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Commit ec01efbe 由 张东亮
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添加拒绝包装料架解绑

1 个父辈 85bff5cf
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内嵌 并排
正在显示 21 个修改的文件 包含 335 行增加 和 125 行删除
AGVControl-ProductionLine/BLL/AGVManager.cs
......@@ -10,44 +10,6 @@ using RestSharp;
namespace AGVControl
{
public class RunInfo
{
/// <summary>
/// AGV编号
/// </summary>
public string AGVNum { get; set; } = "";
/// <summary>
/// 时间
/// </summary>
public string DateTime { get; set; } = "";
/// <summary>
/// 任务信息
/// </summary>
public string MissionInfo { get; set; } = "";
public RunInfo(string AGVNum, string missionInfo)
{
//2006-01-02 15:04:05
DateTime = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
this.AGVNum = AGVNum;
MissionInfo = missionInfo;
}
public RunInfo() { }
public override bool Equals(object obj)
{
if (obj is RunInfo)
{
RunInfo info = (RunInfo)obj;
if (this.MissionInfo.Equals(info.MissionInfo))
return true;
this.MissionInfo = info.MissionInfo;
}
return false;
}
public override string ToString()
{
return JsonHelper.SerializeObject(this);
}
}
public class AGVManager
{
private static string Addr_CurSO = "/rest/api/qisda/device/currentOutLine";
......
AGVControl-ProductionLine/BLL/Common.cs
......@@ -98,7 +98,6 @@ namespace AGVControl
public static ChargeStatus chargeStatus;
public static string itsHttp;
public static log4net.ILog log;
public static log4net.ILog runLog;
public static Dictionary<string, string> agvMission;
public static Dictionary<string, string> showNameMissionName;
//public static Dictionary<string, string> agvProductionLine;
......@@ -110,7 +109,10 @@ namespace AGVControl
private static string preLog = "";
public static readonly string CONFIG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Config\\";
#region 任务日志
static log4net.ILog runLog = log4net.LogManager.GetLogger("RunLog");
static Dictionary<string, RunInfo> runInfoMap = new Dictionary<string, RunInfo>();
public static void RunLogInfo(RunInfo info)
{
if (runInfoMap == null)
......@@ -128,6 +130,12 @@ namespace AGVControl
runLog.Info(info.ToString());
}
}
public static void ErrorLogRecord(ErrorInfo errorInfo)
{
runLog.Info(errorInfo.ToString());
}
#endregion
public static string ReadIni(string section, string key)
{
return IniHelper.ReadValue(section, key, CONFIG_PATH + SettingString.FileName_tempData);
......@@ -1263,7 +1271,139 @@ namespace AGVControl
}
}
public class RunInfo
{
/// <summary>
/// AGV编号
/// </summary>
public string AGVNum { get; set; } = "";
/// <summary>
/// 任务名称
/// </summary>
public string TaskName { get; set; } = "";
/// <summary>
/// 目的地
/// </summary>
public string TargetPlace { get; set; } = "";
/// <summary>
/// 任务步骤
/// </summary>
public string TaskStep { get; set; } = "";
/// <summary>
/// 任务内容
/// </summary>
public string MissionInfo { get; set; } = "";
/// <summary>
/// 开始时间
/// </summary>
public string DateTime { get; set; } = "";
/// <summary>
/// 结束时间
/// </summary>
public string EndDateTime { get; set; } = "";
/// <summary>
/// 任务运行时长
/// </summary>
public string TaskRunTime { get; set; } = "";
/// <summary>
/// 类型
/// </summary>
public string Type { get; set; } = "Task";
public RunInfo(string AGVNum, string taskName, string targetPlace, string taskStep, string missionInfo, DateTime startTime)
{
//开始时间 2006-01-02 15:04:05
DateTime = startTime.ToString("yyyy-MM-dd HH:mm:ss");
EndDateTime = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
this.AGVNum = AGVNum;
MissionInfo = missionInfo;
TaskName = taskName;
TaskRunTime = (System.DateTime.Now - startTime).TotalMinutes.ToString("f2");
TargetPlace = targetPlace;
TaskStep = taskStep;
}
public RunInfo() { }
public override bool Equals(object obj)
{
if (obj is RunInfo)
{
RunInfo info = (RunInfo)obj;
if (this.MissionInfo.Equals(info.MissionInfo))
return true;
this.MissionInfo = info.MissionInfo;
}
return false;
}
public override string ToString()
{
return JsonHelper.SerializeObject(this);
}
}
public class ErrorInfo
{
/// <summary>
/// AGV编号
/// </summary>
public string AGVNum
{
get { return agvname; }
set {
agvname = value.PadLeft(4, '0');
}
}
private string agvname = "";
/// <summary>
/// 开始时间
/// </summary>
public string DateTime { get; set; } = "";
/// <summary>
/// 结束时间
/// </summary>
public string EndDateTime { get; set; } = "";
/// <summary>
/// 异常信息
/// </summary>
public string ErrorMsg { get; set; } = "";
public string ErrorLastTime { get; set; } = "";
/// <summary>
/// 任务名称
/// </summary>
public string TaskName { get; set; } = "";
/// <summary>
/// AGV的当前任务
/// </summary>
public string AGVMissionName { get; set; } = "";
public string MissionInfo { get; set; } = "";
/// <summary>
/// 目的地
/// </summary>
public string TargetPlace { get; set; } = "";
/// <summary>
/// 类型
/// </summary>
public string Type { get; set; } = "Error";
public ErrorInfo(Agv_Info agv)
{
DateTime = agv.errStartTime.ToString("yyyy-MM-dd HH:mm:ss");
AGVNum = agv.Name;
EndDateTime = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
ErrorMsg = agv.ErrorMsg;
ErrorLastTime = (System.DateTime.Now - agv.errStartTime).TotalMinutes.ToString("f2");
if (agv.CurJob != null)
{
TaskName = agv.CurJob.JobName;
MissionInfo = agv.CurJob.runInfo;
}
AGVMissionName = agv.CurTaskName;
TargetPlace = agv.Place;
}
public override string ToString()
{
return JsonHelper.SerializeObject(this);
}
}
public static class API
{
[DllImport("user32.dll", EntryPoint = "ShowWindow", CharSet = CharSet.Auto)]
......
AGVControl-ProductionLine/BLL/Control.cs
......@@ -19,7 +19,7 @@ namespace AGVControl.BLL
private System.Timers.Timer AgvCallTimer;
private System.Timers.Timer AgvStateTimer;
private System.Timers.Timer NodeStateTimer;
private System.Timers.Timer StateUpdateTimer;
//private System.Timers.Timer StateUpdateTimer;
//public List<string> Marks;
private const int REG_STATUS = 20;
//private List<string> shelfLockedNodeNames;
......@@ -51,13 +51,13 @@ namespace AGVControl.BLL
Enabled = false
};
NodeStateTimer.Elapsed += NodeStateTimer_Elapsed;
StateUpdateTimer = new System.Timers.Timer
{
Interval = 3000,
AutoReset = true,
Enabled = false
};
StateUpdateTimer.Elapsed += StateUpdateTimer_Elapsed;
//StateUpdateTimer = new System.Timers.Timer
//{
// Interval = 3000,
// AutoReset = true,
// Enabled = false
//};
//StateUpdateTimer.Elapsed += StateUpdateTimer_Elapsed;
}
public void Start()
......@@ -65,11 +65,11 @@ namespace AGVControl.BLL
AgvCallTimer.Enabled = true;
AgvStateTimer.Enabled = true;
NodeStateTimer.Enabled = true;
StateUpdateTimer.Enabled = true;
//StateUpdateTimer.Enabled = true;
AgvCallTimer.Start();
AgvStateTimer.Start();
NodeStateTimer.Start();
StateUpdateTimer.Start();
//StateUpdateTimer.Start();
}
public void Stop()
......@@ -77,11 +77,11 @@ namespace AGVControl.BLL
AgvCallTimer.Enabled = false;
AgvStateTimer.Enabled = false;
NodeStateTimer.Enabled = false;
StateUpdateTimer.Enabled = false;
//StateUpdateTimer.Enabled = false;
AgvCallTimer.Stop();
AgvStateTimer.Stop();
NodeStateTimer.Stop();
StateUpdateTimer.Stop();
// StateUpdateTimer.Stop();
}
private bool NodeStateInProcess = false;
private void NodeStateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
......@@ -178,62 +178,6 @@ namespace AGVControl.BLL
private bool AgvStateUpdateProcess = false;
private void StateUpdateTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (AgvStateUpdateProcess) return;
AgvStateUpdateProcess = true;
List<AlarmMsg> msglist = new List<AlarmMsg>();
for (int i = 0; i < Common.agvInfo.Count; i++)
{
//上报异常
bool isAlarm = false;
try
{
if (!Common.agvInfo[i].IsCon && !Common.agvInfo[i].IsUse)
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Msg", "停用"));
}
if (!isAlarm && !Common.agvInfo[i].IsCon)
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Msg", "离线"));
}
if (!isAlarm && (Common.agvInfo[i].StateID.Equals(eAGVState.Error) || Common.agvInfo[i].StateID.Equals(eAGVState.EmergencyStop) || Common.agvInfo[i].StateID.Equals(eAGVState.Pause)))
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Msg", Common.agvInfo[i].StateID.ToString()));
}
if (!isAlarm && Common.agvInfo[i].StandTimeOut)
{
isAlarm = true;
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Msg", "在" + Common.agvInfo[i].PlaceAliceName + "停留超时" + (DateTime.Now - Common.agvInfo[i].StandStartTime).TotalMinutes.ToString("f2") + "分钟"));
}
if (!isAlarm)
{
if (!Common.agvInfo[i].Msg.Equals(""))
{
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Msg", Common.agvInfo[i].Msg, 1));
Common.RunLogInfo(new AGVControl.RunInfo(Common.agvInfo[i].Name, Common.agvInfo[i].Msg));
}
else
{
if ((Common.agvInfo[i].Place.Contains(SettingString.AutoCharge) || Common.agvInfo[i].Place.Contains(SettingString.Standby)))
{
msglist.Add(new AlarmMsg(Common.agvInfo[i].Name, "lineAgv." + Common.agvInfo[i].Name + ".Place", Common.agvInfo[i].Place,1));
}
}
}
AGVManager.updateDeviceAlarmMsg(msglist);
}
catch (Exception ex)
{
Common.log.Error(Common.agvInfo[i].Name + "上报小车状态失败" + ex.Message + ex.StackTrace);
}
}
AgvStateUpdateProcess = false;
}
/// <summary>
/// 从节点获取任务
......
AGVControl-ProductionLine/BLL/LineWebService.cs
......@@ -75,6 +75,11 @@ namespace BLL
res = new Result() { Succeed = false, ResultData = null, ErrorMessage = "rfid=null" };
Log.Error(string.Format("Unlock Request(POST) Failed [emptyStation={0},rfid=null]", emptyStation));
}
else if (rfid.StartsWith("A"))
{
res = new Result() { Succeed = false, ResultData = null, ErrorMessage = $"rfid={rfid} can not be unlock" };
Log.Error(string.Format("Unlock Request(POST) Failed [emptyStation={0},rfid=null]", emptyStation));
}
else
{
res = new Result() { Succeed = true, ResultData = rfid, ErrorMessage = "" };
......@@ -110,10 +115,14 @@ namespace BLL
}
if (Common.GetNodeNameByLineName(line, out string value))
{
if (!Common.missionManager.AddMission(value,RFID.ToUpper()))
if (RFID.StartsWith("A"))
{
res = new Result() { Succeed = false, ResultData = null, ErrorMessage = $"rfid={RFID} can not be unlock" };
Log.Error(string.Format("Unlock Request(POST) Failed [emptyStation={0},rfid={1}]", line,RFID));
}
else if (!Common.missionManager.AddMission(value, RFID.ToUpper()))
{
res = new Result() { Succeed = false, ResultData = "true", ErrorMessage = "CreateEmptyRecycleTask failed due it has been created or rfid=null: " + line +"rfid="+ RFID.ToUpper() };
res = new Result() { Succeed = false, ResultData = "true", ErrorMessage = "CreateEmptyRecycleTask failed due it has been created or rfid=null: " + line + "rfid=" + RFID.ToUpper() };
}
else
{
......
AGVControl-ProductionLine/FrmMain.cs
......@@ -451,7 +451,7 @@ namespace AGVControl
}
if (MessageBox.Show("确定删除产线任务[" + cmbBoxLineName.SelectedItem.ToString() + "]", "手动删除解绑任务", MessageBoxButtons.YesNo) == DialogResult.No)
return;
if (txtRfid.Text.ToUpper().StartsWith("D") || txtRfid.Text.ToUpper().StartsWith("C"))
// if (txtRfid.Text.ToUpper().StartsWith("D") || txtRfid.Text.ToUpper().StartsWith("C"))
{
int idx = Common.nodeInfo.FindIndex(s => s.AliceName.Equals(cmbBoxLineName.SelectedItem.ToString()));
if (idx > -1)
......
AGVControl-ProductionLine/Program.cs
......@@ -43,7 +43,6 @@ namespace AGVControl
//Common.logTextBox = new TextBox();
//Common.missionView = new DataGridView();
Common.log = log4net.LogManager.GetLogger("AgvServer");
Common.runLog = log4net.LogManager.GetLogger("RunLog");
Common.log.Info("=====程序开始=====");
ReadConfig();
Common.ReadUnlockLineInfo();
......
AGVControl-ProductionLine/bean/Agv_Info.cs
......@@ -131,6 +131,29 @@ namespace AGVControl
/// </summary>
public string BoxDestInfo { get; set; } = "";
/// <summary>
/// 错误消息
/// </summary>
public string ErrorMsg { get; set; } = "";
public string ErrorLastTime { get; set; } = "";
/// <summary>
/// 任务期间是否有错误
/// </summary>
public bool HasError { get; set; } = false;
public void SetErrorMsg(string msg, string lastTime)
{
if (ErrorMsg.Equals(""))
{
ErrorMsg = msg;
ErrorLastTime = lastTime;
errStartTime = DateTime.Now;
}
}
public void ClearErrorMsg()
{
ErrorLastTime = "";
ErrorMsg = "";
}
public string RunInfo()
{
string curJobTaskName = "";
......@@ -263,6 +286,7 @@ namespace AGVControl
int IoLastTime = 5000;
int StandLastTimeMinute = 5;
public DateTime StandStartTime = DateTime.MaxValue;
public DateTime errStartTime = DateTime.Now;
public bool SetState(eAGVState stateID, string stateText, int battery, string missionText, clsPosition position)
{
bool isChange = false;
......@@ -305,18 +329,48 @@ namespace AGVControl
CurTaskState = stateText;
Battery = battery;
MissionText = missionText;
CheckErrorState();
CheckOfflineTimeOut();
CheckStandTimeOut(position);
UpdateDisplayBoard();
return isChange;
}
DateTime agvErrorStartTime = DateTime.MaxValue;
DateTime offlineStartTime = DateTime.MaxValue;
bool errorState = false;
int OfflineLastTimeSeconds = 30;
/// <summary>
/// 检查小车是否报错
/// </summary>
/// <returns></returns>
private void CheckErrorState()
{
if (StateID.Equals(eAGVState.Error) || StateID.Equals(eAGVState.EmergencyStop) || StateID.Equals(eAGVState.Pause))
{
//满足条件，计算持续时间
if (agvErrorStartTime == DateTime.MaxValue)
{
agvErrorStartTime = DateTime.Now;
}
TimeSpan lastTimeSpan = DateTime.Now - agvErrorStartTime;
errorState = (lastTimeSpan.TotalSeconds >= OfflineLastTimeSeconds);
}
else
{
errorState = false;
if ((DateTime.Now - agvErrorStartTime).TotalSeconds > OfflineLastTimeSeconds)
agvErrorStartTime = DateTime.Now;
}
}
/// <summary>
/// 检查小车是否在原地停留超时
/// </summary>
/// <returns></returns>
private void CheckStandTimeOut(clsPosition position)
{
if (IsUse && CurJob !=null && !(CurJob is ChargeJob) &&
( !CurTaskName.Contains(SettingString.Standby)))//!CurTaskName.Contains(SettingString.AutoCharge) ||
if (IsUse && CurJob != null && !(CurJob is ChargeJob) &&
(!CurTaskName.Contains(SettingString.Standby)))//!CurTaskName.Contains(SettingString.AutoCharge) ||
{
if (Math.Abs(position.x - Position.x) < 1 && Math.Abs(position.y - Position.y) < 1)
{
......@@ -336,7 +390,7 @@ namespace AGVControl
}
}
else if(CurJob != null && (CurJob is ChargeJob))
else if (CurJob != null && (CurJob is ChargeJob))
{
StandTimeOut = false;
StandStartTime = DateTime.Now;
......@@ -348,6 +402,98 @@ namespace AGVControl
}
Position = position;
}
/// <summary>
/// 离线超时
/// </summary>
private bool offlineTimeOut = false;
/// <summary>
/// 检查小车是否离线超时
/// </summary>
/// <returns></returns>
private void CheckOfflineTimeOut()
{
if (CurJob != null && !(CurJob is ChargeJob) && !IsCon)
{
//满足条件，计算持续时间
if (offlineStartTime == DateTime.MaxValue)
{
offlineStartTime = DateTime.Now;
}
TimeSpan lastTimeSpan = DateTime.Now - offlineStartTime;
offlineTimeOut = (lastTimeSpan.TotalSeconds >= OfflineLastTimeSeconds);
}
else
{
offlineTimeOut = false;
if ((DateTime.Now - offlineStartTime).TotalSeconds > OfflineLastTimeSeconds)
//LogUtil.error(string.Format("{0} 在{1}离线{2}秒", Name, PlaceAliceName, (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2")));
offlineStartTime = DateTime.Now;
}
}
private void UpdateDisplayBoard()
{
bool isAlarm = false;
List<AlarmMsg> msglist = new List<AlarmMsg>();
try
{
if (!IsCon && !IsUse)
{
isAlarm = true;
msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", "停用"));
}
if (!isAlarm && offlineTimeOut)
{
isAlarm = true;
SetErrorMsg("离线", (DateTime.Now - offlineStartTime).TotalMinutes.ToString("f2"));
msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", "离线"));
}
if (!isAlarm && errorState)
{
isAlarm = true;
SetErrorMsg("状态："+StateID.ToString(), (DateTime.Now - errStartTime).TotalMinutes.ToString("f2"));
msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", StateID.ToString()));
}
if (!isAlarm && StandTimeOut)
{
isAlarm = true;
SetErrorMsg("在" + PlaceAliceName + "停留超时", (DateTime.Now - StandStartTime).TotalMinutes.ToString("f2"));
msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", "在" + PlaceAliceName + "停留超时" + (DateTime.Now - StandStartTime).TotalMinutes.ToString("f2") + "分钟"));
}
if (!isAlarm && HasError)
{
isAlarm = true;
msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", Msg));
}
if (!isAlarm)
{
if (!ErrorMsg.Equals(""))//异常消除后正常，打印异常
{
Common.ErrorLogRecord(new ErrorInfo(this));
ClearErrorMsg();
}
if (!Msg.Equals(""))
{
msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", Msg, 1));
}
else
{
if ((Place.Contains(SettingString.AutoCharge) || Place.Contains(SettingString.Standby)))
{
msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Place", Place, 1));
}
}
}
AGVManager.updateDeviceAlarmMsg(msglist);
}
catch (Exception ex)
{
Common.log.Error(Name + "上报小车信息失败" + ex.Message + ex.StackTrace);
}
}
public string[] ToRow()
{
......
AGVControl-ProductionLine/bean/Job.cs
......@@ -15,6 +15,7 @@ namespace AGVControl
/// 运行信息
/// </summary>
public abstract string RunInfo { get; }
public string runInfo = "";
/// <summary>
/// 根据任务状态继续执行任务
/// </summary>
......@@ -30,7 +31,18 @@ namespace AGVControl
/// 当前任务的执行状态
/// </summary>
public string CurTaskState { get; set; } = "Wait";
/// <summary>
/// Job开始时间
/// </summary>
public DateTime StartJobTime { get; set; } = DateTime.Now;
/// <summary>
/// Job名称
/// </summary>
public string JobName { get; set; } = "";
protected void RecordRunLog(Agv_Info agv, string JobStep, string runInfo, string targetPlace)
{
Common.RunLogInfo(new RunInfo(agv.Name.PadLeft(4, '0'), JobName, targetPlace, JobStep, runInfo, StartJobTime));
}
/// <summary>
/// 更新任务信息
/// </summary>
......
AGVControl-ProductionLine/bean/JobStep.cs
......@@ -22,7 +22,7 @@ namespace AGVControl
//不为空，且与上一个消息不一样才打印
if (!value.Equals(msg))
{
Common.LogInfo(value);
// Common.LogInfo(value);
}
}
msg = value;
......@@ -53,13 +53,12 @@ namespace AGVControl
/// </summary>
/// <param name="timeOutMilliseconds"></param>
/// <returns></returns>
public bool IsTimeOut(int timeOutMilliseconds,out double timeOutValue)
public bool IsTimeOut(int timeOutMilliseconds,out TimeSpan timeOutValue)
{
timeOutValue = 0;
TimeSpan span = DateTime.Now - startTime;
timeOutValue = span;
if (span.TotalMilliseconds > timeOutMilliseconds)
{
timeOutValue = span.TotalSeconds;
return true;
}
return false;
......
AGVControl-ProductionLine/bean/job/EnterLeaveShelfJob.cs
......@@ -53,7 +53,6 @@ namespace AGVControl
public eEnterLeaveType ActionType { get; set; }
private eShelfType shelfType;
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
......@@ -114,7 +113,7 @@ namespace AGVControl
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (EnterLeaveShelfStep.IsTimeOut(15000, out double timeOutValue))
else if (EnterLeaveShelfStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.NONE);
runInfo = "AGV到达 " + LineName + "，15秒后重新向产线发送入料架请求[ReadyEnter]";
......@@ -135,7 +134,7 @@ namespace AGVControl
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (EnterLeaveShelfStep.IsTimeOut(15000, out double timeOutValue))
else if (EnterLeaveShelfStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.NONE);
runInfo= "AGV到达 " + LineName + "，15秒后重新向产线发送入料架请求[ReadyLeave]";
......@@ -157,7 +156,7 @@ namespace AGVControl
return new EmptyAGVBackJob(LineName);
}
else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
else if (EnterLeaveShelfStep.IsTimeOut(60000, out TimeSpan timeOutValue))
{
//链条停止
runInfo= "料架在[" + LineName + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
......@@ -179,7 +178,7 @@ namespace AGVControl
Common.missionManager.DelMission(LineName,RFID);
return new EmptyShelfBackJob(LineName,eShelfType.BigShelf);
}
else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
else if (EnterLeaveShelfStep.IsTimeOut(60000, out TimeSpan timeOutValue))
{
//链条停止
runInfo= "料架在[" + LineName + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
......
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