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Commit c0aa7e41 由 LN
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AGV到达时需要判断rfid是否正确。

1 个父辈 eddd82d2
内嵌 并排
正在显示 6 个修改的文件 包含 65 行增加 和 24 行删除
source/ACPackingStore/记录.txt
...@@ -115,7 +115,7 @@ PRO,压紧轴（轴4）七寸盘压紧前点相对压紧点的位置,CompAxis7_P ...@@ -115,7 +115,7 @@ PRO,压紧轴（轴4）七寸盘压紧前点相对压紧点的位置,CompAxis7_P
出库时发现料架对不上，送出料架时发的mark应该用原来的 出库时发现料架对不上，送出料架时发的mark应该用原来的
agv到达时，根据rfid判断是否有料架
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
...@@ -116,9 +116,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -116,9 +116,12 @@ namespace OnlineStore.DeviceLibrary
} }
else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus)) else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus))
{ {
if (wait.AgvAction.Equals((int)ClientAction.Ready))
{
//Ready时使用状态判断，arrive时需要判断料架号是否正确
ClientAction agvA = AgvClient.GetAction(Config.AgvNodeName); ClientAction agvA = AgvClient.GetAction(Config.AgvNodeName);
wait.IsEnd = ((int)agvA).Equals(wait.AgvAction); wait.IsEnd = ((int)agvA).Equals(wait.AgvAction);
}
if (!wait.IsEnd && span.TotalSeconds > 10) if (!wait.IsEnd && span.TotalSeconds > 10)
{ {
//如果是等待AGV到达，等待有料架信号也算结束 //如果是等待AGV到达，等待有料架信号也算结束
...@@ -135,7 +138,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -135,7 +138,7 @@ namespace OnlineStore.DeviceLibrary
wait.IsEnd = true; wait.IsEnd = true;
} }
} }
else if (wait.AgvAction.Equals((int)ClientAction.Arrive)&&MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitArrive)) else if (wait.AgvAction.Equals((int)ClientAction.Arrive)&&MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{ {
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
{ {
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
...@@ -249,7 +249,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -249,7 +249,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinDown)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinDown))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_03_WaitArrive); MoveInfo.NextMoveStep(StoreMoveStep.BS_03_WaitEmptyAgv);
MoveInfo.TimeOutSeconds = 600; MoveInfo.TimeOutSeconds = 600;
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000)); //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//等待agv到达 //等待agv到达
...@@ -257,7 +257,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -257,7 +257,7 @@ namespace OnlineStore.DeviceLibrary
InOutStoreLog(moveName + MoveInfo.SLog + "：再次调用 NeedLeave["+mark+"][" + CurrShelfID + "]，等待Agv " + Config.AgvNodeName + " Arrive ,最多等待1200秒"); InOutStoreLog(moveName + MoveInfo.SLog + "：再次调用 NeedLeave["+mark+"][" + CurrShelfID + "]，等待Agv " + Config.AgvNodeName + " Arrive ,最多等待1200秒");
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true); AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitArrive)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{ {
//agv到达 //agv到达
...@@ -273,10 +273,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -273,10 +273,11 @@ namespace OnlineStore.DeviceLibrary
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_LineBackRun); MoveInfo.NextMoveStep(StoreMoveStep.BS_06_LineBackRun);
AgvClient.SetToNone(Config.AgvNodeName);
//如果agv未到达，直接结束 //如果agv未到达，直接结束
MoveEndToRuningStatus(); MoveEndToRuningStatus();
//EmprtShelfList = new ConcurrentQueue<string>(); //EmprtShelfList = new ConcurrentQueue<string>();
InOutStoreLog(moveName + MoveInfo.SLog + "：等待Agv " + Config.AgvNodeName + " Arrive超时，检测不到料架信号，认为料架已手动离开，出库结束"); InOutStoreLog(moveName + MoveInfo.SLog + "：等待Agv " + Config.AgvNodeName + " Arrive超时，检测不到料架信号，认为料架已离开，出库结束，设置"+ Config.AgvNodeName + "=None");
} }
else else
{ {
...@@ -349,12 +350,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -349,12 +350,12 @@ namespace OnlineStore.DeviceLibrary
{ {
//结束 //结束
MoveEndToRuningStatus(); MoveEndToRuningStatus();
AgvClient.SetStatus(Config.AgvNodeName);
//EmprtShelfList = new ConcurrentQueue<string>(); //EmprtShelfList = new ConcurrentQueue<string>();
InOutStoreLog(moveName + MoveInfo.SLog + "：料架"+ CurrShelfID + "已离开 ，"+ Config.AgvNodeName + "=None"); InOutStoreLog(moveName + MoveInfo.SLog + "：料架"+ CurrShelfID + "已离开 ，设置"+ Config.AgvNodeName + "=None");
CurrShelfID = ""; CurrShelfID = "";
LastOutParam = new InOutParam(); LastOutParam = new InOutParam();
//LastRfidID = ""; //LastRfidID = "";
AgvClient.SetStatus(Config.AgvNodeName);
} }
} }
...@@ -362,33 +363,69 @@ namespace OnlineStore.DeviceLibrary ...@@ -362,33 +363,69 @@ namespace OnlineStore.DeviceLibrary
#region AGV #region AGV
internal bool ProcessAGVAction(string name, ClientAction action) internal bool ProcessAGVAction(string name, string rfid, ClientAction action)
{ {
string logN = name + "收到调度【" + name + "】=【" + action + "】"; string logN = name + "收到调度" + name + "=" + action + ",RFID[" + rfid + "]";
//Arrive收到后打开门 //Arrive收到后打开门
if (action.Equals(ClientAction.Arrive)) if (!action.Equals(ClientAction.Arrive))
{ {
LogUtil.info(Name + logN + " ，未找到相关处理");
return false;
}
//出库处理中不处理 //出库处理中不处理
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore)) if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{ {
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
{
if (rfid.Equals(""))
{
string mark = GetMarkInfo();
LogUtil.error(Name + logN + " 当前出库中 BI_00_ReadyShelf，RFID无效，不处理agv，重发 NeedEnter [" + mark + "][" + MoveInfo.MoveParam.rfid + "]");
AgvClient.SetStatus(Config.AgvNodeName, mark, MoveInfo.MoveParam.rfid, ClientAction.NeedEnter, ClientLevel.High, true);
return false;
}
//出库等待料架到达
LogUtil.info(Name + logN + ",当前出库中 BI_00_ReadyShelf，正在等待料架到达");
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
InOutStoreLog("出库等待料架" + MoveInfo.SLog + " agv已到达，打开入料口移门");
DoorBean.StartOpen(MoveInfo);
return true; return true;
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{
if (!rfid.Equals(""))
{
string mark = GetMarkInfo();
LogUtil.error(Name + logN + " 当前出库中 BS_03_WaitEmptyAgv，RFID[" + rfid + "]不是空车，不处理agv，重发 NeedLeave [" + mark + "][" + CurrShelfID + "]");
AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
return false;
}
//agv到达，开始处理 //等待空车到达
if (storeRunStatus.Equals(StoreRunStatus.Runing) && LogUtil.info(Name + logN + ",当前出库中 BS_03_WaitEmptyAgv，正在等待料架到达");
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_DoorOpen);
InOutStoreLog("送出料架等待空车" + MoveInfo.SLog + "：agv到达,打开入料口移门");
DoorBean.StartOpen(MoveInfo);
return true;
}
}
else if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
MoveInfo.MoveType.Equals(StoreMoveType.None) && MoveInfo.MoveType.Equals(StoreMoveType.None) &&
IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW)) IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{ {
//agv到达，开始处理
if (rfid.Equals(""))
{
LogUtil.error(Name + logN + " ，RFID无效，不需要入库处理");
return false;
}
LogUtil.info(Name + logN + " ，检测到料架，开始料架入库"); LogUtil.info(Name + logN + " ，检测到料架，开始料架入库");
StartShelfInStore(); StartShelfInStore();
return true; return true;
} }
}
else
{
LogUtil.info(Name + logN + " ，未找到相关处理");
}
return false; return false;
} }
......
source/DeviceLibrary/ACPackingStore/PackingStoreBean.cs
...@@ -387,13 +387,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -387,13 +387,13 @@ namespace OnlineStore.DeviceLibrary
WarnMsg = msg; WarnMsg = msg;
} }
internal bool AGVProcess(string name, ClientAction action) internal bool AGVProcess(string name, string rfid, ClientAction action)
{ {
foreach (AC_BOX_Bean box in this.BoxMap.Values) foreach (AC_BOX_Bean box in this.BoxMap.Values)
{ {
if (box.Config.AgvNodeName.Equals(name)) if (box.Config.AgvNodeName.Equals(name))
{ {
return box.ProcessAGVAction(name, action); return box.ProcessAGVAction(name,rfid, action);
} }
} }
return false; return false;
......
source/DeviceLibrary/agvClient/AgvClient.cs
...@@ -58,7 +58,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -58,7 +58,7 @@ namespace OnlineStore.DeviceLibrary
{ {
// RFIDData data = new RFIDData(content); // RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_EnterShelf [" + id + "] [" + rfid+ "] "); LogUtil.info("收到 AgvClient_EnterShelf [" + id + "] [" + rfid+ "] ");
StoreManager.Store.AGVProcess(id, ClientAction.Arrive); StoreManager.Store.AGVProcess(id, rfid, ClientAction.Arrive);
foreach (AC_BOX_Bean box in StoreManager.Store.BoxMap.Values) foreach (AC_BOX_Bean box in StoreManager.Store.BoxMap.Values)
{ {
if (box.Config.AgvNodeName.Equals(id)) if (box.Config.AgvNodeName.Equals(id))
...@@ -114,7 +114,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -114,7 +114,7 @@ namespace OnlineStore.DeviceLibrary
UpdateAction(id, ClientAction.Ready); UpdateAction(id, ClientAction.Ready);
// RFIDData data = new RFIDData(content); // RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + rfid+ "] "); LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + rfid+ "] ");
StoreManager.Store.AGVProcess(id, ClientAction.Ready); StoreManager.Store.AGVProcess(id, rfid, ClientAction.Ready);
} }
...@@ -124,7 +124,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -124,7 +124,7 @@ namespace OnlineStore.DeviceLibrary
// RFIDData data = new RFIDData(content); // RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + rfid+ "] "); LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + rfid+ "] ");
StoreManager.Store.AGVProcess(id, ClientAction.Arrive); StoreManager.Store.AGVProcess(id, rfid,ClientAction.Arrive);
} }
...@@ -223,6 +223,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -223,6 +223,7 @@ namespace OnlineStore.DeviceLibrary
} }
} }
} }
//public class AGVAction //public class AGVAction
//{ //{
// public static string None = "None"; // public static string None = "None";
......
source/DeviceLibrary/store/StoreStep.cs
...@@ -429,7 +429,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -429,7 +429,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 通知AGV准备空车 /// 通知AGV准备空车
/// </summary> /// </summary>
BS_03_WaitArrive = 4003, BS_03_WaitEmptyAgv = 4003,
/// <summary> /// <summary>
/// 送出空料架：打开仓门 /// 送出空料架：打开仓门
/// </summary> /// </summary>
......
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