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Commit 54be25c3 由 张东亮
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1 个父辈 c0e49397
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正在显示 20 个修改的文件 包含 220 行增加 和 78 行删除
AGVControl-ProductionLine/BLL/AGVManager.cs
......@@ -451,7 +451,7 @@ namespace AGVControl
{
Msg1 msgs = JsonHelper.DeserializeJsonToObject<Msg1>(result);
if (msgs == null)
return ",,,D22";
return ",,,";
else
{
Common.log.Debug(string.Format("{0}接驳台状态：{1}",lineName,msgs.Msg));
......@@ -463,9 +463,58 @@ namespace AGVControl
catch (Exception ex)
{
Common.log.Error(ex.Message);
return ",,,D22";
return ",,,";
}
return ",,,D22";
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
......
AGVControl-ProductionLine/BLL/Common.cs
......@@ -617,8 +617,8 @@ namespace AGVControl
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.log.Error(warnMsg);
return false;
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
......@@ -664,8 +664,8 @@ namespace AGVControl
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.log.Error(warnMsg);
return false;
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
......@@ -705,8 +705,8 @@ namespace AGVControl
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.log.Error(warnMsg);
return false;
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
......@@ -727,8 +727,8 @@ namespace AGVControl
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.log.Error(warnMsg);
return false;
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
......@@ -757,8 +757,8 @@ namespace AGVControl
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.log.Error(warnMsg);
return false;
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
......@@ -779,8 +779,8 @@ namespace AGVControl
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.log.Error(warnMsg);
return false;
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
......@@ -796,12 +796,14 @@ namespace AGVControl
//4C车间备料区寻找
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)
{
int idx1 = agvInfo.FindIndex(s => s.CurJob is EnterLeaveShelfJob && ((EnterLeaveShelfJob)s.CurJob).LineName.Equals(SettingString.C4FeederOut));
if (idx1 == -1)
{
rfid = nodeInfo[idx].RFID;
warnMsg = "";
nodeName = nodeInfo[idx].Name;
Common.log.Debug(agv.Name + " 双层线右侧需要料架,准备去4C-" + nodeName);
return true;
......@@ -812,9 +814,11 @@ namespace AGVControl
//4D车间备料区寻找
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)
{
rfid = nodeInfo[idx].RFID;
warnMsg = "";
nodeName = nodeInfo[idx].Name;
Common.log.Debug(agv.Name + " 双层线右侧需要料架,准备去4D-" + nodeName);
return true;
......@@ -891,8 +895,8 @@ namespace AGVControl
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.log.Error(warnMsg);
return false;
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
......
AGVControl-ProductionLine/BLL/Control.cs
......@@ -18,6 +18,7 @@ namespace AGVControl.BLL
//private int areaC_Index;
private System.Timers.Timer AgvCallTimer;
private System.Timers.Timer AgvStateTimer;
private System.Timers.Timer NodeStateTimer;
//public List<string> Marks;
private const int REG_STATUS = 20;
//private List<string> shelfLockedNodeNames;
......@@ -42,6 +43,13 @@ namespace AGVControl.BLL
Enabled = false
};
AgvStateTimer.Elapsed += AgvStateTimer_Elapsed;
NodeStateTimer = new System.Timers.Timer
{
Interval = 5000,
AutoReset = true,
Enabled = false
};
NodeStateTimer.Elapsed += NodeStateTimer_Elapsed;
}
......@@ -49,19 +57,67 @@ namespace AGVControl.BLL
{
AgvCallTimer.Enabled = true;
AgvStateTimer.Enabled = true;
NodeStateTimer.Enabled = true;
AgvCallTimer.Start();
AgvStateTimer.Start();
NodeStateTimer.Start();
}
public void Stop()
{
AgvCallTimer.Enabled = false;
AgvStateTimer.Enabled = false;
NodeStateTimer.Enabled = false;
AgvCallTimer.Stop();
AgvStateTimer.Stop();
NodeStateTimer.Stop();
}
private bool NodeStateInProcess = false;
private void NodeStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (NodeStateInProcess) return;
NodeStateInProcess = true;
try
{
String tmp = "";
for (int j = 0; j < Common.nodeInfo.Count; j++)
{
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);
}
}
}
}
}
}
catch(Exception ex)
{
Common.log.Error("NodeStateTimer " + ex.Message + ex.StackTrace);
}
NodeStateInProcess = false;
}
private bool AgvStateInProcess = false;
private eAGVState preAGVState = eAGVState.None;
private void AgvStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
......@@ -73,20 +129,6 @@ namespace AGVControl.BLL
String tmp = "";
for (int j = 0; j < Common.nodeInfo.Count; j++)
{
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.GetRFIDs(Common.nodeInfo[j].Name).Split(',')[3];
if(!tmp.Equals(Common.nodeInfo[j].RFID))
{
Common.nodeInfo[j].RFID = tmp;
NodeChangedEvent?.Invoke(j);
}
}
}
if (!Common.nodeInfo[j].Online)
{
msglist.Add(new AlarmMsg(Common.nodeInfo[j].AliceName, "lineAgv." + Common.nodeInfo[j].Name + ".OffLine", "离线"));
......@@ -116,7 +158,7 @@ namespace AGVControl.BLL
{
AgvChanged?.Invoke(i);
}
Common.log.Debug("获取AGV状态");
Common.log.Debug("获取AGV状态");
Thread.Sleep(50);
rtn = Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
......
AGVControl-ProductionLine/FrmMain.cs
......@@ -214,9 +214,9 @@ namespace AGVControl
}
dgvUnlockInfo.DataSource = bs; //赋值控件自动更新
dgvUnlockDetail.DataSource = bs2;
dgvUnlockDetail.DataSource = bs2;
}));
this.Invoke(new Action(()=>
this.Invoke(new Action(() =>
{
//grpUnlock.Text = "解绑总数："+count;
}
......@@ -616,9 +616,11 @@ namespace AGVControl
{
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()));
txtBoxLineName.Text = "";
txtBoxRFID.Text = "";
});
}
catch (Exception ex)
......@@ -662,5 +664,23 @@ namespace AGVControl
}
}
private void btnGetStationRfid_Click(object sender, EventArgs e)
{
if (txtBoxLineName.Text.Equals(""))
return;
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); }));
}
private void btnClearStationRFID_Click(object sender, EventArgs e)
{
if (!txtBoxLineName.Text.Equals("") && !txtBoxRFID.Text.Equals(""))
{
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 = "";
}
}
}
}
AGVControl-ProductionLine/FrmMain.resx
......@@ -174,6 +174,9 @@
<metadata name="Column16.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="backgroundWorker1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 17</value>
</metadata>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
......
AGVControl-ProductionLine/Program.cs
......@@ -51,7 +51,7 @@ namespace AGVControl
Common.control = new BLL.Control();
//获取节点位置
//Common.GetNodesPosition();
Common.GetNodesPosition();
Common.control.Start();
Common.server = new AgvServer();
Common.server.Start();
......
AGVControl-ProductionLine/bean/UnlockedShelf.cs
......@@ -56,7 +56,7 @@ namespace AGVControl
System.Threading.Interlocked.Increment(ref tmp);
EmptyCnt = tmp;
Rfids.Add(rfid, DateTime.Now.ToString("yyyy/MM/dd/HH:mm:ss,fff"));
// Common.WriteIni(NodeName, SettingString.EmptyShelfCnt, emptyCnt.ToString());
Common.WriteIni(NodeName, SettingString.EmptyShelfCnt, EmptyCnt.ToString());
//using (System.IO.StreamWriter file = new System.IO.StreamWriter(Common.CONFIG_PATH + "UnlockInfo.txt"))
//{
// foreach (var item in Rfids.Keys)
......@@ -83,8 +83,12 @@ namespace AGVControl
int tmp = EmptyCnt;
System.Threading.Interlocked.Decrement(ref tmp);
EmptyCnt = tmp;
Rfids.Remove(rfid);
//Common.WriteIni(nodeName, SettingString.EmptyShelfCnt, emptyCnt.ToString());
if (EmptyCnt.Equals(0) && Rfids.Count >0)
{
Rfids.Clear();
}
//Rfids.Remove(rfid);
Common.WriteIni(NodeName, SettingString.EmptyShelfCnt, EmptyCnt.ToString());
//using (System.IO.StreamWriter file = new System.IO.StreamWriter(Common.CONFIG_PATH + "UnlockInfo.txt"))
//{
// foreach (var item in Rfids.Keys)
......
AGVControl-ProductionLine/bean/job/GoEmptyShelfLineJob.cs
......@@ -19,7 +19,7 @@ namespace AGVControl
/// </summary>
/// <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>
public GoEmptyShelfLineJob(string agvPlae, string palce,string rfid)
public GoEmptyShelfLineJob(string agvPlae, string palce, string rfid)
{
EmptyShelfPlace = palce;
this.agvPlae = agvPlae;
......@@ -63,10 +63,12 @@ namespace AGVControl
// CurTaskState = st;
if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
{
if (nodeIdx == -1)
return null;
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 = "去空料架产线" + EmptyShelfPlace + "，先前往4D门[" + agvPlae + "->" + EmptyShelfPlace + "]"+"[RFID="+RFID+"]";
runInfo = "去空料架产线" + EmptyShelfPlace + "，先前往4D门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
......@@ -76,15 +78,15 @@ namespace AGVControl
&& EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4D->4C
{
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 + "]" + "[RFID=" + RFID + "]";
runInfo = "去空料架产线" + EmptyShelfPlace + "，先前往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 if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
{
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);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
......@@ -92,8 +94,8 @@ namespace AGVControl
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
......@@ -104,7 +106,7 @@ namespace AGVControl
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo= "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
......@@ -164,7 +166,7 @@ namespace AGVControl
if (nodeIdx > -1)
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK);
runInfo= "AGV 添加任务：移动到" + EmptyShelfPlace + "[RFID=" + RFID + "]";
runInfo = "AGV 添加任务：移动到" + EmptyShelfPlace + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfPlace);
......@@ -173,7 +175,7 @@ namespace AGVControl
else
{
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;
TakeEmptyStep.Msg = msg;
}
......@@ -183,7 +185,7 @@ namespace AGVControl
if (agv.CurTaskState.Equals(SettingString.Executing))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
runInfo= "AGV开始向目的地[" + EmptyShelfPlace + "]移动" + "[RFID=" + RFID + "]";
runInfo = "AGV开始向目的地[" + EmptyShelfPlace + "]移动" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
......@@ -203,7 +205,7 @@ namespace AGVControl
//else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
runInfo= "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]" + "[RFID=" + RFID + "]";
runInfo = "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
if (nodeIdx == -1)
......@@ -222,9 +224,9 @@ namespace AGVControl
}
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;
TakeEmptyStep.Msg = msg;
return this;
......@@ -260,18 +262,23 @@ namespace AGVControl
{
ClientNode node = Common.nodeInfo[nodeIdx];
//回收空料架数量减少1
Common.missionManager.DelMission(EmptyShelfPlace,RFID);
runInfo= "空料架在[" + EmptyShelfPlace + "]进入小车完成" + "[RFID=" + RFID + "]";
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;
TakeEmptyStep.Msg = msg;
//4DfeederOut默认大料架
if (agv.Place.Equals(SettingString.D4FeederOut))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
else if(agv.Place.Equals(SettingString.C4FeederOut))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
else if (agv.RFID.StartsWith("D"))
//if (agv.Place.Equals(SettingString.D4FeederOut))
//{
// return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
//}
//else if(agv.Place.Equals(SettingString.C4FeederOut))
//{
// return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
//}
if (agv.RFID.StartsWith("D"))
{
AGVManager.ClearRFID(EmptyShelfPlace, RFID);
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
}
else if (agv.RFID.StartsWith("C"))
......@@ -285,7 +292,7 @@ namespace AGVControl
{
//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" + "[RFID=" + RFID + "]";
// msg += runInfo;
// msg += runInfo;
//TakeEmptyStep.Msg = msg;
}
......
AGVControl-ProductionLine/bean/node/ClientNode.cs
......@@ -60,7 +60,7 @@ namespace AGVControl
{
return Common.missionManager.GetUnlockCnt(Name);
}
return -1;
return 0;
}
}
public string AliceName { get; set; }
......
AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4C.cs
......@@ -35,15 +35,12 @@ namespace AGVControl
{
if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
continue;
if (agv.CurJob is GoEmptyShelfLineJob || agv.CurJob is EmptyShelfBackJob)
if (agv.CurJob is GoEmptyShelfLineJob)//|| agv.CurJob is EmptyShelfBackJob
{
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
if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName,out rfid))
{
......@@ -61,6 +58,10 @@ namespace AGVControl
}
if (cnt < clientNode.EmptyShelfCnt)
{
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(2))//保留1辆小车出满料架
{
return null;
}
return new GoEmptyShelfLineJob(currentAgv.Place, nodeName,rfid);
}
}
......@@ -74,7 +75,13 @@ namespace AGVControl
{
int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
if (i == -1)
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName,rfid);
{
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(2))//保留1辆小车出满料架
{
return null;
}
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName, rfid);
}
}
}
......
AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4D.cs
......@@ -38,15 +38,11 @@ namespace AGVControl
{
if (SettingString.C4_AGV_IPs.Contains(agv.IP))
continue;
if (agv.CurJob is GoEmptyShelfLineJob || agv.CurJob is EmptyShelfBackJob)
if (agv.CurJob is GoEmptyShelfLineJob)//|| agv.CurJob is EmptyShelfBackJob
{
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
if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName,out rfid))
{
......@@ -66,6 +62,10 @@ namespace AGVControl
}
if (cnt < clientNode.EmptyShelfCnt)
{
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(1))//保留1辆小车出满料架
{
return null;
}
return new GoEmptyShelfLineJob(currentAgv.Place, nodeName,rfid);
}
}
......@@ -78,7 +78,13 @@ namespace AGVControl
{
int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
if (i == -1)
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName,rfid);
{
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(1))//保留1辆小车出满料架
{
return null;
}
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName, rfid);
}
}
}
......
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