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Commit 9d96119a 由 张东亮
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解绑料架更改

1 个父辈 a05de125
内嵌 并排
正在显示 10 个修改的文件 包含 76 行增加 和 57 行删除
AGVControl-ProductionLine/AGVControl-ProductionLine.csproj
...@@ -95,6 +95,7 @@ ...@@ -95,6 +95,7 @@
<SubType>Component</SubType> <SubType>Component</SubType>
</Compile> </Compile>
<Compile Include="BLL\LineWebService.cs" /> <Compile Include="BLL\LineWebService.cs" />
<Compile Include="BLL\StationRFIDManager.cs" />
<Compile Include="FrmMain.cs"> <Compile Include="FrmMain.cs">
<SubType>Form</SubType> <SubType>Form</SubType>
</Compile> </Compile>
......
AGVControl-ProductionLine/BLL/Common.cs
...@@ -42,6 +42,7 @@ namespace AGVControl ...@@ -42,6 +42,7 @@ namespace AGVControl
public const string IsUse = "IsUse"; public const string IsUse = "IsUse";
public const string RFID = "RFID"; public const string RFID = "RFID";
public const string EmptyShelfCnt = "EmptyShelfCnt"; public const string EmptyShelfCnt = "EmptyShelfCnt";
public const string EmptyShelfRFIDs = "EmptyShelfRFIDs";
/// <summary> /// <summary>
/// 去4C的3辆车IP /// 去4C的3辆车IP
/// </summary> /// </summary>
...@@ -1065,10 +1066,10 @@ namespace AGVControl ...@@ -1065,10 +1066,10 @@ namespace AGVControl
for (int i = 0; i < s.Count(); i++) for (int i = 0; i < s.Count(); i++)
{ {
string[] mission = s[i].Split(','); string[] mission = s[i].Split(',');
if (mission.Length != 2) if (mission.Length !=3)
continue; continue;
//missionManager.missionList.Add(new MissionStru(mission[0], mission[1])); //missionManager.missionList.Add(new MissionStru(mission[0], mission[1]));
missionManager.AddMission(new MissionStru(mission[0], mission[1])); missionManager.AddMission(new MissionStru(mission[0], mission[1],mission[2]));
} }
} }
...@@ -1078,19 +1079,19 @@ namespace AGVControl ...@@ -1078,19 +1079,19 @@ namespace AGVControl
/// </summary> /// </summary>
/// <param name="nodeName"></param> /// <param name="nodeName"></param>
/// <returns></returns> /// <returns></returns>
public static bool AddEmptyShelfTask(string nodeName) public static bool AddEmptyShelfTask(string nodeName,string rfid)
{ {
int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName); int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
if (idx > -1) if (idx > -1)
{ {
// Common.missionManager.missionList.Add(new MissionStru(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), nodeName)); // Common.missionManager.missionList.Add(new MissionStru(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), nodeName));
Common.missionManager.AddMission(new MissionStru(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), nodeName)); Common.missionManager.AddMission(new MissionStru(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), nodeName,rfid));
Common.nodeInfo[idx].IncreEmptyShelfCnt(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")); Common.nodeInfo[idx].IncreEmptyShelfCnt(rfid);
using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt")) using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt"))
{ {
foreach (var item in Common.missionManager.missionList) foreach (var item in Common.missionManager.missionList)
{ {
file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName)); file.WriteLine(string.Format("{0},{1},{2}", item.CreateTime, item.NodeName,rfid));
} }
} }
...@@ -1109,23 +1110,23 @@ namespace AGVControl ...@@ -1109,23 +1110,23 @@ namespace AGVControl
/// </summary> /// </summary>
/// <param name="nodeName"></param> /// <param name="nodeName"></param>
/// <returns></returns> /// <returns></returns>
public static bool DelEmptyShelfTask(string nodeName) public static bool DelEmptyShelfTask(string nodeName,string rfid)
{ {
int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName); int idx = Common.nodeInfo.FindIndex(s => s.Name == nodeName);
if (idx > -1) if (idx > -1)
{ {
Common.nodeInfo[idx].DecreEmptyShelfCnt();
idx = Common.missionManager.missionList.FindIndex(s => s.NodeName == nodeName); idx = Common.missionManager.missionList.FindIndex(s => s.NodeName == nodeName);
if (idx > -1) if (idx > -1)
{ {
LogInfo("删除一个空料架任务：" + nodeName); Common.nodeInfo[idx].DecreEmptyShelfCnt(rfid);
LogInfo("删除一个空料架任务：" + nodeName + "[RFID=" + rfid + "]");
Common.missionManager.DelMission(idx); Common.missionManager.DelMission(idx);
//Common.missionManager.missionList.RemoveAt(idx); //Common.missionManager.missionList.RemoveAt(idx);
using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt")) using (System.IO.StreamWriter file = new System.IO.StreamWriter(CONFIG_PATH + "LinePlace.txt"))
{ {
foreach (var item in Common.missionManager.missionList) foreach (var item in Common.missionManager.missionList)
{ {
file.WriteLine(string.Format("{0},{1}", item.CreateTime, item.NodeName)); file.WriteLine(string.Format("{0},{1},{2}", item.CreateTime, item.NodeName,rfid));
} }
} }
...@@ -1459,15 +1460,17 @@ namespace AGVControl ...@@ -1459,15 +1460,17 @@ namespace AGVControl
{ {
public string NodeName; public string NodeName;
public string CreateTime; public string CreateTime;
public string Rfid;
/// <summary> /// <summary>
/// 任务结构 /// 任务结构
/// </summary> /// </summary>
/// <param name="dateTime">创建时间</param> /// <param name="dateTime">创建时间</param>
/// <param name="name">节点名称</param> /// <param name="name">节点名称</param>
public MissionStru(string dateTime, string name) public MissionStru(string dateTime, string name,string rfid)
{ {
NodeName = name; NodeName = name;
CreateTime = dateTime; CreateTime = dateTime;
Rfid = rfid;
} }
} }
......
AGVControl-ProductionLine/BLL/Control.cs
...@@ -10,7 +10,7 @@ using AGVControl; ...@@ -10,7 +10,7 @@ using AGVControl;
using log4net.Util; using log4net.Util;
using RestSharp; using RestSharp;
namespace BLL namespace AGVControl.BLL
{ {
public class Control public class Control
{ {
......
AGVControl-ProductionLine/BLL/LineWebService.cs
...@@ -20,7 +20,7 @@ namespace BLL ...@@ -20,7 +20,7 @@ namespace BLL
//?emptyStation={line} //?emptyStation={line}
[OperationContract] [OperationContract]
[WebInvoke(UriTemplate = "CreateEmptyRecycleTask?emptyStation={line}&rfid={RFID}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Xml)] [WebInvoke(UriTemplate = "CreateEmptyRecycleTask?emptyStation={line}&rfid={RFID}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Xml)]
string CreateEmptyRecycleTaskGET(string line,string RFID=""); string CreateEmptyRecycleTaskGET(string line, string RFID = "");
} }
...@@ -70,25 +70,22 @@ namespace BLL ...@@ -70,25 +70,22 @@ namespace BLL
} }
if (Common.GetNodeNameByLineName(emptyStation, out string value)) if (Common.GetNodeNameByLineName(emptyStation, out string value))
{ {
if (!Common.AddEmptyShelfTask(value))
{
Common.log.Error("CreateEmptyRecycleTask(POST) 节点[" + value + "]不存在");
res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "CreateEmptyRecycleTask failed: " + emptyStation };
}
else
{
if (rfid == null) if (rfid == null)
{ {
res = new Result() { Succeed = true, ResultData = null, ErrorMessage = "" }; res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "rfid=null" };
Log.Info(string.Format("WebService Request(POST) emptyStation={0},rfid=null", emptyStation)); Log.Error(string.Format("WebService Request(POST) Failed emptyStation={0},rfid=null", emptyStation));
Common.LogInfo("任务[POST]：" + value + " 出空料架 [" + emptyStation + "]");
} }
else else
{ {
res = new Result() { Succeed = true, ResultData = rfid, ErrorMessage = "" }; res = new Result() { Succeed = true, ResultData = rfid, ErrorMessage = "" };
Log.Info(string.Format("WebService Request(POST) emptyStation={0},rfid={1}", emptyStation, rfid)); Log.Info(string.Format("WebService Request(POST) emptyStation={0},rfid={1}", emptyStation, rfid.ToUpper()));
Common.LogInfo("任务[POST]：" + value + " 出空料架 [location=" + emptyStation + ",rfid=" + rfid + "]"); if (!Common.AddEmptyShelfTask(value, rfid.ToUpper()))
{
Common.log.Error("CreateEmptyRecycleTask(POST) 节点[" + value + "]不存在");
res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "CreateEmptyRecycleTask failed: " + emptyStation + " rfid=" + rfid };
} }
else
Common.LogInfo("任务[POST]：" + value + " 出空料架 [location=" + emptyStation + ",rfid=" + rfid.ToUpper() + "]");
} }
// AGVControl.Common.log.Debug("WebService POST Response OK"); // AGVControl.Common.log.Debug("WebService POST Response OK");
} }
...@@ -101,7 +98,7 @@ namespace BLL ...@@ -101,7 +98,7 @@ namespace BLL
return JsonHelper.SerializeObject(res); return JsonHelper.SerializeObject(res);
} }
public string CreateEmptyRecycleTaskGET(string line,string RFID) public string CreateEmptyRecycleTaskGET(string line, string RFID)
{ {
Result res; Result res;
if (line.Equals("Feeder")) if (line.Equals("Feeder"))
...@@ -115,7 +112,7 @@ namespace BLL ...@@ -115,7 +112,7 @@ namespace BLL
if (Common.GetNodeNameByLineName(line, out string value)) if (Common.GetNodeNameByLineName(line, out string value))
{ {
if (!Common.AddEmptyShelfTask(value)) if (!Common.AddEmptyShelfTask(value,RFID.ToUpper()))
{ {
Common.log.Error("CreateEmptyRecycleTask 节点[" + value + "]不存在"); Common.log.Error("CreateEmptyRecycleTask 节点[" + value + "]不存在");
res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "CreateEmptyRecycleTask failed: " + line }; res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "CreateEmptyRecycleTask failed: " + line };
...@@ -124,7 +121,7 @@ namespace BLL ...@@ -124,7 +121,7 @@ namespace BLL
{ {
res = new Result() { Succeed = true, ResultData = RFID, ErrorMessage = "" }; res = new Result() { Succeed = true, ResultData = RFID, ErrorMessage = "" };
Log.Info(string.Format("WebService Request(GET) emptyStation={0},rfid={1}", line, RFID)); Log.Info(string.Format("WebService Request(GET) emptyStation={0},rfid={1}", line, RFID));
Common.LogInfo("任务[GET]：" + value + " 出空料架 [emptyStation=" + line + ",rfid="+RFID+"]"); Common.LogInfo("任务[GET]：" + value + " 出空料架 [emptyStation=" + line + ",rfid=" + RFID.ToUpper() + "]");
} }
} }
else else
......
AGVControl-ProductionLine/BLL/StationRFIDManager.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl.BLL
{
/// <summary>
/// 接驳台RFID管理
/// </summary>
public class StationRFIDManager
{
}
}
AGVControl-ProductionLine/bean/job/EnterLeaveShelfJob.cs
...@@ -176,7 +176,7 @@ namespace AGVControl ...@@ -176,7 +176,7 @@ namespace AGVControl
runInfo = "料架在" + LineName + "出去完成 [" + RFID + "]"; runInfo = "料架在" + LineName + "出去完成 [" + RFID + "]";
msg += runInfo; msg += runInfo;
EnterLeaveShelfStep.Msg = msg; EnterLeaveShelfStep.Msg = msg;
Common.DelEmptyShelfTask(LineName); Common.DelEmptyShelfTask(LineName,RFID);
return new EmptyShelfBackJob(LineName,eShelfType.BigShelf); return new EmptyShelfBackJob(LineName,eShelfType.BigShelf);
} }
else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue)) else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
......
AGVControl-ProductionLine/bean/job/GoEmptyShelfLineJob.cs
...@@ -19,12 +19,13 @@ namespace AGVControl ...@@ -19,12 +19,13 @@ namespace AGVControl
/// </summary> /// </summary>
/// <param name="agvPlae">小车当前位置，空表示在待机位</param> /// <param name="agvPlae">小车当前位置，空表示在待机位</param>
/// <param name="palce">空料架位置点</param> /// <param name="palce">空料架位置点</param>
public GoEmptyShelfLineJob(string agvPlae, string palce) public GoEmptyShelfLineJob(string agvPlae, string palce,string rfid)
{ {
EmptyShelfPlace = palce; EmptyShelfPlace = palce;
this.agvPlae = agvPlae; this.agvPlae = agvPlae;
RFID = rfid;
} }
public string RFID { get; set; }
/// <summary> /// <summary>
/// 空料架位置点 /// 空料架位置点
/// </summary> /// </summary>
...@@ -65,7 +66,7 @@ namespace AGVControl ...@@ -65,7 +66,7 @@ namespace AGVControl
if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.D4_Name_Prefix))//4C->4D if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.D4_Name_Prefix))//4C->4D
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR); 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 + "]"; runInfo = "去空料架产线" + EmptyShelfPlace + "，先前往4D门[" + agvPlae + "->" + EmptyShelfPlace + "]"+"[RFID="+RFID+"]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD); Common.DoorMission(agv, SettingString.DoorCToD);
...@@ -75,7 +76,7 @@ namespace AGVControl ...@@ -75,7 +76,7 @@ namespace AGVControl
&& EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4D->4C && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4D->4C
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR); 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 + "]"; runInfo= "去空料架产线" + EmptyShelfPlace + "，先前往4C门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC); Common.DoorMission(agv, SettingString.DoorDToC);
...@@ -86,7 +87,7 @@ namespace AGVControl ...@@ -86,7 +87,7 @@ namespace AGVControl
if(Common.Check4CTarget(agv, EmptyShelfPlace))//被占用 if(Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE); 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"; runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv); Common.MoveTo4CStandy(agv);
...@@ -95,7 +96,7 @@ namespace AGVControl ...@@ -95,7 +96,7 @@ namespace AGVControl
else else
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "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 + "]" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
} }
...@@ -103,7 +104,7 @@ namespace AGVControl ...@@ -103,7 +104,7 @@ namespace AGVControl
else else
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo= "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 + "]" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
} }
...@@ -116,7 +117,7 @@ namespace AGVControl ...@@ -116,7 +117,7 @@ namespace AGVControl
if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用 if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE); 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"; runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv); Common.MoveTo4CStandy(agv);
...@@ -125,7 +126,7 @@ namespace AGVControl ...@@ -125,7 +126,7 @@ namespace AGVControl
else else
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "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 + "]" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
} }
...@@ -139,7 +140,7 @@ namespace AGVControl ...@@ -139,7 +140,7 @@ namespace AGVControl
if (!Common.Check4CTarget(agv, EmptyShelfPlace))//未占用 if (!Common.Check4CTarget(agv, EmptyShelfPlace))//未占用
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "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 + "]" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.DeleteStandyInfo(agv); Common.DeleteStandyInfo(agv);
...@@ -152,7 +153,7 @@ namespace AGVControl ...@@ -152,7 +153,7 @@ namespace AGVControl
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState)) if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "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 + "]" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
} }
...@@ -163,7 +164,7 @@ namespace AGVControl ...@@ -163,7 +164,7 @@ 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);
runInfo= "AGV 添加任务：移动到" + EmptyShelfPlace; runInfo= "AGV 添加任务：移动到" + EmptyShelfPlace + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfPlace); Common.MoveToNode(agv, EmptyShelfPlace);
...@@ -182,7 +183,7 @@ namespace AGVControl ...@@ -182,7 +183,7 @@ 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);
runInfo= "AGV开始向目的地[" + EmptyShelfPlace + "]移动"; runInfo= "AGV开始向目的地[" + EmptyShelfPlace + "]移动" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
} }
...@@ -202,7 +203,7 @@ namespace AGVControl ...@@ -202,7 +203,7 @@ namespace AGVControl
//else //else
{ {
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE); TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
runInfo= "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]" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
if (nodeIdx == -1) if (nodeIdx == -1)
...@@ -235,7 +236,7 @@ namespace AGVControl ...@@ -235,7 +236,7 @@ namespace AGVControl
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);
runInfo = "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" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
//agv.RFID = node.RFID; //agv.RFID = node.RFID;
...@@ -260,13 +261,15 @@ namespace AGVControl ...@@ -260,13 +261,15 @@ namespace AGVControl
ClientNode node = Common.nodeInfo[nodeIdx]; ClientNode node = Common.nodeInfo[nodeIdx];
node.AgvName = ""; node.AgvName = "";
//回收空料架数量减少1 //回收空料架数量减少1
Common.DelEmptyShelfTask(EmptyShelfPlace); Common.DelEmptyShelfTask(EmptyShelfPlace,RFID);
runInfo= "空料架在[" + EmptyShelfPlace + "]进入小车完成"; runInfo= "空料架在[" + EmptyShelfPlace + "]进入小车完成" + "[RFID=" + RFID + "]";
msg += runInfo; msg += runInfo;
TakeEmptyStep.Msg = msg; TakeEmptyStep.Msg = msg;
//4DfeederOut默认大料架 //4DfeederOut默认大料架
if (agv.Place.Equals(SettingString.D4FeederOut)) if (agv.Place.Equals(SettingString.D4FeederOut))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf); return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
else if(agv.Place.Equals(SettingString.C4FeederOut))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
else if (agv.RFID.StartsWith("D")) else if (agv.RFID.StartsWith("D"))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf); return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
else if (agv.RFID.StartsWith("C")) else if (agv.RFID.StartsWith("C"))
...@@ -279,7 +282,7 @@ namespace AGVControl ...@@ -279,7 +282,7 @@ 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
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"; 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" + "[RFID=" + RFID + "]";
// msg += runInfo; // msg += runInfo;
//TakeEmptyStep.Msg = msg; //TakeEmptyStep.Msg = msg;
} }
......
AGVControl-ProductionLine/bean/node/ClientNode.cs
...@@ -117,6 +117,7 @@ namespace AGVControl ...@@ -117,6 +117,7 @@ namespace AGVControl
{ {
System.Threading.Interlocked.Increment(ref _EmptyShelfCnt); System.Threading.Interlocked.Increment(ref _EmptyShelfCnt);
EmptyShelfRFIDs.Add(rfid); EmptyShelfRFIDs.Add(rfid);
Common.WriteIni(Name, SettingString.EmptyShelfRFIDs, string.Join(",",EmptyShelfRFIDs.ToArray()));
Common.WriteIni(Name, SettingString.EmptyShelfCnt,_EmptyShelfCnt.ToString()); Common.WriteIni(Name, SettingString.EmptyShelfCnt,_EmptyShelfCnt.ToString());
} }
else if(rfid.Equals("")) else if(rfid.Equals(""))
...@@ -128,12 +129,17 @@ namespace AGVControl ...@@ -128,12 +129,17 @@ namespace AGVControl
/// <summary> /// <summary>
/// 空料架数量减少1 /// 空料架数量减少1
/// </summary> /// </summary>
public void DecreEmptyShelfCnt() public void DecreEmptyShelfCnt(string rfid="")
{ {
if (_EmptyShelfCnt > 0) if (_EmptyShelfCnt > 0)
{ {
System.Threading.Interlocked.Decrement(ref _EmptyShelfCnt); System.Threading.Interlocked.Decrement(ref _EmptyShelfCnt);
Common.WriteIni(Name, SettingString.EmptyShelfCnt, _EmptyShelfCnt.ToString()); Common.WriteIni(Name, SettingString.EmptyShelfCnt, _EmptyShelfCnt.ToString());
if(!rfid.Equals("") && EmptyShelfRFIDs.Contains(rfid))
{
EmptyShelfRFIDs.Remove(rfid);
Common.WriteIni(Name, SettingString.EmptyShelfRFIDs, string.Join(",", EmptyShelfRFIDs.ToArray()));
}
} }
if(_EmptyShelfCnt.Equals(0) && EmptyShelfRFIDs.Count>0) if(_EmptyShelfCnt.Equals(0) && EmptyShelfRFIDs.Count>0)
......
AGVControl-ProductionLine/bin/Debug/Config/LinePlace.txt
2020-11-03 14:08:42,D1 2020-11-03 14:08:42,D1,D11
2020-11-03 14:10:26,D1 2020-11-03 14:10:26,D1,D4
2020-11-03 14:12:43,D1 2020-11-03 14:12:43,D1,D5
2020-11-03 14:20:20,D1
2020-11-03 14:22:26,D1
2020-11-03 14:22:31,D1
2020-11-03 14:22:37,D1
2020-11-03 14:22:48,D1
2020-11-03 14:22:59,D1
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