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Commit 85238ee5 由 张东亮
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添加风淋门

1 个父辈 54be25c3
内嵌 并排
正在显示 14 个修改的文件 包含 519 行增加 和 259 行删除
AGVControl-ProductionLine/BLL/Common.cs
......@@ -24,6 +24,8 @@ namespace AGVControl
public const string CheckShelf = "CheckShelf";
public const string DoorDToC = "DoorDToC";
public const string DoorCToD = "DoorCToD";
public const string DoorAirIn = "DoorAirIn";
public const string DoorAirOut = "DoorAirOut";
public const string DoubleLine_Name_Prefix = "A";
public const string Wait = "Wait";
public const string Done = "Done";
......@@ -67,6 +69,8 @@ namespace AGVControl
public const string IP_4D_Light = "IP_4D_Light";
public const string IP_4C_Light = "IP_4C_Light";
public const string Lines_In_Air_Door = "C8,C9,C10";
}
......@@ -559,7 +563,15 @@ namespace AGVControl
agv.Place = doorName;
return Common.mir.Add_Mission_Fleet(agv, Common.agvMission[SettingString.Move + doorName]);
}
/// <summary>
/// 检查是否在4C风淋门内
/// </summary>
/// <param name="nodeName"></param>
/// <returns></returns>
public static bool CheckIsInAirDoor(string nodeName)
{
return SettingString.Lines_In_Air_Door.Contains(nodeName);
}
/// <summary>
/// 检查当前任务是否结束
/// </summary>
......@@ -596,11 +608,10 @@ namespace AGVControl
/// <param name="nodeName">出空料架的节点名</param>
/// <param name="emptyAGVbACK">agv空车返回，带一个料架</param>
/// <returns></returns>
public static bool FindEmptyShelfNode(Agv_Info agv, out string nodeName, out string rfid, bool emptyAGVbACK = false)
public static bool FindEmptyShelfNode(Agv_Info agv, out string nodeName, bool emptyAGVbACK = false)
{
nodeName = "";
rfid = "";
if (!Common.CheckCanExecuteMission(agv))
return false;
......@@ -614,14 +625,6 @@ namespace AGVControl
idx = nodeInfo.FindIndex(s => s.Name.Equals(FullShelfDestInfo.location) && s.EmptyShelfCnt > 0);
if (idx > -1)
{
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
if (FullShelfDestInfo.location.StartsWith(SettingString.C4_Name_Prefix) && SettingString.C4_AGV_IPs.Contains(agv.IP))
{
nodeName = FullShelfDestInfo.location;
......@@ -661,14 +664,6 @@ namespace AGVControl
if (idx > -1)
{
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
if (loc.StartsWith(SettingString.C4_Name_Prefix) && SettingString.C4_AGV_IPs.Contains(agv.IP))
{
nodeName = loc;
......@@ -701,15 +696,6 @@ namespace AGVControl
{
return false;
}
idx = nodeInfo.FindIndex(s => s.Name.Equals(nearNodeName));
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4C-" + nearNodeName);
return true;
......@@ -723,15 +709,6 @@ namespace AGVControl
{
return false;
}
idx = nodeInfo.FindIndex(s => s.Name.Equals(nearNodeName));
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4D-" + nearNodeName);
return true;
......@@ -753,15 +730,6 @@ namespace AGVControl
string nearNodeName = CalculateNearNode(agv, SettingString.C4_Name_Prefix);
if (!nearNodeName.Equals(""))
{
idx = nodeInfo.FindIndex(s => s.Name.Equals(nearNodeName));
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4C-" + nearNodeName);
return true;
......@@ -775,15 +743,6 @@ namespace AGVControl
string nearNodeName = CalculateNearNode(agv, SettingString.D4_Name_Prefix);
if (!nearNodeName.Equals(""))
{
idx = nodeInfo.FindIndex(s => s.Name.Equals(nearNodeName));
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
nodeName = nearNodeName;
Common.log.Debug(agv.Name + " 双层线需要小料架,准备去4D-" + nearNodeName);
return true;
......@@ -802,8 +761,6 @@ namespace AGVControl
int idx1 = agvInfo.FindIndex(s => s.CurJob is EnterLeaveShelfJob && ((EnterLeaveShelfJob)s.CurJob).LineName.Equals(SettingString.C4FeederOut));
if (idx1 == -1)
{
rfid = nodeInfo[idx].RFID;
warnMsg = "";
nodeName = nodeInfo[idx].Name;
Common.log.Debug(agv.Name + " 双层线右侧需要料架,准备去4C-" + nodeName);
return true;
......@@ -814,11 +771,9 @@ namespace AGVControl
//4D车间备料区寻找
if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
{
idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals(SettingString.D4FeederOut) && !s.RFID.StartsWith("0")&& s.IsUse);
idx = nodeInfo.FindIndex(s => s.EmptyShelfCnt > 0 && s.Name.Equals(SettingString.D4FeederOut) && !s.RFID.StartsWith("0") && s.IsUse);
if (idx > -1)
{
rfid = nodeInfo[idx].RFID;
warnMsg = "";
nodeName = nodeInfo[idx].Name;
Common.log.Debug(agv.Name + " 双层线右侧需要料架,准备去4D-" + nodeName);
return true;
......@@ -879,10 +834,9 @@ namespace AGVControl
/// </summary>
/// <param name="agv"></param>
/// <returns></returns>
public static bool FindEmptyShelfBeforeSendFullShelf(out string nodeName, out string rfid)
public static bool FindEmptyShelfBeforeSendFullShelf(out string nodeName)
{
nodeName = "";
rfid = "";
int idx = nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A6)
&& (s.StateEquals(eNodeStatus.NeedEnterLeave) || (s.StateEquals(eNodeStatus.NeedLeave))) && !s.RFID.Equals("") && s.IsUse);
if (idx > -1)
......@@ -892,14 +846,6 @@ namespace AGVControl
idx = nodeInfo.FindIndex(s => s.Name.Equals(FullShelfDestInfo.location) && s.EmptyShelfCnt > 0 && s.IsUse);
if (idx > -1)
{
if (!Common.missionManager.GetUnlockRfids(Common.nodeInfo[idx].Name).Contains(nodeInfo[idx].RFID))
{
warnMsg = string.Format("料架{0}在接驳台{1}最外侧，但没有解绑信息，请检查", nodeInfo[idx].RFID, nodeInfo[idx].Name);
Common.LogInfo(warnMsg);
return true;
}
rfid = nodeInfo[idx].RFID;
warnMsg = "";
nodeName = FullShelfDestInfo.location;
Common.GetLineNameByNodeName(nodeName, out string line);
Common.log.Debug("A6出满料架的产线有空料架，优先处理 " + FullShelfDestInfo.ShowInfo(line));
......@@ -918,6 +864,26 @@ namespace AGVControl
return false;
}
/// <summary>
/// 检查接驳台状态
/// </summary>
/// <returns></returns>
public static bool CheckStationState(ClientNode clientNode, out string rfid)
{
rfid = "";
if (!Common.missionManager.GetUnlockRfids(clientNode.Name).Contains(clientNode.RFID))
{
// if (warnMsg.Equals(""))
{
warnMsg = string.Format("料架[{0}]在接驳台[{1}]最外侧，但没有解绑信息，请检查", clientNode.RFID, clientNode.Name);
Common.LogInfo(warnMsg);
}
return false;
}
rfid = clientNode.RFID;
warnMsg = "";
return true;
}
/// <summary>
/// 计算当前小车距离最近的任务点(只针对产线)
/// </summary>
/// <param name="agv"></param>
......
AGVControl-ProductionLine/bean/job/ChargeJob.cs
......@@ -49,23 +49,29 @@ namespace AGVControl
{
string msg = agv.Name + " ";
bool rtn = false;
runInfo = "";
agv.Msg = runInfo;
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
agv.Msg = "充电任务："+runInfo;
//runInfo = "充电任务：";
CurTaskState = Common.GetTakJobState(CurTaskID);
if (ChargeStep.IsStep(CHARGE_STEP.NONE))
{
if (agv.Battery > Common.chargeStatus.chargeMax)
{
if (agv.Place.Equals(SettingString.Standby))//在待机位不操作
if (agvPlace.Equals(SettingString.Standby) || agvPlace.Equals(""))//在待机位不操作
{
ChargeStep.ToNextStep(CHARGE_STEP.END);
runInfo = "在待机位，电量充足[" + agv.Battery + "%],等待任务";
msg += runInfo;
ChargeStep.Msg = msg;
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix) && Common.CheckIsInAirDoor(agvPlace))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "回到待机位，先过4C风淋门";
msg += runInfo;
ChargeStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
......@@ -89,7 +95,17 @@ namespace AGVControl
}
else
{
if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
if (agvPlace.StartsWith(SettingString.C4_Name_Prefix) && Common.CheckIsInAirDoor(agvPlace))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],从当前位置" + agvPlace + "回到充电位，先过4C风淋门";
msg += runInfo;
ChargeStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Common.chargeStatus.chargeMax + "%],从当前位置" + agvPlace + "回到充电位，先到4D门";
......@@ -123,7 +139,18 @@ namespace AGVControl
}
}
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_AIR_DOOR))
{
if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "回到待机位，先到4D门";
msg += runInfo;
ChargeStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_4D_DOOR))
{
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
......@@ -166,7 +193,7 @@ namespace AGVControl
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";
runInfo = "充电任务分配完成，去充电并等待任务";
msg += runInfo;
ChargeStep.Msg = msg;
}
......@@ -213,20 +240,12 @@ 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 = "充电过程中检测到任务，电量[" + agv.Battery + "%]大于最小电量[" + Common.chargeStatus.chargeMin + "%],中断充电执行任务";
msg += runInfo;
ChargeStep.Msg = msg;
Common.chargeStatus.ClearRandomChargeInfo(agv);
return job;
}
//else if (job == null && agv.Battery < Common.chargeStatus.chargeMax / 2)
//{
// ChargeStep.ToNextStep(CHARGE_STEP.NONE);
// runInfo = "在待机位暂无任务，且当前电量小于" + Common.chargeStatus.chargeMax / 2 + "%,去充电位";
// msg += runInfo;
// ChargeStep.Msg = msg;
// Common.chargeStatus.ClearRandomChargeInfo(agv);
//}
}
}
......@@ -291,7 +310,10 @@ namespace AGVControl
///
/// </summary>
NONE,
/// <summary>
/// 等待到达风淋门
/// </summary>
WAIT_AGV_REACH_AIR_DOOR,
/// <summary>
/// 等待到达4D门
/// </summary>
......
AGVControl-ProductionLine/bean/job/EmptyAGVBackJob.cs
......@@ -51,30 +51,71 @@ 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;
agv.Msg = "返回任务："+runInfo;
// runInfo = "返回任务：";
CurTaskState = Common.GetTakJobState(CurTaskID);
if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.NONE))
{
if (Common.FindEmptyShelfNode(agv, out string nodeName,out string rfid, 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)
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,rfid);
ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName));
if (Common.CheckStationState(clientNode, out string rfid))
{
runInfo = "小车在产线 " + agvPlace + " 准备返回时检测到 " + nodeName + " 有空料架";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
return new GoEmptyShelfLineJob(agvPlace, nodeName, rfid);
}
else
{
if (Common.CheckIsInAirDoor(agvPlace))
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "从产线" + agvPlace + "回待机位，先过4C风淋门";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "从产线" + agvPlace + "回待机位，先到4D门";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
runInfo = "从产线" + agvPlace + "回待机位";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
else
{
if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
if (Common.CheckIsInAirDoor(agvPlace))
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "从产线" + agvPlace + "回待机位，先过4C风淋门";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo= "从产线" + agvPlace + "回待机位，先到4D门";
runInfo = "从产线" + agvPlace + "回待机位，先到4D门";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
......@@ -83,22 +124,30 @@ namespace AGVControl
else
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
runInfo= "从产线" + agvPlace + "回待机位";
msg += runInfo;
runInfo = "从产线" + agvPlace + "回待机位";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
//EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.END);
}
else
{
if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
if (Common.CheckIsInAirDoor(agvPlace))
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "从产线" + agvPlace + "回待机位，先过4C风淋门";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo= "从产线" + agvPlace + "回待机位，先到4D门";
runInfo = "从产线" + agvPlace + "回待机位，先到4D门";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
......@@ -107,7 +156,7 @@ namespace AGVControl
else
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
runInfo= "从产线" + agvPlace + "回待机位";
runInfo = "从产线" + agvPlace + "回待机位";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
......@@ -118,19 +167,19 @@ namespace AGVControl
else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.Standby,CurTaskState))
if (Common.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{
Job job = Common.control.GetJob(agv);
if (job == null && agv.Battery < Common.chargeStatus.chargeMax)
{
runInfo= "到达待机位,电量[" + agv.Battery + "]小于最大电量[" + Common.chargeStatus.chargeMax + "],暂无任务，去充电";
runInfo = "到达待机位,电量[" + agv.Battery + "]小于最大电量[" + Common.chargeStatus.chargeMax + "],暂无任务，去充电";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
return new ChargeJob("");
}
else
{
runInfo= "到达待机位,检测到新任务,执行任务";
runInfo = "到达待机位,检测到新任务,执行任务";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
return job;
......@@ -141,31 +190,27 @@ namespace AGVControl
{
if (Common.FindFullShelfTask(agv))
{
runInfo= "从产线" + agvPlace + "回待机位过程中，检测到A6出满料，去A6";
runInfo = "从产线" + agvPlace + "回待机位过程中，检测到A6出满料，去A6";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
return new GoFullShelfStationJob(SettingString.Standby);
}
//else
//{
// msg = "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
// EmptyAGVBackStep.Msg = msg;
// return new ChargeJob(SettingString.D4_DOOR_Name);
//}
}
}
//else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR))
//{
// CurTaskState = Common.GetTakJobState(CurTaskID);
// if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
// {
// EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
// runInfo = "从产线" + agvPlace + "回待机位";
// msg += runInfo;
// EmptyAGVBackStep.Msg = msg;
// }
//}
else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "从产线" + agvPlace + "回待机位，先到4D门";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
......@@ -180,7 +225,7 @@ namespace AGVControl
}
else
{
runInfo = "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
runInfo = "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
msg += runInfo;
EmptyAGVBackStep.Msg = msg;
return new ChargeJob(SettingString.DoorCToD);
......@@ -189,8 +234,6 @@ namespace AGVControl
}
return this;
}
/// <summary>
/// AGV回收空料架流程
/// </summary>
......@@ -200,7 +243,10 @@ namespace AGVControl
/// 查询任务
/// </summary>
NONE,
/// <summary>
/// 等待到达4C风淋门
/// </summary>
WAIT_AGV_REACH_AIR_DOOR,
/// <summary>
/// 等待到达4D门
/// </summary>
......
AGVControl-ProductionLine/bean/job/EmptyShelfBackJob.cs
......@@ -62,16 +62,23 @@ 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;
agv.Msg = "空料架返回："+runInfo;
//runInfo = "空料架返回：";
if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
{
if (EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
if (Common.CheckIsInAirDoor(EmptyShelfPlace))//4C车间
{
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "从产线[" + EmptyShelfPlace + "]前往4C风淋门";
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
{
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR);
runInfo= "空料架从产线" + EmptyShelfPlace + "前往4D门";
runInfo = "从产线[" + EmptyShelfPlace + "]前往4D门";
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
......@@ -83,7 +90,7 @@ namespace AGVControl
{
EmptyShelfTargetPlace = nodeName;
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
runInfo= "空料架从产线 [" + EmptyShelfPlace + "] 送往双层线" + EmptyShelfTargetPlace;
runInfo = "从产线 [" + EmptyShelfPlace + "]送往双层线" + EmptyShelfTargetPlace;
msg += runInfo;
EmptyBackStep.Msg = msg;
if (!EmptyShelfTargetPlace.Equals(""))
......@@ -91,12 +98,12 @@ namespace AGVControl
Common.MoveToNode(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else
{
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
runInfo= "双层线暂不需要空料架，从产线[" + EmptyShelfPlace + "]到待机位";
runInfo = "双层线暂不需要空料架，从产线[" + EmptyShelfPlace + "]到待机位";
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
......@@ -104,6 +111,19 @@ namespace AGVControl
}
}
}
else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_AIR_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR);
runInfo = "出风淋门，前往4D门";
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
......@@ -113,7 +133,7 @@ namespace AGVControl
{
EmptyShelfTargetPlace = nodeName;
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
runInfo= "空料架从产线 [" + EmptyShelfPlace + "] 送往双层线" + EmptyShelfTargetPlace;
runInfo = "进4D门，送往双层线" + EmptyShelfTargetPlace;
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfTargetPlace);
......@@ -122,7 +142,7 @@ namespace AGVControl
else
{
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
runInfo= "双层线暂不需要空料架，从产线[" + EmptyShelfPlace + "]到待机位";
runInfo = "进4D门，双层线暂不需要空料架，到待机位";
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
......@@ -137,7 +157,7 @@ namespace AGVControl
{
EmptyShelfTargetPlace = nodeName;
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
runInfo= "待机位检测到双层线需要料架,送往双层线 " + EmptyShelfTargetPlace;
runInfo = "待机位检测到双层线需要料架,送往双层线 " + EmptyShelfTargetPlace;
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfTargetPlace);
......@@ -149,11 +169,8 @@ namespace AGVControl
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, EmptyShelfTargetPlace, CurTaskState) && EmptyShelfTargetPlace.StartsWith("A"))
{
//msg = "AGV到达 " + EmptyShelfTargetPlace;
//EmptyBackStep.Msg = msg;
//return new EnterLeaveShelfJob(EmptyShelfTargetPlace,eEnterLeaveType.Leave,shelfType);
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE);
runInfo= "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
runInfo = "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.server.ReadyEnter(EmptyShelfTargetPlace);
......@@ -165,7 +182,7 @@ namespace AGVControl
ClientNode node = Common.nodeInfo[id];
if (node.StateEquals(eNodeStatus.MayEnter))
{
if(!agv.CurTaskName.Equals("Leave"))
if (!agv.CurTaskName.Equals("Leave"))
{
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE);
runInfo = "收到双层线入料架请求[ReadyEnter]的响应 " + EmptyShelfTargetPlace + "入料架，小车链条运行";
......@@ -179,57 +196,34 @@ namespace AGVControl
else if (EmptyBackStep.IsTimeOut(15000, out double timeOutValue))
{
tryTimes++;
if (tryTimes < 5)
if (tryTimes < 3)
return this;
// if(EmptyShelfTargetPlace.Equals(SettingString.A6))
// {
tryTimes = 0;
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
runInfo = "双层线"+ EmptyShelfTargetPlace + "暂不需要空料架，从[" + EmptyShelfTargetPlace + "]到待机位";
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
// }
//else if(EmptyShelfTargetPlace.Equals(SettingString.A5))
//{
// tryTimes = 0;
// EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
// runInfo = "双层线A5暂不需要空料架，从[" + EmptyShelfTargetPlace + "]到待机位";
// msg += runInfo;
// EmptyBackStep.Msg = msg;
// Common.MoveToNode(agv, SettingString.Standby);
// UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
//}
//else
//{
// EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
//}
// EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
//runInfo= "AGV到达 " + EmptyShelfTargetPlace + "，15秒后重新向双层线发送入料架请求[ReadyEnter]";
//msg += runInfo;
//EmptyBackStep.Msg = msg;
tryTimes = 0;
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
runInfo = "双层线" + EmptyShelfTargetPlace + "暂不需要空料架，从[" + EmptyShelfTargetPlace + "]到待机位";
msg += runInfo;
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv,"Leave",CurTaskState))
if (Common.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
{
//EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.END);
agv.RFID = "";
Job job = Common.control.GetJob(agv);
if (job != null)
{
runInfo= "在双层线检测到任务，执行任务";
runInfo = "在双层线检测到任务，执行任务";
msg += runInfo;
EmptyBackStep.Msg = msg;
return job;
}
else
{
runInfo= "空料架进入" + EmptyShelfTargetPlace + "完成,暂无任务，回充电位";
runInfo = "空料架进入" + EmptyShelfTargetPlace + "完成,暂无任务，回充电位";
msg += runInfo;
EmptyBackStep.Msg = msg;
agv.RFID = "";
......@@ -240,10 +234,7 @@ namespace AGVControl
}
else if (EmptyBackStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo= "空料架在[" + EmptyShelfTargetPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
//msg += runInfo;
//EmptyBackStep.Msg = msg;
runInfo = "空料架在[" + EmptyShelfTargetPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
}
}
......@@ -264,6 +255,10 @@ namespace AGVControl
/// </summary>
NONE,
/// <summary>
/// 等待到达4C风淋门
/// </summary>
WAIT_AGV_REACH_AIR_DOOR,
/// <summary>
/// 等待AGV到达门
/// </summary>
WAIT_AGV_REACH_DOOR,
......
AGVControl-ProductionLine/bean/job/GoEmptyShelfLineJob.cs
......@@ -57,56 +57,184 @@ namespace AGVControl
{
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = runInfo;
agv.Msg = "回收空料架任务："+runInfo;
//runInfo = "回收空料架任务：";
int nodeIdx = Common.FindNode(EmptyShelfPlace);
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
{
if (nodeIdx == -1)
return null;
if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.D4_Name_Prefix))//4C->4D
if (agvPlae.StartsWith(SettingString.C4_Name_Prefix)&& Common.CheckIsInAirDoor(agvPlae) && !Common.CheckIsInAirDoor(EmptyShelfPlace))//4C风淋门内->风淋门外
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "去空料架产线" + EmptyShelfPlace + "，先前往4D门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_OUT_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过风淋门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if ((agvPlae.StartsWith(SettingString.D4_Name_Prefix) || agvPlae.StartsWith("A") || agvPlae.Equals(SettingString.Standby) || agvPlae.Equals(SettingString.AutoCharge))
&& EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4D->4C
else if (!Common.CheckIsInAirDoor(agvPlae) && Common.CheckIsInAirDoor(EmptyShelfPlace))//4C风淋门外->风淋门内
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
runInfo = "去空料架产线" + EmptyShelfPlace + "，先前往4C门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C->4C
{
if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_IN_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过风淋门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirIn);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if ((agvPlae.StartsWith(SettingString.D4_Name_Prefix) || agvPlae.StartsWith("A") || agvPlae.Equals(SettingString.Standby) ||
agvPlae.Equals(SettingString.AutoCharge))
&& EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4D->4C
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过4C门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
else//起始与目的地在风淋门同一侧
{
if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && Common.CheckIsInAirDoor(agvPlae) && Common.CheckIsInAirDoor(EmptyShelfPlace))//都在风淋门内
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_OUT_DOOR);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先过风淋门，再到临时待机位" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
else if(agvPlae.Equals("")|| (!Common.CheckIsInAirDoor(agvPlae)) && !Common.CheckIsInAirDoor(EmptyShelfPlace))//都在风淋门外
{
if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C->4C
{
if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
else if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.D4_Name_Prefix))//4C->4D
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过4D门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if ((agvPlae.StartsWith(SettingString.D4_Name_Prefix) || agvPlae.StartsWith("A") || agvPlae.Equals(SettingString.Standby) ||
agvPlae.Equals(SettingString.AutoCharge))
&& EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4D->4C
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过4C门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else//4D->4D
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_OUT_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{
//4C风淋门内->风淋门外,到达风淋门外
if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4C->4C
{
if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "到风淋门外，目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "到风淋门外，开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
else if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.D4_Name_Prefix))//4C->4D
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "到风淋门外，去产线" + EmptyShelfPlace + "，先过4D门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
//都在风淋门内，到达风淋门外
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "到风淋门外，目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_IN_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorAirIn, CurTaskState))
{
//4C风淋门外->风淋门内
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
runInfo = "到达风淋门内，开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
......@@ -127,10 +255,22 @@ namespace AGVControl
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
if(Common.CheckIsInAirDoor(EmptyShelfPlace))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_IN_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过风淋门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirIn);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
}
}
......@@ -316,6 +456,14 @@ namespace AGVControl
/// </summary>
NONE,
/// <summary>
/// 等待到达4C风淋门内
/// </summary>
WAIT_AGV_REACH_AIR_IN_DOOR,
/// <summary>
/// 等待到达4C风淋门外
/// </summary>
WAIT_AGV_REACH_AIR_OUT_DOOR,
/// <summary>
/// 等待到达4C门
/// </summary>
WAIT_AGV_REACH_4C_DOOR,
......
AGVControl-ProductionLine/bean/job/GoFullShelfStationJob.cs
......@@ -56,7 +56,8 @@ namespace AGVControl
{
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = runInfo;
agv.Msg = "去云仓接满料任务："+runInfo;
//runInfo = "去云仓接满料任务：";
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.NONE))
......@@ -89,7 +90,7 @@ namespace AGVControl
}
else if (input != null && !input[3])
{
if (agvPlace.Equals(SettingString.Standby) || agvPlace.StartsWith(SettingString.AutoCharge))//待机位/充电位接到任务
if (agvPlace.Equals("") || agvPlace.Equals(SettingString.Standby) || agvPlace.StartsWith(SettingString.AutoCharge))//待机位/充电位接到任务
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = "无负载，准备运动到入料口" + FullShelfStationPlace;
......@@ -98,6 +99,15 @@ namespace AGVControl
Common.MoveToNode(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (Common.CheckIsInAirDoor(agvPlace))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "在4C风淋门内，先过风淋门";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
......@@ -132,6 +142,15 @@ namespace AGVControl
Common.MoveToNode(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if(Common.CheckIsInAirDoor(agvPlace))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "在4C风淋门内，先过风淋门";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
......@@ -147,6 +166,20 @@ namespace AGVControl
}
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
runInfo = "过风淋门，向4D门运行，再到双层线入料口" + FullShelfStationPlace;
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
......@@ -278,7 +311,7 @@ namespace AGVControl
else if (GoFullShelfStationStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo= "满料架在[" + FullShelfStationPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
runInfo = "满料架在[" + FullShelfStationPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
//msg +=runInfo;
//GoFullShelfStationStep.Msg = msg;
}
......@@ -303,6 +336,10 @@ namespace AGVControl
/// </summary>
WAIT_CHECK_RESULT,
/// <summary>
/// 等待到达4C风淋门
/// </summary>
WAIT_AGV_REACH_AIR_DOOR,
/// <summary>
/// 等待AGV到达门
/// </summary>
WAIT_AGV_REACH_DOOR,
......
AGVControl-ProductionLine/bean/job/SendFullShelfToLineJob.cs
......@@ -60,7 +60,8 @@ namespace AGVControl
string msg = agv.Name + " ";
bool rtn = false;
agv.RFID = RFID;
agv.Msg = runInfo;
agv.Msg = "送满料任务："+runInfo;
//runInfo = "送满料任务：";
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.NONE))
......@@ -69,7 +70,7 @@ namespace AGVControl
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=" + RFID + "]";
runInfo = "前往4C门，从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC);
......@@ -78,7 +79,7 @@ namespace AGVControl
else
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "满料架从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
runInfo = "从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.MoveToNode(agv, FullShelfPlace);
......@@ -86,7 +87,6 @@ namespace AGVControl
}
}
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
......@@ -103,14 +103,39 @@ namespace AGVControl
}
else
{
if(Common.CheckIsInAirDoor(FullShelfPlace))
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "到达4C门，过风淋门[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirIn);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.MoveToNode(agv, FullShelfPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
}
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_AIR_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorAirIn, CurTaskState))
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "满料架从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
runInfo = "送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.MoveToNode(agv, FullShelfPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_REACH_TEMP_PLACE))
......@@ -121,7 +146,7 @@ namespace AGVControl
if (!Common.Check4CTarget(agv, FullShelfPlace))//未占用
{
SendFullShelfStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "满料架从临时待机位送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
runInfo = "从临时待机位送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
Common.DeleteStandyInfo(agv);
......@@ -226,7 +251,7 @@ namespace AGVControl
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
{
runInfo = "满料架进入" + FullShelfPlace + "完成 [RFID=" + RFID + "] [" + agv.BoxDestInfo + "]";
runInfo = "满料进入" + FullShelfPlace + "完成 [RFID=" + RFID + "] [" + agv.BoxDestInfo + "]";
msg += runInfo;
SendFullShelfStep.Msg = msg;
agv.RFID = "";
......@@ -237,7 +262,7 @@ namespace AGVControl
else if (SendFullShelfStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo = "满料架在[" + FullShelfPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
runInfo = "满料在[" + FullShelfPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
//msg += runInfo;
//SendFullShelfStep.Msg = msg;
}
......@@ -270,6 +295,10 @@ namespace AGVControl
/// </summary>
WAIT_REACH_TEMP_PLACE,
/// <summary>
/// 等待到达4C风淋门
/// </summary>
WAIT_AGV_REACH_AIR_DOOR,
/// <summary>
/// 等待小车到达目的地
/// </summary>
WAIT_AGV_REACH_LINE,
......
AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4C.cs
......@@ -35,14 +35,14 @@ namespace AGVControl
{
if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
continue;
if (agv.CurJob is GoEmptyShelfLineJob)//|| agv.CurJob is EmptyShelfBackJob
if (agv.CurJob is GoEmptyShelfLineJob|| (agv.CurJob is EmptyShelfBackJob))
{
emptyJobCnt++;
}
}
//出工单料的目的地是否有空料架
if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName,out rfid))
if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
{
if (nodeName.StartsWith(SettingString.C4_Name_Prefix) && SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
......@@ -58,29 +58,24 @@ namespace AGVControl
}
if (cnt < clientNode.EmptyShelfCnt)
{
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(2))//保留1辆小车出满料架
{
return null;
}
return new GoEmptyShelfLineJob(currentAgv.Place, nodeName,rfid);
if (Common.CheckStationState(clientNode, out rfid) && CanEmptyTask(emptyJobCnt))
return new GoEmptyShelfLineJob(currentAgv.Place, nodeName, rfid);
}
}
}
//回收空料架
if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName,out rfid))
if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
{
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)
{
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(2))//保留1辆小车出满料架
{
return null;
}
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName, rfid);
ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(emptyNodeName));
if (Common.CheckStationState(clientNode, out rfid) && CanEmptyTask(emptyJobCnt))
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName, rfid);
}
}
}
......@@ -92,12 +87,25 @@ 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 new GoFullShelfStationJob(currentAgv.Place);
if (i == -1)
return new GoFullShelfStationJob(currentAgv.Place);
}
}
return null;
}
/// <summary>
/// 控制出空架小车数量
/// </summary>
/// <param name="emptytASKAGV"></param>
/// <returns></returns>
private bool CanEmptyTask(int emptytASKAGV)
{
if ((SettingString.AGVCNT / 2 - emptytASKAGV).Equals(2))//保留1辆小车出满料架
{
return false;
}
return true;
}
}
}
AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4D.cs
......@@ -38,13 +38,13 @@ namespace AGVControl
{
if (SettingString.C4_AGV_IPs.Contains(agv.IP))
continue;
if (agv.CurJob is GoEmptyShelfLineJob)//|| agv.CurJob is EmptyShelfBackJob
if (agv.CurJob is GoEmptyShelfLineJob || agv.CurJob is EmptyShelfBackJob)//
{
emptyJobCnt++;
}
}
//出工单料的目的地是否有空料架
if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName,out rfid))
if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
{
if (nodeName.StartsWith(SettingString.D4_Name_Prefix) && !SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
......@@ -62,28 +62,24 @@ namespace AGVControl
}
if (cnt < clientNode.EmptyShelfCnt)
{
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(1))//保留1辆小车出满料架
{
return null;
}
return new GoEmptyShelfLineJob(currentAgv.Place, nodeName,rfid);
if (Common.CheckStationState(clientNode, out rfid) && CanEmptyTask(emptyJobCnt))
return new GoEmptyShelfLineJob(currentAgv.Place, nodeName, rfid);
}
}
}
//回收空料架
if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName,out rfid))
if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
{
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)
{
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(1))//保留1辆小车出满料架
{
return null;
}
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName, rfid);
ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(emptyNodeName));
if (Common.CheckStationState(clientNode, out rfid) && CanEmptyTask(emptyJobCnt))
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName, rfid);
}
}
}
......@@ -121,5 +117,18 @@ namespace AGVControl
return null;
}
/// <summary>
/// 控制出空架小车数量
/// </summary>
/// <param name="emptytASKAGV"></param>
/// <returns></returns>
private bool CanEmptyTask(int emptytASKAGV)
{
if ((SettingString.AGVCNT / 2 - emptytASKAGV).Equals(1))//保留1辆小车出满料架
{
return false;
}
return true;
}
}
}
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