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Commit 208ae8ed 由 顾剑亮
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修改清洗点逻辑

1 个父辈 25e9fa32
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内嵌 并排
正在显示 35 个修改的文件 包含 482 行增加 和 158 行删除
AGVControl_Steel/AGVControl_Steel.csproj
......@@ -75,6 +75,7 @@
<Compile Include="Job\ChargeJob.cs" />
<Compile Include="Model\AgvInfo.cs" />
<Compile Include="Job\SendNewJob.cs" />
<Compile Include="Job\StorageJob.cs" />
<Compile Include="UI\FrmMain.cs">
<SubType>Form</SubType>
</Compile>
......@@ -89,6 +90,7 @@
<Compile Include="BLL\WebService.cs" />
<Compile Include="Model\SteelWork.cs" />
<Compile Include="BLL\SteelManage.cs" />
<Compile Include="Job\WashPointJob.cs" />
<EmbeddedResource Include="UI\FrmMain.resx">
<DependentUpon>FrmMain.cs</DependentUpon>
<SubType>Designer</SubType>
......
AGVControl_Steel/App.config
......@@ -41,10 +41,11 @@
<add key="WebService" value="http://10.85.196.40:8089/"/>
<add key="AGV_BATTERY_MAX" value="100"/>
<add key="AGV_BATTERY_MIN" value="60"/>
<add key="4D_Line" value="D1,D2,D3,D4,D5,D6,D8,D9,D10,D11,D12,D14,D15,D16"/>
<!--<add key="4D_Line" value="D1,D2,D3,D4,D5,D6,D8,D9,D10,D11,D12,D14,D15,D16"/>
<add key="4C_Line" value="C1,C2,C3,C4,C5,C6,C7,C8,C9,C10"/>
<add key="Store" value="4cwash,4dwash,storage"/>
<add key="4D_AGV" value="6"/>
<add key="Store" value="4cwash,4dwash,storage"/>-->
<add key="PlaceName" value="D1,D2,D3,D4,D5,D6,D8,D9,D10,D11,D12,D14,D15,D16,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,4cwash,4dwash,storage"/>
<add key="4D_AGV" value="3"/>
<add key="4C_AGV" value="32"/>
</appSettings>
</configuration>
\ No newline at end of file
AGVControl_Steel/BLL/Common.cs
......@@ -22,11 +22,14 @@ namespace AGVControl_Steel
public static System.Configuration.Configuration appConfig;
public static log4net.ILog log;
public static string[] LINE_NAME_4D;
public static string[] LINE_NAME_4C;
public static string[] STORE_NAME;
public static string[] PLACE_NAME;
//public static string[] LINE_NAME_4D;
//public static string[] LINE_NAME_4C;
//public static string[] STORE_NAME;
public const string WORKSHOP_4D = "4D";
public const string WORKSHOP_4C = "4C";
//public const string WASH_4D = "4Dwash";
//public const string WASH_4C = "4Cwash";
public const string MISSION_TAKE_OFF_SHELF = "Placeqisdashelf";
public const string MISSION_TAKE_ON_SHELF = "Pickupqisdashelf";
public const string MISSION_MOVE_4C_4D = "MoveDoor-4C-4D";
......
AGVControl_Steel/BLL/Control.cs
......@@ -60,6 +60,9 @@ namespace BLL
GetAgvState(ref info);
if (!info.IsAuto) continue; //手动
if (info.StateID == 4) //Pause
Common.mir.State_Ready(info.IP, info.Authorization);
if (info.CurrentJob == null)
info.CurrentJob = new StandbyJob();
else
......@@ -98,10 +101,6 @@ namespace BLL
int idx = Common.agvInfos.FindIndex(s => s.IP == ip);
if (idx > -1) AgvChanged?.Invoke(idx);
if (info.StateID == 4) //Pause
{
Common.mir.State_Ready(info.IP, info.Authorization);
}
}
}
......
AGVControl_Steel/BLL/SteelManage.cs
......@@ -86,24 +86,12 @@ namespace BLL
string name = "";
bool find = false;
if (info.Workshop == Common.WORKSHOP_4D)
string s = info.Workshop.Substring(1, 1);
for (int i = 0; i < Common.PLACE_NAME.Length; i++)
{
for (int i = 0; i < Common.LINE_NAME_4D.Length; i++)
name = Common.PLACE_NAME[i];
if (name.StartsWith(s))
{
name = Common.LINE_NAME_4D[i];
index = oldSteelWork.FindIndex(s => s.Place == name);
if (index > -1)
{
find = true;
break;
}
}
}
else if (info.Workshop == Common.WORKSHOP_4C)
{
for (int i = 0; i < Common.LINE_NAME_4C.Length; i++)
{
name = Common.LINE_NAME_4C[i];
index = oldSteelWork.FindIndex(s => s.Place == name);
if (index > -1)
{
......@@ -112,6 +100,7 @@ namespace BLL
}
}
}
place = name;
return find;
}
......@@ -169,67 +158,29 @@ namespace BLL
string name = "";
bool find = false;
if (info.Workshop == Common.WORKSHOP_4D)
{
for (int i = 0; i < Common.LINE_NAME_4D.Length; i++)
{
name = Common.LINE_NAME_4D[i];
if (info.SteelFrom == "")
{
index = newSteelWork.FindIndex(s => s.Place == name);
if (index > -1)
{
find = true;
info.SteelFrom = newSteelWork[index].From;
break;
}
}
else
{
index = newSteelWork.FindIndex(s => s.From == info.SteelFrom && s.Place == name);
if (index > -1)
{
find = true;
break;
}
}
}
}
else if (info.Workshop == Common.WORKSHOP_4C)
for (int i = 0; i < Common.PLACE_NAME.Length; i++)
{
for (int i = 0; i < Common.LINE_NAME_4C.Length; i++)
name = Common.PLACE_NAME[i];
index = newSteelWork.FindIndex(s => s.From == info.SteelFrom && s.Place == name);
if (index > -1)
{
name = Common.LINE_NAME_4C[i];
if (info.SteelFrom == "")
{
index = newSteelWork.FindIndex(s => s.Place == name);
if (index > -1)
{
find = true;
info.SteelFrom = newSteelWork[index].From;
break;
}
}
else
{
index = newSteelWork.FindIndex(s => s.From == info.SteelFrom && s.Place == name);
if (index > -1)
{
find = true;
break;
}
}
find = true;
break;
}
}
place = name;
return find;
//int idx = newSteelWork.FindIndex(s => s.From == from && s.Place == place);
//return idx > -1;
}
public bool FindNewSteelWork(AgvInfo info)
{
int index = newSteelWork.FindIndex(s => s.From == info.SteelFrom);
if (index > -1)
return true;
else
return false;
}
......@@ -237,35 +188,50 @@ namespace BLL
public Job GetSteelJob(AgvInfo info)
{
string name = info.Workshop.Substring(1, 1);
//TEST
string s = "";
for (int i = 0; i < oldSteelWork.Count; i++)
s += oldSteelWork[i].Place + ";";
Common.log.Debug("name=" + name + " oldSteelWork=" + s);
Common.log.Debug("TEST oldSteelWork=" + s);
s = "";
for (int i = 0; i < newSteelWork.Count; i++)
s += newSteelWork[i].From + "," + newSteelWork[i].Place + "; ";
Common.log.Debug("name=" + name + " newSteelWork=" + s);
Common.log.Debug("TEST newSteelWork=" + s);
//回收旧钢板
string name = info.Workshop.Substring(1, 1);
int index = oldSteelWork.FindIndex(s => s.Place.StartsWith(name));
if (index == -1)
if (index > -1)
{
index = newSteelWork.FindIndex(s => s.Place.StartsWith(name));
if (index == -1)
return null;
else
return new SendNewJob();
}
else
Common.log.Info(info.Workshop + "旧钢板回收");
return new TakeOldJob();
}
//清洗点呼叫
index = newSteelWork.FindIndex(s => s.From.StartsWith(info.Workshop.ToLower()) && s.From == s.Place);
if (index > -1)
{
info.SteelFrom = newSteelWork[index].From;
Common.log.Info(info.Workshop + "清洗点呼叫");
return new WashPointJob();
}
//仓库呼叫
index = newSteelWork.FindIndex(s => s.From == "storage" && s.From == s.Place);
if (index > -1)
{
info.SteelFrom = newSteelWork[index].From;
Common.log.Info("4D仓库呼叫");
return new StorageJob();
}
return null;
}
}
......
AGVControl_Steel/BLL/WebService.cs
......@@ -26,6 +26,15 @@ namespace Webs
[OperationContract]
[WebInvoke(Method = "POST", UriTemplate = "StealAgv/sendNew", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
Result SendNewPost(Stream info);
[OperationContract]
[WebGet(UriTemplate = "StealAgv/storage", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
Result StorageGet();
[OperationContract]
[WebInvoke(Method = "POST", UriTemplate = "StealAgv/storage", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
Result StoragePost(Stream info);
}
[DataContract]
......@@ -81,6 +90,20 @@ namespace Webs
return SendNew(arr[0], arr[1]);
}
public Result StorageGet()
{
Common.log.Info("storage[GET]");
return new Result() { Code = 0, Msg = "TEST" };
}
public Result StoragePost(Stream info)
{
Common.log.Info("storage[POST]");
return new Result() { Code = 0, Msg = "TEST" };
}
private Result TakeOld(string place)
......@@ -90,22 +113,24 @@ namespace Webs
try
{
place = place.ToUpper();
int index1 = Array.FindIndex(Common.LINE_NAME_4D, s => s == place);
int index2 = Array.FindIndex(Common.LINE_NAME_4C, s => s == place);
int index = Array.FindIndex(Common.PLACE_NAME, s => s == place);
if (index1 == -1 && index2 == -1)
if (index == -1)
{
res = new Result { Code = -2, Msg = "Not find place=" + place };
Common.log.Info("没有找到" + place);
}
else
{
Common.steelManage.OldSteelWorkAdd(place);
res = new Result { Code = 0, Msg = "OK" };
Common.log.Info("TakeOld(" + place + ") OK");
}
}
catch (Exception ex)
{
res = new Result { Code = -100, Msg = ex.Message };
Common.log.Error("TakeOld", ex);
}
return res;
......@@ -118,24 +143,26 @@ namespace Webs
try
{
from = from.ToLower();
int index = Array.FindIndex(Common.STORE_NAME, s => s == from);
int index = Array.FindIndex(Common.PLACE_NAME, s => s == from);
if (index == -1)
{
res = new Result { Code = -1, Msg = "Not find from=" + from };
Common.log.Info("没有找到" + from);
}
else
{
place = place.ToUpper();
if (place == "EMPTYSHELFIN")
if (place == "EmptyShelfIn")
{
Common.steelManage.NewSteelWorkAdd(from, place);
res = new Result { Code = 0, Msg = "OK" };
Common.log.Info("SendNew(" + from + "," + place + ") OK");
}
else if (place == "EMPTYSHELFLEAVE")
else if (place == "EmptyShelfLeave")
{
Common.steelManage.NewSteelWorkAdd(from, place);
res = new Result { Code = 0, Msg = "OK" };
Common.log.Info("SendNew(" + from + "," + place + ") OK");
}
else
{
......@@ -143,12 +170,18 @@ namespace Webs
string[] arr = place.Split(',');
for (int i = 0; i < arr.Length; i++)
{
int index1 = Array.FindIndex(Common.LINE_NAME_4D, s => s == arr[i]);
int index2 = Array.FindIndex(Common.LINE_NAME_4C, s => s == arr[i]);
if (arr[i].StartsWith("c") || arr[i].StartsWith("d"))
arr[i] = arr[i].ToUpper();
else if (arr[i].StartsWith("C") || arr[i].StartsWith("D"))
arr[i] = arr[i].ToUpper();
else
arr[i] = arr[i].ToLower();
index = Array.FindIndex(Common.PLACE_NAME, s => s == arr[i]);
if (index1 == -1 && index2 == -1)
if (index == -1)
{
res = new Result { Code = -2, Msg = "Not find place=" + arr[i] };
Common.log.Info("没有找到" + arr[i]);
find = false;
break;
}
......@@ -159,13 +192,17 @@ namespace Webs
}
}
if (find)
{
res = new Result { Code = 0, Msg = "OK" };
Common.log.Info("SendNew(" + from + ",[" + place + "]) OK");
}
}
}
}
catch (Exception ex)
{
res = new Result { Code = -100, Msg = ex.Message };
Common.log.Error("SendNew", ex);
}
return res;
......
AGVControl_Steel/Job/SendNewJob.cs
......@@ -17,40 +17,34 @@ namespace Model
{
if (sendNewStep.IsEqual(SendNewStep.None))
{
//wash storage 区分
sendNewStep.NextStep(SendNewStep.GoWashPoint);
info.FillSteelCount();
sendNewStep.Msg = info.FullName + "等待任务";
sendNewStep.NextStep(SendNewStep.FindMission);
}
else if (sendNewStep.IsEqual(SendNewStep.GoWashPoint))
else if (sendNewStep.IsEqual(SendNewStep.FindMission))
{
if (info.Workshop == Common.WORKSHOP_4D)
mission = Common.MISSION_MOVE_WASH_4D;
else if (info.Workshop == Common.WORKSHOP_4C)
mission = Common.MISSION_MOVE_WASH_4C;
rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
rtn = Common.steelManage.FindNewSteelWork(info);
if (rtn)
{
sendNewStep.Msg = info.FullName + "去" + info.Workshop + "清洗点";
sendNewStep.NextStep(SendNewStep.WaitWashPoint);
}
else
{
sendNewStep.Msg = info.FullName + "发送" + mission + "任务失败";
if (info.IsSelfWorkshop())
{
sendNewStep.Msg = info.FullName + "找到任务，开始执行";
sendNewStep.NextStep(SendNewStep.FindLine);
}
else
{
MoveDoor(info);
}
}
}
else if (sendNewStep.IsEqual(SendNewStep.WaitWashPoint))
else if (sendNewStep.IsEqual(SendNewStep.WaitWorkshopDoor))
{
rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
if (rtn)
{
if (state == MissionState.Done.ToString())
{
info.FillSteelCount();
sendNewStep.Msg = info.FullName + "已在清洗点";
sendNewStep.Msg = info.FullName + "已过车间门，开始执行任务";
sendNewStep.NextStep(SendNewStep.FindLine);
}
else if (state == MissionState.Aborted.ToString())
......@@ -72,8 +66,18 @@ namespace Model
}
else
{
FindLine(info);
if (!rtn)
rtn = Common.steelManage.FindNewSteelWork(info, out string place);
if (rtn)
{
name = place;
info.Place = name;
mission = "MoveSteel" + name;
Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
sendNewStep.Msg = info.FullName + "发送任务" + mission;
sendNewStep.NextStep(SendNewStep.MoveLine);
info.SteelCountAdd();
}
else
{
sendNewStep.Msg = info.FullName + "没有后续新钢板任务";
sendNewStep.NextStep(SendNewStep.End);
......@@ -110,28 +114,32 @@ namespace Model
return this;
}
private void FindLine(AgvInfo info)
private void MoveDoor(AgvInfo info)
{
rtn = Common.steelManage.FindNewSteelWork(info, out string place);
if (info.Workshop == Common.WORKSHOP_4D)
mission = Common.MISSION_MOVE_4C_4D;
else if (info.Workshop == Common.WORKSHOP_4C)
mission = Common.MISSION_MOVE_4D_4C;
rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
if (rtn)
{
name = place;
info.Place = name;
mission = "MoveSteel" + name;
Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
sendNewStep.Msg = info.FullName + "发送任务" + mission;
sendNewStep.NextStep(SendNewStep.MoveLine);
info.SteelCountAdd();
sendNewStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
sendNewStep.NextStep(SendNewStep.WaitWorkshopDoor);
}
else
{
sendNewStep.Msg = info.FullName + "发送" + mission + "任务失败";
}
}
private enum SendNewStep
{
None,
FindMission,
WaitWorkshopDoor,
FindLine,
MoveLine,
GoWashPoint,
WaitWashPoint,
End
}
}
......
AGVControl_Steel/Job/StandbyJob.cs
......@@ -60,6 +60,7 @@ namespace Model
{
if (info.Battery <= info.BatteryMin)
{
Common.log.Info(info.FullName + "电量小于" + info.BatteryMin + "，执行充电任务");
return new ChargeJob();
}
else
......
AGVControl_Steel/Job/StorageJob.cs 0 → 100644
using AGVControl_Steel;
namespace Model
{
public class StorageJob : Job
{
private string id;
private JobStep<StorageStep> storageStep;
public StorageJob()
{
storageStep = new JobStep<StorageStep>(StorageStep.None);
}
public override Job Execute(AgvInfo info)
{
if (storageStep.IsEqual(StorageStep.None))
{
if (info.Is4DWorkshop())
storageStep.NextStep(StorageStep.GoStorage);
else
MoveDoor(info);
}
else if (storageStep.IsEqual(StorageStep.WaitWorkshopDoor))
{
rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
if (rtn)
{
if (state == MissionState.Done.ToString())
{
storageStep.Msg = info.FullName + "已过车间门";
storageStep.NextStep(StorageStep.GoStorage);
}
else if (state == MissionState.Aborted.ToString())
{
storageStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
}
}
else
{
storageStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
}
}
else if (storageStep.IsEqual(StorageStep.GoStorage))
{
rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, Common.MISSION_MOVE_STORAGE, out id);
if (rtn)
{
storageStep.Msg = info.FullName + "去4D仓库";
storageStep.NextStep(StorageStep.WaitStorage);
}
else
{
storageStep.Msg = info.FullName + "发送" + mission + "任务失败";
}
}
else if (storageStep.IsEqual(StorageStep.WaitStorage))
{
rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
if (rtn)
{
if (state == MissionState.Done.ToString())
{
Common.steelManage.NewSteelWorkDel(info.SteelFrom, info.SteelFrom);
storageStep.Msg = info.FullName + "已在仓库";
storageStep.NextStep(StorageStep.End);
}
else if (state == MissionState.Aborted.ToString())
{
storageStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
}
}
else
{
storageStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
}
}
else if (storageStep.IsEqual(StorageStep.End))
{
return new SendNewJob();
}
return this;
}
private void MoveDoor(AgvInfo info)
{
rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, Common.MISSION_MOVE_4C_4D, out id);
if (rtn)
{
storageStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
storageStep.NextStep(StorageStep.WaitWorkshopDoor);
}
else
{
storageStep.Msg = info.FullName + "发送" + mission + "任务失败";
}
}
private enum StorageStep
{
None,
WaitWorkshopDoor,
GoStorage,
WaitStorage,
End
}
}
}
AGVControl_Steel/Job/WashPointJob.cs 0 → 100644
using AGVControl_Steel;
namespace Model
{
public class WashPointJob : Job
{
private string id;
private JobStep<WashPointStep> washPointStep;
public WashPointJob()
{
washPointStep = new JobStep<WashPointStep>(WashPointStep.None);
}
public override Job Execute(AgvInfo info)
{
if (washPointStep.IsEqual(WashPointStep.None))
{
washPointStep.NextStep(WashPointStep.GoWashPoint);
}
else if (washPointStep.IsEqual(WashPointStep.GoWashPoint))
{
if (info.Workshop == Common.WORKSHOP_4D)
mission = Common.MISSION_MOVE_WASH_4D;
else if (info.Workshop == Common.WORKSHOP_4C)
mission = Common.MISSION_MOVE_WASH_4C;
rtn = Common.mir.Add_Mission_Fleet(info.FleetID, info.Authorization, mission, out id);
if (rtn)
{
washPointStep.Msg = info.FullName + "去" + info.Workshop + "清洗点";
washPointStep.NextStep(WashPointStep.WaitWashPoint);
}
else
{
washPointStep.Msg = info.FullName + "发送" + mission + "任务失败";
}
}
else if (washPointStep.IsEqual(WashPointStep.WaitWashPoint))
{
rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
if (rtn)
{
if (state == MissionState.Done.ToString())
{
Common.steelManage.NewSteelWorkDel(info.SteelFrom, info.SteelFrom);
washPointStep.Msg = info.FullName + "已在清洗点";
washPointStep.NextStep(WashPointStep.End);
}
else if (state == MissionState.Aborted.ToString())
{
washPointStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
}
}
else
{
washPointStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
}
}
else if (washPointStep.IsEqual(WashPointStep.End))
{
return new SendNewJob();
}
return this;
}
private enum WashPointStep
{
None,
GoWashPoint,
WaitWashPoint,
End
}
}
}
AGVControl_Steel/Model/AgvInfo.cs
......@@ -106,7 +106,7 @@ namespace Model
/// <returns></returns>
public string[] ToRow()
{
string[] arr = new string[] { Name, Place, StateText, MissionText, Battery.ToString(), IsOnline.ToString(), IsAuto.ToString() };
string[] arr = new string[] { Name, Place, StateText, MissionText, Battery.ToString(), IsOnline.ToString(), IsAuto.ToString(), "清除" };
return arr;
}
......@@ -133,7 +133,21 @@ namespace Model
return false;
}
/// <summary>
/// 是否在4D车间
/// </summary>
/// <returns></returns>
public bool Is4DWorkshop()
{
if (Position.Y < 55)
return true;
else if (Position.Y > 62)
return false;
else
return false;
}
/// <summary>
/// 钢板是否已放满
/// </summary>
......
AGVControl_Steel/Model/JobStep.cs
......@@ -74,8 +74,12 @@ namespace Model
if (!value.Equals(_msg))
{
Common.log.Info(_step.ToString() + ":" + value);
Common.txtLog.AppendText(value + "\r\n");
Common.txtLog.ScrollToCaret();
if (Common.txtLog != null)
{
string time = string.Format("[{0:HH:mm:ss}] ", DateTime.Now);
Common.txtLog.AppendText(time + value + "\r\n");
Common.txtLog.ScrollToCaret();
}
}
}
_msg = value;
......
AGVControl_Steel/Program.cs
......@@ -91,9 +91,10 @@ namespace AGVControl_Steel
Common.log.Info("读取配置文件 " + Common.PATH_AGV_MISSION);
Common.LINE_NAME_4D = Common.appConfig.AppSettings.Settings["4D_Line"].Value.Split(',');
Common.LINE_NAME_4C = Common.appConfig.AppSettings.Settings["4C_Line"].Value.Split(',');
Common.STORE_NAME = Common.appConfig.AppSettings.Settings["Store"].Value.Split(',');
//Common.LINE_NAME_4D = Common.appConfig.AppSettings.Settings["4D_Line"].Value.Split(',');
//Common.LINE_NAME_4C = Common.appConfig.AppSettings.Settings["4C_Line"].Value.Split(',');
//Common.STORE_NAME = Common.appConfig.AppSettings.Settings["Store"].Value.Split(',');
Common.PLACE_NAME = Common.appConfig.AppSettings.Settings["PlaceName"].Value.Split(',');
string id = Common.appConfig.AppSettings.Settings["4D_AGV"].Value;
......
AGVControl_Steel/Properties/AssemblyInfo.cs
......@@ -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
//通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")]
[assembly: AssemblyVersion("1.1.0.0")]
[assembly: AssemblyFileVersion("1.1.0.0")]
AGVControl_Steel/UI/FrmMain.cs
......@@ -68,7 +68,7 @@ namespace AGVControl_Steel
if (e.RowIndex == -1) return;
AgvInfo info = Common.agvInfos[e.RowIndex];
if (e.ColumnIndex == DgvName.Columns.Count - 1) //最后一列，自动/手动
if (e.ColumnIndex == DgvName.Columns.Count - 2) //最后二列，自动/手动
{
info.IsAuto = !info.IsAuto;
DgvName.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = info.IsAuto.ToString();
......@@ -77,14 +77,23 @@ namespace AGVControl_Steel
System.Configuration.ConfigurationManager.RefreshSection("appSettings");
Common.log.Info("手动修改 " + info.Name + " IsUse=" + info.IsAuto);
}
else if (e.ColumnIndex == DgvName.Columns.Count - 1) //最后一列，清除任务
{
string text = "确定要清除 " + info.Name + " 的任务吗？";
DialogResult dr = MessageBox.Show(text, "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Information);
if (dr == DialogResult.Yes)
{
info.CurrentJob = null;
Common.mir.Del_Mission(info.IP, info.Authorization);
info.IsAuto = false;
DgvName.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = info.IsAuto.ToString();
Common.appConfig.AppSettings.Settings[info.FleetID].Value = info.IsAuto.ToString();
Common.appConfig.Save();
System.Configuration.ConfigurationManager.RefreshSection("appSettings");
}
}
}
private void button1_Click(object sender, EventArgs e)
{
//Common.GetJob();
}
}
......
AGVControl_Steel/UI/FrmMain.resx
......@@ -138,6 +138,9 @@
<metadata name="Column4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column8.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
......
AGVControl_Steel/bin/Debug/AGVControl_Steel.exe.Config
......@@ -41,10 +41,11 @@
<add key="WebService" value="http://10.85.196.40:8089/"/>
<add key="AGV_BATTERY_MAX" value="100"/>
<add key="AGV_BATTERY_MIN" value="60"/>
<add key="4D_Line" value="D1,D2,D3,D4,D5,D6,D8,D9,D10,D11,D12,D14,D15,D16"/>
<!--<add key="4D_Line" value="D1,D2,D3,D4,D5,D6,D8,D9,D10,D11,D12,D14,D15,D16"/>
<add key="4C_Line" value="C1,C2,C3,C4,C5,C6,C7,C8,C9,C10"/>
<add key="Store" value="4cwash,4dwash,storage"/>
<add key="4D_AGV" value="6"/>
<add key="Store" value="4cwash,4dwash,storage"/>-->
<add key="PlaceName" value="D1,D2,D3,D4,D5,D6,D8,D9,D10,D11,D12,D14,D15,D16,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,4cwash,4dwash,storage"/>
<add key="4D_AGV" value="3"/>
<add key="4C_AGV" value="32"/>
</appSettings>
</configuration>
\ No newline at end of file
AGVControl_Steel/bin/Debug/AGVControl_Steel.xml
......@@ -411,6 +411,12 @@
</summary>
<returns></returns>
</member>
<member name="M:Model.AgvInfo.Is4DWorkshop">
<summary>
是否在4D车间
</summary>
<returns></returns>
</member>
<member name="M:Model.AgvInfo.IsSteelFull">
<summary>
钢板是否已放满
......
AGVControl_Steel/bin/Debug/Config/AgvMission.csv
......@@ -30,6 +30,6 @@ AutoCharge4C,8ed7b459-f2b0-11ea-8452-94c691a7387d
AutoCharge4D,2f0a31b1-f2ab-11ea-8452-94c691a7387d
MoveDoor-4C-4D,d67f31c8-ca7e-11ea-9a66-94c691a7387d
MoveDoor-4D-4C,fd6e26ac-c1bf-11ea-9a66-94c691a7387d
MoveStorage,418c9064-f2ac-11ea-8452-94c691a7387d
MoveSteelstorage,418c9064-f2ac-11ea-8452-94c691a7387d
Pickupqisdashelf,f2acdcae-e524-11ea-b003-0001299a3f0e
Placeqisdashelf,4001120d-e525-11ea-b003-0001299a3f0e
\ No newline at end of file
AGVControl_Steel/obj/Debug/AGVControl_Steel.csproj.CoreCompileInputs.cache
573b11aed246e2ddfaeaaf13f2b3caf88f7d0efd
1010f035bba49815b3022e46603e0845961d0731
Test/Form1.Designer.cs
......@@ -33,6 +33,10 @@
this.button1 = new System.Windows.Forms.Button();
this.checkBox2 = new System.Windows.Forms.CheckBox();
this.checkBox3 = new System.Windows.Forms.CheckBox();
this.button2 = new System.Windows.Forms.Button();
this.textBox2 = new System.Windows.Forms.TextBox();
this.button3 = new System.Windows.Forms.Button();
this.button4 = new System.Windows.Forms.Button();
this.SuspendLayout();
//
// checkBox1
......@@ -83,11 +87,54 @@
this.checkBox3.Text = "storage";
this.checkBox3.UseVisualStyleBackColor = true;
//
// button2
//
this.button2.Location = new System.Drawing.Point(12, 131);
this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(90, 23);
this.button2.TabIndex = 6;
this.button2.Text = "4dwash呼叫";
this.button2.UseVisualStyleBackColor = true;
this.button2.Click += new System.EventHandler(this.button2_Click);
//
// textBox2
//
this.textBox2.Location = new System.Drawing.Point(216, 12);
this.textBox2.Multiline = true;
this.textBox2.Name = "textBox2";
this.textBox2.ScrollBars = System.Windows.Forms.ScrollBars.Both;
this.textBox2.Size = new System.Drawing.Size(300, 301);
this.textBox2.TabIndex = 7;
//
// button3
//
this.button3.Location = new System.Drawing.Point(12, 160);
this.button3.Name = "button3";
this.button3.Size = new System.Drawing.Size(90, 23);
this.button3.TabIndex = 8;
this.button3.Text = "4cwash呼叫";
this.button3.UseVisualStyleBackColor = true;
this.button3.Click += new System.EventHandler(this.button3_Click);
//
// button4
//
this.button4.Location = new System.Drawing.Point(12, 189);
this.button4.Name = "button4";
this.button4.Size = new System.Drawing.Size(90, 23);
this.button4.TabIndex = 9;
this.button4.Text = "storage呼叫";
this.button4.UseVisualStyleBackColor = true;
this.button4.Click += new System.EventHandler(this.button4_Click);
//
// Form1
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(367, 181);
this.ClientSize = new System.Drawing.Size(577, 328);
this.Controls.Add(this.button4);
this.Controls.Add(this.button3);
this.Controls.Add(this.textBox2);
this.Controls.Add(this.button2);
this.Controls.Add(this.checkBox3);
this.Controls.Add(this.checkBox2);
this.Controls.Add(this.button1);
......@@ -107,6 +154,10 @@
private System.Windows.Forms.Button button1;
private System.Windows.Forms.CheckBox checkBox2;
private System.Windows.Forms.CheckBox checkBox3;
private System.Windows.Forms.Button button2;
private System.Windows.Forms.TextBox textBox2;
private System.Windows.Forms.Button button3;
private System.Windows.Forms.Button button4;
}
}
Test/Form1.cs
......@@ -26,6 +26,7 @@ namespace Test
client.Timeout = -1;
RestRequest request = new RestRequest(Method.GET);
IRestResponse response = client.Execute(request);
textBox2.Text = response.Content;
}
else if (checkBox2.Checked)
{
......@@ -33,6 +34,7 @@ namespace Test
client.Timeout = -1;
RestRequest request = new RestRequest(Method.GET);
IRestResponse response = client.Execute(request);
textBox2.Text = response.Content;
}
else if (checkBox3.Checked)
{
......@@ -40,6 +42,7 @@ namespace Test
client.Timeout = -1;
RestRequest request = new RestRequest(Method.GET);
IRestResponse response = client.Execute(request);
textBox2.Text = response.Content;
}
else
{
......@@ -50,6 +53,7 @@ namespace Test
client.Timeout = -1;
RestRequest request = new RestRequest(Method.GET);
IRestResponse response = client.Execute(request);
textBox2.Text = response.Content;
System.Threading.Thread.Sleep(500);
}
}
......@@ -57,5 +61,35 @@ namespace Test
MessageBox.Show("OK");
}
private void button2_Click(object sender, EventArgs e)
{
RestClient client = new RestClient("http://10.85.196.40:8089/StealAgv/sendNew?from=4dwash&place=4dwash");
client.Timeout = -1;
RestRequest request = new RestRequest(Method.GET);
IRestResponse response = client.Execute(request);
textBox2.Text = response.Content;
MessageBox.Show("OK");
}
private void button3_Click(object sender, EventArgs e)
{
RestClient client = new RestClient("http://10.85.196.40:8089/StealAgv/sendNew?from=4cwash&place=4cwash");
client.Timeout = -1;
RestRequest request = new RestRequest(Method.GET);
IRestResponse response = client.Execute(request);
textBox2.Text = response.Content;
MessageBox.Show("OK");
}
private void button4_Click(object sender, EventArgs e)
{
RestClient client = new RestClient("http://10.85.196.40:8089/StealAgv/sendNew?from=storage&place=storage");
client.Timeout = -1;
RestRequest request = new RestRequest(Method.GET);
IRestResponse response = client.Execute(request);
textBox2.Text = response.Content;
MessageBox.Show("OK");
}
}
}
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