在待机位挺时间长以及在A4不动逻辑修改

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;
@@ -1972,7 +2005,10 @@ 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
+                        //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)
                             {
@@ -1980,6 +2016,12 @@ namespace BLL
                                 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
 
                 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 + "]";
                         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.OutTextBox(log);
+                    return false;
+                }
                 bool rtn = AGVManager.LeaveCheck(agv, out int taskCount);
                 Thread.Sleep(3000);
                 if (!rtn)//出库任务还未完成
@@ -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>