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Commit 411cfaab 由 张东亮
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在待机位挺时间长以及在A4不动逻辑修改

1 个父辈 81316f3e
内嵌 并排
正在显示 14 个修改的文件 包含 202 行增加 和 70 行删除
AGVControl/BLL/AGVManager.cs
...@@ -35,31 +35,9 @@ namespace BLL ...@@ -35,31 +35,9 @@ namespace BLL
return true; return true;
} }
if (serverResult.code != 0) return true; if (serverResult.code != 0) return true;
agv.LeftTaskCnt = serverResult.data.taskCount;
if (serverResult.data.taskCount == 0) //该料架出库完成 if (serverResult.data.taskCount == 0) //该料架出库完成
{ {
//清除mark
List<string> markLst = new List<string>();
foreach (var mark in Common.control.Marks)
{
int count = 0;
foreach (var node in Common.nodeInfo)
{
if (mark.Equals(node.Mark))
count++;
}
if (count == 0)//mark存在标记，但节点任务没有，删除该mark
{
markLst.Add(mark);
}
}
if (markLst.Count != 0)
{
for (int i = 0; i < markLst.Count; i++)
{
Common.control.Marks.Remove(markLst[i]);
}
}
Common.log.OutInfo(agv.Name+" 料架【" + agv.RFID + "】 无剩余出库任务,serverResult.shelfTaskData.taskCount=" + serverResult.data.taskCount.ToString()); Common.log.OutInfo(agv.Name+" 料架【" + agv.RFID + "】 无剩余出库任务,serverResult.shelfTaskData.taskCount=" + serverResult.data.taskCount.ToString());
return true; return true;
} }
......
AGVControl/BLL/Control.cs
...@@ -287,7 +287,7 @@ namespace BLL ...@@ -287,7 +287,7 @@ 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)
{ {
...@@ -1301,6 +1301,39 @@ namespace BLL ...@@ -1301,6 +1301,39 @@ namespace BLL
return FindNeedEnterWithMark(agv); return FindNeedEnterWithMark(agv);
} }
private readonly object clearMarkObj = new object();
/// <summary>
/// 清除节点上无mark，但任务里还有mark的情况
/// </summary>
private void ClearMarkByNodeMark()
{
lock (clearMarkObj)
{
//清除mark
List<string> markLst = new List<string>();
foreach (var mark in Common.control.Marks)
{
int count = 0;
foreach (var node in Common.nodeInfo)
{
if (mark.Equals(node.Mark))
count++;
}
if (count == 0)//mark存在标记，但节点任务没有，删除该mark
{
markLst.Add(mark);
}
}
if (markLst.Count != 0)
{
for (int i = 0; i < markLst.Count; i++)
{
Common.control.Marks.Remove(markLst[i]);
}
}
}
}
private bool B123456Enter(Agv_Info agv) private bool B123456Enter(Agv_Info agv)
{ {
int nodeIdx; int nodeIdx;
...@@ -1972,9 +2005,18 @@ namespace BLL ...@@ -1972,9 +2005,18 @@ namespace BLL
} }
else else
{ {
//在Mark缓存中，按照先后顺序出料，只有第一个出完才能出第二个 //在Mark缓存中，如果所有节点只有一mark，那么直接出。多个的按照先后顺序出料，只有第一个出完才能出第二个
int idx = Marks.FindIndex(s => s == Common.nodeInfo[node[i]].Mark); List<ClientNode> lst = Common.nodeInfo.FindAll(s => s.Mark == Common.nodeInfo[node[i]].Mark);
if (idx == 0) if (lst != null && lst.Count > 1)//出库涉及多个仓，按顺序执行
{
int idx = Marks.FindIndex(s => s == Common.nodeInfo[node[i]].Mark);
if (idx == 0)
{
nodeIdx = node[i];
break;
}
}
else if (lst != null && lst.Count == 1)//只有一个仓出库，则直接出库
{ {
nodeIdx = node[i]; nodeIdx = node[i];
break; break;
...@@ -2028,9 +2070,49 @@ namespace BLL ...@@ -2028,9 +2070,49 @@ namespace BLL
if (!BAreaLeaveCheck) if (!BAreaLeaveCheck)
{ {
string log = agv.Name + " A4 FindNeedEnterWithMark [Mark=" + agv.Mark + "]"; nodeIdx = Common.nodeInfo.FindIndex(s =>s.Mark == agv.Mark);
if(nodeIdx==-1)
{
nodeIdx = Common.nodeInfo.FindIndex(s => s.Name=="A3" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
if(nodeIdx==-1)
{
ClearMarkByNodeMark();
string log = agv.Name + " A4 FindNeedEnterWithMark 节点mark没有找到[Mark=" + agv.Mark + "]，去A3";
Common.log.OutInfo(log);
return MoveNode(agv, nodeIdx);
}
else
{
if (!agv.StandbyTemp)
{
agv.StandbyTemp = true;
foreach (var item in Common.nodeInfo)
{
if (item.AgvName.Equals(agv.Name))
item.AgvName = "";
}
string log = agv.Name + " A4 FindNeedEnterWithMark 节点mark没有找到[Mark=" + agv.Mark + "]，移动到MoveStandbyTemp";
Common.log.OutInfo(log);
Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]);
}
return true;
}
}
else
{
string log = agv.Name + " A4 FindNeedEnterWithMark [Mark=" + agv.Mark + "]";
Common.log.OutInfo(log);
return true;
}
}
if(!agv.Mark.Split(',')[1].Equals("pack"))
{
ClearMarkByNodeMark();
string log = agv.Name + " [Mark=" + agv.Mark + "] 出库任务完成";
Common.log.OutInfo(log); Common.log.OutInfo(log);
return true; Common.log.OutTextBox(log);
return false;
} }
bool rtn = AGVManager.LeaveCheck(agv, out int taskCount); bool rtn = AGVManager.LeaveCheck(agv, out int taskCount);
Thread.Sleep(3000); Thread.Sleep(3000);
...@@ -2053,9 +2135,10 @@ namespace BLL ...@@ -2053,9 +2135,10 @@ namespace BLL
} }
else else
{ {
ClearMarkByNodeMark();
string log = agv.Name + " [Mark=" + agv.Mark + "] [taskCount = " + taskCount.ToString() + "] 出库任务完成"; string log = agv.Name + " [Mark=" + agv.Mark + "] [taskCount = " + taskCount.ToString() + "] 出库任务完成";
Common.log.OutInfo(log); Common.log.OutInfo(log);
//Common.log.OutTextBox(log); Common.log.OutTextBox(log);
return false; return false;
} }
//MoveStandby //MoveStandby
......
AGVControl/Common.cs
...@@ -349,7 +349,10 @@ namespace AGVControl ...@@ -349,7 +349,10 @@ namespace AGVControl
/// 是否清除任务缓存 /// 是否清除任务缓存
/// </summary> /// </summary>
public bool IsClearRunInfo = false; public bool IsClearRunInfo = false;
/// <summary>
/// 剩余出库任务，针对包装仓出库
/// </summary>
public int LeftTaskCnt { get; set; } = 0;
public struct DockingStru public struct DockingStru
{ {
public DateTime startTime; public DateTime startTime;
...@@ -380,20 +383,21 @@ namespace AGVControl ...@@ -380,20 +383,21 @@ namespace AGVControl
public string[] ToRow() public string[] ToRow()
{ {
//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[10]; string[] s = new string[11];
s[0] = Name; s[0] = Name;
s[1] = IP; s[1] = IP;
if (IsCon) if (IsCon)
{ {
s[2] = StateText; s[2] = StateText;
s[3] = string.Format("{0}({1})", MissionStatus.ToString(), (int)MissionStatus); s[3] = string.Format("{0}({1})", MissionStatus.ToString(), (int)MissionStatus);
s[4] = Place; s[4] = Mark;
s[5] = NextMission; s[5] = Place;
s[6] = NextMission;
} }
s[6] = IsCon.ToString(); s[7] = IsCon.ToString();
s[7] = Battery + "%"; s[8] = Battery + "%";
s[8] = IsUse.ToString(); s[9] = IsUse.ToString();
s[9] = "Clear"; s[10] = "Clear";
return s; return s;
} }
......
AGVControl/FrmMain.Designer.cs
...@@ -34,6 +34,7 @@ ...@@ -34,6 +34,7 @@
this.Column2 = 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.Column18 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column18 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column4 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column4 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column13 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column13 = new System.Windows.Forms.DataGridViewTextBoxColumn();
...@@ -82,9 +83,11 @@ ...@@ -82,9 +83,11 @@
this.LstAgvPlace = new System.Windows.Forms.ListBox(); this.LstAgvPlace = new System.Windows.Forms.ListBox();
this.tabPage2 = new System.Windows.Forms.TabPage(); this.tabPage2 = new System.Windows.Forms.TabPage();
this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel(); this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
this.tableLayoutPanel2 = 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.Column21 = new System.Windows.Forms.DataGridViewTextBoxColumn(); this.Column21 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.label4 = new System.Windows.Forms.Label();
((System.ComponentModel.ISupportInitialize)(this.DgvAgv)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.DgvAgv)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.DgvNode)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.DgvNode)).BeginInit();
this.tabControl1.SuspendLayout(); this.tabControl1.SuspendLayout();
...@@ -92,6 +95,7 @@ ...@@ -92,6 +95,7 @@
this.tabPage3.SuspendLayout(); this.tabPage3.SuspendLayout();
this.tabPage2.SuspendLayout(); this.tabPage2.SuspendLayout();
this.tableLayoutPanel1.SuspendLayout(); this.tableLayoutPanel1.SuspendLayout();
this.tableLayoutPanel2.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.dgvMission)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.dgvMission)).BeginInit();
this.SuspendLayout(); this.SuspendLayout();
// //
...@@ -109,6 +113,7 @@ ...@@ -109,6 +113,7 @@
this.Column2, this.Column2,
this.Column3, this.Column3,
this.Column14, this.Column14,
this.Column22,
this.Column18, this.Column18,
this.Column4, this.Column4,
this.Column13, this.Column13,
...@@ -120,7 +125,7 @@ ...@@ -120,7 +125,7 @@
this.DgvAgv.ReadOnly = true; this.DgvAgv.ReadOnly = true;
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(1069, 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);
// //
...@@ -160,6 +165,14 @@ ...@@ -160,6 +165,14 @@
this.Column14.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable; this.Column14.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
this.Column14.Width = 120; this.Column14.Width = 120;
// //
// Column22
//
this.Column22.HeaderText = "标志";
this.Column22.MinimumWidth = 6;
this.Column22.Name = "Column22";
this.Column22.ReadOnly = true;
this.Column22.Width = 80;
//
// Column18 // Column18
// //
this.Column18.HeaderText = "目标地点"; this.Column18.HeaderText = "目标地点";
...@@ -236,7 +249,7 @@ ...@@ -236,7 +249,7 @@
this.DgvNode.ReadOnly = true; this.DgvNode.ReadOnly = true;
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(1049, 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);
// //
...@@ -328,7 +341,7 @@ ...@@ -328,7 +341,7 @@
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(363, 486);
this.TxtLog.TabIndex = 4; this.TxtLog.TabIndex = 4;
// //
// tabControl1 // tabControl1
...@@ -342,7 +355,7 @@ ...@@ -342,7 +355,7 @@
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(1069, 527);
this.tabControl1.TabIndex = 5; this.tabControl1.TabIndex = 5;
// //
// tabPage1 // tabPage1
...@@ -351,7 +364,7 @@ ...@@ -351,7 +364,7 @@
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(1061, 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;
...@@ -387,7 +400,7 @@ ...@@ -387,7 +400,7 @@
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(1061, 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;
...@@ -651,7 +664,7 @@ ...@@ -651,7 +664,7 @@
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(1061, 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;
...@@ -662,15 +675,30 @@ ...@@ -662,15 +675,30 @@
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 35.06064F)); this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 35.06064F));
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 64.93936F)); this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 64.93936F));
this.tableLayoutPanel1.Controls.Add(this.TxtLog, 0, 0); this.tableLayoutPanel1.Controls.Add(this.TxtLog, 0, 0);
this.tableLayoutPanel1.Controls.Add(this.dgvMission, 1, 0); this.tableLayoutPanel1.Controls.Add(this.tableLayoutPanel2, 1, 0);
this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill; this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 3); this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 3);
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(1055, 492);
this.tableLayoutPanel1.TabIndex = 5; this.tableLayoutPanel1.TabIndex = 5;
// //
// tableLayoutPanel2
//
this.tableLayoutPanel2.ColumnCount = 1;
this.tableLayoutPanel2.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tableLayoutPanel2.Controls.Add(this.dgvMission, 0, 0);
this.tableLayoutPanel2.Controls.Add(this.label4, 0, 1);
this.tableLayoutPanel2.Dock = System.Windows.Forms.DockStyle.Fill;
this.tableLayoutPanel2.Location = new System.Drawing.Point(372, 3);
this.tableLayoutPanel2.Name = "tableLayoutPanel2";
this.tableLayoutPanel2.RowCount = 2;
this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tableLayoutPanel2.Size = new System.Drawing.Size(680, 486);
this.tableLayoutPanel2.TabIndex = 5;
//
// dgvMission // dgvMission
// //
this.dgvMission.AllowUserToAddRows = false; this.dgvMission.AllowUserToAddRows = false;
...@@ -678,20 +706,21 @@ ...@@ -678,20 +706,21 @@
this.dgvMission.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] { this.dgvMission.Columns.AddRange(new System.Windows.Forms.DataGridViewColumn[] {
this.Column20, this.Column20,
this.Column21}); this.Column21});
this.dgvMission.Dock = System.Windows.Forms.DockStyle.Top; this.dgvMission.Dock = System.Windows.Forms.DockStyle.Fill;
this.dgvMission.Location = new System.Drawing.Point(338, 3); this.dgvMission.Location = new System.Drawing.Point(3, 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(674, 237);
this.dgvMission.TabIndex = 5; this.dgvMission.TabIndex = 6;
// //
// Column20 // Column20
// //
this.Column20.HeaderText = "AGV名称"; this.Column20.HeaderText = "AGV名称";
this.Column20.MinimumWidth = 6; this.Column20.MinimumWidth = 6;
this.Column20.Name = "Column20"; this.Column20.Name = "Column20";
this.Column20.Width = 125;
// //
// Column21 // Column21
// //
...@@ -700,10 +729,19 @@ ...@@ -700,10 +729,19 @@
this.Column21.Name = "Column21"; this.Column21.Name = "Column21";
this.Column21.Width = 450; this.Column21.Width = 450;
// //
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(3, 243);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(55, 15);
this.label4.TabIndex = 7;
this.label4.Text = "label4";
//
// 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(1093, 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")));
...@@ -721,6 +759,8 @@ ...@@ -721,6 +759,8 @@
this.tabPage2.ResumeLayout(false); this.tabPage2.ResumeLayout(false);
this.tableLayoutPanel1.ResumeLayout(false); this.tableLayoutPanel1.ResumeLayout(false);
this.tableLayoutPanel1.PerformLayout(); this.tableLayoutPanel1.PerformLayout();
this.tableLayoutPanel2.ResumeLayout(false);
this.tableLayoutPanel2.PerformLayout();
((System.ComponentModel.ISupportInitialize)(this.dgvMission)).EndInit(); ((System.ComponentModel.ISupportInitialize)(this.dgvMission)).EndInit();
this.ResumeLayout(false); this.ResumeLayout(false);
...@@ -751,16 +791,6 @@ ...@@ -751,16 +791,6 @@
private System.Windows.Forms.DataGridViewTextBoxColumn Column5; private System.Windows.Forms.DataGridViewTextBoxColumn Column5;
private System.Windows.Forms.DataGridViewButtonColumn Column16; private System.Windows.Forms.DataGridViewButtonColumn Column16;
private System.Windows.Forms.DataGridViewButtonColumn Column15; private System.Windows.Forms.DataGridViewButtonColumn Column15;
private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
private System.Windows.Forms.DataGridViewTextBoxColumn Column3;
private System.Windows.Forms.DataGridViewTextBoxColumn Column14;
private System.Windows.Forms.DataGridViewTextBoxColumn Column18;
private System.Windows.Forms.DataGridViewTextBoxColumn Column4;
private System.Windows.Forms.DataGridViewTextBoxColumn Column13;
private System.Windows.Forms.DataGridViewTextBoxColumn Column19;
private System.Windows.Forms.DataGridViewButtonColumn Column11;
private System.Windows.Forms.DataGridViewButtonColumn Column17;
private System.Windows.Forms.CheckBox ChkAutoCharge; private System.Windows.Forms.CheckBox ChkAutoCharge;
private System.Windows.Forms.Label label2; private System.Windows.Forms.Label label2;
private System.Windows.Forms.Label label1; private System.Windows.Forms.Label label1;
...@@ -780,9 +810,22 @@ ...@@ -780,9 +810,22 @@
private System.Windows.Forms.Button BtnOpenExcel; private System.Windows.Forms.Button BtnOpenExcel;
private System.Windows.Forms.TabPage tabPage2; private System.Windows.Forms.TabPage tabPage2;
private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1; private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
private System.Windows.Forms.DataGridViewTextBoxColumn Column3;
private System.Windows.Forms.DataGridViewTextBoxColumn Column14;
private System.Windows.Forms.DataGridViewTextBoxColumn Column22;
private System.Windows.Forms.DataGridViewTextBoxColumn Column18;
private System.Windows.Forms.DataGridViewTextBoxColumn Column4;
private System.Windows.Forms.DataGridViewTextBoxColumn Column13;
private System.Windows.Forms.DataGridViewTextBoxColumn Column19;
private System.Windows.Forms.DataGridViewButtonColumn Column11;
private System.Windows.Forms.DataGridViewButtonColumn Column17;
private System.Windows.Forms.TableLayoutPanel tableLayoutPanel2;
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 Column21; private System.Windows.Forms.DataGridViewTextBoxColumn Column21;
private System.Windows.Forms.Label label4;
} }
} }
AGVControl/FrmMain.cs
using System; using BLL;
using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.ComponentModel; using System.ComponentModel;
using System.Data; using System.Data;
...@@ -46,8 +47,8 @@ namespace AGVControl ...@@ -46,8 +47,8 @@ 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);
} }
...@@ -60,6 +61,16 @@ namespace AGVControl ...@@ -60,6 +61,16 @@ namespace AGVControl
{ {
DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow()); DgvNode.Rows[nodeIndex].SetValues(Common.nodeInfo[nodeIndex].ToRow());
})); }));
string task = "";
Invoke(new Action(() =>
{
label4.Text = "";
foreach (var item in Common.agvInfo)
{
task += string.Format("{0}: [Mark={1}] [RFID={2}] [剩余任务={3}]\r\n",item.Name,item.Mark,item.RFID,item.LeftTaskCnt);
}
label4.Text = task;
}));
} }
private void Server_NodeOnline(int nodeIndex) private void Server_NodeOnline(int nodeIndex)
...@@ -143,17 +154,17 @@ namespace AGVControl ...@@ -143,17 +154,17 @@ 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 == 8) 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 == 9) else if (e.ColumnIndex == 10)
{ {
//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} {1} Mark={2}", Common.agvInfo[e.RowIndex].Name, Common.agvInfo[e.RowIndex].Place, Common.agvInfo[e.RowIndex].Mark));
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 = "";
...@@ -169,7 +180,16 @@ namespace AGVControl ...@@ -169,7 +180,16 @@ namespace AGVControl
Common.nodeInfo[idx].AgvName = ""; Common.nodeInfo[idx].AgvName = "";
DgvNode.Rows[idx].Cells[5].Value = ""; DgvNode.Rows[idx].Cells[5].Value = "";
} }
string task = "";
Invoke(new Action(() =>
{
label4.Text = "";
foreach (var item in Common.agvInfo)
{
task += string.Format("{0}: [Mark={1}] [RFID={2}] [剩余任务={3}]\r\n", item.Name, item.Mark, item.RFID, item.LeftTaskCnt);
}
label4.Text = task;
}));
//添加Init任务 //添加Init任务
Common.mir.Add_Mission_Fleet(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]); Common.mir.Add_Mission_Fleet(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
Common.mir.State_Ready(Common.agvInfo[e.RowIndex]); Common.mir.State_Ready(Common.agvInfo[e.RowIndex]);
...@@ -305,7 +325,7 @@ namespace AGVControl ...@@ -305,7 +325,7 @@ namespace AGVControl
private void BtnReadWriteCharge_Click(object sender, EventArgs e) private void BtnReadWriteCharge_Click(object sender, EventArgs e)
{ {
string name = (sender as Control).Name; string name = (sender as System.Windows.Forms.Control).Name;
int num = Convert.ToInt32(name.Substring(name.Length - 1, 1)); int num = Convert.ToInt32(name.Substring(name.Length - 1, 1));
if (name.IndexOf("Read") > 0) if (name.IndexOf("Read") > 0)
...@@ -365,5 +385,6 @@ namespace AGVControl ...@@ -365,5 +385,6 @@ namespace AGVControl
{ {
System.Diagnostics.Process.Start(".\\AGV点位分布.xlsx"); System.Diagnostics.Process.Start(".\\AGV点位分布.xlsx");
} }
} }
} }
AGVControl/FrmMain.resx
...@@ -129,6 +129,9 @@ ...@@ -129,6 +129,9 @@
<metadata name="Column14.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column14.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
<metadata name="Column22.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column18.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column18.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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