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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
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内嵌 并排
正在显示 14 个修改的文件 包含 135 行增加 和 46 行删除
AGVControl/BLL/AGVManager.cs
......@@ -35,31 +35,9 @@ namespace BLL
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
{
//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());
return true;
}
......
AGVControl/BLL/Control.cs
......@@ -287,7 +287,7 @@ namespace BLL
if (change)
AgvChanged?.Invoke(i);
Common.log.OutInfo(log);
//Common.log.OutInfo(log);
}
catch (Exception ex)
{
......@@ -1301,6 +1301,39 @@ namespace BLL
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)
{
int nodeIdx;
......@@ -1972,9 +2005,18 @@ namespace BLL
}
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
int idx = Marks.FindIndex(s => s == Common.nodeInfo[node[i]].Mark);
if (idx == 0)
//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
List<ClientNode> lst = Common.nodeInfo.FindAll(s => s.Mark == Common.nodeInfo[node[i]].Mark);
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];
break;
......@@ -2028,9 +2070,49 @@ namespace BLL
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);
return true;
Common.log.OutTextBox(log);
return false;
}
bool rtn = AGVManager.LeaveCheck(agv, out int taskCount);
Thread.Sleep(3000);
......@@ -2053,9 +2135,10 @@ namespace BLL
}
else
{
ClearMarkByNodeMark();
string log = agv.Name + " [Mark=" + agv.Mark + "] [taskCount = " + taskCount.ToString() + "] 出库任务完成";
Common.log.OutInfo(log);
//Common.log.OutTextBox(log);
Common.log.OutTextBox(log);
return false;
}
//MoveStandby
......
AGVControl/Common.cs
......@@ -349,7 +349,10 @@ namespace AGVControl
/// 是否清除任务缓存
/// </summary>
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 DateTime startTime;
......@@ -380,20 +383,21 @@ namespace AGVControl
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
string[] s = new string[10];
string[] s = new string[11];
s[0] = Name;
s[1] = IP;
if (IsCon)
{
s[2] = StateText;
s[3] = string.Format("{0}({1})", MissionStatus.ToString(), (int)MissionStatus);
s[4] = Place;
s[5] = NextMission;
s[4] = Mark;
s[5] = Place;
s[6] = NextMission;
}
s[6] = IsCon.ToString();
s[7] = Battery + "%";
s[8] = IsUse.ToString();
s[9] = "Clear";
s[7] = IsCon.ToString();
s[8] = Battery + "%";
s[9] = IsUse.ToString();
s[10] = "Clear";
return s;
}
......
AGVControl/FrmMain.cs
using System;
using BLL;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
......@@ -46,8 +47,8 @@ namespace AGVControl
LstAgvPlace.Items.Clear();
foreach (var item in Common.agvMission.Keys.ToArray())
{
if (item.Length.Equals(6))
continue;
//if (item.Length.Equals(6))
// continue;
LstAgvPlace.Items.Add(item);
}
......@@ -60,6 +61,16 @@ namespace AGVControl
{
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)
......@@ -143,17 +154,17 @@ namespace AGVControl
private void DgvAgv_CellClick(object sender, DataGridViewCellEventArgs e)
{
if (e.RowIndex == -1) return;
if (e.ColumnIndex == 8)
if (e.ColumnIndex == 9)
{
Common.agvInfo[e.RowIndex].IsUse = !Common.agvInfo[e.RowIndex].IsUse;
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.Save();
}
else if (e.ColumnIndex == 9)
else if (e.ColumnIndex == 10)
{
//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;
Common.agvInfo[e.RowIndex].Mark = "";
Common.agvInfo[e.RowIndex].Place = "";
......@@ -169,7 +180,16 @@ namespace AGVControl
Common.nodeInfo[idx].AgvName = "";
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
Common.mir.Add_Mission_Fleet(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
Common.mir.State_Ready(Common.agvInfo[e.RowIndex]);
......@@ -305,7 +325,7 @@ namespace AGVControl
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));
if (name.IndexOf("Read") > 0)
......@@ -365,5 +385,6 @@ namespace AGVControl
{
System.Diagnostics.Process.Start(".\\AGV点位分布.xlsx");
}
}
}
AGVControl/FrmMain.resx
......@@ -129,6 +129,9 @@
<metadata name="Column14.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</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">
<value>True</value>
</metadata>
......
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