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Commit c519009b 由 张东亮
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出满料目的地异常时软件提示

1 个父辈 a44da5a2
内嵌 并排
正在显示 10 个修改的文件 包含 165 行增加 和 57 行删除
Common/SettingString.cs
......@@ -42,7 +42,7 @@ namespace Common
//存放料架口
public const string A1 = "A1";//出口
public const string A2 = "A2";//入口
public const string TEMPSTATION = "TEMPSTATION";//临时点
#region 配置名
public const string Port_AGV_Server = "Port_AGV_Server";
public const string httpServer ="http.server";
......
DeviceLibrary/AgvServer.cs
......@@ -109,7 +109,7 @@ namespace DeviceLibrary
TimeSpan timeSpan = DateTime.Now - readyEnterTime[nodeName];
if (timeSpan.TotalSeconds < 15)
{
log.Debug(nodeName +" ReadyEnter 15秒内不重复发送");
log.Debug(nodeName + " ReadyEnter 15秒内不重复发送");
return false;
}
else if (timeSpan.TotalMinutes > 1)
......@@ -147,7 +147,7 @@ namespace DeviceLibrary
TimeSpan timeSpan = DateTime.Now - readyLeaveTime[nodeName];
if (timeSpan.TotalSeconds < 45)
{
log.Debug(nodeName +" ReadyLeave 45秒内不重复发送");
log.Debug(nodeName + " ReadyLeave 45秒内不重复发送");
return false;
}
else if (timeSpan.TotalMinutes > 1)
......@@ -286,14 +286,14 @@ namespace DeviceLibrary
Socket socket = _server.Accept(); //这边会暂停，不需要sleep
IPEndPoint ep = (IPEndPoint)socket.RemoteEndPoint;
Thread listen = new Thread(new ParameterizedThreadStart(ListenNet));
//string ip = ep.Address.ToString();
string ip = ep.Address.ToString();
//if (ip == System.Configuration.ConfigurationManager.AppSettings["LocalIP"])
// ip += ":" + ep.Port;
//新的客户端
Client client = new Client
{
IP = ep.Address.ToString() + ":" + ep.Port,
IP = ip,
Loop = true,
IsConn = true,
Socket = socket,
......@@ -302,15 +302,15 @@ namespace DeviceLibrary
};
//重连后关闭旧连接
//int idx = _client.FindIndex(s => s.IP.Equals(ip));
//if (idx > -1)
//{
// _client[idx].IsConn = false;
// _client[idx].nodeName.Clear();
// _client[idx].Loop = false;
// _client[idx].Socket.Close();
// _client.RemoveAt(idx);
//}
int idx = _client.FindIndex(s => s.IP.Equals(ip));
if (idx > -1)
{
_client[idx].IsConn = false;
_client[idx].nodeName.Clear();
_client[idx].Loop = false;
_client[idx].Socket.Close();
_client.RemoveAt(idx);
}
_client.Add(client);
listen.Start(_client.Count - 1);
......@@ -433,7 +433,7 @@ namespace DeviceLibrary
else
{
time += sleep;
if (time > 1000*60*60*1)
if (time > 1000 * 60 * 60 * 1)
{
Offline(client);
log.Info("[" + client.IP + "] 超过1H没有收到数据，关闭连接");
......
DeviceLibrary/bean/job/EmptyShelfBackJob.cs
......@@ -77,11 +77,12 @@ namespace DeviceLibrary
}
else if (AGVManager.CheckShelfStorageInState(agv))
{
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
EmptyShelfTargetPlace = SettingString.A2;
runInfo = "云仓暂不需要空料架，从线体[" + EmptyShelfPlace + "]到料架缓存处";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.A2);
MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv);
}
else
......
DeviceLibrary/bean/job/GoFullShelfStationJob.cs
......@@ -105,7 +105,7 @@ namespace DeviceLibrary
else
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_STANDBY);
runInfo = "从" + FullShelfStationPlace + "回到待机位,因不存在该节点" + FullShelfDestInfo.data;
runInfo = "从" + FullShelfStationPlace + "回到待机位,因不存在该线体名：" + FullShelfDestInfo.data;
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
......@@ -182,7 +182,7 @@ namespace DeviceLibrary
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
//FullShelfStationPlace = SettingString.A2;
MissionSys.AssignMission(agv, SettingString.A2);
MissionSys.AssignMission(agv, SettingString.TEMPSTATION);
UpdateJobTaskInfo(agv);
}
else
......@@ -206,7 +206,7 @@ namespace DeviceLibrary
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_TEMP_PLACE))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.A2, CurTaskState))
if (MissionSys.CheckTaskFinished(agv, SettingString.TEMPSTATION, CurTaskState))
{
MiR_API.Get_IO_Status(agv, out bool[] input, out bool[] output);
System.Threading.Thread.Sleep(500);
......@@ -216,7 +216,7 @@ namespace DeviceLibrary
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.CheckBoxNeedShelfState(agv, out string nodeName);
return new EmptyShelfBackJob(SettingString.A2, eShelfType.SmallShelf,nodeName);
return new EmptyShelfBackJob(SettingString.TEMPSTATION, eShelfType.SmallShelf,nodeName);
}
}
......
DeviceLibrary/bean/job/SendFullShelfToLineJob.cs
......@@ -66,10 +66,15 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, FullShelfPlace, CurTaskState))
{
jobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK);
runInfo = "AGV到达 " + FullShelfPlace + "，等待人员操作";
//jobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK);
//runInfo = "AGV到达 " + FullShelfPlace + "，等待人员操作";
//msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
//jobStep.Msg = msg;
runInfo = "人员在" + FullShelfPlace + "卸料完成";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.CheckBoxNeedShelfState(agv, out string nodeName);
return new EmptyShelfBackJob(FullShelfPlace, eShelfType.SmallShelf, nodeName);
}
}
else if (jobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK))
......
DeviceLibrary/bean/job/jobType/SendFullShelfJobType.cs
......@@ -30,7 +30,7 @@ namespace DeviceLibrary
if (FindNeedLeaveMission(currentAgv, checkPlace, out rfid))
{
LogUtil.info(string.Format("{0} [{1}]需要出满料串{2}", currentAgv.Name, checkPlace, rfid));
return new GoFullShelfStationJob(checkPlace, currentAgv.Place,rfid);
return new GoFullShelfStationJob(checkPlace, currentAgv.Place, rfid);
}
checkPlace = SettingString.D2;
//查找云仓出料的任务
......@@ -66,7 +66,7 @@ namespace DeviceLibrary
/// <param name="RFID"></param>
/// <param name="empty">料架类型</param>
/// <returns></returns>
public static bool FindNeedLeaveMission(Agv_Info agv, string nodeName, out string RFID, bool empty=false)
public static bool FindNeedLeaveMission(Agv_Info agv, string nodeName, out string RFID, bool empty = false)
{
RFID = "";
if (FindNeedLeave(agv, nodeName, out string rfid))
......@@ -76,7 +76,7 @@ namespace DeviceLibrary
(s.CurJob is GoFullShelfStationJob && (((GoFullShelfStationJob)s.CurJob).FullShelfStationPlace.Equals(nodeName)))
);
HttpManager.FindFullShelfTarget(rfid, out HttpManager.BoxDestInfo boxDestInfo);
if (idx == -1 && boxDestInfo!=null)// && HttpManager.FindFullShelfTarget(rfid,out HttpManager.BoxDestInfo boxDestInfo)
if (idx == -1 && boxDestInfo != null)// && HttpManager.FindFullShelfTarget(rfid,out HttpManager.BoxDestInfo boxDestInfo)
{
RFID = rfid;
LogUtil.debug(string.Format("{0} FindNeedLeaveMission", agv.Name));
......@@ -105,9 +105,17 @@ namespace DeviceLibrary
{
if (AGVManager.nodeInfo[nodeIdx].RFID.StartsWith(SettingString.ReelString_RFID_Prefix))
{
HttpManager.FindFullShelfTarget(AGVManager.nodeInfo[nodeIdx].RFID, out HttpManager.BoxDestInfo destInfo);
if (destInfo != null)
{
if (destInfo.data.ToLower().Equals("none") || AGVManager.GetLineNameByNodeName(destInfo.data, out string line))
{
rfid = AGVManager.nodeInfo[nodeIdx].RFID;
return true;
}
msglist.Add(new AlarmMsg(nodeName, nodeName + ".Warn", "出口为出料任务，但目的地异常：" + destInfo.data));
}
}
else
{
msglist.Add(new AlarmMsg(nodeName, "Using." + nodeName, "出口为出料任务，但是RFID状态异常:rfid=" + AGVManager.nodeInfo[nodeIdx].RFID));
......@@ -118,7 +126,7 @@ namespace DeviceLibrary
{
msglist.Add(new AlarmMsg(nodeName, "Using." + nodeName, "调用关闭"));
}
if(msglist.Count>0)
if (msglist.Count > 0)
HttpManager.updateDeviceAlarmMsg(msglist);
return false;
}
......
DeviceLibrary/manager/HttpManager.cs
......@@ -142,7 +142,7 @@ namespace DeviceLibrary
string resultStr = HttpHelper.Get(server);
log.Info("清理料架的缓存信息【" + server + "】【" + resultStr + "】");
RfidData rfidData = JsonHelper.DeserializeJsonToObject<RfidData>(resultStr);
rfidRemoveData rfidData = JsonHelper.DeserializeJsonToObject<rfidRemoveData>(resultStr);
if (rfidData == null)
{
......@@ -207,5 +207,13 @@ namespace DeviceLibrary
public Dictionary<string, string> data { get; set; }
}
public class rfidRemoveData
{
//{"code":0,"msg":"ok","data":"7"}
public int code { get; set; }
public string msg { get; set; }
public string data { get; set; }
}
}
SO827-AGV/FrmMain.Designer.cs
......@@ -43,7 +43,6 @@
this.groupBox6 = new System.Windows.Forms.GroupBox();
this.lblD3 = new System.Windows.Forms.Label();
this.tableLayoutPanel6 = new System.Windows.Forms.TableLayoutPanel();
this.lblWarn = new System.Windows.Forms.Label();
this.DgvNode = new System.Windows.Forms.DataGridView();
this.Column6 = new System.Windows.Forms.DataGridViewTextBoxColumn();
this.Column12 = new System.Windows.Forms.DataGridViewTextBoxColumn();
......@@ -63,6 +62,10 @@
this.tabControlManual = new System.Windows.Forms.TabControl();
this.tableLayoutPanel4 = new System.Windows.Forms.TableLayoutPanel();
this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
this.lblD1Warn = new System.Windows.Forms.Label();
this.lblD2Warn = new System.Windows.Forms.Label();
this.lblD3Warn = new System.Windows.Forms.Label();
this.tableLayoutPanel3.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout();
......@@ -78,6 +81,7 @@
this.groupBox4.SuspendLayout();
this.groupBox2.SuspendLayout();
this.tableLayoutPanel4.SuspendLayout();
this.tableLayoutPanel1.SuspendLayout();
this.SuspendLayout();
//
// tableLayoutPanel3
......@@ -243,8 +247,8 @@
//
this.tableLayoutPanel6.ColumnCount = 1;
this.tableLayoutPanel6.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
this.tableLayoutPanel6.Controls.Add(this.lblWarn, 0, 1);
this.tableLayoutPanel6.Controls.Add(this.DgvNode, 0, 0);
this.tableLayoutPanel6.Controls.Add(this.tableLayoutPanel1, 0, 1);
this.tableLayoutPanel6.Location = new System.Drawing.Point(3, 3);
this.tableLayoutPanel6.Name = "tableLayoutPanel6";
this.tableLayoutPanel6.RowCount = 2;
......@@ -253,18 +257,6 @@
this.tableLayoutPanel6.Size = new System.Drawing.Size(699, 335);
this.tableLayoutPanel6.TabIndex = 34;
//
// lblWarn
//
this.lblWarn.Dock = System.Windows.Forms.DockStyle.Fill;
this.lblWarn.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblWarn.ForeColor = System.Drawing.Color.Red;
this.lblWarn.Location = new System.Drawing.Point(2, 174);
this.lblWarn.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblWarn.Name = "lblWarn";
this.lblWarn.Size = new System.Drawing.Size(695, 161);
this.lblWarn.TabIndex = 42;
this.lblWarn.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
//
// DgvNode
//
this.DgvNode.AllowUserToAddRows = false;
......@@ -482,6 +474,60 @@
this.flowLayoutPanel1.Size = new System.Drawing.Size(1430, 346);
this.flowLayoutPanel1.TabIndex = 0;
//
// tableLayoutPanel1
//
this.tableLayoutPanel1.ColumnCount = 1;
this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 100F));
this.tableLayoutPanel1.Controls.Add(this.lblD1Warn, 0, 0);
this.tableLayoutPanel1.Controls.Add(this.lblD2Warn, 0, 1);
this.tableLayoutPanel1.Controls.Add(this.lblD3Warn, 0, 2);
this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 177);
this.tableLayoutPanel1.Name = "tableLayoutPanel1";
this.tableLayoutPanel1.RowCount = 3;
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F));
this.tableLayoutPanel1.Size = new System.Drawing.Size(693, 155);
this.tableLayoutPanel1.TabIndex = 3;
//
// lblD1Warn
//
this.lblD1Warn.Dock = System.Windows.Forms.DockStyle.Fill;
this.lblD1Warn.Font = new System.Drawing.Font("宋体", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblD1Warn.ForeColor = System.Drawing.Color.Red;
this.lblD1Warn.Location = new System.Drawing.Point(2, 0);
this.lblD1Warn.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblD1Warn.Name = "lblD1Warn";
this.lblD1Warn.Size = new System.Drawing.Size(689, 51);
this.lblD1Warn.TabIndex = 43;
this.lblD1Warn.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// lblD2Warn
//
this.lblD2Warn.AutoSize = true;
this.lblD2Warn.Dock = System.Windows.Forms.DockStyle.Fill;
this.lblD2Warn.Font = new System.Drawing.Font("宋体", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblD2Warn.ForeColor = System.Drawing.Color.Red;
this.lblD2Warn.Location = new System.Drawing.Point(3, 51);
this.lblD2Warn.Name = "lblD2Warn";
this.lblD2Warn.Size = new System.Drawing.Size(687, 51);
this.lblD2Warn.TabIndex = 44;
this.lblD2Warn.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// lblD3Warn
//
this.lblD3Warn.AutoSize = true;
this.lblD3Warn.Dock = System.Windows.Forms.DockStyle.Fill;
this.lblD3Warn.Font = new System.Drawing.Font("宋体", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblD3Warn.ForeColor = System.Drawing.Color.Red;
this.lblD3Warn.Location = new System.Drawing.Point(3, 102);
this.lblD3Warn.Name = "lblD3Warn";
this.lblD3Warn.Size = new System.Drawing.Size(687, 53);
this.lblD3Warn.TabIndex = 45;
this.lblD3Warn.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// FrmMain
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
......@@ -509,6 +555,8 @@
this.groupBox4.PerformLayout();
this.groupBox2.ResumeLayout(false);
this.tableLayoutPanel4.ResumeLayout(false);
this.tableLayoutPanel1.ResumeLayout(false);
this.tableLayoutPanel1.PerformLayout();
this.ResumeLayout(false);
}
......@@ -542,11 +590,14 @@
private System.Windows.Forms.DataGridViewButtonColumn Column16;
private System.Windows.Forms.Button btnAgvRemoveRfid;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.Label lblWarn;
private System.Windows.Forms.GroupBox groupBox5;
private System.Windows.Forms.Label lblD2;
private System.Windows.Forms.GroupBox groupBox6;
private System.Windows.Forms.Label lblD3;
private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
private System.Windows.Forms.Label lblD1Warn;
private System.Windows.Forms.Label lblD2Warn;
private System.Windows.Forms.Label lblD3Warn;
}
}
SO827-AGV/FrmMain.cs
......@@ -179,6 +179,7 @@ namespace AGVControl
InShhow = true;
BoxDestInfo destInfo;
ClientNode node;
string line = "";
Invoke(new Action(() =>
{
node = AGVManager.nodeInfo.Find(s => s.Name.Equals(SettingString.D1) && s.RFID.StartsWith(SettingString.ReelString_RFID_Prefix));
......@@ -191,6 +192,11 @@ namespace AGVControl
{
lblD1.Text = destInfo.ToString();
destInfoMap.Add(SettingString.D1, node.RFID);
if (!destInfo.data.ToLower().Equals("none") && !AGVManager.GetLineNameByNodeName(destInfo.data, out line))
{
lblD1Warn.Text = string.Format("{0}的料架[{1}]目的地不存在：{2}\r\n", node.LineName, node.RFID,destInfo.data);
}
}
}
......@@ -201,6 +207,10 @@ namespace AGVControl
{
lblD1.Text = destInfo.ToString();
destInfoMap[SettingString.D1] = node.RFID;
if (!destInfo.data.ToLower().Equals("none") && !AGVManager.GetLineNameByNodeName(destInfo.data, out line))
{
lblD1Warn.Text = string.Format("{0}的料架[{1}]目的地不存在：{2}\r\n", node.LineName, destInfo.data);
}
}
}
......@@ -208,6 +218,7 @@ namespace AGVControl
else
{
lblD1.Text = "";
lblD1Warn.Text = "";
if (destInfoMap.ContainsKey(SettingString.D1))
destInfoMap.Remove(SettingString.D1);
}
......@@ -222,6 +233,10 @@ namespace AGVControl
{
lblD2.Text = destInfo.ToString();
destInfoMap.Add(SettingString.D2, node.RFID);
if (!destInfo.data.ToLower().Equals("none") && !AGVManager.GetLineNameByNodeName(destInfo.data, out line))
{
lblD2Warn.Text = string.Format("{0}的料架[{1}]目的地不存在：{2}\r\n", node.LineName, node.RFID, destInfo.data);
}
}
}
......@@ -232,6 +247,10 @@ namespace AGVControl
{
lblD2.Text = destInfo.ToString();
destInfoMap[SettingString.D2] = node.RFID;
if (!destInfo.data.ToLower().Equals("none") && !AGVManager.GetLineNameByNodeName(destInfo.data, out line))
{
lblD2Warn.Text = string.Format("{0}的料架[{1}]目的地不存在：{2}\r\n", node.LineName, node.RFID, destInfo.data);
}
}
}
......@@ -239,6 +258,7 @@ namespace AGVControl
else
{
lblD2.Text = "";
lblD2Warn.Text = "";
if (destInfoMap.ContainsKey(SettingString.D2))
destInfoMap.Remove(SettingString.D2);
}
......@@ -253,6 +273,10 @@ namespace AGVControl
{
lblD3.Text = destInfo.ToString();
destInfoMap.Add(SettingString.D3, node.RFID);
if (!destInfo.data.ToLower().Equals("none") && !AGVManager.GetLineNameByNodeName(destInfo.data, out line))
{
lblD3Warn.Text = string.Format("{0}的料架[{1}]目的地不存在：{2}\r\n", node.LineName, node.RFID, destInfo.data);
}
}
}
......@@ -263,6 +287,10 @@ namespace AGVControl
{
lblD3.Text = destInfo.ToString();
destInfoMap[SettingString.D3] = node.RFID;
if (!destInfo.data.ToLower().Equals("none") && !AGVManager.GetLineNameByNodeName(destInfo.data, out line))
{
lblD3Warn.Text = string.Format("{0}的料架[{1}]目的地不存在：{2}\r\n", node.LineName, node.RFID, destInfo.data);
}
}
}
......@@ -270,12 +298,12 @@ namespace AGVControl
else
{
lblD3.Text = "";
lblD3Warn.Text = "";
if (destInfoMap.ContainsKey(SettingString.D3))
destInfoMap.Remove(SettingString.D3);
}
Application.DoEvents();
lblWarn.Text = AGVManager.warnMsg;
}));
InShhow = false;
......
SO827-AGV/Manual.cs
......@@ -52,31 +52,38 @@ namespace AGVControl
MiR_API.Del_Mission(Agv);
//添加Init任务
MissionSys.AssignMission(Agv, SettingString.Init);
LogUtil.info(string.Format("{0} 开启手动，取消当前自动任务:{1}", Agv.Name, Agv.Msg));
Agv.CurJob = null;
if (Agv.Place.Equals(SettingString.Standby) || Agv.Place.Equals(SettingString.AutoCharge))
Agv.Place = "";
//MiR_API.Del_Mission(Agv);
Agv.RFID = "";
}
}
else
{
if (Agv.IsExistShelf)
{
LogUtil.error(string.Format("{0} 车上有负载，无法开启自动模式，请先清空小车负载！", Agv.Name));
MessageBox.Show(this,string.Format("{0} 车上有负载，无法开启自动模式，请先清空小车负载！", Agv.Name));
LogUtil.error(string.Format("{0} 车上有料架，无法开启自动模式，请先清空小车负载！", Agv.Name));
MessageBox.Show(this,string.Format("{0} 车上有料架，无法开启自动模式，请先清空小车负载！", Agv.Name));
chkBxAuto.Checked = false;
Agv.IsUse = false;
return;
}
if (MessageBox.Show(this, "是否继续上一次的任务?\r\n" + Agv.Msg, "提示", MessageBoxButtons.YesNo).Equals(DialogResult.No))
// if (MessageBox.Show(this, "是否继续上一次的任务?\r\n" + Agv.Msg, "提示", MessageBoxButtons.YesNo).Equals(DialogResult.No))
{
LogUtil.info(string.Format("{0} 中断上一次任务:{1}", Agv.Name, Agv.Msg));
Agv.CurJob = null;
if (Agv.Place.Equals(SettingString.Standby) || Agv.Place.Equals(SettingString.AutoCharge))
Agv.Place = "";
MiR_API.Del_Mission(Agv);
Agv.RFID = "";
//LogUtil.info(string.Format("{0} 取消上一次自动任务:{1}", Agv.Name, Agv.Msg));
//Agv.CurJob = null;
//if (Agv.Place.Equals(SettingString.Standby) || Agv.Place.Equals(SettingString.AutoCharge))
// Agv.Place = "";
//MiR_API.Del_Mission(Agv);
//Agv.RFID = "";
}
else
{
Agv.Resend(true);
//else
//{
// Agv.Resend(false);
}
//}
}
Agv.IsUse = chkBxAuto.Checked;
}));
......
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