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Commit bf7f07cd 由 顾剑亮
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debug

1 个父辈 b4ab9229
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内嵌 并排
正在显示 47 个修改的文件 包含 299 行增加 和 146 行删除
AGVControl_Elevator/FrmMain.cs
...@@ -153,8 +153,8 @@ namespace AGVControl_Elevator ...@@ -153,8 +153,8 @@ namespace AGVControl_Elevator
{ {
for (int i = 0; i < Common.lineInfos.Count; i++) for (int i = 0; i < Common.lineInfos.Count; i++)
{ {
lineDI[i].BackColor = Common.lineInfos[i].Call ? BACK_TRUE : BACK_FALSE; lineDI[i].BackColor = Common.lineInfos[i].LineCall ? BACK_TRUE : BACK_FALSE;
lineShelf[i].BackColor = Common.lineInfos[i].Exist ? BACK_TRUE : BACK_FALSE; lineShelf[i].BackColor = Common.lineInfos[i].ShelfExist ? BACK_TRUE : BACK_FALSE;
} }
} }
...@@ -177,9 +177,12 @@ namespace AGVControl_Elevator ...@@ -177,9 +177,12 @@ namespace AGVControl_Elevator
private void ElevatorDO_Click(object sender, EventArgs e) private void ElevatorDO_Click(object sender, EventArgs e)
{ {
Button btn = sender as Button; if (ChkMissionDebug.Checked)
int index = Array.FindIndex(elevatorDO, s => s == btn); {
BLL.ManageWork.elevator.WriteDO(index); Button btn = sender as Button;
int index = Array.FindIndex(elevatorDO, s => s == btn);
BLL.ManageWork.elevator.WriteDO(index);
}
} }
private void FrmMain_Load(object sender, EventArgs e) private void FrmMain_Load(object sender, EventArgs e)
...@@ -190,6 +193,7 @@ namespace AGVControl_Elevator ...@@ -190,6 +193,7 @@ namespace AGVControl_Elevator
LstMission.Items.AddRange(Common.agvMissions.Keys.ToArray()); LstMission.Items.AddRange(Common.agvMissions.Keys.ToArray());
NudShelfCurr.Value = Common.FirstFloorCurr; NudShelfCurr.Value = Common.FirstFloorCurr;
NudShelfCount.Value = Common.FirstFloorCount; NudShelfCount.Value = Common.FirstFloorCount;
ChkAutoCharge.Checked = Common.AutoCharge;
for (int i = 0; i < Common.agvInfos.Count; i++) for (int i = 0; i < Common.agvInfos.Count; i++)
{ {
...@@ -287,9 +291,10 @@ namespace AGVControl_Elevator ...@@ -287,9 +291,10 @@ namespace AGVControl_Elevator
info.IsAuto = !info.IsAuto; info.IsAuto = !info.IsAuto;
DgvName.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = info.IsAuto.ToString(); DgvName.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = info.IsAuto.ToString();
Common.appConfig.AppSettings.Settings[info.Name].Value = info.IsAuto.ToString(); Common.appConfig.AppSettings.Settings[info.Name].Value = info.IsAuto.ToString();
Common.appConfig.Save(); Common.appConfig.Save(System.Configuration.ConfigurationSaveMode.Modified);
System.Configuration.ConfigurationManager.RefreshSection("appSettings"); System.Configuration.ConfigurationManager.RefreshSection("appSettings");
Common.log.Info("手动修改 " + info.Name + " IsUse=" + info.IsAuto); Common.log.UI_Display(string.Format("手动修改 {0} 的自动状态为{1}", info.Name, info.IsAuto));
Common.log.Info(string.Format("手动修改 {0} 的自动状态为{1}", info.Name, info.IsAuto));
} }
else if (e.ColumnIndex == DgvName.Columns.Count - 1) //最后一列，清除任务 else if (e.ColumnIndex == DgvName.Columns.Count - 1) //最后一列，清除任务
{ {
...@@ -303,8 +308,10 @@ namespace AGVControl_Elevator ...@@ -303,8 +308,10 @@ namespace AGVControl_Elevator
info.Place = ""; info.Place = "";
DgvName.Rows[e.RowIndex].Cells[e.ColumnIndex - 1].Value = info.IsAuto.ToString(); DgvName.Rows[e.RowIndex].Cells[e.ColumnIndex - 1].Value = info.IsAuto.ToString();
Common.appConfig.AppSettings.Settings[info.Name].Value = info.IsAuto.ToString(); Common.appConfig.AppSettings.Settings[info.Name].Value = info.IsAuto.ToString();
Common.appConfig.Save(); Common.appConfig.Save(System.Configuration.ConfigurationSaveMode.Modified);
System.Configuration.ConfigurationManager.RefreshSection("appSettings"); System.Configuration.ConfigurationManager.RefreshSection("appSettings");
Common.log.UI_Display(string.Format("手动清除 {0} 的当前任务，并且自动状态改为{1}", info.Name, info.IsAuto));
Common.log.Info(string.Format("手动清除 {0} 的当前任务，并且自动状态改为{1}", info.Name, info.IsAuto));
} }
} }
} }
...@@ -316,8 +323,8 @@ namespace AGVControl_Elevator ...@@ -316,8 +323,8 @@ namespace AGVControl_Elevator
DialogResult dr = MessageBox.Show(text, "", MessageBoxButtons.YesNo, MessageBoxIcon.Information); DialogResult dr = MessageBox.Show(text, "", MessageBoxButtons.YesNo, MessageBoxIcon.Information);
if (dr == DialogResult.No) return; if (dr == DialogResult.No) return;
info.Call = false; info.LineCall = false;
lineDI[CboLineName.SelectedIndex].BackColor = info.Call ? BACK_TRUE : BACK_FALSE; lineDI[CboLineName.SelectedIndex].BackColor = info.LineCall ? BACK_TRUE : BACK_FALSE;
Common.log.Info(string.Format("手动取消{0}呼叫", info.Name)); Common.log.Info(string.Format("手动取消{0}呼叫", info.Name));
BLL.ManageWork.line.Save(); BLL.ManageWork.line.Save();
} }
...@@ -329,35 +336,42 @@ namespace AGVControl_Elevator ...@@ -329,35 +336,42 @@ namespace AGVControl_Elevator
DialogResult dr = MessageBox.Show(text, "", MessageBoxButtons.YesNo, MessageBoxIcon.Information); DialogResult dr = MessageBox.Show(text, "", MessageBoxButtons.YesNo, MessageBoxIcon.Information);
if (dr == DialogResult.No) return; if (dr == DialogResult.No) return;
info.Exist = !info.Exist; info.ShelfExist = !info.ShelfExist;
lineShelf[CboLineName.SelectedIndex].BackColor = info.Exist ? BACK_TRUE : BACK_FALSE; lineShelf[CboLineName.SelectedIndex].BackColor = info.ShelfExist ? BACK_TRUE : BACK_FALSE;
Common.log.Info(string.Format("手动改变{0}货架状态{1}", info.Name, info.Exist)); Common.log.Info(string.Format("手动改变{0}货架状态{1}", info.Name, info.ShelfExist));
BLL.ManageWork.line.Save(); BLL.ManageWork.line.Save();
} }
private void ChkMissionDebug_CheckedChanged(object sender, EventArgs e) private void ChkMissionDebug_CheckedChanged(object sender, EventArgs e)
{ {
CboLineName.Enabled = ChkMissionDebug.Checked; CboLineName.Enabled = ChkMissionDebug.Checked;
BtnLineCall.Enabled = ChkMissionDebug.Checked;
BtnLineShelf.Enabled = ChkMissionDebug.Checked;
NudShelfCurr.Enabled = ChkMissionDebug.Checked;
NudShelfCount.Enabled = ChkMissionDebug.Checked;
BtnShelfGet.Enabled = ChkMissionDebug.Checked;
BtnShelfSet.Enabled = ChkMissionDebug.Checked;
ChkAutoCharge.Enabled = ChkMissionDebug.Checked;
} }
private void BtnClearLog_Click(object sender, EventArgs e) private void BtnClearLog_Click(object sender, EventArgs e)
{ {
TxtLog.Text = ""; Common.log.UI_Clear();
} }
private void BtnShelfSet_Click(object sender, EventArgs e) private void BtnShelfSet_Click(object sender, EventArgs e)
{ {
int n = Convert.ToInt32(NudShelfCurr.Value); Common.FirstFloorCurr = Convert.ToInt32(NudShelfCurr.Value);
Common.FirstFloorCurr = n; BLL.ManageWork.FirstFloorSave();
System.IO.File.WriteAllText(Common.PATH_FIRST_FLOOR_CURR, n.ToString(), Encoding.UTF8);
n = Convert.ToInt32(NudShelfCount.Value);
Common.FirstFloorCount = n;
Common.appConfig.AppSettings.Settings["FirstFloorCount"].Value = n.ToString();
Common.appConfig.Save();
System.Configuration.ConfigurationManager.RefreshSection("appSettings");
int n = Convert.ToInt32(NudShelfCount.Value);
if (Common.FirstFloorCount != n)
{
Common.FirstFloorCount = n;
Common.appConfig.AppSettings.Settings["FirstFloorCount"].Value = n.ToString();
Common.appConfig.Save(System.Configuration.ConfigurationSaveMode.Modified);
System.Configuration.ConfigurationManager.RefreshSection("appSettings");
}
MessageBox.Show("设置保存成功"); MessageBox.Show("设置保存成功");
} }
...@@ -365,7 +379,7 @@ namespace AGVControl_Elevator ...@@ -365,7 +379,7 @@ namespace AGVControl_Elevator
{ {
Common.AutoCharge = ChkAutoCharge.Checked; Common.AutoCharge = ChkAutoCharge.Checked;
Common.appConfig.AppSettings.Settings["AutoCharge"].Value = Common.AutoCharge.ToString(); Common.appConfig.AppSettings.Settings["AutoCharge"].Value = Common.AutoCharge.ToString();
Common.appConfig.Save(); Common.appConfig.Save(System.Configuration.ConfigurationSaveMode.Modified);
System.Configuration.ConfigurationManager.RefreshSection("appSettings"); System.Configuration.ConfigurationManager.RefreshSection("appSettings");
} }
...@@ -374,5 +388,49 @@ namespace AGVControl_Elevator ...@@ -374,5 +388,49 @@ namespace AGVControl_Elevator
NudShelfCurr.Value = Common.FirstFloorCurr; NudShelfCurr.Value = Common.FirstFloorCurr;
NudShelfCount.Value = Common.FirstFloorCount; NudShelfCount.Value = Common.FirstFloorCount;
} }
private void BtnEmptyError_Click(object sender, EventArgs e)
{
//System.Threading.Thread thread = new System.Threading.Thread(new System.Threading.ThreadStart(BLL.ManageWork.EmptyErrorDispose));
//thread.Start();
if (DgvName.SelectedCells.Count == 0) return;
AgvInfo info = Common.agvInfos[DgvName.SelectedCells[0].RowIndex];
if (info.IsAuto)
{
MessageBox.Show(info.Name + "自动模式不允许操作");
}
else
{
BLL.ManageWork.EmptyErrorDispose();
Common.log.Info("手动异常处理，结束回收货架任务");
MessageBox.Show("结束回收货架任务处理完成", "", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
private void BtnFullError_Click(object sender, EventArgs e)
{
//System.Threading.Thread thread = new System.Threading.Thread(new System.Threading.ThreadStart(BLL.ManageWork.FullErrorDispose));
//thread.Start();
if (DgvName.SelectedCells.Count == 0) return;
AgvInfo info = Common.agvInfos[DgvName.SelectedCells[0].RowIndex];
if (info.IsAuto)
{
MessageBox.Show(info.Name + "自动模式不允许操作");
}
else
{
BLL.ManageWork.FullErrorDispose();
Common.log.Info("手动异常处理，结束送满料任务");
MessageBox.Show("结束送满料任务处理完成", "", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
} }
} }
AGVControl_Elevator/Program.cs
...@@ -62,7 +62,7 @@ namespace AGVControl_Elevator ...@@ -62,7 +62,7 @@ namespace AGVControl_Elevator
if (Common.appConfig.AppSettings.Settings[str[1]] == null) if (Common.appConfig.AppSettings.Settings[str[1]] == null)
{ {
Common.appConfig.AppSettings.Settings.Add(str[1], "false"); Common.appConfig.AppSettings.Settings.Add(str[1], "false");
Common.appConfig.Save(); Common.appConfig.Save(System.Configuration.ConfigurationSaveMode.Modified);
System.Configuration.ConfigurationManager.RefreshSection("appSettings"); System.Configuration.ConfigurationManager.RefreshSection("appSettings");
} }
else else
......
AGVControl_Elevator/Properties/AssemblyInfo.cs
...@@ -32,5 +32,5 @@ using System.Runtime.InteropServices; ...@@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示: //通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")] // [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")] [assembly: AssemblyVersion("1.1.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")] [assembly: AssemblyFileVersion("1.1.0.0")]
AGVControl_Elevator/bin/Debug/AGVControl_Elevator.exe.config
<?xml version="1.0" encoding="utf-8" ?> <?xml version="1.0" encoding="utf-8" ?>
<configuration> <configuration>
<startup> <startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6" /> <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6" />
</startup> </startup>
<appSettings> <appSettings>
<add key="FLEET_IP" value="10.85.199.3" /> <add key="FLEET_IP" value="10.85.199.3"/>
<add key="FleetSend" value="true" /> <add key="FleetSend" value="true"/>
<add key="BatteryMax" value="100" /> <add key="BatteryMax" value="100"/>
<add key="BatteryMin" value="20" /> <add key="BatteryMin" value="20"/>
<add key="BatteryIdle" value="80" /> <add key="BatteryIdle" value="80"/>
<add key="ElevatorIOIP" value="10.85.199.148" /> <add key="ElevatorIOIP" value="10.85.199.148"/>
<add key="FirstFloorCount" value="2" /> <add key="FirstFloorCount" value="2"/>
<add key="AutoCharge" value="true" /> <add key="AutoCharge" value="true"/>
<add key="12号车" value="false" /> </appSettings>
</appSettings>
</configuration> </configuration>
\ No newline at end of file \ No newline at end of file
AGVControl_Elevator/bin/Debug/Config/AgvMission.csv
...@@ -3,8 +3,10 @@ MoveStandby,1ca1ba19-1e6a-11eb-b091-94c691a7387d ...@@ -3,8 +3,10 @@ MoveStandby,1ca1ba19-1e6a-11eb-b091-94c691a7387d
MoveElevatorSide,3383a4dc-1e6a-11eb-b091-94c691a7387d MoveElevatorSide,3383a4dc-1e6a-11eb-b091-94c691a7387d
EnterElevatorFull,4b3ffeba-1e6a-11eb-b091-94c691a7387d EnterElevatorFull,4b3ffeba-1e6a-11eb-b091-94c691a7387d
EnterElevatorEmpty,5fcad6a1-1ea9-11eb-b091-94c691a7387d EnterElevatorEmpty,5fcad6a1-1ea9-11eb-b091-94c691a7387d
LeaveShelf,887f0e4b-20d1-11eb-b091-94c691a7387d
CarryElevatorSide,c7242eee-20d2-11eb-b091-94c691a7387d
CarryFullD1,43cc7897-200c-11eb-b091-94c691a7387d CarryFullD1,43cc7897-200c-11eb-b091-94c691a7387d
CarryFullD2,5fa6b99e-200c-11eb-b091-94c691a7387d CarryFullD2,27c0a726-22ba-11eb-90bb-94c691a7334a
CarryFullD3,73ddebc6-200c-11eb-b091-94c691a7387d CarryFullD3,73ddebc6-200c-11eb-b091-94c691a7387d
CarryFullD4,8949860d-200c-11eb-b091-94c691a7387d CarryFullD4,8949860d-200c-11eb-b091-94c691a7387d
CarryFullD5,9e21bda5-200c-11eb-b091-94c691a7387d CarryFullD5,9e21bda5-200c-11eb-b091-94c691a7387d
...@@ -33,7 +35,5 @@ CarryEmptyT6,e0fb038d-200e-11eb-b091-94c691a7387d ...@@ -33,7 +35,5 @@ CarryEmptyT6,e0fb038d-200e-11eb-b091-94c691a7387d
CarryEmptyT7,f2619898-200e-11eb-b091-94c691a7387d CarryEmptyT7,f2619898-200e-11eb-b091-94c691a7387d
CarryEmptyT8,05a18e78-200f-11eb-b091-94c691a7387d CarryEmptyT8,05a18e78-200f-11eb-b091-94c691a7387d
CarryEmptyT9,1d13831b-200f-11eb-b091-94c691a7387d CarryEmptyT9,1d13831b-200f-11eb-b091-94c691a7387d
LeaveShelf,887f0e4b-20d1-11eb-b091-94c691a7387d
CarryElevatorSide,c7242eee-20d2-11eb-b091-94c691a7387d
PickShelf,9807e65c-1e9b-11eb-998e-94c691a7334a PickShelf,9807e65c-1e9b-11eb-998e-94c691a7334a
PlaceShelf,dbfd5a43-1e9b-11eb-998e-94c691a7334a PlaceShelf,dbfd5a43-1e9b-11eb-998e-94c691a7334a
\ No newline at end of file \ No newline at end of file
AGVControl_Elevator/bin/Debug/Log/AGVControl.log deleted 100644 → 0
[2020-11-10 10:15:04,691][1][AGVControl:18]INFO =====程序开始=====
[2020-11-10 10:15:04,749][1][AGVControl:18]INFO 读取配置文件 D:\Neotel\AGVControl_Elevator\AGVControl_Elevator\bin\Debug\Config\AgvName.csv
[2020-11-10 10:15:04,755][1][AGVControl:18]INFO 读取配置文件 D:\Neotel\AGVControl_Elevator\AGVControl_Elevator\bin\Debug\Config\AgvMission.csv
[2020-11-10 10:15:04,762][1][AGVControl:18]INFO 读取配置文件 D:\Neotel\AGVControl_Elevator\AGVControl_Elevator\bin\Debug\Config\Line.csv
[2020-11-10 10:15:04,768][1][AGVControl:18]INFO 读取配置文件 D:\Neotel\AGVControl_Elevator\AGVControl_Elevator\bin\Debug\Config\Elevator.csv
[2020-11-10 10:15:04,887][1][AGVControl:18]INFO 加载缓存文件 D:\Neotel\AGVControl_Elevator\AGVControl_Elevator\bin\Debug\Config\LineWork.txt
[2020-11-10 10:15:07,371][12][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:09,863][6][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:11,873][11][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:13,873][9][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:15,873][11][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:17,873][9][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:19,875][10][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:21,864][6][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:23,874][8][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:25,869][6][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:28,360][12][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:30,376][13][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:32,865][6][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:34,861][8][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:37,369][14][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:39,363][13][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:41,361][14][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:43,367][13][AGVControl:28]WARN 12号车[10.85.199.114] 脱机
[2020-11-10 10:15:44,659][1][AGVControl:18]INFO =====程序结束=====
AGVControl_Elevator/bin/Debug/Log/IO_Elevator.log deleted 100644 → 0
[2020-11-10 10:15:04,911][1][IO_Elevator:63]INFO ===== IO[10.85.199.148] Open =====
[2020-11-10 10:15:06,874][6][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:08,866][7][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:10,861][8][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:13,365][13][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:15,369][13][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:17,363][13][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:19,368][13][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:21,369][12][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:23,363][12][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:25,373][12][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:27,373][14][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:29,863][6][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:31,875][10][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:33,872][11][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:36,361][12][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:38,869][9][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:40,867][9][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:42,871][9][IO_Elevator:251]INFO Ping 10.85.199.148 请求没有响应
[2020-11-10 10:15:44,641][1][IO_Elevator:78]INFO ===== IO[10.85.199.148] Close =====
AGVControl_Elevator/bin/Debug/Log/MiR_API.log deleted 100644 → 0
[2020-11-10 10:15:07,370][12][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:09,863][6][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:11,873][11][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:13,873][9][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:15,873][11][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:17,873][9][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:19,875][10][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:21,864][6][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:23,874][8][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:25,869][6][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:28,360][12][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:30,375][13][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:32,865][6][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:34,861][8][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:37,369][14][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:39,363][13][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:41,361][14][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
[2020-11-10 10:15:43,367][13][MiR_API:619]INFO Ping 10.85.199.114 请求没有响应
BLL/Job/FullShelfJob.cs
...@@ -54,16 +54,16 @@ namespace BLL ...@@ -54,16 +54,16 @@ namespace BLL
fullShelfStep.NextStep(FullShelfStep.CallElevator); fullShelfStep.NextStep(FullShelfStep.CallElevator);
fullShelfStep.Msg = string.Format("{0} 电梯可以使用", _info.Name); fullShelfStep.Msg = string.Format("{0} 电梯可以使用", _info.Name);
} }
//else if (ManageWork.FindElevatorWork()) else if (ManageWork.FindElevatorWork())
//{ {
// //送满架子时，同时要回收空架子 //送满架子时，同时要回收空架子
// ManageWork.PauseFull = true; ManageWork.PauseFull = true;
// mission = Common.MISSION_LEAVE_SHELF; mission = Common.MISSION_LEAVE_SHELF;
// move = new MissionJob(mission); move = new MissionJob(mission);
// move.Execute(_info); move.Execute(_info);
// fullShelfStep.NextStep(FullShelfStep.LeaveShelf); fullShelfStep.NextStep(FullShelfStep.LeaveShelf);
// fullShelfStep.Msg = string.Format("{0} 暂停送满货架，优先拉空货架", _info.Name); fullShelfStep.Msg = string.Format("{0} 暂停送满货架，优先拉空货架", _info.Name);
//} }
else else
{ {
Common.log.Debug(string.Format("{0} 电梯还未应答使用请求", _info.Name)); Common.log.Debug(string.Format("{0} 电梯还未应答使用请求", _info.Name));
...@@ -123,7 +123,8 @@ namespace BLL ...@@ -123,7 +123,8 @@ namespace BLL
{ {
//离开信号保持几秒后，取消所有信号 //离开信号保持几秒后，取消所有信号
ManageWork.ElevatorEnd(); ManageWork.ElevatorEnd();
Common.FirstFloorCurr++; ManageWork.FirstFloorAdd();
fullShelfStep.Msg = string.Format("{0} 送满料任务结束，当前一楼货架数量{1}个", _info.Name, Common.FirstFloorCurr); fullShelfStep.Msg = string.Format("{0} 送满料任务结束，当前一楼货架数量{1}个", _info.Name, Common.FirstFloorCurr);
fullShelfStep.NextStep(FullShelfStep.End); fullShelfStep.NextStep(FullShelfStep.End);
} }
...@@ -141,9 +142,17 @@ namespace BLL ...@@ -141,9 +142,17 @@ namespace BLL
{ {
IsEnd = true; IsEnd = true;
if (ManageWork.PauseFull) if (ManageWork.PauseFull)
{
return new RecycleJob(); return new RecycleJob();
}
else else
return new StandbyJob(); {
IJob job = ManageWork.GetJob();
if (job == null)
return new StandbyJob();
else
return job;
}
} }
return this; return this;
......
BLL/Job/RecycleJob.cs
...@@ -47,7 +47,8 @@ namespace BLL ...@@ -47,7 +47,8 @@ namespace BLL
if (ts.Seconds >= 3) if (ts.Seconds >= 3)
{ {
ManageWork.ElevatorEnd(); ManageWork.ElevatorEnd();
Common.FirstFloorCurr--; ManageWork.FirstFloorMinus();
recycleStep.Msg = string.Format("{0} 回收空货架任务，当前一楼货架数量{1}个", _info.Name, Common.FirstFloorCurr); recycleStep.Msg = string.Format("{0} 回收空货架任务，当前一楼货架数量{1}个", _info.Name, Common.FirstFloorCurr);
FindLine(); FindLine();
} }
...@@ -69,9 +70,17 @@ namespace BLL ...@@ -69,9 +70,17 @@ namespace BLL
{ {
IsEnd = true; IsEnd = true;
if (ManageWork.PauseFull) if (ManageWork.PauseFull)
{
return new FullShelfJob(); return new FullShelfJob();
}
else else
return new StandbyJob(); {
IJob job = ManageWork.GetJob();
if (job == null)
return new StandbyJob();
else
return job;
}
} }
return this; return this;
......
BLL/Job/StandbyJob.cs
...@@ -33,6 +33,7 @@ namespace BLL ...@@ -33,6 +33,7 @@ namespace BLL
if (move.IsEnd) if (move.IsEnd)
{ {
_info.Place = "待机位"; _info.Place = "待机位";
_info.MissionName = "";
standbyStep.NextStep(StandbyStep.End); standbyStep.NextStep(StandbyStep.End);
standbyStep.Msg = _info.Name + " 到达待机位"; standbyStep.Msg = _info.Name + " 到达待机位";
} }
...@@ -49,6 +50,10 @@ namespace BLL ...@@ -49,6 +50,10 @@ namespace BLL
standbyStep.Msg = string.Format("{0} 电量小于{1}%，执行充电任务", _info.Name, Common.BatteryMin); standbyStep.Msg = string.Format("{0} 电量小于{1}%，执行充电任务", _info.Name, Common.BatteryMin);
return new ChargeJob(); return new ChargeJob();
} }
else
{
standbyStep.Msg = string.Format("{0} 电量小于{1}%，不在执行任务，并且没有打开自动充电。", _info.Name, Common.BatteryMin);
}
} }
else else
{ {
...@@ -64,6 +69,7 @@ namespace BLL ...@@ -64,6 +69,7 @@ namespace BLL
return new ChargeJob(); return new ChargeJob();
} }
} }
standbyStep.Msg = string.Format("{0} 空闲，当前电量{1}%", _info.Name, _info.Battery);
} }
else else
{ {
......
BLL/RunMode.cs
...@@ -101,7 +101,7 @@ namespace BLL ...@@ -101,7 +101,7 @@ namespace BLL
foreach (Process process in processes) foreach (Process process in processes)
{ {
if (process.Id == current.Id) continue; //自己 if (process.Id == current.Id) continue; //自己
if (process.MainModule.FileName == current.MainModule.FileName) if (process.MainModule.ModuleName == current.MainModule.ModuleName)
{ {
//显示已打开的程序 //显示已打开的程序
ShowWindow(process.MainWindowHandle, SW_RESTORE); ShowWindow(process.MainWindowHandle, SW_RESTORE);
......
BLL/Work/ElevatorWork.cs
...@@ -39,6 +39,7 @@ namespace BLL ...@@ -39,6 +39,7 @@ namespace BLL
Advantech.IO_State sta = module.ReadDO(add); Advantech.IO_State sta = module.ReadDO(add);
sta = module.ReverseStatus(sta); sta = module.ReverseStatus(sta);
module.WriteDO(add, sta); module.WriteDO(add, sta);
Common.log.Info(string.Format("手动操作 {0}={1}", Common.elevatorInfos[index].Name, sta.ToString()));
} }
public IJob GetJob() public IJob GetJob()
...@@ -104,7 +105,7 @@ namespace BLL ...@@ -104,7 +105,7 @@ namespace BLL
return Common.elevatorInfos[idx].State; return Common.elevatorInfos[idx].State;
} }
public void FullShelf() public void FullShelfLeave()
{ {
//送满料 //送满料
int idx = Common.elevatorInfos.FindIndex(s => s.Key == Common.ELEVATOR_FULL_SHELF); int idx = Common.elevatorInfos.FindIndex(s => s.Key == Common.ELEVATOR_FULL_SHELF);
...@@ -117,7 +118,7 @@ namespace BLL ...@@ -117,7 +118,7 @@ namespace BLL
module.WriteDO(Common.elevatorInfos[idx].Address, Advantech.IO_State.On); module.WriteDO(Common.elevatorInfos[idx].Address, Advantech.IO_State.On);
} }
public void EmptyShelf() public void EmptyShelfLeave()
{ {
//离开信号 //离开信号
int idx = Common.elevatorInfos.FindIndex(s => s.Key == Common.ELEVATOR_LEAVE); int idx = Common.elevatorInfos.FindIndex(s => s.Key == Common.ELEVATOR_LEAVE);
...@@ -139,6 +140,9 @@ namespace BLL ...@@ -139,6 +140,9 @@ namespace BLL
if (idx == -1) return; if (idx == -1) return;
module.WriteDO(Common.elevatorInfos[idx].Address, Advantech.IO_State.Off); module.WriteDO(Common.elevatorInfos[idx].Address, Advantech.IO_State.Off);
idx = Common.elevatorInfos.FindIndex(s => s.Key == Common.ELEVATOR_CALL);
if (idx == -1) return;
module.WriteDO(Common.elevatorInfos[idx].Address, Advantech.IO_State.Off);
} }
private void Module_Connect_Event(Advantech.IO_Module box) private void Module_Connect_Event(Advantech.IO_Module box)
......
BLL/Work/LineWork.cs
...@@ -41,7 +41,7 @@ namespace BLL ...@@ -41,7 +41,7 @@ namespace BLL
{ {
if (Common.FirstFloorCurr < Common.FirstFloorCount) if (Common.FirstFloorCurr < Common.FirstFloorCount)
{ {
int index = Common.lineInfos.FindIndex(s => s.Call && s.Exist); //有呼叫状态同时存在架子 int index = Common.lineInfos.FindIndex(s => s.LineCall && s.ShelfExist);
if (index > -1) if (index > -1)
{ {
Common.log.Info(Common.lineInfos[index].Name + "呼叫送满架"); Common.log.Info(Common.lineInfos[index].Name + "呼叫送满架");
...@@ -64,8 +64,8 @@ namespace BLL ...@@ -64,8 +64,8 @@ namespace BLL
{ {
int index = Common.lineInfos.FindIndex(s => s.Key == key); int index = Common.lineInfos.FindIndex(s => s.Key == key);
if (index == -1) return; if (index == -1) return;
Common.lineInfos[index].Call = false; Common.lineInfos[index].LineCall = false;
Common.lineInfos[index].Exist = false; Common.lineInfos[index].ShelfExist = false;
Common.lineInfos[index].FinalDate = DateTime.Now; Common.lineInfos[index].FinalDate = DateTime.Now;
Save(); Save();
DI_Changed?.Invoke(); DI_Changed?.Invoke();
...@@ -75,8 +75,8 @@ namespace BLL ...@@ -75,8 +75,8 @@ namespace BLL
{ {
int index = Common.lineInfos.FindIndex(s => s.Key == key); int index = Common.lineInfos.FindIndex(s => s.Key == key);
if (index == -1) return; if (index == -1) return;
Common.lineInfos[index].Call = false; Common.lineInfos[index].LineCall = false;
Common.lineInfos[index].Exist = true; Common.lineInfos[index].ShelfExist = true;
Save(); Save();
DI_Changed?.Invoke(); DI_Changed?.Invoke();
} }
...@@ -96,8 +96,8 @@ namespace BLL ...@@ -96,8 +96,8 @@ namespace BLL
if (str.Length != 4) continue; if (str.Length != 4) continue;
int index = Common.lineInfos.FindIndex(s => s.Key == str[0]); int index = Common.lineInfos.FindIndex(s => s.Key == str[0]);
if (index == -1) continue; if (index == -1) continue;
Common.lineInfos[index].Call = Convert.ToBoolean(str[1]); Common.lineInfos[index].LineCall = Convert.ToBoolean(str[1]);
Common.lineInfos[index].Exist = Convert.ToBoolean(str[2]); Common.lineInfos[index].ShelfExist = Convert.ToBoolean(str[2]);
Common.lineInfos[index].FinalDate = Convert.ToDateTime(str[3]); Common.lineInfos[index].FinalDate = Convert.ToDateTime(str[3]);
} }
Common.log.Info("加载缓存文件 " + Common.PATH_LINE_WORK); Common.log.Info("加载缓存文件 " + Common.PATH_LINE_WORK);
...@@ -114,7 +114,7 @@ namespace BLL ...@@ -114,7 +114,7 @@ namespace BLL
string[] content = new string[Common.lineInfos.Count + 1]; string[] content = new string[Common.lineInfos.Count + 1];
content[0] = "产线名,呼叫,架子,时间"; content[0] = "产线名,呼叫,架子,时间";
for (int i = 0; i < Common.lineInfos.Count; i++) for (int i = 0; i < Common.lineInfos.Count; i++)
content[i + 1] = string.Format("{0},{1},{2},{3:yyyy-MM-dd HH:mm:ss}", Common.lineInfos[i].Key, Common.lineInfos[i].Call, Common.lineInfos[i].Exist, Common.lineInfos[i].FinalDate); content[i + 1] = string.Format("{0},{1},{2},{3:yyyy-MM-dd HH:mm:ss}", Common.lineInfos[i].Key, Common.lineInfos[i].LineCall, Common.lineInfos[i].ShelfExist, Common.lineInfos[i].FinalDate);
System.IO.File.WriteAllLines(Common.PATH_LINE_WORK, content, Encoding.UTF8); System.IO.File.WriteAllLines(Common.PATH_LINE_WORK, content, Encoding.UTF8);
Common.log.Info("保存缓存文件 " + Common.PATH_LINE_WORK); Common.log.Info("保存缓存文件 " + Common.PATH_LINE_WORK);
} }
...@@ -138,9 +138,12 @@ namespace BLL ...@@ -138,9 +138,12 @@ namespace BLL
bool change = false; bool change = false;
if (sta[add] == Advantech.IO_State.On) if (sta[add] == Advantech.IO_State.On)
{ {
Common.lineInfos[lineIdx].Call = true; if (!Common.lineInfos[lineIdx].LineCall) //已经呼叫了就不在更新时间了
Common.lineInfos[lineIdx].FinalDate = DateTime.Now; {
change = true; Common.lineInfos[lineIdx].LineCall = true;
Common.lineInfos[lineIdx].FinalDate = DateTime.Now;
change = true;
}
} }
if (change) Save(); if (change) Save();
DI_Changed?.Invoke(); DI_Changed?.Invoke();
......
BLL/Work/ManageWork.cs
...@@ -9,9 +9,11 @@ namespace BLL ...@@ -9,9 +9,11 @@ namespace BLL
public static LineWork line; public static LineWork line;
public static ElevatorWork elevator; public static ElevatorWork elevator;
public static bool PauseFull; public static bool PauseFull;
public static string frontLine;
public static void Init() public static void Init()
{ {
frontLine = "";
PauseFull = false; PauseFull = false;
line = new LineWork(); line = new LineWork();
elevator = new ElevatorWork(); elevator = new ElevatorWork();
...@@ -41,6 +43,8 @@ namespace BLL ...@@ -41,6 +43,8 @@ namespace BLL
return job; return job;
} }
/// <summary> /// <summary>
/// 查找产线呼叫 /// 查找产线呼叫
/// </summary> /// </summary>
...@@ -49,7 +53,22 @@ namespace BLL ...@@ -49,7 +53,22 @@ namespace BLL
/// <returns></returns> /// <returns></returns>
public static bool FindLineWork(out string key, out string name) public static bool FindLineWork(out string key, out string name)
{ {
int index = Common.lineInfos.FindIndex(s => s.Call && s.Exist); //按时间的先后顺序
int index = -1;
DateTime dt = DateTime.Now;
for (int i = 0; i < Common.lineInfos.Count; i++)
{
if (Common.lineInfos[i].LineCall && Common.lineInfos[i].ShelfExist)
{
if (dt > Common.lineInfos[i].FinalDate)
{
dt = Common.lineInfos[i].FinalDate;
index = i;
}
}
}
//int index = Common.lineInfos.FindIndex(s => s.Call && s.Exist);
if (index == -1) if (index == -1)
{ {
key = ""; key = "";
...@@ -81,19 +100,56 @@ namespace BLL ...@@ -81,19 +100,56 @@ namespace BLL
/// <returns></returns> /// <returns></returns>
public static bool FindLineWithoutShelf(out string key, out string name) public static bool FindLineWithoutShelf(out string key, out string name)
{ {
int index = Common.lineInfos.FindIndex(s => s.Exist == false); int index;
int startIndex = Common.lineInfos.FindIndex(s => s.Key == frontLine);
if (startIndex == -1) //没有关键字
{
index = Common.lineInfos.FindIndex(s => s.ShelfExist == false);
}
else if (startIndex == Common.lineInfos.Count - 1) //最后一行
{
index = Common.lineInfos.FindIndex(s => s.ShelfExist == false);
}
else
{
index = Common.lineInfos.FindIndex(++startIndex, s => s.ShelfExist == false);
if (index == -1) //从头开始
index = Common.lineInfos.FindIndex(s => s.ShelfExist == false);
}
if (index == -1) if (index == -1)
{ {
key = ""; key = "";
name = ""; name = "";
frontLine = "";
return false; return false;
} }
else else
{ {
key = Common.lineInfos[index].Key; key = Common.lineInfos[index].Key;
name = Common.lineInfos[index].Name; name = Common.lineInfos[index].Name;
frontLine = key;
return true; return true;
} }
//int index = Common.lineInfos.FindIndex(s => s.Exist == false);
//if (index == -1)
//{
// key = "";
// name = "";
// return false;
//}
//else
//{
// key = Common.lineInfos[index].Key;
// name = Common.lineInfos[index].Name;
// return true;
//}
} }
/// <summary> /// <summary>
...@@ -131,11 +187,19 @@ namespace BLL ...@@ -131,11 +187,19 @@ namespace BLL
return elevator.UseAnswer(); return elevator.UseAnswer();
} }
/// <summary>
/// 电梯呼叫
/// </summary>
/// <param name="sta"></param>
public static void ElevatorCall(bool sta) public static void ElevatorCall(bool sta)
{ {
elevator.CallElevator(sta); elevator.CallElevator(sta);
} }
/// <summary>
/// 电梯已准备好（到达4楼并开门）
/// </summary>
/// <returns></returns>
public static bool ElevatorReady() public static bool ElevatorReady()
{ {
bool rtn1 = elevator.ArriveFloor(); bool rtn1 = elevator.ArriveFloor();
...@@ -148,7 +212,7 @@ namespace BLL ...@@ -148,7 +212,7 @@ namespace BLL
/// </summary> /// </summary>
public static void ElevatorFullShelf() public static void ElevatorFullShelf()
{ {
elevator.FullShelf(); elevator.FullShelfLeave();
} }
/// <summary> /// <summary>
...@@ -156,7 +220,7 @@ namespace BLL ...@@ -156,7 +220,7 @@ namespace BLL
/// </summary> /// </summary>
public static void ElevatorEmptyShelf() public static void ElevatorEmptyShelf()
{ {
elevator.EmptyShelf(); elevator.EmptyShelfLeave();
} }
/// <summary> /// <summary>
...@@ -168,5 +232,58 @@ namespace BLL ...@@ -168,5 +232,58 @@ namespace BLL
} }
public static void FirstFloorAdd()
{
Common.FirstFloorCurr++;
if (Common.FirstFloorCurr > Common.FirstFloorCount)
Common.FirstFloorCurr = Common.FirstFloorCount;
System.IO.File.WriteAllText(Common.PATH_FIRST_FLOOR_CURR, Common.FirstFloorCurr.ToString(), Encoding.UTF8);
}
public static void FirstFloorMinus()
{
Common.FirstFloorCurr--;
if (Common.FirstFloorCurr < 0)
Common.FirstFloorCurr = 0;
System.IO.File.WriteAllText(Common.PATH_FIRST_FLOOR_CURR, Common.FirstFloorCurr.ToString(), Encoding.UTF8);
}
public static void FirstFloorSave()
{
if (Common.FirstFloorCurr < 0)
Common.FirstFloorCurr = 0;
else if (Common.FirstFloorCurr > Common.FirstFloorCount)
Common.FirstFloorCurr = Common.FirstFloorCount;
System.IO.File.WriteAllText(Common.PATH_FIRST_FLOOR_CURR, Common.FirstFloorCurr.ToString(), Encoding.UTF8);
}
/// <summary>
/// 回收空货架错误处理
/// </summary>
public static void EmptyErrorDispose()
{
elevator.EmptyShelfLeave();
System.Threading.Thread.Sleep(3000);
elevator.EndTask();
FirstFloorMinus();
}
/// <summary>
/// 送满货架错误处理
/// </summary>
public static void FullErrorDispose()
{
elevator.FullShelfLeave();
System.Threading.Thread.Sleep(3000);
elevator.EndTask();
FirstFloorAdd();
}
} }
} }
Model/IOInfo.cs
...@@ -33,8 +33,8 @@ namespace Model ...@@ -33,8 +33,8 @@ namespace Model
public string IP { private set; get; } public string IP { private set; get; }
public int Address { private set; get; } public int Address { private set; get; }
public string Key { private set; get; } public string Key { private set; get; }
public bool Call { set; get; } public bool LineCall { set; get; }
public bool Exist { set; get; } public bool ShelfExist { set; get; }
public DateTime FinalDate { set; get; } public DateTime FinalDate { set; get; }
...@@ -44,8 +44,8 @@ namespace Model ...@@ -44,8 +44,8 @@ namespace Model
IP = ip; IP = ip;
Address = Convert.ToInt32(address); Address = Convert.ToInt32(address);
Key = key; Key = key;
Call = false; LineCall = false;
Exist = true; ShelfExist = true;
FinalDate = DateTime.Now; FinalDate = DateTime.Now;
} }
} }
......
Model/Log.cs
using System; using System;
using System.Collections.Generic;
namespace Model namespace Model
{ {
public class Log public class Log
{ {
private readonly log4net.ILog LOG; private readonly log4net.ILog LOG;
private List<string> history;
private const int MAX_LINES = 50;
public Log(string name) public Log(string name)
{ {
LOG = log4net.LogManager.GetLogger(name); LOG = log4net.LogManager.GetLogger(name);
history = new List<string>();
} }
public System.Windows.Forms.TextBox LogBox { set; get; } public System.Windows.Forms.TextBox LogBox { set; get; }
...@@ -36,15 +40,25 @@ namespace Model ...@@ -36,15 +40,25 @@ namespace Model
public void UI_Display(string s) public void UI_Display(string s)
{ {
if (LogBox == null) return; if (LogBox == null) return;
string text = string.Format("[{0:HH:mm:ss}] {1}\r\n", DateTime.Now, s); string text = string.Format("[{0:HH:mm:ss}] {1}", DateTime.Now, s);
if (history.Count >= MAX_LINES)
history.RemoveAt(0);
history.Add(text);
LogBox.Invoke(new Action(() => LogBox.Invoke(new Action(() =>
{ {
LogBox.AppendText(text); LogBox.Text = string.Join("\r\n", history);
LogBox.ScrollToCaret(); LogBox.ScrollToCaret();
})); }));
} }
public void UI_Clear()
{
if (LogBox == null) return;
history.Clear();
LogBox.Invoke(new Action(() => { LogBox.Text = ""; }));
}
} }
} }
Model/obj/Debug/Model.csproj.FileListAbsolute.txt
...@@ -9,4 +9,3 @@ D:\Neotel\AGVControl_Elevator\Model\obj\Debug\Model.csproj.CopyComplete ...@@ -9,4 +9,3 @@ D:\Neotel\AGVControl_Elevator\Model\obj\Debug\Model.csproj.CopyComplete
D:\Neotel\AGVControl_Elevator\Model\obj\Debug\Model.dll D:\Neotel\AGVControl_Elevator\Model\obj\Debug\Model.dll
D:\Neotel\AGVControl_Elevator\Model\obj\Debug\Model.pdb D:\Neotel\AGVControl_Elevator\Model\obj\Debug\Model.pdb
D:\Neotel\AGVControl_Elevator\Model\bin\Debug\log4net.config D:\Neotel\AGVControl_Elevator\Model\bin\Debug\log4net.config
D:\Neotel\AGVControl_Elevator\Model\obj\Debug\Model.csprojAssemblyReference.cache
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