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Commit 85238ee5 由 张东亮
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添加风淋门

1 个父辈 54be25c3
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内嵌 并排
正在显示 14 个修改的文件 包含 166 行增加 和 61 行删除
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/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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