添加调试状态

AGVDispatch/FrmMain.cs

@@ -110,7 +110,6 @@ namespace AGVControl
             //托盘控件
             notify = new NotifyIcon { Icon = Icon, Visible = true, ContextMenuStrip = notifyMenu, Text = Text };
             notify.MouseDoubleClick += Notify_MouseDoubleClick;
-
             ShowConfig();
             NodeManager.RegisEvent(Server_NodeChanged, Server_NodeOnline);
         }
@@ -156,7 +155,7 @@ namespace AGVControl
 
             Invoke(new Action(() =>
             {
-                lblShow.Text = DeviceLibrary.HttpManager.Agvtransinfo;
+                txtShow.Text = DeviceLibrary.HttpManager.Agvtransinfo;
 
             }));
 
@@ -191,23 +190,10 @@ namespace AGVControl
                 LogUtil.logBox = this.richTextBox1;
             }
         }
-        int missionCurRow = 0, missionCurColum = 0;
         private void dgvInfos_CellContentClick(object sender, DataGridViewCellEventArgs e)
         {
             if (e.RowIndex == -1)
                 return;
-            missionCurColum = e.ColumnIndex;
-            missionCurRow = e.RowIndex;
-        }
-
-        private void dgvInfos_CellContentClick_1(object sender, DataGridViewCellEventArgs e)
-        {
-
-        }
-
-        private void button1_Click(object sender, EventArgs e)
-        {
-            HttpManager.UpdateStatusToLift(new DeviceLibrary.lift.ClientStatus() { liftId = "D2", sourceClient = "4D", hasIdleAgv = true });
         }
 
     }

AGVDispatch/FrmMain.resx

@@ -117,9 +117,6 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <data name="lblShow.Text" xml:space="preserve">
-    <value>[2021-12-28 16:17:29,631][162][HttpManager:282]ERROR AgvReportState fail[http://10.85.17.233/ESMTCommonInterface/CommonService.asmx/UpdateAgvtransinfo]:[[{"agvNum":"2号车","workshop":"4D","battery":0,"position":{"Point":{"IsEmpty":true,"X":0.0,"Y":0.0},"orientation":0.0},"state":null,"missionId":null,"remark":null,"curTarget":null,"statusTxt":""},{"agvNum":"7号车","workshop":"4D","battery":0,"position":{"Point":{"IsEmpty":true,"X":0.0,"Y":0.0},"orientation":0.0},"state":null,"missionId":null,"remark":null,"curTarget":null,"statusTxt":""},{"agvNum":"17号车","workshop":"3D","battery":0,"position":{"Point":{"IsEmpty":true,"X":0.0,"Y":0.0},"orientation":0.0},"state":null,"missionId":null,"remark":null,"curTarget":null,"statusTxt":""}]][]</value>
-  </data>
   <assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
   <data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
     <value>

AGVDispatch/Manual.cs

@@ -21,13 +21,14 @@ namespace AGVControl
             chkBxAuto.Checked = agv.Auto;
             btnReSendTask.Enabled = agv.Auto;
             btnAssignTask.Enabled = !agv.Auto;
+            chkDebug.Checked = agv.IsDebug;
         }
         AgvInfo Agv;
         private bool isIni = false;
         private void Manual_Load(object sender, EventArgs e)
         {
             lblInfo.Text = string.Format("[{0}]", Agv.IP);
-            AgvTaskManager.InitView(cmbBxMission,Agv);
+            AgvTaskManager.InitView(cmbBxMission, Agv);
             InState.AddRange(new PictureBox[] { pictureBox1, pictureBox2, pictureBox3, pictureBox4 });
             OutState.AddRange(new PictureBox[] { pictureBox5, pictureBox6, pictureBox7, pictureBox8 });
             timer1.Enabled = true;
@@ -43,11 +44,11 @@ namespace AGVControl
             {
                 try
                 {
-                    if (Agv.IOStatus[0] != null && Agv.IOStatus[0].Inputs !=null)
+                    if (Agv.IOStatus[0] != null && Agv.IOStatus[0].Inputs != null)
                     {
                         for (int i = 0; i < Agv.IOStatus[0].Inputs.Length; i++)
                         {
-                            if (Agv.GetInput(0,i))
+                            if (Agv.GetInput(0, i))
                             {
                                 InState[i].Image = AGVDispatch.Properties.Resources.green1;
                             }
@@ -57,7 +58,7 @@ namespace AGVControl
                             }
                         }
                     }
-                    if(Agv.IOStatus[0]!=null && Agv.IOStatus[0].Inputs!=null)
+                    if (Agv.IOStatus[0] != null && Agv.IOStatus[0].Inputs != null)
                     {
                         for (int i = 0; i < Agv.IOStatus[0].Inputs.Length; i++)
                         {
@@ -71,7 +72,6 @@ namespace AGVControl
                             }
                         }
                     }
-
                 }
                 catch { }
             }));
@@ -83,7 +83,7 @@ namespace AGVControl
             {
                 if (!chkBxAuto.Checked && !Agv.JobContext.MissionId.Equals(""))
                 {
-                    if(MessageBox.Show($"正在执行任务[{Agv.JobContext.MissionId}]，切到手动后该任务无法继续执行，确定切到手动状态？", "警告",MessageBoxButtons.YesNo).Equals(
+                    if (MessageBox.Show($"正在执行任务[{Agv.JobContext.MissionId}]，切到手动后该任务无法继续执行，确定切到手动状态？", "警告", MessageBoxButtons.YesNo).Equals(
                         DialogResult.No))
                     {
                         chkBxAuto.Checked = true;
@@ -104,7 +104,7 @@ namespace AGVControl
                         try
                         {
                             //Agv.CurJob != null && Agv.CurJob.JobParam != null &&
-                            if ( Agv.CurJob.JobParam.GetMissionInfo() != null)
+                            if (Agv.CurJob.JobParam.GetMissionInfo() != null)
                             {
                                 if (MessageBox.Show($"是否删除该任务[{Agv.JobContext.MissionId}]？", "提示", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
                                 {
@@ -120,7 +120,7 @@ namespace AGVControl
                         catch { }
                         //MiR_API.Del_Mission(Agv);
                         //添加Init任务
-                       AgvTaskManager.AssignMission(Agv, $"{SettingString.Init}");
+                        AgvTaskManager.AssignMission(Agv, $"{SettingString.Init}");
                     }
                     Agv.CurJob = null;
                     Agv.JobContext = new DeviceLibrary.bean.agv.JobContext();
@@ -194,7 +194,7 @@ namespace AGVControl
             {
                 if (Agv.IsCon)
                 {
-                    DeviceLibrary.AgvTask task = AgvTaskManager.GetTaskByName((cmbBxMission.SelectedItem as DeviceLibrary.AgvTask).Name,Agv);
+                    DeviceLibrary.AgvTask task = AgvTaskManager.GetTaskByName((cmbBxMission.SelectedItem as DeviceLibrary.AgvTask).Name, Agv);
                     if (task.Type.Equals(TaskType.InOut))
                         if (MessageBox.Show("确定对小车发送进/出任务？", Agv.Name, MessageBoxButtons.YesNo) == DialogResult.No)
                             return;
@@ -214,5 +214,10 @@ namespace AGVControl
         {
             Close();
         }
+
+        private void chkDebug_CheckedChanged(object sender, EventArgs e)
+        {
+            Agv.IsDebug = chkDebug.Checked;
+        }
     }
 }

Common/SettingString.cs

@@ -66,6 +66,7 @@ namespace Common
         public const string Lift_Server = "Lift_Server";
         public const string AppIdentity = "AppIdentity";
         public const string Lift_Names = "Lift_Names";
+        public const string IsDebug = "IsDebug";
         #endregion
     }
 

DeviceLibrary/Config/XmlConfigOperation.cs

@@ -53,6 +53,7 @@ namespace DeviceLibrary.manager
                 agv_Info.UseFleet = bool.Parse(xnl0.Item(3).InnerText);
                 agv_Info.FleetIP = xnl0.Item(4).InnerText;
                 agv_Info.Authorization = xnl0.Item(5).InnerText;
+                agv_Info.IsDebug = bool.Parse(xnl0.Item(6).InnerText);
                 XmlNode xnIO = xe.SelectSingleNode("IO_GUIDs");
                 XmlNodeList xnlios = xnIO.ChildNodes;
                 foreach (XmlNode item in xnlios)
@@ -79,7 +80,18 @@ namespace DeviceLibrary.manager
              selectXe.GetElementsByTagName("Auto").Item(0).InnerText = agv.Auto.ToString();
              xmlDoc.Save(File_AgvInfo);
         }
-
+        public static void SetAgvIsDebug(AgvInfo agv)
+        {
+            if (!isLoadAgv) return;
+            XmlDocument xmlDoc = new XmlDocument();
+            xmlDoc.Load(File_AgvInfo);
+            XmlElement xe = xmlDoc.DocumentElement; // DocumentElement 获取xml文档对象的根XmlElement.
+            string strPath = string.Format("/agvs/agv[@ip=\"{0}\"]", agv.IP);
+            XmlElement selectXe = (XmlElement)xe.SelectSingleNode(strPath);  //selectSingleNode 根据XPath表达式,获得符合条件的第一个节点.
+                                                                             //selectXe.SetAttribute("Type", dgvBookInfo.CurrentRow.Cells[0].Value.ToString());//也可以通过SetAttribute来增加一个属性
+            selectXe.GetElementsByTagName("IsDebug").Item(0).InnerText = agv.Auto.ToString();
+            xmlDoc.Save(File_AgvInfo);
+        }
         public static void LoadNodeInfos(List<Node> nodes)
         {
             XmlDocument doc = new XmlDocument();

DeviceLibrary/bean/ChargePiles.cs

@@ -102,7 +102,7 @@ namespace DeviceLibrary.bean
             else //多个agv共享充电桩
             {
                 if (Agvs.Contains(agv.IP))
-                    return Occupied;
+                    return !Occupied;
                 else
                     return false;
             }

DeviceLibrary/bean/agv/Agv_Info.cs

@@ -97,7 +97,22 @@ namespace DeviceLibrary
         /// 负载
         /// </summary>
         public bool IsExistShelf { set; get; } = false;
-
+        private bool _isdebug = false;
+        /// <summary>
+        /// 是否是调试状态，true时不执行新任务
+        /// </summary>
+        public bool IsDebug
+        {
+            set
+            {
+                if (!value.Equals(_isdebug))
+                {
+                    _isdebug = value;
+                    XmlConfigOperation.SetAgvIsDebug(this);
+                }
+            }
+            get { return _isdebug; }
+        }
         /// <summary>
         /// 电量百分比，（从小车获取）
         /// </summary>
@@ -162,6 +177,8 @@ namespace DeviceLibrary
             }
             else
             {
+                if (IsDebug)
+                    return false;
                 if (CurJob == null || ((CurJob is ChargeJob || CurJob is StandyJob) && !IsExistShelf))
                     return true;
                 else
@@ -271,7 +288,7 @@ namespace DeviceLibrary
         {
             bool isChange = false;
             bool preShelfState = IsExistShelf;
-            bool reachIoValue = GetInput(0, 0).Equals(true);
+            bool reachIoValue = GetInput(0, 3).Equals(true);
             if (reachIoValue)
             {
                 //满足给定的IO值，计算持续时间
@@ -335,7 +352,16 @@ namespace DeviceLibrary
         public void SetKanban()
         {
             StateKanban.ShowInfo("目的地", Place == null ? "" : Place.AliceName);
-            StateKanban.ShowInfo("运行模式", Auto ? "自动" : "手动");
+            string runmode = "";
+            if(Auto)
+            {
+                runmode=IsDebug ? "调试" : "自动";
+            }
+            else
+            {
+                runmode = "手动";
+            }
+            StateKanban.ShowInfo("运行模式", runmode);
             if (Scope!=null)
                 StateKanban.ShowInfo("车间", Scope.Workshop);
             if (this.CurJob != null)

DeviceLibrary/manager/HttpManager.cs

@@ -358,7 +358,7 @@ namespace DeviceLibrary
                 //fbackkinfo":"no agvinfo","fbacktime":"20215306105317"}
                 //if (data == null)
                 {
-                    Agvtransinfo = $"{agvreportstate}:[{txt}]\r\n[{resultStr}]";
+                    Agvtransinfo = $"{agvreportstate}:【{txt}】\r\n【{resultStr}】";
                 }
                 log.Debug($"[{agvreportstate}]【{txt}】");
                 //else

DeviceLibrary/manager/MissionManager.cs

@@ -180,7 +180,6 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            MissionChangedEvent?.Invoke();
             return missionInfo;
         }
 
@@ -212,7 +211,6 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            MissionChangedEvent?.Invoke();
             return missionInfo;
         }
         /// <summary>
@@ -243,7 +241,6 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            MissionChangedEvent?.Invoke();
             return missionInfo;
         }
 
@@ -276,7 +273,6 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            MissionChangedEvent?.Invoke();
             return missionInfo;
         }
 
@@ -311,7 +307,6 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            MissionChangedEvent?.Invoke();
             return missionInfo;
         }
 
@@ -343,7 +338,6 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            MissionChangedEvent?.Invoke();
             return missionInfo;
         }
         /// <summary>
@@ -387,7 +381,7 @@ namespace DeviceLibrary.manager
             MissionChangedEvent?.Invoke();
         }
 
-        public static void SetMissionState(MissionInfo missionInfo,MissionState missionState)
+         static void SetMissionState(MissionInfo missionInfo,MissionState missionState)
         {
             missionInfo.SetState(missionState);
             Log.Info($"设置任务[{missionInfo.missionId}] 状态为[{missionState}]成功");

DeviceLibrary/manager/UploadManager.cs

@@ -7,7 +7,7 @@ using System.Threading.Tasks;
 
 namespace DeviceLibrary.manager
 {
-   public class UploadManager
+    public class UploadManager
     {
         #region 上传到ITS
         static object locupdate = new object();
@@ -34,19 +34,14 @@ namespace DeviceLibrary.manager
                             curTarget = item.Place.Name,
                             statusTxt = item.MissionText
                         };
-                        if (item.CurJob != null && item.CurJob.JobParam != null && item.CurJob.JobParam.GetMissionInfo() != null)
+                        //当前状态:执行任务/归位中/充电中/故障中/调试中/手动/自动
+                        if (item.StateID.Equals(eAGVState.Error) || item.StateID.Equals(eAGVState.EmergencyStop))
                         {
-                            agvState.state = "执行任务";
-                            agvState.missionId = item.CurJob.JobParam.GetMissionInfo().missionId;
-                            agvState.remark = item.CurJob.JobParam.GetMissionInfo().Remark;
+                            agvState.state = "故障中";
                         }
-                        else
+                        else if (item.Auto)
                         {
-                            if(item.StateID.Equals(eAGVState.Error) || item.StateID.Equals(eAGVState.EmergencyStop))
-                            {
-                                agvState.state = "故障中";
-                            }
-                            else if(item.CurJob!=null && item.CurJob is StandyJob)
+                            if (item.CurJob != null && item.CurJob is StandyJob)
                             {
                                 agvState.state = "归位中";
                             }
@@ -54,6 +49,20 @@ namespace DeviceLibrary.manager
                             {
                                 agvState.state = "充电中";
                             }
+                            else if (item.CurJob != null && item.CurJob.JobParam != null && item.CurJob.JobParam.GetMissionInfo() != null)
+                            {
+                                agvState.state = "执行任务";
+                                agvState.missionId = item.CurJob.JobParam.GetMissionInfo().missionId;
+                                agvState.remark = item.CurJob.JobParam.GetMissionInfo().Remark;
+                            }
+                            else if (item.IsDebug)
+                                agvState.state = "调试中";
+                            else
+                                agvState.state = "自动";
+                        }
+                        else
+                        {
+                            agvState.state = "手动";
                         }
                         agvStates.Add(agvState);
                     }
@@ -82,8 +91,9 @@ namespace DeviceLibrary.manager
                 HttpManager.UpdateAGVtranstask(txt);
                 System.Threading.Thread.Sleep(2000);
             }
-            catch(Exception ex) {
-                Common.LogUtil.error($"UploadTransportStatus:{Common.JsonHelper.SerializeObject(transportStatus)}",ex);
+            catch (Exception ex)
+            {
+                Common.LogUtil.error($"UploadTransportStatus:{Common.JsonHelper.SerializeObject(transportStatus)}", ex);
             }
         }
         #endregion

DeviceLibrary/service/Service.cs

@@ -105,16 +105,16 @@ namespace DeviceLibrary
                     {
                         if (missionInfo.State.Equals(MissionState.创建))
                         {
-                            MissionManager.SetMissionState(missionInfo, MissionState.取消);
-                            MissionManager.DeleteById(deleteMission.missionId);
+                            MissionManager.SetMissionState(missionInfo.missionId, MissionState.取消,out string msg);
+                            result.msg = msg;
                         }
                         else
                         {
                             AgvInfo  agvInfo=AGVManager.agvInfo.Find(k=>k.JobContext.MissionId == deleteMission.missionId);
                             if(agvInfo == null)
                             {
-                                MissionManager.SetMissionState(missionInfo, MissionState.中止);
-                                MissionManager.DeleteById(deleteMission.missionId);
+                                MissionManager.SetMissionState(missionInfo.missionId, MissionState.中止,out string msg);
+                                result.msg = msg;
                             }
                             else
                             {

DeviceLibrary/service/model/AgvState.cs

@@ -30,7 +30,7 @@ namespace DeviceLibrary.service.model
         /// </summary>
         public MirPosition position { get; set; }
         /// <summary>
-        /// 当前状态:执行任务/归位中/充电中/故障中
+        /// 当前状态:执行任务/归位中/充电中/故障中/调试中/手动/自动
         /// </summary>
         public string state { get; set; }
         /// <summary>

DeviceLibrary/service/model/MissionInfo.cs

@@ -23,7 +23,7 @@ namespace DeviceLibrary.service.model
         /// 优先级。3最高，1最低
         /// </summary>
         //public int Priority { get; set; } = 1;
-        
+
         /// <summary>
         /// 是否可合并
         /// </summary>
@@ -195,19 +195,19 @@ namespace DeviceLibrary.service.model
     /// </summary>
     public enum ProjectType
     {
-        无=0,
+        无 = 0,
         PCB领用,
         Tray领用,
-        治具领用,
         包材领用,
         半成品领用,
         静电箱领用,
         空台车领用,
         空台车归还,
+        包材归还,
         成品入库,
         半成品入库,
         半成品入库与领用,
-        垃圾清运
-
+        垃圾清运,
+        治具领用
     }
 }