1号车只运C5,C6

AGVControl/AGVControl.csproj

@@ -40,7 +40,7 @@
   </PropertyGroup>
   <ItemGroup>
     <Reference Include="log4net">
-      <HintPath>..\..\..\..\DLL\log4net.dll</HintPath>
+      <HintPath>dll\log4net.dll</HintPath>
     </Reference>
     <Reference Include="Newtonsoft.Json, Version=3.5.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>

AGVControl/BLL/Control.cs

@@ -407,6 +407,126 @@ namespace BLL
                 bool rtn;
                 string log;
                 Agv_Info agv = Common.agvInfo[agvIdx];
+                if(agv.IP.Equals(Common.No1_IP))
+                {
+                    //检测IO信号
+                    rtn = Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
+                    if (rtn)
+                    {
+                        if (input[3])
+                        {
+                            agv.IsUse = false;
+                            AgvChanged?.Invoke(agvIdx);
+                            //System.Windows.Forms.MessageBox.Show("关闭小车调用，因检测到车上有料架/料串，不执行任务！请将料架移除再打开调用。");
+                            Common.log.Info("关闭小车调用，因检测到车上有料架/料串，不执行任务！请将料架移除再打开调用。");
+                            return;
+                        }
+                        int nodeIdx = -1;
+                        int high = 0, middle = 0, low = 0;
+                        List<int> node = new List<int>();
+                        //清除节点AGV的名称
+                        foreach (var item in Common.nodeInfo)
+                        {
+                            if (item.AgvName.Equals(agv.Name))
+                            {
+                                item.AgvName = "";
+                                Common.log.Info("清除节点的AGV名称: 节点名：" + item.Name + ";AGV名称：" + agv.Name);
+                            }
+
+                        }
+
+                        //需要出料架，且没有被标记
+                        //A4是包装料仓的进料，不包含在内
+                        //根据优先级调用
+                        for (int i = 0; i < Common.nodeInfo.Count; i++)
+                        {
+                            if (Common.nodeInfo[i].Action == ClientAction.NeedLeave && Common.nodeInfo[i].Name != "A4" &&
+                                 Common.nodeInfo[i].AgvName == "" && Common.nodeInfo[i].IsUse)
+                            {
+                                switch (Common.nodeInfo[i].Level)
+                                {
+                                    case ClientLevel.High:
+                                        node.Insert(high++, i);
+                                        middle++;
+                                        low++;
+                                        break;
+                                    case ClientLevel.Middle:
+                                        node.Insert(middle++, i);
+                                        low++;
+                                        break;
+                                    case ClientLevel.Low:
+                                        node.Insert(low++, i);
+                                        break;
+                                }
+                            }
+                        }
+
+                        if (node.Count == 0)
+                        {
+                            nodeIdx = -1;
+                        }
+                        else
+                        {
+                            //按顺序取符合要求的
+                            for (int i = 0; i < node.Count; i++)
+                            {
+
+                                 if (Common.nodeInfo[node[i]].Name == "A1" && Common.nodeInfo[node[i]].RFID.StartsWith("B"))//A1出料串，检查C5是否需要
+                                {
+                                        int n = Common.nodeInfo.FindIndex(s => s.Name == "C5" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
+                                        if (n > -1)
+                                        {
+                                            nodeIdx = node[i];
+                                            break;
+                                        }
+                                }
+
+                                else if (agv.IP.Equals(Common.No1_IP) && Common.nodeInfo[node[i]].Name == "C6")//C6准备出空架子，A2需要料
+                                {
+                                    int n = Common.nodeInfo.FindIndex(s => s.Name == "A2" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
+                                    //入料口有一个没有占用
+                                    if (n > -1)
+                                    {
+                                        nodeIdx = node[i];
+                                        break;
+                                    }
+                                }
+                            }
+
+                            if (nodeIdx > -1)
+                            {
+                                if (Common.nodeInfo[nodeIdx].Name == "A1")
+                                {
+                                    if (Common.nodeInfo[nodeIdx].RFID.Length == 0 || Common.nodeInfo[nodeIdx].RFID == "00")
+                                    {
+                                        Common.log.Info("A1 RFID 错误");
+                                        //Common.log.OutTextBox("A1 RFID 错误");
+                                        return;
+                                    }
+                                    else
+                                    {
+                                        Common.log.Info("[StatusNone Assign Mission A1] " + agv.Name + " " + Common.nodeInfo[nodeIdx].Name);
+                                        MoveNode(agv, nodeIdx);
+                                        return;
+                                    }
+                                }
+                                else
+                                {
+                                    Common.log.Info("[StatusNone Assign Mission other] " + agv.Name + " " + Common.nodeInfo[nodeIdx].Name);
+                                    MoveNode(agv, nodeIdx);
+                                    return;
+                                }
+                            }
+
+
+                        }
+
+
+
+                    }
+                }
+                else //除1号小车
+                {
                     //检测IO信号
                     rtn = Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
                     if (rtn)
@@ -676,13 +796,13 @@ namespace BLL
                                 {
                                         int n = Common.nodeInfo.FindIndex(s => s.Name == "C1" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
                                         if (n == -1) n = Common.nodeInfo.FindIndex(s => s.Name == "C3" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
-                                if (n == -1) n = Common.nodeInfo.FindIndex(s => s.Name == "C5" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
                                         //入料口有一个没有占用
                                         if (n > -1)
                                         {
                                             nodeIdx = node[i];
                                             break;
                                         }
+                                    
                                 }
                                 else if (Common.nodeInfo[node[i]].Name == "A1" && Common.nodeInfo[node[i]].RFID.StartsWith("A"))//B区域入料
                                 {
@@ -723,7 +843,7 @@ namespace BLL
                                         break;
                                     }
                                 }
-                            else if (Common.nodeInfo[node[i]].Name == "C2" || Common.nodeInfo[node[i]].Name == "C4" || Common.nodeInfo[node[i]].Name == "C6")//C2，4，6准备出空架子，A2需要料
+                                else if (Common.nodeInfo[node[i]].Name == "C2" || Common.nodeInfo[node[i]].Name == "C4")//C2，4准备出空架子，A2需要料
                                 {
                                     int n = Common.nodeInfo.FindIndex(s => s.Name == "C7" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
                                     if (n == -1) n = Common.nodeInfo.FindIndex(s => s.Name == "A2" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
@@ -744,11 +864,11 @@ namespace BLL
                                         break;
                                     }
                                 }
-                            else
-                            {
-                                nodeIdx = node[i];
-                                break;
-                            }
+                                //else if(!Common.nodeInfo[node[i]].Equals("C5") || !Common.nodeInfo[node[i]].Equals("C6"))
+                                //{
+                                //    nodeIdx = node[i];
+                                //    break;
+                                //}
                             }
 
                             if (nodeIdx > -1)
@@ -794,6 +914,8 @@ namespace BLL
 
 
                     }
+                }
+
 
             }
             catch (Exception ex)
@@ -1147,8 +1269,9 @@ namespace BLL
                         rtn = B123456Enter(agv); break;
                     case "C2":
                     case "C4":
+                        rtn = C24Enter(agv); break;
                     case "C6":
-                        rtn = C246Enter(agv); break;
+                        rtn = C6Enter(agv); break;
                     case "C8":
                         rtn = C8Enter(agv); break;
                     case "D2":
@@ -1402,6 +1525,23 @@ namespace BLL
                 nodeIdx = FindAreaC();
                 if (nodeIdx > -1)
                 {
+                    string nodeName = Common.nodeInfo[nodeIdx].Name;
+                    if (nodeName.Equals("C5") && agv.IP.Equals(Common.No1_IP))
+                    {
+                        rtn = MoveNode(agv, nodeIdx);
+                        if (rtn)
+                        {
+                            agv.NextMission = "";
+                            Common.log.Info(agv.Name + " A1出料串[" + agv.RFID + "]，去[" + Common.nodeInfo[nodeIdx].Name + "]入库");
+                        }
+                        else
+                        {
+                            agv.NextMission = Common.nodeInfo[nodeIdx].Name;
+                            //Common.mir.Add_Mission_Fleet(agv, "Common.agvMission["MoveStandbyTemp"]");
+                        }
+                    }
+                    else if (!nodeName.Equals("C5") && !agv.IP.Equals(Common.No1_IP))
+                    {
                         rtn = MoveNode(agv, nodeIdx);
                         if (rtn)
                         {
@@ -1425,6 +1565,19 @@ namespace BLL
                             Common.log.Info(log);
                             Common.ShowLog(log);
                         }
+                    }
+                }
+                else
+                {
+                    if (!agv.StandbyTemp)
+                    {
+                        agv.StandbyTemp = true;
+                        log = agv.Name + " A1出料串[" + agv.RFID + "] C区暂时没有位置";
+                        agv.NextMission = "C区";
+                        Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]);
+                        Common.log.Info(log);
+                        Common.ShowLog(log);
+                    }
 
                 }
             }
@@ -1882,12 +2035,12 @@ namespace BLL
                 rtn = FindNeedLeave(agv, "C4");
                 if (rtn)
                     Common.log.Info(agv.Name + " 在C1送完料串，检测到C4出料串任务[A2可以进料],开始执行");
-                if (!rtn)
-                {
-                    rtn = FindNeedLeave(agv, "C6");
-                    if (rtn)
-                        Common.log.Info(agv.Name + " 在C1送完料串，检测到C6出料串任务[A2可以进料],开始执行");
-                }
+                //if (!rtn)
+                //{
+                //    rtn = FindNeedLeave(agv, "C6");
+                //    if (rtn)
+                //        Common.log.Info(agv.Name + " 在C1送完料串，检测到C6出料串任务[A2可以进料],开始执行");
+                //}
             }
 
             if (!rtn)
@@ -1898,12 +2051,12 @@ namespace BLL
                     rtn = FindNeedLeave(agv, "C4");
                     if (rtn)
                         Common.log.Info(agv.Name + " 在C1送完料串，检测到C4出料串任务[A2不可以进料，C7可以进料],开始执行");
-                    if (!rtn)
-                    {
-                        rtn = FindNeedLeave(agv, "C6");
-                        if (rtn)
-                            Common.log.Info(agv.Name + " 在C1送完料串，检测到C6出料串任务[A2不可以进料，C7可以进料],开始执行");
-                    }
+                    //if (!rtn)
+                    //{
+                    //    rtn = FindNeedLeave(agv, "C6");
+                    //    if (rtn)
+                    //        Common.log.Info(agv.Name + " 在C1送完料串，检测到C6出料串任务[A2不可以进料，C7可以进料],开始执行");
+                    //}
                 }
             }
 
@@ -1923,7 +2076,7 @@ namespace BLL
             {
                 rtn = MoveStandby(agv);
                 if (rtn)
-                    Common.log.Info(agv.Name + " 在C1送完料串，C4,C6,A1,D2暂无任务，回待机位");
+                    Common.log.Info(agv.Name + " 在C1送完料串，C4,A1,D2暂无任务，回待机位");
             }
 
             return rtn;
@@ -1943,12 +2096,12 @@ namespace BLL
                 rtn = FindNeedLeave(agv, "C4");
                 if (rtn)
                     Common.log.Info(agv.Name + " 在C3送完料串，检测到C4出料串任务[A2可以进料],开始执行");
-                if (!rtn)
-                {
-                    rtn = FindNeedLeave(agv, "C6");
-                    if (rtn)
-                        Common.log.Info(agv.Name + " 在C3送完料串，检测到C6出料串任务[A2可以进料],开始执行");
-                }
+                //if (!rtn)
+                //{
+                //    rtn = FindNeedLeave(agv, "C6");
+                //    if (rtn)
+                //        Common.log.Info(agv.Name + " 在C3送完料串，检测到C6出料串任务[A2可以进料],开始执行");
+                //}
             }
 
             if (!rtn)
@@ -1959,12 +2112,12 @@ namespace BLL
                     rtn = FindNeedLeave(agv, "C4");
                     if (rtn)
                         Common.log.Info(agv.Name + " 在C3送完料串，检测到C4出料串任务[A2不可以进料，C7可以进料],开始执行");
-                    if (!rtn)
-                    {
-                        rtn = FindNeedLeave(agv, "C6");
-                        if (rtn)
-                            Common.log.Info(agv.Name + " 在C3送完料串，检测到C6出料串任务[A2不可以进料，C7可以进料],开始执行");
-                    }
+                    //if (!rtn)
+                    //{
+                    //    rtn = FindNeedLeave(agv, "C6");
+                    //    if (rtn)
+                    //        Common.log.Info(agv.Name + " 在C3送完料串，检测到C6出料串任务[A2不可以进料，C7可以进料],开始执行");
+                    //}
                 }
             }
 
@@ -1985,7 +2138,7 @@ namespace BLL
             {
                 rtn = MoveStandby(agv);
                 if (rtn)
-                    Common.log.Info(agv.Name + " 在C3送完料串，C4,C6,A1,D2暂无任务，回待机位");
+                    Common.log.Info(agv.Name + " 在C3送完料串，C4,A1,D2暂无任务，回待机位");
             }
 
 
@@ -2013,16 +2166,16 @@ namespace BLL
                     Common.log.Info(agv.Name + " 在C5送完料串，检测到C6出料串任务[A2可以进料],开始执行");
             }
 
-            if (!rtn)
-            {
-                nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == "C7" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
-                if (nodeIdx > -1)
-                {
-                    rtn = FindNeedLeave(agv, "C6");
-                    if (rtn)
-                        Common.log.Info(agv.Name + " 在C5送完料串，检测到C6出料串任务[A2不可以进料，C7可以进料],开始执行");
-                }
-            }
+            //if (!rtn)
+            //{
+            //    nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == "C7" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
+            //    if (nodeIdx > -1)
+            //    {
+            //        rtn = FindNeedLeave(agv, "C6");
+            //        if (rtn)
+            //            Common.log.Info(agv.Name + " 在C5送完料串，检测到C6出料串任务[A2不可以进料，C7可以进料],开始执行");
+            //    }
+            //}
 
             if (!rtn)
             {
@@ -2040,7 +2193,7 @@ namespace BLL
             {
                 rtn = MoveStandby(agv);
                 if (rtn)
-                    Common.log.Info(agv.Name + " 在C3送完料串，C6,A1,D2暂无任务，回待机位");
+                    Common.log.Info(agv.Name + " 在C5送完料串，C6,A1,D2暂无任务，回待机位");
             }
 
             //bool rtn = FindNeedLeave(agv, "C6");
@@ -2084,11 +2237,11 @@ namespace BLL
         }
 
         /// <summary>
-        /// 【满车】料串进入小车，离开C2，4，6
+        /// 【满车】料串进入小车，离开C2，4
         /// </summary>
         /// <param name="agv"></param>
         /// <returns></returns>
-        private bool C246Enter(Agv_Info agv)
+        private bool C24Enter(Agv_Info agv)
         {
             string log;
             bool rtn;
@@ -2098,7 +2251,7 @@ namespace BLL
             if (rtn)
             {
                 agv.NextMission = "";
-                Common.log.Info(agv.Name + " 在C2/4/6进入空料串，检测到C7需要料串,开始执行");
+                Common.log.Info(agv.Name + " 在C2/4进入空料串，检测到C7需要料串,开始执行");
                 return true;
             }
 
@@ -2106,15 +2259,41 @@ namespace BLL
             if (rtn)
             {
                 agv.NextMission = "";
-                Common.log.Info(agv.Name + " 在C2/4/6进入空料串，检测到D1需要料串,开始执行");
+                Common.log.Info(agv.Name + " 在C2/4进入空料串，检测到D1需要料串,开始执行");
+                return true;
+            }
+
+            rtn = FindNeedEnter(agv, "A2");
+            if (rtn)
+            {
+                agv.NextMission = "";
+                Common.log.Info(agv.Name + " 在C2/4进入空料串，检测到A2需要料串,开始执行");
                 return true;
             }
 
+            if (!agv.StandbyTemp)
+            {
+                agv.StandbyTemp = true;
+                agv.NextMission = "A2";
+                rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]);
+                if (rtn)
+                    Common.log.Info(agv.Name + " 在C2/4进入空料串，C7,D1,A2不需要料串，回待机位");
+                return false;
+            }
+            return false;
+        }
+        private bool C6Enter(Agv_Info agv)
+        {
+            string log;
+            bool rtn;
+
+            //C7紧急料优先放架子
+
             rtn = FindNeedEnter(agv, "A2");
             if (rtn)
             {
                 agv.NextMission = "";
-                Common.log.Info(agv.Name + " 在C2/4/6进入空料串，检测到A2需要料串,开始执行");
+                Common.log.Info(agv.Name + " 在C6进入空料串，检测到A2需要料串,开始执行");
                 return true;
             }
 
@@ -2124,7 +2303,7 @@ namespace BLL
                 agv.NextMission = "A2";
                 rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]);
                 if (rtn)
-                    Common.log.Info(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.Info(agv.Name + " 在C6进入空料串，A2不需要料串，回待机位");
                 return false;
             }
             return false;
@@ -2216,6 +2395,23 @@ namespace BLL
             nodeIdx = FindAreaC();
             if (nodeIdx > -1)
             {
+                string nodeName = Common.nodeInfo[nodeIdx].Name;
+                if (nodeName.Equals("C5") && agv.IP.Equals(Common.No1_IP))
+                {
+                    rtn = MoveNode(agv, nodeIdx);
+                    if (rtn)
+                    {
+                        agv.NextMission = "";
+                        Common.log.Info(agv.Name + " 在D2进入料串，送往C区");
+                    }
+                    else
+                    {
+                        agv.NextMission = "C区";
+                        //Common.mir.Add_Mission_Fleet(agv, "Common.agvMission["MoveStandbyTemp"]");
+                    }
+                }
+                else if (!nodeName.Equals("C5") && !agv.IP.Equals(Common.No1_IP))
+                {
                     rtn = MoveNode(agv, nodeIdx);
                     if (rtn)
                     {
@@ -2230,6 +2426,21 @@ namespace BLL
                 }
                 else
                 {
+
+                    if (!agv.StandbyTemp)
+                    {
+                        agv.StandbyTemp = true;
+                        log = agv.Name + " D2[点料机]出料架 C区暂时没有位置";
+                        agv.NextMission = "C区";
+                        Common.mir.Add_Mission_Fleet(agv, Common.agvMission["MoveStandbyTemp"]);
+                        Common.log.Info(log);
+                        Common.ShowLog(log);
+                    }
+
+                }
+            }
+            else
+            {
                 if (!agv.StandbyTemp)
                 {
                     agv.StandbyTemp = true;
@@ -3129,7 +3340,7 @@ namespace BLL
                 agv.CloseDoor = false;
                 Common.nodeInfo[nodeIdx].AgvName = agv.Name;
                 agv.TaskSend = true;
-                log = string.Format("{0} MoveTtoNode {1} {2}", agv.Name, agv.Place, Common.nodeInfo[nodeIdx].Action.ToString());
+                log = string.Format("{0} MoveToNode {1} {2}", agv.Name, agv.Place, Common.nodeInfo[nodeIdx].Action.ToString());
                 Common.log.Info(log);
                 Common.ShowLog(log);
                 Common.mir.State_Ready(agv);
@@ -3138,7 +3349,7 @@ namespace BLL
             else
             {
                 agv.TaskSend = false;
-                log = string.Format("{0} MoveTtoNode {1} 失败", agv.Name, agv.Place);
+                log = string.Format("{0} MoveToNode {1} 失败", agv.Name, agv.Place);
                 //防止上一个任务已执行但返回失败时，删除任务
                 //Common.mir.Del_Mission(agv);
                 Common.log.Info(log);

AGVControl/BLL/MiR_API.cs

@@ -385,7 +385,7 @@ namespace BLL
                 string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text";
 
                 string json = HttpGet(url, info.IP, info.Authorization);
-                Common.log.Info("URL: " + url+"\n"+"Return: " + json);
+                Common.log.Debug("URL: " + url+"\n"+"Return: " + json);
                 if (string.IsNullOrWhiteSpace(json)) return false;
 
                 JavaScriptSerializer serializer = new JavaScriptSerializer();

AGVControl/Common.cs

@@ -22,6 +22,7 @@ namespace AGVControl
         public static readonly string LOG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Log";
         public static readonly string CONFIG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Config\\";
 
+        public static string No1_IP = "10.85.199.67";
         public static void ShowLog(string s)
         {
             if (txtLog == null) return;

AGVControl/obj/Debug/AGVControl.csproj.CoreCompileInputs.cache

-6e0a935f2fc071fe41a8b4e4966fbe7ca4dacc89
+8da7a79df2cfe73788bf4aeb9a8db9dab2618e7c

AGVControl/obj/Debug/AGVControl.csproj.FileListAbsolute.txt

@@ -94,3 +94,20 @@ C:\ZDL\Gitee\AGVControl\AGVControl\obj\Debug\AGVControl.csprojAssemblyReference.
 D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl\AGVControl\bin\Debug\Newtonsoft.Json.dll
 D:\OneDrive - 上海挚锦科技有限公司\SMD\AGVControl\AGVControl\bin\Debug\log4net.dll
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