添加AUO接口

AGVDispatch/App.config

@@ -63,6 +63,8 @@
 		<add key="FileName_AgvContext" value="AgvContext.json" />
 		<!--3D放置钢网的地方-->
 		<add key="SteelShelfPos" value="SteelShelfPos" />
+		<!--AUO接口地址-->
+		<add key="AUOServer" value="http://127.0.0.1:8088/AuoAgv/UseElevator" />
 	</appSettings>
 	<runtime>
 		<assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">

AGVDispatch/FrmMain.cs

@@ -157,7 +157,7 @@ namespace AGVControl
 
             Invoke(new Action(() =>
             {
-                txtShow.Text = DeviceLibrary.HttpManager.Agvtransinfo;
+                txtShow.Text = JsonHelper.SerializeObject(MissionManager.AUOResult);
                 try
                 {
                    

DeviceLibrary/Control.cs

@@ -6,6 +6,7 @@ using System.Threading;
 using System.Threading.Tasks;
 using System.Web.Script.Serialization;
 using Common;
+using DeviceLibrary.manager;
 using log4net.Util;
 using RestSharp;
 
@@ -123,6 +124,7 @@ namespace DeviceLibrary
             bool rtn;
             if (AgvStateInProcess) return;
             AgvStateInProcess = true;
+            HttpManager.AUOIsUsingD2(out MissionManager.AUOResult);
             for (int i = 0; i < AGVManager.agvInfo.Count; i++)
             {
                 AgvInfo agv = AGVManager.agvInfo[i];
@@ -143,10 +145,13 @@ namespace DeviceLibrary
                             log.Info($"{agv.Name}：Task=-1处理,Fleet有任务，自动赋值FleetTaskID={agv.TaskRunState.TaskID}");
                         }
                     }
-
-                    MiR_API.Get_Task_State(agv);
-                    Thread.Sleep(50);
-                    MiR_API.Get_IO_Status(agv);
+                    if ((agv.CurJob != null && !(agv.CurJob is ChargeJob || agv.CurJob is StandyJob)) 
+                        && (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing)))
+                    {
+                        MiR_API.Get_Task_State(agv);
+                        Thread.Sleep(50);
+                        MiR_API.Get_IO_Status(agv);
+                    }
                     //获取AGV状态
                     rtn = MiR_API.Get_State(agv, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out AgvInfo.MirPosition position, out List<Mir_Error> errors);
                     Thread.Sleep(50);
@@ -236,14 +241,6 @@ namespace DeviceLibrary
                     {
                         agv.CurJob = agv.CurJob.Execute(agv);
                     }
-
-                    if(
-                       (agv.CurJob!=null && !(agv.CurJob is ChargeJob || agv.CurJob is StandyJob))&& (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing)))
-                    {
-                        MiR_API.Get_Task_State(agv);
-                        Thread.Sleep(50);
-                        MiR_API.Get_IO_Status(agv);
-                    }
                 }
                 catch (Exception ex)
                 {

DeviceLibrary/bean/jobType/JobType.cs

 using Common;
 using DeviceLibrary.lift;
+using DeviceLibrary.manager;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -70,5 +71,9 @@ namespace DeviceLibrary
                 return false;
             }
         }
+        protected bool AUOUsingD2(string liftName)
+        {
+            return SettingString.LIFT_D2.Equals(liftName) && MissionManager.AUOIsUsingD2();
+        }
     }
 }

DeviceLibrary/bean/jobType/LineToLiftJobType.cs

@@ -24,6 +24,10 @@ namespace DeviceLibrary.bean.jobType
             service.model.MissionInfo missionInfo = manager.MissionManager.GetLineToLiftMission(agv, out string liftname);
             if (missionInfo != null)
             {
+                if(AUOUsingD2(liftname))
+                {
+                    return null;
+                }
                 if (CheckHasSameJob(agv, liftname))
                     return null;
                 Node src = manager.NodeManager.GetNode(missionInfo.sourcePoint, NodeType.Node);

DeviceLibrary/bean/jobType/ShelfBuffToLiftJobType.cs

@@ -25,6 +25,10 @@ namespace DeviceLibrary.bean.jobType
             service.model.MissionInfo missionInfo = manager.MissionManager.BuffToLiftMission(agv);
             if (missionInfo != null)
             {
+                if (AUOUsingD2(SettingString.LIFT_D2))
+                {
+                    return null;
+                }
                 if (CheckHasSameJob(agv, missionInfo.liftName))
                     return null;
                 Node src = manager.NodeManager.GetNode(SettingString.ShelfBuff, NodeType.Node);

DeviceLibrary/bean/jobType/SteelLineToLiftJobType.cs

@@ -20,6 +20,10 @@ namespace DeviceLibrary.bean.jobType
             service.model.MissionInfo missionInfo = manager.MissionManager.GetSteelLineToLiftMission(agv, out string liftname);
             if (missionInfo != null)
             {
+                if (AUOUsingD2(liftname))
+                {
+                    return null;
+                }
                 Node src = manager.NodeManager.GetNode(missionInfo.sourcePoint, NodeType.Node);
                 Node dest = manager.NodeManager.GetNode(liftname, NodeType.Lift);
                 if (src == null)

DeviceLibrary/manager/HttpManager.cs

 using Common;
 using System;
 using System.Collections.Generic;
+using System.Runtime.CompilerServices;
+using static DeviceLibrary.HttpManager;
 
 namespace DeviceLibrary
 {
@@ -388,7 +390,32 @@ namespace DeviceLibrary
             return false;
         }
 
-
+        static string auoServer = Common.AppConfigHelper.GetValue("AUOServer");
+        /// <summary>
+        /// AUO小车是否在用D2
+        /// </summary>
+        /// <param name="result"></param>
+        /// <returns>true:在使用中</returns>
+        public static bool AUOIsUsingD2(out Result result)
+        {
+            result = new Result();
+            try
+            {
+                string resultStr = HttpHelper.Get(auoServer);
+                result = JsonHelper.DeserializeJsonToObject<Result>(resultStr);
+                if (result == null)
+                    return false;
+                else if (result.code.Equals(0))
+                {
+                    return true;
+                }
+            }
+            catch (Exception ex)
+            {
+                log.Error(ex);
+            }
+            return false;
+        }
 
         #region ITS接口
 
@@ -422,9 +449,9 @@ namespace DeviceLibrary
                 //Dictionary<string, string> param = new Dictionary<string, string>();
                 //param.Add("info", txt);
                 //string addr = GetItsAddr("/UpdateAgvtransinfo", param);
-               // string resultStr = HttpHelper.Get(addr);
+                // string resultStr = HttpHelper.Get(addr);
 
-                string resultStr = HttpHelper.PostWithFormUrlEncoded(agvreportstate,$"info={txt}",System.Text.Encoding.UTF8);
+                string resultStr = HttpHelper.PostWithFormUrlEncoded(agvreportstate, $"info={txt}", System.Text.Encoding.UTF8);
                 itsData data = JsonHelper.DeserializeJsonToObject<itsData>(resultStr);
                 //fbackkinfo":"no agvinfo","fbacktime":"20215306105317"}
                 //if (data == null)
@@ -439,7 +466,7 @@ namespace DeviceLibrary
             }
             catch (Exception e)
             {
-                log.Error("AgvReportState", e);
+                //log.Error("AgvReportState", e);
             }
         }
 

DeviceLibrary/manager/MissionManager.cs

@@ -18,7 +18,16 @@ namespace DeviceLibrary.manager
         public delegate void MissionChangedEventHandler();
         public static event MissionChangedEventHandler MissionChangedEvent;
         static Service web = new Service();
+        public static Result AUOResult = new Result() { code = -1 };
         public static log4net.ILog Log = log4net.LogManager.GetLogger("MissionManager");
+        /// <summary>
+        /// AUO是否在使用电梯D2
+        /// </summary>
+        /// <returns></returns>
+        public static bool AUOIsUsingD2()
+        {
+            return AUOResult?.code== 0;
+        }
         public static void InitMission()
         {
             DataBufferManager.Missions = getValiteMissionsFromDB();
@@ -142,7 +151,7 @@ namespace DeviceLibrary.manager
         public static string GetByFinishedShelfNeedLeaveInLift(string liftId)
         {
             var m = GetMissionInfos().Find(s => liftId.Equals(s.liftName) && s.projectType.Equals(ProjectType.移远成品入库)
-                       && ( s.state == MissionState.电梯运行
+                       && (s.state == MissionState.电梯运行
                         || s.state == MissionState.返回电梯运行));
             if (m != null)
                 return m.missionId;
@@ -283,7 +292,7 @@ namespace DeviceLibrary.manager
                                 agv.Scope.Tasks.Contains(s.projectType.ToString())
                                 ));
                 if (missionInfo != null && AgvCanGetMission(missionInfo))
-                    return missionInfo;               
+                    return missionInfo;
 
             }
             catch (Exception e)
@@ -466,10 +475,10 @@ namespace DeviceLibrary.manager
 
                 missionInfo = missions.Where(s => s.destinationWorkshop.Equals(agv.Scope.Workshop) &&
                 s.sourceWorkshop.Equals(agv.Scope.Workshop) &&
-                ((s.projectType.Equals(ProjectType.半成品领用)|| 
-                    s.projectType.Equals(ProjectType.空台车领用)||
-                    s.projectType.Equals(ProjectType.空台车归还)) || 
-                    (s.sourceWorkshop.Equals(s.destinationWorkshop))) 
+                ((s.projectType.Equals(ProjectType.半成品领用) ||
+                    s.projectType.Equals(ProjectType.空台车领用) ||
+                    s.projectType.Equals(ProjectType.空台车归还)) ||
+                    (s.sourceWorkshop.Equals(s.destinationWorkshop)))
                 &&
                 (s.state == MissionState.创建) && agv.Scope.Tasks.Contains(s.projectType.ToString())).FirstOrDefault();
                 if (missionInfo != null && AgvCanGetMission(missionInfo))

DeviceLibrary/manager/UploadManager.cs

@@ -17,7 +17,7 @@ namespace DeviceLibrary.manager
         /// </summary>
         public static void UploadAgvState()
         {
-            if (Monitor.TryEnter(locupdate, 2000))
+            if (Monitor.TryEnter(locupdate))
             {
                 try
                 {

DeviceLibrary/service/IService.cs

@@ -39,7 +39,7 @@ namespace DeviceLibrary
     }
 
     [DataContract]
-    internal class Result
+    public class Result
     {
         /// <summary>
         /// 状态码，0为正常