分盘线初版

AGVControl/BLL/Control.cs

@@ -1098,10 +1098,10 @@ namespace BLL
                         rtn = C8Enter(agv); break;
                     case "D2":
                         rtn = D2Enter(agv); break;
-                    default:
-                        agv.Mark = "";
-                        agv.Place = "";
-                        break;
+                    //default:
+                    //    agv.Mark = "";
+                    //    agv.Place = "";
+                    //    break;
                 }
                 AgvChanged?.Invoke(agvIdx);
 
@@ -1160,8 +1160,8 @@ namespace BLL
                     case "D1":
                         rtn = D1Leave(agv); break;
                     default:
-                        agv.Mark = "";
-                        agv.Place = "";
+                        //agv.Mark = "";
+                        //agv.Place = "";
                         Common.log.OutInfo("ERROR:" + agv.Place);
                         break;
                 }
@@ -2774,7 +2774,17 @@ namespace BLL
 
                 if (!BAreaLeaveCheck)
                 {
-                    string log = agv.Name + " A4 FindNeedEnterWithMark [Mark=" + agv.Mark + "]";
+                    //在A4出料架后，B区域暂时找不到出库料仓,先回待机位，如果mark消失，则将料架送回
+                    nodeIdx = Common.nodeInfo.FindIndex(s => s.Mark == agv.Mark && s.AgvName == "" && s.IsUse);
+                    if(nodeIdx==-1)
+                    {
+                        nodeIdx = Common.nodeInfo.FindIndex(s => s.Mark == agv.Mark);
+                        if(nodeIdx==-1)//当前mark任务已结束
+                        {
+
+                        }
+                    }
+                    string log = agv.Name + " A4 FindBNeedEnterWithMark [Mark=" + agv.Mark + "]";
                     Common.log.OutInfo(log);
                     return true;
                 }

AGVControl/Common.cs

@@ -380,22 +380,24 @@ 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];
-            s[0] = Name;
-            s[1] = IP;
+            List<string> vs = new List<string>();
+            vs.Add(Name);
+            vs.Add(IP);
             if (IsCon)
             {
-                s[2] = StateText;
-                s[3] = string.Format("{0}({1})", MissionStatus.ToString(), (int)MissionStatus);
-                s[4] = Place;
-                s[5] = NextMission;
+                vs.Add(StateText);
+                vs.Add(string.Format("{0}({1})", MissionStatus.ToString(), (int)MissionStatus));
+                vs.Add(Mark);
+                vs.Add(RFID);
+                vs.Add(Place);
+                vs.Add(NextMission);
             }
-            s[6] = IsCon.ToString();
-            s[7] = Battery + "%";
-            s[8] = IsUse.ToString();
-            s[9] = "Clear";
+            vs.Add(IsCon.ToString());
+            vs.Add(Battery + "%");
+            vs.Add(IsUse.ToString());
+            vs.Add("Clear");
 
-            return s;
+            return vs.ToArray();
         }
 
 

AGVControl/FrmMain.Designer.cs

@@ -30,16 +30,6 @@
         {
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FrmMain));
             this.DgvAgv = new System.Windows.Forms.DataGridView();
-            this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column14 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column18 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column4 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column13 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column19 = new System.Windows.Forms.DataGridViewTextBoxColumn();
-            this.Column11 = new System.Windows.Forms.DataGridViewButtonColumn();
-            this.Column17 = new System.Windows.Forms.DataGridViewButtonColumn();
             this.DgvNode = new System.Windows.Forms.DataGridView();
             this.Column6 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column7 = new System.Windows.Forms.DataGridViewTextBoxColumn();
@@ -85,6 +75,18 @@
             this.dgvMission = new System.Windows.Forms.DataGridView();
             this.Column20 = new System.Windows.Forms.DataGridViewTextBoxColumn();
             this.Column21 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column1 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column2 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column3 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column14 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column22 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column23 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column18 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column4 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column13 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column19 = new System.Windows.Forms.DataGridViewTextBoxColumn();
+            this.Column11 = new System.Windows.Forms.DataGridViewButtonColumn();
+            this.Column17 = new System.Windows.Forms.DataGridViewButtonColumn();
             ((System.ComponentModel.ISupportInitialize)(this.DgvAgv)).BeginInit();
             ((System.ComponentModel.ISupportInitialize)(this.DgvNode)).BeginInit();
             this.tabControl1.SuspendLayout();
@@ -109,6 +111,8 @@
             this.Column2,
             this.Column3,
             this.Column14,
+            this.Column22,
+            this.Column23,
             this.Column18,
             this.Column4,
             this.Column13,
@@ -118,99 +122,13 @@
             this.DgvAgv.Location = new System.Drawing.Point(12, 12);
             this.DgvAgv.Name = "DgvAgv";
             this.DgvAgv.ReadOnly = true;
+            this.DgvAgv.RowHeadersVisible = false;
             this.DgvAgv.RowHeadersWidth = 51;
             this.DgvAgv.RowTemplate.Height = 23;
             this.DgvAgv.Size = new System.Drawing.Size(970, 126);
             this.DgvAgv.TabIndex = 0;
             this.DgvAgv.CellClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvAgv_CellClick);
             // 
-            // Column1
-            // 
-            this.Column1.HeaderText = "AGV名称";
-            this.Column1.MinimumWidth = 6;
-            this.Column1.Name = "Column1";
-            this.Column1.ReadOnly = true;
-            this.Column1.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column1.Width = 80;
-            // 
-            // Column2
-            // 
-            this.Column2.HeaderText = "IP";
-            this.Column2.MinimumWidth = 6;
-            this.Column2.Name = "Column2";
-            this.Column2.ReadOnly = true;
-            this.Column2.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column2.Width = 125;
-            // 
-            // Column3
-            // 
-            this.Column3.HeaderText = "AGV状态";
-            this.Column3.MinimumWidth = 6;
-            this.Column3.Name = "Column3";
-            this.Column3.ReadOnly = true;
-            this.Column3.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column3.Width = 125;
-            // 
-            // Column14
-            // 
-            this.Column14.HeaderText = "任务状态";
-            this.Column14.MinimumWidth = 6;
-            this.Column14.Name = "Column14";
-            this.Column14.ReadOnly = true;
-            this.Column14.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column14.Width = 120;
-            // 
-            // Column18
-            // 
-            this.Column18.HeaderText = "目标地点";
-            this.Column18.MinimumWidth = 6;
-            this.Column18.Name = "Column18";
-            this.Column18.ReadOnly = true;
-            this.Column18.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column18.Width = 80;
-            // 
-            // Column4
-            // 
-            this.Column4.HeaderText = "后续任务";
-            this.Column4.MinimumWidth = 6;
-            this.Column4.Name = "Column4";
-            this.Column4.ReadOnly = true;
-            this.Column4.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column4.Width = 80;
-            // 
-            // Column13
-            // 
-            this.Column13.HeaderText = "在线";
-            this.Column13.MinimumWidth = 6;
-            this.Column13.Name = "Column13";
-            this.Column13.ReadOnly = true;
-            this.Column13.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
-            this.Column13.Width = 60;
-            // 
-            // Column19
-            // 
-            this.Column19.HeaderText = "电量";
-            this.Column19.MinimumWidth = 6;
-            this.Column19.Name = "Column19";
-            this.Column19.ReadOnly = true;
-            this.Column19.Width = 60;
-            // 
-            // Column11
-            // 
-            this.Column11.HeaderText = "调用";
-            this.Column11.MinimumWidth = 6;
-            this.Column11.Name = "Column11";
-            this.Column11.ReadOnly = true;
-            this.Column11.Width = 60;
-            // 
-            // Column17
-            // 
-            this.Column17.HeaderText = "清除缓存";
-            this.Column17.MinimumWidth = 6;
-            this.Column17.Name = "Column17";
-            this.Column17.ReadOnly = true;
-            this.Column17.Width = 80;
-            // 
             // DgvNode
             // 
             this.DgvNode.AllowUserToAddRows = false;
@@ -692,6 +610,7 @@
             this.Column20.HeaderText = "AGV名称";
             this.Column20.MinimumWidth = 6;
             this.Column20.Name = "Column20";
+            this.Column20.Width = 125;
             // 
             // Column21
             // 
@@ -700,6 +619,109 @@
             this.Column21.Name = "Column21";
             this.Column21.Width = 450;
             // 
+            // Column1
+            // 
+            this.Column1.HeaderText = "AGV名称";
+            this.Column1.MinimumWidth = 6;
+            this.Column1.Name = "Column1";
+            this.Column1.ReadOnly = true;
+            this.Column1.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            this.Column1.Width = 80;
+            // 
+            // Column2
+            // 
+            this.Column2.HeaderText = "IP";
+            this.Column2.MinimumWidth = 6;
+            this.Column2.Name = "Column2";
+            this.Column2.ReadOnly = true;
+            this.Column2.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            this.Column2.Width = 125;
+            // 
+            // Column3
+            // 
+            this.Column3.HeaderText = "AGV状态";
+            this.Column3.MinimumWidth = 6;
+            this.Column3.Name = "Column3";
+            this.Column3.ReadOnly = true;
+            this.Column3.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            this.Column3.Width = 125;
+            // 
+            // Column14
+            // 
+            this.Column14.HeaderText = "任务状态";
+            this.Column14.MinimumWidth = 6;
+            this.Column14.Name = "Column14";
+            this.Column14.ReadOnly = true;
+            this.Column14.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            this.Column14.Width = 120;
+            // 
+            // Column22
+            // 
+            this.Column22.HeaderText = "标志";
+            this.Column22.MinimumWidth = 6;
+            this.Column22.Name = "Column22";
+            this.Column22.ReadOnly = true;
+            this.Column22.Width = 80;
+            // 
+            // Column23
+            // 
+            this.Column23.HeaderText = "RFID";
+            this.Column23.MinimumWidth = 6;
+            this.Column23.Name = "Column23";
+            this.Column23.ReadOnly = true;
+            this.Column23.Width = 125;
+            // 
+            // Column18
+            // 
+            this.Column18.HeaderText = "目标地点";
+            this.Column18.MinimumWidth = 6;
+            this.Column18.Name = "Column18";
+            this.Column18.ReadOnly = true;
+            this.Column18.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            this.Column18.Width = 80;
+            // 
+            // Column4
+            // 
+            this.Column4.HeaderText = "后续任务";
+            this.Column4.MinimumWidth = 6;
+            this.Column4.Name = "Column4";
+            this.Column4.ReadOnly = true;
+            this.Column4.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            this.Column4.Width = 80;
+            // 
+            // Column13
+            // 
+            this.Column13.HeaderText = "在线";
+            this.Column13.MinimumWidth = 6;
+            this.Column13.Name = "Column13";
+            this.Column13.ReadOnly = true;
+            this.Column13.SortMode = System.Windows.Forms.DataGridViewColumnSortMode.NotSortable;
+            this.Column13.Width = 60;
+            // 
+            // Column19
+            // 
+            this.Column19.HeaderText = "电量";
+            this.Column19.MinimumWidth = 6;
+            this.Column19.Name = "Column19";
+            this.Column19.ReadOnly = true;
+            this.Column19.Width = 60;
+            // 
+            // Column11
+            // 
+            this.Column11.HeaderText = "调用";
+            this.Column11.MinimumWidth = 6;
+            this.Column11.Name = "Column11";
+            this.Column11.ReadOnly = true;
+            this.Column11.Width = 60;
+            // 
+            // Column17
+            // 
+            this.Column17.HeaderText = "清除缓存";
+            this.Column17.MinimumWidth = 6;
+            this.Column17.Name = "Column17";
+            this.Column17.ReadOnly = true;
+            this.Column17.Width = 80;
+            // 
             // FrmMain
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
@@ -751,16 +773,6 @@
         private System.Windows.Forms.DataGridViewTextBoxColumn Column5;
         private System.Windows.Forms.DataGridViewButtonColumn Column16;
         private System.Windows.Forms.DataGridViewButtonColumn Column15;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column3;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column14;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column18;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column4;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column13;
-        private System.Windows.Forms.DataGridViewTextBoxColumn Column19;
-        private System.Windows.Forms.DataGridViewButtonColumn Column11;
-        private System.Windows.Forms.DataGridViewButtonColumn Column17;
         private System.Windows.Forms.CheckBox ChkAutoCharge;
         private System.Windows.Forms.Label label2;
         private System.Windows.Forms.Label label1;
@@ -783,6 +795,18 @@
         private System.Windows.Forms.DataGridView dgvMission;
         private System.Windows.Forms.DataGridViewTextBoxColumn Column20;
         private System.Windows.Forms.DataGridViewTextBoxColumn Column21;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column1;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column2;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column3;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column14;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column22;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column23;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column18;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column4;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column13;
+        private System.Windows.Forms.DataGridViewTextBoxColumn Column19;
+        private System.Windows.Forms.DataGridViewButtonColumn Column11;
+        private System.Windows.Forms.DataGridViewButtonColumn Column17;
     }
 }
 

AGVControl/FrmMain.cs

@@ -143,14 +143,14 @@ namespace AGVControl
         private void DgvAgv_CellClick(object sender, DataGridViewCellEventArgs e)
         {
             if (e.RowIndex == -1) return;
-            if (e.ColumnIndex == 8)
+            if (e.ColumnIndex == 10)
             {
                 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 == 11)
             {
                 //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));
@@ -160,7 +160,6 @@ namespace AGVControl
                 Common.agvInfo[e.RowIndex].RFID = "";
                 Common.agvInfo[e.RowIndex].NextMission = "";
                 Common.agvInfo[e.RowIndex].IsClearRunInfo = true;
-                DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
 
                 //清除节点缓存
                 int idx = Common.nodeInfo.FindIndex(s => s.Name == place);
@@ -173,6 +172,7 @@ namespace AGVControl
                 //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]);
+                DgvAgv.Rows[e.RowIndex].SetValues(Common.agvInfo[e.RowIndex].ToRow());
             }
         }
 
@@ -225,16 +225,12 @@ namespace AGVControl
                         MessageBox.Show("请先清除当前小车的任务缓存！");
                         return;
                     }
-                    bool rtn = Common.mir.Add_Mission_Fleet(Common.agvInfo[idx], Common.agvMission[LstAgvPlace.Text]);
+                    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);
-                    //if (LstAgvPlace.Text.StartsWith("Move") && LstAgvPlace.Text.Length ==6)
-                    //{
-                    //    Common.agvInfo[idx].Place = LstAgvPlace.Text.Substring(4);
-                    //}
 
                 }
             }

AGVControl/FrmMain.resx

@@ -129,6 +129,12 @@
   <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="Column23.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>

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

@@ -91,3 +91,4 @@ 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