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Commit 219495b4 由 张东亮
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0811

1 个父辈 ff22209f
内嵌 并排
正在显示 15 个修改的文件 包含 98 行增加 和 62 行删除
AGVControl/BLL/Control.cs
...@@ -300,7 +300,7 @@ namespace BLL ...@@ -300,7 +300,7 @@ namespace BLL
if (change) if (change)
AgvChanged?.Invoke(i); AgvChanged?.Invoke(i);
Common.log.OutInfo(log); //Common.log.OutInfo(log);
} }
catch (Exception ex) catch (Exception ex)
{ {
...@@ -1098,10 +1098,10 @@ namespace BLL ...@@ -1098,10 +1098,10 @@ namespace BLL
rtn = C8Enter(agv); break; rtn = C8Enter(agv); break;
case "D2": case "D2":
rtn = D2Enter(agv); break; rtn = D2Enter(agv); break;
//default: //default:
// agv.Mark = ""; // agv.Mark = "";
// agv.Place = ""; // agv.Place = "";
// break; // break;
} }
AgvChanged?.Invoke(agvIdx); AgvChanged?.Invoke(agvIdx);
...@@ -1397,7 +1397,7 @@ namespace BLL ...@@ -1397,7 +1397,7 @@ namespace BLL
else if (agv.RFID[0] == 'A') //包装料架 else if (agv.RFID[0] == 'A') //包装料架
{ {
int idx = Common.agvInfo.FindIndex(s => s.Name.Equals(agv.Name)); int idx = Common.agvInfo.FindIndex(s => s.Name.Equals(agv.Name));
rtn = FindAreaBOutStore(idx,out ResultType resultType); rtn = FindNeedEnterWithMark(agv); ;
if (rtn) if (rtn)
{ {
Common.log.OutInfo(agv.Name + " A7出料架[" + agv.RFID + "]，去B区"); Common.log.OutInfo(agv.Name + " A7出料架[" + agv.RFID + "]，去B区");
...@@ -1447,29 +1447,29 @@ namespace BLL ...@@ -1447,29 +1447,29 @@ namespace BLL
else else
{ {
int idx = Common.agvInfo.FindIndex(s => s.Name.Equals(agv.Name)); int idx = Common.agvInfo.FindIndex(s => s.Name.Equals(agv.Name));
rtn = FindAreaBOutStore(idx,out ResultType resultType); rtn = FindAreaBOutStore(idx, out ResultType resultType,false);
if (!rtn && resultType.Equals(ResultType.NoEmptyShelf)) if (!rtn && resultType.Equals(ResultType.NoEmptyShelf))
{ {
rtn = FindNeedEnter(agv, "A8"); rtn = FindNeedEnter(agv, "A8");
if (rtn) if (rtn)
{ {
agv.NextMission = ""; agv.NextMission = "";
Common.log.OutInfo(agv.Name + " A7出料串[" + agv.RFID + "]，C7不需要且B区有出库任务，去A8"); Common.log.OutInfo(agv.Name + " A7出料串[" + agv.RFID + "]，C7不需要且B区有出库任务，将料串送去A8");
//Common.server.EnterShelf(agv); //Common.server.EnterShelf(agv);
} }
else else
{ {
ClientNode a8Node = Common.nodeInfo.Find(s => s.Name.Equals("A8")); ClientNode a8Node = Common.nodeInfo.Find(s => s.Name.Equals("A8"));
log = string.Format("{0} A7出料串[{1}]，C7不需要，B区有出库任务。{2}已满，不可将A7料串放到{2}[ClientAction={3}]。需要人工干预", agv.Name,agv.RFID, a8Node.Name, a8Node.Action.ToString()); log = string.Format("{0} A7出料串[{1}]，C7不需要，B区有出库任务。{2}已满，不可将A7料串放到{2}[ClientAction={3}]。需要人工干预", agv.Name, agv.RFID, a8Node.Name, a8Node.Action.ToString());
Common.log.OutInfo(log); Common.log.OutInfo(log);
Common.log.OutTextBox(log); Common.log.OutTextBox(log);
//agv.NextMission = "C7"; //agv.NextMission = "C7";
//Common.mir.Add_Mission_Fleet(agv, "Common.agvMission["MoveStandbyTemp"]"); //Common.mir.Add_Mission_Fleet(agv, "Common.agvMission["MoveStandbyTemp"]");
} }
} }
else if(!rtn) else if (!rtn)
{ {
if(!agv.StandbyTemp) if (!agv.StandbyTemp)
{ {
agv.StandbyTemp = true; agv.StandbyTemp = true;
log = agv.Name + " A7出料串[" + agv.RFID + "] C7暂时没有位置"; log = agv.Name + " A7出料串[" + agv.RFID + "] C7暂时没有位置";
...@@ -2003,7 +2003,7 @@ namespace BLL ...@@ -2003,7 +2003,7 @@ namespace BLL
agv.StandbyTemp = true; agv.StandbyTemp = true;
agv.NextMission = "A2"; agv.NextMission = "A2";
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]);
if(rtn) if (rtn)
Common.log.OutInfo(agv.Name + " 在C2/4/6进入空料串，C7,D1,A2不需要料串，回待机位"); Common.log.OutInfo(agv.Name + " 在C2/4/6进入空料串，C7,D1,A2不需要料串，回待机位");
return false; return false;
} }
...@@ -2028,7 +2028,7 @@ namespace BLL ...@@ -2028,7 +2028,7 @@ namespace BLL
if (rtn) if (rtn)
{ {
agv.NextMission = ""; agv.NextMission = "";
Common.log.OutInfo("C8出满料串到A8 [Mark=" + agv.Mark+"]"); Common.log.OutInfo("C8出满料串到A8 [Mark=" + agv.Mark + "]");
} }
else else
{ {
...@@ -2037,7 +2037,7 @@ namespace BLL ...@@ -2037,7 +2037,7 @@ namespace BLL
agv.StandbyTemp = true; agv.StandbyTemp = true;
agv.NextMission = name; agv.NextMission = name;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]);
if(rtn) if (rtn)
Common.log.OutInfo("C8出满料串 [Mark=" + agv.Mark + "],A8暂时无法进入，先回待机位"); Common.log.OutInfo("C8出满料串 [Mark=" + agv.Mark + "],A8暂时无法进入，先回待机位");
} }
...@@ -2058,7 +2058,7 @@ namespace BLL ...@@ -2058,7 +2058,7 @@ namespace BLL
//添加包装料仓优先 //添加包装料仓优先
int agvIdx = Common.agvInfo.FindIndex(s => s.Name == agv.Name); int agvIdx = Common.agvInfo.FindIndex(s => s.Name == agv.Name);
rtn = FindAreaBOutStoreAndNeedLeave(agvIdx); rtn = FindAreaBOutStoreAndNeedLeave(agvIdx);
if(rtn) if (rtn)
Common.log.OutInfo(agv.Name + " 在D1送完料串，检测到B区域出库/出料架,开始执行"); Common.log.OutInfo(agv.Name + " 在D1送完料串，检测到B区域出库/出料架,开始执行");
if (!rtn) if (!rtn)
...@@ -2252,7 +2252,7 @@ namespace BLL ...@@ -2252,7 +2252,7 @@ namespace BLL
/// <returns></returns> /// <returns></returns>
private bool FindAreaBOutStoreAndNeedLeave(int agvIdx) private bool FindAreaBOutStoreAndNeedLeave(int agvIdx)
{ {
if (FindAreaBOutStore(agvIdx,out ResultType resultType)) if (FindAreaBOutStore(agvIdx, out ResultType resultType))
return true; return true;
if (FindAreaBNeedLeave(agvIdx)) if (FindAreaBNeedLeave(agvIdx))
...@@ -2495,8 +2495,9 @@ namespace BLL ...@@ -2495,8 +2495,9 @@ namespace BLL
/// B区域出库 /// B区域出库
/// </summary> /// </summary>
/// <param name="agvIdx"></param> /// <param name="agvIdx"></param>
/// /// <param name="IsMove">只获取任务状态，不发任务给小车(有空架子任务是否直接移动)</param>
/// <returns>true:有出库任务,并拉空架子;false:无出库任务/有出库但无空架子</returns> /// <returns>true:有出库任务,并拉空架子;false:无出库任务/有出库但无空架子</returns>
private bool FindAreaBOutStore(int agvIdx,out ResultType resultType) private bool FindAreaBOutStore(int agvIdx, out ResultType resultType, bool IsMove = true)
{ {
string log; string log;
int nodeIdx = -1; int nodeIdx = -1;
...@@ -2530,7 +2531,8 @@ namespace BLL ...@@ -2530,7 +2531,8 @@ namespace BLL
agv.Place = Common.nodeInfo[n].Name; agv.Place = Common.nodeInfo[n].Name;
agv.Mark = Common.nodeInfo[nodeIdx].Mark; agv.Mark = Common.nodeInfo[nodeIdx].Mark;
//agv.CloseDoor = false; //agv.CloseDoor = false;
if (!IsMove)
return true;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]);
if (rtn) if (rtn)
{ {
...@@ -2625,7 +2627,8 @@ namespace BLL ...@@ -2625,7 +2627,8 @@ namespace BLL
agv.Place = Common.nodeInfo[n].Name; agv.Place = Common.nodeInfo[n].Name;
agv.Mark = Common.nodeInfo[nodeIdx].Mark; agv.Mark = Common.nodeInfo[nodeIdx].Mark;
//agv.CloseDoor = false; //agv.CloseDoor = false;
if (!IsMove)
return true;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]); rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]);
if (rtn) if (rtn)
{ {
...@@ -2694,7 +2697,7 @@ namespace BLL ...@@ -2694,7 +2697,7 @@ namespace BLL
//测试，临时的 //测试，临时的
for (int i = 0; i < node.Count; i++) for (int i = 0; i < node.Count; i++)
{ {
Common.log.OutString(agv.Name + " BAreaNeedLeave " + node[i] + " [Name=" + Common.nodeInfo[node[i]].Name + "] [Mark=" + Common.nodeInfo[node[i]].Mark+"]"); Common.log.OutString(agv.Name + " BAreaNeedLeave " + node[i] + " [Name=" + Common.nodeInfo[node[i]].Name + "] [Mark=" + Common.nodeInfo[node[i]].Mark + "]");
} }
if (node.Count == 0) if (node.Count == 0)
...@@ -2760,7 +2763,12 @@ namespace BLL ...@@ -2760,7 +2763,12 @@ namespace BLL
return false; return false;
} }
} }
/// <summary>
/// 根据mark查找需要进入料架的节点
/// </summary>
/// <param name="agv"></param>
/// <param name="BAreaLeaveCheck"></param>
/// <returns></returns>
private bool FindNeedEnterWithMark(Agv_Info agv, bool BAreaLeaveCheck = false) private bool FindNeedEnterWithMark(Agv_Info agv, bool BAreaLeaveCheck = false)
{ {
//寻找下一个任务点 //寻找下一个任务点
...@@ -2776,10 +2784,10 @@ namespace BLL ...@@ -2776,10 +2784,10 @@ namespace BLL
{ {
//在A4出料架后，B区域暂时找不到出库料仓,先回待机位，如果mark消失，则将料架送回 //在A4出料架后，B区域暂时找不到出库料仓,先回待机位，如果mark消失，则将料架送回
nodeIdx = Common.nodeInfo.FindIndex(s => s.Mark == agv.Mark && s.AgvName == "" && s.IsUse); nodeIdx = Common.nodeInfo.FindIndex(s => s.Mark == agv.Mark && s.AgvName == "" && s.IsUse);
if(nodeIdx==-1) if (nodeIdx == -1)
{ {
nodeIdx = Common.nodeInfo.FindIndex(s => s.Mark == agv.Mark); nodeIdx = Common.nodeInfo.FindIndex(s => s.Mark == agv.Mark);
if(nodeIdx==-1)//当前mark任务已结束 if (nodeIdx == -1)//当前mark任务已结束
{ {
} }
...@@ -2801,7 +2809,7 @@ namespace BLL ...@@ -2801,7 +2809,7 @@ namespace BLL
if (item.AgvName.Equals(agv.Name)) if (item.AgvName.Equals(agv.Name))
item.AgvName = ""; item.AgvName = "";
} }
string log = agv.Name + " [Mark=" + agv.Mark + "] 出库任务未完成，[taskCount=" + taskCount.ToString() + "] 移动到StandBy"; string log = agv.Name + " [Mark=" + agv.Mark + "] 出库任务未完成，[taskCount=" + taskCount.ToString() + "] 移动到MoveStandbyTemp";
Common.log.OutInfo(log); Common.log.OutInfo(log);
Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]); Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]);
} }
...@@ -2855,10 +2863,12 @@ namespace BLL ...@@ -2855,10 +2863,12 @@ namespace BLL
{ {
Common.nodeInfo[idx].AgvName = ""; Common.nodeInfo[idx].AgvName = "";
Common.server.NodeRefresh(idx); Common.server.NodeRefresh(idx);
log = "FindNeedLeave(): " + agv.Name + " 清理当前任务点AgvName [Place=" + agv.Place + "]";
Common.log.OutInfo(log);
} }
else else
{ {
log = "FindNeedLeave(): " + agv.Name + " 清理AgvName，没有找到 " + agv.Name; log = "FindNeedLeave(): " + agv.Name + " 清理当前任务点AgvName失败（未找到） [Place=" + agv.Place + "]";
Common.log.OutInfo(log); Common.log.OutInfo(log);
} }
...@@ -2962,10 +2972,12 @@ namespace BLL ...@@ -2962,10 +2972,12 @@ namespace BLL
{ {
Common.nodeInfo[idx].AgvName = ""; Common.nodeInfo[idx].AgvName = "";
Common.server.NodeRefresh(idx); Common.server.NodeRefresh(idx);
log = "MoveStandby(): " + agv.Name + " 清理当前任务点AgvName [Place=" + agv.Place + "]";
Common.log.OutInfo(log);
} }
else else
{ {
log = "清理AgvName，没有找到 " + agv.Name; log = "MoveStandby(): " + agv.Name + " 清理当前任务点AgvName失败（未找到） [Place=" + agv.Place + "]";
Common.log.OutInfo(log); Common.log.OutInfo(log);
} }
......
AGVControl/BLL/MiR_API.cs
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq;
using System.Web.Script.Serialization; using System.Web.Script.Serialization;
using AGVControl;
using RestSharp; using RestSharp;
namespace BLL namespace BLL
...@@ -190,6 +192,10 @@ namespace BLL ...@@ -190,6 +192,10 @@ namespace BLL
{ {
//防止上一个任务已执行但返回失败时，删除任务 //防止上一个任务已执行但返回失败时，删除任务
Del_Mission(info); Del_Mission(info);
var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
info.CurTaskName = key.ToList()[0];
Common.log.OutInfo(string.Format("{0} Add_Mission [{1}]", info.Name, key.ToList()[0]));
string url = "http://" + info.IP + "/api/v2.0.0/mission_queue"; string url = "http://" + info.IP + "/api/v2.0.0/mission_queue";
string body = "{\"mission_id\":\"" + mission_id + "\"}"; string body = "{\"mission_id\":\"" + mission_id + "\"}";
...@@ -227,6 +233,9 @@ namespace BLL ...@@ -227,6 +233,9 @@ namespace BLL
{ {
//防止上一个任务已执行但返回失败时，删除任务 //防止上一个任务已执行但返回失败时，删除任务
Del_Mission(info); Del_Mission(info);
var key = Common.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
info.CurTaskName = key.ToList()[0];
Common.log.OutInfo(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
string ip = AGVControl.Common.appConfig.AppSettings.Settings["FLEET"].Value; string ip = AGVControl.Common.appConfig.AppSettings.Settings["FLEET"].Value;
string url = "http://" + ip + "/api/v2.0.0/mission_scheduler"; string url = "http://" + ip + "/api/v2.0.0/mission_scheduler";
......
AGVControl/Common.cs
...@@ -350,6 +350,7 @@ namespace AGVControl ...@@ -350,6 +350,7 @@ namespace AGVControl
/// </summary> /// </summary>
public bool IsClearRunInfo = false; public bool IsClearRunInfo = false;
public string CurTaskName { get; set; }
public struct DockingStru public struct DockingStru
{ {
public DateTime startTime; public DateTime startTime;
...@@ -382,7 +383,7 @@ namespace AGVControl ...@@ -382,7 +383,7 @@ namespace AGVControl
//AGV名称,IP,AGV状态,任务状态,地点,后续任务,在线,电量,调用,清除缓存 //AGV名称,IP,AGV状态,任务状态,地点,后续任务,在线,电量,调用,清除缓存
List<string> vs = new List<string>(); List<string> vs = new List<string>();
vs.Add(Name); vs.Add(Name);
vs.Add(IP); // vs.Add(IP);
if (IsCon) if (IsCon)
{ {
vs.Add(StateText); vs.Add(StateText);
...@@ -392,6 +393,8 @@ namespace AGVControl ...@@ -392,6 +393,8 @@ namespace AGVControl
vs.Add(Place); vs.Add(Place);
vs.Add(NextMission); vs.Add(NextMission);
} }
else
vs.AddRange(new string[]{ "","","","","",""});
vs.Add(IsCon.ToString()); vs.Add(IsCon.ToString());
vs.Add(Battery + "%"); vs.Add(Battery + "%");
vs.Add(IsUse.ToString()); vs.Add(IsUse.ToString());
...@@ -404,9 +407,10 @@ namespace AGVControl ...@@ -404,9 +407,10 @@ namespace AGVControl
public string[] ToMission() public string[] ToMission()
{ {
//AGV名称,IP,AGV状态,任务状态,地点,后续任务,在线,电量,调用,清除缓存 //AGV名称,IP,AGV状态,任务状态,地点,后续任务,在线,电量,调用,清除缓存
string[] s = new string[2]; string[] s = new string[3];
s[0] = Name; s[0] = Name;
s[1] = Mission_text; s[1] = CurTaskName;
s[2] = Mission_text;
return s; return s;
} }
......
AGVControl/FrmMain.Designer.cs
...@@ -74,9 +74,9 @@ ...@@ -74,9 +74,9 @@
this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel(); this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
this.dgvMission = new System.Windows.Forms.DataGridView(); this.dgvMission = new System.Windows.Forms.DataGridView();
this.Column20 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column20 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column24 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column21 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column21 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column14 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column14 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column22 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column22 = new System.Windows.Forms.DataGridViewTextBoxColumn();
...@@ -108,7 +108,6 @@ ...@@ -108,7 +108,6 @@
this.DgvAgv.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize; this.DgvAgv.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.DgvAgv.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] { this.DgvAgv.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Column1, this.Column1,
this.Column2,
this.Column3, this.Column3,
this.Column14, this.Column14,
this.Column22, this.Column22,
...@@ -125,7 +124,7 @@ ...@@ -125,7 +124,7 @@
this.DgvAgv.RowHeadersVisible = false; this.DgvAgv.RowHeadersVisible = false;
this.DgvAgv.RowHeadersWidth = 51; this.DgvAgv.RowHeadersWidth = 51;
this.DgvAgv.RowTemplate.Height = 23; this.DgvAgv.RowTemplate.Height = 23;
this.DgvAgv.Size = new System.Drawing.Size(970, 126); this.DgvAgv.Size = new System.Drawing.Size(988, 126);
this.DgvAgv.TabIndex = 0; this.DgvAgv.TabIndex = 0;
this.DgvAgv.CellClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvAgv_CellClick); this.DgvAgv.CellClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvAgv_CellClick);
// //
...@@ -152,9 +151,10 @@ ...@@ -152,9 +151,10 @@
this.DgvNode.Location = new System.Drawing.Point(6, 6); this.DgvNode.Location = new System.Drawing.Point(6, 6);
this.DgvNode.Name = "DgvNode"; this.DgvNode.Name = "DgvNode";
this.DgvNode.ReadOnly = true; this.DgvNode.ReadOnly = true;
this.DgvNode.RowHeadersVisible = false;
this.DgvNode.RowHeadersWidth = 50; this.DgvNode.RowHeadersWidth = 50;
this.DgvNode.RowTemplate.Height = 23; this.DgvNode.RowTemplate.Height = 23;
this.DgvNode.Size = new System.Drawing.Size(950, 486); this.DgvNode.Size = new System.Drawing.Size(968, 486);
this.DgvNode.TabIndex = 1; this.DgvNode.TabIndex = 1;
this.DgvNode.CellClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvNode_CellClick); this.DgvNode.CellClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvNode_CellClick);
// //
...@@ -246,7 +246,7 @@ ...@@ -246,7 +246,7 @@
this.TxtLog.Multiline = true; this.TxtLog.Multiline = true;
this.TxtLog.Name = "TxtLog"; this.TxtLog.Name = "TxtLog";
this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both; this.TxtLog.ScrollBars = System.Windows.Forms.ScrollBars.Both;
this.TxtLog.Size = new System.Drawing.Size(329, 486); this.TxtLog.Size = new System.Drawing.Size(335, 486);
this.TxtLog.TabIndex = 4; this.TxtLog.TabIndex = 4;
// //
// tabControl1 // tabControl1
...@@ -260,7 +260,7 @@ ...@@ -260,7 +260,7 @@
this.tabControl1.Location = new System.Drawing.Point(12, 144); this.tabControl1.Location = new System.Drawing.Point(12, 144);
this.tabControl1.Name = "tabControl1"; this.tabControl1.Name = "tabControl1";
this.tabControl1.SelectedIndex = 0; this.tabControl1.SelectedIndex = 0;
this.tabControl1.Size = new System.Drawing.Size(970, 527); this.tabControl1.Size = new System.Drawing.Size(988, 527);
this.tabControl1.TabIndex = 5; this.tabControl1.TabIndex = 5;
// //
// tabPage1 // tabPage1
...@@ -269,7 +269,7 @@ ...@@ -269,7 +269,7 @@
this.tabPage1.Location = new System.Drawing.Point(4, 25); this.tabPage1.Location = new System.Drawing.Point(4, 25);
this.tabPage1.Name = "tabPage1"; this.tabPage1.Name = "tabPage1";
this.tabPage1.Padding = new System.Windows.Forms.Padding(3); this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
this.tabPage1.Size = new System.Drawing.Size(962, 498); this.tabPage1.Size = new System.Drawing.Size(980, 498);
this.tabPage1.TabIndex = 0; this.tabPage1.TabIndex = 0;
this.tabPage1.Text = "节点"; this.tabPage1.Text = "节点";
this.tabPage1.UseVisualStyleBackColor = true; this.tabPage1.UseVisualStyleBackColor = true;
...@@ -305,7 +305,7 @@ ...@@ -305,7 +305,7 @@
this.tabPage3.Location = new System.Drawing.Point(4, 25); this.tabPage3.Location = new System.Drawing.Point(4, 25);
this.tabPage3.Name = "tabPage3"; this.tabPage3.Name = "tabPage3";
this.tabPage3.Padding = new System.Windows.Forms.Padding(3); this.tabPage3.Padding = new System.Windows.Forms.Padding(3);
this.tabPage3.Size = new System.Drawing.Size(962, 498); this.tabPage3.Size = new System.Drawing.Size(980, 498);
this.tabPage3.TabIndex = 2; this.tabPage3.TabIndex = 2;
this.tabPage3.Text = "任务"; this.tabPage3.Text = "任务";
this.tabPage3.UseVisualStyleBackColor = true; this.tabPage3.UseVisualStyleBackColor = true;
...@@ -569,7 +569,7 @@ ...@@ -569,7 +569,7 @@
this.tabPage2.Location = new System.Drawing.Point(4, 25); this.tabPage2.Location = new System.Drawing.Point(4, 25);
this.tabPage2.Name = "tabPage2"; this.tabPage2.Name = "tabPage2";
this.tabPage2.Padding = new System.Windows.Forms.Padding(3); this.tabPage2.Padding = new System.Windows.Forms.Padding(3);
this.tabPage2.Size = new System.Drawing.Size(962, 498); this.tabPage2.Size = new System.Drawing.Size(980, 498);
this.tabPage2.TabIndex = 3; this.tabPage2.TabIndex = 3;
this.tabPage2.Text = "日志"; this.tabPage2.Text = "日志";
this.tabPage2.UseVisualStyleBackColor = true; this.tabPage2.UseVisualStyleBackColor = true;
...@@ -586,7 +586,7 @@ ...@@ -586,7 +586,7 @@
this.tableLayoutPanel1.Name = "tableLayoutPanel1"; this.tableLayoutPanel1.Name = "tableLayoutPanel1";
this.tableLayoutPanel1.RowCount = 1; this.tableLayoutPanel1.RowCount = 1;
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F)); this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tableLayoutPanel1.Size = new System.Drawing.Size(956, 492); this.tableLayoutPanel1.Size = new System.Drawing.Size(974, 492);
this.tableLayoutPanel1.TabIndex = 5; this.tableLayoutPanel1.TabIndex = 5;
// //
// dgvMission // dgvMission
...@@ -595,14 +595,15 @@ ...@@ -595,14 +595,15 @@
this.dgvMission.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize; this.dgvMission.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.dgvMission.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] { this.dgvMission.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Column20, this.Column20,
this.Column24,
this.Column21}); this.Column21});
this.dgvMission.Dock = System.Windows.Forms.DockStyle.Top; this.dgvMission.Dock = System.Windows.Forms.DockStyle.Top;
this.dgvMission.Location = new System.Drawing.Point(338, 3); this.dgvMission.Location = new System.Drawing.Point(344, 3);
this.dgvMission.Name = "dgvMission"; this.dgvMission.Name = "dgvMission";
this.dgvMission.RowHeadersVisible = false; this.dgvMission.RowHeadersVisible = false;
this.dgvMission.RowHeadersWidth = 51; this.dgvMission.RowHeadersWidth = 51;
this.dgvMission.RowTemplate.Height = 27; this.dgvMission.RowTemplate.Height = 27;
this.dgvMission.Size = new System.Drawing.Size(615, 186); this.dgvMission.Size = new System.Drawing.Size(627, 186);
this.dgvMission.TabIndex = 5; this.dgvMission.TabIndex = 5;
// //
// Column20 // Column20
...@@ -612,9 +613,16 @@ ...@@ -612,9 +613,16 @@
this.Column20.Name = "Column20"; this.Column20.Name = "Column20";
this.Column20.Width = 125; this.Column20.Width = 125;
// //
// Column24
//
this.Column24.HeaderText = "任务名称";
this.Column24.MinimumWidth = 6;
this.Column24.Name = "Column24";
this.Column24.Width = 125;
//
// Column21 // Column21
// //
this.Column21.HeaderText = "任务"; this.Column21.HeaderText = "执行内容";
this.Column21.MinimumWidth = 6; this.Column21.MinimumWidth = 6;
this.Column21.Name = "Column21"; this.Column21.Name = "Column21";
this.Column21.Width = 450; this.Column21.Width = 450;
...@@ -628,15 +636,6 @@ ...@@ -628,15 +636,6 @@
this.Column1.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable; this.Column1.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
this.Column1.Width = 80; this.Column1.Width = 80;
// //
// Column2
//
this.Column2.HeaderText = "IP";
this.Column2.MinimumWidth = 6;
this.Column2.Name = "Column2";
this.Column2.ReadOnly = true;
this.Column2.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
this.Column2.Width = 125;
//
// Column3 // Column3
// //
this.Column3.HeaderText = "AGV状态"; this.Column3.HeaderText = "AGV状态";
...@@ -725,7 +724,7 @@ ...@@ -725,7 +724,7 @@
// FrmMain // FrmMain
// //
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
this.ClientSize = new System.Drawing.Size(994, 683); this.ClientSize = new System.Drawing.Size(1012, 683);
this.Controls.Add(this.tabControl1); this.Controls.Add(this.tabControl1);
this.Controls.Add(this.DgvAgv); this.Controls.Add(this.DgvAgv);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon"))); this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
...@@ -794,9 +793,9 @@ ...@@ -794,9 +793,9 @@
private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1; private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
private System.Windows.Forms.DataGridView dgvMission; private System.Windows.Forms.DataGridView dgvMission;
private System.Windows.Forms.DataGridViewTextBoxColumn Column20; private System.Windows.Forms.DataGridViewTextBoxColumn Column20;
private System.Windows.Forms.DataGridViewTextBoxColumn Column24;
private System.Windows.Forms.DataGridViewTextBoxColumn Column21; private System.Windows.Forms.DataGridViewTextBoxColumn Column21;
private System.Windows.Forms.DataGridViewTextBoxColumn Column1; private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
private System.Windows.Forms.DataGridViewTextBoxColumn Column3; private System.Windows.Forms.DataGridViewTextBoxColumn Column3;
private System.Windows.Forms.DataGridViewTextBoxColumn Column14; private System.Windows.Forms.DataGridViewTextBoxColumn Column14;
private System.Windows.Forms.DataGridViewTextBoxColumn Column22; private System.Windows.Forms.DataGridViewTextBoxColumn Column22;
......
AGVControl/FrmMain.cs
...@@ -31,6 +31,8 @@ namespace AGVControl ...@@ -31,6 +31,8 @@ namespace AGVControl
n = DgvAgv.Rows.Add(Common.agvInfo[i].ToRow()); n = DgvAgv.Rows.Add(Common.agvInfo[i].ToRow());
dgvMission.Rows.Add(Common.agvInfo[i].ToMission()); dgvMission.Rows.Add(Common.agvInfo[i].ToMission());
DgvAgv.Rows[n].HeaderCell.Value = (n + 1).ToString(); DgvAgv.Rows[n].HeaderCell.Value = (n + 1).ToString();
if (i % 2 == 0)
DgvAgv.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
if (!Common.agvInfo[i].IsCon) if (!Common.agvInfo[i].IsCon)
DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red; DgvAgv.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
} }
...@@ -39,6 +41,8 @@ namespace AGVControl ...@@ -39,6 +41,8 @@ namespace AGVControl
{ {
n = DgvNode.Rows.Add(Common.nodeInfo[i].ToRow()); n = DgvNode.Rows.Add(Common.nodeInfo[i].ToRow());
DgvNode.Rows[n].HeaderCell.Value = (n + 1).ToString(); DgvNode.Rows[n].HeaderCell.Value = (n + 1).ToString();
if (i % 2 == 0)
DgvNode.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
if (!Common.nodeInfo[i].Online) if (!Common.nodeInfo[i].Online)
DgvNode.Rows[n].DefaultCellStyle.ForeColor = Color.Red; DgvNode.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
} }
...@@ -46,8 +50,8 @@ namespace AGVControl ...@@ -46,8 +50,8 @@ namespace AGVControl
LstAgvPlace.Items.Clear(); LstAgvPlace.Items.Clear();
foreach (var item in Common.agvMission.Keys.ToArray()) foreach (var item in Common.agvMission.Keys.ToArray())
{ {
if (item.Length.Equals(6)) //if (item.Length.Equals(6))
continue; // continue;
LstAgvPlace.Items.Add(item); LstAgvPlace.Items.Add(item);
} }
...@@ -143,17 +147,24 @@ namespace AGVControl ...@@ -143,17 +147,24 @@ namespace AGVControl
private void DgvAgv_CellClick(object sender, DataGridViewCellEventArgs e) private void DgvAgv_CellClick(object sender, DataGridViewCellEventArgs e)
{ {
if (e.RowIndex == -1) return; if (e.RowIndex == -1) return;
if (e.ColumnIndex == 10) if (e.ColumnIndex == 9)
{ {
Common.agvInfo[e.RowIndex].IsUse = !Common.agvInfo[e.RowIndex].IsUse; Common.agvInfo[e.RowIndex].IsUse = !Common.agvInfo[e.RowIndex].IsUse;
DgvAgv.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = Common.agvInfo[e.RowIndex].IsUse.ToString(); DgvAgv.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = Common.agvInfo[e.RowIndex].IsUse.ToString();
Common.appConfig.AppSettings.Settings[Common.agvInfo[e.RowIndex].Name].Value = Common.agvInfo[e.RowIndex].IsUse.ToString(); Common.appConfig.AppSettings.Settings[Common.agvInfo[e.RowIndex].Name].Value = Common.agvInfo[e.RowIndex].IsUse.ToString();
Common.appConfig.Save(); Common.appConfig.Save();
} }
else if (e.ColumnIndex == 11) else if (e.ColumnIndex == 10)
{ {
if (Common.agvInfo[e.RowIndex].Mark.Length>1)
{
if(MessageBox.Show(Common.agvInfo[e.RowIndex].Name + " 正在执行包装仓出库任务，确定清除当前任务？","警告",MessageBoxButtons.YesNo) == DialogResult.No)
{
return;
}
}
//清除小车缓存 //清除小车缓存
Common.log.OutInfo(string.Format("手动清除缓存，{0} {1}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].Place)); Common.log.OutInfo(string.Format("手动清除缓存:{0}[CurTaskName={1}]", Common.agvInfo[e.RowIndex].ToRow(), Common.agvInfo[e.RowIndex].CurTaskName));
string place = Common.agvInfo[e.RowIndex].Place; string place = Common.agvInfo[e.RowIndex].Place;
Common.agvInfo[e.RowIndex].Mark = ""; Common.agvInfo[e.RowIndex].Mark = "";
Common.agvInfo[e.RowIndex].Place = ""; Common.agvInfo[e.RowIndex].Place = "";
...@@ -231,7 +242,8 @@ namespace AGVControl ...@@ -231,7 +242,8 @@ namespace AGVControl
Common.agvInfo[idx].Place = ""; Common.agvInfo[idx].Place = "";
Common.agvInfo[idx].IsClearRunInfo = false; Common.agvInfo[idx].IsClearRunInfo = false;
Common.log.OutInfo("手动添加任务： " + LstAgvPlace.Text); Common.log.OutInfo("手动添加任务： " + LstAgvPlace.Text);
Common.log.OutTextBox("手动添加任务： " + LstAgvPlace.Text);
DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
} }
} }
catch(Exception ex){ Common.log.OutInfo("手动添加任务失败： " + ex.Message + ex.StackTrace); }; catch(Exception ex){ Common.log.OutInfo("手动添加任务失败： " + ex.Message + ex.StackTrace); };
......
AGVControl/FrmMain.resx
...@@ -120,9 +120,6 @@ ...@@ -120,9 +120,6 @@
<metadata name="Column1.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column1.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="Column2.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
...@@ -183,6 +180,9 @@ ...@@ -183,6 +180,9 @@
<metadata name="Column20.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column20.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="Column24.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column21.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column21.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
......
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