0729

AGVControl-ProductionLine/BLL/AgvServer.cs

@@ -120,6 +120,42 @@ namespace BLL
             }
         }
 
+        public bool FinishEnter(string nodeName, string rfid = "")
+        {
+            int nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
+            string ip = Common.nodeInfo[nodeIdx].IP;
+            int idx = FindClient(ip);
+            if (idx == -1)
+            {
+                Common.LogInfo("FinishEnter 没有找到" + nodeName + " " + ip);
+                return false;
+            }
+            else
+            {
+                ClientNode node = new ClientNode(nodeName, rfid, ClientAction.FinishEnter);
+                byte[] buff = Encode(node);
+                return Send(idx, buff);
+            }
+        }
+
+        public bool FinishLeave(string nodeName, string rfid = "")
+        {
+            int nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
+            string ip = Common.nodeInfo[nodeIdx].IP;
+            int idx = FindClient(ip);
+            if (idx == -1)
+            {
+                Common.LogInfo("FinishLeave 没有找到" + nodeName + " " + ip);
+                return false;
+            }
+            else
+            {
+                ClientNode node = new ClientNode(nodeName, rfid, ClientAction.FinishLeave);
+                byte[] buff = Encode(node);
+                return Send(idx, buff);
+            }
+        }
+
 
         private void KeepLiveClient()
         {

AGVControl-ProductionLine/BLL/Common.cs

@@ -360,9 +360,9 @@ namespace AGVControl
                 s[4] = RFID;
                 s[5] = AgvName;
             }
-            s[6] = Online.ToString();
-            s[7] = IsUse.ToString();
-            s[8] = "Clear";
+            s[6] = Online?"在线":"离线";
+            s[7] = IsUse?"是":"否";
+            s[8] = "清除";
             return s;
         }
 
@@ -493,19 +493,25 @@ namespace AGVControl
         /// 当前位置
         /// </summary>
         public clsPosition Position;
-        public Agv_Info(string id, string name, string ip, string authorization, string ioID, bool isUse)
+
+        /// <summary>
+        /// 任务内容
+        /// </summary>
+        public string Msg { get; set; }
+        public Agv_Info(string id, string name, string ip, string authorization, string ioID, bool isUse,string rfid)
         {
             ID = id;
             Name = name;
             IP = ip;
             Authorization = authorization;
             IOID = ioID;
-            RFID = "";
+            RFID = rfid;
             IsCon = false;
             IsUse = isUse;
             Place = "";
             TaskSend = "";
             NextPlace = "";
+            Msg = "";
             DockingInfo.IsDocking = false;
             DockingInfo.startTime = DateTime.Now;
             Position = new Agv_Info.clsPosition();
@@ -597,6 +603,7 @@ namespace AGVControl
             {
                 s.Add(StateText);
                 s.Add(RFID);
+                s.Add(Msg);
                 s.Add(MissionText);
                 s.Add(PlaceAliceName);
                 s.Add(PlaceState.ToString());
@@ -612,13 +619,13 @@ namespace AGVControl
             }
             else
             {
-                s.AddRange(new List<string> { "", "", "", "", "", "" });
+                s.AddRange(new List<string> { "", "","", "", "", "", "" });
             }
             s.Add(IsExistShelf ? "满载" : "空载");
-            s.Add(IsCon.ToString());
+            s.Add(IsCon?"在线":"离线");
             s.Add(Battery + "%");
-            s.Add(IsUse.ToString());
-            s.Add("Clear");
+            s.Add(IsUse?"是":"否");
+            s.Add("清空");
 
             return s.ToArray();
         }

AGVControl-ProductionLine/BLL/MiR_API.cs

@@ -169,11 +169,12 @@ namespace BLL
         /// <param name="info"></param>
         /// <param name="mission_id"></param>
         /// <returns></returns>
-        public bool Add_Mission(Agv_Info info, string mission_id)
+        public bool Add_Mission(Agv_Info info, string mission_id, bool isRemovePreMission = true)
         {
             try
             {
                 //防止上一个任务已执行但返回失败时，删除任务
+              //  if (isRemovePreMission)
                     Del_Mission(info);
 
                 string url = "http://" + info.IP + "/api/v2.0.0/mission_queue";
@@ -204,11 +205,12 @@ namespace BLL
         /// <param name="info"></param>
         /// <param name="mission_id"></param>
         /// <returns></returns>
-        public bool Add_Mission_Fleet(Agv_Info info, string mission_id)
+        public bool Add_Mission_Fleet(Agv_Info info, string mission_id, bool isRemovePreMission = true)
         {
             try
             {
                 //防止上一个任务已执行但返回失败时，删除任务
+                //if (isRemovePreMission)
                     Del_Mission(info);
 
                 string ip = Common.appConfig.AppSettings.Settings["FLEET"].Value;

AGVControl-ProductionLine/FrmMain.cs

@@ -38,6 +38,8 @@ namespace AGVControl
             {
                 n = DgvAgv.Rows.Add(Common.agvInfo[i].ToRow());
                 DgvAgv.Rows[n].HeaderCell.Value = (n + 1).ToString();
+                if (i % 2 == 0)
+                    DgvAgv.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
                 if (!Common.agvInfo[i].IsCon)
                     DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
             }
@@ -52,6 +54,8 @@ namespace AGVControl
             {
                 n = DgvNode.Rows.Add(Common.nodeInfo[i].ToRow());
                 DgvNode.Rows[n].HeaderCell.Value = (n + 1).ToString();
+                if (i % 2 == 0)
+                    DgvNode.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
                 if (!Common.nodeInfo[i].Online)
                     DgvNode.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
             }
@@ -84,12 +88,6 @@ namespace AGVControl
             {
                 DgvAgv.Rows[agvIndex].SetValues(Common.agvInfo[agvIndex].ToRow());
             }));
-            if (!Common.missionManager.AGV_Name_EmptyTask.Equals(""))
-                Invoke(new Action(() =>
-                {
-                    txtBoxAGV_EmptyTask.Text = Common.missionManager.AGV_Name_EmptyTask;
-                }));
-            ShowEmptyTask();
             try
             {
                 Invoke(new Action(() =>
@@ -119,6 +117,11 @@ namespace AGVControl
 
         private void ItemExit_Click(object sender, EventArgs e)
         {
+            foreach (var item in Common.agvInfo)
+            {
+                Common.appConfig.AppSettings.Settings[item.Name].Value = item.IsUse.ToString() + "," + item.RFID;
+                Common.appConfig.Save();
+            }
             notify.Dispose();
             exit = true;
             Close();
@@ -130,6 +133,16 @@ namespace AGVControl
             if (WindowState == FormWindowState.Minimized)
                 WindowState = FormWindowState.Normal;
         }
+        private void Control_AgvMissionChanged()
+        {
+            if (!Common.missionManager.AGV_Name_EmptyTask.Equals(""))
+                Invoke(new Action(() =>
+                {
+                    //txtBoxAGV_EmptyTask.Text = Common.missionManager.AGV_Name_EmptyTask;
+                    groupBox1.Text = "产线任务[" + Common.missionManager.AGV_Name_EmptyTask + "]";
+                }));
+            ShowEmptyTask();
+        }
 
         private void FrmMain_Load(object sender, EventArgs e)
         {
@@ -152,6 +165,7 @@ namespace AGVControl
             change = false;
             Common.control.AgvChanged += Control_AgvChanged;
             Common.control.AgvOnline += Control_AgvOnline;
+            Common.control.AgvMissionChanged += Control_AgvMissionChanged;
             Common.server.NodeChanged += Server_NodeChanged;
             Common.server.NodeOnline += Server_NodeOnline;
             foreach (var item in Common.agvInfo)
@@ -169,6 +183,12 @@ namespace AGVControl
                 e.Cancel = true;
                 Hide();
             }
+            foreach (var item in Common.agvInfo)
+            {
+                Common.appConfig.AppSettings.Settings[item.Name].Value = item.IsUse.ToString() + "," + item.RFID;
+                Common.appConfig.Save();
+            }
+
             showTimer.Enabled = false;
             showTimer.Stop();
             Common.control.AgvChanged -= Control_AgvChanged;
@@ -181,14 +201,14 @@ namespace AGVControl
         {
             if (e.RowIndex == -1) return;
 
-            if (e.ColumnIndex == 11)  //调用
+            if (e.ColumnIndex == 12)  //调用
             {
                 Common.agvInfo[e.RowIndex].IsUse = !Common.agvInfo[e.RowIndex].IsUse;
                 DgvAgv.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = Common.agvInfo[e.RowIndex].IsUse.ToString();
-                Common.appConfig.AppSettings.Settings[Common.agvInfo[e.RowIndex].Name].Value = Common.agvInfo[e.RowIndex].IsUse.ToString();
+                Common.appConfig.AppSettings.Settings[Common.agvInfo[e.RowIndex].Name].Value = Common.agvInfo[e.RowIndex].IsUse.ToString()+","+ Common.agvInfo[e.RowIndex].RFID;
                 Common.appConfig.Save();
             }
-            else if (e.ColumnIndex == 12)  //清除缓存
+            else if (e.ColumnIndex == 13)  //清除缓存
             {
                 //清除小车缓存
                 Common.LogInfo(string.Format("手动清除agv缓存，{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].Place));
@@ -199,6 +219,7 @@ namespace AGVControl
                 Common.agvInfo[e.RowIndex].NextPlace = "";
                 Common.agvInfo[e.RowIndex].NextPlaceAliceName = "";
                 Common.agvInfo[e.RowIndex].TaskSend = "";
+                Common.agvInfo[e.RowIndex].Msg = "";
                 //清除执行空架任务的小车
                 if (Common.missionManager.AGV_Name_EmptyTask == Common.agvInfo[e.RowIndex].Name)
                     Common.missionManager.AGV_Name_EmptyTask = "";
@@ -273,6 +294,7 @@ namespace AGVControl
             if (idx < 0) return;
             if (Common.agvInfo[idx].IsCon)
                 Common.mir.State_Pause(Common.agvInfo[idx]);
+            Common.LogInfo("手动暂停：[" + Common.agvInfo[idx].Name + "]");
         }
 
         private void BtnMissionAdd_Click(object sender, EventArgs e)
@@ -286,6 +308,7 @@ namespace AGVControl
                 if (!rtn)
                     return;
                 //Common.agvInfo[idx].TaskSend = LstAgvPlace.Text;
+                Common.LogInfo("手动添加任务：[" + Common.agvInfo[idx].Name + "][" + Common.showNameMissionName[LstAgvPlace.Text] + "]");
             }
 
         }
@@ -297,6 +320,7 @@ namespace AGVControl
             if (idx < 0) return;
             if (Common.agvInfo[idx].IsCon)
                 Common.mir.Clear_Error(Common.agvInfo[idx]);
+            Common.LogInfo("手动清除错误：[" + Common.agvInfo[idx].Name + "]");
         }
 
         private void ShowTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
@@ -488,8 +512,9 @@ namespace AGVControl
             if (Common.agvInfo[idx].IsCon)
             {
                 Common.agvInfo[idx].RFID = txtAgvRFID.Text.ToUpper();
-                Common.LogInfo("设置 " + Common.agvInfo[idx].Name +" RFID="+ txtAgvRFID.Text);
+                Common.LogInfo("手动设置 " + Common.agvInfo[idx].Name +" RFID="+ txtAgvRFID.Text);
             }
         }
+
     }
 }

AGVControl-ProductionLine/FrmMain.resx

@@ -129,6 +129,9 @@
   <metadata name="Column21.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>
+  <metadata name="Column25.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
+    <value>True</value>
+  </metadata>
   <metadata name="Column14.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
     <value>True</value>
   </metadata>

AGVControl-ProductionLine/Program.cs

 using BLL;
 using log4net.Config;
+using log4net.Util.TypeConverters;
 using System;
 using System.Collections.Generic;
 using System.Diagnostics;
@@ -73,7 +74,7 @@ namespace AGVControl
             string[] line;
             string[] temp;
             bool isuse;
-
+            string rfid = "";
             Common.appConfig = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
 
             Common.agvInfo = new List<Agv_Info>();
@@ -83,8 +84,10 @@ namespace AGVControl
             {
                 temp = line[i].Split(',');
                 if (temp.Length != 5) continue;
-                isuse = Convert.ToBoolean(Common.appConfig.AppSettings.Settings[temp[1]].Value);
-                Common.agvInfo.Add(new Agv_Info(temp[0], temp[1], temp[2], temp[3], temp[4], isuse));
+                string val = Common.appConfig.AppSettings.Settings[temp[1]].Value;
+                isuse = Convert.ToBoolean(val.Split(',')[0]);
+                rfid = val.Split(',')[1];
+                Common.agvInfo.Add(new Agv_Info(temp[0], temp[1], temp[2], temp[3], temp[4], isuse,rfid));
             }
 
             Common.agvMission = new Dictionary<string, string>();

AGVControl-ProductionLine/bin/Debug/logs/AgvServer.log2020-07-21

+[2020-07-21 10:14:31,645][1]INFO  =====程序开始=====

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

-2938b01b9d0da9b4db34a54b73f7f95a0ffd690c
+703b23de66e95abf710a9ef1ba85365aa3755d48

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

@@ -34,3 +34,17 @@ C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug
 C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\Newtonsoft.Json.dll
 C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csproj.CoreCompileInputs.cache
 C:\ZDL\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csprojAssemblyReference.cache
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\AGVControl-ProductionLine.exe.config
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\AGVControl-ProductionLine.exe
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\AGVControl-ProductionLine.pdb
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\Newtonsoft.Json.dll
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\RestSharp.dll
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\bin\Debug\RestSharp.xml
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl.FrmMain.resources
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl.Properties.Resources.resources
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csproj.GenerateResource.cache
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csproj.CoreCompileInputs.cache
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csproj.CopyComplete
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.exe
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.pdb
+C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csprojAssemblyReference.cache

WebServiceTest/Form1.Designer.cs

@@ -75,7 +75,7 @@
             this.button3.Name = "button3";
             this.button3.Size = new System.Drawing.Size(132, 54);
             this.button3.TabIndex = 3;
-            this.button3.Text = "访问";
+            this.button3.Text = "POST访问";
             this.button3.UseVisualStyleBackColor = true;
             this.button3.Click += new System.EventHandler(this.button3_Click);
             // 
@@ -86,7 +86,7 @@
             this.textBox1.Name = "textBox1";
             this.textBox1.Size = new System.Drawing.Size(497, 72);
             this.textBox1.TabIndex = 4;
-            this.textBox1.Text = "http://127.0.0.1/BenQMIR/Webservice/AGVService.asmx/CreateEmptyRecycleTask";
+            this.textBox1.Text = "http://10.85.199.1/BenQMIR/Webservice/AGVService.asmx/CreateEmptyRecycleTask";
             // 
             // textBox2
             //