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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 131 行增加 和 42 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;
...@@ -1972,7 +2005,10 @@ namespace BLL ...@@ -1972,7 +2005,10 @@ 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
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); int idx = Marks.FindIndex(s => s == Common.nodeInfo[node[i]].Mark);
if (idx == 0) if (idx == 0)
{ {
...@@ -1980,6 +2016,12 @@ namespace BLL ...@@ -1980,6 +2016,12 @@ namespace BLL
break; break;
} }
} }
else if (lst != null && lst.Count == 1)//只有一个仓出库，则直接出库
{
nodeIdx = node[i];
break;
}
}
} }
...@@ -2028,10 +2070,50 @@ namespace BLL ...@@ -2028,10 +2070,50 @@ namespace BLL
if (!BAreaLeaveCheck) if (!BAreaLeaveCheck)
{ {
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 + "]"; string log = agv.Name + " A4 FindNeedEnterWithMark [Mark=" + agv.Mark + "]";
Common.log.OutInfo(log); Common.log.OutInfo(log);
return true; 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.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);
if (!rtn)//出库任务还未完成 if (!rtn)//出库任务还未完成
...@@ -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.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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