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Commit 75c17094 由 张东亮
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1 个父辈 686076d6
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内嵌 并排
正在显示 29 个修改的文件 包含 402 行增加 和 248 行删除
AGVControl-ProductionLine/BLL/AGVManager.cs
...@@ -116,7 +116,7 @@ namespace BLL ...@@ -116,7 +116,7 @@ namespace BLL
json = json.Replace("\r", ""); json = json.Replace("\r", "");
json = json.Replace("\n", ""); json = json.Replace("\n", "");
json = json.Replace(" ", ""); json = json.Replace(" ", "");
Common.LogInfo("ITS URL: " + url + " Return: " + json, false); Common.log.Debug("ITS URL: " + url + " Return: " + json);
if (string.IsNullOrWhiteSpace(json)) return false; if (string.IsNullOrWhiteSpace(json)) return false;
List<BoxDestInfo> res = JsonHelper.DeserializeJsonToList<BoxDestInfo>(json); List<BoxDestInfo> res = JsonHelper.DeserializeJsonToList<BoxDestInfo>(json);
...@@ -166,8 +166,9 @@ namespace BLL ...@@ -166,8 +166,9 @@ namespace BLL
#endregion #endregion
res[0].location = loc; res[0].location = loc;
dest = res[0]; dest = res[0];
A6_Target = res[0].ShowInfo() + "[" + loc + "]"; Common.GetLineNameByNodeName(loc,out string line);
Common.log.Debug("查找满料架任务[RFID=" + rfid + "]：目的地为 " + loc + " [产线名 " + tempLocation + "]"); 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 + "]");
return true; return true;
} }
else else
...@@ -179,6 +180,7 @@ namespace BLL ...@@ -179,6 +180,7 @@ namespace BLL
} }
} }
//[{"msg":"0料车已解绑或未发新料"}] //[{"msg":"0料车已解绑或未发新料"}]
A6_Target = json;
return false; return false;
} }
catch (Exception ex) catch (Exception ex)
...@@ -198,9 +200,9 @@ namespace BLL ...@@ -198,9 +200,9 @@ namespace BLL
public string SO { get; set; } public string SO { get; set; }
public string location { get; set; } public string location { get; set; }
public string ShowInfo() public string ShowInfo(string loc)
{ {
return string.Format("RFID={0},SO={1},location={2}", id, SO, location); return string.Format("RFID={0},SO={1},location={2}[{3}]", id, SO, loc,location);
} }
} }
...@@ -279,7 +281,7 @@ namespace BLL ...@@ -279,7 +281,7 @@ namespace BLL
int.TryParse(msgs[0].msg.Substring(0, 1), out int resCode); int.TryParse(msgs[0].msg.Substring(0, 1), out int resCode);
string resStr = msgs[0].msg.Substring(1, 2); string resStr = msgs[0].msg.Substring(1, 2);
lineName = msgs[0].msg.Substring(3); lineName = msgs[0].msg.Substring(3);
Common.LogInfo(string.Format("[{0}] [{1}]", addr, result), false); Common.log.Debug(string.Format("[{0}] [{1}]", addr, result));
if (lineName.Equals("").Equals(true)) if (lineName.Equals("").Equals(true))
return false; return false;
if (resStr.Equals("OK") || resCode.Equals(1)) if (resStr.Equals("OK") || resCode.Equals(1))
...@@ -502,6 +504,8 @@ namespace BLL ...@@ -502,6 +504,8 @@ namespace BLL
public string msgKey = ""; public string msgKey = "";
//>>>msgValue : 异常信息 //>>>msgValue : 异常信息
public string msgValue = ""; public string msgValue = "";
//0:异常；1：正常显示
public int type = 0;
/// <summary> /// <summary>
/// 异常信息 /// 异常信息
...@@ -509,11 +513,12 @@ namespace BLL ...@@ -509,11 +513,12 @@ 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) public AlarmMsg(string name, string key, string value,int type=0)
{ {
this.name = name; this.name = name;
this.msgKey = key; this.msgKey = key;
this.msgValue = value; this.msgValue = value;
this.type = type;
} }
} }
public class RfidData public class RfidData
......
AGVControl-ProductionLine/BLL/AgvServer.cs
...@@ -510,7 +510,7 @@ namespace BLL ...@@ -510,7 +510,7 @@ namespace BLL
Common.nodeInfo[idx].UpdateNodeStatus(node.GetState()); Common.nodeInfo[idx].UpdateNodeStatus(node.GetState());
Common.nodeInfo[idx].ClientLevel = node.ClientLevel; Common.nodeInfo[idx].ClientLevel = node.ClientLevel;
Common.nodeInfo[idx].RFID = node.RFID; Common.nodeInfo[idx].RFID = node.RFID;
Common.LogInfo("节点更新 " + node.StatetText()+" "+ node.ClientLevel.ToString()); Common.LogInfo("节点更新 " + node.StatetText());
NodeChanged?.Invoke(idx); NodeChanged?.Invoke(idx);
} }
} }
......
AGVControl-ProductionLine/BLL/Control.cs
...@@ -24,7 +24,6 @@ namespace BLL ...@@ -24,7 +24,6 @@ namespace BLL
public delegate void AgvMissionEvent(); public delegate void AgvMissionEvent();
public event AgvChangedEvent AgvChanged; public event AgvChangedEvent AgvChanged;
public event AgvChangedEvent AgvOnline; public event AgvChangedEvent AgvOnline;
public event AgvMissionEvent AgvMissionChanged;
public Control() public Control()
{ {
...@@ -38,7 +37,7 @@ namespace BLL ...@@ -38,7 +37,7 @@ namespace BLL
AgvStateTimer = new System.Timers.Timer AgvStateTimer = new System.Timers.Timer
{ {
Interval = 500, Interval = 1500,
AutoReset = true, AutoReset = true,
Enabled = false Enabled = false
}; };
...@@ -78,104 +77,87 @@ namespace BLL ...@@ -78,104 +77,87 @@ namespace BLL
if (!Common.nodeInfo[j].Online) if (!Common.nodeInfo[j].Online)
{ {
isAlarm = true; isAlarm = true;
msglist.Add(new AlarmMsg(Common.nodeInfo[j].AliceName, "agv." + Common.nodeInfo[j].Name + ".OnLine", "接驳台状态：离线")); msglist.Add(new AlarmMsg(Common.nodeInfo[j].AliceName, "lineAgv." + Common.nodeInfo[j].Name + ".OffLine", "接驳台状态：离线"));
} }
} }
for (int i = 0; i < Common.agvInfo.Count; i++) for (int i = 0; i < Common.agvInfo.Count; i++)
{ {
if (!CheckOnline(i)) continue; try
//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);
if (!rtn)
continue;
Common.log.Debug("获取AGV状态");
Thread.Sleep(50);
rtn = Common.mir.Get_Task_State(Common.agvInfo[i], out string stateStr);
Thread.Sleep(50);
rtn = Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
if (!rtn)
continue;
Common.log.Debug("获取IO状态");
bool change = false;
if (rtn) change = Common.agvInfo[i].SetState(stateID, stateStr, battery, mission_text, position);
if (Common.agvInfo[i].StateID.Equals(eAGVState.Docking))
{ {
if (!Common.agvInfo[i].StateID.Equals(preAGVState)) if (!CheckOnline(i)) continue;
bool change = false;
//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);
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_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
Common.log.Debug("获取IO状态");
//if (Common.agvInfo[i].StateID.Equals(eAGVState.Docking))
//{
// if (!Common.agvInfo[i].StateID.Equals(preAGVState))
// {
// Common.agvInfo[i].DockingStartTime = DateTime.Now;
// }
// else
// {
// if ((DateTime.Now - Common.agvInfo[i].DockingStartTime).TotalMinutes >= 1)
// {
// isAlarm = true;
// msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Docking", "停靠超时：" + (DateTime.Now - Common.agvInfo[i].DockingStartTime).TotalSeconds + "秒"));
// }
// }
//}
preAGVState = Common.agvInfo[i].StateID;
if (battery <= 10)
{ {
Common.agvInfo[i].DockingStartTime = DateTime.Now; isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".battery", "电量 " + battery.ToString() + "%"));
} }
else if (stateText.Equals("Error") || stateText.Equals("EmergencyStop") || stateText.Equals("Pause"))
{ {
if ((DateTime.Now - Common.agvInfo[i].DockingStartTime).TotalMinutes >= 1) 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; isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "agv." + Common.agvInfo[i].Name + ".Docking", "停靠超时：" + (DateTime.Now - Common.agvInfo[i].DockingStartTime).TotalSeconds + "秒")); 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"));
} }
}
}
preAGVState = Common.agvInfo[i].StateID;
}
if (battery <= 10) //更新状态stateID.Equals(eAGVState.Executing)
{ if (change)
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "agv." + 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, "agv." + 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; AgvChanged?.Invoke(i);
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "agv." + Common.agvInfo[i].Name + ".IsExistShelf", "agv负载:" + "IO信号与负载信号不匹配"));
} }
} }
catch(Exception ex)
//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);
//if (change)
//{
// Common.log.Debug(string.Format("{0} Get_State StateID={1}, StateText={2}, Battery={3}, Mission_text={4},IsExistShelf={5}", Common.agvInfo[i].Name, stateID, stateText, battery, mission_text, Common.agvInfo[i].IsExistShelf));
//}
//执行任务更新状态
if (stateID.Equals(eAGVState.Executing) || change)
{ {
//Common.log.Debug(string.Format("{0} Get_Register PLC{1}={2}", Common.agvInfo[i].Name, REG_STATUS, regValue)); Common.log.Error("AgvStateTimer_"+Common.agvInfo[i].Name + ex.Message+ex.StackTrace);
AgvChanged?.Invoke(i);
} }
//获取任务队列
//rtn = Common.mir.Get_Mission_Queue(Common.agvInfo[i], out List<string> mission);
//if (rtn)
//{
// string[] arr = new string[mission.Count];
// for (int j = 0; j < mission.Count; j++)
// arr[j] = Common.agvMission.FirstOrDefault(q => q.Value == mission[j]).Key;
// string missionKey = string.Join(",", arr);
// if (Common.agvInfo[i].MissionQueue != missionKey)
// {
// Common.agvInfo[i].MissionQueue = missionKey;
// AgvChanged?.Invoke(i);
// }
//}
} }
if (isAlarm) if (isAlarm)
BLL.AGVManager.updateDeviceAlarmMsg(msglist); BLL.AGVManager.updateDeviceAlarmMsg(msglist);
AgvStateInProcess = false; AgvStateInProcess = false;
} }
......
AGVControl-ProductionLine/BLL/MiR_API.cs
...@@ -405,13 +405,14 @@ namespace BLL ...@@ -405,13 +405,14 @@ namespace BLL
if (dic == null) return false; if (dic == null) return false;
//state_id不存在：{"args":{},"error_code":"service_unavailable","error_human":"\u670d\u52a1\u4e0d\u53ef\u7528\uff0c\u8bf7\u7a0d\u540e\u91cd\u8bd5"} //state_id不存在：{"args":{},"error_code":"service_unavailable","error_human":"\u670d\u52a1\u4e0d\u53ef\u7528\uff0c\u8bf7\u7a0d\u540e\u91cd\u8bd5"}
Common.log.Debug("Get_State URL:"+url +" Return"+ json);
try try
{ {
stateText = dic["state_text"].ToString(); stateID = (eAGVState)(Convert.ToInt32(dic["state_id"].ToString()));
} }
catch catch
{ {
Common.log.Error("获取状态失败：" + json); Common.log.Error("获取状态失败：" +info.IP+" "+ json);
return false; return false;
} }
stateID = (eAGVState)(Convert.ToInt32(dic["state_id"].ToString())); stateID = (eAGVState)(Convert.ToInt32(dic["state_id"].ToString()));
......
AGVControl-ProductionLine/FrmMain.cs
...@@ -21,6 +21,7 @@ namespace AGVControl ...@@ -21,6 +21,7 @@ namespace AGVControl
private ContextMenuStrip notifyMenu; private ContextMenuStrip notifyMenu;
private System.Timers.Timer showTimer; private System.Timers.Timer showTimer;
private Label[] agvRunInfo; private Label[] agvRunInfo;
//private string[] agvRunStep;
public FrmMain() public FrmMain()
{ {
InitializeComponent(); InitializeComponent();
...@@ -31,13 +32,13 @@ namespace AGVControl ...@@ -31,13 +32,13 @@ namespace AGVControl
showTimer.Elapsed += ShowTimer_Elapsed; showTimer.Elapsed += ShowTimer_Elapsed;
showTimer.Start(); showTimer.Start();
Common.logTextBox = TxtLog; Common.logTextBox = TxtLog;
agvRunInfo = new Label[] {label1,label2,label3,label4,label5,label6}; agvRunInfo = new Label[] { label1, label2, label3, label4, label5, label6 };
} }
private void ShowConfig() private void ShowConfig()
{ {
int n; int n;
//agvRunStep = new string[Common.agvInfo.Count];
for (int i = 0; i < Common.agvInfo.Count; i++) for (int i = 0; i < Common.agvInfo.Count; i++)
{ {
Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output); Common.mir.Get_IO_Status(Common.agvInfo[i], out bool[] input, out bool[] output);
...@@ -49,6 +50,8 @@ namespace AGVControl ...@@ -49,6 +50,8 @@ namespace AGVControl
DgvAgv.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue; DgvAgv.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
if (!Common.agvInfo[i].IsCon) if (!Common.agvInfo[i].IsCon)
DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red; DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
//agvRunStep[i] = Common.agvInfo[i].Msg;
//if (i % 2 == 0) //if (i % 2 == 0)
// agvRunInfo[i].BackColor = Color.LightBlue; // agvRunInfo[i].BackColor = Color.LightBlue;
//else //else
...@@ -85,7 +88,6 @@ namespace AGVControl ...@@ -85,7 +88,6 @@ namespace AGVControl
DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online && Common.nodeInfo[nodeIndex].IsUse ? Color.Black : Color.Red; DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = Common.nodeInfo[nodeIndex].Online && Common.nodeInfo[nodeIndex].IsUse ? Color.Black : Color.Red;
DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow()); DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow());
})); }));
ShowEmptyTask();
System.GC.Collect(); System.GC.Collect();
} }
...@@ -101,29 +103,24 @@ namespace AGVControl ...@@ -101,29 +103,24 @@ namespace AGVControl
private void Control_AgvChanged(int agvIndex) private void Control_AgvChanged(int agvIndex)
{ {
Invoke(new Action(() => { DgvAgv.Rows[agvIndex].DefaultCellStyle.ForeColor = Common.agvInfo[agvIndex].StateID.Equals(12) ? Color.Red : Color.Black; })); Invoke(new Action(() => { DgvAgv.Rows[agvIndex].DefaultCellStyle.ForeColor = Common.agvInfo[agvIndex].StateID.Equals(eAGVState.Error) ? Color.Red : Color.Black; }));
Invoke(new Action(() => Invoke(new Action(() =>
{ {
DgvAgv.Rows[agvIndex].SetValues(Common.agvInfo[agvIndex].ToRow()); DgvAgv.Rows[agvIndex].SetValues(Common.agvInfo[agvIndex].ToRow());
})); }));
try ShowEmptyTask();
{
Invoke(new Action(() =>
{
for (int i = 0; i < Common.nodeInfo.Count; i++)
{
DgvNode.Rows[i].SetValues(Common.nodeInfo[i].ToRow());
}
}));
}
catch { };
System.GC.Collect(); System.GC.Collect();
} }
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; }));
Invoke(new Action(() =>
{
DgvAgv.Rows[agvIndex].SetValues(Common.agvInfo[agvIndex].ToRow());
}));
GC.Collect(); GC.Collect();
} }
...@@ -151,7 +148,7 @@ namespace AGVControl ...@@ -151,7 +148,7 @@ namespace AGVControl
if (WindowState == FormWindowState.Minimized) if (WindowState == FormWindowState.Minimized)
WindowState = FormWindowState.Normal; WindowState = FormWindowState.Normal;
} }
private void Control_AgvMissionChanged() private void AgvMissionChanged()
{ {
if (!Common.missionManager.AGV_Name_EmptyTask.Equals("")) if (!Common.missionManager.AGV_Name_EmptyTask.Equals(""))
Invoke(new Action(() => Invoke(new Action(() =>
...@@ -183,7 +180,6 @@ namespace AGVControl ...@@ -183,7 +180,6 @@ namespace AGVControl
change = false; change = false;
Common.control.AgvChanged += Control_AgvChanged; Common.control.AgvChanged += Control_AgvChanged;
Common.control.AgvOnline += Control_AgvOnline; Common.control.AgvOnline += Control_AgvOnline;
Common.control.AgvMissionChanged += Control_AgvMissionChanged;
Common.server.NodeChanged += Server_NodeChanged; Common.server.NodeChanged += Server_NodeChanged;
Common.server.NodeOnline += Server_NodeOnline; Common.server.NodeOnline += Server_NodeOnline;
//foreach (var item in Common.agvInfo) //foreach (var item in Common.agvInfo)
...@@ -220,13 +216,14 @@ namespace AGVControl ...@@ -220,13 +216,14 @@ namespace AGVControl
if (e.ColumnIndex == 10) //调用 if (e.ColumnIndex == 10) //调用
{ {
if(Common.agvInfo[e.RowIndex].IsUse.Equals(true)) if (Common.agvInfo[e.RowIndex].IsUse.Equals(true))
{ {
if (MessageBox.Show("是否关闭当前小车的自动模式？", Common.agvInfo[e.RowIndex].Name+"_警告", MessageBoxButtons.YesNo).Equals(DialogResult.Yes)) if (MessageBox.Show("是否关闭当前小车的自动模式？", Common.agvInfo[e.RowIndex].Name + "_警告", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
{ {
Common.agvInfo[e.RowIndex].IsUse = false; Common.agvInfo[e.RowIndex].IsUse = false;
Common.agvInfo[e.RowIndex].CurJob = null; Common.agvInfo[e.RowIndex].CurJob = null;
Common.agvInfo[e.RowIndex].RFID = ""; Common.agvInfo[e.RowIndex].RFID = "";
Common.LogInfo(string.Format("手动关闭小车自动模式，{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].RunInfo()));
} }
} }
else else
...@@ -348,13 +345,13 @@ namespace AGVControl ...@@ -348,13 +345,13 @@ namespace AGVControl
if (idx < 0) return; if (idx < 0) return;
if (Common.agvInfo[idx].IsCon) if (Common.agvInfo[idx].IsCon)
{ {
if(Common.agvInfo[idx].IsUse) if (Common.agvInfo[idx].IsUse)
{ {
if (MessageBox.Show("确定在自动模式下对小车手动分配任务？", Common.agvInfo[idx].Name, MessageBoxButtons.YesNo) == DialogResult.No) if (MessageBox.Show("确定在自动模式下对小车手动分配任务？", Common.agvInfo[idx].Name, MessageBoxButtons.YesNo) == DialogResult.No)
return; return;
} }
bool rtn = Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission[Common.showNameMissionName[LstAgvPlace.Text]]); bool rtn = Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission[Common.showNameMissionName[LstAgvPlace.Text]]);
if (!rtn) if (!rtn)
return; return;
//Common.agvInfo[idx].TaskSend = LstAgvPlace.Text; //Common.agvInfo[idx].TaskSend = LstAgvPlace.Text;
...@@ -384,16 +381,33 @@ namespace AGVControl ...@@ -384,16 +381,33 @@ namespace AGVControl
Invoke(new Action(() => Invoke(new Action(() =>
{ {
List<AlarmMsg> msglist = new List<AlarmMsg>();
//bool change = false;
for (int i = 0; i < Common.agvInfo.Count; i++) for (int i = 0; i < Common.agvInfo.Count; i++)
{ {
agvRunInfo[i].Text = Common.agvInfo[i].RunInfo(); try
{
agvRunInfo[i].Text = Common.agvInfo[i].RunInfo();
if (!Common.agvInfo[i].Msg.Equals(""))
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Msg", Common.agvInfo[i].Msg, 1));
}
catch (Exception ex)
{
Common.log.Error("上报小车运行步骤失败" + ex.Message + ex.StackTrace);
}
} }
//if (change)
BLL.AGVManager.updateDeviceAlarmMsg(msglist);
lblWO.Text = Common.doubleLine_WO; lblWO.Text = Common.doubleLine_WO;
lblDestInfo.Text = AGVManager.A6_Target; lblDestInfo.Text = AGVManager.A6_Target;
lblCharge3.Text = "充电桩3:" + Common.chargeStatus.charge3;
lblCharge4.Text = "充电桩4:" + Common.chargeStatus.charge4;
})); }));
InShhow = false; InShhow = false;
} }
...@@ -487,7 +501,7 @@ namespace AGVControl ...@@ -487,7 +501,7 @@ namespace AGVControl
ShowEmptyTask(); ShowEmptyTask();
return; return;
} }
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.missionList.FindIndex(s => s.NodeName == Common.agvProductionLine[txtBoxMission.Text]);
...@@ -539,7 +553,7 @@ namespace AGVControl ...@@ -539,7 +553,7 @@ namespace AGVControl
} }
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1添加解绑", MessageBoxButtons.YesNo) == DialogResult.No)
return; return;
int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString())); int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
if (idx > -1) if (idx > -1)
...@@ -658,7 +672,7 @@ namespace AGVControl ...@@ -658,7 +672,7 @@ namespace AGVControl
if (idx < 0) return; if (idx < 0) return;
if (Common.agvInfo[idx].IsCon) if (Common.agvInfo[idx].IsCon)
{ {
Common.agvInfo[idx].CurJob =null; Common.agvInfo[idx].CurJob = null;
} }
} }
...@@ -668,7 +682,7 @@ namespace AGVControl ...@@ -668,7 +682,7 @@ namespace AGVControl
if (DgvAgv.SelectedCells.Count == 0) return; if (DgvAgv.SelectedCells.Count == 0) return;
int idx = DgvAgv.SelectedCells[0].RowIndex; int idx = DgvAgv.SelectedCells[0].RowIndex;
if (idx < 0) return; if (idx < 0) return;
Common.CalculateNearNode(Common.agvInfo[idx],"E"); Common.CalculateNearNode(Common.agvInfo[idx], "E");
} }
private void btnUpdateStatus_Click(object sender, EventArgs e) private void btnUpdateStatus_Click(object sender, EventArgs e)
...@@ -680,7 +694,7 @@ namespace AGVControl ...@@ -680,7 +694,7 @@ namespace AGVControl
if (idx < 0) return; if (idx < 0) return;
Task.Factory.StartNew(() => Task.Factory.StartNew(() =>
{ {
idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A6)); idx = Common.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A6));
if (idx > -1) if (idx > -1)
{ {
AGVManager.UpdateStatus(txtBoxRFID.Text.ToUpper(), Common.agvInfo[idx].Place); AGVManager.UpdateStatus(txtBoxRFID.Text.ToUpper(), Common.agvInfo[idx].Place);
...@@ -693,5 +707,10 @@ namespace AGVControl ...@@ -693,5 +707,10 @@ namespace AGVControl
MessageBox.Show("手动上报状态失败：" + ex.Message + "\r\n" + ex.StackTrace); MessageBox.Show("手动上报状态失败：" + ex.Message + "\r\n" + ex.StackTrace);
} }
} }
private void dgvLineMission_Click(object sender, EventArgs e)
{
ShowEmptyTask();
}
} }
} }
AGVControl-ProductionLine/Program.cs
...@@ -54,7 +54,7 @@ namespace AGVControl ...@@ -54,7 +54,7 @@ namespace AGVControl
// Common.CheckAGVMissionState(); // Common.CheckAGVMissionState();
//获取节点位置 //获取节点位置
//Common.GetNodesPosition(); Common.GetNodesPosition();
Common.control.Start(); Common.control.Start();
Common.server = new AgvServer(); Common.server = new AgvServer();
Common.server.Start(); Common.server.Start();
......
AGVControl-ProductionLine/bean/Agv_Info.cs
...@@ -118,7 +118,11 @@ namespace AGVControl ...@@ -118,7 +118,11 @@ namespace AGVControl
/// <summary> /// <summary>
/// 任务内容 /// 任务内容
/// </summary> /// </summary>
public string Msg { get; set; } public string Msg
{
get;
set;
} = "";
/// <summary> /// <summary>
/// 当前任务 /// 当前任务
/// </summary> /// </summary>
...@@ -165,19 +169,19 @@ namespace AGVControl ...@@ -165,19 +169,19 @@ namespace AGVControl
tmpJob = (SendFullShelfToLineJob)CurJob; tmpJob = (SendFullShelfToLineJob)CurJob;
if (RFID.StartsWith("C")) if (RFID.StartsWith("C"))
{ {
return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurTaskName:{4}{0}RunStep:{5}{0}BoxDestInfo:{6}{0}GetRack:{7}{0}RunInfo:{8}", "\r\n", Name, RFID,CurJob.ToString(), CurTaskName,Msg, BoxDestInfo, BLL.AGVManager.GetRackBy(RFID),MissionText); return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurTaskName:{4}{0}RunInfo:{5}{0}BoxDestInfo:{6}{0}GetRack:{7}{0}MissionText:{8}", "\r\n", Name, RFID, CurJob.ToString(), CurTaskName, Msg, BoxDestInfo, BLL.AGVManager.GetRackBy(RFID), MissionText);
} }
else if (!RFID.Equals("")) else if (!RFID.Equals(""))
{ {
return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurTaskName:{4}{0}RunStep:{5}{0}BoxDestInfo:{6}{0}RunInfo:{7}", "\r\n", Name, RFID, CurJob.ToString(), CurTaskName, Msg, BoxDestInfo,MissionText); return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurTaskName:{4}{0}RunInfo:{5}{0}BoxDestInfo:{6}{0}MissionText:{7}", "\r\n", Name, RFID, CurJob.ToString(), CurTaskName, Msg, BoxDestInfo, MissionText);
} }
else else
return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurTaskName:{4}{0}RunStep:{5}{0}RunInfo:{6}", "\r\n", Name, RFID, CurJob.ToString(), CurTaskName, Msg,MissionText); return string.Format("Name:{1}{0}RFID:{2}{0}CurJob:{3}{0}CurTaskName:{4}{0}RunInfo:{5}{0}MissionText:{6}", "\r\n", Name, RFID, CurJob.ToString(), CurTaskName, Msg, MissionText);
} }
else else
return string.Format("Name:{1}{0}RFID:{2}{0}CurTaskName:{3}{0}RunInfo:{4}", "\r\n", Name, RFID, CurTaskName,MissionText); return string.Format("Name:{1}{0}RFID:{2}{0}CurTaskName:{3}{0}MissionText:{4}", "\r\n", Name, RFID, CurTaskName, MissionText);
} }
public Agv_Info(string id, string name, string ip, string authorization, string ioID, bool isUse, string rfid) public Agv_Info(string id, string name, string ip, string authorization, string ioID, bool isUse, string rfid)
{ {
...@@ -232,7 +236,7 @@ namespace AGVControl ...@@ -232,7 +236,7 @@ namespace AGVControl
IsExistShelf = input[3]; IsExistShelf = input[3];
} }
} }
if (!StateID.Equals(stateID) || !CurTaskState.Equals(stateText) if (!StateID.Equals(stateID) || !CurTaskState.Equals(stateText) || !Battery.Equals(battery)
|| !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState)) || !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState))
isChange = true; isChange = true;
StateID = stateID; StateID = stateID;
...@@ -245,7 +249,7 @@ namespace AGVControl ...@@ -245,7 +249,7 @@ namespace AGVControl
public void GetPlace(int value) public void GetPlace(int value)
{ {
// Common.log.Debug(Name + " PLC20=" + value); // Common.log.Debug(Name + " PLC20=" + value);
if (value == 0) if (value == 0)
{ {
Place = ""; Place = "";
...@@ -289,7 +293,7 @@ namespace AGVControl ...@@ -289,7 +293,7 @@ namespace AGVControl
s.Add(CurTaskState); s.Add(CurTaskState);
s.Add(RFID); s.Add(RFID);
//s.Add(Msg); //s.Add(Msg);
// s.Add(MissionText); // s.Add(MissionText);
s.Add(PlaceAliceName); s.Add(PlaceAliceName);
//s.Add(Place); //s.Add(Place);
s.Add(PlaceState.ToString()); s.Add(PlaceState.ToString());
......
AGVControl-ProductionLine/bean/Job.cs
...@@ -13,11 +13,9 @@ namespace AGVControl ...@@ -13,11 +13,9 @@ namespace AGVControl
/// <summary> /// <summary>
/// 任务是否结束 /// 运行信息
/// </summary> /// </summary>
/// <returns></returns> public abstract string RunInfo { get; }
public abstract bool IsEnd { get; }
/// <summary> /// <summary>
/// 根据任务状态继续执行任务 /// 根据任务状态继续执行任务
/// </summary> /// </summary>
......
AGVControl-ProductionLine/bean/job/EmptyAGVBackJob.cs
...@@ -31,10 +31,15 @@ namespace AGVControl ...@@ -31,10 +31,15 @@ namespace AGVControl
/// </summary> /// </summary>
private string agvPlace { get; set; } private string agvPlace { get; set; }
private string runInfo = "";
/// <summary> /// <summary>
/// 到达待机位 /// 运行信息
/// </summary> /// </summary>
public override bool IsEnd { get { return EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.END); } } public override string RunInfo
{
get { return runInfo; }
}
private JobStep<EMPTY_AGV_BACK_STEP> EmptyAGVBackStep = new JobStep<EMPTY_AGV_BACK_STEP>(EMPTY_AGV_BACK_STEP.NONE); private JobStep<EMPTY_AGV_BACK_STEP> EmptyAGVBackStep = new JobStep<EMPTY_AGV_BACK_STEP>(EMPTY_AGV_BACK_STEP.NONE);
...@@ -44,31 +49,61 @@ namespace AGVControl ...@@ -44,31 +49,61 @@ namespace AGVControl
/// <param name="agv"></param> /// <param name="agv"></param>
public override Job Execute(Agv_Info agv) public override Job Execute(Agv_Info agv)
{ {
string msg = agv.Name+" "; string msg = agv.Name + " ";
bool rtn = false; bool rtn = false;
agv.Msg = EmptyAGVBackStep.Msg; agv.Msg = runInfo;
if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.NONE)) if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.NONE))
{ {
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));
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);
}
else
{
if (agvPlace.StartsWith("G"))
{
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);
}
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);
}
}
//EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.END); //EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.END);
msg = "小车在产线 " + agvPlace + " 准备返回时检测到 " + nodeName + " 有空料架";
EmptyAGVBackStep.Msg = msg;
return new GoEmptyShelfLineJob(agvPlace, nodeName);
} }
else else
{ {
if (agvPlace.StartsWith("G")) if (agvPlace.StartsWith("G"))
{ {
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR); EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
msg = "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;
EmptyAGVBackStep.Msg = msg; EmptyAGVBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD); Common.DoorMission(agv, SettingString.DoorCToD);
} }
else else
{ {
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY); EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
msg = "从产线" + agvPlace + "回待机位"; 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);
} }
...@@ -81,13 +116,15 @@ namespace AGVControl ...@@ -81,13 +116,15 @@ namespace AGVControl
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)
{ {
msg = "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;
EmptyAGVBackStep.Msg = msg; EmptyAGVBackStep.Msg = msg;
return new ChargeJob(""); return new ChargeJob("");
} }
else else
{ {
msg = "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;
EmptyAGVBackStep.Msg = msg; EmptyAGVBackStep.Msg = msg;
return job; return job;
} }
...@@ -97,7 +134,8 @@ namespace AGVControl ...@@ -97,7 +134,8 @@ namespace AGVControl
{ {
if (Common.FindFullShelfTask(agv)) if (Common.FindFullShelfTask(agv))
{ {
msg = "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;
EmptyAGVBackStep.Msg = msg; EmptyAGVBackStep.Msg = msg;
return new GoFullShelfStationJob(SettingString.Standby); return new GoFullShelfStationJob(SettingString.Standby);
} }
...@@ -116,13 +154,15 @@ namespace AGVControl ...@@ -116,13 +154,15 @@ namespace AGVControl
{ {
if (Common.FindFullShelfTask(agv)) if (Common.FindFullShelfTask(agv))
{ {
msg = "从产线" + agvPlace + "到达4D门，检测到A6出满料，去A6"; runInfo= "从产线" + agvPlace + "到达4D门，检测到A6出满料，去A6";
msg += runInfo;
EmptyAGVBackStep.Msg = msg; EmptyAGVBackStep.Msg = msg;
return new GoFullShelfStationJob(SettingString.D4_DOOR_Name); return new GoFullShelfStationJob(SettingString.D4_DOOR_Name);
} }
else else
{ {
msg = "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;
EmptyAGVBackStep.Msg = msg; EmptyAGVBackStep.Msg = msg;
return new ChargeJob(SettingString.D4_DOOR_Name); return new ChargeJob(SettingString.D4_DOOR_Name);
} }
......
AGVControl-ProductionLine/bean/job/EmptyShelfBackJob.cs
...@@ -42,7 +42,15 @@ namespace AGVControl ...@@ -42,7 +42,15 @@ namespace AGVControl
private eShelfType shelfType; private eShelfType shelfType;
public override bool IsEnd { get { return EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.END); } } private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return runInfo; }
}
private JobStep<EMPTY_SHELF_BACK_STEP> EmptyBackStep = new JobStep<EMPTY_SHELF_BACK_STEP>(EMPTY_SHELF_BACK_STEP.NONE); private JobStep<EMPTY_SHELF_BACK_STEP> EmptyBackStep = new JobStep<EMPTY_SHELF_BACK_STEP>(EMPTY_SHELF_BACK_STEP.NONE);
...@@ -52,15 +60,16 @@ namespace AGVControl ...@@ -52,15 +60,16 @@ namespace AGVControl
/// <param name="agv"></param> /// <param name="agv"></param>
public override Job Execute(Agv_Info agv) public override Job Execute(Agv_Info agv)
{ {
string msg = ""; string msg = agv.Name+ " ";
bool rtn = false; bool rtn = false;
agv.Msg = EmptyBackStep.Msg; agv.Msg = runInfo;
if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE)) if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
{ {
if (EmptyShelfPlace.StartsWith("G"))//4车间 if (EmptyShelfPlace.StartsWith("G"))//4车间
{ {
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR); EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR);
msg = "空料架从产线" + EmptyShelfPlace + "前往4D门"; runInfo= "空料架从产线" + EmptyShelfPlace + "前往4D门";
msg += runInfo;
EmptyBackStep.Msg = msg; EmptyBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD); Common.DoorMission(agv, SettingString.DoorCToD);
} }
...@@ -70,7 +79,8 @@ namespace AGVControl ...@@ -70,7 +79,8 @@ 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);
msg = "空料架从产线 [" + EmptyShelfPlace + "] 送往双层线" + EmptyShelfTargetPlace; runInfo= "空料架从产线 [" + EmptyShelfPlace + "] 送往双层线" + EmptyShelfTargetPlace;
msg += runInfo;
EmptyBackStep.Msg = msg; EmptyBackStep.Msg = msg;
if (!EmptyShelfTargetPlace.Equals("")) if (!EmptyShelfTargetPlace.Equals(""))
Common.MoveToNode(agv, EmptyShelfTargetPlace); Common.MoveToNode(agv, EmptyShelfTargetPlace);
...@@ -78,7 +88,8 @@ namespace AGVControl ...@@ -78,7 +88,8 @@ namespace AGVControl
else else
{ {
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY); EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
msg = "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;
EmptyBackStep.Msg = msg; EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby); Common.MoveToNode(agv, SettingString.Standby);
} }
...@@ -92,14 +103,16 @@ namespace AGVControl ...@@ -92,14 +103,16 @@ 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);
msg = "空料架从产线 [" + EmptyShelfPlace + "] 送往双层线" + EmptyShelfTargetPlace; runInfo= "空料架从产线 [" + EmptyShelfPlace + "] 送往双层线" + EmptyShelfTargetPlace;
msg += runInfo;
EmptyBackStep.Msg = msg; EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfTargetPlace); Common.MoveToNode(agv, EmptyShelfTargetPlace);
} }
else else
{ {
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY); EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
msg = "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;
EmptyBackStep.Msg = msg; EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby); Common.MoveToNode(agv, SettingString.Standby);
} }
...@@ -111,7 +124,8 @@ namespace AGVControl ...@@ -111,7 +124,8 @@ 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);
msg = "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;
EmptyBackStep.Msg = msg; EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfTargetPlace); Common.MoveToNode(agv, EmptyShelfTargetPlace);
} }
...@@ -124,7 +138,8 @@ namespace AGVControl ...@@ -124,7 +138,8 @@ namespace AGVControl
//EmptyBackStep.Msg = msg; //EmptyBackStep.Msg = msg;
//return new EnterLeaveShelfJob(EmptyShelfTargetPlace,eEnterLeaveType.Leave,shelfType); //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);
msg = "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;
EmptyBackStep.Msg = msg; EmptyBackStep.Msg = msg;
Common.server.ReadyEnter(EmptyShelfTargetPlace); Common.server.ReadyEnter(EmptyShelfTargetPlace);
} }
...@@ -138,7 +153,8 @@ namespace AGVControl ...@@ -138,7 +153,8 @@ namespace AGVControl
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);
msg = "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";
msg += runInfo;
EmptyBackStep.Msg = msg; EmptyBackStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : ""; agv.TaskSend = rtn ? "Leave" : "";
...@@ -148,13 +164,14 @@ namespace AGVControl ...@@ -148,13 +164,14 @@ namespace AGVControl
else if (EmptyBackStep.IsTimeOut(15000, out double timeOutValue)) else if (EmptyBackStep.IsTimeOut(15000, out double timeOutValue))
{ {
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6); EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
msg = "AGV到达 " + EmptyShelfTargetPlace + "，15秒后重新向双层线发送入料架请求[ReadyEnter]"; 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; EmptyBackStep.Msg = msg;
} }
} }
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))
{ {
if (agv.Place.Equals(EmptyShelfTargetPlace) && agv.PlaceState.Equals(ePlaceState.LeaveFinish)) if (Common.CheckEnterOrLeaveFinished(agv,"Leave",agv.CurTaskGUID))
{ {
//EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.END); //EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.END);
...@@ -162,13 +179,15 @@ namespace AGVControl ...@@ -162,13 +179,15 @@ namespace AGVControl
Job job = Common.control.GetJob(agv); Job job = Common.control.GetJob(agv);
if (job != null) if (job != null)
{ {
msg += "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;
EmptyBackStep.Msg = msg; EmptyBackStep.Msg = msg;
return job; return job;
} }
else else
{ {
msg = "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;
EmptyBackStep.Msg = msg; EmptyBackStep.Msg = msg;
return new ChargeJob(SettingString.DoubleLine_Name_Prefix); return new ChargeJob(SettingString.DoubleLine_Name_Prefix);
} }
...@@ -177,7 +196,8 @@ namespace AGVControl ...@@ -177,7 +196,8 @@ namespace AGVControl
else if (EmptyBackStep.IsTimeOut(60000, out double timeOutValue)) else if (EmptyBackStep.IsTimeOut(60000, out double timeOutValue))
{ {
//链条停止 //链条停止
msg = "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"; 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; EmptyBackStep.Msg = msg;
} }
......
AGVControl-ProductionLine/bean/job/EnterLeaveShelfJob.cs
...@@ -53,15 +53,23 @@ namespace AGVControl ...@@ -53,15 +53,23 @@ namespace AGVControl
public eEnterLeaveType ActionType { get; set; } public eEnterLeaveType ActionType { get; set; }
private eShelfType shelfType; private eShelfType shelfType;
public override bool IsEnd { get { return EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.END); } } private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return runInfo; }
}
private JobStep<ENTER_LEAVE_SHELF_STEP> EnterLeaveShelfStep = new JobStep<ENTER_LEAVE_SHELF_STEP>(ENTER_LEAVE_SHELF_STEP.NONE); private JobStep<ENTER_LEAVE_SHELF_STEP> EnterLeaveShelfStep = new JobStep<ENTER_LEAVE_SHELF_STEP>(ENTER_LEAVE_SHELF_STEP.NONE);
public override Job Execute(Agv_Info agv) public override Job Execute(Agv_Info agv)
{ {
string msg = ""; string msg = agv.Name+ " ";
bool rtn = false; bool rtn = false;
agv.Msg = EnterLeaveShelfStep.Msg; agv.Msg = runInfo;
if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.NONE)) if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.NONE))
{ {
if (ActionType.Equals(eEnterLeaveType.Leave)) if (ActionType.Equals(eEnterLeaveType.Leave))
...@@ -71,7 +79,8 @@ namespace AGVControl ...@@ -71,7 +79,8 @@ namespace AGVControl
//EnterLeaveShelfStep.Msg = msg; //EnterLeaveShelfStep.Msg = msg;
//Common.server.ReadyEnter(LineName); //Common.server.ReadyEnter(LineName);
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE); EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE);
msg = LineName + "入料架，小车链条运行"; runInfo = LineName + "入料架，小车链条运行";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg; EnterLeaveShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : ""; agv.TaskSend = rtn ? "Leave" : "";
...@@ -83,7 +92,8 @@ namespace AGVControl ...@@ -83,7 +92,8 @@ namespace AGVControl
//EnterLeaveShelfStep.Msg = msg; //EnterLeaveShelfStep.Msg = msg;
//Common.server.ReadyLeave(LineName); //Common.server.ReadyLeave(LineName);
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE); EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE);
msg = LineName + "出料架，小车链条运行"; runInfo = LineName + "出料架，小车链条运行";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg; EnterLeaveShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
agv.TaskSend = rtn ? "Enter" : ""; agv.TaskSend = rtn ? "Enter" : "";
...@@ -96,7 +106,8 @@ namespace AGVControl ...@@ -96,7 +106,8 @@ namespace AGVControl
if (node.StateEquals(eNodeStatus.MayEnter)) if (node.StateEquals(eNodeStatus.MayEnter))
{ {
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE); EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE);
msg = "收到产线入料架请求[ReadyEnter]的响应, " + LineName + "入料架，小车链条运行"; runInfo= "收到产线入料架请求[ReadyEnter]的响应, " + LineName + "入料架，小车链条运行";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg; EnterLeaveShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : ""; agv.TaskSend = rtn ? "Leave" : "";
...@@ -104,7 +115,8 @@ namespace AGVControl ...@@ -104,7 +115,8 @@ namespace AGVControl
else if (EnterLeaveShelfStep.IsTimeOut(15000, out double timeOutValue)) else if (EnterLeaveShelfStep.IsTimeOut(15000, out double timeOutValue))
{ {
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.NONE); EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.NONE);
msg = "AGV到达 " + LineName + "，15秒后重新向产线发送入料架请求[ReadyEnter]"; runInfo = "AGV到达 " + LineName + "，15秒后重新向产线发送入料架请求[ReadyEnter]";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg; EnterLeaveShelfStep.Msg = msg;
} }
} }
...@@ -115,7 +127,8 @@ namespace AGVControl ...@@ -115,7 +127,8 @@ namespace AGVControl
if (node.StateEquals(eNodeStatus.MayLeave)) if (node.StateEquals(eNodeStatus.MayLeave))
{ {
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE); EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE);
msg = "收到产线出料架请求[ReadyLeave]的响应, " + LineName + "出料架，小车链条运行"; runInfo= "收到产线出料架请求[ReadyLeave]的响应, " + LineName + "出料架，小车链条运行";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg; EnterLeaveShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
agv.TaskSend = rtn ? "Enter" : ""; agv.TaskSend = rtn ? "Enter" : "";
...@@ -123,17 +136,19 @@ namespace AGVControl ...@@ -123,17 +136,19 @@ namespace AGVControl
else if (EnterLeaveShelfStep.IsTimeOut(15000, out double timeOutValue)) else if (EnterLeaveShelfStep.IsTimeOut(15000, out double timeOutValue))
{ {
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.NONE); EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.NONE);
msg = "AGV到达 " + LineName + "，15秒后重新向产线发送入料架请求[ReadyLeave]"; runInfo= "AGV到达 " + LineName + "，15秒后重新向产线发送入料架请求[ReadyLeave]";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg; EnterLeaveShelfStep.Msg = msg;
} }
} }
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE)) else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE))
{ {
if (agv.Place.Equals(LineName) && agv.PlaceState.Equals(ePlaceState.LeaveFinish)) if (Common.CheckEnterOrLeaveFinished(agv, "Leave", agv.CurTaskGUID))
{ {
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END); //EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
msg = "料架进入" + LineName + "完成 ["+RFID+"]"; runInfo= "料架进入" + LineName + "完成 [" + RFID + "]";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg; EnterLeaveShelfStep.Msg = msg;
agv.RFID = ""; agv.RFID = "";
return new EmptyAGVBackJob(LineName); return new EmptyAGVBackJob(LineName);
...@@ -142,26 +157,29 @@ namespace AGVControl ...@@ -142,26 +157,29 @@ namespace AGVControl
else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue)) else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
{ {
//链条停止 //链条停止
msg = "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"; 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; EnterLeaveShelfStep.Msg = msg;
} }
} }
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE)) else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE))
{ {
if (agv.Place.Equals(LineName) && agv.PlaceState.Equals(ePlaceState.EnterFinish)) if (Common.CheckEnterOrLeaveFinished(agv, "Enter", agv.CurTaskGUID))
{ {
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END); //EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
msg = "料架在" + LineName + "出去完成 [" + RFID + "]"; runInfo = "料架在" + LineName + "出去完成 [" + RFID + "]";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg; EnterLeaveShelfStep.Msg = msg;
Common.DelEmptyShelfTask(LineName); Common.DelEmptyShelfTask(LineName);
return new EmptyShelfBackJob(LineName,shelfType); return new EmptyShelfBackJob(LineName,eShelfType.BigShelf);
} }
else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue)) else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
{ {
//链条停止 //链条停止
msg = "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"; 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; EnterLeaveShelfStep.Msg = msg;
} }
......
AGVControl-ProductionLine/bean/job/GoEmptyShelfLineJob.cs
...@@ -36,7 +36,15 @@ namespace AGVControl ...@@ -36,7 +36,15 @@ namespace AGVControl
private string agvPlae { get; set; } private string agvPlae { get; set; }
public override bool IsEnd { get { return TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.END); } } private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return runInfo; }
}
private JobStep<TAKE_EMPTY_STEP> TakeEmptyStep = new JobStep<TAKE_EMPTY_STEP>(TAKE_EMPTY_STEP.NONE); private JobStep<TAKE_EMPTY_STEP> TakeEmptyStep = new JobStep<TAKE_EMPTY_STEP>(TAKE_EMPTY_STEP.NONE);
...@@ -46,9 +54,9 @@ namespace AGVControl ...@@ -46,9 +54,9 @@ namespace AGVControl
/// <param name="agv"></param> /// <param name="agv"></param>
public override Job Execute(Agv_Info agv) public override Job Execute(Agv_Info agv)
{ {
string msg = agv.Name+" "; string msg = agv.Name + " ";
bool rtn = false; bool rtn = false;
agv.Msg = TakeEmptyStep.Msg; agv.Msg = runInfo;
int nodeIdx = Common.FindNode(EmptyShelfPlace); int nodeIdx = Common.FindNode(EmptyShelfPlace);
if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE)) if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
...@@ -56,22 +64,25 @@ namespace AGVControl ...@@ -56,22 +64,25 @@ namespace AGVControl
if (agvPlae.StartsWith("G") && EmptyShelfPlace.StartsWith("E"))//4C->4D if (agvPlae.StartsWith("G") && EmptyShelfPlace.StartsWith("E"))//4C->4D
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
msg += "去空料架产线" + EmptyShelfPlace + "，先前往4D门[" + agvPlae + "->" + EmptyShelfPlace + "]"; runInfo = "去空料架产线" + EmptyShelfPlace + "，先前往4D门[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD); Common.DoorMission(agv, SettingString.DoorCToD);
} }
else if ((agvPlae.StartsWith("E") || agvPlae.StartsWith("A")) else if ((agvPlae.StartsWith("E") || agvPlae.StartsWith("A") || agvPlae.StartsWith("I") || agvPlae.StartsWith("H"))
&& EmptyShelfPlace.StartsWith("G"))//4D->4C && EmptyShelfPlace.StartsWith("G"))//4D->4C
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
msg += "去空料架产线" + EmptyShelfPlace + "，先前往4C门[" + agvPlae + "->" + EmptyShelfPlace + "]"; runInfo= "去空料架产线" + EmptyShelfPlace + "，先前往4C门[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC); Common.DoorMission(agv, SettingString.DoorDToC);
} }
else else
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
msg += "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 + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
} }
} }
...@@ -80,7 +91,8 @@ namespace AGVControl ...@@ -80,7 +91,8 @@ namespace AGVControl
if (Common.CheckTaskFinished(agv, SettingString.DoorDToC, agv.CurTaskGUID)) if (Common.CheckTaskFinished(agv, SettingString.DoorDToC, agv.CurTaskGUID))
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
msg += "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 + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
} }
} }
...@@ -89,7 +101,8 @@ namespace AGVControl ...@@ -89,7 +101,8 @@ namespace AGVControl
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID)) if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, agv.CurTaskGUID))
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
msg += "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 + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
} }
} }
...@@ -99,14 +112,16 @@ namespace AGVControl ...@@ -99,14 +112,16 @@ 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);
msg += "AGV 添加任务：移动到" + EmptyShelfPlace; runInfo= "AGV 添加任务：移动到" + EmptyShelfPlace;
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfPlace); Common.MoveToNode(agv, EmptyShelfPlace);
} }
else else
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
msg += 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; TakeEmptyStep.Msg = msg;
} }
} }
...@@ -115,7 +130,8 @@ namespace AGVControl ...@@ -115,7 +130,8 @@ 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);
msg += "AGV开始向目的地[" + EmptyShelfPlace + "]移动"; runInfo= "AGV开始向目的地[" + EmptyShelfPlace + "]移动";
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
} }
} }
...@@ -125,14 +141,16 @@ namespace AGVControl ...@@ -125,14 +141,16 @@ namespace AGVControl
{ {
if (EmptyShelfPlace.Equals("G22")) if (EmptyShelfPlace.Equals("G22"))
{ {
msg += "AGV到达 " + EmptyShelfPlace; runInfo = "AGV到达 " + EmptyShelfPlace;
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
return new EnterLeaveShelfJob(EmptyShelfPlace, eEnterLeaveType.Enter); return new EnterLeaveShelfJob(EmptyShelfPlace, eEnterLeaveType.Enter);
} }
else else
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
msg += "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]";
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.server.ReadyLeave(EmptyShelfPlace); Common.server.ReadyLeave(EmptyShelfPlace);
} }
...@@ -141,13 +159,20 @@ namespace AGVControl ...@@ -141,13 +159,20 @@ 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)
{
runInfo= EmptyShelfPlace + " 未开启调用";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
ClientNode node = Common.nodeInfo[nodeIdx]; ClientNode node = Common.nodeInfo[nodeIdx];
if (node.StateEquals(eNodeStatus.MayLeave)) if (node.StateEquals(eNodeStatus.MayLeave))
{ {
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);
msg += "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";
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
agv.RFID = node.RFID; agv.RFID = node.RFID;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
...@@ -158,13 +183,14 @@ namespace AGVControl ...@@ -158,13 +183,14 @@ 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);
msg += "AGV到达 " + EmptyShelfPlace + "，15秒后重新向产线发送出料架请求[ReadyLeave]"; 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; 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))
{ {
if (agv.PlaceState.Equals(ePlaceState.EnterFinish)) if (Common.CheckEnterOrLeaveFinished(agv, "Enter", agv.CurTaskGUID))
{ {
ClientNode node = Common.nodeInfo[nodeIdx]; ClientNode node = Common.nodeInfo[nodeIdx];
node.AgvName = ""; node.AgvName = "";
...@@ -173,11 +199,14 @@ namespace AGVControl ...@@ -173,11 +199,14 @@ namespace AGVControl
//TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.END); //TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.END);
//if (shelfType.Equals(eShelfType.SmallShelf)) //if (shelfType.Equals(eShelfType.SmallShelf))
Common.DelEmptyShelfTask(EmptyShelfPlace); Common.DelEmptyShelfTask(EmptyShelfPlace);
msg += "空料架在[" + EmptyShelfPlace + "]进入小车完成"; runInfo= "空料架在[" + EmptyShelfPlace + "]进入小车完成";
msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
if(agv.RFID.StartsWith("D")) if (agv.Place.Equals("E22"))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf); return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
else if(agv.RFID.StartsWith("C")) else if (agv.RFID.StartsWith("D"))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
else if (agv.RFID.StartsWith("C"))
{ {
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf); return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
} }
...@@ -187,7 +216,8 @@ namespace AGVControl ...@@ -187,7 +216,8 @@ 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
msg += "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"; 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; TakeEmptyStep.Msg = msg;
} }
......
AGVControl-ProductionLine/bean/job/SendFullShelfToLineJob.cs
...@@ -43,30 +43,40 @@ namespace AGVControl ...@@ -43,30 +43,40 @@ namespace AGVControl
public bool IsIgnoreBigShelf { get; private set; } public bool IsIgnoreBigShelf { get; private set; }
public override bool IsEnd { get { return SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.END); } } private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return runInfo; }
}
private JobStep<SEND_FULL_SHELF_STEP> SendFullShelfStep = new JobStep<SEND_FULL_SHELF_STEP>(SEND_FULL_SHELF_STEP.NONE); private JobStep<SEND_FULL_SHELF_STEP> SendFullShelfStep = new JobStep<SEND_FULL_SHELF_STEP>(SEND_FULL_SHELF_STEP.NONE);
public override Job Execute(Agv_Info agv) public override Job Execute(Agv_Info agv)
{ {
string msg = ""; string msg = agv.Name+" ";
bool rtn = false; bool rtn = false;
agv.RFID = RFID; agv.RFID = RFID;
agv.Msg = SendFullShelfStep.Msg; agv.Msg = runInfo;
if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.NONE)) if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.NONE))
{ {
if(FullShelfPlace.StartsWith("G")) if(FullShelfPlace.StartsWith("G"))
{ {
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR); SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR);
msg = "满料架前往4C门，从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]"+ BoxDestInfo.ShowInfo(); runInfo = "满料架前往4C门，从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC); Common.DoorMission(agv, SettingString.DoorDToC);
} }
else else
{ {
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE); SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
msg = "满料架从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]" + BoxDestInfo.ShowInfo(); runInfo= "满料架从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
Common.MoveToNode(agv, FullShelfPlace); Common.MoveToNode(agv, FullShelfPlace);
} }
...@@ -78,7 +88,8 @@ namespace AGVControl ...@@ -78,7 +88,8 @@ namespace AGVControl
if (Common.CheckTaskFinished(agv,SettingString.DoorDToC,agv.CurTaskGUID)) if (Common.CheckTaskFinished(agv,SettingString.DoorDToC,agv.CurTaskGUID))
{ {
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE); SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
msg = "满料架从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]" + BoxDestInfo.ShowInfo(); runInfo= "满料架从双层线A6送往[" + FullShelfPlace + "][" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
Common.MoveToNode(agv, FullShelfPlace); Common.MoveToNode(agv, FullShelfPlace);
} }
...@@ -89,14 +100,16 @@ namespace AGVControl ...@@ -89,14 +100,16 @@ namespace AGVControl
{ {
if(FullShelfPlace.Equals("G21")) if(FullShelfPlace.Equals("G21"))
{ {
msg = "AGV到达 " + FullShelfPlace + "完成" + BoxDestInfo.ShowInfo(); runInfo= "AGV到达 " + FullShelfPlace + "完成";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
return new EnterLeaveShelfJob(FullShelfPlace, eEnterLeaveType.Leave); return new EnterLeaveShelfJob(FullShelfPlace, eEnterLeaveType.Leave);
} }
if (IsIgnoreBigShelf) if (IsIgnoreBigShelf)
{ {
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE); SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE);
msg = "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]" + BoxDestInfo.ShowInfo(); runInfo = "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
Common.server.ReadyEnter(FullShelfPlace); Common.server.ReadyEnter(FullShelfPlace);
} }
...@@ -105,13 +118,15 @@ namespace AGVControl ...@@ -105,13 +118,15 @@ namespace AGVControl
if (RFID.StartsWith("C") && !agv.Place.Equals("E21")) if (RFID.StartsWith("C") && !agv.Place.Equals("E21"))
{ {
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK); SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK);
msg = "AGV到达 " + FullShelfPlace + "，并等待大料架[" + RFID + "]解绑" + BoxDestInfo.ShowInfo(); runInfo= "AGV到达 " + FullShelfPlace + "，并等待大料架[" + RFID + "]解绑";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
} }
else else
{ {
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE); SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE);
msg = "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]" + BoxDestInfo.ShowInfo(); runInfo= "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
Common.server.ReadyEnter(FullShelfPlace); Common.server.ReadyEnter(FullShelfPlace);
} }
...@@ -122,9 +137,11 @@ namespace AGVControl ...@@ -122,9 +137,11 @@ namespace AGVControl
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK)) else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK))
{ {
Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output); Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
if (AGVManager.GetRackBy(RFID, out string lineName) || input[0]) System.Threading.Thread.Sleep(50);
if (AGVManager.GetRackBy(RFID, out string lineName) || (input!=null && input[0]))
{ {
msg = "大料架在" + FullShelfPlace + "解绑完成 [" + RFID + "]" + BoxDestInfo.ShowInfo(); runInfo= "大料架在" + FullShelfPlace + "解绑完成 [" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
return new EmptyShelfBackJob(FullShelfPlace,eShelfType.BigShelf); return new EmptyShelfBackJob(FullShelfPlace,eShelfType.BigShelf);
} }
...@@ -138,7 +155,8 @@ namespace AGVControl ...@@ -138,7 +155,8 @@ namespace AGVControl
if(!agv.CurTaskName.Equals("Leave")) if(!agv.CurTaskName.Equals("Leave"))
{ {
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE); SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE);
msg = "收到产线入料架请求[ReadyEnter]的响应 " + FullShelfPlace + "入料架，小车链条运行" + BoxDestInfo.ShowInfo(); runInfo= "收到产线入料架请求[ReadyEnter]的响应 " + FullShelfPlace + "入料架，小车链条运行";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : ""; agv.TaskSend = rtn ? "Leave" : "";
...@@ -148,15 +166,17 @@ namespace AGVControl ...@@ -148,15 +166,17 @@ namespace AGVControl
else if (SendFullShelfStep.IsTimeOut(15000, out double timeOutValue)) else if (SendFullShelfStep.IsTimeOut(15000, out double timeOutValue))
{ {
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE); SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
msg = "AGV到达 " + FullShelfPlace + "，15秒后重新向产线发送入料架请求[ReadyEnter]" + BoxDestInfo.ShowInfo(); runInfo= "AGV到达 " + FullShelfPlace + "，15秒后重新向产线发送入料架请求[ReadyEnter]";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
} }
} }
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE)) else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE))
{ {
if (agv.Place.Equals(FullShelfPlace) && agv.PlaceState.Equals(ePlaceState.LeaveFinish)) if (Common.CheckEnterOrLeaveFinished(agv, "Leave", agv.CurTaskGUID))
{ {
msg = "满料架进入" + FullShelfPlace + "完成 [" + RFID + "]" + BoxDestInfo.ShowInfo(); runInfo= "满料架进入" + FullShelfPlace + "完成 [" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg; SendFullShelfStep.Msg = msg;
agv.RFID = ""; agv.RFID = "";
AGVManager.UpdateStatus(RFID, FullShelfPlace); AGVManager.UpdateStatus(RFID, FullShelfPlace);
...@@ -165,7 +185,8 @@ namespace AGVControl ...@@ -165,7 +185,8 @@ 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
msg = "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; SendFullShelfStep.Msg = msg;
} }
......
AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4C.cs
...@@ -39,7 +39,7 @@ namespace AGVControl ...@@ -39,7 +39,7 @@ namespace AGVControl
emptyJobCnt++; emptyJobCnt++;
} }
} }
if ((SettingString.AGVCNT - emptyJobCnt).Equals(1))//保留一辆小车出满料架 if ((SettingString.AGVCNT - emptyJobCnt).Equals(2))//保留2辆小车出满料架
{ {
return null; return null;
} }
...@@ -74,31 +74,40 @@ namespace AGVControl ...@@ -74,31 +74,40 @@ namespace AGVControl
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) if (i > -1)
return null; return null;
}
//foreach (Agv_Info agv in Common.agvInfo)
//{
// if (agv.CurJob is GoFullShelfStationJob) //foreach (Agv_Info agv in Common.agvInfo)
// { //{
// return null;
// } // if (agv.CurJob is GoFullShelfStationJob)
//} // {
return new GoFullShelfStationJob(currentAgv.Place); // return null;
// }
//}
return new GoFullShelfStationJob(currentAgv.Place);
}
} }
//回收空料架 //回收空料架
if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName)) if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
{ {
foreach (Agv_Info agv in Common.agvInfo) if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{ {
if (!SettingString.C4_AGV_IPs.Contains(agv.IP)) int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
continue; if (i > -1)
if (agv.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)agv.CurJob).EmptyShelfPlace.Equals(emptyNodeName))
{
return null; 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);
} }
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
} }
return null; return null;
} }
......
AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4D.cs
...@@ -41,14 +41,14 @@ namespace AGVControl ...@@ -41,14 +41,14 @@ namespace AGVControl
emptyJobCnt++; emptyJobCnt++;
} }
} }
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(1))//保留一辆小车出满料架 if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(2))//保留两辆小车出满料架
{ {
return null; 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))
{ {
if (nodeName.StartsWith("E") && !SettingString.C4_AGV_IPs.Contains(currentAgv.IP)) if (nodeName.StartsWith("E") && !SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{ {
ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName)); ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName));
int cnt = 0; int cnt = 0;
...@@ -74,27 +74,35 @@ namespace AGVControl ...@@ -74,27 +74,35 @@ namespace AGVControl
{ {
if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP)) if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{ {
int i = Common.agvInfo.FindIndex(s=>s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP)); int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
if(i>-1) if (i > -1)
return null; return null;
}
return new GoFullShelfStationJob(currentAgv.Place);
return new GoFullShelfStationJob(currentAgv.Place);
}
} }
//回收空料架 //回收空料架
if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName)) if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
{ {
foreach (Agv_Info agv in Common.agvInfo) if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{ {
if (SettingString.C4_AGV_IPs.Contains(agv.IP)) int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(emptyNodeName));
continue; if (i > -1)
if (agv.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)agv.CurJob).EmptyShelfPlace.Equals(emptyNodeName))
{
return null; 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);
} }
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
} }
return null; return null;
} }
......
AGVControl-ProductionLine/obj/Debug/AGVControl-ProductionLine.csproj.FileListAbsolute.txt
...@@ -54,4 +54,3 @@ D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl-Qisda-ProductionLine ...@@ -54,4 +54,3 @@ 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\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\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 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
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