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Commit cd07a8bd 由 张东亮
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1 个父辈 37bd1b5a
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正在显示 6 个修改的文件 包含 24 行增加 和 22 行删除
AGV_UI/Status.cs
...@@ -87,6 +87,7 @@ namespace AGV_UI ...@@ -87,6 +87,7 @@ namespace AGV_UI
/// <param name="state"></param> /// <param name="state"></param>
public void SetConnectState(bool state = false) public void SetConnectState(bool state = false)
{ {
if (!this.IsHandleCreated) return;
Image image = Manager.SetConnState(state); Image image = Manager.SetConnState(state);
this.Invoke(new Action(() => this.Invoke(new Action(() =>
{ {
......
DeviceLibrary/Control.cs
...@@ -232,7 +232,7 @@ namespace DeviceLibrary ...@@ -232,7 +232,7 @@ namespace DeviceLibrary
{ {
Agv_Info agv = AGVManager.agvInfo[i]; Agv_Info agv = AGVManager.agvInfo[i];
if (!agv.IsCon) continue; //AGV网络连接 if (!agv.IsCon) continue; //AGV网络连接
if (!AGVManager.agvInfo[i].IsUse) continue; //AGV是否可用 if (!agv.IsUse) continue; //AGV是否可用
//Ready,Pause,Executing，Error //Ready,Pause,Executing，Error
if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause) if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause)
......
DeviceLibrary/bean/job/EmptyShelfBackJob.cs
...@@ -19,7 +19,7 @@ namespace DeviceLibrary ...@@ -19,7 +19,7 @@ namespace DeviceLibrary
/// 载空料架返回任务 /// 载空料架返回任务
/// </summary> /// </summary>
/// <param name="lineName">产线的节点名称</param> /// <param name="lineName">产线的节点名称</param>
public EmptyShelfBackJob(string emptyShelfPlace, eShelfType shelfType,string emptyShelfTargetPlace) public EmptyShelfBackJob(string emptyShelfPlace, eShelfType shelfType, string emptyShelfTargetPlace)
{ {
EmptyShelfPlace = emptyShelfPlace; EmptyShelfPlace = emptyShelfPlace;
this.shelfType = shelfType; this.shelfType = shelfType;
...@@ -61,22 +61,21 @@ namespace DeviceLibrary ...@@ -61,22 +61,21 @@ namespace DeviceLibrary
if (jobStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE)) if (jobStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
{ {
//if (AGVManager.CheckBoxNeedShelfState(agv, out string nodeName)) if (EmptyShelfPlace.Equals(SettingString.A1) && AGVManager.CheckBoxNeedShelfState(agv, out string nodeName))
//{ {
// EmptyShelfTargetPlace = nodeName; EmptyShelfTargetPlace = nodeName;
// jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target); jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
// runInfo = "从线体 [" + EmptyShelfPlace + "]送往" + EmptyShelfTargetPlace; runInfo = "从线体 [" + EmptyShelfPlace + "]送往" + EmptyShelfTargetPlace;
// msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
// jobStep.Msg = msg; jobStep.Msg = msg;
// if (!EmptyShelfTargetPlace.Equals("")) if (!EmptyShelfTargetPlace.Equals(""))
// { {
// MissionSys.AssignMission(agv, EmptyShelfTargetPlace); MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
// UpdateJobTaskInfo(agv); UpdateJobTaskInfo(agv);
// } }
//} }
//else else if (AGVManager.CheckShelfStorageInState(agv))
if (AGVManager.CheckShelfStorageInState(agv))
{ {
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target); jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
EmptyShelfTargetPlace = SettingString.A2; EmptyShelfTargetPlace = SettingString.A2;
...@@ -104,7 +103,7 @@ namespace DeviceLibrary ...@@ -104,7 +103,7 @@ namespace DeviceLibrary
{ {
EmptyShelfTargetPlace = nodeName; EmptyShelfTargetPlace = nodeName;
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target); jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
runInfo = "待机位检测到"+ EmptyShelfTargetPlace + "需要料架,送往 " + EmptyShelfTargetPlace; runInfo = "待机位检测到" + EmptyShelfTargetPlace + "需要料架,送往 " + EmptyShelfTargetPlace;
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg; jobStep.Msg = msg;
MissionSys.AssignMission(agv, EmptyShelfTargetPlace); MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
......
DeviceLibrary/manager/AGVManager.cs
...@@ -250,8 +250,8 @@ namespace DeviceLibrary ...@@ -250,8 +250,8 @@ namespace DeviceLibrary
/// <returns></returns> /// <returns></returns>
public static bool CheckNeedEmptyShelf(Agv_Info agv, out string nodeName) public static bool CheckNeedEmptyShelf(Agv_Info agv, out string nodeName)
{ {
nodeName = "";
if (!CheckBoxNeedShelfState(agv, out nodeName)) //if (!CheckBoxNeedShelfState(agv, out nodeName))
{ {
if (CheckShelfStorageInState(agv)) if (CheckShelfStorageInState(agv))
{ {
......
SO827-AGV/Manual.cs
...@@ -146,8 +146,10 @@ namespace AGVControl ...@@ -146,8 +146,10 @@ namespace AGVControl
if (taskName.Equals(SettingString.Enter) || taskName.Equals(SettingString.Leave)) if (taskName.Equals(SettingString.Enter) || taskName.Equals(SettingString.Leave))
if (MessageBox.Show("确定对小车发送进/出任务？", Agv.Name, MessageBoxButtons.YesNo) == DialogResult.No) if (MessageBox.Show("确定对小车发送进/出任务？", Agv.Name, MessageBoxButtons.YesNo) == DialogResult.No)
return; return;
MissionSys.AssignMission(Agv, taskName); Task.Factory.StartNew(delegate {
LogUtil.info(string.Format("{0} 手动发任务 [{1}]", Agv.Name, cmbBxMission.SelectedItem.ToString())); MissionSys.AssignMission(Agv, taskName);
LogUtil.info(string.Format("{0} 手动发任务 [{1}]", Agv.Name, taskName));
});
} }
} }
catch (Exception ex) catch (Exception ex)
......
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