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Commit 5f8512a7 由 张东亮
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运行ok版本

1 个父辈 3bb51791
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正在显示 34 个修改的文件 包含 392 行增加 和 260 行删除
AGVControl-ProductionLine/BLL/AGVManager.cs
......@@ -103,6 +103,7 @@ namespace BLL
public static bool FindFullShelfTarget(string rfid, out BoxDestInfo dest)
{
dest = null;
A6_Target = "";
try
{
if (rfid.Equals("") || rfid.Equals("00"))
......
AGVControl-ProductionLine/BLL/AgvServer.cs
......@@ -489,7 +489,7 @@ namespace BLL
int idx = Common.nodeInfo.FindIndex(s => s.Name == node.Name);
if (idx == -1)
{
Common.LogInfo("UpdateNode " + node.Name + " 不存在");
Common.log.Error("UpdateNode " + node.Name + " 不存在");
return;
}
......@@ -591,7 +591,7 @@ namespace BLL
if (!_client[idx].IsConn)
{
Common.LogInfo(ip + " 没有连接");
Common.log.Error(ip + " 没有连接");
return false;
}
......
AGVControl-ProductionLine/BLL/Control.cs
......@@ -87,18 +87,25 @@ namespace BLL
{
if (!CheckOnline(i)) continue;
bool change = false;
Common.mir.Get_Task_State(Common.agvInfo[i].CurTaskID, out string stateStr);
Thread.Sleep(50);
//获取AGV状态
rtn = Common.mir.Get_State(Common.agvInfo[i], out eAGVState stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.clsPosition position);
Thread.Sleep(50);
Common.mir.Get_Task_State(Common.agvInfo[i], out string stateStr);
Thread.Sleep(50);
if (rtn) change = Common.agvInfo[i].SetState(stateID, stateStr, battery, mission_text, position);
else
continue;
//更新状态stateID.Equals(eAGVState.Executing)
if (change)
{
AgvChanged?.Invoke(i);
}
Common.log.Debug("获取AGV状态");
//获取地点任务状态
Thread.Sleep(50);
rtn = Common.mir.Get_Register(Common.agvInfo[i], REG_STATUS, out int regValue);
if (rtn) Common.agvInfo[i].GetPlace(regValue);
//Thread.Sleep(50);
//rtn = Common.mir.Get_Register(Common.agvInfo[i], REG_STATUS, out int regValue);
//if (rtn) Common.agvInfo[i].GetPlace(regValue);
Thread.Sleep(50);
rtn = Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
......@@ -123,35 +130,21 @@ namespace BLL
preAGVState = Common.agvInfo[i].StateID;
if (battery <= 10)
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".battery", "电量 " + battery.ToString() + "%"));
}
//if (battery <= 10)
//{
// isAlarm = true;
// msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".battery", "电量 " + battery.ToString() + "%"));
//}
if (stateText.Equals("Error") || stateText.Equals("EmergencyStop") || stateText.Equals("Pause"))
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Error.EmergencyStop", "agv状态:" + stateText + ";" + mission_text));
}
if (input != null && input.Length == 4)
{
if (!Common.agvInfo[i].IsExistShelf.Equals(input[3]))
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".IsExistShelf", "agv负载:" + "IO信号与负载信号不匹配"));
}
}
//更新状态stateID.Equals(eAGVState.Executing)
if (change)
{
AgvChanged?.Invoke(i);
}
}
catch(Exception ex)
catch (Exception ex)
{
Common.log.Error("AgvStateTimer_"+Common.agvInfo[i].Name + ex.Message+ex.StackTrace);
Common.log.Error("AgvStateTimer_" + Common.agvInfo[i].Name + ex.Message + ex.StackTrace);
}
}
if (isAlarm)
......@@ -175,7 +168,7 @@ namespace BLL
if (node.Name.Equals("A5"))
{
if (!SettingString.C4_AGV_IPs.Contains(agv_Info.IP))
continue;
continue;
job = ((DoubleLineNodeFor4C)node).GetNewJob(agv_Info);
}
else if (node.Name.Equals("A6"))
......@@ -229,7 +222,7 @@ namespace BLL
else
{
//if (agv.Battery < Common.chargeStatus.chargeMax)
agv.CurJob = new ChargeJob(agv.Place);
agv.CurJob = new ChargeJob(agv.Place);
}
}
......
AGVControl-ProductionLine/BLL/MiR_API.cs
......@@ -233,10 +233,11 @@ namespace BLL
{
//var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
//Common.log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
Common.LogInfo(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, mission_id));
var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
info.CurTaskName = key.ToList()[0];
Common.LogInfo(string.Format("{0} Add_Mission_Fleet [{1}][{2}]", info.Name, key.ToList()[0], mission_id));
info.CurTaskID = -1;
info.CurTaskGUID = "";
info.CurTaskName = "";
info.CurTaskState = SettingString.Wait;
//防止上一个任务已执行但返回失败时，删除任务
//if (isRemovePreMission)
......@@ -260,9 +261,6 @@ namespace BLL
{
info.CurTaskID = Convert.ToInt32(id);
info.CurTaskGUID = mission_id;
var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
info.CurTaskName = key.ToList()[0];
Common.LogInfo(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
}
catch
{
......@@ -436,17 +434,17 @@ namespace BLL
}
public bool Get_Task_State(Agv_Info info,out string stateStr)
public bool Get_Task_State(int CurTaskID, out string stateStr)
{
stateStr = "None";
stateStr = SettingString.Wait;
try
{
if (info.CurTaskID == -1)
if (CurTaskID == -1)
return true;
string ip = Common.appConfig.AppSettings.Settings["FLEET"].Value;
//http://10.85.199.3/api/v2.0.0/mission_scheduler
string url = "http://" + ip + "/api/v2.0.0/mission_scheduler/" + info.CurTaskID;
string json = HttpGet(url, info.IP, info.Authorization);
string url = "http://" + ip + "/api/v2.0.0/mission_scheduler/" + CurTaskID;
string json = HttpGet(url, ip, Common.agvInfo[0].Authorization);
Common.log.Debug("URL: " + url + "\n" + "Return: " + json);
if (string.IsNullOrWhiteSpace(json)) return false;
......@@ -458,7 +456,7 @@ namespace BLL
// "state": "Done"
string s = dic["id"].ToString();
if (s.Equals(info.CurTaskID.ToString()))
if (s.Equals(CurTaskID.ToString()))
{
stateStr = dic["state"].ToString();
return true;
......
AGVControl-ProductionLine/FrmMain.resx
......@@ -126,16 +126,16 @@
<metadata name="Column4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Column14.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column21.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column18.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Column3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column20.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<metadata name="Column18.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column23.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
......
AGVControl-ProductionLine/Program.cs
......@@ -50,8 +50,6 @@ namespace AGVControl
Common.mir = new MiR_API();
Common.control = new BLL.Control();
//软件开启时检查小车当前的任务状态，并获取各节点的坐标位置
// Common.CheckAGVMissionState();
//获取节点位置
Common.GetNodesPosition();
......
AGVControl-ProductionLine/bean/Job.cs
......@@ -20,6 +20,69 @@ namespace AGVControl
/// </summary>
public abstract Job Execute(Agv_Info agv);
public int CurTaskID { get; set; } = -1;
/// <summary>
/// 当前的任务名称（与任务GUID对应）
/// </summary>
public string CurTaskName { get; set; } = "";
/// <summary>
/// 当前任务的执行状态
/// </summary>
public string CurTaskState { get; set; } = "Wait";
/// <summary>
/// 更新任务信息
/// </summary>
/// <param name="curTaskName"></param>
/// <param name="curTaskId"></param>
protected void UpdateJobTaskInfo(string curTaskName, int curTaskId)
{
CurTaskID = curTaskId;
CurTaskName = curTaskName;
//CurTaskState = SettingString.Wait;
CurTaskState = Common.GetTakJobState(CurTaskID);
}
/// <summary>
/// 任务重发
/// </summary>
/// <returns></returns>
public bool ResendTask(Agv_Info agv)
{
bool rtn = false;
if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string stateStr))
{
if (stateStr.Equals(SettingString.Aborted))
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[CurTaskName]);
if (rtn)
{
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
return true;
}
}
}
else if (!CurTaskName.Equals("") && !Common.agvMission[CurTaskName].Equals(agv.CurTaskGUID))//Job的当前任务与agv最新任务不一致
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[CurTaskName]);
if (rtn)
{
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
return true;
}
}
else if (CurTaskID.Equals(-1))//任务发送失败，重新发送
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[CurTaskName]);
if (rtn)
{
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
return true;
}
}
return false;
}
}
}
AGVControl-ProductionLine/bean/job/ChargeJob.cs
......@@ -28,7 +28,7 @@ namespace AGVControl
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace { get; set; }
private string agvPlace = "";
private string runInfo = "";
/// <summary>
......@@ -39,7 +39,6 @@ namespace AGVControl
get { return runInfo; }
}
private JobStep<CHARGE_STEP> ChargeStep = new JobStep<CHARGE_STEP>(CHARGE_STEP.NONE);
/// <summary>
......@@ -52,11 +51,14 @@ namespace AGVControl
bool rtn = false;
runInfo = "";
agv.Msg = runInfo;
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
CurTaskState = Common.GetTakJobState(CurTaskID);
if (ChargeStep.IsStep(CHARGE_STEP.NONE))
{
if (agv.Battery > Common.chargeStatus.chargeMax)
{
if (agv.Place.StartsWith(SettingString.Standby_Name_Prefix))//在待机位不操作
if (agv.Place.Equals(SettingString.Standby))//在待机位不操作
{
ChargeStep.ToNextStep(CHARGE_STEP.END);
runInfo = "在待机位，电量充足[" + agv.Battery + "%],等待任务";
......@@ -64,13 +66,14 @@ namespace AGVControl
ChargeStep.Msg = msg;
}
else if (agvPlace.StartsWith("G"))
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "电量充足[" + agv.Battery + "%],从当前位置4C-" + agvPlace + "回到待机位，先到4D门";
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
{
......@@ -81,11 +84,12 @@ namespace AGVControl
//Common.StatusCharge(agv);
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else
{
if (agvPlace.StartsWith("G"))
if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
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";
......@@ -93,6 +97,7 @@ namespace AGVControl
ChargeStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
......@@ -104,14 +109,15 @@ namespace AGVControl
msg += runInfo;
ChargeStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
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";
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";
msg += runInfo;
ChargeStep.Msg = msg;
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
......@@ -120,7 +126,7 @@ namespace AGVControl
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR))
{
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
if (Common.CheckTaskFinished(agv,SettingString.DoorCToD,CurTaskState))
{
if (agv.Battery > Common.chargeStatus.chargeMax)
{
......@@ -129,6 +135,7 @@ namespace AGVControl
msg += runInfo;
ChargeStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
......@@ -140,6 +147,7 @@ namespace AGVControl
ChargeStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
......@@ -147,6 +155,7 @@ namespace AGVControl
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],从当前位置" + agvPlace + "回到充电位";
msg += runInfo;
ChargeStep.Msg = msg;
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
......@@ -154,7 +163,7 @@ namespace AGVControl
}
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION))
{
if (Common.CheckTaskFinished(agv, agv.CurTaskName))
if (Common.CheckTaskFinished(agv,CurTaskName))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
runInfo = "充电任务分配完成，去充电且等待任务";
......@@ -181,6 +190,7 @@ namespace AGVControl
Common.chargeStatus.charge4 = "";
}
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agv.Battery >= Common.chargeStatus.chargeMin)
{
......@@ -195,7 +205,7 @@ namespace AGVControl
{
Common.chargeStatus.charge4 = "";
}
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 = "充电过程检测到任务，电量[" + agv.Battery + "%]大于最小电量[" + Common.chargeStatus.chargeMin + "%],中断充电执行任务";
msg += runInfo;
ChargeStep.Msg = msg;
return job;
......@@ -217,7 +227,7 @@ namespace AGVControl
Job job = Common.control.GetJob(agv);
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 = "充电过程检测到任务，电量[" + agv.Battery + "%]大于最小电量[" + Common.chargeStatus.chargeMin + "%],中断充电执行任务";
msg += runInfo;
ChargeStep.Msg = msg;
if (Common.chargeStatus.charge3.Equals(agv.Name))
......@@ -233,7 +243,7 @@ namespace AGVControl
else if (job == null && agv.Battery < Common.chargeStatus.chargeMax / 2)
{
ChargeStep.ToNextStep(CHARGE_STEP.NONE);
runInfo = "在待机位暂无任务，且当前电量小于" + Common.chargeStatus.chargeMax / 2 + ",去充电位";
runInfo = "在待机位暂无任务，且当前电量小于" + Common.chargeStatus.chargeMax / 2 + "%,去充电位";
msg += runInfo;
ChargeStep.Msg = msg;
if (Common.chargeStatus.charge3.Equals(agv.Name))
......@@ -252,7 +262,7 @@ namespace AGVControl
}
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_STANDBY))
{
if (Common.CheckTaskFinished(agv, SettingString.Standby, agv.CurTaskGUID))
if (Common.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{
ChargeStep.ToNextStep(CHARGE_STEP.END);
runInfo= "充电完成，到达待机位";
......@@ -262,7 +272,7 @@ namespace AGVControl
}
else if (ChargeStep.IsStep(CHARGE_STEP.END))
{
runInfo = "等待任务";
Job job = Common.control.GetJob(agv);
if (job != null && !(job is ChargeJob))
{
......@@ -282,7 +292,7 @@ namespace AGVControl
else if (job == null && agv.Battery < Common.chargeStatus.chargeMax / 2)
{
ChargeStep.ToNextStep(CHARGE_STEP.NONE);
runInfo= "在待机位暂无任务，且当前电量小于" + Common.chargeStatus.chargeMax / 2 + ",去充电位";
runInfo= "在待机位暂无任务，且当前电量小于" + Common.chargeStatus.chargeMax / 2 + "%,去充电位";
msg += runInfo;
ChargeStep.Msg = msg;
if (Common.chargeStatus.charge3.Equals(agv.Name))
......
AGVControl-ProductionLine/bean/job/EmptyAGVBackJob.cs
......@@ -52,7 +52,9 @@ namespace AGVControl
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = runInfo;
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
CurTaskState = Common.GetTakJobState(CurTaskID);
if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.NONE))
{
......@@ -69,13 +71,14 @@ namespace AGVControl
else
{
if (agvPlace.StartsWith("G"))
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
{
......@@ -84,6 +87,7 @@ namespace AGVControl
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
//EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.END);
......@@ -91,13 +95,14 @@ namespace AGVControl
}
else
{
if (agvPlace.StartsWith("G"))
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
{
......@@ -106,12 +111,14 @@ namespace AGVControl
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY))
{
if (Common.CheckTaskFinished(agv, SettingString.Standby, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.Standby,CurTaskState))
{
Job job = Common.control.GetJob(agv);
if (job == null && agv.Battery < Common.chargeStatus.chargeMax)
......@@ -150,21 +157,22 @@ namespace AGVControl
}
else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR))
{
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
if (Common.FindFullShelfTask(agv))
{
runInfo= "从产线" + agvPlace + "到达4D门，检测到A6出满料，去A6";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
return new GoFullShelfStationJob(SettingString.D4_DOOR_Name);
return new GoFullShelfStationJob(SettingString.DoorCToD);
}
else
{
runInfo= "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
return new ChargeJob(SettingString.D4_DOOR_Name);
return new ChargeJob(SettingString.DoorCToD);
}
}
}
......
AGVControl-ProductionLine/bean/job/EmptyShelfBackJob.cs
......@@ -40,7 +40,7 @@ namespace AGVControl
/// </summary>
private string EmptyShelfTargetPlace { get; set; }
private int tryTimes = 0;
private eShelfType shelfType;
private string runInfo = "";
/// <summary>
......@@ -63,15 +63,19 @@ namespace AGVControl
string msg = agv.Name+ " ";
bool rtn = false;
agv.Msg = runInfo;
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
{
if (EmptyShelfPlace.StartsWith("G"))//4车间
if (EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
{
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR);
runInfo= "空料架从产线" + EmptyShelfPlace + "前往4D门";
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
......@@ -83,7 +87,11 @@ namespace AGVControl
msg += runInfo;
EmptyBackStep.Msg = msg;
if (!EmptyShelfTargetPlace.Equals(""))
{
Common.MoveToNode(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else
{
......@@ -92,12 +100,14 @@ namespace AGVControl
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR))
{
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
if (Common.CheckA5A6State(agv, shelfType, out string nodeName))
{
......@@ -107,6 +117,7 @@ namespace AGVControl
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
......@@ -115,11 +126,13 @@ namespace AGVControl
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckA5A6State(agv, shelfType, out string nodeName))
{
EmptyShelfTargetPlace = nodeName;
......@@ -128,11 +141,13 @@ namespace AGVControl
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6))
{
if (Common.CheckTaskFinished(agv, EmptyShelfTargetPlace, agv.CurTaskGUID) && EmptyShelfTargetPlace.StartsWith("A"))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, EmptyShelfTargetPlace, CurTaskState) && EmptyShelfTargetPlace.StartsWith("A"))
{
//msg = "AGV到达 " + EmptyShelfTargetPlace;
//EmptyBackStep.Msg = msg;
......@@ -157,21 +172,49 @@ namespace AGVControl
msg += runInfo;
EmptyBackStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : "";
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (EmptyBackStep.IsTimeOut(15000, out double timeOutValue))
{
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++;
if (tryTimes < 5)
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;
}
}
else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE))
{
if (Common.CheckEnterOrLeaveFinished(agv,"Leave",agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv,"Leave",CurTaskState))
{
//EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.END);
......@@ -189,6 +232,8 @@ namespace AGVControl
runInfo= "空料架进入" + EmptyShelfTargetPlace + "完成,暂无任务，回充电位";
msg += runInfo;
EmptyBackStep.Msg = msg;
agv.RFID = "";
agv.BoxDestInfo = "";
return new ChargeJob(SettingString.DoubleLine_Name_Prefix);
}
......@@ -197,8 +242,8 @@ namespace AGVControl
{
//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;
//msg += runInfo;
//EmptyBackStep.Msg = msg;
}
}
......
AGVControl-ProductionLine/bean/job/EnterLeaveShelfJob.cs
......@@ -70,6 +70,8 @@ namespace AGVControl
string msg = agv.Name+ " ";
bool rtn = false;
agv.Msg = runInfo;
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.NONE))
{
if (ActionType.Equals(eEnterLeaveType.Leave))
......@@ -83,7 +85,7 @@ namespace AGVControl
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : "";
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if(ActionType.Equals(eEnterLeaveType.Enter))
{
......@@ -96,7 +98,7 @@ namespace AGVControl
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
agv.TaskSend = rtn ? "Enter" : "";
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT_LINE_ReadyEnter_RESPONSE))
......@@ -110,7 +112,7 @@ namespace AGVControl
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : "";
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (EnterLeaveShelfStep.IsTimeOut(15000, out double timeOutValue))
{
......@@ -131,7 +133,7 @@ namespace AGVControl
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
agv.TaskSend = rtn ? "Enter" : "";
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (EnterLeaveShelfStep.IsTimeOut(15000, out double timeOutValue))
{
......@@ -143,7 +145,8 @@ namespace AGVControl
}
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE))
{
if (Common.CheckEnterOrLeaveFinished(agv, "Leave", agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
{
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
......@@ -158,14 +161,15 @@ namespace AGVControl
{
//链条停止
runInfo= "料架在[" + LineName + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
//msg += runInfo;
//EnterLeaveShelfStep.Msg = msg;
}
}
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE))
{
if (Common.CheckEnterOrLeaveFinished(agv, "Enter", agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Enter", CurTaskState))
{
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
......@@ -179,8 +183,8 @@ namespace AGVControl
{
//链条停止
runInfo= "料架在[" + LineName + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
//msg += runInfo;
//EnterLeaveShelfStep.Msg = msg;
}
}
......
AGVControl-ProductionLine/bean/job/GoEmptyShelfLineJob.cs
......@@ -58,27 +58,30 @@ namespace AGVControl
bool rtn = false;
agv.Msg = runInfo;
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 (agvPlae.StartsWith("G") && EmptyShelfPlace.StartsWith("E"))//4C->4D
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 + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if ((agvPlae.StartsWith("E") || agvPlae.StartsWith("A") || agvPlae.StartsWith("I") || agvPlae.StartsWith("H"))
&& EmptyShelfPlace.StartsWith("G"))//4D->4C
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);
}
else if(agvPlae.StartsWith("G") && EmptyShelfPlace.StartsWith("G"))
else if(agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
{
if(Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{
......@@ -87,6 +90,7 @@ namespace AGVControl
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
......@@ -106,7 +110,8 @@ namespace AGVControl
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR))
{
if (Common.CheckTaskFinished(agv, SettingString.DoorDToC, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorDToC, CurTaskState))
{
if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{
......@@ -115,6 +120,7 @@ namespace AGVControl
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
......@@ -127,8 +133,8 @@ namespace AGVControl
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE))
{
if (Common.CheckTaskFinished(agv, SettingString.C4_STANDBY1, agv.CurTaskGUID)|| Common.CheckTaskFinished(agv, SettingString.C4_STANDBY2, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.C4_STANDBY1, CurTaskState) || Common.CheckTaskFinished(agv, SettingString.C4_STANDBY2, CurTaskState))
{
if (!Common.Check4CTarget(agv, EmptyShelfPlace))//未占用
{
......@@ -142,7 +148,8 @@ namespace AGVControl
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR))
{
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
......@@ -160,6 +167,7 @@ namespace AGVControl
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
......@@ -181,9 +189,10 @@ namespace AGVControl
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE))
{
if (Common.CheckTaskFinished(agv, EmptyShelfPlace, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, EmptyShelfPlace, CurTaskState))
{
if (EmptyShelfPlace.Equals("G22"))
if (EmptyShelfPlace.Equals(SettingString.C4FeederOut))
{
runInfo = "AGV到达 " + EmptyShelfPlace;
msg += runInfo;
......@@ -196,6 +205,15 @@ namespace AGVControl
runInfo= "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
if (nodeIdx == -1)
{
runInfo = EmptyShelfPlace + " 未开启调用";
msg += runInfo;
TakeEmptyStep.Msg = msg;
return this;
}
ClientNode node = Common.nodeInfo[nodeIdx];
agv.RFID = node.RFID;
Common.server.ReadyLeave(EmptyShelfPlace);
}
......@@ -208,8 +226,10 @@ namespace AGVControl
runInfo= EmptyShelfPlace + " 未开启调用";
msg += runInfo;
TakeEmptyStep.Msg = msg;
return this;
}
ClientNode node = Common.nodeInfo[nodeIdx];
agv.RFID = node.RFID;
if (node.StateEquals(eNodeStatus.MayLeave))
{
if (!agv.CurTaskName.Equals("Enter"))
......@@ -218,35 +238,34 @@ namespace AGVControl
runInfo = "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行";
msg += runInfo;
TakeEmptyStep.Msg = msg;
agv.RFID = node.RFID;
//agv.RFID = node.RFID;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
agv.TaskSend = rtn ? "Enter" : "";
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (TakeEmptyStep.IsTimeOut(15000, out double timeOutValue))
{
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;
//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))
{
if (Common.CheckEnterOrLeaveFinished(agv, "Enter", agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Enter", CurTaskState))
{
ClientNode node = Common.nodeInfo[nodeIdx];
node.AgvName = "";
//回收空料架数量减少1
// node.DecreEmptyShelfCnt();
//TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.END);
//if (shelfType.Equals(eShelfType.SmallShelf))
Common.DelEmptyShelfTask(EmptyShelfPlace);
runInfo= "空料架在[" + EmptyShelfPlace + "]进入小车完成";
msg += runInfo;
TakeEmptyStep.Msg = msg;
if (agv.Place.Equals("E22"))
//4DfeederOut默认大料架
if (agv.Place.Equals(SettingString.D4FeederOut))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
else if (agv.RFID.StartsWith("D"))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
......@@ -261,8 +280,8 @@ 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";
msg += runInfo;
TakeEmptyStep.Msg = msg;
// msg += runInfo;
//TakeEmptyStep.Msg = msg;
}
}
......
AGVControl-ProductionLine/bean/job/GoFullShelfStationJob.cs
......@@ -57,6 +57,8 @@ namespace AGVControl
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = runInfo;
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.NONE))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_CHECK_RESULT);
......@@ -64,10 +66,12 @@ namespace AGVControl
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.CheckLoad(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_CHECK_RESULT))
{
//Common.log.Debug("WAIT_CHECK_RESULT " + Common.agvMission["CheckShelf"].Equals(agv.CurTaskGUID).ToString() + " " + agv.CurTaskGUID + " " + Common.agvMission["CheckShelf"]);
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.agvMission["CheckShelf"].Equals(agv.CurTaskGUID) && agv.CurTaskState.Equals(SettingString.Done))
{
rtn = Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
......@@ -85,21 +89,23 @@ namespace AGVControl
}
else if (input != null && !input[3])
{
if (agvPlace.StartsWith(SettingString.Charge_Name_Prefix) || agvPlace.StartsWith(SettingString.Standby_Name_Prefix))//待机位/充电位接到任务
if (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);
runInfo = "无负载，准备运动到入料口" + FullShelfStationPlace;
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith("G"))//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);
runInfo = "在4C车间，向4D门运行,再到双层线入料口";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
......@@ -108,6 +114,7 @@ namespace AGVControl
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
......@@ -123,14 +130,16 @@ namespace AGVControl
msg = runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith("G"))//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);
runInfo = "在4C车间，向4D门运行,再到双层线入料口";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
......@@ -140,19 +149,22 @@ namespace AGVControl
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR))
{
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = "到达4D门，准备运动到双层线入料口" + FullShelfStationPlace;
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6))
{
if (Common.CheckTaskFinished(agv, FullShelfStationPlace, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, FullShelfStationPlace, CurTaskState))
{
ClientNode node = Common.nodeInfo.Find(s => s.Name.Equals(SettingString.A6)
&& (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.Equals("00"));
......@@ -188,6 +200,7 @@ namespace AGVControl
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
......@@ -202,7 +215,8 @@ namespace AGVControl
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_STANDBY))
{
if (Common.CheckTaskFinished(agv, SettingString.Standby, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = "到达待机位";
......@@ -230,23 +244,24 @@ namespace AGVControl
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
agv.TaskSend = rtn ? "Enter" : "";
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (GoFullShelfStationStep.IsTimeOut(15000, out double timeOutValue))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = "AGV到达 " + FullShelfStationPlace + "，15秒后重新向双层线发送出料架请求[ReadyLeave]";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
//runInfo = "AGV到达 " + FullShelfStationPlace + "，15秒后重新向双层线发送出料架请求[ReadyLeave]";
//msg += runInfo;
//GoFullShelfStationStep.Msg = msg;
}
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT__FULL_SHELF_IN_AGV))
{
if (Common.CheckEnterOrLeaveFinished(agv, "Enter", agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Enter", CurTaskState))
{
//GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
......@@ -264,8 +279,8 @@ namespace AGVControl
{
//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";
msg +=runInfo;
GoFullShelfStationStep.Msg = msg;
//msg +=runInfo;
//GoFullShelfStationStep.Msg = msg;
}
}
......
AGVControl-ProductionLine/bean/job/SendFullShelfToLineJob.cs
......@@ -61,31 +61,36 @@ namespace AGVControl
bool rtn = false;
agv.RFID = RFID;
agv.Msg = runInfo;
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.NONE))
{
if(FullShelfPlace.StartsWith("G"))
if(FullShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR);
runInfo = "满料架前往4C门，从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]";
runInfo = "满料架前往4C门，从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo= "满料架从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]";
runInfo= "满料架从双层线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_DOOR))
{
if (Common.CheckTaskFinished(agv,SettingString.DoorDToC,agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv,SettingString.DoorDToC,CurTaskState))
{
if (Common.Check4CTarget(agv, FullShelfPlace))//被占用
{
......@@ -94,38 +99,43 @@ namespace AGVControl
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "满料架从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]";
runInfo = "满料架从双层线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_REACH_TEMP_PLACE))
{
if (Common.CheckTaskFinished(agv, SettingString.C4_STANDBY1, agv.CurTaskGUID) || Common.CheckTaskFinished(agv, SettingString.C4_STANDBY2, agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.C4_STANDBY1, CurTaskState) || Common.CheckTaskFinished(agv, SettingString.C4_STANDBY2, CurTaskState))
{
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 + "]";
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);
}
}
}
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE))
{
if (Common.CheckTaskFinished(agv,FullShelfPlace,agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv,FullShelfPlace, CurTaskState))
{
if(FullShelfPlace.Equals("G21"))
if(FullShelfPlace.Equals(SettingString.C4FeederIn))
{
runInfo= "AGV到达 " + FullShelfPlace + "完成";
msg += runInfo;
......@@ -142,7 +152,7 @@ namespace AGVControl
}
else
{
if (RFID.StartsWith("C") && !agv.Place.Equals("E21"))
if (RFID.StartsWith("C") && !agv.Place.Equals(SettingString.D4FeederIn))
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK);
runInfo= "AGV到达 " + FullShelfPlace + "，并等待大料架[" + RFID + "]解绑";
......@@ -167,7 +177,8 @@ namespace AGVControl
System.Threading.Thread.Sleep(50);
if (AGVManager.GetRackBy(RFID, out string lineName) || (input!=null && input[0]))
{
runInfo= "大料架在" + FullShelfPlace + "解绑完成 [" + RFID + "]";
runInfo= "大料架在" + FullShelfPlace + "解绑完成 [" + RFID + "] [" + agv.BoxDestInfo + "]";
agv.BoxDestInfo = "";
msg += runInfo;
SendFullShelfStep.Msg = msg;
return new EmptyShelfBackJob(FullShelfPlace,eShelfType.BigShelf);
......@@ -186,7 +197,7 @@ namespace AGVControl
msg += runInfo;
SendFullShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : "";
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
......@@ -200,12 +211,14 @@ namespace AGVControl
}
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE))
{
if (Common.CheckEnterOrLeaveFinished(agv, "Leave", agv.CurTaskGUID))
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
{
runInfo= "满料架进入" + FullShelfPlace + "完成 [" + RFID + "]";
runInfo= "满料架进入" + FullShelfPlace + "完成 [RFID=" + RFID + "] ["+agv.BoxDestInfo+"]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
agv.RFID = "";
agv.BoxDestInfo = "";
AGVManager.UpdateStatus(RFID, FullShelfPlace);
return new EmptyAGVBackJob(FullShelfPlace);
}
......@@ -213,8 +226,8 @@ namespace AGVControl
{
//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";
msg += runInfo;
SendFullShelfStep.Msg = msg;
//msg += runInfo;
//SendFullShelfStep.Msg = msg;
}
}
......
AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4C.cs
......@@ -11,7 +11,7 @@ namespace AGVControl
/// </summary>
public class DoubleLineNodeFor4C : ClientNode
{
public DoubleLineNodeFor4C(string name, string ip, string aliceName,string lineName, string pos_name, string pos_guid, bool isUse,int emptyCnt): base(name,ip, aliceName,lineName,pos_name,pos_guid, isUse, emptyCnt)
public DoubleLineNodeFor4C(string name, string ip, string aliceName, string lineName, string pos_name, string pos_guid, bool isUse, int emptyCnt) : base(name, ip, aliceName, lineName, pos_name, pos_guid, isUse, emptyCnt)
{
}
......@@ -46,7 +46,7 @@ namespace AGVControl
//出工单料的目的地是否有空料架
if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
{
if (nodeName.StartsWith("G") && SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
if (nodeName.StartsWith(SettingString.C4_Name_Prefix) && SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName));
int cnt = 0;
......@@ -72,20 +72,8 @@ namespace AGVControl
if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
if (i > -1)
return null;
//foreach (Agv_Info agv in Common.agvInfo)
//{
// if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
// continue;
// if (agv.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)agv.CurJob).EmptyShelfPlace.Equals(emptyNodeName))
// {
// return null;
// }
//}
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
if (i == -1)
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
}
}
......@@ -96,17 +84,7 @@ namespace AGVControl
if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
if (i > -1)
return null;
//foreach (Agv_Info agv in Common.agvInfo)
//{
// if (agv.CurJob is GoFullShelfStationJob)
// {
// return null;
// }
//}
if (i == -1)
return new GoFullShelfStationJob(currentAgv.Place);
}
}
......
AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4D.cs
......@@ -49,7 +49,7 @@ namespace AGVControl
//出工单料的目的地是否有空料架
if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
{
if (nodeName.StartsWith("E") && !SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
if (nodeName.StartsWith(SettingString.D4_Name_Prefix) && !SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName));
int cnt = 0;
......@@ -76,19 +76,8 @@ namespace AGVControl
if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
if (i > -1)
return null;
//foreach (Agv_Info agv in Common.agvInfo)
//{
// if (SettingString.C4_AGV_IPs.Contains(agv.IP))
// continue;
// if (agv.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)agv.CurJob).EmptyShelfPlace.Equals(emptyNodeName))
// {
// return null;
// }
//}
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
if (i == -1)
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
}
}
......@@ -111,7 +100,7 @@ namespace AGVControl
{
if (boxDestInfo != 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));
if (i > -1)
return null;
......
AGVControl-ProductionLine/bin/Debug/Config/AgvMission.csv
产线任务名称,任务名称,任务GUID
下料区(A5),MoveA5,679f2ca1-b520-11ea-b6ad-00012998f5a0
上料区(A6),MoveA6,7e5e9dc2-b521-11ea-b6ad-00012998f5a0
4D-1线,MoveE1,73bcddb3-b513-11ea-b6ad-00012998f5a0
4D-2线,MoveE2,9bacf16b-b515-11ea-b6ad-00012998f5a0
4D-3线,MoveE3,f84313b5-b515-11ea-b6ad-00012998f5a0
4D-4线,MoveE4,5683db0e-b516-11ea-b6ad-00012998f5a0
4D-5线,MoveE5,9c04b71b-b516-11ea-b6ad-00012998f5a0
4D-6线,MoveE6,f46be62a-b516-11ea-b6ad-00012998f5a0
4D-8线,MoveE8,41dccfcf-b517-11ea-b6ad-00012998f5a0
4D-9线,MoveE9,7fc3ec2f-b517-11ea-b6ad-00012998f5a0
4D-10线,MoveE10,e7c0ad9c-b517-11ea-b6ad-00012998f5a0
4D-11线,MoveE11,2e23a510-b518-11ea-b6ad-00012998f5a0
4D-12线,MoveE12,6efb37bc-b519-11ea-b6ad-00012998f5a0
4D-14线,MoveE14,b03043fd-b519-11ea-b6ad-00012998f5a0
4D-15线,MoveE15,f3f9a668-b519-11ea-b6ad-00012998f5a0
4D-16线,MoveE16,5ec0f64a-b51a-11ea-b6ad-00012998f5a0
4D-FeedeerIn,MoveE21,37401585-b51b-11ea-b6ad-00012998f5a0
4D-FeederOut,MoveE22,a4846723-b51b-11ea-b6ad-00012998f5a0
4D-1线,MoveD1,73bcddb3-b513-11ea-b6ad-00012998f5a0
4D-2线,MoveD2,9bacf16b-b515-11ea-b6ad-00012998f5a0
4D-3线,MoveD3,f84313b5-b515-11ea-b6ad-00012998f5a0
4D-4线,MoveD4,5683db0e-b516-11ea-b6ad-00012998f5a0
4D-5线,MoveD5,9c04b71b-b516-11ea-b6ad-00012998f5a0
4D-6线,MoveD6,f46be62a-b516-11ea-b6ad-00012998f5a0
4D-8线,MoveD8,41dccfcf-b517-11ea-b6ad-00012998f5a0
4D-9线,MoveD9,7fc3ec2f-b517-11ea-b6ad-00012998f5a0
4D-10线,MoveD10,e7c0ad9c-b517-11ea-b6ad-00012998f5a0
4D-11线,MoveD11,2e23a510-b518-11ea-b6ad-00012998f5a0
4D-12线,MoveD12,6efb37bc-b519-11ea-b6ad-00012998f5a0
4D-14线,MoveD14,b03043fd-b519-11ea-b6ad-00012998f5a0
4D-15线,MoveD15,f3f9a668-b519-11ea-b6ad-00012998f5a0
4D-16线,MoveD16,5ec0f64a-b51a-11ea-b6ad-00012998f5a0
4D-FeedeerIn,MoveD4FeederIn,37401585-b51b-11ea-b6ad-00012998f5a0
4D-FeederOut,MoveD4FeederOut,a4846723-b51b-11ea-b6ad-00012998f5a0
4D-4C门,MoveDoorDToC,fd6e26ac-c1bf-11ea-9a66-94c691a7387d
4C-4D门,MoveDoorCToD,d67f31c8-ca7e-11ea-9a66-94c691a7387d
4C-1线,MoveG1,94a15e2c-cda7-11ea-a3e4-94c691a7387d
4C-2线,MoveG2,cece230b-cda7-11ea-a3e4-94c691a7387d
4C-3线,MoveG3,e393e846-cda7-11ea-a3e4-94c691a7387d
4C-4线,MoveG4,0b297e08-cda8-11ea-a3e4-94c691a7387d
4C-5线,MoveG5,1d3512ae-cda8-11ea-a3e4-94c691a7387d
4C-6线,MoveG6,33c8d629-cda8-11ea-a3e4-94c691a7387d
4C-7线,MoveG7,56c5a660-cda8-11ea-a3e4-94c691a7387d
4C-8线,MoveG8,6873fd7f-cda8-11ea-a3e4-94c691a7387d
4C-9线,MoveG9,8ba46b72-cda8-11ea-a3e4-94c691a7387d
4C-10线,MoveG10,c0b75c41-ca7d-11ea-9a66-94c691a7387d
4C-FeedeerIn,MoveG21,0a657afd-ca9d-11ea-9a66-94c691a7387d
4C-FeedeerOut,MoveG22,83b9ba6d-cdb2-11ea-a3e4-94c691a7387d
4C-14线,MoveG14,2baac336-d0d4-11ea-a3e4-94c691a7387d
4C-15线,MoveG15,41cc7a90-d0d4-11ea-a3e4-94c691a7387d
4C-1线,MoveC1,94a15e2c-cda7-11ea-a3e4-94c691a7387d
4C-2线,MoveC2,cece230b-cda7-11ea-a3e4-94c691a7387d
4C-3线,MoveC3,e393e846-cda7-11ea-a3e4-94c691a7387d
4C-4线,MoveC4,0b297e08-cda8-11ea-a3e4-94c691a7387d
4C-5线,MoveC5,1d3512ae-cda8-11ea-a3e4-94c691a7387d
4C-6线,MoveC6,33c8d629-cda8-11ea-a3e4-94c691a7387d
4C-7线,MoveC7,56c5a660-cda8-11ea-a3e4-94c691a7387d
4C-8线,MoveC8,6873fd7f-cda8-11ea-a3e4-94c691a7387d
4C-9线,MoveC9,8ba46b72-cda8-11ea-a3e4-94c691a7387d
4C-10线,MoveC10,c0b75c41-ca7d-11ea-9a66-94c691a7387d
4C-FeedeerIn,MoveC4FeederIn,0a657afd-ca9d-11ea-9a66-94c691a7387d
4C-FeedeerOut,MoveC4FeederOut,83b9ba6d-cdb2-11ea-a3e4-94c691a7387d
4C-14线,MoveC14,2baac336-d0d4-11ea-a3e4-94c691a7387d
4C-15线,MoveC15,41cc7a90-d0d4-11ea-a3e4-94c691a7387d
4C-AirIn,MoveDoorAirIn,2dc71db5-d0cb-11ea-a3e4-94c691a7387d
4C-AirOut,MoveDoorAirOut,9bc63eaa-d0d3-11ea-a3e4-94c691a7387d
小车进料,Enter,51233d8c-c044-11ea-9a66-94c691a7387d
小车出料,Leave,2e433130-c045-11ea-9a66-94c691a7387d
1763充电桩,AutoCharge3,b7371c5f-c045-11ea-9a66-94c691a7387d
1764充电桩,AutoCharge4,1296084c-c046-11ea-9a66-94c691a7387d
1767充电桩,AutoCharge5,40c8f44e-c046-11ea-9a66-94c691a7387d
1768充电桩,AutoCharge6,56cca0a3-c046-11ea-9a66-94c691a7387d
3号充电桩,AutoCharge3,b7371c5f-c045-11ea-9a66-94c691a7387d
4号充电桩,AutoCharge4,1296084c-c046-11ea-9a66-94c691a7387d
5号充电桩,AutoCharge5,40c8f44e-c046-11ea-9a66-94c691a7387d
6号充电桩,AutoCharge6,56cca0a3-c046-11ea-9a66-94c691a7387d
小车初始化,Init,adcb7a04-b525-11ea-b6ad-00012998f5a0
小车进料-需要人员操作,EnterWaitUser,7fe98805-d245-11ea-a3e4-94c691a7387d
小车出料-需要人员操作,LeaveWaitUser,217f8bad-d246-11ea-a3e4-94c691a7387d
待机位,MoveStandby,ae6e4f12-c050-11ea-9a66-94c691a7387d
BenQ充电桩,AutoCharge7,8811a589-8793-11ea-87e1-000129922cf6
4C临时停车位1,MoveC4_STANDBY1,d5fc690b-f1a5-11ea-a03e-94c691a7387d
4C临时停车位2,MoveC4_STANDBY2,90f4399f-f1a6-11ea-a03e-94c691a7387d
临时停车位,MoveStandbyTemp,d6c32ad3-d64e-11ea-a3e4-94c691a7387d
检查料架情况,CheckShelf,f3e46a3e-d734-11ea-a3e4-94c691a7387d
\ No newline at end of file
AGVControl-ProductionLine/bin/Debug/Config/AgvProductionLine.csv
产线名,节点名,IP,产线别名,位置名称,位置guid
A5,A5,10.85.199.20,下料区(A5),PA5,7ed952c3-b520-11ea-b6ad-00012998f5a0
A6,A6,10.85.199.20,上料区(A6),PA6,929eb1c2-b520-11ea-b6ad-00012998f5a0
D1,E1,10.85.199.42,4D-1线,DL1,3b823fe4-b368-11ea-a1a5-00012999830e
D2,E2,10.85.199.90,4D-2线,DL2,ede15fcb-b367-11ea-a1a5-00012999830e
D3,E3,10.85.199.91,4D-3线,DL3,43855a9b-b365-11ea-a1a5-00012999830e
D4,E4,10.85.199.92,4D-4线,DL4,73c8b98c-b368-11ea-a1a5-00012999830e
D5,E5,10.85.199.93,4D-5线,DL5,5436efd7-b432-11ea-a1a5-00012999830e
D6,E6,10.85.199.94,4D-6线,DL6,6b7710c1-b432-11ea-a1a5-00012999830e
D8,E8,10.85.199.95,4D-8线,DL8,8f039d2e-b432-11ea-a1a5-00012999830e
D9,E9,10.85.199.180,4D-9线,DL9,9e0b64ab-b432-11ea-a1a5-00012999830e
D10,E10,10.85.199.181,4D-10线,DL10,aec7da80-b432-11ea-a1a5-00012999830e
D11,E11,10.85.199.182,4D-11线,DL11,c10984c9-b432-11ea-a1a5-00012999830e
D12,E12,10.85.199.183,4D-12线,DL12,d6e0b92a-b432-11ea-a1a5-00012999830e
D14,E14,10.85.199.184,4D-14线,DL14,efb04c55-b432-11ea-a1a5-00012999830e
D15,E15,10.85.199.185,4D-15线,DL15,fd6b1f95-b432-11ea-a1a5-00012999830e
FeederIn,E21,10.85.199.1,4D-FeedeerIn,FI,1e546c3a-8abe-11ea-ab63-000129922ca6
FeederOut,E22,10.85.199.1,4D-FeederOut,FO,431649a4-8abe-11ea-ab63-000129922ca6
C1,G1,10.85.199.50,4C-1线,G1,d402fbc2-cdac-11ea-a3e4-94c691a7387d
C2,G2,10.85.199.51,4C-2线,G2,ce0d60e9-cdac-11ea-a3e4-94c691a7387d
C3,G3,10.85.199.52,4C-3线,G3,c768170a-cdac-11ea-a3e4-94c691a7387d
C4,G4,10.85.199.53,4C-4线,G4,c2de9745-cdac-11ea-a3e4-94c691a7387d
C5,G5,10.85.199.54,4C-5线,G5,be468ef4-cdac-11ea-a3e4-94c691a7387d
C6,G6,10.85.199.55,4C-6线,G6,b9117881-cdac-11ea-a3e4-94c691a7387d
C7,G7,10.85.199.56,4C-7线,G7,b3cda9db-cdac-11ea-a3e4-94c691a7387d
C8,G8,10.85.199.57,4C-8线,G8,ae09fc56-cdac-11ea-a3e4-94c691a7387d
C9,G9,10.85.199.58,4C-9线,G9,a64bdbbb-cdac-11ea-a3e4-94c691a7387d
C10,G10,10.85.199.59,4C-10线,G10,604b1c3c-ca4e-11ea-810b-00012999830e
C14,G14,10.85.199.60,4C-14线,G14,07841fc6-d0d4-11ea-a3e4-94c691a7387d
C15,G15,10.85.199.61,4C-15线,G15,0efca2c6-d0d4-11ea-a3e4-94c691a7387d
4CFeederIn,G21,10.85.199.1,4C-FeederIn,tyty,cb7f117b-ca88-11ea-9b28-0001299981d4
4CFeederOut,G22,10.85.199.1,4C-FeederOut,tyty,cb7f117b-ca88-11ea-9b28-0001299981d4
D16,E16,10.85.199.96,4D-16线,line_16,ac6c413e-895e-11ea-9374-000129922ca6
C11,G11,10.85.199.1,4C-11线,PA33,
C12,G12,10.85.199.1,4C-12线,PA34,
C13,G13,10.85.199.1,4C-13线,PA35,
C16,G16,10.85.199.1,4C-16线,PA38,
D1,D1,10.85.199.42,4D-1线,DL1,3b823fe4-b368-11ea-a1a5-00012999830e
D2,D2,10.85.199.90,4D-2线,DL2,ede15fcb-b367-11ea-a1a5-00012999830e
D3,D3,10.85.199.91,4D-3线,DL3,43855a9b-b365-11ea-a1a5-00012999830e
D4,D4,10.85.199.92,4D-4线,DL4,73c8b98c-b368-11ea-a1a5-00012999830e
D5,D5,10.85.199.93,4D-5线,DL5,5436efd7-b432-11ea-a1a5-00012999830e
D6,D6,10.85.199.94,4D-6线,DL6,6b7710c1-b432-11ea-a1a5-00012999830e
D8,D8,10.85.199.95,4D-8线,DL8,8f039d2e-b432-11ea-a1a5-00012999830e
D9,D9,10.85.199.180,4D-9线,DL9,9e0b64ab-b432-11ea-a1a5-00012999830e
D10,D10,10.85.199.181,4D-10线,DL10,aec7da80-b432-11ea-a1a5-00012999830e
D11,D11,10.85.199.182,4D-11线,DL11,c10984c9-b432-11ea-a1a5-00012999830e
D12,D12,10.85.199.183,4D-12线,DL12,d6e0b92a-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
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
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
C3,C3,10.85.199.52,4C-3线,G3,c768170a-cdac-11ea-a3e4-94c691a7387d
C4,C4,10.85.199.53,4C-4线,G4,c2de9745-cdac-11ea-a3e4-94c691a7387d
C5,C5,10.85.199.54,4C-5线,G5,be468ef4-cdac-11ea-a3e4-94c691a7387d
C6,C6,10.85.199.55,4C-6线,G6,b9117881-cdac-11ea-a3e4-94c691a7387d
C7,C7,10.85.199.56,4C-7线,G7,b3cda9db-cdac-11ea-a3e4-94c691a7387d
C8,C8,10.85.199.57,4C-8线,G8,ae09fc56-cdac-11ea-a3e4-94c691a7387d
C9,C9,10.85.199.62,4C-9线,G9,a64bdbbb-cdac-11ea-a3e4-94c691a7387d
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
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
AGVControl-ProductionLine/bin/Debug/Config/tempData.ini
......@@ -26,3 +26,5 @@ EmptyShelfCnt=1
EmptyShelfCnt=1
[G9]
IsUse=False
[A6]
IsUse=False
AGVControl-ProductionLine/obj/Debug/AGVControl-ProductionLine.csproj.FileListAbsolute.txt
......@@ -54,3 +54,4 @@ D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine
D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\Newtonsoft.Json.dll
D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\AsaPL.AgvClient.pdb
D:\OneDrive - 上海挚锦科技有限公司\SMD\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
AgvClientTest/Form1.cs
......@@ -45,10 +45,10 @@ namespace AgvClientTest
//client.SetStatus("E14", "", AsaPL.ClientAction.None);
//client.SetStatus("E15", "", AsaPL.ClientAction.None);
//client.SetStatus("E16", "", AsaPL.ClientAction.None);
client.SetStatus("E21", "", AsaPL.ClientAction.None);
client.SetStatus("E22", "", AsaPL.ClientAction.None);
client.SetStatus("G21", "", AsaPL.ClientAction.None);
client.SetStatus("G22", "", AsaPL.ClientAction.None);
//client.SetStatus("D4FeederIn", "", AsaPL.ClientAction.None);
//client.SetStatus("D4FeederOut", "", AsaPL.ClientAction.None);
//client.SetStatus("C4FeederIn", "", AsaPL.ClientAction.None);
//client.SetStatus("C4FeederOut", "", AsaPL.ClientAction.None);
client.Connect();
}
......
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