云仓上料机构满时，将点料机满料送到分盘线。避免点料机拥堵

AGV_3D_SMD/App.config

@@ -50,6 +50,21 @@
         <conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
         <conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
       </layout>
       </layout>
     </appender>
     </appender>
+    <appender name="RunLog" type="log4net.Appender.RollingFileAppender">
+      <file value="logs/runLog/RunLog.json"/>
+      <param name="Encoding" value="UTF-8"/>
+      <appendToFile value="true"/>
+      <param name="MaxSizeRollBackups" value="10" />
+      <rollingStyle value="Date"/>
+      <datePattern value="yyyy-MM-dd"/>
+      <layout type="log4net.Layout.PatternLayout">
+        <conversionPattern value="%m%n"/>
+      </layout>
+    </appender>
+    <logger name="RunLog">
+      <level value="debug"/>
+      <appender-ref ref="RunLog"/>
+    </logger>
     <logger name="MiR_API">
     <logger name="MiR_API">
       <level value="Error"/>
       <level value="Error"/>
       <appender-ref ref="MiR_API"/>
       <appender-ref ref="MiR_API"/>

AGV_3D_SMD/FrmMain.cs

@@ -57,13 +57,13 @@ namespace AGVControl
                 CommonVar.agvInfo[i].StateKanban.Init();
                 CommonVar.agvInfo[i].StateKanban.Init();
             }
             }
 
 
-            for (int i = 0; i < CommonVar.nodeInfo.Count; i++)
+            for (int i = 0; i < NodeManager.nodeInfo.Count; i++)
             {
             {
-                n = DgvNode.Rows.Add(CommonVar.nodeInfo[i].ToRow());
+                n = DgvNode.Rows.Add(NodeManager.nodeInfo[i].ToRow());
                 DgvNode.Rows[n].HeaderCell.Value = (n + 1).ToString();
                 DgvNode.Rows[n].HeaderCell.Value = (n + 1).ToString();
                 if (i % 2 == 0)
                 if (i % 2 == 0)
                     DgvNode.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
                     DgvNode.Rows[n].DefaultCellStyle.BackColor = Color.LightBlue;
-                if (!CommonVar.nodeInfo[i].Online)
+                if (!NodeManager.nodeInfo[i].Online)
                     DgvNode.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
                     DgvNode.Rows[n].DefaultCellStyle.ForeColor = Color.Red;
             }
             }
         }
         }
@@ -72,9 +72,9 @@ namespace AGVControl
         {
         {
             Invoke(new Action(() =>
             Invoke(new Action(() =>
             {
             {
-                for (int i=0;i<CommonVar.nodeInfo.Count;i++)
+                for (int i=0;i<NodeManager.nodeInfo.Count;i++)
                 {
                 {
-                    DgvNode.Rows[i].SetValues(CommonVar.nodeInfo[i].ToRow());
+                    DgvNode.Rows[i].SetValues(NodeManager.nodeInfo[i].ToRow());
                 }
                 }
                 DgvNode.Refresh();
                 DgvNode.Refresh();
             }));
             }));
@@ -85,8 +85,8 @@ namespace AGVControl
         {
         {
             Invoke(new Action(() =>
             Invoke(new Action(() =>
             {
             {
-                for (int i = 0; i < CommonVar.nodeInfo.Count; i++)
-                    DgvNode.Rows[nodeIndex].DefaultCellStyle.ForeColor = CommonVar.nodeInfo[nodeIndex].Online ? Color.Black : Color.Red;
+                for (int i = 0; i < NodeManager.nodeInfo.Count; i++)
+                    DgvNode.Rows[i].DefaultCellStyle.ForeColor = NodeManager.nodeInfo[i].Online ? Color.Black : Color.Red;
                 DgvNode.Refresh();
                 DgvNode.Refresh();
             }));
             }));
             System.GC.Collect();
             System.GC.Collect();
@@ -164,10 +164,10 @@ namespace AGVControl
 
 
             if (e.ColumnIndex == DgvNode.Columns.Count - 1)  //调用
             if (e.ColumnIndex == DgvNode.Columns.Count - 1)  //调用
             {
             {
-                CommonVar.nodeInfo[e.RowIndex].IsUse = !CommonVar.nodeInfo[e.RowIndex].IsUse;
-                DgvNode.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = CommonVar.nodeInfo[e.RowIndex].IsUse.ToString();
-                CommonVar.WriteIni(CommonVar.nodeInfo[e.RowIndex].Name, SettingString.IsUse, CommonVar.nodeInfo[e.RowIndex].IsUse.ToString());
-                DgvNode.Rows[e.RowIndex].SetValues(CommonVar.nodeInfo[e.RowIndex].ToRow());
+                NodeManager.nodeInfo[e.RowIndex].IsUse = !NodeManager.nodeInfo[e.RowIndex].IsUse;
+                DgvNode.Rows[e.RowIndex].Cells[e.ColumnIndex].Value = NodeManager.nodeInfo[e.RowIndex].IsUse.ToString();
+                CommonVar.WriteIni(NodeManager.nodeInfo[e.RowIndex].Name, SettingString.IsUse, NodeManager.nodeInfo[e.RowIndex].IsUse.ToString());
+                DgvNode.Rows[e.RowIndex].SetValues(NodeManager.nodeInfo[e.RowIndex].ToRow());
             }
             }
         }
         }
 
 
@@ -189,6 +189,14 @@ namespace AGVControl
                 lblStandy3.Text = "待机位3:" + CommonVar.Standby.Station[2];
                 lblStandy3.Text = "待机位3:" + CommonVar.Standby.Station[2];
                 lblStandy4.Text = "待机位4:" + CommonVar.Standby.Station[3];
                 lblStandy4.Text = "待机位4:" + CommonVar.Standby.Station[3];
             }));
             }));
+            Invoke(new Action(() =>
+            {
+                for (int i = 0; i < NodeManager.nodeInfo.Count; i++)
+                {
+                    DgvNode.Rows[i].SetValues(NodeManager.nodeInfo[i].ToRow());
+                }
+                DgvNode.Refresh();
+            }));
             Application.DoEvents();
             Application.DoEvents();
             InShhow = false;
             InShhow = false;
         }
         }

AGV_3D_SMD/Manual.cs

@@ -49,7 +49,8 @@ namespace AGVControl
                         //添加Init任务
                         //添加Init任务
                         Agv.AssignTask(SettingString.Init);
                         Agv.AssignTask(SettingString.Init);
                     }
                     }
-
+                    if (Agv.TaskQueue.Count > 0)
+                        Agv.TaskQueue.TryDequeue(out string qq);
                     CommonVar.Standby.DelOccupyInfo(Agv.Name);
                     CommonVar.Standby.DelOccupyInfo(Agv.Name);
                     CommonVar.Charge.DelOccupyInfo(Agv.Name);
                     CommonVar.Charge.DelOccupyInfo(Agv.Name);
 
 

AGV_3D_SMD/Program.cs

@@ -99,7 +99,7 @@ namespace AGVControl
                 CommonVar.showNameMissionName.Add(temp[1], temp[0]);
                 CommonVar.showNameMissionName.Add(temp[1], temp[0]);
             }
             }
 
 
-            CommonVar.nodeInfo = new List<ClientNode>();
+            NodeManager.nodeInfo = new List<ClientNode>();
             path = CommonVar.CONFIG_PATH + SettingString.FileName_AgvProductionLine;
             path = CommonVar.CONFIG_PATH + SettingString.FileName_AgvProductionLine;
             line = System.IO.File.ReadAllLines(path, Encoding.GetEncoding("gb2312"));
             line = System.IO.File.ReadAllLines(path, Encoding.GetEncoding("gb2312"));
             for (int i = 1; i < line.Length; i++)
             for (int i = 1; i < line.Length; i++)
@@ -107,7 +107,7 @@ namespace AGVControl
                 temp = line[i].Split(',');
                 temp = line[i].Split(',');
                 if (temp.Length != 3) continue;
                 if (temp.Length != 3) continue;
                 Boolean.TryParse(CommonVar.ReadIni(temp[0], SettingString.IsUse), out bool isUse);
                 Boolean.TryParse(CommonVar.ReadIni(temp[0], SettingString.IsUse), out bool isUse);
-                CommonVar.nodeInfo.Add(new ClientNode(temp[0], temp[1],temp[2], isUse));
+                NodeManager.nodeInfo.Add(new ClientNode(temp[0], temp[1],temp[2], isUse));
             }
             }
 
 
             //加载任务类型
             //加载任务类型

AGV_UI/Status.Designer.cs

@@ -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/AgvServer.cs

@@ -418,7 +418,7 @@ namespace DeviceLibrary
         }
         }
         //
         //
         /// <summary>
         /// <summary>
-        /// 解码 AB 91 123 34 78 97 109 101 34 58 34 BA  AB 91 123 34 78 97 109 101 34 58 34 BA
+        /// 解码
         /// </summary>
         /// </summary>
         /// <param name="buff"></param>
         /// <param name="buff"></param>
         /// <returns></returns>
         /// <returns></returns>
@@ -462,19 +462,19 @@ namespace DeviceLibrary
 
 
         private void UpdateNode(ClientNode node)
         private void UpdateNode(ClientNode node)
         {
         {
-            int idx = CommonVar.nodeInfo.FindIndex(s => s.Name == node.Name);
+            int idx = NodeManager.FindNode(node.Name);
             if (idx == -1)
             if (idx == -1)
             {
             {
                 log.Error(node.Name + " 不存在");
                 log.Error(node.Name + " 不存在");
                 return;
                 return;
             }
             }
 
 
-            if (!CommonVar.nodeInfo[idx].Online)
+            if (!NodeManager.nodeInfo[idx].Online)
             {
             {
-                CommonVar.nodeInfo[idx].Online = true;
+                NodeManager.nodeInfo[idx].Online = true;
                 NodeOnline?.Invoke(idx);
                 NodeOnline?.Invoke(idx);
             }
             }
-            if (CommonVar.nodeInfo[idx].CheckNodeStateChanged(node))
+            if (NodeManager.nodeInfo[idx].CheckNodeStateChanged(node))
             {
             {
                 log.Info("节点状态更新 " + node.StatetText());
                 log.Info("节点状态更新 " + node.StatetText());
                 NodeChanged?.Invoke(idx);
                 NodeChanged?.Invoke(idx);
@@ -489,9 +489,9 @@ namespace DeviceLibrary
 
 
             for (int i = 0; i < client.nodeName.Count; i++)
             for (int i = 0; i < client.nodeName.Count; i++)
             {
             {
-                int idx = CommonVar.nodeInfo.FindIndex(s => s.Name == client.nodeName[i]);
+                int idx = NodeManager.FindNode(client.nodeName[i]);
                 if (idx == -1) continue;
                 if (idx == -1) continue;
-                CommonVar.nodeInfo[idx].Offline();
+                NodeManager.nodeInfo[idx].Offline();
                 NodeOnline?.Invoke(idx);
                 NodeOnline?.Invoke(idx);
             }
             }
             client.nodeName.Clear();
             client.nodeName.Clear();

DeviceLibrary/Charge.cs

@@ -15,6 +15,7 @@ namespace DeviceLibrary
         public Dictionary<string, string> Station;
         public Dictionary<string, string> Station;
         public const string AutoCharge1 = "AutoCharge1";
         public const string AutoCharge1 = "AutoCharge1";
         public const string AutoCharge2 = "AutoCharge2";
         public const string AutoCharge2 = "AutoCharge2";
+        public const string AutoCharge3 = "AutoCharge3";
         /// <summary>
         /// <summary>
         /// 充电最大电量，小于该值或大于等待指定时间去充电
         /// 充电最大电量，小于该值或大于等待指定时间去充电
         /// </summary>
         /// </summary>
@@ -29,6 +30,7 @@ namespace DeviceLibrary
             Station = new Dictionary<string, string>();
             Station = new Dictionary<string, string>();
             Station.Add(AutoCharge1, "");
             Station.Add(AutoCharge1, "");
             Station.Add(AutoCharge2, "");
             Station.Add(AutoCharge2, "");
+            Station.Add(AutoCharge3, "");
             string s = AppConfigHelper.GetValue(SettingString.ChargeThreshold);
             string s = AppConfigHelper.GetValue(SettingString.ChargeThreshold);
             string[] arr = s.Split(',');
             string[] arr = s.Split(',');
             BatteryMin = Convert.ToInt32(arr[0]);
             BatteryMin = Convert.ToInt32(arr[0]);

DeviceLibrary/CommonVar.cs

 using System;
 using System;
 using System.Collections.Generic;
 using System.Collections.Generic;
+using System.Linq;
 using System.Net.Sockets;
 using System.Net.Sockets;
 using System.Runtime.InteropServices;
 using System.Runtime.InteropServices;
 using System.Threading;
 using System.Threading;
@@ -14,10 +15,6 @@ namespace DeviceLibrary
     public static class CommonVar
     public static class CommonVar
     {
     {
         /// <summary>
         /// <summary>
-        /// 节点信息
-        /// </summary>
-        public static List<ClientNode> nodeInfo;
-        /// <summary>
         /// 任务类型
         /// 任务类型
         /// </summary>
         /// </summary>
         public static List<JobType> jobTypeInfo;
         public static List<JobType> jobTypeInfo;
@@ -35,55 +32,46 @@ namespace DeviceLibrary
         public static Charge Charge;
         public static Charge Charge;
         public static Standby Standby;
         public static Standby Standby;
 
 
-        public static string ReadIni(string section, string key)
-        {
-            return IniFileHelper.ReadValue(section, key, CONFIG_PATH + SettingString.FileName_tempData);
-        }
+        #region 任务日志
+        static log4net.ILog runLog = log4net.LogManager.GetLogger("RunLog");
+        static Dictionary<string, RunInfo> runInfoMap = new Dictionary<string, RunInfo>();
 
 
-        public static void WriteIni(string section, string key, string value)
-        {
-            IniFileHelper.WriteValue(section, key, value, CONFIG_PATH + SettingString.FileName_tempData);
-        }
-        public static bool GetNodeNameByAliceName(string aliceName, out string nodeName)
+        public static void RunLogInfo(RunInfo info)
         {
         {
-            nodeName = "";
-            int id = nodeInfo.FindIndex(s => s.AliceName.Equals(aliceName));
-            if (id > -1)
+            if (runInfoMap == null)
+                return;
+            if (runInfoMap.Keys.Contains(info.AGVNum))
             {
             {
-                nodeName = nodeInfo[id].Name;
-                return true;
+                if (!runInfoMap[info.AGVNum].Equals(info))
+                {
+                    runLog.Info(info.ToString());
+                }
             }
             }
             else
             else
             {
             {
-                return false;
+                runInfoMap.Add(info.AGVNum, info);
+                runLog.Info(info.ToString());
             }
             }
         }
         }
 
 
-        public static bool GetLineNameByNodeName(string nodeName, out string lineName)
+        public static void ErrorLogRecord(ErrorInfo errorInfo)
         {
         {
-            lineName = "";
-            int id = nodeInfo.FindIndex(s => s.Name.Equals(nodeName));
-            if (id > -1)
-            {
-                lineName = nodeInfo[id].LineName;
-                return true;
-            }
-            else
-            {
-                return false;
-            }
+            runLog.Info(errorInfo.ToString());
         }
         }
-        /// <summary>
-        /// 查找节点是否存在以及是否调用
-        /// </summary>
-        /// <param name="nodeName">节点名称</param>
-        /// <returns></returns>
-        public static int FindNode(string nodeName)
+        #endregion
+
+        public static string ReadIni(string section, string key)
+        {
+            return IniFileHelper.ReadValue(section, key, CONFIG_PATH + SettingString.FileName_tempData);
+        }
+
+        public static void WriteIni(string section, string key, string value)
         {
         {
-            int idx = nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.IsUse);
-            return idx;
+            IniFileHelper.WriteValue(section, key, value, CONFIG_PATH + SettingString.FileName_tempData);
         }
         }
 
 
+
+
         /// <summary>
         /// <summary>
         /// 移动到节点位置
         /// 移动到节点位置
         /// </summary>
         /// </summary>
@@ -96,13 +84,13 @@ namespace DeviceLibrary
             //清除目的地
             //清除目的地
             agv.Place = "";
             agv.Place = "";
             //执行下一个任务
             //执行下一个任务
-            int i = FindNode(nodeName);
+            int i = NodeManager.FindNode(nodeName);
             bool rtn = agv.AssignTask(SettingString.Move + nodeName);
             bool rtn = agv.AssignTask(SettingString.Move + nodeName);
             if (rtn)
             if (rtn)
             {
             {
                 agv.Place = nodeName;
                 agv.Place = nodeName;
                 if (i > -1)
                 if (i > -1)
-                    log = string.Format("{0} {1} To Node {2} {3}", agv.Name, SettingString.Move, nodeName,nodeInfo[i].GetState().ToString());
+                    log = string.Format("{0} {1} To Node {2} {3}", agv.Name, SettingString.Move, nodeName, NodeManager.GetState(i).ToString());
                 else
                 else
                     log = string.Format("{0} {1} To Node {2}", agv.Name, SettingString.Move, nodeName);
                     log = string.Format("{0} {1} To Node {2}", agv.Name, SettingString.Move, nodeName);
                 LogUtil.info(log);
                 LogUtil.info(log);
@@ -234,6 +222,141 @@ namespace DeviceLibrary
         }
         }
 
 
     }
     }
+    public class RunInfo
+    {
+        /// <summary>
+        /// AGV编号
+        /// </summary>
+        public string AGVNum { get; set; } = "";
+        /// <summary>
+        /// 任务名称
+        /// </summary>
+        public string TaskName { get; set; } = "";
+        /// <summary>
+        /// 目的地
+        /// </summary>
+        public string TargetPlace { get; set; } = "";
+        /// <summary>
+        /// 任务步骤
+        /// </summary>
+        public string TaskStep { get; set; } = "";
+        /// <summary>
+        /// 任务内容
+        /// </summary>
+        public string MissionInfo { get; set; } = "";
+        /// <summary>
+        /// 开始时间
+        /// </summary>
+        public string DateTime { get; set; } = "";
+        /// <summary>
+        /// 结束时间
+        /// </summary>
+        public string EndDateTime { get; set; } = "";
+        /// <summary>
+        /// 任务运行时长
+        /// </summary>
+        public string TaskRunTime { get; set; } = "";
+        /// <summary>
+        /// 类型
+        /// </summary>
+        public string Type { get; set; } = "Task";
+
+        public RunInfo(string AGVNum, string taskName, string targetPlace, string taskStep, string missionInfo, DateTime startTime)
+        {
+            //开始时间 2006-01-02 15:04:05
+            DateTime = startTime.ToString("yyyy-MM-dd HH:mm:ss");
+            EndDateTime = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
+            this.AGVNum = AGVNum;
+            MissionInfo = missionInfo;
+            TaskName = taskName;
+            TaskRunTime = (System.DateTime.Now - startTime).TotalMinutes.ToString("f2");
+            TargetPlace = targetPlace;
+            TaskStep = taskStep;
+        }
+        public RunInfo() { }
+        public override bool Equals(object obj)
+        {
+            if (obj is RunInfo)
+            {
+                RunInfo info = (RunInfo)obj;
+                if (this.MissionInfo.Equals(info.MissionInfo))
+                    return true;
+                this.MissionInfo = info.MissionInfo;
+            }
+            return false;
+        }
+        public override string ToString()
+        {
+            return JsonHelper.SerializeObject(this);
+        }
+    }
+
+    public class ErrorInfo
+    {
+
+        /// <summary>
+        /// AGV编号
+        /// </summary>
+        public string AGVNum
+        {
+            get { return agvname; }
+            set
+            {
+                agvname = value.PadLeft(4, '0');
+            }
+        }
+        private string agvname = "";
+        /// <summary>
+        /// 开始时间
+        /// </summary>
+        public string DateTime { get; set; } = "";
+        /// <summary>
+        /// 结束时间
+        /// </summary>
+        public string EndDateTime { get; set; } = "";
+        /// <summary>
+        /// 异常信息
+        /// </summary>
+        public string ErrorMsg { get; set; } = "";
+        public string ErrorLastTime { get; set; } = "";
+        /// <summary>
+        /// 任务名称
+        /// </summary>
+        public string TaskName { get; set; } = "";
+        /// <summary>
+        /// AGV的当前任务
+        /// </summary>
+        public string AGVMissionName { get; set; } = "";
+
+        public string MissionInfo { get; set; } = "";
+        /// <summary>
+        /// 目的地
+        /// </summary>
+        public string TargetPlace { get; set; } = "";
+        /// <summary>
+        /// 类型
+        /// </summary>
+        public string Type { get; set; } = "Error";
+        public ErrorInfo(Agv_Info agv)
+        {
+            DateTime = agv.errStartTime.ToString("yyyy-MM-dd HH:mm:ss");
+            AGVNum = agv.Name;
+            EndDateTime = System.DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
+            ErrorMsg = agv.ErrorMsg;
+            ErrorLastTime = (System.DateTime.Now - agv.errStartTime).TotalMinutes.ToString("f2");
+            if (agv.CurJob != null)
+            {
+                TaskName = agv.CurJob.JobName;
+                MissionInfo = agv.CurJob.runInfo;
+            }
+            AGVMissionName = agv.CurTaskName;
+            TargetPlace = agv.Place;
+        }
+        public override string ToString()
+        {
+            return JsonHelper.SerializeObject(this);
+        }
+    }
 
 
     public static class Window_API
     public static class Window_API
     {
     {

DeviceLibrary/Control.cs

@@ -23,7 +23,7 @@ namespace DeviceLibrary
         /// <summary>
         /// <summary>
         /// 限制区域
         /// 限制区域
         /// </summary>
         /// </summary>
-        public ScopeLimit limitArea;
+       public ScopeLimit limitArea;
 
 
         public Control()
         public Control()
         {
         {
@@ -85,13 +85,34 @@ namespace DeviceLibrary
                 {
                 {
                     if (!CheckOnline(i)) continue;
                     if (!CheckOnline(i)) continue;
                     bool change = false;
                     bool change = false;
+                    if (!CommonVar.agvInfo[i].AllocatingTask && CommonVar.agvInfo[i].IsUse && CommonVar.agvInfo[i].CurJob != null && CommonVar.agvInfo[i].CurTaskID.Equals(-1))
+                    {
+                        if (!MiR_API.Get_Fleet_Mission_Info(CommonVar.agvInfo[i]))
+                        {
+                            CommonVar.agvInfo[i].CurJob.ResendTask(CommonVar.agvInfo[i]);
+                            LogUtil.info($"{CommonVar.agvInfo[i].Name}：Task=-1处理,Fleet无任务,重发任务:{CommonVar.agvInfo[i].CurTaskName}");
+                        }
+                        else
+                        {
+                            LogUtil.info($"{CommonVar.agvInfo[i].Name}：Task=-1处理,Fleet有任务，手动赋值FleetTaskID={CommonVar.agvInfo[i].CurTaskID}");
+                        }
+                    }
                     MiR_API.Get_Task_State(CommonVar.agvInfo[i], out string stateStr);
                     MiR_API.Get_Task_State(CommonVar.agvInfo[i], out string stateStr);
                     Thread.Sleep(50);
                     Thread.Sleep(50);
                     //获取AGV状态
                     //获取AGV状态
                     rtn = MiR_API.Get_State(CommonVar.agvInfo[i], out eAGVState stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.AgvPosition position);
                     rtn = MiR_API.Get_State(CommonVar.agvInfo[i], out eAGVState stateID, out string stateText, out int battery, out string mission_text, out Agv_Info.AgvPosition position);
                     Thread.Sleep(50);
                     Thread.Sleep(50);
                     change = CommonVar.agvInfo[i].SetState(stateID, stateStr, battery, mission_text, position);
                     change = CommonVar.agvInfo[i].SetState(stateID, stateStr, battery, mission_text, position);
-
+                    if(CommonVar.agvInfo[i].TaskQueue.Count>0 && CommonVar.agvInfo[i].CurTaskID.Equals(-1))
+                    {
+                        if(CommonVar.agvInfo[i].IsCon)
+                        {
+                            if (CommonVar.agvInfo[i].TaskQueue.TryDequeue(out string taskname))
+                            {
+                                CommonVar.agvInfo[i].AssignTask(taskname);
+                            }
+                        }
+                    }
                     //更新状态stateID.Equals(eAGVState.Executing)
                     //更新状态stateID.Equals(eAGVState.Executing)
                     if (change)
                     if (change)
                     {
                     {

DeviceLibrary/DeviceLibrary.csproj

@@ -50,22 +50,18 @@
     <Reference Include="System.Xml" />
     <Reference Include="System.Xml" />
   </ItemGroup>
   </ItemGroup>
   <ItemGroup>
   <ItemGroup>
-    <Compile Include="AGVManager.cs" />
+    <Compile Include="manager\APIManager.cs" />
     <Compile Include="AgvServer.cs" />
     <Compile Include="AgvServer.cs" />
     <Compile Include="bean\Agv_Info.cs" />
     <Compile Include="bean\Agv_Info.cs" />
     <Compile Include="bean\Job.cs" />
     <Compile Include="bean\Job.cs" />
+    <Compile Include="bean\JobParam.cs" />
     <Compile Include="bean\JobStep.cs" />
     <Compile Include="bean\JobStep.cs" />
     <Compile Include="bean\JobType.cs" />
     <Compile Include="bean\JobType.cs" />
     <Compile Include="bean\jobType\ChargeJobType.cs" />
     <Compile Include="bean\jobType\ChargeJobType.cs" />
-    <Compile Include="bean\jobType\PackingJobType.cs" />
     <Compile Include="bean\jobType\ReelStringJobType.cs" />
     <Compile Include="bean\jobType\ReelStringJobType.cs" />
     <Compile Include="bean\jobType\ReturnJobType.cs" />
     <Compile Include="bean\jobType\ReturnJobType.cs" />
     <Compile Include="bean\job\ChargeJob.cs" />
     <Compile Include="bean\job\ChargeJob.cs" />
-    <Compile Include="bean\job\EnterLeaveShelfJob.cs" />
     <Compile Include="bean\job\GetShelfJob.cs" />
     <Compile Include="bean\job\GetShelfJob.cs" />
-    <Compile Include="bean\job\PackingJob_GetShelf.cs" />
-    <Compile Include="bean\job\PackingJob_SendShelf.cs" />
-    <Compile Include="bean\job\PackingJob_TransferShelf.cs" />
     <Compile Include="bean\job\RecycleEmptyShelf.cs" />
     <Compile Include="bean\job\RecycleEmptyShelf.cs" />
     <Compile Include="bean\job\SendShelfJob.cs" />
     <Compile Include="bean\job\SendShelfJob.cs" />
     <Compile Include="bean\job\StandyJob.cs" />
     <Compile Include="bean\job\StandyJob.cs" />
@@ -76,6 +72,7 @@
     <Compile Include="Control.cs" />
     <Compile Include="Control.cs" />
     <Compile Include="DisplayBoard.cs" />
     <Compile Include="DisplayBoard.cs" />
     <Compile Include="bean\MiR_API.cs" />
     <Compile Include="bean\MiR_API.cs" />
+    <Compile Include="manager\NodeManager.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="ScopeLimit.cs" />
     <Compile Include="ScopeLimit.cs" />
     <Compile Include="Standby.cs" />
     <Compile Include="Standby.cs" />

DeviceLibrary/DisplayBoard.cs

@@ -40,7 +40,7 @@ namespace DeviceLibrary
         {
         {
             if (MsgList != null && MsgList.Count > 0)
             if (MsgList != null && MsgList.Count > 0)
             {
             {
-                AGVManager.updateDeviceAlarmMsg(MsgList);
+                APIManager.updateDeviceAlarmMsg(MsgList);
                 ClearAlram();
                 ClearAlram();
             }
             }
 
 

DeviceLibrary/ScopeLimit.cs

@@ -36,9 +36,9 @@ namespace DeviceLibrary
                 "10.85.199.114"
                 "10.85.199.114"
             });
             });
             this.positions = positions;
             this.positions = positions;
-            threadPoll = new Thread(ScopeDetecting);
-            threadPoll.IsBackground = true;
-            threadPoll.Start();
+            //threadPoll = new Thread(ScopeDetecting);
+            //threadPoll.IsBackground = true;
+            //threadPoll.Start();
         }
         }
         private void ScopeDetecting()
         private void ScopeDetecting()
         {
         {

DeviceLibrary/bean/Agv_Info.cs

 using System;
 using System;
+using System.Collections.Concurrent;
 using System.Collections.Generic;
 using System.Collections.Generic;
 using System.Linq;
 using System.Linq;
 using Common;
 using Common;
@@ -130,21 +131,37 @@ namespace DeviceLibrary
         public Job CurJob { get; set; }
         public Job CurJob { get; set; }
 
 
         /// <summary>
         /// <summary>
-        /// 当前任务的ID号
+        /// 当前AGV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>
-        /// 当前任务名称
+        /// 当前AGV任务名称
         /// </summary>
         /// </summary>
-        public string CurTaskName { get; set; }
+        public string CurTaskName { get; set; } = "";
 
 
         /// <summary>
         /// <summary>
-        /// 当前任务的GUID
+        /// 当前SGV任务的GUID
         /// </summary>
         /// </summary>
         public string CurTaskGUID { get; set; }
         public string CurTaskGUID { get; set; }
         /// <summary>
         /// <summary>
+        /// 错误消息
+        /// </summary>
+        public string ErrorMsg { get; set; } = "";
+        public string ErrorLastTime { get; set; } = "";
+        /// <summary>
+        /// 任务期间是否有错误
+        /// </summary>
+        public bool HasError { get; set; } = false;
+        /// <summary>
         /// 看板信息
         /// 看板信息
         /// </summary>
         /// </summary>
         private DisplayBoard displayBoard;
         private DisplayBoard displayBoard;
@@ -185,8 +202,8 @@ namespace DeviceLibrary
             Msg = "";
             Msg = "";
             Position = new Agv_Info.AgvPosition();
             Position = new Agv_Info.AgvPosition();
             displayBoard = new DisplayBoard();
             displayBoard = new DisplayBoard();
-            RunInfos = new List<string>() { "状态","目的地", "RFID", "负载", "运行模式","任务信息", "AGV运行信息" };
-
+            RunInfos = new List<string>() { "状态", "目的地", "RFID", "负载", "运行模式", "任务信息", "AGV运行信息" };
+            TaskQueue = new ConcurrentQueue<string>();
             StateKanban = new AGV_UI.Status(name, RunInfos);
             StateKanban = new AGV_UI.Status(name, RunInfos);
         }
         }
         public List<string> RunInfos;
         public List<string> RunInfos;
@@ -197,6 +214,8 @@ namespace DeviceLibrary
         int OfflineLastTimeSeconds = 30;
         int OfflineLastTimeSeconds = 30;
         DateTime standStartTime = DateTime.MaxValue;
         DateTime standStartTime = DateTime.MaxValue;
         DateTime offlineStartTime = DateTime.MaxValue;
         DateTime offlineStartTime = DateTime.MaxValue;
+        DateTime agvErrorStartTime = DateTime.MaxValue;
+        bool errorState = false;
         /// <summary>
         /// <summary>
         /// 设置状态
         /// 设置状态
         /// </summary>
         /// </summary>
@@ -241,7 +260,7 @@ namespace DeviceLibrary
             if (!StateID.Equals(stateID) || !CurTaskState.Equals(stateText) || !Battery.Equals(battery)
             if (!StateID.Equals(stateID) || !CurTaskState.Equals(stateText) || !Battery.Equals(battery)
                  || !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState))
                  || !MissionText.Equals(missionText) || !IsExistShelf.Equals(preShelfState))
                 isChange = true;
                 isChange = true;
-            if(!StateID.Equals(stateID))
+            if (!StateID.Equals(stateID))
             {
             {
                 StateID = stateID;
                 StateID = stateID;
                 StateKanban.ShowInfo("状态", stateID.ToString());
                 StateKanban.ShowInfo("状态", stateID.ToString());
@@ -259,15 +278,15 @@ namespace DeviceLibrary
                 StateKanban.SetBattery(battery);
                 StateKanban.SetBattery(battery);
             }
             }
             //"目的地", "RFID", "负载", "运行模式","任务信息", "AGV运行信息" 
             //"目的地", "RFID", "负载", "运行模式","任务信息", "AGV运行信息" 
-            if (CommonVar.nodeInfo != null && CommonVar.nodeInfo.Count != 0)
+            if (NodeManager.nodeInfo != null && NodeManager.nodeInfo.Count != 0)
             {
             {
-                ClientNode node = CommonVar.nodeInfo.Find(ss => ss.Name == Place);
+                ClientNode node = NodeManager.nodeInfo.Find(ss => ss.Name == Place);
                 if (node != null)
                 if (node != null)
                     PlaceAliceName = node.AliceName;
                     PlaceAliceName = node.AliceName;
                 else
                 else
                     PlaceAliceName = Place;
                     PlaceAliceName = Place;
             }
             }
-            
+
             StateKanban.ShowInfo("目的地", PlaceAliceName);
             StateKanban.ShowInfo("目的地", PlaceAliceName);
             StateKanban.ShowInfo("RFID", RFID);
             StateKanban.ShowInfo("RFID", RFID);
             if (!IsExistShelf.Equals(preShelfState))
             if (!IsExistShelf.Equals(preShelfState))
@@ -282,7 +301,7 @@ namespace DeviceLibrary
                 MissionText = missionText;
                 MissionText = missionText;
                 StateKanban.ShowInfo("AGV运行信息", missionText);
                 StateKanban.ShowInfo("AGV运行信息", missionText);
             }
             }
-
+            CheckErrorState();
             CheckOfflineTimeOut();
             CheckOfflineTimeOut();
             CheckStandTimeOut(position);
             CheckStandTimeOut(position);
             UpdateDisplayBoard();
             UpdateDisplayBoard();
@@ -299,33 +318,65 @@ namespace DeviceLibrary
         {
         {
             displayBoard.Add(name, "Agv." + Name + "." + key, value, type);
             displayBoard.Add(name, "Agv." + Name + "." + key, value, type);
         }
         }
+
+        public void SetErrorMsg(string msg, string lastTime)
+        {
+            if (ErrorMsg.Equals(""))
+            {
+                ErrorMsg = msg;
+                ErrorLastTime = lastTime;
+                errStartTime = DateTime.Now;
+            }
+        }
+        public void ClearErrorMsg()
+        {
+            ErrorLastTime = "";
+            ErrorMsg = "";
+        }
+        public DateTime errStartTime=DateTime.Now;
         private void UpdateDisplayBoard()
         private void UpdateDisplayBoard()
         {
         {
             bool isAlarm = false;
             bool isAlarm = false;
             try
             try
             {
             {
-                int nodeIdx = CommonVar.FindNode(SettingString.D24_Out);
+                int nodeIdx = NodeManager.FindNode(SettingString.D24_Out);
                 if (nodeIdx > -1)
                 if (nodeIdx > -1)
-                    displayBoard.Add("退料线出口状态", "doubleLine.ReturnLine", CommonVar.nodeInfo[nodeIdx].GetState().ToString(), 1);
+                    displayBoard.Add("退料线出口状态", "doubleLine.ReturnLine", NodeManager.nodeInfo[nodeIdx].GetState().ToString(), 1);
                 if (offlineTimeOut)
                 if (offlineTimeOut)
                 {
                 {
                     isAlarm = true;
                     isAlarm = true;
+                    SetErrorMsg("在" + PlaceAliceName + "离线", (DateTime.Now - offlineStartTime).TotalMinutes.ToString("f2"));
                     displayBoard.Add(Name, "lineAgv." + Name + ".Msg", "在" + PlaceAliceName + "离线" + (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2") + "秒");
                     displayBoard.Add(Name, "lineAgv." + Name + ".Msg", "在" + PlaceAliceName + "离线" + (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2") + "秒");
                 }
                 }
                 else if (standTimeOut)
                 else if (standTimeOut)
                 {
                 {
                     isAlarm = true;
                     isAlarm = true;
+                    SetErrorMsg("在" + PlaceAliceName + "停留超时", (DateTime.Now - standStartTime).TotalMinutes.ToString("f2"));
                     displayBoard.Add(Name, "lineAgv." + Name + ".Msg", "在" + PlaceAliceName + "停留超时" + (DateTime.Now - standStartTime).TotalMinutes.ToString("f2") + "分钟");
                     displayBoard.Add(Name, "lineAgv." + Name + ".Msg", "在" + PlaceAliceName + "停留超时" + (DateTime.Now - standStartTime).TotalMinutes.ToString("f2") + "分钟");
                 }
                 }
-                else if (StateID.Equals(eAGVState.Error) || StateID.Equals(eAGVState.EmergencyStop) || StateID.Equals(eAGVState.Pause))
+                else if (errorState)//StateID.Equals(eAGVState.Error) || StateID.Equals(eAGVState.EmergencyStop) || StateID.Equals(eAGVState.Pause)
                 {
                 {
                     isAlarm = true;
                     isAlarm = true;
+                    SetErrorMsg("状态:" + StateID.ToString(), (DateTime.Now - agvErrorStartTime).TotalMinutes.ToString("f2"));
                     displayBoard.Add(Name, "lineAgv." + Name + ".Msg", "状态:" + StateID.ToString());
                     displayBoard.Add(Name, "lineAgv." + Name + ".Msg", "状态:" + StateID.ToString());
                 }
                 }
+                else if (HasError)
+                {
+                    isAlarm = true;
+                    displayBoard.Add(Name, "lineAgv." + Name + ".Msg", Msg);
+                }
+
                 if (!isAlarm)
                 if (!isAlarm)
                 {
                 {
+                    if(!ErrorMsg.Equals(""))//异常消除后正常，打印异常
+                    {
+                        CommonVar.ErrorLogRecord(new ErrorInfo(this));
+                        ClearErrorMsg();
+                    }
                     if (!Msg.Equals(""))
                     if (!Msg.Equals(""))
+                    {
                         displayBoard.Add(Name, "lineAgv." + Name + ".Msg", Msg, 1);
                         displayBoard.Add(Name, "lineAgv." + Name + ".Msg", Msg, 1);
+                    }
                     else
                     else
                     {
                     {
                         if ((Place.Contains(SettingString.AutoCharge) || Place.Contains(SettingString.Standby)))
                         if ((Place.Contains(SettingString.AutoCharge) || Place.Contains(SettingString.Standby)))
@@ -333,9 +384,8 @@ namespace DeviceLibrary
                             displayBoard.Add(Name, "lineAgv." + Name + ".Place", Place, 1);
                             displayBoard.Add(Name, "lineAgv." + Name + ".Place", Place, 1);
                         }
                         }
                     }
                     }
-
-
                 }
                 }
+
                 displayBoard.UpdateAlarmMsg();
                 displayBoard.UpdateAlarmMsg();
             }
             }
             catch (Exception ex)
             catch (Exception ex)
@@ -343,6 +393,7 @@ namespace DeviceLibrary
                 LogUtil.error(Name + "上报小车信息失败" + ex.Message + ex.StackTrace);
                 LogUtil.error(Name + "上报小车信息失败" + ex.Message + ex.StackTrace);
             }
             }
         }
         }
+
         /// <summary>
         /// <summary>
         /// 检查小车是否离线超时
         /// 检查小车是否离线超时
         /// </summary>
         /// </summary>
@@ -364,7 +415,31 @@ namespace DeviceLibrary
                 offlineTimeOut = false;
                 offlineTimeOut = false;
                 if ((DateTime.Now - offlineStartTime).TotalSeconds > OfflineLastTimeSeconds)
                 if ((DateTime.Now - offlineStartTime).TotalSeconds > OfflineLastTimeSeconds)
                     //LogUtil.error(string.Format("{0} 在{1}离线{2}秒", Name, PlaceAliceName, (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2")));
                     //LogUtil.error(string.Format("{0} 在{1}离线{2}秒", Name, PlaceAliceName, (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2")));
-                offlineStartTime = DateTime.Now;
+                    offlineStartTime = DateTime.Now;
+            }
+        }
+        /// <summary>
+        /// 检查小车是否报错
+        /// </summary>
+        /// <returns></returns>
+        private void CheckErrorState()
+        {
+
+            if (StateID.Equals(eAGVState.Error) || StateID.Equals(eAGVState.EmergencyStop) || StateID.Equals(eAGVState.Pause))
+            {
+                //满足条件，计算持续时间
+                if (agvErrorStartTime == DateTime.MaxValue)
+                {
+                    agvErrorStartTime = DateTime.Now;
+                }
+                TimeSpan lastTimeSpan = DateTime.Now - agvErrorStartTime;
+                errorState = (lastTimeSpan.TotalSeconds >= OfflineLastTimeSeconds);
+            }
+            else
+            {
+                errorState = false;
+                if ((DateTime.Now - agvErrorStartTime).TotalSeconds > OfflineLastTimeSeconds)
+                    agvErrorStartTime = DateTime.Now;
             }
             }
         }
         }
         /// <summary>
         /// <summary>
@@ -406,42 +481,17 @@ namespace DeviceLibrary
             }
             }
             Position = position;
             Position = position;
         }
         }
-
-        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
-            List<string> s = new List<string>();
-            s.Add(Name);
-            s.Add(IP);
-            s.Add(StateID.ToString());
-            s.Add(CurTaskID.ToString());
-            s.Add(CurTaskName);
-            s.Add(CurTaskState);
-            //s.Add(Msg);
-            // s.Add(MissionText);
-            if (CommonVar.nodeInfo != null && CommonVar.nodeInfo.Count != 0)
-            {
-                ClientNode node = CommonVar.nodeInfo.Find(ss => ss.Name == Place);
-                if (node != null)
-                    PlaceAliceName = node.AliceName;
-                else
-                    PlaceAliceName = Place;
-            }
-            s.Add(PlaceAliceName);
-            s.Add(IsExistShelf ? "满载" : "空载");
-            s.Add(IsCon ? "在线" : "离线");
-            s.Add(Battery + "%");
-            s.Add(IsUse ? "是" : "否");
-
-            return s.ToArray();
-        }
-
+        /// <summary>
+        /// 任务队列
+        /// </summary>
+        public ConcurrentQueue<string> TaskQueue;
         /// <summary>
         /// <summary>
         /// 给小车分配任务
         /// 给小车分配任务
         /// </summary>
         /// </summary>
         public bool AssignTask(string taskName)
         public bool AssignTask(string taskName)
         {
         {
-            bool rtn=false;
+            bool rtn = false;
+            DeleteAllTask();
             if (Use_Fleet)
             if (Use_Fleet)
             {
             {
                 rtn = MiR_API.Add_Mission_Fleet(this, CommonVar.agvMission[taskName]);
                 rtn = MiR_API.Add_Mission_Fleet(this, CommonVar.agvMission[taskName]);
@@ -456,9 +506,10 @@ namespace DeviceLibrary
             }
             }
             else
             else
             {
             {
+                TaskQueue.Enqueue(taskName);
                 LogUtil.info(string.Format("{0} 分配{1}任务失败", Name, taskName));
                 LogUtil.info(string.Format("{0} 分配{1}任务失败", Name, taskName));
             }
             }
-            StateKanban.SetCurTask(CommonVar.showNameMissionName[taskName]);
+            StateKanban.SetCurTask(CommonVar.showNameMissionName[taskName]+"\r\n"+CurTaskID);
             MiR_API.State_Ready(this);
             MiR_API.State_Ready(this);
             return rtn;
             return rtn;
         }
         }
@@ -470,7 +521,8 @@ namespace DeviceLibrary
         {
         {
             if (Use_Fleet)
             if (Use_Fleet)
             {
             {
-                MiR_API.Del_Mission_Fleet(this, id);
+                //MiR_API.Del_Mission_Fleet(this, id);
+                MiR_API.Del_Mission(this);
             }
             }
             else
             else
             {
             {

DeviceLibrary/bean/Job.cs

 using Common;
 using Common;
+using System;
+
 namespace DeviceLibrary
 namespace DeviceLibrary
 {
 {
     public abstract class Job
     public abstract class Job
@@ -12,13 +14,13 @@ namespace DeviceLibrary
         /// 运行信息
         /// 运行信息
         /// </summary>
         /// </summary>
         public abstract string RunInfo { get; }
         public abstract string RunInfo { get; }
+        public string runInfo = "";
         /// <summary>
         /// <summary>
         /// 根据任务状态继续执行任务
         /// 根据任务状态继续执行任务
         /// </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>
         /// 当前的任务名称（与任务GUID对应）
         /// 当前的任务名称（与任务GUID对应）
         /// </summary>
         /// </summary>
@@ -27,7 +29,19 @@ namespace DeviceLibrary
         /// 当前任务的执行状态
         /// 当前任务的执行状态
         /// </summary>
         /// </summary>
         public string CurTaskState { get; set; } = "Wait";
         public string CurTaskState { get; set; } = "Wait";
+        /// <summary>
+        /// Job开始时间
+        /// </summary>
+        public DateTime StartJobTime { get; set; } = DateTime.Now;
+        /// <summary>
+        /// Job名称
+        /// </summary>
+        public string JobName { get; set; } = "";
 
 
+        protected void RecordRunLog(Agv_Info agv,string JobStep,string runInfo,string targetPlace)
+        {
+           CommonVar.RunLogInfo(new RunInfo(agv.Name.PadLeft(4, '0'), JobName, targetPlace, JobStep, runInfo, StartJobTime));
+        }
         /// <summary>
         /// <summary>
         /// 更新任务信息
         /// 更新任务信息
         /// </summary>
         /// </summary>
@@ -40,6 +54,8 @@ namespace DeviceLibrary
             //CurTaskState = SettingString.Wait;
             //CurTaskState = SettingString.Wait;
             CurTaskState = CommonVar.GetTakJobState(agv);
             CurTaskState = CommonVar.GetTakJobState(agv);
         }
         }
+
+
         /// <summary>
         /// <summary>
         /// 任务重发
         /// 任务重发
         /// </summary>
         /// </summary>

DeviceLibrary/bean/JobParam.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary
+{
+    public class JobParam
+    {
+
+    }
+}

DeviceLibrary/bean/JobStep.cs

@@ -23,14 +23,14 @@ namespace DeviceLibrary
                     //不为空，且与上一个消息不一样才打印
                     //不为空，且与上一个消息不一样才打印
                     if (!value.Equals(msg))
                     if (!value.Equals(msg))
                     {
                     {
-                        LogUtil.info(value);
+                       // LogUtil.info(value);
                     }
                     }
                 }
                 }
                 msg = value;
                 msg = value;
             }
             }
 
 
         }
         }
-        private DateTime startTime = DateTime.Now;
+        public DateTime startTime = DateTime.Now;
 
 
         public JobStep(T initStep)
         public JobStep(T initStep)
         {
         {
@@ -54,13 +54,11 @@ namespace DeviceLibrary
         /// </summary>
         /// </summary>
         /// <param name="timeOutMilliseconds"></param>
         /// <param name="timeOutMilliseconds"></param>
         /// <returns></returns>
         /// <returns></returns>
-        public bool IsTimeOut(int timeOutMilliseconds,out double timeOutValue)
+        public bool IsTimeOut(int timeOutMilliseconds,out TimeSpan span)
         {
         {
-            timeOutValue = 0;
-            TimeSpan span = DateTime.Now - startTime;
+            span = DateTime.Now - startTime;
             if (span.TotalMilliseconds > timeOutMilliseconds)
             if (span.TotalMilliseconds > timeOutMilliseconds)
             {
             {
-                timeOutValue = span.TotalSeconds;
                 return true;
                 return true;
             }
             }
             return false;
             return false;

DeviceLibrary/bean/MiR_API.cs

@@ -237,68 +237,170 @@ namespace DeviceLibrary
                 return false;
                 return false;
             }
             }
         }
         }
-
-        /// <summary>
-        /// 添加任务到FLEET任务队列
-        /// </summary>
-        /// <param name="info"></param>
-        /// <param name="mission_id"></param>
-        /// <returns></returns>
         public static bool Add_Mission_Fleet(Agv_Info info, string mission_id, bool isRemovePreMission = true)
         public static bool Add_Mission_Fleet(Agv_Info info, string mission_id, bool isRemovePreMission = true)
         {
         {
             try
             try
             {
             {
-
+                info.AllocatingTask = true;
                 info.CurTaskID = -1;
                 info.CurTaskID = -1;
-                info.CurTaskGUID = "";
-                info.CurTaskState = SettingString.Wait;
+                info.TimeStamp = "";
+                info.CurTaskGUID = mission_id;
                 var key = CommonVar.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
                 var key = CommonVar.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
                 info.CurTaskName = key.ToList()[0];
                 info.CurTaskName = key.ToList()[0];
+                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);
-
+                System.DateTime startTime = TimeZone.CurrentTimeZone.ToLocalTime(new System.DateTime(1970, 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.Fleet_IP + "}";
+                //string body = "{\"mission_id\":\"" + mission_id + "\",\"robot_id\":" + info.ID + "}";
+                string body = "{\"mission_id\":\"" + mission_id + "\",\"robot_id\":" + info.Fleet_IP + ",\"description\":\"" + $"{info.CurTaskName}-{info.TimeStamp}-{info.Fleet_IP}" + "\"}";
                 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;
                 }
                 }
-
-                log.Info("URL: " + url + "\n" + "Return: " + json);
+                //log.Info("URL: " + url + "\n" + "Return: " + json);
                 string s = dic["mission_id"].ToString();
                 string s = dic["mission_id"].ToString();
                 string id = dic["id"].ToString();
                 string id = dic["id"].ToString();
                 if (s == mission_id)
                 if (s == mission_id)
                 {
                 {
                     try
                     try
                     {
                     {
-                        info.CurTaskID = Convert.ToInt32(id);
-                        info.CurTaskGUID = mission_id;
+                        info.CurTaskID = Convert.ToInt64(id);
                         log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
                         log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
                     }
                     }
                     catch
                     catch
                     {
                     {
                         log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, mission_id));
                         log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, mission_id));
-                        info.CurTaskName = "";
                     }
                     }
+                    info.AllocatingTask = false;
                     return true;
                     return true;
                 }
                 }
                 else
                 else
+                {
+                    info.AllocatingTask = false;
                     return false;
                     return false;
+                }
             }
             }
             catch (Exception ex)
             catch (Exception ex)
             {
             {
                 log.Error("Add_Mission_Fleet", ex);
                 log.Error("Add_Mission_Fleet", ex);
+                info.AllocatingTask = false;
                 return false;
                 return false;
             }
             }
         }
         }
+        /// <summary>
+        /// 添加任务到FLEET任务队列
+        /// </summary>
+        /// <param name="info"></param>
+        /// <param name="mission_id"></param>
+        /// <returns></returns>
+        //public static bool Add_Mission_Fleet(Agv_Info info, string mission_id, bool isRemovePreMission = true)
+        //{
+        //    try
+        //    {
+
+        //        info.CurTaskID = -1;
+        //        info.CurTaskGUID = "";
+        //        info.CurTaskState = SettingString.Wait;
+        //        var key = CommonVar.agvMission.Where(qq => qq.Value == mission_id).Select(qq => qq.Key);
+        //        info.CurTaskName = key.ToList()[0];
+        //        //防止上一个任务已执行但返回失败时，删除任务
+        //        Del_Mission(info);
+
+        //        string ip = AppConfigHelper.GetValue(SettingString.FLEET);
+        //        string url = "http://" + ip + "/api/v2.0.0/mission_scheduler";
+        //        string body = "{\"mission_id\":\"" + mission_id + "\",\"robot_id\":" + info.Fleet_IP + "}";
+        //        string json = HttpPost(url, info.IP, info.Authorization, body);
+        //        if (string.IsNullOrWhiteSpace(json)) return false;
+
+        //        JavaScriptSerializer serializer = new JavaScriptSerializer();
+        //        Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
+        //        if (dic == null)
+        //        {
+        //            return false;
+        //        }
+
+        //        log.Info("URL: " + url + "\n" + "Return: " + json);
+        //        string s = dic["mission_id"].ToString();
+        //        string id = dic["id"].ToString();
+        //        if (s == mission_id)
+        //        {
+        //            try
+        //            {
+        //                info.CurTaskID = Convert.ToInt32(id);
+        //                info.CurTaskGUID = mission_id;
+        //                log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, key.ToList()[0]));
+        //            }
+        //            catch
+        //            {
+        //                log.Info(string.Format("{0} Add_Mission_Fleet [{1}]", info.Name, mission_id));
+        //                info.CurTaskName = "";
+        //            }
+        //            return true;
+        //        }
+        //        else
+        //            return false;
+        //    }
+        //    catch (Exception ex)
+        //    {
+        //        log.Error("Add_Mission_Fleet", ex);
+        //        return false;
+        //    }
+        //}
+
 
 
         /// <summary>
         /// <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.CurTaskName + "-" + info.TimeStamp + "-" + info.Fleet_IP + "\"}]}";
+                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>
         /// 获取所有任务列表
         /// 获取所有任务列表
         /// </summary>
         /// </summary>
         /// <param name="info"></param>
         /// <param name="info"></param>
@@ -720,8 +822,7 @@ namespace DeviceLibrary
             string s = response.Content;
             string s = response.Content;
             s = s.Replace("\n", "");
             s = s.Replace("\n", "");
             s = s.Replace(" ", "");
             s = s.Replace(" ", "");
-            if (IsDebug)
-                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

 using Common;
 using Common;
+using System;
 
 
 namespace DeviceLibrary
 namespace DeviceLibrary
 {
 {
@@ -14,24 +15,21 @@ namespace DeviceLibrary
         public ChargeJob(string agvPlae)
         public ChargeJob(string agvPlae)
         {
         {
             this.agvPlace = agvPlae;
             this.agvPlace = agvPlae;
+            StartJobTime = DateTime.Now;
         }
         }
-
-
         /// <summary>
         /// <summary>
         /// 接收任务时，agv的位置
         /// 接收任务时，agv的位置
         /// </summary>
         /// </summary>
         private string agvPlace = "";
         private string agvPlace = "";
 
 
-        private string runInfo = "";
         /// <summary>
         /// <summary>
         /// 运行信息
         /// 运行信息
         /// </summary>
         /// </summary>
         public override string RunInfo
         public override string RunInfo
         {
         {
-            get { return string.Format("充电任务:{0}", runInfo); }
+            get { return string.Format("{0}", runInfo); }
         }
         }
-
-        private JobStep<CHARGE_STEP> ChargeStep = new JobStep<CHARGE_STEP>(CHARGE_STEP.NONE);
+        private JobStep<CHARGE_STEP> curJobStep = new JobStep<CHARGE_STEP>(CHARGE_STEP.NONE);
 
 
         /// <summary>
         /// <summary>
         /// 空车返回执行
         /// 空车返回执行
@@ -39,19 +37,21 @@ namespace DeviceLibrary
         /// <param name="agv"></param>
         /// <param name="agv"></param>
         public override Job Execute(Agv_Info agv)
         public override Job Execute(Agv_Info agv)
         {
         {
-            string msg = agv.Name + " ";
+            string msg = "";
             bool rtn = false;
             bool rtn = false;
-            agv.Msg = RunInfo;
-
+            agv.Msg = runInfo;
+            JobName = "充电任务";
+            StartJobTime = curJobStep.startTime;
             CurTaskState = CommonVar.GetTakJobState(agv);
             CurTaskState = CommonVar.GetTakJobState(agv);
-            if (ChargeStep.IsStep(CHARGE_STEP.NONE))
+            if (curJobStep.IsStep(CHARGE_STEP.NONE))
             {
             {
+                agv.HasError = false;
                 if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
                 if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
                 {
                 {
-                    ChargeStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_3D_DOOR);
+                    curJobStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_3D_DOOR);
                     runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],从当前位置" + agvPlace + "回到充电位，先到3D门";
                     runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],从当前位置" + agvPlace + "回到充电位，先到3D门";
                     msg += runInfo;
                     msg += runInfo;
-                    ChargeStep.Msg = msg;
+                    curJobStep.Msg = msg;
 
 
                     CommonVar.DoorMission(agv, SettingString.DoorCToD);
                     CommonVar.DoorMission(agv, SettingString.DoorCToD);
                      UpdateJobTaskInfo(agv);
                      UpdateJobTaskInfo(agv);
@@ -63,21 +63,22 @@ namespace DeviceLibrary
                     {
                     {
                         runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],由于充电桩有小车，从当前位置" + agvPlace + "回到待机位";
                         runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],由于充电桩有小车，从当前位置" + agvPlace + "回到待机位";
                         msg += runInfo;
                         msg += runInfo;
-                        ChargeStep.Msg = msg;
+                        curJobStep.Msg = msg;
+                        RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
                         return new StandyJob(agv.Place);
                         return new StandyJob(agv.Place);
                     }
                     }
                     else
                     else
                     {
                     {
-                        ChargeStep.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[" + CommonVar.Charge.BatteryMax + "%],从当前位置" + agvPlace + "去到充电位";
                         runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],从当前位置" + agvPlace + "去到充电位";
                         msg += runInfo;
                         msg += runInfo;
-                        ChargeStep.Msg = msg;
+                        curJobStep.Msg = msg;
                          UpdateJobTaskInfo(agv);
                          UpdateJobTaskInfo(agv);
                     }
                     }
                 }
                 }
             }
             }
 
 
-            else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_3D_DOOR))
+            else if (curJobStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_3D_DOOR))
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
                 {
                 {
@@ -85,7 +86,8 @@ namespace DeviceLibrary
                     {
                     {
                         runInfo = "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "去到待机位";
                         runInfo = "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "去到待机位";
                         msg += runInfo;
                         msg += runInfo;
-                        ChargeStep.Msg = msg;
+                        curJobStep.Msg = msg;
+                        RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
                         return new StandyJob(agv.Place);
                         return new StandyJob(agv.Place);
                     }
                     }
                     else
                     else
@@ -94,40 +96,42 @@ namespace DeviceLibrary
                         {
                         {
                             runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.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[" + CommonVar.Charge.BatteryMax + "%],充电桩有小车，从当前位置" + agvPlace + "回到待机位";
                             msg += runInfo;
                             msg += runInfo;
-                            ChargeStep.Msg = msg;
-
+                            curJobStep.Msg = msg;
+                            RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
                             return new StandyJob(agv.Place);
                             return new StandyJob(agv.Place);
                         }
                         }
                         else
                         else
                         {
                         {
-                            ChargeStep.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[" + CommonVar.Charge.BatteryMax + "%],从当前位置" + agvPlace + "去到充电位";
                             runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],从当前位置" + agvPlace + "去到充电位";
                             msg += runInfo;
                             msg += runInfo;
-                            ChargeStep.Msg = msg;
+                            curJobStep.Msg = msg;
                              UpdateJobTaskInfo(agv);
                              UpdateJobTaskInfo(agv);
                         }
                         }
                     }
                     }
 
 
                 }
                 }
             }
             }
-            else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION))
+            else if (curJobStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION))
             {
             {
                 if (CommonVar.CheckTaskFinished(agv, CurTaskName))
                 if (CommonVar.CheckTaskFinished(agv, CurTaskName))
                 {
                 {
-                    ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
+                    curJobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
                     runInfo = "充电任务分配完成，去充电且等待任务";
                     runInfo = "充电任务分配完成，去充电且等待任务";
                     msg += runInfo;
                     msg += runInfo;
-                    ChargeStep.Msg = msg;
+                    curJobStep.Msg = msg;
                 }
                 }
             }
             }
-            else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK))
+            else if (curJobStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK))
             {
             {
                 if (agv.Battery > CommonVar.Charge.BatteryMax)
                 if (agv.Battery > CommonVar.Charge.BatteryMax)
                 {
                 {
                     runInfo = "充电完成，回待机位";
                     runInfo = "充电完成，回待机位";
                     msg += runInfo;
                     msg += runInfo;
-                    ChargeStep.Msg = msg;
+                    curJobStep.Msg = msg;
                     CommonVar.Charge.DelOccupyInfoByAGV(agv);
                     CommonVar.Charge.DelOccupyInfoByAGV(agv);
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
                     return new StandyJob(agv.Place);
                     return new StandyJob(agv.Place);
                 }
                 }
                 else if(agv.Battery > CommonVar.Charge.BatteryMin)
                 else if(agv.Battery > CommonVar.Charge.BatteryMin)
@@ -137,14 +141,15 @@ namespace DeviceLibrary
                     {
                     {
                         runInfo = "在充电位检测到任务，电量[" + agv.Battery + " %]大于最小电量[" + CommonVar.Charge.BatteryMin + " %],可执行任务";
                         runInfo = "在充电位检测到任务，电量[" + agv.Battery + " %]大于最小电量[" + CommonVar.Charge.BatteryMin + " %],可执行任务";
                         msg += runInfo;
                         msg += runInfo;
-                        ChargeStep.Msg = msg;
+                        curJobStep.Msg = msg;
                         CommonVar.Charge.DelOccupyInfoByAGV(agv);
                         CommonVar.Charge.DelOccupyInfoByAGV(agv);
+                        RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
                         return job;
                         return job;
                     }
                     }
                 }
                 }
 
 
             }
             }
-            else if (ChargeStep.IsStep(CHARGE_STEP.END))
+            else if (curJobStep.IsStep(CHARGE_STEP.END))
             {
             {
             }
             }
             return this;
             return this;

DeviceLibrary/bean/job/EnterLeaveShelfJob.cs

-using System.Threading.Tasks;
-
-namespace DeviceLibrary
-{
-    /// <summary>
-    /// 小车进出料类型
-    /// </summary>
-    public enum eEnterLeaveType
-    {
-        /// <summary>
-        /// 小车进料
-        /// </summary>
-        Enter,
-        /// <summary>
-        /// 小车出料
-        /// </summary>
-        Leave,
-    }
-
-    /// <summary>
-    /// 进出料任务
-    /// </summary>
-    public class EnterLeaveShelfJob : Job
-    {
-        /// <summary>
-        ///  进出料任务
-        /// </summary>
-        /// <param name="curNode">位置点</param>
-        /// <param name="rfid">RFID</param>
-        public EnterLeaveShelfJob(ClientNode curNode, eEnterLeaveType type,string rfid="")
-        {
-            CurNode = curNode;
-            RFID = rfid;
-            ActionType = type;
-            runInfo = type.Equals(eEnterLeaveType.Enter) ? "小车进料任务:" : "小车出料任务:" +curNode.AliceName+" ";
-        }
-
-        /// <summary>
-        /// 位置点信息
-        /// </summary>
-        public ClientNode CurNode { get; set; }
-
-        public string RFID { get; set; }
-        /// <summary>
-        /// 动作类型
-        /// </summary>
-        public eEnterLeaveType ActionType { get; set; }
-
-        private string runInfo;
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public override string RunInfo
-        {
-            get { return runInfo; }
-        }
-
-
-        private JobStep<ENTER_LEAVE_SHELF_STEP> EnterLeaveShelfStep = new JobStep<ENTER_LEAVE_SHELF_STEP>(ENTER_LEAVE_SHELF_STEP.NONE);
-
-        public override Job Execute(Agv_Info agv)
-        {
-            string msg = agv.Name+ " ";
-            bool rtn = false;
-            agv.Msg = runInfo;
-            if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.NONE))
-            {
-                if (ActionType.Equals(eEnterLeaveType.Leave))
-                {
-                    EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE);
-                    runInfo += "小车链条运行";
-                    msg += runInfo;
-                    EnterLeaveShelfStep.Msg = msg;
-                    rtn = agv.AssignTask(Common.SettingString.Leave);
-                     UpdateJobTaskInfo(agv);
-                }
-                else if(ActionType.Equals(eEnterLeaveType.Enter))
-                {
-                    EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE);
-                    runInfo +="小车链条运行";
-                    msg += runInfo;
-                    EnterLeaveShelfStep.Msg = msg;
-                    rtn = agv.AssignTask(Common.SettingString.Enter);
-                     UpdateJobTaskInfo(agv);
-                }
-            }
-            else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE))
-            {
-                CurTaskState = CommonVar.GetTakJobState(agv);
-                if (CommonVar.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
-                {
-
-                    //EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
-                    runInfo+= "料架/料串进入完成 [" + RFID + "]";
-                    msg += runInfo;
-                    EnterLeaveShelfStep.Msg = msg;
-                    agv.RFID = "";
-                   // return new EmptyAGVBackJob(LineName);
-
-                }
-                else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
-                {
-                    runInfo= "料架离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
-                    //msg += runInfo;
-                    //EnterLeaveShelfStep.Msg = msg;
-                }
-
-            }
-            else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE))
-            {
-                CurTaskState = CommonVar.GetTakJobState(agv);
-                if (CommonVar.CheckEnterOrLeaveFinished(agv, "Enter", CurTaskState))
-                {
-
-                    //EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
-                    runInfo = "料架/料串出去完成 [" + RFID + "]";
-                    msg += runInfo;
-                    EnterLeaveShelfStep.Msg = msg;
-                    //return new EmptyShelfBackJob(LineName,eShelfType.BigShelf);
-                }
-                else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
-                {
-                    //链条停止
-                    runInfo= "料架进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
-                    //msg += runInfo;
-                    //EnterLeaveShelfStep.Msg = msg;
-                }
-
-            }
-            else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.END))
-            {
-            }
-
-            return this;
-        }
-
-    }
-    /// <summary>
-    /// AGV进出料
-    /// </summary>
-    public enum ENTER_LEAVE_SHELF_STEP
-    {
-        /// <summary>
-        /// 
-        /// </summary>
-        NONE,
-        /// <summary>
-        /// 等待料架离开产线
-        /// </summary>
-        WAIT__SHELF_OUT_LINE,
-        /// <summary>
-        /// 等待料架进入产线
-        /// </summary>
-        WAIT__SHELF_IN_LINE,
-        /// <summary>
-        /// 进入/离开完成
-        /// </summary>
-        END
-    }
-}

DeviceLibrary/bean/job/GetShelfJob.cs

 using Common;
 using Common;
+using System;
 
 
 namespace DeviceLibrary
 namespace DeviceLibrary
 {
 {
@@ -20,6 +21,8 @@ namespace DeviceLibrary
             TargetPlace = tarPlace;
             TargetPlace = tarPlace;
             this.isFullShelf = fullShelf;
             this.isFullShelf = fullShelf;
             this.RFID = RFID;
             this.RFID = RFID;
+            StartJobTime = DateTime.Now;
+            JobName = string.Format("取料串任务");
         }
         }
 
 
 
 
@@ -35,7 +38,6 @@ namespace DeviceLibrary
         /// 目的地
         /// 目的地
         /// </summary>
         /// </summary>
         public string TargetPlace { get; private set; }
         public string TargetPlace { get; private set; }
-        private string runInfo = "";
         private string RFID = "";
         private string RFID = "";
         /// <summary>
         /// <summary>
         /// 运行信息
         /// 运行信息
@@ -44,19 +46,19 @@ namespace DeviceLibrary
         {
         {
             get
             get
             {
             {
-                int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
+                int t1 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
                 string from = "";
                 string from = "";
                 if (t1 > -1)
                 if (t1 > -1)
-                    from = CommonVar.nodeInfo[t1].AliceName;
+                    from = NodeManager.nodeInfo[t1].AliceName;
                 else
                 else
                     from = agvPlace;
                     from = agvPlace;
-                int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
+                int t2 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
                 string to = "";
                 string to = "";
                 if (t2 > -1)
                 if (t2 > -1)
-                    to = CommonVar.nodeInfo[t2].AliceName;
+                    to = NodeManager.nodeInfo[t2].AliceName;
                 else
                 else
                     to = TargetPlace;
                     to = TargetPlace;
-                return string.Format("取{5}料串任务[RFID={4}]: {0}[目的地={1}][任务名称={2}][任务状态={3}]", runInfo, to, CurTaskName, CurTaskState, RFID, isFullShelf ? "满" : "空");
+                return string.Format("取{0}料串任务:{1}[目的地={2}][RFID={3}][任务名称={4}][任务状态={5}]", isFullShelf ? "满" : "空", runInfo, to, RFID,CurTaskName, CurTaskState);
             }
             }
         }
         }
 
 
@@ -64,19 +66,19 @@ namespace DeviceLibrary
 
 
         private string GetShowInfo()
         private string GetShowInfo()
         {
         {
-            int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
+            int t1 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
             string from = "";
             string from = "";
             if (t1 > -1)
             if (t1 > -1)
-                from = CommonVar.nodeInfo[t1].AliceName;
+                from = NodeManager.nodeInfo[t1].AliceName;
             else
             else
                 from = agvPlace;
                 from = agvPlace;
-            int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
+            int t2 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
             string to = "";
             string to = "";
             if (t2 > -1)
             if (t2 > -1)
-                to = CommonVar.nodeInfo[t2].AliceName;
+                to = NodeManager.nodeInfo[t2].AliceName;
             else
             else
                 to = TargetPlace;
                 to = TargetPlace;
-            return string.Format("取料串任务: {0} [{1}->{2}]", runInfo, from, to); ;
+            return string.Format("{0} [{1}->{2}]", runInfo, from, to); ;
         }
         }
         /// <summary>
         /// <summary>
         /// 任务执行
         /// 任务执行
@@ -86,12 +88,13 @@ namespace DeviceLibrary
         {
         {
             string msg = agv.Name + " ";
             string msg = agv.Name + " ";
             bool rtn = false;
             bool rtn = false;
-            agv.Msg = GetShowInfo();
+            agv.Msg = GetShowInfo();          
             agv.RFID = RFID;
             agv.RFID = RFID;
+            StartJobTime = curJobStep.startTime;
             CurTaskState = CommonVar.GetTakJobState(agv);
             CurTaskState = CommonVar.GetTakJobState(agv);
             if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
             if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
             {
             {
-
+                agv.HasError = false;
                 if ((agvPlace.Equals(SettingString.Standby) || agvPlace.Equals(SettingString.AutoCharge)) && !TargetPlace.StartsWith(SettingString.C4_Name_Prefix))//D D
                 if ((agvPlace.Equals(SettingString.Standby) || agvPlace.Equals(SettingString.AutoCharge)) && !TargetPlace.StartsWith(SettingString.C4_Name_Prefix))//D D
                 {
                 {
                     curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
                     curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
@@ -134,6 +137,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
                     curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
                     runInfo = "到达3D门，去料架处" + TargetPlace;
                     runInfo = "到达3D门，去料架处" + TargetPlace;
                     msg += runInfo;
                     msg += runInfo;
@@ -147,6 +151,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorDToC, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorDToC, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
                     curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
                     runInfo = "到达3C门，去料架处" + TargetPlace;
                     runInfo = "到达3C门，去料架处" + TargetPlace;
                     msg += runInfo;
                     msg += runInfo;
@@ -160,6 +165,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
                     curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
                     runInfo = "到达料架处" + TargetPlace + "，并向线体发送出料请求";
                     runInfo = "到达料架处" + TargetPlace + "，并向线体发送出料请求";
                     msg += runInfo;
                     msg += runInfo;
@@ -171,7 +177,7 @@ namespace DeviceLibrary
             }
             }
             else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE))
             else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE))
             {
             {
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));//&& s.StateEquals(eNodeStatus.MayLeave)
+                int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));//&& s.StateEquals(eNodeStatus.MayLeave)
                 if (i > -1)
                 if (i > -1)
                 {
                 {
                     curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV);
                     curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV);
@@ -180,18 +186,19 @@ namespace DeviceLibrary
                     curJobStep.Msg = msg;
                     curJobStep.Msg = msg;
                     if (IsPlace(SettingString.A1) || IsPlace(SettingString.A7))//两位置出的架子需判断类型
                     if (IsPlace(SettingString.A1) || IsPlace(SettingString.A7))//两位置出的架子需判断类型
                     {
                     {
-                        RFID = CommonVar.nodeInfo[i].RFID;
+                        RFID = NodeManager.nodeInfo[i].RFID;
                     }
                     }
                     rtn = agv.AssignTask(Common.SettingString.Enter);
                     rtn = agv.AssignTask(Common.SettingString.Enter);
                     UpdateJobTaskInfo(agv);
                     UpdateJobTaskInfo(agv);
                 }
                 }
-                if (curJobStep.IsTimeOut(15000, out double timeOutTime))
+                if (curJobStep.IsTimeOut(15000, out TimeSpan timeSpan))
                 {
                 {
                     if (TargetPlace.Equals(SettingString.D3) || TargetPlace.Equals(SettingString.D4))
                     if (TargetPlace.Equals(SettingString.D3) || TargetPlace.Equals(SettingString.D4))
                     {
                     {
-                        runInfo = string.Format("线体[{0}]允许出料信号[{1}]超时{2}秒，该处料串可能被手动干预,回待机位", TargetPlace, eNodeStatus.MayLeave, timeOutTime.ToString("f2"));
+                        runInfo = string.Format("线体[{0}]允许出料信号[{1}]超时{2}秒，该处料串可能被手动干预,回待机位", TargetPlace, eNodeStatus.MayLeave, timeSpan.TotalMinutes.ToString("f2"));
                         msg += string.Format("线体[{0}]允许出料信号[{1}]超时15S，该处料串可能被手动干预，回待机位", TargetPlace, eNodeStatus.MayLeave);
                         msg += string.Format("线体[{0}]允许出料信号[{1}]超时15S，该处料串可能被手动干预，回待机位", TargetPlace, eNodeStatus.MayLeave);
                         curJobStep.Msg = msg;
                         curJobStep.Msg = msg;
+                        RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                         return new ChargeJob(TargetPlace);
                         return new ChargeJob(TargetPlace);
                     }
                     }
                     //else
                     //else
@@ -209,43 +216,48 @@ namespace DeviceLibrary
                 if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
                 if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
                 {
                 {
                     CommonVar.server.CloseDoor(TargetPlace);
                     CommonVar.server.CloseDoor(TargetPlace);
-                    if (IsPlace(SettingString.A1) || IsPlace(SettingString.A7))//两位置出的架子需判断类型
-                    {
-                        string tarNodeName1 = TargetPlace.Equals(SettingString.A1) ? SettingString.A2 : SettingString.A8;
-                        if (RFID.StartsWith(SettingString.Packing_RFID_Prefix) || RFID.StartsWith("0"))//料串任务接到包装料架，任务取消
-                        {
-                            runInfo = "料架进入小车完成,由于该小车任务为料串任务，将该料架送回" + tarNodeName1;
-                            msg += runInfo;
-                            curJobStep.Msg = msg;
-                            return new SendShelfJob(TargetPlace, tarNodeName1, RFID);
-                        }
-                    }
+                    //if (IsPlace(SettingString.A1) || IsPlace(SettingString.A7))//两位置出的架子需判断类型
+                    //{
+                    //    string tarNodeName1 = TargetPlace.Equals(SettingString.A1) ? SettingString.A2 : SettingString.A8;
+                    //    if (RFID.StartsWith(SettingString.Packing_RFID_Prefix) || RFID.StartsWith("0"))//料串任务接到包装料架，任务取消
+                    //    {
+                    //        runInfo = "料架进入小车完成,由于该小车任务为料串任务，将该料架送回" + tarNodeName1;
+                    //        msg += runInfo;
+                    //        curJobStep.Msg = msg;
+                    //        RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
+                    //        return new SendShelfJob(TargetPlace, tarNodeName1, RFID);
+                    //    }
+                    //}
 
 
                     if (FindShelfTarget(agv, out string tarNodeName))
                     if (FindShelfTarget(agv, out string tarNodeName))
                     {
                     {
                         runInfo = "料串进入小车完成,任务结束";
                         runInfo = "料串进入小车完成,任务结束";
                         msg += runInfo;
                         msg += runInfo;
                         curJobStep.Msg = msg;
                         curJobStep.Msg = msg;
+                        agv.HasError = false;
+                        RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                         return new SendShelfJob(TargetPlace, tarNodeName, RFID);
                         return new SendShelfJob(TargetPlace, tarNodeName, RFID);
                     }
                     }
                     else
                     else
                     {
                     {
+                        RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                         curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_REACH_STANDBY);
                         curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_REACH_STANDBY);
                         runInfo = "料串进入小车完成，当前无节点需要料串，去待机位";
                         runInfo = "料串进入小车完成，当前无节点需要料串，去待机位";
                         msg += runInfo;
                         msg += runInfo;
                         curJobStep.Msg = msg;
                         curJobStep.Msg = msg;
-
+                        agv.HasError = false;
                         CommonVar.MoveToNode(agv, SettingString.Standby);
                         CommonVar.MoveToNode(agv, SettingString.Standby);
                         UpdateJobTaskInfo(agv);
                         UpdateJobTaskInfo(agv);
                     }
                     }
 
 
                 }
                 }
-                else if (curJobStep.IsTimeOut(60000, out double timeOutTime))
+                else if (curJobStep.IsTimeOut(60000, out TimeSpan timeSpan))
                 {
                 {
-                    runInfo = string.Format("线体[{0}]出料超时{1}秒，请检查出料情况", TargetPlace, timeOutTime.ToString("f2"));
+                    runInfo = string.Format("线体[{0}]出料超时，请检查出料情况", TargetPlace);
                     msg += string.Format("线体[{0}]出料超时，请检查出料情况", TargetPlace);
                     msg += string.Format("线体[{0}]出料超时，请检查出料情况", TargetPlace);
                     curJobStep.Msg = msg;
                     curJobStep.Msg = msg;
-                    //去待机位
+                    agv.HasError = true;
+                    agv.SetErrorMsg($"线体[{TargetPlace}]出料超时，请检查出料情况",timeSpan.TotalMinutes.ToString("f2"));
                 }
                 }
             }
             }
             //else if (curJobStep.IsStep(EXECUTE_STEP.P7_WAIT_REACH_4D_DOOR))
             //else if (curJobStep.IsStep(EXECUTE_STEP.P7_WAIT_REACH_4D_DOOR))
@@ -273,6 +285,7 @@ namespace DeviceLibrary
                         runInfo = "搜索到料串目的地,任务结束";
                         runInfo = "搜索到料串目的地,任务结束";
                         msg += runInfo;
                         msg += runInfo;
                         curJobStep.Msg = msg;
                         curJobStep.Msg = msg;
+                        RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                         return new SendShelfJob(SettingString.Standby, tarNodeName, RFID);
                         return new SendShelfJob(SettingString.Standby, tarNodeName, RFID);
                     }
                     }
 
 
@@ -280,6 +293,7 @@ namespace DeviceLibrary
             }
             }
             else if (curJobStep.IsStep(EXECUTE_STEP.P8_END))
             else if (curJobStep.IsStep(EXECUTE_STEP.P8_END))
             {
             {
+                RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                 return null;
                 return null;
             }
             }
             return this;
             return this;
@@ -397,6 +411,11 @@ namespace DeviceLibrary
                             tarPlace = SettingString.T1_1;
                             tarPlace = SettingString.T1_1;
                             return true;
                             return true;
                         }
                         }
+                        if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.A8))
+                        {
+                            tarPlace = SettingString.A8;
+                            return true;
+                        }
                     }
                     }
 
 
                     //退料线
                     //退料线
@@ -431,6 +450,11 @@ namespace DeviceLibrary
                             tarPlace = SettingString.T4_1;
                             tarPlace = SettingString.T4_1;
                             return true;
                             return true;
                         }
                         }
+                        //if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T4_1, ClientLevel.Middle, true))
+                        //{
+                        //    tarPlace = SettingString.T4_1;
+                        //    return true;
+                        //}
                         //检查点料机D1是否需要空料串
                         //检查点料机D1是否需要空料串
                         if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.D1))
                         if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.D1))
                         {
                         {

DeviceLibrary/bean/job/PackingJob_GetShelf.cs

-
-
-using Common;
-
-namespace DeviceLibrary
-{
-    /// <summary>
-    /// 包装仓任务:取包装料架
-    /// </summary>
-    public class PackingJob_GetShelf : Job
-    {
-        /// <summary>
-        /// 接料架:空料架目的为出库；满料架目的为入库
-        /// </summary>
-        /// <param name="agvPlae">agv当前位置</param>
-        /// <param name="tarPlace">目的地</param>
-        /// <param name="mark">标志：出库任务则显示mark；入库任务显示Mark=InStore</param>
-        public PackingJob_GetShelf(string agvPlae, string tarPlace, string mark)
-        {
-            this.agvPlace = agvPlae;
-            TargetPlace = tarPlace;
-            this.mark = mark;
-            if (PackingJobType.IsInStoreMark(mark))
-            {
-
-            }
-            else
-            {
-                //修改mark状态
-                PackingJobType.ChangeMarkState(mark, eMarkState.Assigned);
-            }
-        }
-
-
-        /// <summary>
-        /// 接收任务时，agv的位置
-        /// </summary>
-        private string agvPlace = "";
-        string RFID = "";
-        /// <summary>
-        /// 目的地
-        /// </summary>
-        public string TargetPlace { get; private set; }
-        /// <summary>
-        /// 标记
-        /// </summary>
-        public string mark = "";
-        private string runInfo = "";
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public override string RunInfo
-        {
-            get
-            {
-                int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
-                string from = "";
-                if (t1 > -1)
-                    from = CommonVar.nodeInfo[t1].AliceName;
-                else
-                    from = agvPlace;
-                int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
-                string to = "";
-                if (t2 > -1)
-                    to = CommonVar.nodeInfo[t2].AliceName;
-                else
-                    to = TargetPlace;
-                return string.Format("取包装料架任务:{0} [Mark={2}][目的地={1}][任务名称={3}][任务状态={4}]", runInfo,to, mark, CurTaskName, CurTaskState);
-            }
-        }
-
-        private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
-
-        /// <summary>
-        /// 包装仓任务执行
-        /// </summary>
-        /// <param name="agv"></param>
-        public override Job Execute(Agv_Info agv)
-        {
-            string msg = agv.Name + " ";
-            bool rtn = false;
-            agv.Msg = runInfo;
-
-            CurTaskState = CommonVar.GetTakJobState(agv);
-            if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
-            {
-
-                if (agvPlace.Equals(SettingString.Standby) || agvPlace.Equals(SettingString.AutoCharge))
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_SHELF_PLACE);
-                    runInfo = "待机位/充电位收到任务，开始执行";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                    CommonVar.MoveToNode(agv, TargetPlace);
-                    UpdateJobTaskInfo(agv);
-                }
-                else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P1_1_WAIT_REACH_4D_DOOR);
-                    runInfo = "4C车间收到任务，先到4D门";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                    CommonVar.DoorMission(agv, SettingString.DoorCToD);
-                    UpdateJobTaskInfo(agv);
-                }
-                else
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_SHELF_PLACE);
-                    runInfo = "默认位置收到任务，开始执行";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-
-                    CommonVar.MoveToNode(agv, TargetPlace);
-                    UpdateJobTaskInfo(agv);
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P1_1_WAIT_REACH_4D_DOOR))
-            {
-                if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_SHELF_PLACE);
-                    runInfo = "到达4D门，去包装料架处" + TargetPlace;
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-
-                    CommonVar.MoveToNode(agv, TargetPlace);
-                    UpdateJobTaskInfo(agv);
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_SHELF_PLACE))
-            {
-                if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
-                {
-                    if (PackingJobType.IsInStoreMark(mark))
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
-                        runInfo = "到达包装料架处" + TargetPlace + "，并向线体发送出料请求";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-
-                        CommonVar.server.Ready(TargetPlace, "");
-                    }
-                    else
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE);
-                        runInfo = "到达包装料架处" + TargetPlace;
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                    }
-
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE))
-            {
-                if (PackingJobType.CheckNodeMark(mark))
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
-                    runInfo = "当前任务" + mark + "确认存在，并向线体" + TargetPlace + "发送出料请求";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-
-                    CommonVar.server.Ready(TargetPlace, "");
-                }
-                else//
-                {
-                    PackingJobType.DelMark(mark);
-                    int nodeId = PackingJobType.CheckOutStroePackingJob();
-                    if (nodeId == -1)
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P12_END);
-                        runInfo = "当前任务" + mark + "不存在，且无其他包装任务";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                    }
-                    else if (nodeId > -1)
-                    {
-                        mark = CommonVar.nodeInfo[nodeId].Mark;
-                        //修改mark状态
-                        PackingJobType.ChangeMarkState(mark, eMarkState.Assigned);
-                        curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
-                        runInfo = "切换任务为" + mark + "，并向线体" + TargetPlace + "发送出料请求";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-
-                        CommonVar.server.Ready(TargetPlace, "");
-                    }
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE))
-            {
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
-                if (i > -1)
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV);
-                    runInfo = "线体" + TargetPlace + "允许出料，链条运行";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                    RFID = CommonVar.nodeInfo[i].RFID;
-                    rtn = agv.AssignTask(SettingString.Enter);
-                    UpdateJobTaskInfo(agv);
-                }
-
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV))
-            {
-                if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
-                {
-                    CommonVar.server.CloseDoor(TargetPlace);
-                    if (PackingJobType.IsInStoreMark(mark))
-                    {
-                        if (RFID.StartsWith(SettingString.ReelString_RFID_Prefix) || RFID.StartsWith("0"))
-                        {
-                            runInfo = "料串进入小车完成，由于当前任务是料架任务，将该料串送回,修改mark状态"+ mark+"="+eMarkState.None.ToString();
-                            msg += runInfo;
-                            curJobStep.Msg = msg;
-                            //return new PackingJob_SendShelf(TargetPlace, SettingString.A2, mark, RFID);
-                            PackingJobType.ChangeMarkState(mark, eMarkState.None);
-                            return new SendShelfJob(TargetPlace, SettingString.A2, RFID);
-                        }
-                    }
-                    if (FindPackingPlace(agv, out string packingPlace, out string rfid))
-                    {
-                        runInfo = "包装料架进入小车完成";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                        return new PackingJob_SendShelf(TargetPlace, packingPlace, mark, rfid);
-                    }
-                    else
-                    {
-                        runInfo = "包装料架进入小车完成,包装仓无剩余任务," + packingPlace + "回收该料架";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                        return new RecycleEmptyShelf(agvPlace, packingPlace, true, ShelfType.PackingShelf);
-                    }
-
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P12_END))
-            {
-                return null;
-            }
-            return this;
-        }
-        /// <summary>
-        /// 查找包装仓目的地
-        /// </summary>
-        /// <param name="agv"></param>
-        /// <param name="packPlace"></param>
-        /// <returns></returns>
-        private bool FindPackingPlace(Agv_Info agv, out string packPlace, out string rfid)
-        {
-            if (mark.Equals(SettingString.InStore_Mark))
-            {
-                packPlace = SettingString.A2;//
-                rfid = "A#";
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Mark.Equals("0") && s.StateEquals(eNodeStatus.NeedEnter) && s.IsUse);
-                if (i > -1)
-                {
-                    packPlace = CommonVar.nodeInfo[i].Name;
-                    LogUtil.info(string.Format("{0} 查找包装仓目的地{1}[Mark={2}][Marks={3}]", agv.Name, packPlace, mark, PackingJobType.GetMarks()));
-                    return true;
-                }
-                else
-                {
-                    PackingJobType.DelMark(mark);
-                    //int nodeIdx = PackingJobType.CheckOutStroePackingJob();
-                    //if (nodeIdx > -1)
-                    //{
-                    //    string _mark = CommonVar.nodeInfo[nodeIdx].Mark;
-                    //    //PackingJobType.ChangeMarkState(_mark, eMarkState.Executing);
-                    //    packPlace = CommonVar.nodeInfo[nodeIdx].Name;
-                    //    rfid = CommonVar.nodeInfo[nodeIdx].RFID;
-                    //    CommonVar.log.Info(string.Format("{0} 找不到Mark={1}任务，切换为包装仓{2}的Mark={3}的任务[Marks={4}]", agv.Name, mark, packPlace, _mark, PackingJobType.GetMarks()));
-                    //    mark = _mark;
-                    //    return true;
-                    //}
-                }
-            }
-            else
-            {
-                packPlace = SettingString.A3;//默认为回收料架处
-                rfid = "00";
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Mark.Equals(mark) && s.StateEquals(eNodeStatus.NeedEnter) && s.IsUse);
-                if (i > -1)
-                {
-                    packPlace = CommonVar.nodeInfo[i].Name;
-                    LogUtil.info(string.Format("{0} 查找包装仓目的地{1}[Mark={2}][Marks={3}]", agv.Name, packPlace, mark, PackingJobType.GetMarks()));
-                    return true;
-                }
-                else
-                {
-                    PackingJobType.DelMark(mark);
-                    int nodeIdx = PackingJobType.CheckOutStroePackingJob();
-                    if (nodeIdx > -1)
-                    {
-                        string _mark = CommonVar.nodeInfo[nodeIdx].Mark;
-                        //PackingJobType.ChangeMarkState(_mark, eMarkState.Executing);
-                        packPlace = CommonVar.nodeInfo[nodeIdx].Name;
-                       LogUtil.info(string.Format("{0} 找不到Mark={1}任务，切换为包装仓{2}的Mark={3}的任务[Marks={4}]", agv.Name, mark, packPlace, _mark, PackingJobType.GetMarks()));
-                        mark = _mark;
-                        return true;
-                    }
-                }
-            }
-
-            LogUtil.info(string.Format("{0} 找不到Mark={1}任务及其他包装任务,将该料架送往回收处。[{2}]", agv.Name, mark, PackingJobType.GetMarks()));
-            return false;
-        }
-        /// <summary>
-        /// 执行流程
-        /// </summary>
-        private enum EXECUTE_STEP
-        {
-            /// <summary>
-            /// 接收到任务
-            /// </summary>
-            P1_NONE,
-            /// <summary>
-            /// 等待到达4D
-            /// </summary>
-            P1_1_WAIT_REACH_4D_DOOR,
-            /// <summary>
-            /// 等待到达包装料架处
-            /// </summary>
-            P2_WAIT_REACH_PACKING_SHELF_PLACE,
-            /// <summary>
-            /// 确认包装仓是否有该任务，防止该任务被手动出掉
-            /// </summary>
-            P3_CHECK_PACKING_STATION_STATE,
-            /// <summary>
-            /// 等待线体回复
-            /// </summary>
-            P4_WAIT_LINE_RESPONSE,
-            /// <summary>
-            /// 等待料架进入AGV
-            /// </summary>
-            P5_WAIT_SHELF_IN_AGV,
-            /// <summary>
-            /// 等待到达包装仓
-            /// </summary>
-            P6_WAIT_REACH_PACKING_STATION,
-            /// <summary>
-            /// 到达包装仓，再次确认是否有任务，防止该任务被手动出掉
-            /// </summary>
-            P7_CHECK_PACKING_STATION_STATE,
-            /// <summary>
-            /// 等待包装仓回复
-            /// </summary>
-            P8_WAIT_PACKING_STATION_RESPONSE,
-            /// <summary>
-            /// 等待AGV停靠完成
-            /// </summary>
-            P9_WAIT_AGV_DOCK_FINISH,
-            /// <summary>
-            /// 等待料架进入包装仓
-            /// </summary>
-            P10_WAIT_SHELF_IN_STATION,
-
-
-            /// <summary>
-            /// 等待到达空料架回收处
-            /// </summary>
-            P11_WAIT_REACH_RECYCLE_STATION,
-            /// <summary>
-            /// 任务结束
-            /// </summary>
-            P12_END
-        }
-    }
-
-}

DeviceLibrary/bean/job/PackingJob_SendShelf.cs

-using Common;
-
-namespace DeviceLibrary
-{
-    /// <summary>
-    /// 包装仓任务:将包装料架送往包装仓
-    /// </summary>
-    public class PackingJob_SendShelf : Job
-    {
-        /// <summary>
-        /// 将包装料架送往包装仓
-        /// </summary>
-        /// <param name="agvPlae">agv当前位置</param>
-        /// <param name="tarPlace">目的地</param>
-        /// <param name="mark">标志：出库任务则显示mark；入库任务显示Mark=InStore</param>
-        public PackingJob_SendShelf(string agvPlae, string tarPlace, string mark,string RFID= "")
-        {
-            this.agvPlace = agvPlae;
-            TargetPlace = tarPlace;
-            this.mark = mark;
-            this.RFID = RFID;
-            if (PackingJobType.IsInStoreMark(mark))
-            {
-
-            }
-            else
-            {
-                //修改mark状态
-                PackingJobType.ChangeMarkState(mark, eMarkState.Executing);
-            }
-        }
-
-
-        /// <summary>
-        /// 接收任务时，agv的位置
-        /// </summary>
-        private string agvPlace = "";
-
-        private string RFID = "";
-        /// <summary>
-        /// 目的地
-        /// </summary>
-        public string TargetPlace { get; private set; }
-        /// <summary>
-        /// 标记
-        /// </summary>
-        public string mark = "";
-        private string runInfo = "";
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public override string RunInfo
-        {
-            get
-            {
-                int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
-                string from = "";
-                if (t1 > -1)
-                    from = CommonVar.nodeInfo[t1].AliceName;
-                else
-                    from = agvPlace;
-                int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
-                string to = "";
-                if (t2 > -1)
-                    to = CommonVar.nodeInfo[t2].AliceName;
-                else
-                    to = TargetPlace;
-                return string.Format("送包装料架任务:{0} [RFID={5}][Mark={2}][目的地={1}][任务名称={3}][任务状态={4}]", runInfo, to, mark,CurTaskName,CurTaskState,RFID);
-            }
-        }
-
-        private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
-
-        /// <summary>
-        /// 任务执行
-        /// </summary>
-        /// <param name="agv"></param>
-        public override Job Execute(Agv_Info agv)
-        {
-            string msg = agv.Name + " ";
-            bool rtn = false;
-            agv.Msg = runInfo;
-
-            CurTaskState = CommonVar.GetTakJobState(agv);
-            if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
-            {
-
-                curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_STATION);
-                runInfo = "收到任务,向包装仓" + TargetPlace + "运行";
-                msg += runInfo;
-                curJobStep.Msg = msg;
-                CommonVar.MoveToNode(agv, TargetPlace);
-                UpdateJobTaskInfo(agv);
-
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_STATION))
-            {
-                if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
-                {
-                    if (PackingJobType.IsInStoreMark(mark))
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE);
-                        runInfo = "到达包装仓" + TargetPlace + "，并发送到达信号";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                        CommonVar.server.Arrive(TargetPlace, RFID);
-                    }
-                    else
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE);
-                        runInfo = "到达包装仓" + TargetPlace;
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                    }
-
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE))
-            {
-                if (PackingJobType.CheckNodeMark(mark, TargetPlace))
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE);
-                    runInfo = "到达包装仓" + TargetPlace + "，并发送到达信号";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                    CommonVar.server.Arrive(TargetPlace, RFID);
-                }
-                else
-                {
-                    if (PackingJobType.IsInStoreMark(mark))
-                    {
-                        runInfo = "包装仓" + TargetPlace + "无入库任务，回收该料架";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                        return new SendShelfJob(TargetPlace,SettingString.A2,RFID);
-                    }
-                    else
-                    {
-                        runInfo = "包装仓" + TargetPlace + "无任务，回收该料架";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                        return new RecycleEmptyShelf(agvPlace, "", true, ShelfType.PackingShelf);
-                    }
-
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE))
-            {
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayEnter));
-                if (i > -1)
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_AGV_DOCK_FINISH);
-                    runInfo = "收到线体对接请求，开始停靠";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-
-                    CommonVar.DockToNode(agv, TargetPlace);
-                    UpdateJobTaskInfo(agv);
-                }
-                else if (curJobStep.IsTimeOut(6000, out double timeOutTime))
-                {
-                    runInfo = string.Format("线体[{0}]允许对接信号[{1}]超时{2}秒", TargetPlace, eNodeStatus.MayEnter, timeOutTime.ToString("f2"));
-                    msg += string.Format("线体[{0}]允许对接信号[{1}]超时", TargetPlace, eNodeStatus.MayEnter);
-                    curJobStep.Msg = msg;
-                    curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE);
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_AGV_DOCK_FINISH))
-            {
-                if (CommonVar.CheckTaskDockFinished(agv, TargetPlace, CurTaskState))
-                {
-                    CommonVar.server.Ready(TargetPlace);
-                    curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_SHELF_IN_STATION);
-                    runInfo = "停靠包装仓完成,链条运行";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                    rtn = agv.AssignTask(SettingString.Leave);
-                    UpdateJobTaskInfo(agv);
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P6_WAIT_SHELF_IN_STATION))
-            {
-                if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
-                {
-                    CommonVar.server.CloseDoor(TargetPlace);
-                    //int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.FinishEnter));
-                    //if (i > -1)
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P7_END);
-                        runInfo = "包装料架进入包装仓"+TargetPlace+"完成";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                    }
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P7_END))
-            {
-                //Job job = CommonVar.control.GetJob(agv);
-                //if (job != null)
-                //{
-                //    runInfo = "送料架任务完成，检测到任务，开始执行";
-                //    msg += runInfo;
-                //    curJobStep.Msg = msg;
-                //    return job;
-                //}
-                return null;
-            }
-            return this;
-        }
-
-        /// <summary>
-        /// 执行流程
-        /// </summary>
-        private enum EXECUTE_STEP
-        {
-            /// <summary>
-            /// 接收到任务
-            /// </summary>
-            P1_NONE,
-            /// <summary>
-            /// 等待到达包装仓
-            /// </summary>
-            P2_WAIT_REACH_PACKING_STATION,
-            /// <summary>
-            /// 到达包装仓，再次确认是否有任务，防止该任务被手动出掉
-            /// </summary>
-            P3_CHECK_PACKING_STATION_STATE,
-            /// <summary>
-            /// 等待包装仓回复
-            /// </summary>
-            P4_WAIT_PACKING_STATION_RESPONSE,
-            /// <summary>
-            /// 等待AGV停靠完成
-            /// </summary>
-            P5_WAIT_AGV_DOCK_FINISH,
-            /// <summary>
-            /// 等待料架进入包装仓
-            /// </summary>
-            P6_WAIT_SHELF_IN_STATION,
-
-            /// <summary>
-            /// 任务结束
-            /// </summary>
-            P7_END
-        }
-    }
-
-}

DeviceLibrary/bean/job/PackingJob_TransferShelf.cs

-using Common;
-using System.Collections.Generic;
-using System.Threading;
-
-namespace DeviceLibrary
-{
-    /// <summary>
-    /// 包装仓任务:在包装仓间转移包装料架，
-    /// </summary>
-    public class PackingJob_TransferShelf : Job
-    {
-        /// <summary>
-        /// 包装仓任务
-        /// </summary>
-        /// <param name="agvPlae">小车当前位置</param>
-        public PackingJob_TransferShelf(string agvPlae, string tarPlace, string RFID, string mark)
-        {
-            this.agvPlace = agvPlae;
-            TargetPlace = tarPlace;
-            this.mark = mark;
-            this.RFID = RFID;
-        }
-
-
-        /// <summary>
-        /// 接收任务时，agv的位置
-        /// </summary>
-        private string agvPlace = "";
-        /// <summary>
-        /// 料架RFID
-        /// </summary>
-        public string RFID = "";
-        /// <summary>
-        /// 目的地
-        /// </summary>
-        public string TargetPlace { get; private set; }
-        /// <summary>
-        /// 标记
-        /// </summary>
-        public string mark = "";
-        private string runInfo = "";
-        /// <summary>
-        /// 运行信息
-        /// </summary>
-        public override string RunInfo
-        {
-            get
-            {
-                int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
-                string from = "";
-                if (t1 > -1)
-                    from = CommonVar.nodeInfo[t1].AliceName;
-                else
-                    from = agvPlace;
-                int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
-                string to = "";
-                if (t2 > -1)
-                    to = CommonVar.nodeInfo[t2].AliceName;
-                else
-                    to = TargetPlace;
-                return string.Format("包装料架转移任务:{0} [RFID={1}][Mark={2}][目的地={3}][任务名称={4}][任务状态={5}]", runInfo, RFID, mark,to,CurTaskName,CurTaskState);
-            }
-        }
-
-        private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
-
-        /// <summary>
-        /// 任务执行
-        /// </summary>
-        /// <param name="agv"></param>
-        public override Job Execute(Agv_Info agv)
-        {
-            string msg = agv.Name + " ";
-            bool rtn = false;
-            agv.Msg = runInfo;
-
-            CurTaskState = CommonVar.GetTakJobState(agv);
-            if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
-            {
-                agv.RFID = RFID;
-                curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_STATION);
-                runInfo = "收到任务,向包装仓" + TargetPlace + "运行";
-                msg += runInfo;
-                curJobStep.Msg = msg;
-                CommonVar.MoveToNode(agv, TargetPlace);
-                 UpdateJobTaskInfo(agv);
-
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_STATION))
-            {
-                if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE);
-                    runInfo = "到达包装仓" + TargetPlace;
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE))
-            {
-                if (PackingJobType.IsInStoreMark(mark))
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE);
-                    runInfo = "到达包装仓" + TargetPlace + "，并发送到达信号";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                    CommonVar.server.Arrive(TargetPlace, RFID);
-                }
-                else
-                {
-                    if (PackingJobType.CheckNodeMark(mark, TargetPlace))
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE);
-                        runInfo = "到达包装仓" + TargetPlace + "，并发送到达信号";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                        CommonVar.server.Arrive(TargetPlace, RFID);
-                    }
-                    else
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P15_END);
-                        runInfo = "包装仓" + TargetPlace + "无任务，任务结束";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                    }
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE))
-            {
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayLeave));
-                if (i > -1)
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_AGV_DOCK_FINISH);
-                    runInfo = "收到线体对接请求，开始停靠";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-
-                    CommonVar.DockToNode(agv, TargetPlace);
-                     UpdateJobTaskInfo(agv);
-                }
-                //else if (curJobStep.IsTimeOut(6000, out double timeOutTime))
-                //{
-                //    runInfo = string.Format("线体[{0}]允许对接信号[{1}]超时{2}秒", TargetPlace, eNodeStatus.MayLeave, timeOutTime.ToString("f2"));
-                //    msg += string.Format("线体[{0}]允许对接信号[{1}]超时", TargetPlace, eNodeStatus.MayLeave);
-                //    curJobStep.Msg = msg;
-                //}
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_AGV_DOCK_FINISH))
-            {
-                if (CommonVar.CheckTaskDockFinished(agv, TargetPlace, CurTaskState))
-                {
-                    CommonVar.server.Ready(TargetPlace);
-                    curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_SHELF_IN_AGV);
-                    runInfo = "停靠包装仓完成,链条运行";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                    rtn = agv.AssignTask(SettingString.Enter);
-                     UpdateJobTaskInfo(agv);
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P6_WAIT_SHELF_IN_AGV))
-            {
-                if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
-                {
-                    CommonVar.server.CloseDoor(TargetPlace);
-                    int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.FinishLeave));
-                    if (i > -1)
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P7_FIND_LEFT_TASK);
-                        runInfo = "包装料架进入小车完成";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                    }
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P7_FIND_LEFT_TASK))
-            {
-                if(PackingJobType.IsInStoreMark(mark))//入库任务
-                {
-                    if(CheckShelfLockInfo(agv,out string nodeName,out string lockedNodeNames))
-                    {
-                        if(nodeName.Equals(""))//有锁定节点，但目前忙碌，无法入料，去待机位
-                        {
-                            curJobStep.ToNextStep(EXECUTE_STEP.P14_WAIT_REACH_STANDBY);
-                            runInfo = "入库任务Mark=" + mark + "有剩余任务，但包装仓忙碌，去待机位";
-                            msg += runInfo+";锁定的节点："+ lockedNodeNames;
-                            curJobStep.Msg = msg;
-                            agvPlace = agv.Place;
-                            TargetPlace = SettingString.Standby;
-                            CommonVar.MoveToNode(agv, TargetPlace);
-                             UpdateJobTaskInfo(agv);
-                        }
-                        else//有锁定节点
-                        {
-                            curJobStep.ToNextStep(EXECUTE_STEP.P8_TRANSFER_SHELF);
-                            runInfo = "入库任务Mark=" + mark + "存在剩余任务，到下一包装仓执行任务";
-                            msg += runInfo;
-                            curJobStep.Msg = msg;
-                            agvPlace = agv.Place;
-                            TargetPlace = nodeName;
-                            CommonVar.MoveToNode(agv, TargetPlace);
-                             UpdateJobTaskInfo(agv);
-                        }
-                    }
-                    else//无锁定节点，去A2
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P12_SEND_FULL_SHELF);
-                        TargetPlace = SettingString.A2;
-                        agvPlace = agv.Place;
-                        runInfo = "入库任务Mark=" + mark + "完成， 去" + TargetPlace;
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                        PackingJobType.DelMark(mark);
-                        CommonVar.MoveToNode(agv, TargetPlace);
-                         UpdateJobTaskInfo(agv);
-                    }
-                }
-                else
-                {
-                    if (FindNextTask(agv, out int nodeIdx))
-                    {
-                        if (nodeIdx > -1)//该mark还有剩余任务
-                        {
-                            curJobStep.ToNextStep(EXECUTE_STEP.P8_TRANSFER_SHELF);
-                            runInfo = "任务Mark=" + mark + "到下一包装仓执行任务";
-                            msg += runInfo;
-                            curJobStep.Msg = msg;
-                            agvPlace = agv.Place;
-                            TargetPlace = CommonVar.nodeInfo[nodeIdx].Name;
-                            CommonVar.MoveToNode(agv, TargetPlace);
-                             UpdateJobTaskInfo(agv);
-                        }
-                        else //pack任务还有剩余，但目前包装仓还未生成任务，去待机位
-                        {
-                            curJobStep.ToNextStep(EXECUTE_STEP.P14_WAIT_REACH_STANDBY);
-                            runInfo = "任务Mark=" + mark + "有剩余任务，但包装仓还未生成，去待机位";
-                            msg += runInfo;
-                            curJobStep.Msg = msg;
-                            agvPlace = agv.Place;
-                            TargetPlace = SettingString.Standby;
-                            CommonVar.MoveToNode(agv, TargetPlace);
-                             UpdateJobTaskInfo(agv);
-                        }
-                    }
-                    else//出库任务完成
-                    {
-                        string name;
-                        string[] ss = mark.Split(',');
-                        switch (ss[1])
-                        {
-                            case "urgent": name = SettingString.A8; break;  //紧急
-                            case "cut": name = SettingString.A8; break;     //分盘
-                            case "pack": name = SettingString.A3; break;    //包装
-                            default: name = SettingString.A8; break;
-                        }
-                        curJobStep.ToNextStep(EXECUTE_STEP.P12_SEND_FULL_SHELF);
-                        TargetPlace = name;
-                        agvPlace = agv.Place;
-                        runInfo = "任务Mark=" + mark + "出库完成， 去" + TargetPlace;
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                        PackingJobType.DelMark(mark);
-                        CommonVar.MoveToNode(agv, TargetPlace);
-                         UpdateJobTaskInfo(agv);
-                    }
-                }
-
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P8_TRANSFER_SHELF))
-            {
-                if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P9_WAIT_LINE_RESPONSE);
-                    runInfo = "到达包装仓,发送到达信号";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                    CommonVar.server.Arrive(TargetPlace, RFID);
-
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P9_WAIT_LINE_RESPONSE))
-            {
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayEnter));
-                if (i > -1)
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P10_WAIT_AGV_DOCK_FINISH);
-                    runInfo = "收到线体对接请求，开始停靠";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-
-                    CommonVar.DockToNode(agv, TargetPlace);
-                     UpdateJobTaskInfo(agv);
-                }
-                else if (curJobStep.IsTimeOut(6000, out double timeOutTime))
-                {
-                    runInfo = string.Format("线体[{0}]允许对接信号[{1}]超时{2}秒", TargetPlace, eNodeStatus.MayEnter, timeOutTime.ToString("f2"));
-                    msg += string.Format("线体[{0}]允许对接信号[{1}]超时", TargetPlace, eNodeStatus.MayEnter);
-                    curJobStep.Msg = msg;
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P10_WAIT_AGV_DOCK_FINISH))
-            {
-                if (CommonVar.CheckTaskDockFinished(agv, TargetPlace, CurTaskState))
-                {
-                    CommonVar.server.Ready(TargetPlace, RFID);
-                    curJobStep.ToNextStep(EXECUTE_STEP.P11_WAIT_SHELF_IN_LINE);
-                    runInfo = "停靠包装仓完成,链条运行";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                    rtn = agv.AssignTask(SettingString.Leave);
-                     UpdateJobTaskInfo(agv);
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P11_WAIT_SHELF_IN_LINE))
-            {
-                if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
-                {
-                    CommonVar.server.CloseDoor(TargetPlace);
-                    //int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.FinishEnter));
-                    //if (i > -1)
-                    {
-                        curJobStep.ToNextStep(EXECUTE_STEP.P15_END);
-                        runInfo = "包装料架进入" + TargetPlace + "完成,任务结束";
-                        msg += runInfo;
-                        curJobStep.Msg = msg;
-                    }
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P12_SEND_FULL_SHELF))
-            {
-
-                if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P13_WAIT_TARGET_RESPONSE);
-                    runInfo = "到达目的地" + TargetPlace + ",并发送准备信号";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-                    CommonVar.server.Ready(TargetPlace, RFID);
-
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P13_WAIT_TARGET_RESPONSE))
-            {
-                //int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayEnter));
-                //if (i > -1)
-                {
-                    curJobStep.ToNextStep(EXECUTE_STEP.P11_WAIT_SHELF_IN_LINE);
-                    runInfo = "收到线体入料请求，链条运行";
-                    msg += runInfo;
-                    curJobStep.Msg = msg;
-
-                    rtn = agv.AssignTask(SettingString.Leave);
-                     UpdateJobTaskInfo(agv);
-                }
-                //else if (curJobStep.IsTimeOut(6000, out double timeOutTime))
-                //{
-                //    runInfo = string.Format("线体[{0}]允许入料信号[{1}]超时{2}秒", TargetPlace, eNodeStatus.MayEnter, timeOutTime.ToString("f2"));
-                //    msg += string.Format("线体[{0}]允许入料信号[{1}]超时", TargetPlace, eNodeStatus.MayEnter);
-                //    curJobStep.Msg = msg;
-                //}
-            }
-
-            else if (curJobStep.IsStep(EXECUTE_STEP.P14_WAIT_REACH_STANDBY))
-            {
-                if (CommonVar.CheckTaskMoveFinished(agv, SettingString.Standby, CurTaskState))
-                {
-                    if (FindNextTask(agv, out int nodeIdx))
-                    {
-                        if (nodeIdx > -1)//该mark还有剩余任务
-                        {
-                            curJobStep.ToNextStep(EXECUTE_STEP.P8_TRANSFER_SHELF);
-                            runInfo = "任务Mark=" + mark + "到下一包装仓执行任务";
-                            msg += runInfo;
-                            curJobStep.Msg = msg;
-                            TargetPlace = CommonVar.nodeInfo[nodeIdx].Name;
-                            agvPlace = agv.Place;
-                            CommonVar.MoveToNode(agv, TargetPlace);
-                             UpdateJobTaskInfo(agv);
-                        }
-                    }
-                }
-            }
-            else if (curJobStep.IsStep(EXECUTE_STEP.P15_END))
-            {
-                agv.RFID = "";
-                return null;
-                //Job job = CommonVar.control.GetJob(agv);
-                //if (job != null)
-                //{
-                //    runInfo = "包装仓转移料架任务完成，检测到任务，开始执行";
-                //    msg += runInfo;
-                //    curJobStep.Msg = msg;
-                //    return job;
-                //}
-            }
-            return this;
-        }
-
-        /// <summary>
-        /// 根据mark查找下一个任务
-        /// </summary>
-        /// <returns></returns>
-        private bool FindNextTask(Agv_Info agv, out int nodeIdx)
-        {
-            //寻找下一个任务点
-            nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.StateEquals(eNodeStatus.NeedEnter) && s.Mark == mark && s.AgvName == "" && s.IsUse);
-            if (nodeIdx > -1)
-                return true;
-            else
-            {
-                if (!mark.Split(',')[1].Equals("pack"))
-                {
-                    string log = " [Mark=" + mark + "] 出库任务完成";
-                    LogUtil.info(log);
-                    return false;
-                }
-                bool rtn = AGVManager.LeaveCheck(agv, out int taskCount);
-                Thread.Sleep(1000);
-                if (!rtn)//出库任务还未完成
-                {
-                    string log = agv.Name + " [Mark=" + mark + "] 出库任务未完成，[taskCount=" + taskCount.ToString() + "]";
-                    LogUtil.info(log);
-                    return true;
-                }
-                else
-                {
-                    string log = agv.Name + " [Mark=" + mark + "] [taskCount = " + taskCount.ToString() + "] 出库任务完成";
-                    LogUtil.info(log);
-                    return false;
-                }
-            }
-
-        }
-
-        private bool CheckShelfLockInfo(Agv_Info agv, out string nodeName,out string lockedNodeNames)
-        {
-            List<string> shelfLockedNodeNames = new List<string>();
-            nodeName = "";
-            lockedNodeNames = "";
-            //获取料架锁定信息
-            AGVManager.GetShelfLockInfo(TargetPlace, RFID, shelfLockedNodeNames);
-            Thread.Sleep(1000);
-            if (shelfLockedNodeNames != null && shelfLockedNodeNames.Count > 0)
-            {
-                foreach (string item in shelfLockedNodeNames)
-                {
-                    int nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.Name == item && s.StateEquals(eNodeStatus.NeedEnter) && s.Mark.Equals("") && (s.AgvName == "" || s.AgvName == agv.Name) && s.IsUse);
-                    if (nodeIdx > -1)
-                    {
-                        nodeName = item;
-                        shelfLockedNodeNames.Remove(item);
-                        return true;
-                    }
-                }
-                lockedNodeNames = string.Join(";", shelfLockedNodeNames);
-                return true;
-            }
-            return false;
-        }
-        /// <summary>
-        /// 执行流程
-        /// </summary>
-        private enum EXECUTE_STEP
-        {
-            /// <summary>
-            /// 接收到任务
-            /// </summary>
-            P1_NONE,
-            /// <summary>
-            /// 等待到达包装仓
-            /// </summary>
-            P2_WAIT_REACH_PACKING_STATION,
-            /// <summary>
-            /// 到达包装仓
-            /// </summary>
-            P3_CHECK_PACKING_STATION_STATE,
-            /// <summary>
-            /// 等待包装仓回复
-            /// </summary>
-            P4_WAIT_PACKING_STATION_RESPONSE,
-            /// <summary>
-            /// 等待AGV停靠完成
-            /// </summary>
-            P5_WAIT_AGV_DOCK_FINISH,
-            /// <summary>
-            /// 等待料架进入AGV
-            /// </summary>
-            P6_WAIT_SHELF_IN_AGV,
-            /// <summary>
-            /// 查询剩余任务
-            /// </summary>
-            P7_FIND_LEFT_TASK,
-            /// <summary>
-            /// 转移料架
-            /// </summary>
-            P8_TRANSFER_SHELF,
-            /// <summary>
-            /// 等待线体回复
-            /// </summary>
-            P9_WAIT_LINE_RESPONSE,
-            /// <summary>
-            /// 等待AGV停靠完成
-            /// </summary>
-            P10_WAIT_AGV_DOCK_FINISH,
-            /// <summary>
-            /// 等待料架进入线体
-            /// </summary>
-            P11_WAIT_SHELF_IN_LINE,
-            /// <summary>
-            /// 运送满料架
-            /// </summary>
-            P12_SEND_FULL_SHELF,
-            /// <summary>
-            /// 等待满料目的地回复
-            /// </summary>
-            P13_WAIT_TARGET_RESPONSE,
-            /// <summary>
-            /// 等待到达待机位
-            /// </summary>
-            P14_WAIT_REACH_STANDBY,
-            /// <summary>
-            /// 任务结束
-            /// </summary>
-            P15_END
-        }
-    }
-
-}

DeviceLibrary/bean/job/RecycleEmptyShelf.cs

 
 
 
 
 using Common;
 using Common;
+using System;
 
 
 namespace DeviceLibrary
 namespace DeviceLibrary
 {
 {
@@ -32,6 +33,8 @@ namespace DeviceLibrary
             TargetPlace = tarPlace;
             TargetPlace = tarPlace;
             shelfType = type;
             shelfType = type;
             this.hasLoad = hasLoad;
             this.hasLoad = hasLoad;
+            JobName = "回收空料架任务";
+            StartJobTime = DateTime.Now;
         }
         }
         /// <summary>
         /// <summary>
         /// 车上有负载
         /// 车上有负载
@@ -53,7 +56,6 @@ namespace DeviceLibrary
         /// 回收料架处
         /// 回收料架处
         /// </summary>
         /// </summary>
         public string RecycleStation = "";
         public string RecycleStation = "";
-        private string runInfo = "";
         /// <summary>
         /// <summary>
         /// 运行信息
         /// 运行信息
         /// </summary>
         /// </summary>
@@ -61,16 +63,16 @@ namespace DeviceLibrary
         {
         {
             get
             get
             {
             {
-                int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
+                int t1 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
                 string from = "";
                 string from = "";
                 if (t1 > -1)
                 if (t1 > -1)
-                    from = CommonVar.nodeInfo[t1].AliceName;
+                    from = NodeManager.nodeInfo[t1].AliceName;
                 else
                 else
                     from = agvPlace;
                     from = agvPlace;
-                int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
+                int t2 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
                 string to = "";
                 string to = "";
                 if (t2 > -1)
                 if (t2 > -1)
-                    to = CommonVar.nodeInfo[t2].AliceName;
+                    to = NodeManager.nodeInfo[t2].AliceName;
                 else
                 else
                     to = TargetPlace;
                     to = TargetPlace;
                 return string.Format("回收空料架任务:{0} [ShelfType={1}][任务名称={2}][任务状态={3}]", runInfo, shelfType.ToString(),CurTaskName,CurTaskState);
                 return string.Format("回收空料架任务:{0} [ShelfType={1}][任务名称={2}][任务状态={3}]", runInfo, shelfType.ToString(),CurTaskName,CurTaskState);
@@ -88,11 +90,12 @@ namespace DeviceLibrary
             string msg = agv.Name + " ";
             string msg = agv.Name + " ";
             bool rtn = false;
             bool rtn = false;
             agv.Msg = runInfo;
             agv.Msg = runInfo;
-
+            StartJobTime = curJobStep.startTime;
             CurTaskState = CommonVar.GetTakJobState(agv);
             CurTaskState = CommonVar.GetTakJobState(agv);
             if (curJobStep.IsStep(EXECUTE_STEP.R1_NONE))
             if (curJobStep.IsStep(EXECUTE_STEP.R1_NONE))
             {
             {
-                if(hasLoad)
+                agv.HasError = false;
+                if (hasLoad)
                 {
                 {
                     if (FindRecycleStation())
                     if (FindRecycleStation())
                     {
                     {
@@ -141,6 +144,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     curJobStep.ToNextStep(EXECUTE_STEP.R3_WAIT_LINE_RESPONSE);
                     curJobStep.ToNextStep(EXECUTE_STEP.R3_WAIT_LINE_RESPONSE);
                     runInfo = "到达空料架处"+TargetPlace+",向线体发送出料请求";
                     runInfo = "到达空料架处"+TargetPlace+",向线体发送出料请求";
                     msg += runInfo;
                     msg += runInfo;
@@ -150,7 +154,7 @@ namespace DeviceLibrary
             }
             }
             else if (curJobStep.IsStep(EXECUTE_STEP.R3_WAIT_LINE_RESPONSE))
             else if (curJobStep.IsStep(EXECUTE_STEP.R3_WAIT_LINE_RESPONSE))
             {
             {
-                //int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayLeave));
+                //int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayLeave));
                 //if (i > -1)
                 //if (i > -1)
                 {
                 {
                     curJobStep.ToNextStep(EXECUTE_STEP.R4_WAIT_SHELF_IN_AGV);
                     curJobStep.ToNextStep(EXECUTE_STEP.R4_WAIT_SHELF_IN_AGV);
@@ -171,6 +175,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
                 if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     CommonVar.server.CloseDoor(TargetPlace);
                     CommonVar.server.CloseDoor(TargetPlace);
                     if (FindRecycleStation())
                     if (FindRecycleStation())
                     {
                     {
@@ -197,6 +202,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, RecycleStation, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, RecycleStation, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     curJobStep.ToNextStep(EXECUTE_STEP.R6_WAIT_RECYCLE_STATION_RESPONSE);
                     curJobStep.ToNextStep(EXECUTE_STEP.R6_WAIT_RECYCLE_STATION_RESPONSE);
                     runInfo = "到达"+TargetPlace+"，发送入料请求";
                     runInfo = "到达"+TargetPlace+"，发送入料请求";
                     msg += runInfo;
                     msg += runInfo;
@@ -206,7 +212,7 @@ namespace DeviceLibrary
             }
             }
             else if (curJobStep.IsStep(EXECUTE_STEP.R6_WAIT_RECYCLE_STATION_RESPONSE))
             else if (curJobStep.IsStep(EXECUTE_STEP.R6_WAIT_RECYCLE_STATION_RESPONSE))
             {
             {
-                //int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(RecycleStation) && s.StateEquals(eNodeStatus.MayEnter));
+                //int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(RecycleStation) && s.StateEquals(eNodeStatus.MayEnter));
                 //if (i > -1)
                 //if (i > -1)
                 {
                 {
                     curJobStep.ToNextStep(EXECUTE_STEP.R7_WAIT_SHELF_IN_LINE);
                     curJobStep.ToNextStep(EXECUTE_STEP.R7_WAIT_SHELF_IN_LINE);
@@ -227,8 +233,9 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
                 if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     CommonVar.server.CloseDoor(RecycleStation);
                     CommonVar.server.CloseDoor(RecycleStation);
-                    //int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(RecycleStation) && s.StateEquals(eNodeStatus.FinishEnter));
+                    //int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(RecycleStation) && s.StateEquals(eNodeStatus.FinishEnter));
                     //if (i > -1)
                     //if (i > -1)
                     {
                     {
                         curJobStep.ToNextStep(EXECUTE_STEP.R9_END);
                         curJobStep.ToNextStep(EXECUTE_STEP.R9_END);
@@ -242,6 +249,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.Standby, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.Standby, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     if (FindRecycleStation())
                     if (FindRecycleStation())
                     {
                     {
                         curJobStep.ToNextStep(EXECUTE_STEP.R5_WAIT_REACH_RECYCLE_STATION);
                         curJobStep.ToNextStep(EXECUTE_STEP.R5_WAIT_REACH_RECYCLE_STATION);
@@ -263,6 +271,7 @@ namespace DeviceLibrary
                 //    curJobStep.Msg = msg;
                 //    curJobStep.Msg = msg;
                 //    return job;
                 //    return job;
                 //}
                 //}
+                RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                 return null;
                 return null;
             }
             }
             return this;
             return this;
@@ -276,24 +285,24 @@ namespace DeviceLibrary
         {
         {
             if(shelfType.Equals(ShelfType.ReelString))
             if(shelfType.Equals(ShelfType.ReelString))
             {
             {
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.T4_1) && s.StateEquals(eNodeStatus.NeedEnter));
-                if(i==-1) i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.D1) && s.StateEquals(eNodeStatus.NeedEnter));
-                if (i == -1) i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A2) && s.StateEquals(eNodeStatus.NeedEnter));
+                int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.T4_1) && s.StateEquals(eNodeStatus.NeedEnter));
+                if(i==-1) i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.D1) && s.StateEquals(eNodeStatus.NeedEnter));
+                if (i == -1) i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A2) && s.StateEquals(eNodeStatus.NeedEnter));
                 if(i>-1)
                 if(i>-1)
                 {
                 {
-                    RecycleStation = CommonVar.nodeInfo[i].Name;
+                    RecycleStation = NodeManager.nodeInfo[i].Name;
                     return true;
                     return true;
                 }
                 }
 
 
             }
             }
             else if(shelfType.Equals(ShelfType.PackingShelf))
             else if(shelfType.Equals(ShelfType.PackingShelf))
             {
             {
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A3) && s.StateEquals(eNodeStatus.NeedEnter));
-                if (i == -1) i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A2) && s.StateEquals(eNodeStatus.NeedEnter));
-                if (i == -1) i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A8) && s.StateEquals(eNodeStatus.NeedEnter));
+                int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A3) && s.StateEquals(eNodeStatus.NeedEnter));
+                if (i == -1) i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A2) && s.StateEquals(eNodeStatus.NeedEnter));
+                if (i == -1) i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A8) && s.StateEquals(eNodeStatus.NeedEnter));
                 if (i > -1)
                 if (i > -1)
                 {
                 {
-                    RecycleStation = CommonVar.nodeInfo[i].Name;
+                    RecycleStation = NodeManager.nodeInfo[i].Name;
                     return true;
                     return true;
                 }
                 }
             }
             }

DeviceLibrary/bean/job/SendShelfJob.cs

 using Common;
 using Common;
+using System;
 
 
 namespace DeviceLibrary
 namespace DeviceLibrary
 {
 {
@@ -17,6 +18,8 @@ namespace DeviceLibrary
             this.agvPlace = agvPlae;
             this.agvPlace = agvPlae;
             TargetPlace = tarPlace;
             TargetPlace = tarPlace;
             this.RFID = RFID;
             this.RFID = RFID;
+            StartJobTime = DateTime.Now;
+            JobName = "送料串任务";
         }
         }
 
 
 
 
@@ -30,7 +33,7 @@ namespace DeviceLibrary
         /// 目的地
         /// 目的地
         /// </summary>
         /// </summary>
         public string TargetPlace { get; private set; }
         public string TargetPlace { get; private set; }
-        private string runInfo = "";
+
         /// <summary>
         /// <summary>
         /// 运行信息
         /// 运行信息
         /// </summary>
         /// </summary>
@@ -38,16 +41,16 @@ namespace DeviceLibrary
         {
         {
             get
             get
             {
             {
-                int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
+                int t1 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
                 string from = "";
                 string from = "";
                 if (t1 > -1)
                 if (t1 > -1)
-                    from = CommonVar.nodeInfo[t1].AliceName;
+                    from = NodeManager.nodeInfo[t1].AliceName;
                 else
                 else
                     from = agvPlace;
                     from = agvPlace;
-                int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
+                int t2 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
                 string to = "";
                 string to = "";
                 if (t2 > -1)
                 if (t2 > -1)
-                    to = CommonVar.nodeInfo[t2].AliceName;
+                    to = NodeManager.nodeInfo[t2].AliceName;
                 else
                 else
                     to = TargetPlace;
                     to = TargetPlace;
                 return string.Format("送料串任务[RFID={4}]:{0} [目的地={1}][任务名称={2}][任务状态={3}]", runInfo, to, CurTaskName, CurTaskState, RFID);
                 return string.Format("送料串任务[RFID={4}]:{0} [目的地={1}][任务名称={2}][任务状态={3}]", runInfo, to, CurTaskName, CurTaskState, RFID);
@@ -58,19 +61,19 @@ namespace DeviceLibrary
 
 
         private string GetShowInfo()
         private string GetShowInfo()
         {
         {
-            int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
+            int t1 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
             string from = "";
             string from = "";
             if (t1 > -1)
             if (t1 > -1)
-                from = CommonVar.nodeInfo[t1].AliceName;
+                from = NodeManager.nodeInfo[t1].AliceName;
             else
             else
                 from = agvPlace;
                 from = agvPlace;
-            int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
+            int t2 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
             string to = "";
             string to = "";
             if (t2 > -1)
             if (t2 > -1)
-                to = CommonVar.nodeInfo[t2].AliceName;
+                to = NodeManager.nodeInfo[t2].AliceName;
             else
             else
                 to = TargetPlace;
                 to = TargetPlace;
-            return string.Format("送料串任务: {0} [{1}->{2}]", runInfo, from, to);
+            return string.Format("{0} [{1}->{2}]", runInfo, from, to);
         }
         }
         /// <summary>
         /// <summary>
         /// 任务执行
         /// 任务执行
@@ -82,9 +85,11 @@ namespace DeviceLibrary
             bool rtn = false;
             bool rtn = false;
             agv.Msg = GetShowInfo();
             agv.Msg = GetShowInfo();
             agv.RFID = RFID;
             agv.RFID = RFID;
+            StartJobTime = curJobStep.startTime;
             CurTaskState = CommonVar.GetTakJobState(agv);
             CurTaskState = CommonVar.GetTakJobState(agv);
             if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
             if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
             {
             {
+                agv.HasError = false;
                 if (!agvPlace.StartsWith(SettingString.C4_Name_Prefix) && TargetPlace.StartsWith(SettingString.C4_Name_Prefix))//D C
                 if (!agvPlace.StartsWith(SettingString.C4_Name_Prefix) && TargetPlace.StartsWith(SettingString.C4_Name_Prefix))//D C
                 {
                 {
                     curJobStep.ToNextStep(EXECUTE_STEP.P3_WAIT_REACH_4C_DOOR);
                     curJobStep.ToNextStep(EXECUTE_STEP.P3_WAIT_REACH_4C_DOOR);
@@ -118,6 +123,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_STATION_RESPONSE);
                     curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_STATION_RESPONSE);
                     runInfo = "到达" + TargetPlace + "，并发送进料请求";
                     runInfo = "到达" + TargetPlace + "，并发送进料请求";
                     msg += runInfo;
                     msg += runInfo;
@@ -129,6 +135,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
                     curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
                     runInfo = "到达3D门，去料架处" + TargetPlace;
                     runInfo = "到达3D门，去料架处" + TargetPlace;
                     msg += runInfo;
                     msg += runInfo;
@@ -142,6 +149,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorDToC, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorDToC, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
                     curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
                     runInfo = "到达3C门，去料架处" + TargetPlace;
                     runInfo = "到达3C门，去料架处" + TargetPlace;
                     msg += runInfo;
                     msg += runInfo;
@@ -153,7 +161,7 @@ namespace DeviceLibrary
             }
             }
             else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_STATION_RESPONSE))
             else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_STATION_RESPONSE))
             {
             {
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));//&& s.StateEquals(eNodeStatus.MayEnter)
+                int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));//&& s.StateEquals(eNodeStatus.MayEnter)
                 if (i > -1)
                 if (i > -1)
                 {
                 {
                     //curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_STATION);
                     //curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_STATION);
@@ -174,38 +182,47 @@ namespace DeviceLibrary
             }
             }
             else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_STATION))
             else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_STATION))
             {
             {
-                int idx = CommonVar.nodeInfo.FindIndex(s=>s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.FinishEnter));
+
+                int idx = NodeManager.nodeInfo.FindIndex(s=>s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.FinishEnter));
                 if(idx>-1)
                 if(idx>-1)
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     curJobStep.ToNextStep(EXECUTE_STEP.P6_TURN_DIRECTION);
                     curJobStep.ToNextStep(EXECUTE_STEP.P6_TURN_DIRECTION);
                     runInfo = "料架进入" + TargetPlace + "完成";
                     runInfo = "料架进入" + TargetPlace + "完成";
+                    agv.HasError = false;
                     msg += runInfo;
                     msg += runInfo;
                     curJobStep.Msg = msg;
                     curJobStep.Msg = msg;
                 }
                 }
-                else if (curJobStep.IsTimeOut(60000, out double timeOutTime))
+                else if (curJobStep.IsTimeOut(60000, out TimeSpan timeSpan))
                 {
                 {
-                    runInfo = string.Format("等待线体[{0}]进料完成信号[FinishEnter]超时{1}秒", TargetPlace, timeOutTime.ToString("f2"));
-                    msg += string.Format("等待线体[{0}]进料完成信号[FinishEnter]超时", TargetPlace);
+                    runInfo = string.Format("等待线体[{0}]进料完成信号[FinishEnter]超时", TargetPlace);
+                    msg += runInfo;
                     curJobStep.Msg = msg;
                     curJobStep.Msg = msg;
+                    agv.HasError = true;
+                    agv.SetErrorMsg($"等待线体[{TargetPlace}]进料完成信号[FinishEnter]超时", timeSpan.TotalMinutes.ToString("f2"));
                 }
                 }
             }
             }
             else if (curJobStep.IsStep(EXECUTE_STEP.P6_TURN_DIRECTION))
             else if (curJobStep.IsStep(EXECUTE_STEP.P6_TURN_DIRECTION))
             {
             {
                 if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
                 if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                     curJobStep.ToNextStep(EXECUTE_STEP.P7_END);
                     curJobStep.ToNextStep(EXECUTE_STEP.P7_END);
                     runInfo = "AGV在" + TargetPlace + "出料完成，开始转向";
                     runInfo = "AGV在" + TargetPlace + "出料完成，开始转向";
+                    agv.HasError = false;
                     msg += runInfo;
                     msg += runInfo;
                     curJobStep.Msg = msg;
                     curJobStep.Msg = msg;
                     CommonVar.server.CloseDoor(TargetPlace);
                     CommonVar.server.CloseDoor(TargetPlace);
                     //rtn = agv.AssignTask(SettingString.Turn);
                     //rtn = agv.AssignTask(SettingString.Turn);
                     //UpdateJobTaskInfo(agv);
                     //UpdateJobTaskInfo(agv);
                 }
                 }
-                else if (curJobStep.IsTimeOut(60000, out double timeOutTime))
+                else if (curJobStep.IsTimeOut(60000, out TimeSpan timeSpan))
                 {
                 {
-                    runInfo = string.Format("线体[{0}]出料超时{1}秒,请检查料架情况", TargetPlace, timeOutTime.ToString("f2"));
-                    msg += string.Format("线体[{0}]出料超时，请检查料架情况", TargetPlace);
+                    runInfo = string.Format("线体[{0}]出料超时，请检查料架情况", TargetPlace);
+                    msg += runInfo;
                     curJobStep.Msg = msg;
                     curJobStep.Msg = msg;
+                    agv.HasError = true;
+                    agv.SetErrorMsg($"线体[{TargetPlace}]出料超时，请检查料架情况", timeSpan.TotalMinutes.ToString("f2"));
                 }
                 }
             }
             }
             else if (curJobStep.IsStep(EXECUTE_STEP.P7_END))
             else if (curJobStep.IsStep(EXECUTE_STEP.P7_END))
@@ -217,6 +234,7 @@ namespace DeviceLibrary
                         runInfo = "AGV在" + TargetPlace + "转向完成,去退料线出口取一个料串回点料机";
                         runInfo = "AGV在" + TargetPlace + "转向完成,去退料线出口取一个料串回点料机";
                         msg += runInfo;
                         msg += runInfo;
                         curJobStep.Msg = msg;
                         curJobStep.Msg = msg;
+                        RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
                         return new GetShelfJob(TargetPlace, SettingString.D24_Out, "B#", true);
                         return new GetShelfJob(TargetPlace, SettingString.D24_Out, "B#", true);
                     }
                     }
                     else
                     else
@@ -241,6 +259,7 @@ namespace DeviceLibrary
                             runInfo = "AGV在" + TargetPlace + "转向完成";
                             runInfo = "AGV在" + TargetPlace + "转向完成";
                             msg += runInfo;
                             msg += runInfo;
                             curJobStep.Msg = msg;
                             curJobStep.Msg = msg;
+                            RecordRunLog(agv, curJobStep.CurStep(), runInfo,TargetPlace);
                             return null;
                             return null;
                         }
                         }
                     }
                     }

DeviceLibrary/bean/job/StandyJob.cs

 using Common;
 using Common;
+using System;
 
 
 namespace DeviceLibrary
 namespace DeviceLibrary
 {
 {
@@ -14,6 +15,8 @@ namespace DeviceLibrary
         public StandyJob(string agvPlae)
         public StandyJob(string agvPlae)
         {
         {
             this.agvPlace = agvPlae;
             this.agvPlace = agvPlae;
+            StartJobTime = DateTime.Now;
+            JobName = "待机任务";
         }
         }
 
 
 
 
@@ -22,7 +25,6 @@ namespace DeviceLibrary
         /// </summary>
         /// </summary>
         private string agvPlace = "";
         private string agvPlace = "";
 
 
-        private string runInfo = "";
         /// <summary>
         /// <summary>
         /// 运行信息
         /// 运行信息
         /// </summary>
         /// </summary>
@@ -41,12 +43,13 @@ namespace DeviceLibrary
         {
         {
             string msg = agv.Name + " ";
             string msg = agv.Name + " ";
             bool rtn = false;
             bool rtn = false;
-            agv.Msg = RunInfo;
-
+            agv.Msg = runInfo;
+            StartJobTime = curJobStep.startTime;
             CurTaskState = CommonVar.GetTakJobState(agv);
             CurTaskState = CommonVar.GetTakJobState(agv);
             if (curJobStep.IsStep(EXECUTE_STEP.NONE))
             if (curJobStep.IsStep(EXECUTE_STEP.NONE))
             {
             {
-                    if (agvPlace.Equals(SettingString.Standby))//在待机位不操作
+                agv.HasError = false;
+                if (agvPlace.Equals(SettingString.Standby))//在待机位不操作
                     {
                     {
                     curJobStep.ToNextStep(EXECUTE_STEP.END);
                     curJobStep.ToNextStep(EXECUTE_STEP.END);
                         runInfo = "在待机位，不执行操作";
                         runInfo = "在待机位，不执行操作";
@@ -80,6 +83,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, SettingString.DoorCToD);
                     curJobStep.ToNextStep(EXECUTE_STEP.WAIT_REACH_STANDBY);
                     curJobStep.ToNextStep(EXECUTE_STEP.WAIT_REACH_STANDBY);
                     runInfo = "从4D门回到待机位";
                     runInfo = "从4D门回到待机位";
                     msg += runInfo;
                     msg += runInfo;
@@ -93,6 +97,7 @@ namespace DeviceLibrary
             {
             {
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.Standby, CurTaskState))
                 if (CommonVar.CheckTaskMoveFinished(agv, SettingString.Standby, CurTaskState))
                 {
                 {
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, SettingString.Standby);
                     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;
@@ -107,6 +112,7 @@ namespace DeviceLibrary
                     runInfo = "在待机位检测到任务，执行任务";
                     runInfo = "在待机位检测到任务，执行任务";
                     msg += runInfo;
                     msg += runInfo;
                     curJobStep.Msg = msg;
                     curJobStep.Msg = msg;
+                    RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
                     return job;
                     return job;
                 }
                 }
             }
             }

DeviceLibrary/bean/jobType/PackingJobType.cs

-using Common;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Web.Management;
-
-namespace DeviceLibrary
-{
-    public enum eMarkState
-    {
-        None,
-        Assigned,
-        Executing,
-        Finished
-    }
-    /// <summary>
-    /// 搜索包装仓任务
-    /// </summary>
-    public class PackingJobType : JobType
-    {
-        /// <summary>
-        /// 标记
-        /// </summary>
-        private static Dictionary<string, eMarkState> Marks = new Dictionary<string, eMarkState>();
-        private static object locBoj = new object();
-        public PackingJobType()
-        {
-
-        }
-        public static string GetMarks()
-        {
-            if (Marks != null && Marks.Count > 0)
-            {
-                StringBuilder temp = new StringBuilder();
-                foreach (var item in Marks.Keys)
-                {
-                    temp.Append(string.Format("{0}={1} ", item, Marks[item]));
-                }
-                return temp.ToString().Trim();
-            }
-
-            return "";
-        }
-        public static void WriteMarks(string marks = "")
-        {
-            if (Marks != null && Marks.Count > 0)
-            {
-                Marks.Clear();
-                string[] tempMarks = marks.Split(' ');
-                foreach (string item in tempMarks)
-                {
-                    string[] t1 = item.Split('=');
-                    Marks.Add(t1[0], (eMarkState)Enum.Parse(typeof(eMarkState), t1[1]));
-                }
-            }
-
-        }
-        /// <summary>
-        /// 判断是否为入库标志
-        /// </summary>
-        /// <returns></returns>
-        public static bool IsInStoreMark(string mark)
-        {
-            return mark.Equals(SettingString.InStore_Mark);
-        }
-        public static bool DelMark(string mark)
-        {
-            lock (locBoj)
-            {
-                if (Marks != null && Marks.ContainsKey(mark))
-                {
-                    Marks.Remove(mark);
-                    return true;
-                }
-            }
-
-            return false;
-        }
-        public static bool AddMark(string mark)
-        {
-            lock (locBoj)
-            {
-                if (Marks != null && !Marks.ContainsKey(mark))
-                {
-                    Marks.Add(mark, eMarkState.None);
-                    return true;
-                }
-            }
-
-            return false;
-        }
-        public static bool ChangeMarkState(string mark, eMarkState value)
-        {
-            lock (locBoj)
-            {
-                if (Marks != null && Marks.ContainsKey(mark))
-                {
-                    Marks[mark] = value;
-                    return true;
-                }
-            }
-            return false;
-        }
-
-        /// <summary>
-        /// 包装仓任务
-        /// </summary>
-        /// <param name="currentAgv"></param>
-        /// <returns></returns>
-        public override Job GetNewJob(Agv_Info currentAgv)
-        {
-            if (currentAgv.IP.Equals(SettingString.SingleMission_IP1))
-                return null;
-            if (!CommonVar.CheckCanExecuteMission(currentAgv))
-                return null;
-            if (!CommonVar.CheckAGVStatusNone(currentAgv))
-                return null;
-            SearchMarks();
-            return FindPackingJob(currentAgv);
-        }
-        private void SearchMarks()
-        {
-            //Mark.Length>1防止Mark为0的情况，Mark=0是VMI的进料
-            int nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.StateEquals(eNodeStatus.NeedEnter)
-                            && s.Mark.Length > 1 && !Marks.ContainsKey(s.Mark) && s.IsUse);
-            if (nodeIdx > -1)
-            {
-                string mark = CommonVar.nodeInfo[nodeIdx].Mark;
-                AddMark(mark);
-                LogUtil.info(string.Format("包装仓出库任务生成：{0}={1}", mark, Marks[mark].ToString()));
-            }
-            else
-            {
-                nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.StateEquals(eNodeStatus.NeedEnter)
-                && s.Mark.Equals("0") && !Marks.ContainsKey(SettingString.InStore_Mark) && s.IsUse);
-                if (nodeIdx > -1)
-                {
-                    string mark = SettingString.InStore_Mark;
-                    AddMark(mark);
-                    LogUtil.info(string.Format("包装仓入库任务生成：{0}={1}", mark, Marks[mark].ToString()));
-                }
-            }
-        }
-        /// <summary>
-        /// 检查节点mark是否存在
-        /// </summary>
-        /// <param name="mark"></param>
-        /// <returns>true:存在</returns>
-        public static bool CheckNodeMark(string mark, string nodeName = "")
-        {
-            if (nodeName.Equals(""))
-            {
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Mark.Equals(mark));
-                if (i == -1)
-                    return false;
-                else
-                    return true;
-            }
-            else
-            {
-                int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.Mark.Equals(mark));
-                if (i == -1)
-                    return false;
-                else
-                    return true;
-            }
-        }
-
-        private static object checkObj = new object();
-        /// <summary>
-        /// 检查是否有包装仓出库任务
-        /// </summary>
-        /// <returns></returns>
-        public static int CheckOutStroePackingJob()
-        {
-            lock (checkObj)
-            {
-                return CommonVar.nodeInfo.FindIndex(s => s.StateEquals(eNodeStatus.NeedEnter)
-                        && Marks.ContainsKey(s.Mark) && Marks[s.Mark].Equals(eMarkState.None) && s.IsUse);
-            }
-        }
-        /// <summary>
-        /// 检查是否有包装仓入库任务
-        /// </summary>
-        /// <returns></returns>
-        public static int CheckInStroePackingJob()
-        {
-            lock (checkObj)
-            {
-                int id = CommonVar.nodeInfo.FindIndex(s => s.StateEquals(eNodeStatus.NeedEnter) && s.Mark.Equals("0") && s.IsUse);
-                if (id > -1)
-                    return CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A1) && s.RFID.StartsWith(SettingString.Packing_RFID_Prefix));
-                else
-                    return id;
-            }
-        }
-
-        /// <summary>
-        /// 检查是否有包装仓出料架
-        /// </summary>
-        /// <returns></returns>
-        public static int CheckPackingOutShelf(out ClientNode tarNode, out string taskMark)
-        {
-            lock (checkObj)
-            {
-                taskMark = SettingString.InStore_Mark;
-                tarNode = null;
-                int id = CommonVar.nodeInfo.FindIndex(s => s.Name.StartsWith(SettingString.Packing_Box_Prefix) && s.StateEquals(eNodeStatus.NeedLeave) && s.RFID.StartsWith(SettingString.Packing_RFID_Prefix) && s.Mark.Equals("0") && s.IsUse);
-                if (id > -1)
-                {
-                    taskMark = SettingString.InStore_Mark;
-                    tarNode = CommonVar.nodeInfo[id];
-                    return id;
-                }
-                else
-                {
-                    id = CommonVar.nodeInfo.FindIndex(s => s.Name.StartsWith(SettingString.Packing_Box_Prefix) && s.StateEquals(eNodeStatus.NeedLeave)
-                    && s.RFID.StartsWith(SettingString.Packing_RFID_Prefix) && Marks.ContainsKey(s.Mark) && s.IsUse);
-                    if (id > -1)
-                    {
-                        taskMark = CommonVar.nodeInfo[id].Mark;
-                        tarNode = CommonVar.nodeInfo[id];
-                        return id;
-                    }
-                }
-                return -1;
-            }
-        }
-        /// <summary>
-        /// 搜索包装仓任务
-        /// </summary>
-        /// <returns>true:有任务</returns>
-        private Job FindPackingJob(Agv_Info agv)
-        {
-            //检查包装仓出料架
-            int nodeIdx = CheckPackingOutShelf(out ClientNode tarNode, out string taskMark);
-            if (nodeIdx > -1)
-            {
-                int agvId = CommonVar.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob is PackingJob_TransferShelf && ((PackingJob_TransferShelf)s.CurJob).TargetPlace.Equals(tarNode.Name));
-                if (agvId == -1)
-                    return new PackingJob_TransferShelf(agv.Place, tarNode.Name, "", taskMark);// tarNode.RFID
-            }
-            //检查出库任务，没有出库，找入库任务
-            nodeIdx = CheckOutStroePackingJob();
-            if (nodeIdx == -1) //搜索包装仓入库任务
-            {
-                LogUtil.debug("B区没有找到需要出库的节点");
-                nodeIdx = CheckInStroePackingJob();
-                if (nodeIdx > -1)
-                {
-                    //检查是否有小车去同一个目的地
-                    int agvId = CommonVar.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is PackingJob_GetShelf && ((PackingJob_GetShelf)s.CurJob).TargetPlace.Equals(CommonVar.nodeInfo[nodeIdx].Name));
-                    if (agvId == -1)
-                    {
-                        string Place = CommonVar.nodeInfo[nodeIdx].Name;
-                        LogUtil.info(string.Format("{0} 任务生成：Place={1},Type={2}", agv.Name, Place, SettingString.InStore_Mark));
-                        return new PackingJob_GetShelf(agv.Place, Place, SettingString.InStore_Mark);
-                    }
-
-                }
-            }
-            else//B区域需要出库,寻找空料架
-            {
-                //检查是否有小车去同一个包装仓
-                int agvId = CommonVar.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is PackingJob_GetShelf && ((PackingJob_GetShelf)s.CurJob).TargetPlace.Equals(CommonVar.nodeInfo[nodeIdx].Name));
-                if (agvId > -1)
-                    return null;
-                int n = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A7) && s.StateEquals(eNodeStatus.NeedLeave) &&
-                 s.RFID.StartsWith(SettingString.Packing_RFID_Prefix) && s.IsUse);
-                if (n > -1)
-                {
-                    string Place = CommonVar.nodeInfo[n].Name;
-                    string Mark = CommonVar.nodeInfo[nodeIdx].Mark;
-                    LogUtil.info(string.Format("{0} 任务生成：Place={1},Type={2}", agv.Name, Place, Mark));
-                    return new PackingJob_GetShelf(agv.Place, Place, Mark);
-                }
-                else
-                {
-                    //A4没有被占用
-                    n = CommonVar.nodeInfo.FindIndex(s => s.Name == SettingString.A4 && s.StateEquals(eNodeStatus.NeedLeave)
-                    && s.IsUse);
-                    if (n == -1)
-                    {
-                        nodeIdx = -1;
-                        LogUtil.error("A7,A4不是NeedLeave或被占用");
-                        agv.AddDisplayBoard("包装料架", "PackingShelf", "分盘线出口A7、包装线出口A4均无包装料架,请检查！");
-                    }
-                    else
-                    {
-                        string Place = CommonVar.nodeInfo[n].Name;
-                        string Mark = CommonVar.nodeInfo[nodeIdx].Mark;
-                        LogUtil.info(string.Format("{0} 任务生成：Place={1},Type={2}", agv.Name, Place, Mark));
-                        return new PackingJob_GetShelf(agv.Place, Place, Mark);
-                    }
-                }
-
-            }
-
-            return null;
-        }
-    }
-
-}

DeviceLibrary/bean/jobType/ReelStringJobType.cs

@@ -62,7 +62,7 @@ namespace DeviceLibrary
                     }
                     }
                 }
                 }
                 //检查紧急出料入口需要空料串
                 //检查紧急出料入口需要空料串
-                if (FindNeedEnterMission(currentAgv, SettingString.T4_1))//FindNeedEnterMission(currentAgv, SettingString.T4_1,ClientLevel.Middle,false) || 
+                if (FindNeedEnterMission(currentAgv, SettingString.T4_1,ClientLevel.Middle,false))//FindNeedEnterMission(currentAgv, SettingString.T4_1,ClientLevel.Middle,false) || 
                     //FindNeedEnterMission(currentAgv, SettingString.T4_1, ClientLevel.High, false)
                     //FindNeedEnterMission(currentAgv, SettingString.T4_1, ClientLevel.High, false)
                 {
                 {
 
 
@@ -186,6 +186,14 @@ namespace DeviceLibrary
                         return new GetShelfJob(currentAgv.Place, SettingString.A9, rfid, true);
                         return new GetShelfJob(currentAgv.Place, SettingString.A9, rfid, true);
                     }
                     }
                 }
                 }
+                if (FindNeedLeaveMission(currentAgv, SettingString.D2, out rfid))
+                {
+                    if(FindNeedEnterMission(currentAgv, SettingString.A8))
+                    {
+                        LogUtil.info(string.Format("{0} 任务生成：Place={1},rfid={2},点料机满料出口满，上料机构满，出到分盘线", currentAgv.Name, SettingString.D2, rfid));
+                        return new GetShelfJob(currentAgv.Place, SettingString.D2, rfid, true);
+                    }
+                }
 
 
             }
             }
 
 
@@ -196,25 +204,25 @@ namespace DeviceLibrary
 
 
         public static bool FindNeedLeave(Agv_Info agv, string nodeName, out string RFID, string RFID_Prefix = "")
         public static bool FindNeedLeave(Agv_Info agv, string nodeName, out string RFID, string RFID_Prefix = "")
         {
         {
-            int nodeIdx = CommonVar.FindNode(nodeName);
+            int nodeIdx = NodeManager.FindNode(nodeName);
             RFID = "";
             RFID = "";
             if (nodeIdx > -1)
             if (nodeIdx > -1)
             {
             {
                 if (RFID_Prefix.Equals(""))
                 if (RFID_Prefix.Equals(""))
                 {
                 {
-                    nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedLeave));
+                    nodeIdx = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedLeave));
                 }
                 }
                 else if (RFID_Prefix.Trim().Length == 1)
                 else if (RFID_Prefix.Trim().Length == 1)
                 {
                 {
-                    nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedLeave) && s.RFID.StartsWith(RFID_Prefix));
+                    nodeIdx = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedLeave) && s.RFID.StartsWith(RFID_Prefix));
                 }
                 }
                 else
                 else
                 {
                 {
-                    nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedLeave));
+                    nodeIdx = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedLeave));
                 }
                 }
                 if (nodeIdx > -1)
                 if (nodeIdx > -1)
                 {
                 {
-                    RFID = CommonVar.nodeInfo[nodeIdx].RFID;
+                    RFID = NodeManager.nodeInfo[nodeIdx].RFID;
                     return true;
                     return true;
                 }
                 }
             }
             }
@@ -226,13 +234,13 @@ namespace DeviceLibrary
         }
         }
         public static bool FindNeedEnter(Agv_Info agv, string nodeName, ClientLevel level= ClientLevel.Low, bool ignoreLevel = true)
         public static bool FindNeedEnter(Agv_Info agv, string nodeName, ClientLevel level= ClientLevel.Low, bool ignoreLevel = true)
         {
         {
-            int nodeIdx = CommonVar.FindNode(nodeName);
+            int nodeIdx = NodeManager.FindNode(nodeName);
             if (nodeIdx > -1)
             if (nodeIdx > -1)
             {
             {
                 if (ignoreLevel)
                 if (ignoreLevel)
-                    nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedEnter));
+                    nodeIdx = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedEnter));
                 else
                 else
-                    nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedEnter)&& s.Level.Equals(level));
+                    nodeIdx = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedEnter)&& s.Level.Equals(level));
                 if (nodeIdx > -1)
                 if (nodeIdx > -1)
                     return true;
                     return true;
             }
             }

DeviceLibrary/AGVManager.cs → DeviceLibrary/manager/APIManager.cs

@@ -7,7 +7,7 @@ using System.Threading.Tasks;
 
 
 namespace DeviceLibrary
 namespace DeviceLibrary
 {
 {
-    public class AGVManager
+    public class APIManager
     {
     {
         private static log4net.ILog log = log4net.LogManager.GetLogger("AGVManager");
         private static log4net.ILog log = log4net.LogManager.GetLogger("AGVManager");
         /// <summary>
         /// <summary>
@@ -96,7 +96,7 @@ namespace DeviceLibrary
                     string nodes="";
                     string nodes="";
                     foreach (ShelfLockData item in serverResult.data)
                     foreach (ShelfLockData item in serverResult.data)
                     {
                     {
-                        CommonVar.GetNodeNameByAliceName(item.cid,out string nodeName);
+                        NodeManager.FindNameBy(item.cid,out string nodeName);
                         int resInt = shelfLockNodeNames.FindIndex(s=>s !=null && s.Equals(nodeName));
                         int resInt = shelfLockNodeNames.FindIndex(s=>s !=null && s.Equals(nodeName));
                         if(resInt==-1)
                         if(resInt==-1)
                         {
                         {

DeviceLibrary/manager/NodeManager.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary
+{
+    public class NodeManager
+    {
+        /// <summary>
+        /// 节点信息
+        /// </summary>
+        public static List<ClientNode> nodeInfo;
+
+        public static void InitNodes()
+        {
+            nodeInfo = new List<ClientNode>();
+        }
+        public static void FindNameBy(string alicename, out string nodename)
+        {
+            nodename = "";
+            int id = nodeInfo.FindIndex(s => s.AliceName.Equals(alicename));
+            if (id > -1)
+            {
+                nodename = nodeInfo[id].Name;
+            }
+        }
+        /// <summary>
+        /// 查找节点是否存在以及是否调用
+        /// </summary>
+        /// <param name="nodeName">节点名称</param>
+        /// <returns></returns>
+        public static int FindNode(string nodeName)
+        {
+            int idx = nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.IsUse);
+            return idx;
+        }
+        public static Node GetNodeBy(int i)
+        {
+            if (i > -1)
+              return  nodeInfo[i];
+            return null; 
+        }
+        public static eNodeStatus? GetState(int i)
+        {
+            return GetNodeBy(i)?.GetState();
+        }
+    }
+}