RFID=
 RFID=
 RFID=
 [MiR_R1580]
 [MiR_R1580]
 RFID=
 RFID=
-[D1]
-EmptyShelfCnt=9
+[D2]
+EmptyShelfCnt=1

AGVControl-ProductionLine/obj/Debug/AGVControl-ProductionLine.csproj.CoreCompileInputs.cache

-ce147cdc7d5f84ac5eea7abfb5866dce563042b6
+c1dcc8c90bc02014bb2dcb74bc1a4ab9d348762e

AGVControl-ProductionLine/obj/Debug/AGVControl-ProductionLine.csproj.FileListAbsolute.txt

@@ -70,5 +70,5 @@ E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLi
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csproj.CopyComplete
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csproj.CopyComplete
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.exe
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.exe
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.pdb
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.pdb
-E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csprojAssemblyReference.cache
 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csprojAssemblyReference.cache
 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csprojAssemblyReference.cache
+E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csprojAssemblyReference.cache