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Commit b8cdb476 由 张东亮
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佳世达3楼产线AGV程序

1 个父辈 c0fb8714
内嵌 并排
正在显示 17 个修改的文件 包含 218 行增加 和 40 行删除
AGV_UI/Status.Designer.cs
...@@ -117,7 +117,7 @@ ...@@ -117,7 +117,7 @@
// lblTask // lblTask
// //
this.lblTask.Dock = System.Windows.Forms.DockStyle.Left; this.lblTask.Dock = System.Windows.Forms.DockStyle.Left;
this.lblTask.Font = new System.Drawing.Font("宋体", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.lblTask.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblTask.Image = global::AGV_UI.Properties.Resources.task; this.lblTask.Image = global::AGV_UI.Properties.Resources.task;
this.lblTask.ImageAlign = System.Drawing.ContentAlignment.MiddleLeft; this.lblTask.ImageAlign = System.Drawing.ContentAlignment.MiddleLeft;
this.lblTask.Location = new System.Drawing.Point(0, 0); this.lblTask.Location = new System.Drawing.Point(0, 0);
......
DeviceLibrary/Charge.cs
...@@ -108,7 +108,7 @@ namespace DeviceLibrary ...@@ -108,7 +108,7 @@ namespace DeviceLibrary
//} //}
foreach (string item in Station.Keys) foreach (string item in Station.Keys)
{ {
if (Station[item].Equals("")) if (Station[item].Equals("") || Station[item].Equals(agv.Name))
{ {
return true; return true;
} }
...@@ -128,9 +128,10 @@ namespace DeviceLibrary ...@@ -128,9 +128,10 @@ namespace DeviceLibrary
agv.Place = ""; agv.Place = "";
lock(loc) lock(loc)
{ {
LogUtil.info($"{agv.Name} 准备充电，充电桩情况：{Station.Values.ToArray()}");
foreach (string chargeStation in Station.Keys) foreach (string chargeStation in Station.Keys)
{ {
if (Station[chargeStation].Equals("")) if (Station[chargeStation].Equals("") || Station[chargeStation].Equals(agv.Name))
{ {
rtn = MissionSys.AssignMission(agv, chargeStation); rtn = MissionSys.AssignMission(agv, chargeStation);
if (rtn) if (rtn)
......
DeviceLibrary/Control.cs
...@@ -132,6 +132,33 @@ namespace DeviceLibrary ...@@ -132,6 +132,33 @@ namespace DeviceLibrary
{ {
if (!CheckOnline(i)) continue; if (!CheckOnline(i)) continue;
bool change = false; bool change = false;
if (!AGVManager.agvInfo[i].AllocatingTask && AGVManager.agvInfo[i].IsUse && AGVManager.agvInfo[i].CurJob != null && AGVManager.agvInfo[i].CurTaskID.Equals(-1))
{
if(AGVManager.agvInfo[i].UseFleet)
{
if (!MiR_API.Get_Fleet_Mission_Info(AGVManager.agvInfo[i]))
{
AGVManager.agvInfo[i].CurJob.ResendTask(AGVManager.agvInfo[i]);
LogUtil.info($"{AGVManager.agvInfo[i].Name}：Task=-1处理,Fleet无任务,重发任务:{AGVManager.agvInfo[i].CurTarName}");
}
else
{
LogUtil.info($"{AGVManager.agvInfo[i].Name}：Task=-1处理,Fleet有任务，手动赋值FleetTaskID={AGVManager.agvInfo[i].CurTaskID}");
}
}
else
{
if (!MiR_API.Get_Mission_Info(AGVManager.agvInfo[i]))
{
AGVManager.agvInfo[i].CurJob.ResendTask(AGVManager.agvInfo[i]);
LogUtil.info($"{AGVManager.agvInfo[i].Name}：Task=-1处理,Fleet无任务,重发任务:{AGVManager.agvInfo[i].CurTarName}");
}
else
{
LogUtil.info($"{AGVManager.agvInfo[i].Name}：Task=-1处理,Fleet有任务，手动赋值FleetTaskID={AGVManager.agvInfo[i].CurTaskID}");
}
}
}
MiR_API.Get_Task_State(AGVManager.agvInfo[i], out string taskStateStr); MiR_API.Get_Task_State(AGVManager.agvInfo[i], out string taskStateStr);
Thread.Sleep(50); Thread.Sleep(50);
//获取AGV状态 //获取AGV状态
......
DeviceLibrary/MissionSys.cs
...@@ -128,7 +128,7 @@ namespace DeviceLibrary ...@@ -128,7 +128,7 @@ namespace DeviceLibrary
LogUtil.info(string.Format("{0} Add_Mission [{1}] Fail", agv.Name, taskName)); LogUtil.info(string.Format("{0} Add_Mission [{1}] Fail", agv.Name, taskName));
} }
} }
agv.StateKanban.SetCurTask(MissionSys.GetAliceNameByTaskName(taskName)); agv.StateKanban.SetCurTask(MissionSys.GetAliceNameByTaskName(taskName)+"\r\n"+agv.CurTaskID);
} }
return rtn; return rtn;
} }
......
DeviceLibrary/bean/Agv_Info.cs
...@@ -128,8 +128,15 @@ namespace DeviceLibrary ...@@ -128,8 +128,15 @@ namespace DeviceLibrary
/// <summary> /// <summary>
/// 当前任务的ID号 /// 当前任务的ID号
/// </summary> /// </summary>
public int CurTaskID { get; set; } = -1; public long CurTaskID { get; set; } = -1;
/// <summary>
/// 任务时间戳
/// </summary>
public string TimeStamp { get; set; } = "";
/// <summary>
/// 正在分配任务
/// </summary>
public bool AllocatingTask = false;
public string CurTaskState { get; set; } = ""; public string CurTaskState { get; set; } = "";
/// <summary> /// <summary>
/// 当前任务目的地名 /// 当前任务目的地名
...@@ -412,6 +419,7 @@ namespace DeviceLibrary ...@@ -412,6 +419,7 @@ namespace DeviceLibrary
if (!isAlarm && StandTimeOut) if (!isAlarm && StandTimeOut)
{ {
isAlarm = true; isAlarm = true;
SetErrorMsg("在" + PlaceAliceName + "停留超时", (DateTime.Now - StandStartTime).TotalMinutes.ToString("f2"));
msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", "在" + PlaceAliceName + "停留超时" + (DateTime.Now - StandStartTime).TotalMinutes.ToString("f2") + "分钟")); msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", "在" + PlaceAliceName + "停留超时" + (DateTime.Now - StandStartTime).TotalMinutes.ToString("f2") + "分钟"));
} }
else if (!isAlarm && HasError) else if (!isAlarm && HasError)
......
DeviceLibrary/bean/Job.cs
...@@ -20,7 +20,7 @@ namespace DeviceLibrary ...@@ -20,7 +20,7 @@ namespace DeviceLibrary
/// </summary> /// </summary>
public abstract Job Execute(Agv_Info agv); public abstract Job Execute(Agv_Info agv);
public int CurTaskID { get; set; } = -1; public long CurTaskID { get; set; } = -1;
/// <summary> /// <summary>
/// 当前的任务目的地（与任务GUID对应） /// 当前的任务目的地（与任务GUID对应）
......
DeviceLibrary/bean/JobStep.cs
...@@ -29,7 +29,7 @@ namespace DeviceLibrary ...@@ -29,7 +29,7 @@ namespace DeviceLibrary
} }
} }
private DateTime startTime = DateTime.Now; public DateTime startTime = DateTime.Now;
public JobStep(T initStep) public JobStep(T initStep)
{ {
......
DeviceLibrary/bean/MiR_API.cs
...@@ -231,9 +231,12 @@ namespace DeviceLibrary ...@@ -231,9 +231,12 @@ namespace DeviceLibrary
//删除上一任务 //删除上一任务
Del_Mission(info); Del_Mission(info);
System.DateTime startTime = TimeZone.CurrentTimeZone.ToLocalTime(new System.DateTime(2021, 1, 1, 8, 0, 0)); // 当地时区
long timeStamp = (long)(DateTime.Now - startTime).TotalSeconds; // 相差秒数
info.TimeStamp = timeStamp.ToString();
string url = "http://" + info.IP + "/api/v2.0.0/mission_queue"; string url = "http://" + info.IP + "/api/v2.0.0/mission_queue";
string body = "{\"mission_id\":\"" + mission_id + "\"}"; //string body = "{\"mission_id\":\"" + mission_id + "\"}";
string body = "{\"mission_id\":\"" + mission_id + "\",\"robot_id\":" + info.ID + ",\"description\":\"" + $"{info.CurTarName}-{info.TimeStamp}-{info.ID}" + "\"}";
string json = HttpPost(url, info.IP, info.Authorization, body); string json = HttpPost(url, info.IP, info.Authorization, body);
if (string.IsNullOrWhiteSpace(json)) return false; if (string.IsNullOrWhiteSpace(json)) return false;
...@@ -283,23 +286,32 @@ namespace DeviceLibrary ...@@ -283,23 +286,32 @@ namespace DeviceLibrary
{ {
try try
{ {
info.AllocatingTask = true;
info.CurTaskID = -1; info.CurTaskID = -1;
info.CurTaskGUID = ""; info.CurTaskGUID = mission_id;
info.CurTaskState = SettingString.Wait; info.CurTaskState = SettingString.Wait;
//防止上一个任务已执行但返回失败时，删除任务 //防止上一个任务已执行但返回失败时，删除任务
Del_Mission(info); Del_Mission(info);
Del_Mission(info);
System.DateTime startTime = TimeZone.CurrentTimeZone.ToLocalTime(new System.DateTime(2021, 1, 1, 8, 0, 0)); // 当地时区
long timeStamp = (long)(DateTime.Now - startTime).TotalSeconds; // 相差秒数
info.TimeStamp = timeStamp.ToString();
string ip = AppConfigHelper.GetValue(SettingString.FLEET); string ip = AppConfigHelper.GetValue(SettingString.FLEET);
string url = "http://" + ip + "/api/v2.0.0/mission_scheduler"; string url = "http://" + ip + "/api/v2.0.0/mission_scheduler";
string body = "{\"mission_id\":\"" + mission_id + "\",\"robot_id\":" + info.ID + "}"; // string body = "{\"mission_id\":\"" + mission_id + "\",\"robot_id\":" + info.ID + "}";
string body = "{\"mission_id\":\"" + mission_id + "\",\"robot_id\":" + info.ID + ",\"description\":\"" + $"{info.CurTarName}-{info.TimeStamp}-{info.ID}" + "\"}";
string json = HttpPost(url, info.IP, info.Authorization, body); string json = HttpPost(url, info.IP, info.Authorization, body);
if (string.IsNullOrWhiteSpace(json)) return false; if (string.IsNullOrWhiteSpace(json))
{
info.AllocatingTask = false;
return false;
}
JavaScriptSerializer serializer = new JavaScriptSerializer(); JavaScriptSerializer serializer = new JavaScriptSerializer();
Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json); Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
if (dic == null) if (dic == null)
{ {
info.AllocatingTask = false;
return false; return false;
} }
...@@ -311,20 +323,24 @@ namespace DeviceLibrary ...@@ -311,20 +323,24 @@ namespace DeviceLibrary
try try
{ {
info.CurTaskID = Convert.ToInt32(id); info.CurTaskID = Convert.ToInt32(id);
info.CurTaskGUID = mission_id;
} }
catch catch
{ {
log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, mission_id)); log.Error(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, mission_id));
info.CurTarName = "";
} }
info.AllocatingTask = false;
return true; return true;
} }
else else
{
info.AllocatingTask = false;
return false; return false;
}
} }
catch (Exception ex) catch (Exception ex)
{ {
info.AllocatingTask = false;
log.Error("Add_Mission_Fleet", ex); log.Error("Add_Mission_Fleet", ex);
return false; return false;
} }
...@@ -366,6 +382,82 @@ namespace DeviceLibrary ...@@ -366,6 +382,82 @@ namespace DeviceLibrary
} }
/// <summary> /// <summary>
/// 获取AGV任务队列
/// </summary>
/// <param name="info"></param>
/// <param name="mission"></param>
/// <returns></returns>
public static bool Get_Mission_Info(Agv_Info info)
{
try
{
string url = "http://" + info.IP + "/api/v2.0.0/missions/search";
string body = "{\"filters\" : [{\"fieldname\": \"description\", \"operator\": \"LIKE\", \"value\": \"" + info.CurTarName + "-" + info.TimeStamp + "-" + info.ID + "\"}]}";
string json = HttpPost(url, info.IP, info.Authorization, body);
if (string.IsNullOrWhiteSpace(json)) return false;
JavaScriptSerializer serializer = new JavaScriptSerializer();
object[] obj = (object[])serializer.DeserializeObject(json);
if (obj == null) return false;
Dictionary<string, object> dic;
if (obj.Length > 0)
{
dic = (Dictionary<string, object>)obj[0];
info.CurTaskID = long.Parse(dic["id"].ToString());
if (info.CurTaskID == -1)
return false;
if (info.CurJob != null)
info.CurJob.CurTaskID = info.CurTaskID;
return true;
}
return false;
}
catch (Exception ex)
{
log.Error("Get_Mission", ex);
return false;
}
}
/// <summary>
/// 获取Fleet任务队列
/// </summary>
/// <param name="info"></param>
/// <param name="mission"></param>
/// <returns></returns>
public static bool Get_Fleet_Mission_Info(Agv_Info info)
{
try
{
string ip = AppConfigHelper.GetValue(SettingString.FLEET);
string url = "http://" + ip + "/api/v2.0.0/mission_scheduler/search";
string body = "{\"filters\" : [{\"fieldname\": \"description\", \"operator\": \"LIKE\", \"value\": \"" + info.CurTarName + "-" + info.TimeStamp + "-" + info.ID + "\"}]}";
string json = HttpPost(url, info.IP, info.Authorization, body);
if (string.IsNullOrWhiteSpace(json)) return false;
JavaScriptSerializer serializer = new JavaScriptSerializer();
object[] obj = (object[])serializer.DeserializeObject(json);
if (obj == null) return false;
Dictionary<string, object> dic;
if (obj.Length > 0)
{
dic = (Dictionary<string, object>)obj[0];
info.CurTaskID = long.Parse(dic["id"].ToString());
if (info.CurTaskID == -1)
return false;
if (info.CurJob != null)
info.CurJob.CurTaskID = info.CurTaskID;
return true;
}
return false;
}
catch (Exception ex)
{
log.Error("Get_Mission_Queue", ex);
return false;
}
}
/// <summary>
/// 获取当前任务队列guid /// 获取当前任务队列guid
/// </summary> /// </summary>
/// <param name="info"></param> /// <param name="info"></param>
...@@ -678,7 +770,7 @@ namespace DeviceLibrary ...@@ -678,7 +770,7 @@ namespace DeviceLibrary
ping.Dispose(); ping.Dispose();
if (result.Status != System.Net.NetworkInformation.IPStatus.Success) if (result.Status != System.Net.NetworkInformation.IPStatus.Success)
{ {
log.Error("Ping " + ip + " 请求没有响应"); //log.Error("Ping " + ip + " 请求没有响应");
return false; return false;
} }
return true; return true;
...@@ -725,7 +817,7 @@ namespace DeviceLibrary ...@@ -725,7 +817,7 @@ namespace DeviceLibrary
string s = response.Content; string s = response.Content;
s = s.Replace("\n", ""); s = s.Replace("\n", "");
s = s.Replace(" ", ""); s = s.Replace(" ", "");
log.Debug(string.Format("HttpPost URL: {0}; Body: {1} Return: {2}", url, body, s)); log.Info(string.Format("HttpPost URL: {0}; Body: {1} Return: {2} [StatusCode={3},ResponseStatus={4}]", url, body, s, response.StatusCode, response.ResponseStatus));
return s; return s;
} }
......
DeviceLibrary/bean/job/ChargeJob.cs
...@@ -14,7 +14,6 @@ namespace DeviceLibrary ...@@ -14,7 +14,6 @@ namespace DeviceLibrary
public ChargeJob(string agvPlae) public ChargeJob(string agvPlae)
{ {
this.agvPlace = agvPlae; this.agvPlace = agvPlae;
JobName = "充电任务";
} }
...@@ -40,7 +39,9 @@ namespace DeviceLibrary ...@@ -40,7 +39,9 @@ namespace DeviceLibrary
public override Job Execute(Agv_Info agv) public override Job Execute(Agv_Info agv)
{ {
string msg = string.Format("{0} 充电任务： ", agv.Name); string msg = string.Format("{0} 充电任务： ", agv.Name);
//bool rtn = false; agv.Msg = "";
StartJobTime = curJobStep.startTime;
JobName = "充电任务";
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (curJobStep.IsStep(CHARGE_STEP.NONE)) if (curJobStep.IsStep(CHARGE_STEP.NONE))
{ {
...@@ -134,6 +135,8 @@ namespace DeviceLibrary ...@@ -134,6 +135,8 @@ namespace DeviceLibrary
{ {
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{ {
JobName = "待机任务";
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_ROOMD_DOOR); curJobStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_ROOMD_DOOR);
runInfo = string.Format("电量充足{0}%,从当前位置{1}回到待机位，先过{2}门",agv.Battery, agvPlace,SettingString.RoomC_Name); runInfo = string.Format("电量充足{0}%,从当前位置{1}回到待机位，先过{2}门",agv.Battery, agvPlace,SettingString.RoomC_Name);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -146,8 +149,11 @@ namespace DeviceLibrary ...@@ -146,8 +149,11 @@ namespace DeviceLibrary
{ {
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{ {
if (agv.Battery >AGVManager.Charge.BatteryMax) if (agv.Battery >AGVManager.Charge.BatteryMax)
{ {
JobName = "待机任务";
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY); curJobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
runInfo = "电量充足" + agv.Battery + "%,从当前位置" + agvPlace + "回到待机位"; runInfo = "电量充足" + agv.Battery + "%,从当前位置" + agvPlace + "回到待机位";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -159,6 +165,8 @@ namespace DeviceLibrary ...@@ -159,6 +165,8 @@ namespace DeviceLibrary
{ {
if (!AGVManager.Charge.StartCharge(agv)) if (!AGVManager.Charge.StartCharge(agv))
{ {
JobName = "待机任务";
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY); curJobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
runInfo = "电量" + agv.Battery + "%小于最大电量" + AGVManager.Charge.BatteryMax + "%,充电桩有小车，从当前位置" + agvPlace + "回到待机位"; runInfo = "电量" + agv.Battery + "%小于最大电量" + AGVManager.Charge.BatteryMax + "%,充电桩有小车，从当前位置" + agvPlace + "回到待机位";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -169,6 +177,7 @@ namespace DeviceLibrary ...@@ -169,6 +177,7 @@ namespace DeviceLibrary
} }
else else
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION); curJobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
runInfo = "电量" + agv.Battery + "%小于最大电量" + AGVManager.Charge.BatteryMax + "%,从当前位置" + agvPlace + "回到充电位"; runInfo = "电量" + agv.Battery + "%小于最大电量" + AGVManager.Charge.BatteryMax + "%,从当前位置" + agvPlace + "回到充电位";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -222,6 +231,7 @@ namespace DeviceLibrary ...@@ -222,6 +231,7 @@ namespace DeviceLibrary
{ {
if (agv.Battery >= AGVManager.Charge.BatteryMax) if (agv.Battery >= AGVManager.Charge.BatteryMax)
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(CHARGE_STEP.END); curJobStep.ToNextStep(CHARGE_STEP.END);
runInfo = "充电完成"; runInfo = "充电完成";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -248,6 +258,7 @@ namespace DeviceLibrary ...@@ -248,6 +258,7 @@ namespace DeviceLibrary
{ {
if (MissionSys.CheckTaskFinished(agv, SettingString.Standby, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(CHARGE_STEP.END); curJobStep.ToNextStep(CHARGE_STEP.END);
runInfo = "充电完成，到达待机位"; runInfo = "充电完成，到达待机位";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -257,6 +268,7 @@ namespace DeviceLibrary ...@@ -257,6 +268,7 @@ namespace DeviceLibrary
else if (curJobStep.IsStep(CHARGE_STEP.END)) else if (curJobStep.IsStep(CHARGE_STEP.END))
{ {
runInfo = "等待任务"; runInfo = "等待任务";
JobName = "待机任务";
Job job = AGVManager.control.GetJob(agv); Job job = AGVManager.control.GetJob(agv);
if (job != null && !(job is ChargeJob)) if (job != null && !(job is ChargeJob))
{ {
...@@ -267,16 +279,17 @@ namespace DeviceLibrary ...@@ -267,16 +279,17 @@ namespace DeviceLibrary
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place); RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return job; return job;
} }
else if (job == null && agv.Battery < AGVManager.Charge.BatteryMax / 2) else if (job != null && job is ChargeJob && agv.Battery < AGVManager.Charge.BatteryMax / 2 && AGVManager.Charge.HasEmptyChargeStation(agv))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(CHARGE_STEP.NONE); curJobStep.ToNextStep(CHARGE_STEP.NONE);
runInfo = "在待机位暂无任务，且当前电量小于" + AGVManager.Charge.BatteryMax / 2 + "%,去充电位"; runInfo = "在待机位暂无任务，且当前电量小于" + AGVManager.Charge.BatteryMax / 2 + "%,去充电位";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg; curJobStep.Msg = msg;
AGVManager.Charge.DelOccupyInfo(agv); AGVManager.Charge.DelOccupyInfo(agv);
return job;
} }
} }
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return this; return this;
} }
......
DeviceLibrary/bean/job/EmptyAGVBackJob.cs
...@@ -51,6 +51,7 @@ namespace DeviceLibrary ...@@ -51,6 +51,7 @@ namespace DeviceLibrary
{ {
string msg = string.Format("{0} 返回任务： ", agv.Name); string msg = string.Format("{0} 返回任务： ", agv.Name);
//bool rtn = false; //bool rtn = false;
StartJobTime = curJobStep.startTime;
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (curJobStep.IsStep(EMPTY_AGV_BACK_STEP.NONE)) if (curJobStep.IsStep(EMPTY_AGV_BACK_STEP.NONE))
{ {
...@@ -204,6 +205,7 @@ namespace DeviceLibrary ...@@ -204,6 +205,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomD_DOOR); curJobStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomD_DOOR);
runInfo = string.Format("从产线{0}回待机位，先过{1}门", agvPlace, SettingString.RoomC_Name); runInfo = string.Format("从产线{0}回待机位，先过{1}门", agvPlace, SettingString.RoomC_Name);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -235,7 +237,6 @@ namespace DeviceLibrary ...@@ -235,7 +237,6 @@ namespace DeviceLibrary
} }
} }
} }
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return this; return this;
} }
/// <summary> /// <summary>
......
DeviceLibrary/bean/job/EmptyShelfBackJob.cs
...@@ -58,6 +58,7 @@ namespace DeviceLibrary ...@@ -58,6 +58,7 @@ namespace DeviceLibrary
string msg = string.Format("{0} 空料架[{1}]返回： ", agv.Name, shelfType.ToString()); string msg = string.Format("{0} 空料架[{1}]返回： ", agv.Name, shelfType.ToString());
//bool rtn = false; //bool rtn = false;
//runInfo = "空料架返回："; //runInfo = "空料架返回：";
StartJobTime = curJobStep.startTime;
if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE)) if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
{ {
if (AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//C车间风淋门 if (AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//C车间风淋门
...@@ -110,6 +111,7 @@ namespace DeviceLibrary ...@@ -110,6 +111,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR); curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR);
runInfo = string.Format("出风淋门，前往{0}门",SettingString.RoomD_Name); runInfo = string.Format("出风淋门，前往{0}门",SettingString.RoomD_Name);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -123,6 +125,7 @@ namespace DeviceLibrary ...@@ -123,6 +125,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (AGVManager.CheckA5A6State(agv, shelfType, out string nodeName)) if (AGVManager.CheckA5A6State(agv, shelfType, out string nodeName))
{ {
EmptyShelfTargetPlace = nodeName; EmptyShelfTargetPlace = nodeName;
...@@ -150,6 +153,7 @@ namespace DeviceLibrary ...@@ -150,6 +153,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (AGVManager.CheckA5A6State(agv, shelfType, out string nodeName)) if (AGVManager.CheckA5A6State(agv, shelfType, out string nodeName))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
EmptyShelfTargetPlace = nodeName; EmptyShelfTargetPlace = nodeName;
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6); curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
runInfo = "待机位检测到双层线需要料架,送往双层线 " + EmptyShelfTargetPlace; runInfo = "待机位检测到双层线需要料架,送往双层线 " + EmptyShelfTargetPlace;
...@@ -164,6 +168,7 @@ namespace DeviceLibrary ...@@ -164,6 +168,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, EmptyShelfTargetPlace, CurTaskState) && EmptyShelfTargetPlace.StartsWith(SettingString.DoubleLine_Name_Prefix)) if (MissionSys.CheckTaskFinished(agv, EmptyShelfTargetPlace, CurTaskState) && EmptyShelfTargetPlace.StartsWith(SettingString.DoubleLine_Name_Prefix))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE); curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE);
runInfo = "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]"; runInfo = "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -179,6 +184,7 @@ namespace DeviceLibrary ...@@ -179,6 +184,7 @@ namespace DeviceLibrary
{ {
if (!agv.CurTarName.Equals(SettingString.Leave)) if (!agv.CurTarName.Equals(SettingString.Leave))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE); curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE);
runInfo = "收到双层线入料架请求[ReadyEnter]的响应 " + EmptyShelfTargetPlace + "入料架，小车链条运行"; runInfo = "收到双层线入料架请求[ReadyEnter]的响应 " + EmptyShelfTargetPlace + "入料架，小车链条运行";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -241,7 +247,6 @@ namespace DeviceLibrary ...@@ -241,7 +247,6 @@ namespace DeviceLibrary
else if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.END)) else if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.END))
{ {
} }
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return this; return this;
} }
......
DeviceLibrary/bean/job/EnterLeaveShelfJob.cs
...@@ -64,6 +64,7 @@ namespace DeviceLibrary ...@@ -64,6 +64,7 @@ namespace DeviceLibrary
//bool rtn = false; //bool rtn = false;
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st)) //if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st; // CurTaskState = st;
//StartJobTime = curJobStep.startTime;
if (jobStep.IsStep(ENTER_LEAVE_SHELF_STEP.NONE)) if (jobStep.IsStep(ENTER_LEAVE_SHELF_STEP.NONE))
{ {
if (ActionType.Equals(eEnterLeaveType.Leave)) if (ActionType.Equals(eEnterLeaveType.Leave))
......
DeviceLibrary/bean/job/GoEmptyShelfLineJob.cs
...@@ -52,6 +52,7 @@ namespace DeviceLibrary ...@@ -52,6 +52,7 @@ namespace DeviceLibrary
{ {
string msg = string.Format("{0} 回收空料架[RFID={1}]： ", agv.Name, RFID); string msg = string.Format("{0} 回收空料架[RFID={1}]： ", agv.Name, RFID);
//bool rtn = false; //bool rtn = false;
StartJobTime = curJobStep.startTime;
int nodeIdx = AGVManager.FindNode(EmptyShelfPlace); int nodeIdx = AGVManager.FindNode(EmptyShelfPlace);
if (curJobStep.IsStep(TAKE_EMPTY_STEP.NONE)) if (curJobStep.IsStep(TAKE_EMPTY_STEP.NONE))
{ {
...@@ -237,6 +238,7 @@ namespace DeviceLibrary ...@@ -237,6 +238,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorDToC, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorDToC, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//被占用 if (AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//被占用
{ {
curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE); curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
...@@ -272,6 +274,7 @@ namespace DeviceLibrary ...@@ -272,6 +274,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY1, CurTaskState) || MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY2, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY1, CurTaskState) || MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY2, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (!AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//未占用 if (!AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//未占用
{ {
curJobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); curJobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
...@@ -287,6 +290,7 @@ namespace DeviceLibrary ...@@ -287,6 +290,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK); curJobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]"; runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
...@@ -298,6 +302,7 @@ namespace DeviceLibrary ...@@ -298,6 +302,7 @@ namespace DeviceLibrary
if (nodeIdx > -1) if (nodeIdx > -1)
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK); curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK);
runInfo = "AGV 添加任务：移动到" + EmptyShelfPlace + "[RFID=" + RFID + "]"; runInfo = "AGV 添加任务：移动到" + EmptyShelfPlace + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
...@@ -317,6 +322,7 @@ namespace DeviceLibrary ...@@ -317,6 +322,7 @@ namespace DeviceLibrary
{ {
if (agv.CurTaskState.Equals(SettingString.Executing)) if (agv.CurTaskState.Equals(SettingString.Executing))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE); curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
runInfo = "AGV开始向目的地[" + EmptyShelfPlace + "]移动" + "[RFID=" + RFID + "]"; runInfo = "AGV开始向目的地[" + EmptyShelfPlace + "]移动" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
...@@ -337,6 +343,7 @@ namespace DeviceLibrary ...@@ -337,6 +343,7 @@ namespace DeviceLibrary
//} //}
//else //else
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE); curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
runInfo = "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]" + "[RFID=" + RFID + "]"; runInfo = "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
...@@ -371,6 +378,7 @@ namespace DeviceLibrary ...@@ -371,6 +378,7 @@ namespace DeviceLibrary
agv.HasError = false; agv.HasError = false;
if (!agv.CurTarName.Equals("Enter")) if (!agv.CurTarName.Equals("Enter"))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF); curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF);
runInfo = "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行" + "[RFID=" + RFID + "]"; runInfo = "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
...@@ -429,7 +437,6 @@ namespace DeviceLibrary ...@@ -429,7 +437,6 @@ namespace DeviceLibrary
{ {
} }
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return this; return this;
} }
......
DeviceLibrary/bean/job/GoFullShelfStationJob.cs
...@@ -50,6 +50,7 @@ namespace DeviceLibrary ...@@ -50,6 +50,7 @@ namespace DeviceLibrary
public override Job Execute(Agv_Info agv) public override Job Execute(Agv_Info agv)
{ {
string msg = string.Format("{0} 接满料任务： ", agv.Name); string msg = string.Format("{0} 接满料任务： ", agv.Name);
StartJobTime = curJobStep.startTime;
//bool rtn = false; //bool rtn = false;
if (curJobStep.IsStep(GO_FULL_SHELF_STATION_STEP.NONE)) if (curJobStep.IsStep(GO_FULL_SHELF_STATION_STEP.NONE))
{ {
...@@ -65,6 +66,7 @@ namespace DeviceLibrary ...@@ -65,6 +66,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.CheckShelf, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.CheckShelf, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (agv.IsExistShelf) if (agv.IsExistShelf)
{ {
curJobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END); curJobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
...@@ -121,6 +123,7 @@ namespace DeviceLibrary ...@@ -121,6 +123,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR); curJobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
runInfo = string.Format("过风淋门，向{0}门运行，再到双层线入料口{1}", SettingString.RoomD_Name,FullShelfStationPlace); runInfo = string.Format("过风淋门，向{0}门运行，再到双层线入料口{1}", SettingString.RoomD_Name,FullShelfStationPlace);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
...@@ -135,6 +138,7 @@ namespace DeviceLibrary ...@@ -135,6 +138,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6); curJobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = string.Format("到达{0}门，准备运动到双层线入料口{1}", SettingString.RoomD_Name, FullShelfStationPlace); runInfo = string.Format("到达{0}门，准备运动到双层线入料口{1}", SettingString.RoomD_Name, FullShelfStationPlace);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
...@@ -149,6 +153,7 @@ namespace DeviceLibrary ...@@ -149,6 +153,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, FullShelfStationPlace, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, FullShelfStationPlace, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
ClientNode node = AGVManager.nodeInfo.Find(s => s.Name.Equals(SettingString.A6) ClientNode node = AGVManager.nodeInfo.Find(s => s.Name.Equals(SettingString.A6)
&& (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.StartsWith("0")); && (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.StartsWith("0"));
if (node != null && node.Name.Equals(SettingString.A6)) if (node != null && node.Name.Equals(SettingString.A6))
...@@ -196,6 +201,7 @@ namespace DeviceLibrary ...@@ -196,6 +201,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.Standby, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END); curJobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = "到达待机位"; runInfo = "到达待机位";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
...@@ -218,6 +224,7 @@ namespace DeviceLibrary ...@@ -218,6 +224,7 @@ namespace DeviceLibrary
agv.HasError = false; agv.HasError = false;
if (!agv.CurTarName.Equals("Enter")) if (!agv.CurTarName.Equals("Enter"))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT__FULL_SHELF_IN_AGV); curJobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT__FULL_SHELF_IN_AGV);
runInfo = "收到双层线出料架请求[ReadyLeave]的响应 " + FullShelfStationPlace + "出料架，小车链条运行"; runInfo = "收到双层线出料架请求[ReadyLeave]的响应 " + FullShelfStationPlace + "出料架，小车链条运行";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
...@@ -241,6 +248,7 @@ namespace DeviceLibrary ...@@ -241,6 +248,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.Enter, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.Enter, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
agv.HasError = false; agv.HasError = false;
//GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END); //GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = FullShelfStationPlace + "满料架进入小车完成"; runInfo = FullShelfStationPlace + "满料架进入小车完成";
...@@ -260,7 +268,6 @@ namespace DeviceLibrary ...@@ -260,7 +268,6 @@ namespace DeviceLibrary
} }
} }
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return this; return this;
} }
......
DeviceLibrary/bean/job/SendFullShelfToLineJob.cs
...@@ -54,6 +54,7 @@ namespace DeviceLibrary ...@@ -54,6 +54,7 @@ namespace DeviceLibrary
string msg = string.Format("{0} 送满料任务[RFID={1}]： ", agv.Name,RFID); string msg = string.Format("{0} 送满料任务[RFID={1}]： ", agv.Name,RFID);
//bool rtn = false; //bool rtn = false;
agv.RFID = RFID; agv.RFID = RFID;
StartJobTime = curJobStep.startTime;
if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.NONE)) if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.NONE))
{ {
HttpManager.AgvRemoveRfid(RFID); HttpManager.AgvRemoveRfid(RFID);
...@@ -82,6 +83,7 @@ namespace DeviceLibrary ...@@ -82,6 +83,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorDToC, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorDToC, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (AGVManager.CheckRoomCTarget(agv, FullShelfPlace))//被占用 if (AGVManager.CheckRoomCTarget(agv, FullShelfPlace))//被占用
{ {
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_REACH_TEMP_PLACE); curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_REACH_TEMP_PLACE);
...@@ -120,7 +122,8 @@ namespace DeviceLibrary ...@@ -120,7 +122,8 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirIn, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirIn, CurTaskState))
{ {
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE); RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "送往[" + FullShelfPlace + "]"; runInfo = "送往[" + FullShelfPlace + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg; curJobStep.Msg = msg;
...@@ -133,6 +136,7 @@ namespace DeviceLibrary ...@@ -133,6 +136,7 @@ namespace DeviceLibrary
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY1, CurTaskState) || MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY2, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY1, CurTaskState) || MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY2, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (!AGVManager.CheckRoomCTarget(agv, FullShelfPlace))//未占用 if (!AGVManager.CheckRoomCTarget(agv, FullShelfPlace))//未占用
{ {
if (AGVManager.CheckIsInAirDoor(FullShelfPlace)) if (AGVManager.CheckIsInAirDoor(FullShelfPlace))
...@@ -168,6 +172,7 @@ namespace DeviceLibrary ...@@ -168,6 +172,7 @@ namespace DeviceLibrary
// SendFullShelfStep.Msg = msg; // SendFullShelfStep.Msg = msg;
// return new EnterLeaveShelfJob(FullShelfPlace, eEnterLeaveType.Leave); // return new EnterLeaveShelfJob(FullShelfPlace, eEnterLeaveType.Leave);
//} //}
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (IsIgnoreBigShelf) if (IsIgnoreBigShelf)
{ {
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE); curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE);
...@@ -203,6 +208,7 @@ namespace DeviceLibrary ...@@ -203,6 +208,7 @@ namespace DeviceLibrary
System.Threading.Thread.Sleep(50); System.Threading.Thread.Sleep(50);
if (HttpManager.GetRackBy(RFID, out string lineName) || (input != null && input[0])) if (HttpManager.GetRackBy(RFID, out string lineName) || (input != null && input[0]))
{ {
runInfo = "大料架在" + FullShelfPlace + "移库完成[" + agv.BoxDestInfo + "]"; runInfo = "大料架在" + FullShelfPlace + "移库完成[" + agv.BoxDestInfo + "]";
agv.BoxDestInfo = ""; agv.BoxDestInfo = "";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -221,6 +227,7 @@ namespace DeviceLibrary ...@@ -221,6 +227,7 @@ namespace DeviceLibrary
{ {
if (!agv.CurTarName.Equals(SettingString.Leave)) if (!agv.CurTarName.Equals(SettingString.Leave))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE); curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE);
runInfo = "收到产线入料架请求[ReadyEnter]的响应 " + FullShelfPlace + "入料架，小车链条运行"; runInfo = "收到产线入料架请求[ReadyEnter]的响应 " + FullShelfPlace + "入料架，小车链条运行";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo); msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
...@@ -282,7 +289,6 @@ namespace DeviceLibrary ...@@ -282,7 +289,6 @@ namespace DeviceLibrary
//{ //{
//} //}
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return this; return this;
} }
......
DeviceLibrary/bean/job/StandyJob.cs
...@@ -43,7 +43,7 @@ namespace DeviceLibrary ...@@ -43,7 +43,7 @@ namespace DeviceLibrary
string msg = agv.Name + " "; string msg = agv.Name + " ";
bool rtn = false; bool rtn = false;
agv.Msg = ""; agv.Msg = "";
StartJobTime = curJobStep.startTime;
CurTaskState = MissionSys.GetTakJobState(agv); CurTaskState = MissionSys.GetTakJobState(agv);
if (curJobStep.IsStep(EXECUTE_STEP.NONE)) if (curJobStep.IsStep(EXECUTE_STEP.NONE))
{ {
...@@ -81,6 +81,7 @@ namespace DeviceLibrary ...@@ -81,6 +81,7 @@ namespace DeviceLibrary
{ {
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(EXECUTE_STEP.WAIT_REACH_STANDBY); curJobStep.ToNextStep(EXECUTE_STEP.WAIT_REACH_STANDBY);
runInfo = "从"+SettingString.RoomD_Name+"门回到待机位"; runInfo = "从"+SettingString.RoomD_Name+"门回到待机位";
msg += runInfo; msg += runInfo;
...@@ -94,6 +95,7 @@ namespace DeviceLibrary ...@@ -94,6 +95,7 @@ namespace DeviceLibrary
{ {
if (MissionSys.CheckTaskFinished(agv, SettingString.Standby, CurTaskState)) if (MissionSys.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{ {
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(EXECUTE_STEP.END); curJobStep.ToNextStep(EXECUTE_STEP.END);
runInfo = "到达待机位"; runInfo = "到达待机位";
msg += runInfo; msg += runInfo;
...@@ -112,7 +114,7 @@ namespace DeviceLibrary ...@@ -112,7 +114,7 @@ namespace DeviceLibrary
return job; return job;
} }
} }
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return this; return this;
} }
......
DeviceLibrary/manager/AGVManager.cs
...@@ -236,7 +236,7 @@ namespace DeviceLibrary ...@@ -236,7 +236,7 @@ namespace DeviceLibrary
{ {
int tarIdx = nodeInfo.FindIndex(s => s.Name == SettingString.A5 int tarIdx = nodeInfo.FindIndex(s => s.Name == SettingString.A5
&& (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse); && (s.StateEquals(eNodeStatus.NeedD) || s.StateEquals(eNodeStatus.NeedEnter)) && s.IsUse);
if (tarIdx >-1) if (tarIdx > -1)
{ {
tarIdx = agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob tarIdx = agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is EmptyShelfBackJob
&& ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A5)); && ((((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace) != null) && ((EmptyShelfBackJob)s.CurJob).EmptyShelfTargetPlace.Equals(SettingString.A5));
...@@ -456,7 +456,7 @@ namespace DeviceLibrary ...@@ -456,7 +456,7 @@ namespace DeviceLibrary
if (emptyAGVbACK) if (emptyAGVbACK)
{ {
//双层线是否需要小料架 //双层线是否需要小料架
if (CheckA5A6State(agv, eShelfType.SmallShelf,out string nodename)) if (CheckA5A6State(agv, eShelfType.SmallShelf, out string nodename))
{ {
//4C车间寻找 //4C车间寻找
...@@ -693,13 +693,13 @@ namespace DeviceLibrary ...@@ -693,13 +693,13 @@ namespace DeviceLibrary
{ {
if (clientNode.Name.Equals(SettingString.RoomCFeederOut) || clientNode.Name.Equals(SettingString.RoomDFeederOut)) if (clientNode.Name.Equals(SettingString.RoomCFeederOut) || clientNode.Name.Equals(SettingString.RoomDFeederOut))
{ {
warnMsg = string.Format("线体[{0}]外侧料架[{1}]未解绑,已解绑料架:{2}", clientNode.AliceName, clientNode.RFID, string.Join(",",unlockManager.GetUnlockRfids(clientNode.Name).ToArray())); warnMsg = string.Format("线体[{0}]外侧料架[{1}]未解绑,已解绑料架:{2}", clientNode.AliceName, clientNode.RFID, string.Join(",", unlockManager.GetUnlockRfids(clientNode.Name).ToArray()));
log.Debug(warnMsg); log.Debug(warnMsg);
} }
else else
{ {
string res = HttpManager.GetRFIDs(clientNode.LineName); string res = HttpManager.GetRFIDs(clientNode.LineName);
warnMsg = string.Format("线体[{0}]外侧料架[{1}]未解绑,已解绑料架:{2}", clientNode.AliceName, clientNode.RFID, string.Join(",",unlockManager.GetUnlockRfids(clientNode.Name).ToArray())); warnMsg = string.Format("线体[{0}]外侧料架[{1}]未解绑,已解绑料架:{2}", clientNode.AliceName, clientNode.RFID, string.Join(",", unlockManager.GetUnlockRfids(clientNode.Name).ToArray()));
log.Debug(warnMsg); log.Debug(warnMsg);
} }
return false; return false;
...@@ -717,7 +717,7 @@ namespace DeviceLibrary ...@@ -717,7 +717,7 @@ namespace DeviceLibrary
public static bool UpdateStationState(ClientNode clientNode) public static bool UpdateStationState(ClientNode clientNode)
{ {
if (unlockManager.GetUnlockCnt(clientNode.Name) >0 && !unlockManager.GetUnlockRfids(clientNode.Name).Contains(clientNode.RFID)) if (unlockManager.GetUnlockCnt(clientNode.Name) > 0 && !unlockManager.GetUnlockRfids(clientNode.Name).Contains(clientNode.RFID))
{ {
if (clientNode.Name.Equals(SettingString.RoomCFeederOut) || clientNode.Name.Equals(SettingString.RoomDFeederOut)) if (clientNode.Name.Equals(SettingString.RoomCFeederOut) || clientNode.Name.Equals(SettingString.RoomDFeederOut))
{ {
...@@ -860,7 +860,7 @@ namespace DeviceLibrary ...@@ -860,7 +860,7 @@ namespace DeviceLibrary
} }
} }
public class RunInfo public class RunInfo
{ {
/// <summary> /// <summary>
/// AGV编号 /// AGV编号
...@@ -934,7 +934,15 @@ namespace DeviceLibrary ...@@ -934,7 +934,15 @@ namespace DeviceLibrary
/// <summary> /// <summary>
/// AGV编号 /// AGV编号
/// </summary> /// </summary>
public string AGVNum { get; set; } = ""; public string AGVNum
{
get { return agvname; }
set
{
agvname = value.PadLeft(4, '0');
}
}
private string agvname = "";
/// <summary> /// <summary>
/// 开始时间 /// 开始时间
/// </summary> /// </summary>
...@@ -973,7 +981,7 @@ namespace DeviceLibrary ...@@ -973,7 +981,7 @@ namespace DeviceLibrary
EndDateTime = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"); EndDateTime = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
ErrorMsg = agv.ErrorMsg; ErrorMsg = agv.ErrorMsg;
ErrorLastTime = (System.DateTime.Now - agv.errStartTime).TotalMinutes.ToString("f2"); ErrorLastTime = (System.DateTime.Now - agv.errStartTime).TotalMinutes.ToString("f2");
if(agv.CurJob!=null) if (agv.CurJob != null)
{ {
TaskName = agv.CurJob.JobName; TaskName = agv.CurJob.JobName;
MissionInfo = agv.CurJob.runInfo; MissionInfo = agv.CurJob.runInfo;
......
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