Skip to content

顾剑亮 / Camera

转到一个项目
切换导航栏
切换导航栏固定状态
Commit dd584799 由 张东亮
选项

分盘线

1 个父辈 ca463496
内嵌 并排
正在显示 13 个修改的文件 包含 317 行增加 和 288 行删除
AGVControl/BLL/AGVManager.cs
......@@ -35,32 +35,10 @@ 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());
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;
}
else //该料架的出库任务未完成
......
AGVControl/BLL/Control.cs
......@@ -94,7 +94,7 @@ namespace BLL
continue;
}
Common.log.OutInfo("AgvCall " + Common.agvInfo[i].Name + " " + Common.agvInfo[i].MissionStatus);
//Common.log.OutInfo("AgvCall " + Common.agvInfo[i].Name + " " + Common.agvInfo[i].MissionStatus);
switch (Common.agvInfo[i].MissionStatus)
{
case Mission_Status.None: //有空闲车辆
......@@ -404,84 +404,136 @@ namespace BLL
{
try
{
string log;
int nodeIdx = -1;
bool rtn;
string log;
Agv_Info agv = Common.agvInfo[agvIdx];
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)
//检测IO信号
rtn = Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
if (rtn)
{
if (item.AgvName.Equals(agv.Name))
if (input[3])
{
item.AgvName = "";
Common.log.OutInfo("清除节点的AGV名称: 节点名：" + item.Name + ";AGV名称：" + agv.Name);
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。");
return;
}
}
//B区域，需要出料，先拿料架
//Mark.Length>1防止Mark为0的情况，Mark=0是VMI的进料
nodeIdx = Common.nodeInfo.FindIndex(s => s.Action == ClientAction.NeedEnter && s.AgvName.Equals("") && s.Mark.Length > 1 && s.IsUse);
if (nodeIdx == -1)
{
Common.log.OutInfo("B区没有找到NeedEnter的节点");
}
else//B区域需要出料
{
//Mark没有被缓存
int n = Marks.FindIndex(t => t == Common.nodeInfo[nodeIdx].Mark);
if (n == -1)//
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)
{
n = Common.nodeInfo.FindIndex(s => s.Name == "A7" && s.Action == ClientAction.NeedLeave &&
s.RFID.StartsWith("A") && s.AgvName.Equals("") && s.IsUse);
if (n > -1)
if (item.AgvName.Equals(agv.Name))
{
agv.Place = Common.nodeInfo[n].Name;
agv.Mark = Common.nodeInfo[nodeIdx].Mark;
//agv.CloseDoor = false;
item.AgvName = "";
Common.log.OutInfo("清除节点的AGV名称: 节点名：" + item.Name + ";AGV名称：" + agv.Name);
}
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]);
if (rtn)
}
//B区域，需要出料，先拿料架
//Mark.Length>1防止Mark为0的情况，Mark=0是VMI的进料
nodeIdx = Common.nodeInfo.FindIndex(s => s.Action == ClientAction.NeedEnter && s.AgvName.Equals("") && s.Mark.Length > 1 && s.IsUse);
if (nodeIdx == -1)
{
Common.log.OutInfo("B区没有找到NeedEnter的节点");
}
else//B区域需要出料
{
//Mark没有被缓存
int n = Marks.FindIndex(t => t == Common.nodeInfo[nodeIdx].Mark);
if (n == -1)//
{
n = Common.nodeInfo.FindIndex(s => s.Name == "A7" && s.Action == ClientAction.NeedLeave &&
s.RFID.StartsWith("A") && s.AgvName.Equals("") && s.IsUse);
if (n > -1)
{
agv.CloseDoor = false;
Common.nodeInfo[n].AgvName = agv.Name;
agv.TaskSend = true;
//_mark.Add(Common.nodeInfo[nodeIdx].Mark);
MarkAdd(Common.nodeInfo[nodeIdx].Mark);
Common.log.OutString("Mark缓存 " + string.Join(",", Marks.ToArray()));
agv.Place = Common.nodeInfo[n].Name;
agv.Mark = Common.nodeInfo[nodeIdx].Mark;
//agv.CloseDoor = false;
log = string.Format("{0} Move To {1}[{2}] [{3}]", agv.Name, agv.Place,
Common.nodeInfo[nodeIdx].Action.ToString(), Common.nodeInfo[nodeIdx].Mark);
Common.log.OutInfo(log);
Common.log.OutTextBox(log);
Common.mir.State_Ready(agv);
Common.server.NodeRefresh(n);
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]);
if (rtn)
{
agv.CloseDoor = false;
Common.nodeInfo[n].AgvName = agv.Name;
agv.TaskSend = true;
//_mark.Add(Common.nodeInfo[nodeIdx].Mark);
MarkAdd(Common.nodeInfo[nodeIdx].Mark);
Common.log.OutString("Mark缓存 " + string.Join(",", Marks.ToArray()));
log = string.Format("{0} Move To {1}[{2}] [{3}]", agv.Name, agv.Place,
Common.nodeInfo[nodeIdx].Action.ToString(), Common.nodeInfo[nodeIdx].Mark);
Common.log.OutInfo(log);
Common.log.OutTextBox(log);
Common.mir.State_Ready(agv);
Common.server.NodeRefresh(n);
}
else
{
agv.TaskSend = false;
log = string.Format("{0} Move To {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.OutInfo(log);
Common.log.OutTextBox(log);
}
}
else
{
agv.TaskSend = false;
log = string.Format("{0} Move To {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.OutInfo(log);
Common.log.OutTextBox(log);
}
}
else
{
//A4没有被占用
n = Common.nodeInfo.FindIndex(s => s.Name == "A4" && s.Action == ClientAction.NeedLeave && s.AgvName.Equals("") && s.IsUse);
if (n == -1)
{
//nodeIdx = -1;
Common.log.OutInfo("A4不是NeedLeave或被占用");
Common.log.OutTextBox("A4没有架子或被占用");
n = Common.nodeInfo.FindIndex(s => s.Name == "A8" && s.Action == ClientAction.NeedEnter && s.AgvName.Equals("") && s.IsUse);
//A4没有被占用
n = Common.nodeInfo.FindIndex(s => s.Name == "A4" && s.Action == ClientAction.NeedLeave && s.AgvName.Equals("") && s.IsUse);
if (n == -1)
{
Common.log.OutInfo("A8不是NeedEnter或被占用");
Common.log.OutTextBox("A4、A7无空架子用与包装仓出库");
nodeIdx = -1;
Common.log.OutInfo("A7,A4不是NeedLeave或被占用");
Common.log.OutTextBox("A7,A4没有架子或被占用");
#region 有出库任务，但A7,A4无空架子
//n = Common.nodeInfo.FindIndex(s => s.Name == "A8" && s.Action == ClientAction.NeedEnter && s.AgvName.Equals("") && s.IsUse);
//if (n == -1)
//{
// ClientNode a8Node = Common.nodeInfo.Find(s => s.Name.Equals("A8"));
// log = string.Format("A4、A7均无空架用于包装仓出库，且{0}已满，不可将A7架子放到{0}。需要人工干预 [ClientAction={1}]", a8Node.Name, a8Node.Action.ToString());
// Common.log.OutInfo(log);
// Common.log.OutTextBox(log);
//}
////A7,A4均无空架子,可将A7的架子移动到A8
//else
//{
// agv.Place = "A7";
// //agv.Mark = Common.nodeInfo[nodeIdx].Mark;
// //agv.CloseDoor = false;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]);
// if (rtn)
// {
// agv.CloseDoor = false;
// Common.nodeInfo[n].AgvName = agv.Name;
// agv.TaskSend = true;
// //_mark.Add(Common.nodeInfo[nodeIdx].Mark);
// //MarkAdd(Common.nodeInfo[nodeIdx].Mark);
// log = string.Format("{0} Move To {1}[{2}] ", agv.Name, agv.Place,
// "A7,A4无料架用于包装仓");
// Common.log.OutInfo(log);
// Common.log.OutTextBox(log);
// Common.mir.State_Ready(agv);
// Common.server.NodeRefresh(n);
// AgvChanged?.Invoke(agvIdx);
// }
// else
// {
// agv.TaskSend = false;
// log = string.Format("{0} Move To {1}失败[{2}] ", agv.Name, agv.Place,
// "A7,A4无料架用于包装仓");
// //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.OutInfo(log);
// Common.log.OutTextBox(log);
// }
//}
#endregion
}
else
{
......@@ -515,245 +567,232 @@ namespace BLL
Common.log.OutInfo(log);
Common.log.OutTextBox(log);
}
}
}
else
{
agv.Place = Common.nodeInfo[n].Name;
agv.Mark = Common.nodeInfo[nodeIdx].Mark;
//agv.CloseDoor = false;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]);
if (rtn)
{
agv.CloseDoor = false;
Common.nodeInfo[n].AgvName = agv.Name;
agv.TaskSend = true;
//_mark.Add(Common.nodeInfo[nodeIdx].Mark);
MarkAdd(Common.nodeInfo[nodeIdx].Mark);
Common.log.OutString("Mark缓存 " + string.Join(",", Marks.ToArray()));
log = string.Format("{0} Move To {1}[{2}] [{3}]", agv.Name, agv.Place,
Common.nodeInfo[nodeIdx].Action.ToString(), Common.nodeInfo[nodeIdx].Mark);
Common.log.OutInfo(log);
Common.log.OutTextBox(log);
Common.mir.State_Ready(agv);
Common.server.NodeRefresh(n);
}
else
{
agv.TaskSend = false;
log = string.Format("{0} Move To {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.OutInfo(log);
Common.log.OutTextBox(log);
}
//_mark.Add(Common.nodeInfo[nodeIdx].Mark);
//Common.log.OutString("Mark缓存 " + string.Join(",", _mark.ToArray()));
//_mark.Add(Common.nodeInfo[nodeIdx].Mark);
//Common.log.OutString("Mark缓存 " + string.Join(",", _mark.ToArray()));
//Common.nodeInfo[n].AgvName = agv.Name;
//agv.Place = Common.nodeInfo[n].Name;
//agv.Mark = Common.nodeInfo[nodeIdx].Mark;
//rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]);
//Common.nodeInfo[n].AgvName = agv.Name;
//agv.Place = Common.nodeInfo[n].Name;
//agv.Mark = Common.nodeInfo[nodeIdx].Mark;
//rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]);
//log = string.Format("{0} Move {1} {2} {3}", agv.Name, agv.Place, Common.nodeInfo[nodeIdx].Action.ToString(), Common.nodeInfo[nodeIdx].Mark);
//Common.log.OutInfo(log);
//Common.log.OutTextBox(log);
//log = string.Format("{0} Move {1} {2} {3}", agv.Name, agv.Place, Common.nodeInfo[nodeIdx].Action.ToString(), Common.nodeInfo[nodeIdx].Mark);
//Common.log.OutInfo(log);
//Common.log.OutTextBox(log);
//rtn = Common.mir.State_Ready(agv);
//Common.server.NodeRefresh(n);
//rtn = Common.mir.State_Ready(agv);
//Common.server.NodeRefresh(n);
AgvChanged?.Invoke(agvIdx);
return;
AgvChanged?.Invoke(agvIdx);
return;
}
}
}
}
else
{
Common.log.OutInfo("缓存中已存在 " + Common.nodeInfo[nodeIdx].Mark);
nodeIdx = -1;
}
}
else
{
Common.log.OutInfo("缓存中已存在 " + Common.nodeInfo[nodeIdx].Mark);
nodeIdx = -1;
}
}
//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].Name != "A7" && Common.nodeInfo[i].AgvName == "" && Common.nodeInfo[i].IsUse)
//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++)
{
switch (Common.nodeInfo[i].Level)
if (Common.nodeInfo[i].Action == ClientAction.NeedLeave && Common.nodeInfo[i].Name != "A4" &&
Common.nodeInfo[i].AgvName == "" && Common.nodeInfo[i].IsUse)
{
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;
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;
}
}
}
}
//测试，临时的
//for (int i = 0; i < node.Count; i++)
//{
// Common.log.OutString("Test " + node[i] + " Name=" + Common.nodeInfo[node[i]].Name + " Mark=" + Common.nodeInfo[node[i]].Mark);
//}
//测试，临时的
//for (int i = 0; i < node.Count; i++)
//{
// Common.log.OutString("Test " + node[i] + " Name=" + Common.nodeInfo[node[i]].Name + " Mark=" + Common.nodeInfo[node[i]].Mark);
//}
if (node.Count == 0)
{
nodeIdx = -1;
Common.log.OutInfo("没有找到新的NeedLeave的节点");
}
else
{
//按顺序取符合要求的
for (int i = 0; i < node.Count; i++)
if (node.Count == 0)
{
nodeIdx = -1;
Common.log.OutInfo("没有找到新的NeedLeave的节点");
}
else
{
//B区域出料架
if (Common.nodeInfo[node[i]].Name.StartsWith("B"))
//按顺序取符合要求的
for (int i = 0; i < node.Count; i++)
{
if (Common.nodeInfo[node[i]].Mark == "0" && Common.nodeInfo[node[i]].RFID.StartsWith("A"))//料仓读取到RFID的才获取锁定信息
//B区域出料架
if (Common.nodeInfo[node[i]].Name.StartsWith("B"))
{
//获取料架锁定信息
AGVManager.GetShelfLockInfo(Common.nodeInfo[node[i]].Name, Common.nodeInfo[node[i]].RFID, shelfLockedNodeNames);
nodeIdx = node[i];
break;
if (Common.nodeInfo[node[i]].Mark == "0" && Common.nodeInfo[node[i]].RFID.StartsWith("A"))//料仓读取到RFID的才获取锁定信息
{
//获取料架锁定信息
AGVManager.GetShelfLockInfo(Common.nodeInfo[node[i]].Name, Common.nodeInfo[node[i]].RFID, shelfLockedNodeNames);
nodeIdx = node[i];
break;
}
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)
{
nodeIdx = node[i];
break;
}
else if (idx == -1) //缓存中没有这个mark，可能是软件重启了
{
//_mark.Add(Common.nodeInfo[node[i]].Mark);
MarkAdd(Common.nodeInfo[node[i]].Mark);
nodeIdx = node[i];
break;
}
}
}
else
else if (Common.nodeInfo[node[i]].Name == "A1" && Common.nodeInfo[node[i]].RFID.StartsWith("B"))//A1出料串，检查C1,3,5是否需要
{
//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)
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 (idx == -1) //缓存中没有这个mark，可能是软件重启了
}
else if (Common.nodeInfo[node[i]].Name == "A1" && Common.nodeInfo[node[i]].RFID.StartsWith("A"))//B区域入料
{
if (FindAreaBEnter() > -1)
{
//_mark.Add(Common.nodeInfo[node[i]].Mark);
MarkAdd(Common.nodeInfo[node[i]].Mark);
nodeIdx = node[i];
break;
}
}
}
else if (Common.nodeInfo[node[i]].Name == "A1" && Common.nodeInfo[node[i]].RFID.StartsWith("B"))//A1出料串，检查C1,3,5是否需要
{
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)
else if (Common.nodeInfo[node[i]].Name == "A7" && Common.nodeInfo[node[i]].RFID.StartsWith("B"))//C7入料
{
nodeIdx = node[i];
break;
int n = Common.nodeInfo.FindIndex(s => s.Name == "C7" && 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
{
if (FindAreaBEnter() > -1)
else if (Common.nodeInfo[node[i]].Name == "A7" && Common.nodeInfo[node[i]].RFID.StartsWith("A"))//A7有空料架
{
nodeIdx = node[i];
break;
int n = Common.nodeInfo.FindIndex(s => s.Name == "A4" && s.Action == ClientAction.None && s.IsUse);
if (n > -1)//B区域无出库任务，A4无料架,往A3送一个空架子,便于出料串
{
n = Common.nodeInfo.FindIndex(s => s.Name == "A3" && 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;
}
}
n = Common.nodeInfo.FindIndex(s => s.Name == "C7" && 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 == "A7" && Common.nodeInfo[node[i]].RFID.StartsWith("B"))//C7入料
{
int n = Common.nodeInfo.FindIndex(s => s.Name == "C7" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
//入料口有一个没有占用
if (n > -1)
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
{
nodeIdx = node[i];
break;
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);
//入料口有一个没有占用
if (n > -1)
{
nodeIdx = node[i];
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
{
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);
//入料口有一个没有占用
if (n > -1)
else if (Common.nodeInfo[node[i]].Name == "C8")//C8出往A8
{
nodeIdx = node[i];
break;
int n = Common.nodeInfo.FindIndex(s => s.Name == "A8" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
//入料口没有占用
if (n > -1)
{
nodeIdx = node[i];
break;
}
}
}
else if (Common.nodeInfo[node[i]].Name == "C8")//C8出往A8
{
int n = Common.nodeInfo.FindIndex(s => s.Name == "A8" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
//入料口没有占用
if (n > -1)
else
{
nodeIdx = node[i];
break;
}
}
else
{
nodeIdx = node[i];
break;
}
}
if (nodeIdx > -1)
{
if (Common.nodeInfo[nodeIdx].Name == "A1")
if (nodeIdx > -1)
{
if (Common.nodeInfo[nodeIdx].RFID.Length == 0 || Common.nodeInfo[nodeIdx].RFID == "00")
if (Common.nodeInfo[nodeIdx].Name == "A1")
{
Common.log.OutInfo("A1 RFID 错误");
Common.log.OutTextBox("A1 RFID 错误");
return;
if (Common.nodeInfo[nodeIdx].RFID.Length == 0 || Common.nodeInfo[nodeIdx].RFID == "00")
{
Common.log.OutInfo("A1 RFID 错误");
Common.log.OutTextBox("A1 RFID 错误");
return;
}
else
{
Common.log.OutInfo("[StatusNone Assign Mission A1] " + agv.Name + " " + Common.nodeInfo[nodeIdx].Name);
MoveNode(agv, nodeIdx);
return;
}
}
else
{
Common.log.OutInfo("[StatusNone Assign Mission A1] " + agv.Name + " " + Common.nodeInfo[nodeIdx].Name);
Common.log.OutInfo("[StatusNone Assign Mission other] " + agv.Name + " " + Common.nodeInfo[nodeIdx].Name);
MoveNode(agv, nodeIdx);
return;
}
}
else
{
Common.log.OutInfo("[StatusNone Assign Mission other] " + agv.Name + " " + Common.nodeInfo[nodeIdx].Name);
MoveNode(agv, nodeIdx);
return;
}
}
//Common.nodeInfo[nodeIdx].AgvName = agv.Name;
//agv.Place = Common.nodeInfo[nodeIdx].Name;
//agv.Mark = Common.nodeInfo[nodeIdx].Mark;
//rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]);
//log = string.Format("{0} Move {1} {2}", agv.Name, agv.Place, Common.nodeInfo[nodeIdx].Action.ToString());
//Common.log.OutInfo(log);
//Common.log.OutTextBox(log);
//rtn = Common.mir.State_Ready(agv);
//AgvChanged?.Invoke(agvIdx);
//Common.server.NodeRefresh(nodeIdx);
//return;
//Common.nodeInfo[nodeIdx].AgvName = agv.Name;
//agv.Place = Common.nodeInfo[nodeIdx].Name;
//agv.Mark = Common.nodeInfo[nodeIdx].Mark;
//rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Move" + agv.Place]);
//log = string.Format("{0} Move {1} {2}", agv.Name, agv.Place, Common.nodeInfo[nodeIdx].Action.ToString());
//Common.log.OutInfo(log);
//Common.log.OutTextBox(log);
//rtn = Common.mir.State_Ready(agv);
}
//AgvChanged?.Invoke(agvIdx);
//Common.server.NodeRefresh(nodeIdx);
//return;
}
}
}
catch (Exception ex)
......@@ -1447,7 +1486,7 @@ namespace BLL
else
{
int idx = Common.agvInfo.FindIndex(s => s.Name.Equals(agv.Name));
rtn = FindAreaBOutStore(idx, out ResultType resultType,false);
rtn = FindAreaBOutStore(idx, out ResultType resultType, false);
if (!rtn && resultType.Equals(ResultType.NoEmptyShelf))
{
rtn = FindNeedEnter(agv, "A8");
......@@ -1524,15 +1563,34 @@ namespace BLL
Common.log.OutInfo(agv.Name + " 在A8送完料架，检测到B区有出库任务,开始执行");
if (!rtn && resultType.Equals(ResultType.NoEmptyShelf))
{
rtn = FindNeedEnter(agv, "A7");
rtn = FindNeedLeave(agv, "A7");
if (rtn)
Common.log.OutInfo(agv.Name + " 在A8送完料架，检测到B区有出库任务,去A7");
}
if (!rtn)
{
int nodeIdx = Common.nodeInfo.FindIndex(s => s.Name.Equals("A7") && s.Action == ClientAction.NeedLeave && s.AgvName.Equals("") && s.RFID.StartsWith("B") && s.IsUse);
if (nodeIdx > -1)
{
Common.log.OutInfo(agv.Name + " 在A8送完料架，检测到A7出料串[" + agv.RFID + "]，去A7");
rtn = MoveNode(agv, nodeIdx);
if (rtn)
{
agv.NextMission = "";
}
else
{
agv.NextMission = "A7";
//Common.mir.Add_Mission_Fleet(agv, "Common.agvMission["MoveStandbyTemp"]");
}
}
}
if (!rtn)
{
rtn = FindNeedLeave(agv, "A1");
if (rtn)
Common.log.OutInfo(agv.Name + " 在A8送完料架，检测到A1有出料架/任务,开始执行");
Common.log.OutInfo(agv.Name + " 在A8送完料架，检测到A1有出料架/料串任务,开始执行");
}
if (!rtn)
......@@ -2786,7 +2844,7 @@ namespace BLL
if (nodeIdx == -1)
{
nodeIdx = Common.nodeInfo.FindIndex(s => s.Name == "A3" && s.Action == ClientAction.NeedEnter && s.AgvName == "" && s.IsUse);
if (nodeIdx == -1)
if (nodeIdx > -1)
{
ClearMarkByNodeMark();
string log = agv.Name + " A4 FindNeedEnterWithMark 节点mark没有找到[Mark=" + agv.Mark + "]，去A3";
......@@ -2821,7 +2879,7 @@ namespace BLL
if (!agv.Mark.Split(',')[1].Equals("pack"))
{
ClearMarkByNodeMark();
string log = agv.Name + " [Mark=" + agv.Mark + "] 出库任务完成";
string log = agv.Name + " 工单料[Mark=" + agv.Mark + "] 出库任务完成";
Common.log.OutInfo(log);
Common.log.OutTextBox(log);
return false;
......
AGVControl/Common.cs
......@@ -345,10 +345,6 @@ namespace AGVControl
/// </summary>
public bool StandbyTemp { set; get; }
/// <summary>
/// 是否清除任务缓存
/// </summary>
public bool IsClearRunInfo = false;
public string CurTaskName { get; set; }
......
AGVControl/FrmMain.cs
......@@ -168,14 +168,14 @@ namespace AGVControl
{
if (Common.agvInfo[e.RowIndex].Mark.Length>1)
{
if(MessageBox.Show(Common.agvInfo[e.RowIndex].Name + " 正在执行包装仓出库任务，确定清除当前任务？","警告",MessageBoxButtons.YesNo) == DialogResult.No)
if(MessageBox.Show(Common.agvInfo[e.RowIndex].Name + " 正在执行出库任务，确定清除当前任务？","警告",MessageBoxButtons.YesNo) == DialogResult.No)
{
return;
}
}
Common.agvInfo[e.RowIndex].IsUse = false;
//清除小车缓存
Common.log.OutInfo(string.Format("手动清除缓存:{0}[CurTaskName={1}]", Common.agvInfo[e.RowIndex].ToRow(), Common.agvInfo[e.RowIndex].CurTaskName));
Common.log.OutInfo(string.Format("手动清除小车缓存:{0}[CurTaskName={1}]", Common.agvInfo[e.RowIndex].ToRow(), Common.agvInfo[e.RowIndex].CurTaskName));
string place = Common.agvInfo[e.RowIndex].Place;
Common.agvInfo[e.RowIndex].Mark = "";
Common.agvInfo[e.RowIndex].Place = "";
......@@ -183,7 +183,6 @@ namespace AGVControl
Common.agvInfo[e.RowIndex].NextMission = "";
Common.agvInfo[e.RowIndex].LeftTaskCnt = 0;
Common.agvInfo[e.RowIndex].CurTaskName = "";
Common.agvInfo[e.RowIndex].IsClearRunInfo = true;
//清除节点缓存
int idx = Common.nodeInfo.FindIndex(s => s.Name == place);
......@@ -214,7 +213,6 @@ namespace AGVControl
Common.mir.Add_Mission_Fleet(Common.agvInfo[e.RowIndex], Common.agvMission["Init"]);
Common.mir.State_Ready(Common.agvInfo[e.RowIndex]);
DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
Common.agvInfo[e.RowIndex].IsUse = true;
}
}
......@@ -231,7 +229,7 @@ namespace AGVControl
else if (e.ColumnIndex == 8)
{
//清除节点缓存
Common.log.OutInfo(string.Format("手动清除缓存，{0} {1}", Common.nodeInfo[e.RowIndex].AgvName, Common.nodeInfo[e.RowIndex].Name));
Common.log.OutInfo(string.Format("手动清除节点缓存，{0} {1}", Common.nodeInfo[e.RowIndex].AgvName, Common.nodeInfo[e.RowIndex].Name));
string name = Common.nodeInfo[e.RowIndex].AgvName;
Common.nodeInfo[e.RowIndex].AgvName = "";
DgvNode.Rows[e.RowIndex].Cells[5].Value = "";
......@@ -240,10 +238,13 @@ namespace AGVControl
int idx = Common.agvInfo.FindIndex(s => s.Name == name);
if (idx > -1)
{
Common.agvInfo[idx].Mark = "";
Common.agvInfo[idx].Place = "";
Common.agvInfo[idx].RFID = "";
Common.agvInfo[idx].NextMission = "";
Common.agvInfo[e.RowIndex].Mark = "";
Common.agvInfo[e.RowIndex].Place = "";
Common.agvInfo[e.RowIndex].RFID = "";
Common.agvInfo[e.RowIndex].NextMission = "";
Common.agvInfo[e.RowIndex].LeftTaskCnt = 0;
Common.agvInfo[e.RowIndex].CurTaskName = "";
DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
//添加Init任务
Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission["Init"]);
......@@ -262,16 +263,11 @@ namespace AGVControl
if (idx < 0) return;
if (Common.agvInfo[idx].IsCon)
{
if(!Common.agvInfo[idx].IsClearRunInfo)
{
MessageBox.Show("请先清除当前小车的任务缓存！");
return;
}
bool rtn = Common.mir.Add_Mission(Common.agvInfo[idx], Common.agvMission[LstAgvPlace.Text]);
if (!rtn)
return;
Common.agvInfo[idx].Place = "";
Common.agvInfo[idx].IsClearRunInfo = false;
Common.log.OutInfo("手动添加任务： " + LstAgvPlace.Text);
Common.log.OutTextBox("手动添加任务： " + LstAgvPlace.Text);
DgvAgv.Rows[idx].SetValues(Common.agvInfo[idx].ToRow());
......
AGVControl/Program.cs
......@@ -106,6 +106,8 @@ namespace AGVControl
new ClientNode("A2", Convert.ToBoolean(Common.appConfig.AppSettings.Settings["A2"].Value)),
new ClientNode("A3", Convert.ToBoolean(Common.appConfig.AppSettings.Settings["A3"].Value)),
new ClientNode("A4", Convert.ToBoolean(Common.appConfig.AppSettings.Settings["A4"].Value)),
new ClientNode("A7", Convert.ToBoolean(Common.appConfig.AppSettings.Settings["A7"].Value)),
new ClientNode("A8", Convert.ToBoolean(Common.appConfig.AppSettings.Settings["A8"].Value)),
new ClientNode("B1", Convert.ToBoolean(Common.appConfig.AppSettings.Settings["B1"].Value)),
new ClientNode("B2", Convert.ToBoolean(Common.appConfig.AppSettings.Settings["B2"].Value)),
new ClientNode("B3", Convert.ToBoolean(Common.appConfig.AppSettings.Settings["B3"].Value)),
......
AGVControl/obj/Debug/AGVControl.csproj.FileListAbsolute.txt
......@@ -91,4 +91,3 @@ C:\ZDL\Gitee\AGVControl\AGVControl\obj\Debug\AGVControl.csproj.CopyComplete
C:\ZDL\Gitee\AGVControl\AGVControl\obj\Debug\AGVControl.exe
C:\ZDL\Gitee\AGVControl\AGVControl\obj\Debug\AGVControl.pdb
C:\ZDL\Gitee\AGVControl\AGVControl\obj\Debug\AGVControl.csproj.CoreCompileInputs.cache
C:\ZDL\Gitee\AGVControl\AGVControl\obj\Debug\AGVControl.csprojAssemblyReference.cache
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!