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Commit d4bc3cf4 由 张东亮
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送满料等级middle，解析失败断开连接

1 个父辈 13dd469a
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内嵌 并排
正在显示 16 个修改的文件 包含 234 行增加 和 124 行删除
AGV_3D_SMD.sln
......@@ -5,10 +5,6 @@ VisualStudioVersion = 16.0.30104.148
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AGV_3D_SMD", "AGV_3D_SMD\AGV_3D_SMD.csproj", "{E1C3207D-C67D-4B46-A9DB-D182F2074CCB}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AgvClientTest", "AgvClientTest\AgvClientTest.csproj", "{E1C0827A-FA12-49A9-AC71-6D3E6518754A}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "AgvClient", "AgvClient\AgvClient.csproj", "{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DeviceLibrary", "DeviceLibrary\DeviceLibrary.csproj", "{F9619F07-15F1-4E59-A383-3871952BBB79}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Common", "Common\Common.csproj", "{BAFEAFE6-04E2-48EE-8845-BFC7EA3E3C21}"
......@@ -25,14 +21,6 @@ Global
{E1C3207D-C67D-4B46-A9DB-D182F2074CCB}.Debug|Any CPU.Build.0 = Debug|Any CPU
{E1C3207D-C67D-4B46-A9DB-D182F2074CCB}.Release|Any CPU.ActiveCfg = Release|Any CPU
{E1C3207D-C67D-4B46-A9DB-D182F2074CCB}.Release|Any CPU.Build.0 = Release|Any CPU
{E1C0827A-FA12-49A9-AC71-6D3E6518754A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{E1C0827A-FA12-49A9-AC71-6D3E6518754A}.Debug|Any CPU.Build.0 = Debug|Any CPU
{E1C0827A-FA12-49A9-AC71-6D3E6518754A}.Release|Any CPU.ActiveCfg = Release|Any CPU
{E1C0827A-FA12-49A9-AC71-6D3E6518754A}.Release|Any CPU.Build.0 = Release|Any CPU
{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}.Debug|Any CPU.Build.0 = Debug|Any CPU
{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}.Release|Any CPU.ActiveCfg = Release|Any CPU
{7DAD8F15-0EC9-42DF-AE0B-94B45DE0F0AC}.Release|Any CPU.Build.0 = Release|Any CPU
{F9619F07-15F1-4E59-A383-3871952BBB79}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{F9619F07-15F1-4E59-A383-3871952BBB79}.Debug|Any CPU.Build.0 = Debug|Any CPU
{F9619F07-15F1-4E59-A383-3871952BBB79}.Release|Any CPU.ActiveCfg = Release|Any CPU
......
AGV_3D_SMD/AGV_3D_SMD.csproj
......@@ -115,6 +115,7 @@
</ItemGroup>
<ItemGroup>
<Content Include="icon.ico" />
<None Include="云仓AGV运行.png" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\AGV_UI\AGV_UI.csproj">
......
AGV_3D_SMD/App.config
......@@ -70,7 +70,7 @@
<appSettings>
<add key="http_server" value="http://10.85.162.124/myproject/"/>
<add key="FLEET" value="10.85.199.3"/>
<add key="LocalIP" value="10.85.162.40"/>
<add key="LocalIP" value="127.0.0.1"/>
<add key="Use_Fleet" value="False"/>
<add key="ChargeThreshold" value="20,90"/>
<add key="LimitPoints" value="0,0;0,0;0,0;0,0"/>
......
AGV_3D_SMD/FrmMain.cs
......@@ -72,7 +72,10 @@ namespace AGVControl
{
Invoke(new Action(() =>
{
DgvNode.Rows[nodeIndex].SetValues(CommonVar.nodeInfo[nodeIndex].ToRow());
for (int i=0;i<CommonVar.nodeInfo.Count;i++)
{
DgvNode.Rows[i].SetValues(CommonVar.nodeInfo[i].ToRow());
}
}));
System.GC.Collect();
}
......
AGV_3D_SMD/Manual.cs
......@@ -63,6 +63,7 @@ namespace AGVControl
//}
if (MessageBox.Show(this, "是否继续上一次的任务?\r\n" + Agv.Msg, "提示", MessageBoxButtons.YesNo).Equals(DialogResult.No))
{
LogUtil.info(string.Format("{0} 手动取消上一次任务:{1}", Agv.Name, Agv.Msg));
Agv.CurJob = null;
if (Agv.Place.Equals(SettingString.Standby) || Agv.Place.Equals(SettingString.AutoCharge))
Agv.Place = "";
......@@ -70,7 +71,6 @@ namespace AGVControl
{
MiR_API.Del_Mission(Agv);
}
Agv.RFID = "";
}
else
......
AGV_3D_SMD/Properties/Resources.Designer.cs
......@@ -59,5 +59,15 @@ namespace AGV_3D_SMD.Properties {
resourceCulture = value;
}
}
/// <summary>
/// 查找 System.Drawing.Bitmap 类型的本地化资源。
/// </summary>
internal static System.Drawing.Bitmap 云仓AGV运行 {
get {
object obj = ResourceManager.GetObject("云仓AGV运行", resourceCulture);
return ((System.Drawing.Bitmap)(obj));
}
}
}
}
AGV_3D_SMD/Properties/Resources.resx
......@@ -46,7 +46,7 @@
mimetype: application/x-microsoft.net.object.binary.base64
value : The object must be serialized with
: System.Serialization.Formatters.Binary.BinaryFormatter
: System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
: and then encoded with base64 encoding.
mimetype: application/x-microsoft.net.object.soap.base64
......@@ -60,6 +60,7 @@
: and then encoded with base64 encoding.
-->
<xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
<xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
<xsd:element name="root" msdata:IsDataSet="true">
<xsd:complexType>
<xsd:choice maxOccurs="unbounded">
......@@ -68,9 +69,10 @@
<xsd:sequence>
<xsd:element name="value" type="xsd:string" minOccurs="0" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" />
<xsd:attribute name="name" use="required" type="xsd:string" />
<xsd:attribute name="type" type="xsd:string" />
<xsd:attribute name="mimetype" type="xsd:string" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="assembly">
......@@ -85,9 +87,10 @@
<xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
<xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
</xsd:sequence>
<xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
<xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
<xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
<xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
<xsd:attribute ref="xml:space" />
</xsd:complexType>
</xsd:element>
<xsd:element name="resheader">
......@@ -109,9 +112,13 @@
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<assembly alias="System.Windows.Forms" name="System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089" />
<data name="云仓AGV运行" type="System.Resources.ResXFileRef, System.Windows.Forms">
<value>..\云仓AGV运行.png;System.Drawing.Bitmap, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a</value>
</data>
</root>
\ No newline at end of file
Common/SettingString.cs
......@@ -82,6 +82,7 @@ namespace Common
public const string A3 = "A3";
public const string Enter = "Enter";
public const string Leave = "Leave";
public const string Turn = "Turn";
public const string A2 = "A2";
......
DeviceLibrary/AgvServer.cs
......@@ -286,6 +286,8 @@ namespace DeviceLibrary
if (node == null)
{
log.Error("命令解析失败: " + HexBuff(buff));
log.Error("关闭连接，因解析失败："+ string.Join(",",client.nodeName.ToArray()));
Offline(client);
}
else
{
......
DeviceLibrary/Config/AgvMission.csv
......@@ -24,5 +24,6 @@ VMI入口,MoveA2,fa9d938e-764b-11eb-a016-0001297a1dca
待机位,MoveStandby,615cef05-61f4-11eb-96a9-0001297a1dca
充电位1,AutoCharge1,d90853ec-5f06-11eb-9d80-0001297a1dca
充电位2,AutoCharge2,6b57174e-75a2-11eb-8565-0001297a1dca
转向,Turn,3f5a35ca-90a9-11eb-a19d-54b2038d1924
小车进料,Enter,ce64c188-61da-11eb-96a9-0001297a1dca
小车出料,Leave,65c1203c-61e1-11eb-96a9-0001297a1dca
小车出料,Leave,a7220ff0-7927-11eb-9adc-54b2038d1924
\ No newline at end of file
DeviceLibrary/Config/tempData.ini 0 → 100644
[A1]
IsUse=True
[14ºÅ³µ]
IsUse=False
RFID=B112
[15ºÅ³µ]
IsUse=False
RFID=B#
[16ºÅ³µ]
IsUse=False
RFID=
[17ºÅ³µ]
IsUse=False
RFID=
[A2]
IsUse=True
[A8]
IsUse=True
[A7]
IsUse=True
[A9]
IsUse=True
[T1_1]
IsUse=True
[T1_2]
IsUse=True
[T2_1]
IsUse=True
[T2_2]
IsUse=True
[T3_1]
IsUse=True
[T3_2]
IsUse=True
[T5_1]
IsUse=True
[T5_2]
IsUse=True
[T4_1]
IsUse=True
[T4_2]
IsUse=True
[D23]
IsUse=True
[D24]
IsUse=True
[D1]
IsUse=True
[D2]
IsUse=True
[D3]
IsUse=True
[D4]
IsUse=True
DeviceLibrary/bean/job/GetShelfJob.cs
......@@ -56,7 +56,7 @@ namespace DeviceLibrary
to = CommonVar.nodeInfo[t2].AliceName;
else
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{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");
}
}
......@@ -171,7 +171,7 @@ namespace DeviceLibrary
}
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 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));//&& s.StateEquals(eNodeStatus.MayLeave)
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV);
......@@ -230,29 +230,15 @@ namespace DeviceLibrary
}
else
{
if (TargetPlace.Equals(SettingString.D24_Out))
{
curJobStep.ToNextStep(EXECUTE_STEP.P7_WAIT_REACH_4D_DOOR);
runInfo = "在3C车间，去待机位先到3D门";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv);
}
else
{
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";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
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";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsTimeOut(60000, out double timeOutTime))
{
......@@ -262,19 +248,19 @@ namespace DeviceLibrary
//去待机位
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P7_WAIT_REACH_4D_DOOR))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_REACH_STANDBY);
runInfo = "到达3D门，待机位";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
//else if (curJobStep.IsStep(EXECUTE_STEP.P7_WAIT_REACH_4D_DOOR))
//{
// if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
// {
// curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_REACH_STANDBY);
// runInfo = "到达3D门，待机位";
// msg += runInfo;
// curJobStep.Msg = msg;
// CommonVar.MoveToNode(agv, SettingString.Standby);
// UpdateJobTaskInfo(agv);
// }
//}
else if (curJobStep.IsStep(EXECUTE_STEP.P6_WAIT_REACH_STANDBY))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.Standby, CurTaskState))
......@@ -349,6 +335,48 @@ namespace DeviceLibrary
if (IsPlace(SettingString.D2) || IsPlace(SettingString.A1) || IsPlace(SettingString.A9))
{
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T5_1, ClientLevel.High,false))
{
tarPlace = SettingString.T5_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T3_1, ClientLevel.High, false))
{
tarPlace = SettingString.T3_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T2_1, ClientLevel.High, false))
{
tarPlace = SettingString.T2_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T1_1, ClientLevel.High, false))
{
tarPlace = SettingString.T1_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T5_1, ClientLevel.Middle, false))
{
tarPlace = SettingString.T5_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T3_1, ClientLevel.Middle, false))
{
tarPlace = SettingString.T3_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T2_1, ClientLevel.Middle, false))
{
tarPlace = SettingString.T2_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T1_1, ClientLevel.Middle, false))
{
tarPlace = SettingString.T1_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T5_1))
{
tarPlace = SettingString.T5_1;
......@@ -369,7 +397,6 @@ namespace DeviceLibrary
tarPlace = SettingString.T1_1;
return true;
}
}
//退料线
......@@ -390,11 +417,16 @@ namespace DeviceLibrary
else//空料串
{
if (IsPlace(SettingString.A7) || IsPlace(SettingString.T5_2) || IsPlace(SettingString.T3_2)||
IsPlace(SettingString.T2_2)|| IsPlace(SettingString.T1_2))
if (IsPlace(SettingString.A7) || IsPlace(SettingString.T5_2) || IsPlace(SettingString.T3_2) ||
IsPlace(SettingString.T2_2) || IsPlace(SettingString.T1_2))
{
//检查紧急出料口C7需要空料串
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T4_1))
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T4_1,ClientLevel.High,false))
{
tarPlace = SettingString.T4_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T4_1, ClientLevel.Middle, false))
{
tarPlace = SettingString.T4_1;
return true;
......
DeviceLibrary/bean/job/SendShelfJob.cs
......@@ -153,39 +153,75 @@ namespace DeviceLibrary
}
else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_STATION_RESPONSE))
{
// int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayEnter));
// if (i > -1)
int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));//&& s.StateEquals(eNodeStatus.MayEnter)
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_STATION);
//curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_STATION);
curJobStep.ToNextStep(EXECUTE_STEP.P6_TURN_DIRECTION);
runInfo = "收到线体允许进料信号，链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = agv.AssignTask(SettingString.Leave);
UpdateJobTaskInfo(agv);
}
if (curJobStep.IsTimeOut(15000, out double timeOutTime))
// if (curJobStep.IsTimeOut(15000, out double timeOutTime))
//{
// curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
// runInfo = string.Format("线体[{0}]允许进料信号[{1}]超时{2}秒，重发进料请求", TargetPlace, eNodeStatus.MayEnter, timeOutTime.ToString("f2"));
// msg += string.Format("线体[{0}]允许进料信号[{1}]超时15S，重发进料请求", TargetPlace, eNodeStatus.MayEnter);
// curJobStep.Msg = msg;
//}
}
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));
if(idx>-1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
runInfo = string.Format("线体[{0}]允许进料信号[{1}]超时{2}秒，重发进料请求", TargetPlace, eNodeStatus.MayEnter, timeOutTime.ToString("f2"));
msg += string.Format("线体[{0}]允许进料信号[{1}]超时15S，重发进料请求", TargetPlace, eNodeStatus.MayEnter);
curJobStep.ToNextStep(EXECUTE_STEP.P6_TURN_DIRECTION);
runInfo = "料架进入" + TargetPlace + "完成";
msg += runInfo;
curJobStep.Msg = msg;
}
else if (curJobStep.IsTimeOut(60000, out double timeOutTime))
{
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);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_STATION))
else if (curJobStep.IsStep(EXECUTE_STEP.P6_TURN_DIRECTION))
{
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P7_END);
runInfo = "AGV在" + TargetPlace + "出料完成，开始转向";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.CloseDoor(TargetPlace);
//rtn = agv.AssignTask(SettingString.Turn);
//UpdateJobTaskInfo(agv);
}
else if (curJobStep.IsTimeOut(60000, out double timeOutTime))
{
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);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P7_END))
{
// if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Turn, CurTaskState))
{
if (IsPlace(SettingString.D23_In) && FindReturnShelf(agv))
{
runInfo = "料架进入" + TargetPlace + "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;
curJobStep.Msg = msg;
return new GetShelfJob(TargetPlace, SettingString.D24_Out, "B#", true);
}
else
{
if(agv.IP.Equals(SettingString.SingleMission_IP1))
if (agv.IP.Equals(SettingString.SingleMission_IP1))
{
if (IsPlace(SettingString.A2) && !CommonVar.control.limitArea.Available)
{
......@@ -195,31 +231,21 @@ namespace DeviceLibrary
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P6_END);
runInfo = "料架进入" + TargetPlace + "完成";
runInfo = "AGV在" + TargetPlace + "转向完成";
msg += runInfo;
curJobStep.Msg = msg;
}
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P6_END);
runInfo = "料架进入" + TargetPlace + "完成";
runInfo = "AGV在" + TargetPlace + "转向完成";
msg += runInfo;
curJobStep.Msg = msg;
return null;
}
}
}
else if (curJobStep.IsTimeOut(60000, out double timeOutTime))
{
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);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P6_END))
{
return null;
}
return this;
}
......@@ -279,11 +305,14 @@ namespace DeviceLibrary
/// 等待料架进入线体
/// </summary>
P5_WAIT_SHELF_IN_STATION,
/// <summary>
/// 转向
/// </summary>
P6_TURN_DIRECTION,
/// <summary>
/// 任务结束
/// </summary>
P6_END
P7_END
}
}
......
DeviceLibrary/bean/jobType/ReelStringJobType.cs
......@@ -25,7 +25,7 @@ namespace DeviceLibrary
if (currentAgv.IP.Equals(SettingString.SingleMission_IP1))
{
//if (!CommonVar.control.limitArea.Available)
// return null;
// return null;
//检查入料口1的C5是否需要满料串
//if (FindNeedEnterMission(currentAgv, SettingString.C5))
//{
......@@ -62,7 +62,7 @@ namespace DeviceLibrary
}
}
//检查紧急出料入口需要空料串
if (FindNeedEnterMission(currentAgv, SettingString.T4_1))
if (FindNeedEnterMission(currentAgv, SettingString.T4_1,ClientLevel.Middle,false))
{
if (FindNeedLeaveMission(currentAgv, SettingString.T1_2, out rfid, SettingString.ReelString_RFID_Prefix))
......@@ -160,9 +160,10 @@ namespace DeviceLibrary
return new GetShelfJob(currentAgv.Place, SettingString.T5_2, rfid);
}
}
//检查入料口需要满料，且点料机D2/A1出满料串
if (FindNeedEnterMission(currentAgv, SettingString.T1_1) || FindNeedEnterMission(currentAgv, SettingString.T2_1) ||
FindNeedEnterMission(currentAgv, SettingString.T3_1) || FindNeedEnterMission(currentAgv, SettingString.T5_1))
if (FindNeedEnterMission(currentAgv, SettingString.T1_1,ClientLevel.Middle,false) || FindNeedEnterMission(currentAgv, SettingString.T2_1, ClientLevel.Middle, false) ||
FindNeedEnterMission(currentAgv, SettingString.T3_1, ClientLevel.Middle, false) || FindNeedEnterMission(currentAgv, SettingString.T5_1, ClientLevel.Middle, false))
{
if (FindNeedLeaveMission(currentAgv, SettingString.D2, out rfid))
{
......@@ -214,16 +215,19 @@ namespace DeviceLibrary
}
else
{
agv.AddDisplayBoard(nodeName, "Using."+ nodeName, "调用关闭");
agv.AddDisplayBoard(nodeName, "Using." + nodeName, "调用关闭");
}
return false;
}
public static bool FindNeedEnter(Agv_Info agv, string nodeName)
public static bool FindNeedEnter(Agv_Info agv, string nodeName, ClientLevel level= ClientLevel.Low, bool ignoreLevel = true)
{
int nodeIdx = CommonVar.FindNode(nodeName);
if (nodeIdx > -1)
{
nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedEnter));
if (ignoreLevel)
nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedEnter));
else
nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(nodeName) && s.StateEquals(eNodeStatus.NeedEnter)&& s.Level.Equals(level));
if (nodeIdx > -1)
return true;
}
......@@ -240,38 +244,16 @@ namespace DeviceLibrary
/// <param name="agv">当前agv</param>
/// <param name="nodeName">需要查询的节点</param>
/// <returns></returns>
public static bool FindNeedEnterMission(Agv_Info agv, string nodeName)
public static bool FindNeedEnterMission(Agv_Info agv, string nodeName, ClientLevel level = ClientLevel.Low,bool ignoreLevel=true)
{
if (FindNeedEnter(agv, nodeName))
if (FindNeedEnter(agv, nodeName, level,ignoreLevel))
{
//if(agv.IP.Equals(SettingString.SingleMission_IP1))
//{
// return true;
//}
//else
{
int idx = CommonVar.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob !=null && s.CurJob is SendShelfJob && (((SendShelfJob)s.CurJob).TargetPlace.Equals(nodeName)));
if (idx == -1)
{
LogUtil.debug(string.Format("{0} FindNeedEnterMission ", agv.Name));
return true;
}
//int idx = CommonVar.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && (s.CurJob == null || !(s.CurJob is SendShelfJob)));
//if(idx>-1)
//{
// CommonVar.log.Debug(string.Format("{0} FindNeedEnterMission 1", agv.Name));
// return true;
//}
//else
//{
// idx = CommonVar.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob is SendShelfJob && !(((SendShelfJob)s.CurJob).TargetPlace.Equals(nodeName)));
// if (idx > -1)
// {
// CommonVar.log.Debug(string.Format("{0} FindNeedEnterMission 2", agv.Name));
// return true;
// }
//}
int idx = CommonVar.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is SendShelfJob && (((SendShelfJob)s.CurJob).TargetPlace.Equals(nodeName)));
if (idx == -1)
{
LogUtil.debug(string.Format("{0} FindNeedEnterMission ", agv.Name));
return true;
}
}
......@@ -295,11 +277,11 @@ namespace DeviceLibrary
//}
//else
{
int idx = CommonVar.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob !=null && s.CurJob is GetShelfJob && (((GetShelfJob)s.CurJob).TargetPlace.Equals(nodeName)));
int idx = CommonVar.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && s.CurJob != null && s.CurJob is GetShelfJob && (((GetShelfJob)s.CurJob).TargetPlace.Equals(nodeName)));
if (idx == -1)
{
RFID = rfid;
LogUtil.debug(string.Format("{0} FindNeedLeaveMission", agv.Name));
LogUtil.debug(string.Format("{0} FindNeedLeaveMission", agv.Name));
return true;
}
//int idx = CommonVar.agvInfo.FindIndex(s => !s.IP.Equals(agv.IP) && (s.CurJob == null || !(s.CurJob is GetShelfJob)));
......
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