降低访问佳世达接口频率为1s

AGVControl-ProductionLine/App.config

@@ -61,7 +61,8 @@
     <add key="http.server" value="http://10.85.199.25/myproject/" />
     <add key="FLEET" value="10.85.199.3" />
     <add key="AutoCharge" value="True" />
-    <add key="ChargeWait" value="1" />
+    <!--去4C的三辆车IP地址-->
+    <add key="C4_AGV_IPs" value="10.85.199.71,10.85.199.72,10.85.199.73" />
     <add key="ChargeThreshold" value="20,90" />
     <add key="IP_4D_Light" value="10.85.196.40:8088" />
     <add key="IP_4C_Light" value="10.85.197.40:8088" />

AGVControl-ProductionLine/BLL/Control.cs

@@ -31,7 +31,7 @@ namespace AGVControl.BLL
         {
             AgvCallTimer = new System.Timers.Timer
             {
-                Interval = 300,
+                Interval = 1000,
                 AutoReset = true,
                 Enabled = false
             };
@@ -156,6 +156,18 @@ namespace AGVControl.BLL
                     if (CheckOnline(i))
                     {
                         bool change = false;
+                        if (!Common.agvInfo[i].AllocatingTask && Common.agvInfo[i].IsUse && Common.agvInfo[i].CurJob != null && Common.agvInfo[i].CurTaskID.Equals(-1))
+                        {
+                            if (!Common.mir.Get_Fleet_Mission_Info(Common.agvInfo[i]))
+                            {
+                                Common.agvInfo[i].CurJob.ResendTask(Common.agvInfo[i]);
+                                Common.log.Info($"{Common.agvInfo[i].Name}：Task=-1处理,Fleet无任务,重发任务:{Common.agvInfo[i].CurTaskName}");
+                            }
+                            else
+                            {
+                                Common.log.Info($"{Common.agvInfo[i].Name}：Task=-1处理,Fleet有任务，自动赋值FleetTaskID={Common.agvInfo[i].CurTaskID}");
+                            }
+                        }
                         Common.mir.Get_Task_State(Common.agvInfo[i].CurTaskID, out string stateStr);
                         Thread.Sleep(50);
                         //获取AGV状态
@@ -198,13 +210,13 @@ namespace AGVControl.BLL
 
                 if (node.Name.Equals("A5"))
                 {
-                    if (!SettingString.C4_AGV_IPs.Contains(agv_Info.IP))
+                    if (!Common.C4_AGV_IPs.Contains(agv_Info.IP))
                         continue;
                     job = ((DoubleLineNodeFor4C)node).GetNewJob(agv_Info);
                 }
                 else if (node.Name.Equals("A6"))
                 {
-                    if (SettingString.C4_AGV_IPs.Contains(agv_Info.IP))
+                    if (Common.C4_AGV_IPs.Contains(agv_Info.IP))
                         continue;
                     job = ((DoubleLineNodeFor4D)node).GetNewJob(agv_Info);
                 }

AGVControl-ProductionLine/bean/Agv_Info.cs

@@ -114,8 +114,15 @@ namespace AGVControl
         /// <summary>
         /// 当前任务的ID号
         /// </summary>
-        public int CurTaskID { get; set; } = -1;
-
+        public long CurTaskID { get; set; } = -1;
+        /// <summary>
+        /// 任务时间戳
+        /// </summary>
+        public string TimeStamp { get; set; } = "";
+        /// <summary>
+        /// 正在分配任务
+        /// </summary>
+        public bool AllocatingTask = false;
         public string CurTaskState { get; set; } = "";
         /// <summary>
         /// 当前任务名称
@@ -158,7 +165,7 @@ namespace AGVControl
         {
             string curJobTaskName = "";
             string curJobTaskState = "";
-            int curJobTaskID = -1;
+            long curJobTaskID = -1;
             if (CurJob != null)
             {
                 if (CurJob is ChargeJob)

AGVControl-ProductionLine/bean/Job.cs

@@ -21,7 +21,7 @@ namespace AGVControl
         /// </summary>
         public abstract Job Execute(Agv_Info agv);
 
-        public int CurTaskID { get; set; } = -1;
+        public long CurTaskID { get; set; } = -1;
 
         /// <summary>
         /// 当前的任务名称（与任务GUID对应）
@@ -42,7 +42,7 @@ namespace AGVControl
         /// </summary>
         /// <param name="curTaskName"></param>
         /// <param name="curTaskId"></param>
-        protected void UpdateJobTaskInfo(string curTaskName, int curTaskId)
+        protected void UpdateJobTaskInfo(string curTaskName, long curTaskId)
         {
             CurTaskID = curTaskId;
             CurTaskName = curTaskName;

AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4C.cs

@@ -22,7 +22,7 @@ namespace AGVControl
         /// <returns></returns>
         public override Job GetNewJob(Agv_Info currentAgv)
         {
-            if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+            if (!Common.C4_AGV_IPs.Contains(currentAgv.IP))
                 return null;
             if (!Common.CheckCanExecuteMission(currentAgv))
                 return null;
@@ -33,7 +33,7 @@ namespace AGVControl
             string rfid = "";
             foreach (Agv_Info agv in Common.agvInfo)
             {
-                if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
+                if (!Common.C4_AGV_IPs.Contains(agv.IP))
                     continue;
                 if (agv.CurJob is GoEmptyShelfLineJob || (agv.CurJob is EmptyShelfBackJob))
                 {
@@ -44,7 +44,7 @@ namespace AGVControl
             //出工单料的目的地是否有空料架
             if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
             {
-                if (nodeName.StartsWith(SettingString.C4_Name_Prefix) && SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+                if (nodeName.StartsWith(SettingString.C4_Name_Prefix) && Common.C4_AGV_IPs.Contains(currentAgv.IP))
                 {
                     ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName));
                     int cnt = 0;
@@ -68,7 +68,7 @@ namespace AGVControl
             //回收空料架
             if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
             {
-                if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+                if (Common.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)
@@ -84,7 +84,7 @@ namespace AGVControl
             if (Common.FindFullShelfTask(currentAgv))
             {
 
-                if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+                if (Common.C4_AGV_IPs.Contains(currentAgv.IP))
                 {
                     ClientNode node = Common.nodeInfo.Find(s => s.Name.Equals(SettingString.A6)
                             && (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.Equals("00"));

AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4D.cs

-using BLL;
-using log4net.Util;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace AGVControl
+namespace AGVControl
 {
     /// <summary>
     /// 
@@ -25,7 +17,7 @@ namespace AGVControl
         /// <returns></returns>
         public override Job GetNewJob(Agv_Info currentAgv)
         {
-            if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+            if (Common.C4_AGV_IPs.Contains(currentAgv.IP))
                 return null;
             if (!Common.CheckCanExecuteMission(currentAgv))
                 return null;
@@ -36,7 +28,7 @@ namespace AGVControl
             string rfid = "";
             foreach (Agv_Info agv in Common.agvInfo)
             {
-                if (SettingString.C4_AGV_IPs.Contains(agv.IP))
+                if (Common.C4_AGV_IPs.Contains(agv.IP))
                     continue;
                 if (agv.CurJob is GoEmptyShelfLineJob || agv.CurJob is EmptyShelfBackJob)//
                 {
@@ -46,13 +38,13 @@ namespace AGVControl
             //出工单料的目的地是否有空料架
             if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
             {
-                if (nodeName.StartsWith(SettingString.D4_Name_Prefix) && !SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+                if (nodeName.StartsWith(SettingString.D4_Name_Prefix) && !Common.C4_AGV_IPs.Contains(currentAgv.IP))
                 {
                     ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName));
                     int cnt = 0;
                     foreach (Agv_Info agv in Common.agvInfo)
                     {
-                        if (SettingString.C4_AGV_IPs.Contains(agv.IP))
+                        if (Common.C4_AGV_IPs.Contains(agv.IP))
                             continue;
                         if (agv.CurJob is GoEmptyShelfLineJob)
                         {
@@ -73,7 +65,7 @@ namespace AGVControl
             //回收空料架
             if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
             {
-                if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+                if (!Common.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)
@@ -88,7 +80,7 @@ namespace AGVControl
             //出满料
             if (Common.FindFullShelfTask(currentAgv))
             {
-                if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
+                if (!Common.C4_AGV_IPs.Contains(currentAgv.IP))
                 {
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
                     if (i > -1)
@@ -130,7 +122,7 @@ namespace AGVControl
         /// <returns></returns>
         private bool CanEmptyTask(int emptytASKAGV)
         {
-            if (emptytASKAGV>=1)//确保一辆车回收架子
+            if (emptytASKAGV >= 1)//确保一辆车回收架子
             {
                 return false;
             }

AGVControl-ProductionLine/bin/Debug/AGVControl-ProductionLine.exe.config

@@ -61,7 +61,8 @@
     <add key="http.server" value="http://10.85.199.25/myproject/" />
     <add key="FLEET" value="10.85.199.3" />
     <add key="AutoCharge" value="True" />
-    <add key="ChargeWait" value="1" />
+    <!--去4C的三辆车IP地址-->
+    <add key="C4_AGV_IPs" value="10.85.199.71,10.85.199.72,10.85.199.73" />
     <add key="ChargeThreshold" value="20,90" />
     <add key="IP_4D_Light" value="10.85.196.40:8088" />
     <add key="IP_4C_Light" value="10.85.197.40:8088" />

AGVControl-ProductionLine/bin/Debug/Config/AgvMission.csv

@@ -12,7 +12,7 @@
 4D-10线,MoveD10,e7c0ad9c-b517-11ea-b6ad-00012998f5a0
 4D-11线,MoveD11,2e23a510-b518-11ea-b6ad-00012998f5a0
 4D-12线,MoveD12,6efb37bc-b519-11ea-b6ad-00012998f5a0
-4D-14线,MoveD14,b03043fd-b519-11ea-b6ad-00012998f5a0
+4D-13线,MoveD13,b03043fd-b519-11ea-b6ad-00012998f5a0
 4D-15线,MoveD15,f3f9a668-b519-11ea-b6ad-00012998f5a0
 4D-16线,MoveD16,5ec0f64a-b51a-11ea-b6ad-00012998f5a0
 4D-FeedeerIn,MoveD4FeederIn,37401585-b51b-11ea-b6ad-00012998f5a0

AGVControl-ProductionLine/bin/Debug/Config/AgvProductionLine.csv

@@ -12,7 +12,7 @@ D9,D9,10.85.199.180,4D-9Ïß,DL9,9e0b64ab-b432-11ea-a1a5-00012999830e
 D10,D10,10.85.199.181,4D-10Ïß,DL10,aec7da80-b432-11ea-a1a5-00012999830e
 D11,D11,10.85.199.182,4D-11Ïß,DL11,c10984c9-b432-11ea-a1a5-00012999830e
 D12,D12,10.85.199.183,4D-12Ïß,DL12,d6e0b92a-b432-11ea-a1a5-00012999830e
-D14,D14,10.85.199.184,4D-14Ïß,DL14,efb04c55-b432-11ea-a1a5-00012999830e
+D13,D13,10.85.199.184,4D-13Ïß,DL14,efb04c55-b432-11ea-a1a5-00012999830e
 D15,D15,10.85.199.185,4D-15Ïß,DL15,fd6b1f95-b432-11ea-a1a5-00012999830e
 D16,D16,10.85.199.96,4D-16Ïß,line_16,ac6c413e-895e-11ea-9374-000129922ca6
 FeederIn,D21,10.85.199.1,4D-FeedeerIn,FI,1e546c3a-8abe-11ea-ab63-000129922ca6

AGVControl-ProductionLine/bin/Debug/Config/UnlockInfo.json

-{"NodeUnlockMissions":{"D1":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D2":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D3":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D4":{"NodeName":null,"EmptyCnt":1,"Rfids":{"C2":"2021/01/21/09:18:50,014"}},"D5":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D6":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D8":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D9":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D10":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D11":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D12":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D14":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D15":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D16":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D22":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C1":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C2":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C3":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C4":{"NodeName":null,"EmptyCnt":1,"Rfids":{"D9":"2021/04/14/10:30:23,611"}},"C5":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C6":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C7":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C8":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C9":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C10":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C14":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C15":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C22":{"NodeName":null,"EmptyCnt":0,"Rfids":{}}}}
+{"NodeUnlockMissions":{"D1":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D2":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D3":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D4":{"NodeName":null,"EmptyCnt":1,"Rfids":{"C2":"2021/01/21/09:18:50,014"}},"D5":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D6":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D8":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D9":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D10":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D11":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D12":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D13":{"NodeName":null,"EmptyCnt":3,"Rfids":{"D1":"2021/08/06/09:41:37,667","D14":"2021/08/06/09:43:17,419","D15":"2021/08/06/09:43:35,459"}},"D15":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D16":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"D22":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C1":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C2":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C3":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C4":{"NodeName":null,"EmptyCnt":1,"Rfids":{"D9":"2021/04/14/10:30:23,611"}},"C5":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C6":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C7":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C8":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C9":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C10":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C14":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C15":{"NodeName":null,"EmptyCnt":0,"Rfids":{}},"C22":{"NodeName":null,"EmptyCnt":0,"Rfids":{}}}}

AGVControl-ProductionLine/bin/Debug/Config/tempData.ini

@@ -20,3 +20,5 @@ EmptyShelfCnt=1
 EmptyShelfCnt=1
 [C4]
 EmptyShelfCnt=1
+[D13]
+EmptyShelfCnt=3

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

@@ -71,4 +71,3 @@ E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLi
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csproj.CopyComplete
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.exe
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.pdb
-E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csprojAssemblyReference.cache