楼上两小车抢用同一电梯问题修复

AGVDispatch/App.config

@@ -25,7 +25,7 @@
     <!--点位配置文件名-->
     <add key="File_NodeInfo" value="nodeinfos.xml" />
     <!--使用到的电梯名配置名-->
-    <add key="Lift_Names" value="LEFT_D2,LEFT_C1" />
+    <add key="Lift_Names" value="LIFT_D2,LIFT_C1" />
     <!--充电最低/最高电量值-->
     <add key="ChargeThreshold" value="20,90" />
     <!--等待人员操作超时时间(分钟)-->

AGVDispatch/Manual.cs

@@ -118,6 +118,10 @@ namespace AGVControl
                             }
                         }
                         catch { }
+                        foreach (string item in Agv.Scope.Remark.Split(','))
+                        {
+                            DeviceLibrary.lift.LiftContext.ResetLiftOccupiedAgv(item);
+                        }
                         //MiR_API.Del_Mission(Agv);
                         //添加Init任务
                         AgvTaskManager.AssignMission(Agv, $"{SettingString.Init}");

AGVDispatch/Program.cs

@@ -45,6 +45,7 @@ namespace AGVControl
             LogUtil.info("=====程序开始=====");
             NodeManager.InitNodesInfos();
             IOManager.Start();
+            DeviceLibrary.lift.LiftContext.Init();
             DeviceLibrary.manager.MissionManager.InitMission();
             ChargePileManager.Init();
             AGVManager.Init();

DeviceLibrary/Config/agvinfos.xml

 <?xml version="1.0" encoding="utf-8"?>
 <agvs>
-	<agv id="20" ip="10.85.199.68">
+	<agv id="20" ip="192.168.101.75">
 		<name>2号车</name>
 		<!--职责范围-->
 		<Scope>

DeviceLibrary/Control.cs

@@ -111,9 +111,9 @@ namespace DeviceLibrary
                     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);
+                    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);
-                    if (rtn) change = agv.SetState(stateID, battery, mission_text, position);
+                    if (rtn) change = agv.SetState(stateID, battery, mission_text, position, errors);
 
                     // if (change)
                     {

DeviceLibrary/DeviceLibrary.csproj

@@ -62,6 +62,7 @@
   <ItemGroup>
     <Compile Include="bean\agv\Agv_Info.cs" />
     <Compile Include="bean\agv\JobContext.cs" />
+    <Compile Include="bean\agv\Mir_Error.cs" />
     <Compile Include="bean\agv\Scope.cs" />
     <Compile Include="bean\ChargePiles.cs" />
     <Compile Include="bean\jobType\LineToLineJobType.cs" />
@@ -85,6 +86,7 @@
     <Compile Include="Control.cs" />
     <Compile Include="lift\ClientStatus.cs" />
     <Compile Include="lift\LiftContext.cs" />
+    <Compile Include="lift\LiftInfo.cs" />
     <Compile Include="lift\LiftStatus.cs" />
     <Compile Include="manager\IOManager.cs" />
     <Compile Include="manager\NodeManager.cs" />

DeviceLibrary/bean/MiR_API.cs

@@ -571,16 +571,17 @@ namespace DeviceLibrary
         /// <param name="battery"></param>
         /// <param name="mission_text"></param>
         /// <returns></returns>
-        public static bool Get_State(AgvInfo info, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out MirPosition position)
+        public static bool Get_State(AgvInfo info, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out MirPosition position,out List<Mir_Error> mir_Errors)
         {
             stateID = eAGVState.UNKNOWN;
             stateText = "";
             battery = 0;
             mission_text = "";
             position = new MirPosition();
+            mir_Errors = new List<Mir_Error>();
             try
             {
-                string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position";
+                string url = "http://" + info.IP + "/api/v2.0.0/status?whitelist=state_id,state_text,battery_percentage,mission_text,position,errors";
                 string json = HttpGet(url, info.IP, info.Authorization);
                 if (string.IsNullOrWhiteSpace(json)) return false;
                 JavaScriptSerializer serializer = new JavaScriptSerializer();
@@ -609,6 +610,17 @@ namespace DeviceLibrary
                 position.orientation = Convert.ToSingle(posDic["orientation"].ToString());
                 position.Point.X = Convert.ToSingle(posDic["x"]);
                 position.Point.Y = Convert.ToSingle(posDic["y"]);
+
+                object[] errors = (object[])dic["errors"];
+                if(errors !=null)
+                {
+                    foreach (var item in errors)
+                    {
+                        Dictionary<string, object> tmp = (Dictionary<string, object>)item;
+                        mir_Errors.Add(new Mir_Error() { code=int.Parse(tmp["code"].ToString()), 
+                            description=tmp["description"].ToString(), module=tmp["module"].ToString() });
+                    }
+                }
                 return true;
             }
             catch (Exception ex)

DeviceLibrary/bean/agv/Agv_Info.cs

@@ -92,7 +92,7 @@ namespace DeviceLibrary
         /// 小车的状态ID，（从小车获取）
         /// </summary>
         public eAGVState StateID { set; get; }
-
+        public List<Mir_Error> Errors { get; set; }
         /// <summary>
         /// 负载
         /// </summary>
@@ -265,7 +265,7 @@ namespace DeviceLibrary
             Place = new Node();
             Msg = "";
             Position = new MirPosition();
-            RunInfos = new List<string>() { "状态", "目的地", "车间", "负载", "运行模式", "任务信息", "AGV运行信息" };
+            RunInfos = new List<string>() { "状态", "目的地", "车间", "负载", "运行模式", "任务信息", "AGV运行信息","错误消息"};
             StateKanban = new AGV_UI.Status(name, RunInfos);
         }
         public AgvInfo()
@@ -273,7 +273,7 @@ namespace DeviceLibrary
             Place = new Node();
             Msg = "";
             Position = new MirPosition();
-            RunInfos = new List<string>() { "状态", "目的地", "车间", "顶升", "运行模式", "任务信息", "AGV运行信息" };
+            RunInfos = new List<string>() { "状态", "目的地", "车间", "顶升", "运行模式", "任务信息", "AGV运行信息", "错误消息" };
             StateKanban = new AGV_UI.Status(RunInfos);
             IOStatus = new List<IOInfo>();
             TaskRunState = new TaskRunState();
@@ -284,7 +284,7 @@ namespace DeviceLibrary
         int IoLastTime = 5000;
         int StandLastTimeMinute = AppConfigHelper.GetIntValue(SettingString.StandTimeout);
         public DateTime StandStartTime = DateTime.MaxValue;
-        public bool SetState(eAGVState stateID, int battery, string missionText, MirPosition position)
+        public bool SetState(eAGVState stateID, int battery, string missionText, MirPosition position,List<Mir_Error> mir_Errors)
         {
             bool isChange = false;
             bool preShelfState = IsExistShelf;
@@ -343,6 +343,11 @@ namespace DeviceLibrary
                 MissionText = missionText;
                 StateKanban.ShowInfo("AGV运行信息", missionText);
             }
+            if(mir_Errors !=null && mir_Errors.Count > 0)
+            {
+                Errors = mir_Errors;
+                StateKanban.ShowInfo("错误消息",string.Join(";",Errors));
+            }
             CheckErrorState();
             CheckOfflineTimeOut();
             CheckStandTimeOut(position);
@@ -520,7 +525,11 @@ namespace DeviceLibrary
                 if (!isAlarm && errorState)
                 {
                     isAlarm = true;
-                    SetErrorMsg("状态:" + StateID.ToString(), (DateTime.Now - offlineStartTime).TotalMinutes.ToString("f2"));
+                    if(Errors!=null && Errors.Count > 0)
+                    {
+                        SetErrorMsg($"状态:[{StateID.ToString()}][{string.Join(";", Errors)}]", (DateTime.Now - offlineStartTime).TotalMinutes.ToString("f2"));
+                    }
+                    SetErrorMsg($"状态:{StateID.ToString()}", (DateTime.Now - offlineStartTime).TotalMinutes.ToString("f2"));
                     msglist.Add(new AlarmMsg(Name, "lineAgv." + Name + ".Msg", StateID.ToString()));
                 }
 

DeviceLibrary/bean/agv/Mir_Error.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary
+{
+    public class Mir_Error
+    {
+        public int code { get; set; }
+        public string description { get; set; }
+        public string module { get; set; }
+
+        public override string ToString()
+        {
+            return $"code={code},description={description},module={module}";
+        }
+    }
+}

DeviceLibrary/bean/job/F1LiftToStoreJob.cs

@@ -56,6 +56,7 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_02_02_EnterLift);
                     runInfo = $"{JobParam.SrcNode.AliceName}门已开启，去取料点";
                     //任务状态变更
+                   lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name,agv.IP);
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯到达, out string msg);
                     AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
                     JobRunStep.Msg = runInfo;

DeviceLibrary/bean/job/F1StoreToLiftJob.cs

@@ -99,6 +99,7 @@ namespace DeviceLibrary
                     if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out liftStatus))
                     {
                         JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_01_ToTemp1);
+                        lift.LiftContext.SetLiftOccupiedAgv(JobParam.CurTargetNode.Name, agv.IP);
                         runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有料车，去临时点1的卸料点，准备卸下车上料车";
                         AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
                         service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);

DeviceLibrary/bean/job/LiftToLinesJob.cs

@@ -56,6 +56,7 @@ namespace DeviceLibrary.bean.job
                 if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_03_EnterLift);
+                    lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name, agv.IP);
                     runInfo = $"{JobParam.SrcNode.AliceName}门已开启，进电梯取料点";
                     AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
                     //任务状态变更
@@ -219,6 +220,7 @@ namespace DeviceLibrary.bean.job
                 if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_13_CheckLiftStatus);
+                    lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name, agv.IP);
                     runInfo = $"{JobParam.SrcNode.AliceName}门已开，检查电梯内该层是否有料车";
                     JobRunStep.Msg = runInfo;
                     //上报位置

DeviceLibrary/lift/LiftContext.cs

@@ -9,15 +9,16 @@ namespace DeviceLibrary.lift
     public class LiftContext
     {
         /// <summary>
-        /// 所有电梯
+        /// 所有电梯状态
         /// </summary>
-        static Dictionary<string, LiftStatus> lifts = new Dictionary<string, LiftStatus>();
+        static Dictionary<string, LiftInfo> lifts = new Dictionary<string, LiftInfo>();
+
         public static void Init()
         {
             string[] names = Common.AppConfigHelper.GetValue(Common.SettingString.Lift_Names).Split(',');
             foreach (var item in names)
             {
-                lifts.Add(item, new LiftStatus());
+                lifts.Add(item, new LiftInfo());
             }
             Common.LogUtil.info($"加载电梯信息完成：{string.Join(",", names)}");
         }
@@ -29,19 +30,11 @@ namespace DeviceLibrary.lift
         public static bool IsDoorOpen(string liftId, int floor)
         {
             LiftStatus liftStatus = GetLiftStatus(liftId);
-            if (liftStatus.door.Equals("opened") && liftStatus.floor.Equals(floor))
+            if (liftStatus.door.Equals("opened") && liftStatus.floor.Equals(floor) &&!CheckLiftOccupied(liftId))
                 return true;
             return false;
         }
-        /// <summary>
-        /// 电梯关门
-        /// </summary>
-        /// <param name="liftId"></param>
-        //public static void CloseDoor(string liftId,AgvInfo agvInfo)
-        //{
-        //  bool rtn=  HttpManager.CloseDoor(new service.model.DoorInfo() { liftId=liftId,sourceClient=agvInfo.Client,sourceFloor=agvInfo.Scope.Floor});
-        //    Common.LogUtil.info($"{agvInfo.Name} 关门 {rtn}");
-        //}
+      
         /// <summary>
         /// 请求使用电梯
         /// </summary>
@@ -63,7 +56,7 @@ namespace DeviceLibrary.lift
                 {
                     liftId = missionInfo.liftName,
                     destinationFloor = missionInfo.sourceFloor,
-                    destinationPoint = missionInfo.sourcePoint,
+                    destinationPoint = missionInfo.sourcePoint,                   
                     destinationClient = destclient,
                     sourceFloor = missionInfo.destinationFloor,
                     sourceClient = agvInfo.Client
@@ -104,7 +97,8 @@ namespace DeviceLibrary.lift
         public static bool AGVLeave(string liftId, AgvInfo agvInfo)
         {
             bool rtn = HttpManager.AGVLeave(new service.model.DoorInfo() { liftId = liftId, sourceClient = agvInfo.Client, sourceFloor = agvInfo.Scope.Floor });
-            Common.LogUtil.info($"{agvInfo.Name} 离开 {rtn}");
+            ResetLiftOccupiedAgv(liftId);
+            Common.LogUtil.info($"{agvInfo.Name} 离开 {liftId}：{rtn}");
             return rtn;
         }
         /// <summary>
@@ -127,19 +121,11 @@ namespace DeviceLibrary.lift
         /// <returns></returns>
         public static bool CheckAgvLeaveSig(string liftId)
         {
-            if (!lifts[liftId].door.Equals("opened"))
+            if (!lifts[liftId].LiftStatus.door.Equals("opened"))
                 return true;
             return false;
         }
         /// <summary>
-        /// 运行到指定楼层
-        /// </summary>
-        /// <param name="liftId"></param>
-        /// <param name="floor"></param>
-        //public static void RunTo(string liftId,int floor)
-        //{
-        //}
-        /// <summary>
         /// 有架子需要离开电梯
         /// </summary>
         /// <param name="liftId"></param>
@@ -168,6 +154,34 @@ namespace DeviceLibrary.lift
             return false;
         }
         /// <summary>
+        /// 占用电梯的agv
+        /// </summary>
+        /// <param name="agvIp"></param>
+        public static void SetLiftOccupiedAgv(string liftId,string agvIp)
+        {
+            lifts[liftId].OccupiedAgv = agvIp;
+        }
+        public static void ResetLiftOccupiedAgv(string liftId)
+        {
+            try
+            {
+                lifts[liftId].OccupiedAgv = "";
+            }
+            catch (Exception ex)
+            {
+                Common.LogUtil.error($"清除电梯占用失败:{liftId}", ex);
+            }
+        }
+        /// <summary>
+        /// 检查电梯是否被占用
+        /// </summary>
+        /// <param name="liftId"></param>
+        /// <returns>true:占用</returns>
+        public static bool CheckLiftOccupied(string liftId)
+        {
+            return !lifts[liftId].OccupiedAgv.Equals("");
+        }
+        /// <summary>
         /// 获取电梯状态
         /// </summary>
         /// <param name="liftId"></param>
@@ -176,7 +190,7 @@ namespace DeviceLibrary.lift
         {
             if (lifts.ContainsKey(liftId))
             {
-                return lifts[liftId];
+                return lifts[liftId].LiftStatus;
             }
             else
                 return new LiftStatus();
@@ -192,7 +206,7 @@ namespace DeviceLibrary.lift
                 LiftStatus lift = HttpManager.UpdateStatusToLift(status);
                 if (lift != null)
                 {
-                    lifts[status.liftId] = lift;
+                    lifts[status.liftId].LiftStatus = lift;
                 }
             }
             catch (Exception e)

DeviceLibrary/lift/LiftInfo.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary.lift
+{
+    public class LiftInfo
+    {
+        public LiftStatus LiftStatus { get; set; }
+        public string OccupiedAgv { get; set; } = "";
+        public LiftInfo()
+        {
+            LiftStatus = new LiftStatus();
+        }
+    }
+}

DeviceLibrary/manager/AgvTaskManager.cs

@@ -96,12 +96,16 @@ namespace DeviceLibrary
             }
             else
             {
-                string[] names = taskname.Split('_');
-                foreach (string item in names)
+                node = manager.NodeManager.GetNodeByName(taskname);
+                if (node == null)
                 {
-                    node = manager.NodeManager.GetNodeByName(item);
-                    if (node != null)
-                        break;
+                    string[] names = taskname.Split('_');
+                    foreach (string item in names)
+                    {
+                        node = manager.NodeManager.GetNodeByName(item);
+                        if (node != null)
+                            break;
+                    }
                 }
 
             }

DeviceLibrary/manager/UploadManager.cs

@@ -38,6 +38,8 @@ namespace DeviceLibrary.manager
                         if (item.StateID.Equals(eAGVState.Error) || item.StateID.Equals(eAGVState.EmergencyStop))
                         {
                             agvState.state = "故障中";
+                            if (item.Errors != null && item.Errors.Count > 0)
+                                agvState.remark = string.Join(";",item.Errors);
                         }
                         else if (item.Auto)
                         {