Skip to content

张东亮 / Qisda-SO1037-AGVDispatch

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 3851a2eb 由 张东亮
选项

合并分支 '软件退出后，重启软件继续动作' 到 'master' 

0224

查看合并请求 !1
2 个父辈 fac119ae 5c416acb
内嵌 并排
正在显示 47 个修改的文件 包含 1431 行增加 和 826 行删除
AGVDispatch/App.config
......@@ -13,9 +13,9 @@
<!--云仓服务器端口-->
<add key="http.server" value="http://10.85.199.25/myproject/" />
<!--ITS智能物流系统服务端口-->
<add key="ITS_UpdateLine" value="http://127.0.0.1:8888" />
<add key="ITS_UpdateLine" value="http://10.85.17.233/ESMTCommonInterface/CommonService.asmx/" />
<!--电梯控制系统系统服务端口-->
<add key="Lift_Server" value="http://127.0.0.1:8888/lift/" />
<add key="Lift_Server" value="http://127.0.0.1:8887/lift/" />
<!--日志配置文件名-->
<add key="log4net_configname" value="log4net.config" />
<!--agv配置文件名-->
......@@ -32,6 +32,8 @@
<add key="WaitTimeout" value="5" />
<!--停留超时异常上报时间（分钟）-->
<add key="StandTimeout" value="6" />
<!--Agv上下文信息文件名-->
<add key="FileName_AgvContext" value="AgvContext.json" />
</appSettings>
<runtime>
<assemblyBinding xmlns="urn:schemas-microsoft-com:asm.v1">
......
AGVDispatch/FrmMain.Designer.cs
......@@ -49,6 +49,7 @@
this.tabControlManual = new System.Windows.Forms.TabControl();
this.tableLayoutPanel4 = new System.Windows.Forms.TableLayoutPanel();
this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
this.lblShow = new System.Windows.Forms.Label();
this.tableLayoutPanel3.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabPage2.SuspendLayout();
......@@ -168,7 +169,6 @@
this.DgvNode.AutoSizeColumnsMode = System.Windows.Forms.DataGridViewAutoSizeColumnsMode.Fill;
this.DgvNode.AutoSizeRowsMode = System.Windows.Forms.DataGridViewAutoSizeRowsMode.AllCells;
this.DgvNode.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
this.DgvNode.Dock = System.Windows.Forms.DockStyle.Fill;
this.DgvNode.Location = new System.Drawing.Point(3, 3);
this.DgvNode.MultiSelect = false;
this.DgvNode.Name = "DgvNode";
......@@ -177,7 +177,7 @@
this.DgvNode.RowHeadersVisible = false;
this.DgvNode.RowHeadersWidth = 50;
this.DgvNode.RowTemplate.Height = 23;
this.DgvNode.Size = new System.Drawing.Size(1189, 335);
this.DgvNode.Size = new System.Drawing.Size(1189, 298);
this.DgvNode.TabIndex = 1;
this.DgvNode.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.DgvNode_CellClick);
//
......@@ -262,6 +262,7 @@
//
// tabPage3
//
this.tabPage3.Controls.Add(this.lblShow);
this.tabPage3.Controls.Add(this.label12);
this.tabPage3.Controls.Add(this.groupBox2);
this.tabPage3.Location = new System.Drawing.Point(4, 22);
......@@ -329,6 +330,15 @@
this.flowLayoutPanel1.Size = new System.Drawing.Size(1205, 346);
this.flowLayoutPanel1.TabIndex = 0;
//
// lblShow
//
this.lblShow.Dock = System.Windows.Forms.DockStyle.Left;
this.lblShow.Location = new System.Drawing.Point(253, 3);
this.lblShow.Name = "lblShow";
this.lblShow.Size = new System.Drawing.Size(420, 341);
this.lblShow.TabIndex = 47;
this.lblShow.Text = resources.GetString("lblShow.Text");
//
// FrmMain
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
......@@ -383,6 +393,7 @@
private System.Windows.Forms.GroupBox grpUnlock;
private System.Windows.Forms.TableLayoutPanel tblLayoutUnlock;
private System.Windows.Forms.DataGridView dgvInfos;
private System.Windows.Forms.Label lblShow;
}
}
AGVDispatch/FrmMain.cs
......@@ -28,7 +28,7 @@ namespace AGVControl
InitializeComponent();
showTimer = new System.Timers.Timer();
showTimer.Interval = 5000;
//showTimer.Enabled = true;
CheckForIllegalCrossThreadCalls = false;
showTimer.AutoReset = true;
showTimer.Elapsed += ShowTimer_Elapsed;
showTimer.Start();
......@@ -155,7 +155,7 @@ namespace AGVControl
Invoke(new Action(() =>
{
lblShow.Text = DeviceLibrary.HttpManager.Agvtransinfo;
}));
......
AGVDispatch/FrmMain.resx
......@@ -117,6 +117,9 @@
<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="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
......
AGVDispatch/Manual.cs
......@@ -81,6 +81,16 @@ namespace AGVControl
if (!isIni) return;
this.Invoke(new Action(() =>
{
if (!chkBxAuto.Checked && !Agv.JobContext.MissionId.Equals(""))
{
if(MessageBox.Show($"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(
DialogResult.No))
{
chkBxAuto.Checked = true;
return;
}
LogUtil.info($"人员切换到手动，{Agv.Name}当前执行的任务为{Agv.JobContext.MissionId}");
}
btnReSendTask.Enabled = chkBxAuto.Checked;
btnAssignTask.Enabled = !chkBxAuto.Checked;
cmbBxMission.Enabled = !chkBxAuto.Checked;
......@@ -95,7 +105,7 @@ namespace AGVControl
{
if (Agv.CurJob != null && Agv.CurJob.JobParam != null && Agv.CurJob.JobParam.GetMissionInfo() != null)
{
DeviceLibrary.manager.MissionManager.SetMissionState(Agv.CurJob.JobParam.GetMissionInfo(), DeviceLibrary.service.model.MissionState.中止);
DeviceLibrary.manager.MissionManager.SetMissionState(Agv.CurJob.JobParam.GetMissionInfo().missionId, DeviceLibrary.service.model.MissionState.中止,out string msg);
LogUtil.info($"取消自动任务，当前任务信息是：{Common.JsonHelper.SerializeObject(Agv.CurJob.JobParam.GetMissionInfo())}");
}
}
......@@ -104,7 +114,7 @@ namespace AGVControl
Agv.CurJob = null;
//MiR_API.Del_Mission(Agv);
//添加Init任务
AgvTaskManager.AssignMission(Agv, SettingString.Init);
AgvTaskManager.AssignMission(Agv, $"{SettingString.Init}");
}
}
......
AGVDispatch/Program.cs
......@@ -45,14 +45,14 @@ namespace AGVControl
LogUtil.info("=====程序开始=====");
NodeManager.InitNodesInfos();
IOManager.Start();
AGVManager.Init();
DeviceLibrary.manager.MissionManager.InitMission();
ChargePileManager.Init();
AGVManager.Init();
AGVManager.control = new DeviceLibrary.Control();
AGVManager.control.Start();
AGVManager.server = new AgvServer();
AGVManager.server.Start();
DeviceLibrary.manager.MissionManager.InitMission();
DeviceLibrary.manager.MissionManager.Open();
Application.Run(new FrmMain());
......
AGVDispatch/log4net.config
<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<configSections>
<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler,log4net"/>
</configSections>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2"/>
</startup>
<log4net>
<appender name="AgvServer" type="log4net.Appender.RollingFileAppender">
<file value="logs/AgvServer/AgvServer.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<param name="MaxSizeRollBackups" value="30"/>
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
</layout>
</appender>
<appender name="HttpManager" type="log4net.Appender.RollingFileAppender">
<file value="logs/HttpManager/HttpManager.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<param name="MaxSizeRollBackups" value="30"/>
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
</layout>
</appender>
<appender name="AGVDispatch" type="log4net.Appender.RollingFileAppender">
<file value="logs/AGVDispatch/AGVDispatch.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
</layout>
</appender>
<appender name="WebService" type="log4net.Appender.RollingFileAppender">
<file value="logs/WebService/Records.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<param name="MaxSizeRollBackups" value="30"/>
<!-- 切割最多文件数 -->
<param name="MaximumFileSize" value="50MB"/>
<!-- 每个文件的大小 -->
<param name="RollingStyle" value="Size"/>
<!--param name="StaticLogFileName" value="true"/-->
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date]%-5p %m%n"/>
</layout>
</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="30" />
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%m%n"/>
</layout>
</appender>
<appender name="MiR_API" type="log4net.Appender.RollingFileAppender">
<file value="logs/MiR_API/MiR_API.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<param name="MaxSizeRollBackups" value="30" />
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%m%n"/>
</layout>
</appender>
<appender name="MissionManager" type="log4net.Appender.RollingFileAppender">
<file value="logs/MissionManager/MissionManager.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<param name="MaxSizeRollBackups" value="30" />
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%m%n"/>
</layout>
</appender>
<logger name="MissionManager">
<level value="info"/>
<appender-ref ref="MissionManager"/>
</logger>
<logger name="MiR_API">
<level value="info"/>
<appender-ref ref="MiR_API"/>
</logger>
<logger name="RunLog">
<level value="Info"/>
<appender-ref ref="RunLog"/>
</logger>
<logger name="WebService">
<level value="Info"/>
<appender-ref ref="WebService"/>
</logger>
<logger name="AgvServer">
<level value="Info"/>
<appender-ref ref="AgvServer"/>
</logger>
<logger name="HttpManager">
<level value="Info"/>
<appender-ref ref="HttpManager"/>
</logger>
<root name="AGVDispatch">
<level value="info"/>
<appender-ref ref="AGVDispatch"/>
</root>
</log4net>
<configSections>
<section name="log4net" type="log4net.Config.Log4NetConfigurationSectionHandler,log4net"/>
</configSections>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.7.2"/>
</startup>
<log4net>
<appender name="AgvServer" type="log4net.Appender.RollingFileAppender">
<file value="logs/AgvServer/AgvServer.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<param name="MaxSizeRollBackups" value="30"/>
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
</layout>
</appender>
<appender name="HttpManager" type="log4net.Appender.RollingFileAppender">
<file value="logs/HttpManager/HttpManager.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<param name="MaxSizeRollBackups" value="30"/>
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
</layout>
</appender>
<appender name="AGVDispatch" type="log4net.Appender.RollingFileAppender">
<file value="logs/AGVDispatch/AGVDispatch.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date][%t][%c:%L]%-5p %m%n"/>
</layout>
</appender>
<appender name="WebService" type="log4net.Appender.RollingFileAppender">
<file value="logs/WebService/Records.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<param name="MaxSizeRollBackups" value="30"/>
<!-- 切割最多文件数 -->
<param name="MaximumFileSize" value="50MB"/>
<!-- 每个文件的大小 -->
<param name="RollingStyle" value="Size"/>
<!--param name="StaticLogFileName" value="true"/-->
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="[%date]%-5p %m%n"/>
</layout>
</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="30" />
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%m%n"/>
</layout>
</appender>
<appender name="MiR_API" type="log4net.Appender.RollingFileAppender">
<file value="logs/MiR_API/MiR_API.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<param name="MaxSizeRollBackups" value="30" />
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%m%n"/>
</layout>
</appender>
<appender name="MissionManager" type="log4net.Appender.RollingFileAppender">
<file value="logs/MissionManager/MissionManager.log"/>
<param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/>
<param name="MaxSizeRollBackups" value="30" />
<rollingStyle value="Date"/>
<datePattern value="yyyy-MM-dd"/>
<layout type="log4net.Layout.PatternLayout">
<conversionPattern value="%m%n"/>
</layout>
</appender>
<logger name="MissionManager">
<level value="info"/>
<appender-ref ref="MissionManager"/>
</logger>
<logger name="MiR_API">
<level value="info"/>
<appender-ref ref="MiR_API"/>
</logger>
<logger name="RunLog">
<level value="Info"/>
<appender-ref ref="RunLog"/>
</logger>
<logger name="WebService">
<level value="Info"/>
<appender-ref ref="WebService"/>
</logger>
<logger name="AgvServer">
<level value="Info"/>
<appender-ref ref="AgvServer"/>
</logger>
<logger name="HttpManager">
<level value="Info"/>
<appender-ref ref="HttpManager"/>
</logger>
<logger name="AGVDispatch">
<level value="info"/>
<appender-ref ref="AGVDispatch"/>
</logger>
</log4net>
</configuration>
\ No newline at end of file
Common/SettingString.cs
......@@ -16,7 +16,6 @@ namespace Common
public const string PutShelfOn = "PutShelfOn";
public const string TakeShelfOff = "TakeShelfOff";
public const string Temp1 = "Temp1";
public const string Temp2 = "Temp2";
public const string DoorAirOut = "DoorAirOut";
public const string AutoCharge = "AutoCharge";
public const string PlaySound = "PlaySound";
......@@ -40,6 +39,7 @@ namespace Common
public const string File_AgvTaskInfo = "File_AgvTaskInfo";
public const string File_NodeInfo = "File_NodeInfo";
public const string FileName_Missions = "Missions.json";
public const string FileName_AgvContext = "FileName_AgvContext";
public const string IsUse = "IsUse";
public const string RFID = "RFID";
public const string Warehouse = "JIGStorage";
......
Common/util/HttpHelper.cs
......@@ -132,7 +132,7 @@ namespace Common
try
{
var wc = new MyWebClient(5000);
var wc = new MyWebClient(10000);
if (string.IsNullOrEmpty(wc.Headers["Content-Type"]))
wc.Headers.Add("Content-Type", "application/json;charset=UTF-8");
wc.Encoding = encoding;
......
DeviceLibrary/Config/XmlConfigOperation.cs
......@@ -37,7 +37,7 @@ namespace DeviceLibrary.manager
XmlNodeList xnl0 = xe.ChildNodes;
agv_Info.Name = xnl0.Item(0).InnerText;
agv_Info.JobContext.Name = agv_Info.Name;
XmlNodeList xnlScope = xnl0.Item(1).ChildNodes;
agv_Info.Scope = new bean.agv.Scope();
agv_Info.Scope.Workshop = xnlScope.Item(0).InnerText;
......@@ -100,7 +100,7 @@ namespace DeviceLibrary.manager
node.Id = int.Parse(xe.GetAttribute("id"));
// 得到节点的所有子节点
XmlNodeList xnl0 = xe.ChildNodes;
node.IP = xnl0.Item(0).InnerText;
node.IP = xnl0.Item(0).InnerText.Trim();
node.Name = xnl0.Item(1).InnerText;
node.IsUse = bool.Parse(xnl0.Item(2).InnerText);
node.AliceName = xnl0.Item(3).InnerText;
......
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>
......@@ -28,7 +28,7 @@
</Scope>
<!--是否自动-->
<Auto>False</Auto>
<UseFleet>true</UseFleet>
<UseFleet>false</UseFleet>
<FleetIp>10.85.199.3</FleetIp>
<Authorization>Basic ZGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==</Authorization>
<IO_GUIDs>
......
DeviceLibrary/Config/chargeinfos.xml
......@@ -17,7 +17,7 @@
<fixed>true</fixed>
<!--固定充电桩为true，取第一个；false则判断所有agv.填写AGV编号-->
<agvs>
<agv>49</agv>
<agv>10.85.199.68</agv>
</agvs>
</pile>
</piles>
......
DeviceLibrary/Control.cs
......@@ -30,7 +30,7 @@ namespace DeviceLibrary
{
AgvCallTimer = new System.Timers.Timer
{
Interval = 500,
Interval = 300,
AutoReset = true,
Enabled = false
};
......@@ -86,34 +86,34 @@ namespace DeviceLibrary
bool rtn;
if (AgvStateInProcess) return;
AgvStateInProcess = true;
//List<AlarmMsg> msglist = new List<AlarmMsg>();
for (int i = 0; i < AGVManager.agvInfo.Count; i++)
{
AgvInfo agv = AGVManager.agvInfo[i];
try
{
AGVManager.agvInfo[i].SetKanban();
agv.SetKanban();
if (!CheckOnline(i)) continue;
bool change = false;
if (!AGVManager.agvInfo[i].TaskRunState.IsAllocatingTask && AGVManager.agvInfo[i].Auto && AGVManager.agvInfo[i].CurJob != null && AGVManager.agvInfo[i].TaskRunState.TaskID.Equals(-1))
if (!agv.TaskRunState.IsAllocatingTask && agv.Auto && agv.CurJob != null && agv.TaskRunState.TaskID.Equals(-1))
{
if (!MiR_API.Get_MissionByDescrp(AGVManager.agvInfo[i]))
if (!MiR_API.Get_MissionByDescrp(agv))
{
AGVManager.agvInfo[i].CurJob.ResendTask(AGVManager.agvInfo[i]);
log.Info($"{AGVManager.agvInfo[i].Name}：Task=-1处理,Fleet无任务,重发任务:{AGVManager.agvInfo[i].TaskRunState.Task.Name}");
agv.CurJob.ResendTask(agv);
log.Info($"{agv.Name}：Task=-1处理,Fleet无任务,重发任务:{agv.TaskRunState.Task.Name}");
}
else
{
log.Info($"{AGVManager.agvInfo[i].Name}：Task=-1处理,Fleet有任务，自动赋值FleetTaskID={AGVManager.agvInfo[i].TaskRunState.TaskID}");
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(AGVManager.agvInfo[i]);
MiR_API.Get_Task_State(agv);
Thread.Sleep(50);
MiR_API.Get_IO_Status(AGVManager.agvInfo[i]);
MiR_API.Get_IO_Status(agv);
//获取AGV状态
rtn = MiR_API.Get_State(AGVManager.agvInfo[i], 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);
Thread.Sleep(50);
if (rtn) change = AGVManager.agvInfo[i].SetState(stateID, battery, mission_text, position);
if (rtn) change = agv.SetState(stateID, battery, mission_text, position);
// if (change)
{
......@@ -122,7 +122,7 @@ namespace DeviceLibrary
}
catch (Exception ex)
{
log.Error("AgvStateTimer_" + AGVManager.agvInfo[i].Name + ex.Message + ex.StackTrace);
log.Error("AgvStateTimer_" + agv.Name + ex.Message + ex.StackTrace);
}
}
manager.UploadManager.UploadAgvState();
......@@ -165,7 +165,7 @@ namespace DeviceLibrary
if (!AGVManager.agvInfo[i].Auto) continue; //AGV是否可用
//Ready,Pause,Executing，Error
if(AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause))
if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause))
{
MiR_API.State_Ready(AGVManager.agvInfo[i]);
continue;
......@@ -175,10 +175,10 @@ namespace DeviceLibrary
MiR_API.Clear_Error(AGVManager.agvInfo[i]);
continue;
}
if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready)
if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready)
&& !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.None))
{
log.Warn(string.Format("{0}不能调用 StateID={1}", AGVManager.agvInfo[i].Name, AGVManager.agvInfo[i].StateID.ToString()));
//log.Warn(string.Format("{0}不能调用 StateID={1}", AGVManager.agvInfo[i].Name, AGVManager.agvInfo[i].StateID.ToString()));
continue;
}
if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task))
......@@ -212,7 +212,43 @@ namespace DeviceLibrary
log.Error("AgvCall " + ex.Message + ex.StackTrace);
}
}
try
{
foreach (string item in AGVManager.sysClients)
{
List<AgvInfo> agvs = AGVManager.agvInfo.FindAll(s => s.Client.Equals(item) && s.IsCon.Equals(true) && s.Auto
&& s.Scope != null && s.Scope.Remark != null && s.JobContext != null && s.JobContext.MissionId.Equals(""));
if (agvs != null && agvs.Count > 0)
{
foreach (AgvInfo agv in agvs)
{
string[] lifts = agv.Scope.Remark.Split(',');
foreach (string eleva in lifts)
{
lift.LiftContext.UpdateStatus(new lift.ClientStatus() { hasIdleAgv = true, liftId = eleva, sourceClient = item });
}
}
}
else
{
agvs = AGVManager.agvInfo.FindAll(s => s.Client.Equals(item));
foreach (AgvInfo agv in agvs)
{
string[] lifts = agv.Scope.Remark.Split(',');
foreach (string eleva in lifts)
{
lift.LiftContext.UpdateStatus(new lift.ClientStatus() { hasIdleAgv = false, liftId = eleva, sourceClient = item });
}
}
}
}
}
catch (Exception ex)
{
LogUtil.error("UpdateStatus " + ex.StackTrace);
}
AgvCallInProcess = false;
}
......
DeviceLibrary/DeviceLibrary.csproj
......@@ -34,6 +34,7 @@
<Reference Include="log4net, Version=2.0.12.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<HintPath>..\AGVDispatch\packages\log4net.2.0.12\lib\net45\log4net.dll</HintPath>
</Reference>
<Reference Include="Newtonsoft.Json, Version=9.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL" />
<Reference Include="RestSharp">
<HintPath>.\RestSharp.dll</HintPath>
</Reference>
......@@ -60,21 +61,23 @@
</ItemGroup>
<ItemGroup>
<Compile Include="bean\agv\Agv_Info.cs" />
<Compile Include="bean\agv\JobContext.cs" />
<Compile Include="bean\agv\Scope.cs" />
<Compile Include="bean\ChargePiles.cs" />
<Compile Include="bean\jobType\LineToLineJobType.cs" />
<Compile Include="bean\jobType\StoreToLinesWithBackJobType.cs" />
<Compile Include="bean\jobType\RecoveryJobType.cs" />
<Compile Include="bean\jobType\LineOneToManyJobType.cs" />
<Compile Include="bean\job\ChargeJob.cs" />
<Compile Include="bean\job\StoreToLinesWithBackJob.cs" />
<Compile Include="bean\job\LineOneToManyJob.cs" />
<Compile Include="bean\job\LineToLineJob.cs" />
<Compile Include="bean\job\SendToLinesWithBackJob.cs" />
<Compile Include="bean\job\LiftToLinesJob.cs" />
<Compile Include="bean\job\F1LiftToStoreJob.cs" />
<Compile Include="bean\job\F1StoreToLiftJob.cs" />
<Compile Include="bean\JobParam.cs" />
<Compile Include="bean\jobType\F1LiftToStoreJobType.cs" />
<Compile Include="bean\jobType\F1StoreToLiftJobType.cs" />
<Compile Include="bean\TaskRunState.cs" />
<Compile Include="bean\jobType\SendToLinesWithBackJobType.cs" />
<Compile Include="bean\jobType\LiftToLinesJobType.cs" />
<Compile Include="bean\job\StandyJob.cs" />
<Compile Include="bean\Task.cs" />
<Compile Include="bean\Node.cs" />
......
DeviceLibrary/bean/ChargePiles.cs
......@@ -44,11 +44,11 @@ namespace DeviceLibrary.bean
}
public List<ChargePile> GetChargePilesByAgv(AgvInfo agv)
{
return chargePiles.FindAll(s => s.Agvs.Contains(agv.ID));
return chargePiles.FindAll(s => s.Agvs.Contains(agv.IP));
}
public ChargePile GetChargePileByAgv(AgvInfo agv)
{
return chargePiles.Find(s => s.Agvs.Contains(agv.ID));
return chargePiles.Find(s => s.Agvs.Contains(agv.IP));
}
}
public class ChargePile
......@@ -94,14 +94,14 @@ namespace DeviceLibrary.bean
{
if (Fixed)
{
if (agv.ID.Equals(Agvs[0]))
if (agv.IP.Equals(Agvs[0]))
return true;
else
return false;
}
else //多个agv共享充电桩
{
if (Agvs.Contains(agv.ID))
if (Agvs.Contains(agv.IP))
return Occupied;
else
return false;
......
DeviceLibrary/bean/JobStep.cs
......@@ -11,6 +11,7 @@ namespace DeviceLibrary
public class JobStep<T> where T : Enum
{
private T step;
private T preStep;
private string msg = "";
public string Msg
{
......@@ -22,7 +23,8 @@ namespace DeviceLibrary
//不为空，且与上一个消息不一样才打印
if (!value.Equals(msg))
{
LogUtil.info(value);
AGVManager.SaveAgvContextInfo(step.ToString());
LogUtil.info(string.Format("[{0}]{1}",step,value));
}
}
msg = value;
......@@ -35,6 +37,7 @@ namespace DeviceLibrary
public JobStep(T initStep)
{
this.step = initStep;
this.preStep = initStep;
this.msg = "";
}
......@@ -54,7 +57,7 @@ namespace DeviceLibrary
/// </summary>
/// <param name="timeOutMiniutes"></param>
/// <returns></returns>
public bool IsTimeOut(int timeOutMiniutes, out double timeOutValue)
public bool IsTimeOut(double timeOutMiniutes, out double timeOutValue)
{
TimeSpan span = DateTime.Now - startTime;
timeOutValue = span.TotalMinutes;
......@@ -72,6 +75,7 @@ namespace DeviceLibrary
public void ToNextStep(T nextStep)
{
AGVManager.RunLogInfo(StepRunInfo);
preStep = step;
step = nextStep;
startTime = DateTime.Now;
}
......@@ -80,7 +84,10 @@ namespace DeviceLibrary
{
return step.ToString();
}
public string PreStep()
{
return preStep.ToString();
}
public void EndJob()
{
AGVManager.RunLogInfo(StepRunInfo);
......
DeviceLibrary/bean/Node.cs
......@@ -40,6 +40,7 @@ namespace DeviceLibrary
else
return IOManager.GetDI(IP);
}
set { }
}
/// <summary>
/// 是否可调用
......@@ -256,17 +257,25 @@ namespace DeviceLibrary
{
get
{
if (CanConfirm)
//if (CanConfirm)
{
if (IP.Equals(""))
return false;
else
return IOManager.GetDI(IP, 0);
}
else
{
return false;
{
bool rtn= IOManager.GetDI(IP, 0);
if (rtn)
IOManager.WriteDO(IP, 0, 1);
else
IOManager.WriteDO(IP,0,0);
return rtn;
}
}
//else
//{
// return false;
//}
}
}
/// <summary>
......@@ -294,7 +303,7 @@ namespace DeviceLibrary
}
}
private bool apiconfirmSig = false;
public bool CanConfirm { get; private set; }
public bool CanConfirm { get; private set; } = true;
public ExtendEquip(string ip)
{
IP = ip;
......@@ -309,7 +318,8 @@ namespace DeviceLibrary
}
public void Reset()
{
CanConfirm = false;
apiconfirmSig = false;
IOManager.WriteDO(IP, 0, 0);
}
}
/// <summary>
......
DeviceLibrary/bean/RunStep.cs
......@@ -81,18 +81,12 @@ namespace DeviceLibrary.bean
S1F_StoreToLift_05_04_EnterLift,
S1F_StoreToLift_05_05_PutShelfOn,
S1F_StoreToLift_05_06_LeaveLift,
S1F_StoreToLift_05_07_ToTemp2,
S1F_StoreToLift_05_08_TakeShelfOffAtTemp2,
S1F_StoreToLift_05_09_ToTemp1,
S1F_StoreToLift_05_10_PutTemp1ShelfOn,
S1F_StoreToLift_05_11_ToLift,
S1F_StoreToLift_05_12_EnterLift,
S1F_StoreToLift_05_13_TakeShelfOffAtLift,
S1F_StoreToLift_05_14_LeaveLift,
S1F_StoreToLift_05_15_ToTemp2,
S1F_StoreToLift_05_16_PutTemp2ShelfOn,
S1F_StoreToLift_05_17_ToStore,
S1F_StoreToLift_05_18_TakeShelfOff,
S1F_StoreToLift_05_07_CloseDoor,
S1F_StoreToLift_05_08_ToStore,
S1F_StoreToLift_05_09_TakeShelfOff,
S1F_StoreToLift_05_10_ToTemp1,
S1F_StoreToLift_05_11_PutTemp1ShelfOn,
S1F_StoreToLift_05_12_ToLift,
#endregion
#region 电梯内无料车
......@@ -159,55 +153,8 @@ namespace DeviceLibrary.bean
#region 电梯内有料车
SD_LiftToLine_14_01_ToTemp1,
/// <summary>
/// 电梯内有料车，将待送的料车放到临时点1
/// </summary>
SD_LiftToLine_14_02_TakeShelfOffAtTemp1,
/// <summary>
/// 电梯内有料车，去电梯口
/// </summary>
SD_LiftToLine_14_03_ToLift,
SD_LiftToLine_14_04_EnterLift,
/// <summary>
/// 电梯内有料车，提取电梯内的料车
/// </summary>
SD_LiftToLine_14_05_PutLiftShelfOn,
/// <summary>
/// 电梯内有料车，离开电梯
/// </summary>
SD_LiftToLine_14_06_LeaveLift,
SD_LiftToLine_14_07_ToTemp2,
/// <summary>
/// 电梯内有料车，将电梯内的料车卸到临时点2
/// </summary>
SD_LiftToLine_14_08_TakeShelfOffAtTemp2,
SD_LiftToLine_14_09_ToTemp1,
/// <summary>
/// 电梯内有料车，提取临时点1的料车
/// </summary>
SD_LiftToLine_14_10_PutTemp1ShelfOn,
/// <summary>
/// 电梯内有料车，去电梯口
/// </summary>
SD_LiftToLine_14_11_ToLift,
SD_LiftToLine_14_12_EnterLift,
/// <summary>
/// 电梯内有料车，将料车放到电梯内
/// </summary>
SD_LiftToLine_14_13_TakeShelfOffAtLift,
/// <summary>
/// 电梯内有料车，离开电梯
/// </summary>
SD_LiftToLine_14_14_LeaveLift,
/// <summary>
/// 电梯内有料车，关闭电梯门
/// </summary>
SD_LiftToLine_14_15_CloseLiftDoor,
SD_LiftToLine_14_16_ToTemp2,
/// <summary>
/// 电梯内有料车，将临时点2的料车提取，线体目的地参数填充，准备去线体SD_LiftToLine_06_ToLine
/// </summary>
SD_LiftToLine_14_17_PutTemp2ShelfOn,
SD_LiftToLine_14_02_WaitLiftIdle,
SD_LiftToLine_14_03_RequestLift,
#endregion
#region 电梯内无料车
......@@ -225,7 +172,10 @@ namespace DeviceLibrary.bean
/// </summary>
SD_LiftToLine_14_04_CloseLiftDoor,
#endregion
/// <summary>
/// 料车无需返回，直接结束
/// </summary>
SD_LiftToLine_15_TakeShelfOff,
#endregion
#region 车间里线体到线体运送，到目的地卸料车
......@@ -242,48 +192,52 @@ namespace DeviceLibrary.bean
/// </summary>
SD_LineToLine_03_ToLine,
/// <summary>
/// 到达线体，上报位置
/// 等待确认
/// </summary>
SD_LineToLine_04_WaitConfirm,
/// <summary>
/// 返回起点
/// </summary>
SD_LineToLine_04_UpdateLocation,
SD_LineToLine_05_BackToSrcLine,
/// <summary>
/// 放下料架
/// </summary>
SD_LineToLine_05_TakeShelfOff,
SD_LineToLine_06_TakeShelfOff,
#endregion
#region 车间里库房到多线体运送
#region 同车间单线体到多线体运送
/// <summary>
/// 去取料车位置
/// </summary>
SD_StoreToLine_01_ToPickUpPosition,
SD_Line_OneToMany_01_ToPickUpPosition,
/// <summary>
/// 顶起料车
/// </summary>
SD_StoreToLine_02_PutShelfOn,
SD_Line_OneToMany_02_PutShelfOn,
/// <summary>
/// 去线体
/// </summary>
SD_StoreToLine_03_ToLine,
SD_Line_OneToMany_03_ToLine,
/// <summary>
/// 到达线体，上报位置
/// </summary>
SD_StoreToLine_04_UpdateLocation,
SD_Line_OneToMany_04_UpdateLocation,
/// <summary>
/// 等待确认
/// </summary>
SD_StoreToLine_05_WaitConfirm,
SD_Line_OneToMany_05_WaitConfirm,
/// <summary>
/// 检查下一线体
/// </summary>
SD_StoreToLine_06_CheckNextLine,
SD_Line_OneToMany_06_CheckNextLine,
/// <summary>
/// 返回至取料位置
/// </summary>
SD_StoreToLine_07_BackToPickUpPosition,
SD_Line_OneToMany_07_BackToPickUpPosition,
/// <summary>
/// 放下料车
/// </summary>
SD_StoreToLine_08_TakeShelfOff,
SD_Line_OnToMany_08_TakeShelfOff,
#endregion
/// <summary>
......
DeviceLibrary/bean/Task.cs
......@@ -19,7 +19,7 @@ namespace DeviceLibrary
/// <summary>
/// 任务名称
/// </summary>
public string Name { set; get; }
public string Name { set; get; } = "";
/// <summary>
/// 任务别名
/// </summary>
......
DeviceLibrary/bean/TaskRunState.cs
......@@ -32,7 +32,7 @@ namespace DeviceLibrary
/// <summary>
/// 等待任务执行队列
/// </summary>
public ConcurrentQueue<AgvTask> WaitExecuteTask = new ConcurrentQueue<AgvTask>();
ConcurrentQueue<AgvTask> WaitExecuteTask= new ConcurrentQueue<AgvTask>();
/// <summary>
/// 任务状态
/// </summary>
......@@ -71,6 +71,10 @@ namespace DeviceLibrary
return;
WaitExecuteTask.Enqueue(task);
}
public bool CheckTaskExist(AgvTask agvTask)
{
return WaitExecuteTask.Any(s => s.Name.Equals(agvTask.Name));
}
public bool DeWaitTaskQueue(out AgvTask task)
{
task = null;
......
DeviceLibrary/bean/agv/Agv_Info.cs
......@@ -9,6 +9,7 @@ using System.Xml;
using Common;
using DeviceLibrary.bean.agv;
using DeviceLibrary.manager;
using Newtonsoft.Json;
namespace DeviceLibrary
{
......@@ -40,7 +41,7 @@ namespace DeviceLibrary
public string Client { get {
if (Scope != null)
{
return $"{Common.AppConfigHelper.GetValue(SettingString.AppIdentity)}-{Scope.Workshop}-{Name}";
return $"{Common.AppConfigHelper.GetValue(SettingString.AppIdentity)}-{Scope.Workshop}";
}
else return Name;
} }
......@@ -130,7 +131,10 @@ namespace DeviceLibrary
/// 当前任务
/// </summary>
public Job CurJob { get; set; }
/// <summary>
/// 任务上下文信息
/// </summary>
public JobContext JobContext { get; set; }
/// <summary>
/// 使用Fleet发任务
/// </summary>
......@@ -231,6 +235,7 @@ namespace DeviceLibrary
/// 停在同一处超时
/// </summary>
public bool StandTimeOut { get; set; } = false;
[JsonIgnore]
public AGV_UI.Status StateKanban;
public AgvInfo(string id, string name, string ip, string authorization, bool isUse)
{
......@@ -255,6 +260,7 @@ namespace DeviceLibrary
StateKanban = new AGV_UI.Status(RunInfos);
IOStatus = new List<IOInfo>();
TaskRunState = new TaskRunState();
JobContext = new JobContext();
}
public List<string> RunInfos;
DateTime IoStartTime = DateTime.MaxValue;
......@@ -534,6 +540,13 @@ namespace DeviceLibrary
LogUtil.error(Name + "上报小车信息失败" + ex.Message + ex.StackTrace);
}
}
public void SetJobContext(JobContext jobContext)
{
if(!JobContext.Equals(jobContext))
{
JobContext = jobContext;
}
}
}
public class IOInfo
......
DeviceLibrary/bean/agv/JobContext.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.bean.agv
{
/// <summary>
/// 任务上下文
/// </summary>
public class JobContext
{
/// <summary>
/// Agv名称
/// </summary>
public string Name { get; set; } = "";
/// <summary>
/// 任务id
/// </summary>
public string MissionId { get; set; } = "";
/// <summary>
/// job全称
/// </summary>
public string JobFullName { get; set; } = "";
/// <summary>
/// 当前步骤
/// </summary>
public string JobStep { get; set; } = "";
/// <summary>
/// 任务参数
/// </summary>
public JobParam JobParam { get; set; } = new JobParam(null);
/// <summary>
/// 任务
/// </summary>
public AgvTask AgvTask { get; set; } = new AgvTask();
public override bool Equals(object obj)
{
JobContext jobContext = obj as JobContext;
if (jobContext == null) return false;
else
{
if(MissionId.Equals(jobContext.MissionId) && JobFullName.Equals(jobContext.JobFullName)&&
JobStep.Equals(jobContext.JobStep) && AgvTask.Name.Equals(jobContext.AgvTask.Name))
{
return true;
}
else
{
return false;
}
}
}
}
}
DeviceLibrary/bean/job/ChargeJob.cs
......@@ -15,6 +15,7 @@ namespace DeviceLibrary
{
JobName = "充电任务";
}
public ChargeJob() : base() { JobName = "充电任务"; }
int BatteryMax = ChargePileManager.GetChargePiles().BatteryMax;
int BatteryMin = ChargePileManager.GetChargePiles().BatteryMin;
/// <summary>
......@@ -23,6 +24,14 @@ namespace DeviceLibrary
/// <param name="agv"></param>
public override Job Run(AgvInfo agv)
{
agv.SetJobContext(new bean.agv.JobContext()
{
AgvTask = agv.TaskRunState.Task,
JobFullName = this.ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam = JobParam
}) ;
if (JobRunStep.IsStep(RunStep.NONE))
{
......@@ -85,7 +94,7 @@ namespace DeviceLibrary
runInfo = "充电完成";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return new StandyJob(new JobParam(JobParam.SrcNode.ToCopy()));
return new StandyJob(new JobParam(agv.Place));
}
else if (agv.Battery >= ChargePileManager.GetChargePiles().BatteryMin)
{
......
DeviceLibrary/bean/job/F1LiftToStoreJob.cs
......@@ -14,8 +14,21 @@ namespace DeviceLibrary.bean.job
public F1LiftToStoreJob(JobParam jobParam) : base(jobParam)
{
}
public F1LiftToStoreJob() : base()
{
}
public override Job Run(AgvInfo agv)
{
agv.SetJobContext(new bean.agv.JobContext()
{
MissionId = JobParam.GetMissionInfo().missionId,
AgvTask = agv.TaskRunState.Task,
JobFullName = this.ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam = JobParam
});
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_01_ToLift);
......@@ -28,30 +41,34 @@ namespace DeviceLibrary.bean.job
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_02_01_WaitLiftDoorOpen);
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }"));
runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftToStore_02_01_WaitLiftDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name,JobParam.GetMissionInfo().destinationFloor))
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_02_02_EnterLift);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，去取料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯到达, out string msg);
AllocateTask(agv,$"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
JobRunStep.Msg = runInfo;
}
}
else if(JobRunStep.IsStep(RunStep.S1F_LiftToStore_02_02_EnterLift))
else if (JobRunStep.IsStep(RunStep.S1F_LiftToStore_02_02_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_03_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，开始取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv,SettingString.PutShelfOn);
AllocateTask(agv, SettingString.PutShelfOn);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftToStore_03_PutShelfOn))
......@@ -59,8 +76,12 @@ namespace DeviceLibrary.bean.job
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_04_LeaveLift);
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"电梯取车"));
runInfo = $"在{JobParam.SrcNode.AliceName}取料车完成，准备离开";
JobRunStep.Msg = runInfo;
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
}
}
......@@ -69,28 +90,32 @@ namespace DeviceLibrary.bean.job
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_05_CloseLiftDoor);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭电梯门";
//关门
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭电梯门:{rtn}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回离开电梯, out string msg);
JobRunStep.Msg = runInfo;
//关门
lift.LiftContext.CloseDoor(JobParam.SrcNode.Name,agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftToStore_05_CloseLiftDoor))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_06_ToStore);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}放料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回起始地, out string msg);
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftToStore_06_ToStore))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_07_TakeShelfOff);
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.CurTargetNode.Name }"));
runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.TakeShelfOff);
......@@ -105,6 +130,10 @@ namespace DeviceLibrary.bean.job
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
JobRunStep.Msg = runInfo;
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"还车"));
}
}
else if (JobRunStep.IsStep(RunStep.END))
......
DeviceLibrary/bean/job/F1StoreToLiftJob.cs
......@@ -16,18 +16,30 @@ namespace DeviceLibrary
public F1StoreToLiftJob(JobParam jobParam) : base(jobParam)
{
}
public F1StoreToLiftJob() : base()
{
}
lift.LiftStatus liftStatus;
public override Job Run(AgvInfo agv)
{
agv.SetJobContext(new bean.agv.JobContext()
{
MissionId = JobParam.GetMissionInfo().missionId,
AgvTask = agv.TaskRunState.Task,
JobFullName = this.ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam = JobParam
});
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_01_ToStore);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}取料点";
JobRunStep.Msg = runInfo;
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}的取料点";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.接料, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_01_ToStore))
......@@ -35,7 +47,12 @@ namespace DeviceLibrary
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_02_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，拾取料车";
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }"));
runInfo = $"到达{JobParam.SrcNode.AliceName}的取料点，开始拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.PutShelfOn);
}
......@@ -45,13 +62,15 @@ namespace DeviceLibrary
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_03_ToLift);
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"取车"));
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，去{JobParam.CurTargetNode.AliceName}";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.前往电梯, out string msg);
//开始请求电梯
lift.LiftContext.Request(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo());
AllocateTask(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_03_ToLift))
......@@ -59,26 +78,32 @@ namespace DeviceLibrary
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_04_CheckLiftStatus);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，等待开门";
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{JobParam.CurTargetNode.Name}"));
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，请求电梯并等待开门";
JobRunStep.Msg = runInfo;
//开始请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(),agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_04_CheckLiftStatus))
{
if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name,JobParam.GetMissionInfo().sourceFloor))
if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().sourceFloor))
{
if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out lift.LiftStatus liftStatus))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_01_ToTemp1);
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";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if(missionInfo!=null)
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回电梯到达, out string msg);
}
JobRunStep.Msg = runInfo;
}
else
{
......@@ -91,7 +116,7 @@ namespace DeviceLibrary
else if (!lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
{
//请求电梯
lift.LiftContext.Request(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo());
lift.LiftContext.Request(JobParam.GetMissionInfo(),agv);
System.Threading.Thread.Sleep(2000);
}
}
......@@ -121,7 +146,7 @@ namespace DeviceLibrary
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_04_EnterLift);
runInfo = $"到{JobParam.CurTargetNode.AliceName}的取料点";
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，去取料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.PutShelfOn}");
}
......@@ -150,169 +175,100 @@ namespace DeviceLibrary
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_07_ToTemp2);
runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成，前往临时点2的放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp2}_{SettingString.TakeShelfOff}");
//电梯空，切换电梯控制权
lift.LiftContext.SwitchControl(JobParam.CurTargetNode.Name,JobParam.GetMissionInfo());
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_07_ToTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_08_TakeShelfOffAtTemp2);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点2，准备放下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_08_TakeShelfOffAtTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_09_ToTemp1);
runInfo = $"将料车放到{JobParam.CurTargetNode.AliceName}的临时点2完成，去临时点1的取料点";
JobRunStep.Msg = runInfo;
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_07_CloseDoor);
//AGV离开
bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv);
runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成，发送离开信号:{rtn}";
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回离开电梯, out string msg);
}
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_09_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_10_PutTemp1ShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点1的取料点，准备取料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_10_PutTemp1ShelfOn))
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_07_CloseDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
if(lift.LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_11_ToLift);
runInfo = $"取临时点1的料车完成，去{JobParam.CurTargetNode.AliceName}";
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_08_ToStore);
runInfo = $"{JobParam.CurTargetNode.AliceName}关门完成，将料车送到{liftStatus.destinationPoint}的放料点";
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回起始地, out string msg);
}
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
AllocateTask(agv, $"{liftStatus.destinationPoint}_{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_11_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
else if(JobRunStep.IsTimeOut(0.5,out double val))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_12_EnterLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName},准备到放料点";
//AGV离开
lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}离开信号超时重发";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
System.Threading.Thread.Sleep(3000);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_12_EnterLift))
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_08_ToStore))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_13_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点，准备卸下";
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_09_TakeShelfOff);
runInfo = $"到达{liftStatus.destinationPoint}的放料点，准备卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_13_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_14_LeaveLift);
runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，离开电梯";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.到达电梯, out string msg);
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_14_LeaveLift))
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_09_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_15_ToTemp2);
runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成,去临时点2的取料点";
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_10_ToTemp1);
runInfo = $"料车在{liftStatus.destinationPoint}卸下完成， 返回{JobParam.CurTargetNode.AliceName}的临时点1的取料点";
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.完成, out string msg);
}
JobRunStep.Msg = runInfo;
//关电梯门
//lift.LiftContext.CloseDoor(JobParam.CurTargetNode.Name);
//去指定层
lift.LiftContext.RunTo(JobParam.CurTargetNode.Name, int.Parse(JobParam.GetMissionInfo().destinationWorkshop.Substring(0, 1)));
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯运行, out string msg);
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp2}_{SettingString.PutShelfOn}");
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_15_ToTemp2))
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_10_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_16_PutTemp2ShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点2，准备拾取料车";
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_11_PutTemp1ShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点1的取料点，准备拾取料架";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_16_PutTemp2ShelfOn))
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_11_PutTemp1ShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
Node node = NodeManager.GetNode(liftStatus.destinationPoint);
if (node != null)
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_17_ToStore);
JobParam.SrcNode = node;
runInfo = $"拾取{JobParam.CurTargetNode.AliceName}临时点2的料车完成，将该料车送回{JobParam.SrcNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回起始地, out string msg);
}
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
}
else
{
runInfo = $"拾取{JobParam.CurTargetNode.AliceName}临时点2的料车完成，获取料车目的地不存在：{liftStatus.destinationPoint}";
JobRunStep.Msg = runInfo;
}
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_17_ToStore))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_18_TakeShelfOff);
runInfo = $"到达{JobParam.SrcNode.AliceName}的放料点,准备卸下料车";
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_12_ToLift);
runInfo = $"拾取料架完成，去{JobParam.CurTargetNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_18_TakeShelfOff))
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_12_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"任务结束：在{JobParam.SrcNode.AliceName}卸下料车完成";
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.完成, out string msg);
}
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_04_CheckLiftStatus);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，请求电梯";
JobRunStep.Msg = runInfo;
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(),agv);
System.Threading.Thread.Sleep(2000);
}
}
#endregion
......@@ -333,11 +289,16 @@ namespace DeviceLibrary
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_06_03_LeaveLift);
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"电梯卸车"));
runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，准备离开";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.到达电梯, out string msg);
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_06_03_LeaveLift))
......@@ -345,9 +306,10 @@ namespace DeviceLibrary
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"任务结束：离开{JobParam.CurTargetNode.AliceName}完成";
//AGV离开
bool rtn= lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv);
runInfo = $"任务结束：离开{JobParam.CurTargetNode.AliceName}完成并发送离开信号:{rtn}";
JobRunStep.Msg = runInfo;
lift.LiftContext.RunTo(JobParam.CurTargetNode.Name,JobParam.GetMissionInfo().destinationFloor);
}
}
#endregion
......
DeviceLibrary/bean/job/Job.cs
......@@ -13,7 +13,8 @@ namespace DeviceLibrary
if (jobParam != null && jobParam.GetMissionInfo() != null)
JobName = jobParam.GetMissionInfo().JobName;
}
public JobParam JobParam { get; private set; }
public Job() { }
public JobParam JobParam { get; set; }
public JobStep<RunStep> JobRunStep = new JobStep<RunStep>(RunStep.NONE);
/// <summary>
......@@ -76,8 +77,8 @@ namespace DeviceLibrary
}
protected void AllocateStandbyTask(AgvInfo agv)
{
Task = AgvTaskManager.GetTaskByName(SettingString.Standby, agv);
AgvTaskManager.AssignMission(agv, SettingString.Standby);
Task = AgvTaskManager.GetTaskByName($"{SettingString.Standby}", agv);
AgvTaskManager.AssignMission(agv, $"{SettingString.Standby}");
}
/// <summary>
/// 设置PLC值
......@@ -122,7 +123,7 @@ namespace DeviceLibrary
public bool ResendTask(AgvInfo agv)
{
bool rtn = false;
if (!agv.TaskRunState.Task.Equals(Task))//agv运行的任务与Job任务不同
if (!Task.Equals(agv.TaskRunState.Task))//agv运行的任务与Job任务不同
{
rtn = AgvTaskManager.AssignMission(agv, Task.Name);
if (rtn)
......@@ -152,6 +153,22 @@ namespace DeviceLibrary
}
return false;
}
/// <summary>
/// 是否需要确认
/// </summary>
/// <returns></returns>
protected bool NeedConfirm()
{
if(JobParam.GetMissionInfo()!=null)
{
service.model.ProjectType type = JobParam.GetMissionInfo().projectType;
if(type.Equals(service.model.ProjectType.空台车领用) || type.Equals(service.model.ProjectType.空台车归还))
{
return false;
}
}
return true;
}
}
}
DeviceLibrary/bean/job/SendToLinesWithBackJob.cs → DeviceLibrary/bean/job/LiftToLinesJob.cs
......@@ -6,17 +6,30 @@ namespace DeviceLibrary.bean.job
/// <summary>
/// 电梯到线体,（空架返回）
/// </summary>
public class SendToLinesWithBackJob : Job
public class LiftToLinesJob : Job
{
/// <summary>
/// 满料车任务
/// </summary>
public SendToLinesWithBackJob(JobParam jobParam) : base(jobParam)
public LiftToLinesJob(JobParam jobParam) : base(jobParam)
{
}
public LiftToLinesJob() : base()
{
}
lift.LiftStatus liftStatus;
public override Job Run(AgvInfo agv)
{
agv.SetJobContext(new bean.agv.JobContext()
{
MissionId = JobParam.GetMissionInfo().missionId,
AgvTask = agv.TaskRunState.Task,
JobFullName = this.ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam = JobParam
});
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_01_ToLift);
......@@ -29,20 +42,25 @@ namespace DeviceLibrary.bean.job
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_02_WaitLiftDoorOpen);
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }"));
runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_02_WaitLiftDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name,JobParam.GetMissionInfo().destinationFloor))
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_03_EnterLift);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，进电梯取料点";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯到达, out string msg);
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_03_EnterLift))
......@@ -60,6 +78,11 @@ namespace DeviceLibrary.bean.job
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_05_LeaveLift);
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"电梯取车"));
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，准备离开";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
......@@ -70,22 +93,22 @@ namespace DeviceLibrary.bean.job
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_06_CloseLiftDoor);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭门";
JobRunStep.Msg = runInfo;
//关门
bool rtn= lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭门:{rtn}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.离开电梯, out string msg);
//关门
lift.LiftContext.CloseDoor(JobParam.SrcNode.Name,agv);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_06_CloseLiftDoor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_ToLine))
{
......@@ -95,47 +118,53 @@ namespace DeviceLibrary.bean.job
JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_08_UpdateLocation);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，上报位置给ITS";
runInfo = $"到达{JobParam.CurTargetNode.AliceName}";
JobRunStep.Msg = runInfo;
//上报位置
manager.UploadManager.UploadPosition(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status,agv.Name,agv.Place.Name,service.model.TransportStatus.ModeStr.auto,
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.CurTargetNode.Name }"));
System.Threading.Thread.Sleep(2000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_08_UpdateLocation))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_09_WaitConfirm);
runInfo = $"等待{JobParam.CurTargetNode.AliceName}的人员确认";
JobRunStep.Msg = runInfo;
manager.UploadManager.UploadPosition(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"等待{ JobParam.CurTargetNode.Name }确认"));
System.Threading.Thread.Sleep(2000);
if(NeedConfirm())
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_09_WaitConfirm);
runInfo = $"等待{JobParam.CurTargetNode.AliceName}的人员确认";
JobRunStep.Msg = runInfo;
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_10_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}无需人员确认";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_09_WaitConfirm))
{
if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
{
//关闭按钮确认
JobParam.CurTargetNode.ExtendEquip.Reset();
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_10_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}的人员确认完成";
JobRunStep.Msg = runInfo;
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"卸货{ JobParam.CurTargetNode.Name }"));
//关闭按钮确认
JobParam.CurTargetNode.ExtendEquip.Reset();
}
else if (JobRunStep.IsTimeOut(WaitTimeOut, out double timeoutval))
{
//报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
manager.UploadManager.UploadPosition(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.error, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"等待{ JobParam.CurTargetNode.Name }确认超时{timeoutval}分"));
System.Threading.Thread.Sleep(2000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_10_CheckNextLine))
{
if (JobParam.TargetNodes.Count > 0)
if (JobParam.TargetNodes!=null && JobParam.TargetNodes.Count > 0)
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
JobParam.CurTargetNode = JobParam.TargetNodes[0];
......@@ -147,14 +176,26 @@ namespace DeviceLibrary.bean.job
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，返回电梯口";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
//请求电梯
lift.LiftContext.Request(JobParam.SrcNode.Name,JobParam.GetMissionInfo());
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.SrcNode.Name);
if(JobParam.GetMissionInfo()!=null && JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，料车需返回，去电梯口";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
AllocateTask(agv, JobParam.SrcNode.Name);
JobRunStep.Msg = runInfo;
}
else if(JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_15_TakeShelfOff);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，料车无需返回，准备卸车";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
AllocateTask(agv, SettingString.TakeShelfOff);
JobRunStep.Msg = runInfo;
}
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_BackToLift))
......@@ -165,12 +206,17 @@ namespace DeviceLibrary.bean.job
runInfo = $"到达{JobParam.SrcNode.AliceName}，等待电梯门开";
JobRunStep.Msg = runInfo;
//上报位置
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }"));
//请求电梯
lift.LiftContext.Request( JobParam.GetMissionInfo(),agv, true);
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_12_WaitDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name,JobParam.GetMissionInfo().sourceFloor))
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_13_CheckLiftStatus);
runInfo = $"{JobParam.SrcNode.AliceName}门已开，检查电梯内该层是否有料车";
......@@ -187,7 +233,6 @@ namespace DeviceLibrary.bean.job
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_ToTemp1);
runInfo = $"{JobParam.SrcNode.AliceName}内有料车，去临时点1放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
......@@ -195,6 +240,7 @@ namespace DeviceLibrary.bean.job
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回电梯到达, out string msg);
}
JobRunStep.Msg = runInfo;
}
else
{
......@@ -207,7 +253,7 @@ namespace DeviceLibrary.bean.job
else if (!lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
{
//请求电梯
lift.LiftContext.Request(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo());
lift.LiftContext.Request(JobParam.GetMissionInfo(),agv);
System.Threading.Thread.Sleep(2000);
}
}
......@@ -230,6 +276,10 @@ namespace DeviceLibrary.bean.job
runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
//上报位置
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"电梯卸车"));
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_LeaveLift))
......@@ -237,23 +287,23 @@ namespace DeviceLibrary.bean.job
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关门";
bool rtn =lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关门: {rtn}";
JobRunStep.Msg = runInfo;
lift.LiftContext.CloseDoor(JobParam.SrcNode.Name,agv);
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor))
{
if (!lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name,JobParam.GetMissionInfo().sourceFloor))
if (!lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"{JobName}结束：{JobParam.SrcNode.AliceName}已关门";
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsTimeOut(1, out double time))
else if (JobRunStep.IsTimeOut(0.5, out double time))
{
lift.LiftContext.CloseDoor(JobParam.SrcNode.Name,agv);
lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
System.Threading.Thread.Sleep(1000);
}
}
......@@ -264,217 +314,37 @@ namespace DeviceLibrary.bean.job
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtTemp1);
runInfo = $"到达{JobParam.SrcNode.AliceName}的临时点1的放料点，准备卸料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_ToLift);
runInfo = $"料车卸到临时点1完成，去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_04_EnterLift);
runInfo = $"到达{JobParam.SrcNode.AliceName}，去取料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_04_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_05_PutLiftShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_05_PutLiftShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_06_LeaveLift);
runInfo = $"拾取料车完成，离开{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_06_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_07_ToTemp2);
runInfo = $"离开{JobParam.SrcNode.AliceName}完成，去临时点2放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.Temp2}_{SettingString.TakeShelfOff}");
//电梯空，切换电梯控制权
lift.LiftContext.SwitchControl(JobParam.CurTargetNode.Name,JobParam.GetMissionInfo());
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_07_ToTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_08_TakeShelfOffAtTemp2);
runInfo = $"到达{JobParam.SrcNode.AliceName}的临时点2放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_08_TakeShelfOffAtTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_09_ToTemp1);
runInfo = $"将{JobParam.SrcNode.AliceName}料车放到临时点2完成，去临时点1取料点";
JobRunStep.Msg = runInfo;
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回离开电梯, out string msg);
}
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_09_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_10_PutTemp1ShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}临时点1的取料点，准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_10_PutTemp1ShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_11_ToLift);
runInfo = $"拾取{JobParam.SrcNode.AliceName}临时点1的料车完成，去电梯口";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_11_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_12_EnterLift);
runInfo = $"到达{JobParam.SrcNode.AliceName}，准备去放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_12_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_13_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.SrcNode.AliceName}的放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_13_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_14_LeaveLift);
runInfo = $"料车在{JobParam.SrcNode.AliceName}卸下完成，准备离开";
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_WaitLiftIdle);
runInfo = $"到达{JobParam.SrcNode.AliceName}的临时点1的放料点，等待电梯空闲";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.到达电梯, out string msg);
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_14_LeaveLift))
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_WaitLiftIdle))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_15_CloseLiftDoor);
runInfo = $"离开{JobParam.SrcNode.AliceName}完成，关门";
JobRunStep.Msg = runInfo;
//关电梯门
//lift.LiftContext.CloseDoor(JobParam.CurTargetNode.Name);
//去指定层
lift.LiftContext.RunTo(JobParam.CurTargetNode.Name, int.Parse(JobParam.GetMissionInfo().destinationWorkshop.Substring(0, 1)));
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯运行, out string msg);
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_15_CloseLiftDoor))
{
if (!lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name,JobParam.GetMissionInfo().sourceFloor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_16_ToTemp2);
runInfo = $"已关门，去{JobParam.SrcNode.AliceName}的临时点2取料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.Temp2}_{SettingString.PutShelfOn}");
}
else if (JobRunStep.IsTimeOut(1, out double time))
{
lift.LiftContext.CloseDoor(JobParam.SrcNode.Name,agv);
System.Threading.Thread.Sleep(1000);
}
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_RequestLift);
runInfo = $"请求使用{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
//请求电梯
lift.LiftContext.Request( JobParam.GetMissionInfo(), agv,true);
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_16_ToTemp2))
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_RequestLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
if(!lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_17_PutTemp2ShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}的临时点2的取料点，准备拾取";
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
runInfo = $"请求使用{JobParam.SrcNode.AliceName}成功，去电梯口";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
AllocateTask(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_17_PutTemp2ShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
else if(JobRunStep.IsTimeOut(1,out double timeval))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
string[] nodes = liftStatus.destinationPoint.Split(',');
JobParam.CurTargetNode = manager.NodeManager.GetNode(nodes[0]);
JobParam.TargetNodes.Clear();
JobParam.SetMissionInfo(manager.MissionManager.GetReceiveMission(agv));
if (nodes.Length > 1)
{
for (int i = 1; i < nodes.Length; i++)
{
Node node = manager.NodeManager.GetNode(nodes[i]);
if (node != null)
JobParam.TargetNodes.Add(node);
}
}
runInfo = $"去{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.送料, out string msg);
}
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
//请求电梯
lift.LiftContext.Request( JobParam.GetMissionInfo(),agv, true);
System.Threading.Thread.Sleep(3000);
}
}
#endregion
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
......
DeviceLibrary/bean/job/StoreToLinesWithBackJob.cs → DeviceLibrary/bean/job/LineOneToManyJob.cs
......@@ -4,98 +4,122 @@ using DeviceLibrary.manager;
namespace DeviceLibrary.bean.job
{
/// <summary>
/// 库房到线体,（空架返回）
/// 一线体到多线体
/// </summary>
public class StoreToLinesWithBackJob : Job
public class LineOneToManyJob : Job
{
/// <summary>
/// 库房分发料任务
///线体到多线体任务
/// </summary>
public StoreToLinesWithBackJob(JobParam jobParam) : base(jobParam)
public LineOneToManyJob(JobParam jobParam) : base(jobParam)
{
}
public LineOneToManyJob() : base()
{
}
lift.LiftStatus liftStatus;
public override Job Run(AgvInfo agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_01_ToPickUpPosition);
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_01_ToPickUpPosition);
runInfo = $"任务开始，去{JobParam.SrcNode.AliceName}的取料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.接料, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_01_ToPickUpPosition))
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_01_ToPickUpPosition))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_02_PutShelfOn);
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_02_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}的取料点,准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }"));
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_02_PutShelfOn))
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_02_PutShelfOn))
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_03_ToLine);
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，去{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
AllocateTask(agv,$"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_03_ToLine);
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"取车"));
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，去{JobParam.CurTargetNode.AliceName}的放料点";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_03_ToLine))
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_03_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
//确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_04_UpdateLocation);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点，上报位置给ITS";
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_04_UpdateLocation);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点，上报运输状态";
JobRunStep.Msg = runInfo;
//上报位置
manager.UploadManager.UploadPosition(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status,agv.Name,agv.Place.Name,service.model.TransportStatus.ModeStr.auto,
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.CurTargetNode.Name }"));
System.Threading.Thread.Sleep(2000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_04_UpdateLocation))
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_04_UpdateLocation))
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_05_WaitConfirm);
runInfo = $"等待{JobParam.CurTargetNode.AliceName}的人员确认";
JobRunStep.Msg = runInfo;
manager.UploadManager.UploadPosition(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"等待{ JobParam.CurTargetNode.Name }确认"));
System.Threading.Thread.Sleep(2000);
if(NeedConfirm())
{
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_05_WaitConfirm);
runInfo = $"等待{JobParam.CurTargetNode.AliceName}的人员确认";
JobRunStep.Msg = runInfo;
}
else
{
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_06_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}无需人员确认";
JobRunStep.Msg = runInfo;
//manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
//service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
//$"卸货{ JobParam.CurTargetNode.Name }"));
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_05_WaitConfirm))
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_05_WaitConfirm))
{
if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
{
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_06_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}的人员确认完成，检查是否有下一线体";
JobRunStep.Msg = runInfo;
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"卸货{ JobParam.CurTargetNode.Name }"));
//关闭按钮确认
JobParam.CurTargetNode.ExtendEquip.Reset();
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_10_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}的人员确认完成";
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsTimeOut(WaitTimeOut, out double timeoutval))
{
//报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
manager.UploadManager.UploadPosition(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.error, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"等待{ JobParam.CurTargetNode.Name }确认超时{timeoutval}分"));
System.Threading.Thread.Sleep(2000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_06_CheckNextLine))
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_06_CheckNextLine))
{
if (JobParam.TargetNodes.Count > 0)
if (JobParam.TargetNodes != null && JobParam.TargetNodes.Count > 0)
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_03_ToLine);
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_03_ToLine);
JobParam.CurTargetNode = JobParam.TargetNodes[0];
JobParam.TargetNodes.RemoveAt(0);
System.Threading.Thread.Sleep(1000);
......@@ -105,29 +129,62 @@ namespace DeviceLibrary.bean.job
}
else
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_07_BackToPickUpPosition);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，返回{JobParam.SrcNode.Name}的放料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回起始地, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_07_BackToPickUpPosition);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，需要返回{JobParam.SrcNode.Name}的放料点";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回起始地, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
else if (JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，无需返回，直接卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
else
{
LogUtil.error(JobParam.GetMissionInfo().ToString());
}
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_07_BackToPickUpPosition))
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_07_BackToPickUpPosition))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_08_TakeShelfOff);
JobRunStep.ToNextStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff);
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }"));
runInfo = $"到达{JobParam.SrcNode.AliceName}的放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.TakeShelfOff);
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_08_TakeShelfOff))
else if (JobRunStep.IsStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
{
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"还车"));
}
else if (JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
{
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"卸车"));
}
runInfo = $"料车在{JobParam.SrcNode.AliceName}放下完成，任务结束";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
......@@ -139,6 +196,15 @@ namespace DeviceLibrary.bean.job
JobRunStep.EndJob();
return null;
}
agv.SetJobContext(new bean.agv.JobContext()
{
MissionId = JobParam.GetMissionInfo().missionId,
AgvTask = agv.TaskRunState.Task,
JobFullName = this.ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam = JobParam
});
return this;
}
}
......
DeviceLibrary/bean/job/LineToLineJob.cs
using Common;
 using Common;
using DeviceLibrary.manager;
namespace DeviceLibrary.bean.job
......@@ -14,6 +14,10 @@ namespace DeviceLibrary.bean.job
public LineToLineJob(JobParam jobParam) : base(jobParam)
{
}
public LineToLineJob() : base()
{
}
lift.LiftStatus liftStatus;
public override Job Run(AgvInfo agv)
{
......@@ -21,16 +25,21 @@ namespace DeviceLibrary.bean.job
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_01_ToPickUpPosition);
runInfo = $"{JobName}开始：去{JobParam.SrcNode.AliceName}的取料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.接料, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_01_ToPickUpPosition))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_02_PutShelfOn);
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }"));
runInfo = $"到达{JobParam.SrcNode.AliceName}的取料点,准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
......@@ -41,39 +50,106 @@ namespace DeviceLibrary.bean.job
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_03_ToLine);
//上报位置
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"取车"));
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，准备去线体{JobParam.CurTargetNode.Name}的放料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_03_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_04_UpdateLocation);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点，上报位置";
JobRunStep.Msg = runInfo;
//上报位置
manager.UploadManager.UploadPosition(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
JobRunStep.ToNextStep(RunStep.SD_LineToLine_04_WaitConfirm);
//确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.CurTargetNode.Name }"));
System.Threading.Thread.Sleep(2000);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_04_UpdateLocation))
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_04_WaitConfirm))
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_05_TakeShelfOff);
runInfo = $"将料车在{JobParam.CurTargetNode.AliceName}卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv,$"{SettingString.TakeShelfOff}");
if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
{
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"卸货{ JobParam.CurTargetNode.Name }"));
if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_05_BackToSrcLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}的人员确认完成,准备返回{JobParam.SrcNode.AliceName}";
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回起始地, out string msg);
JobRunStep.Msg = runInfo;
}
else if(JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_06_TakeShelfOff);
runInfo = $"将料车在{JobParam.CurTargetNode.AliceName}卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
else
{
LogUtil.error(JobParam.GetMissionInfo().ToString());
}
//关闭按钮确认
JobParam.CurTargetNode.ExtendEquip.Reset();
}
else if (JobRunStep.IsTimeOut(WaitTimeOut, out double timeoutval))
{
//报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.error, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"等待{ JobParam.CurTargetNode.Name }确认超时{timeoutval}分"));
}
}
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_05_TakeShelfOff))
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_05_BackToSrcLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_06_TakeShelfOff);
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }"));
runInfo = $"到达{JobParam.SrcNode.AliceName}并将料车卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_06_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
{
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"还车"));
}
else if (JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
{
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"卸车"));
}
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，任务结束";
......@@ -85,6 +161,15 @@ namespace DeviceLibrary.bean.job
JobRunStep.EndJob();
return null;
}
agv.SetJobContext(new bean.agv.JobContext()
{
MissionId = JobParam.GetMissionInfo().missionId,
AgvTask = agv.TaskRunState.Task,
JobFullName = this.ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam = JobParam
});
return this;
}
}
......
DeviceLibrary/bean/job/StandyJob.cs
......@@ -16,8 +16,10 @@ namespace DeviceLibrary
{
JobName = "待机任务";
}
int BatteryMax = ChargePileManager.GetChargePiles().BatteryMax;
int BatteryMin = ChargePileManager.GetChargePiles().BatteryMin;
public StandyJob():base()
{
JobName = "待机任务";
}
int BatteryMid = ChargePileManager.GetChargePiles().BatteryMiddle;
/// <summary>
/// 待机任务
......@@ -25,6 +27,14 @@ namespace DeviceLibrary
/// <param name="agv"></param>
public override Job Run(AgvInfo agv)
{
agv.SetJobContext(new bean.agv.JobContext()
{
AgvTask = agv.TaskRunState.Task,
JobFullName = this.ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam=JobParam
});
if (JobRunStep.IsStep(RunStep.NONE))
{
{
......@@ -33,7 +43,7 @@ namespace DeviceLibrary
JobRunStep.ToNextStep(RunStep.STANDBY_WAIT_REACH_STANDBY);
runInfo = "从" + JobParam.SrcNode + "回到待机位";
JobRunStep.Msg = runInfo;
AllocateStandbyTask(agv);
AllocateStandbyTask(agv);
}
}
......@@ -43,7 +53,7 @@ namespace DeviceLibrary
//if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
// runInfo = "到达待机位";
// runInfo = "到达待机位";
//JobRunStep.Msg = runInfo;
}
}
......
DeviceLibrary/bean/jobType/SendToLinesWithBackJobType.cs → DeviceLibrary/bean/jobType/LiftToLinesJobType.cs
......@@ -9,9 +9,9 @@ using DeviceLibrary.bean.job;
namespace DeviceLibrary
{
/// <summary>
/// 将料车从电梯送到多条线并空车返回任务
/// 从电梯送到多条线体任务
/// </summary>
public class SendToLinesWithBackJobType : JobType
public class LiftToLinesJobType : JobType
{
/// <summary>
......@@ -31,7 +31,8 @@ namespace DeviceLibrary
if (missionInfo != null)
{
Node src = manager.NodeManager.GetNode(liftname, NodeType.Lift);
string[] dests = lift.destinationPoint.Split(',');
string[] destTmp = lift.destinationPoint.Split(',');
string[] dests = destTmp.Distinct().ToArray();
Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : lift.destinationPoint, NodeType.Node);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
if(dests.Length>1)
......@@ -49,7 +50,7 @@ namespace DeviceLibrary
}
}
return new SendToLinesWithBackJob(jobParam);
return new LiftToLinesJob(jobParam);
}
}
}
......
DeviceLibrary/bean/jobType/StoreToLinesWithBackJobType.cs → DeviceLibrary/bean/jobType/LineOneToManyJobType.cs
using Common;
using DeviceLibrary.bean.job;
using System.Linq;
namespace DeviceLibrary.bean.jobType
{
public class StoreToLinesWithBackJobType : JobType
/// <summary>
/// 获取一对多线体的任务
/// </summary>
public class LineOneToManyJobType : JobType
{
public override Job GetNewJob(AgvInfo agv)
{
......@@ -11,12 +14,21 @@ namespace DeviceLibrary.bean.jobType
return null;
else if (!agv.Scope.Floor.Equals(1))
{
service.model.MissionInfo missionInfo = manager.MissionManager.GetStoreToLinesMission(agv);
service.model.MissionInfo missionInfo = null;
missionInfo = manager.MissionManager.GetLineToLineMission(agv);
if (missionInfo == null)
missionInfo = manager.MissionManager.GetStoreToLinesMission(agv);
if (missionInfo != null)
{
Node src = manager.NodeManager.GetNode(missionInfo.sourcePoint, NodeType.Node);
string[] dests = missionInfo.destinationPoint.Split(',');
Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : missionInfo.destinationPoint, NodeType.Node);
string[] destTmp = missionInfo.destinationPoint.Split(',');
string[] dests = destTmp.Distinct().ToArray();
Node dest = manager.NodeManager.GetNode(dests.Length > 0 ? dests[0] : dests[0], NodeType.Node);
if(dest == null)
{
LogUtil.error($"无法生成任务，因不存在的节点：{dest}");
return null;
}
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
if (dests.Length > 1)
{
......@@ -33,7 +45,7 @@ namespace DeviceLibrary.bean.jobType
}
}
return new StoreToLinesWithBackJob(jobParam);
return new LineOneToManyJob(jobParam);
}
}
return null;
......
DeviceLibrary/bean/jobType/LineToLineJobType.cs

using Common;
using DeviceLibrary.bean.job;
using System.Collections.Generic;
using System.Linq;
namespace DeviceLibrary.bean.jobType
{
public class LineToLineJobType:JobType
......@@ -14,8 +17,27 @@ namespace DeviceLibrary.bean.jobType
if (missionInfo != null)
{
Node src = manager.NodeManager.GetNode(missionInfo.sourcePoint, NodeType.Node);
Node dest = manager.NodeManager.GetNode(missionInfo.destinationPoint, NodeType.Node);
//Node dest = manager.NodeManager.GetNode(missionInfo.destinationPoint, NodeType.Node);
//JobParam jobParam = new JobParam(src, dest, null, missionInfo);
List<string> destTmp = new List<string>(missionInfo.destinationPoint.Split(','));
string[] dests = destTmp.Distinct().ToArray();
Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : dests[0], NodeType.Node);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
if (dests.Length > 1)
{
for (int i = 1; i < dests.Length; i++)
{
Node node = manager.NodeManager.GetNode(dests[i], NodeType.Node);
if (node != null)
jobParam.TargetNodes.Add(node);
else
{
LogUtil.error($"无法生成任务，因不存在的节点：{dests[i]}");
return null;
}
}
}
return new LineToLineJob(jobParam);
}
}
......
DeviceLibrary/bean/jobType/RecoveryJobType.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.bean.jobType
{
public class RecoveryJobType : JobType
{
public override Job GetNewJob(AgvInfo agv)
{
if (agv.JobContext.MissionId.Equals(""))
{
return null;
}
else
{
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(agv.JobContext.MissionId);
if (missionInfo != null)
{
Type type = Type.GetType(agv.JobContext.JobFullName); // 通过类名获取同名类
Job job = (Job)System.Activator.CreateInstance(type);
job.JobParam= agv.JobContext.JobParam;
job.JobParam.SetMissionInfo(missionInfo);
job.Task = agv.JobContext.AgvTask;
job.JobRunStep.ToNextStep((RunStep)Enum.Parse(typeof(RunStep), agv.JobContext.JobStep));
return job;
}
}
return null;
}
}
}
DeviceLibrary/lift/LiftContext.cs
......@@ -19,14 +19,14 @@ namespace DeviceLibrary.lift
{
lifts.Add(item, new LiftStatus());
}
Common.LogUtil.info($"加载电梯信息完成：{string.Join(",",names)}");
Common.LogUtil.info($"加载电梯信息完成：{string.Join(",", names)}");
}
/// <summary>
/// 电梯是否开门
/// </summary>
/// <param name="liftId"></param>
/// <returns></returns>
public static bool IsDoorOpen(string liftId,int floor)
public static bool IsDoorOpen(string liftId, int floor)
{
LiftStatus liftStatus = GetLiftStatus(liftId);
if (liftStatus.door.Equals("opened") && liftStatus.floor.Equals(floor))
......@@ -37,58 +37,112 @@ namespace DeviceLibrary.lift
/// 电梯关门
/// </summary>
/// <param name="liftId"></param>
public static void CloseDoor(string liftId,AgvInfo agvInfo)
{
bool rtn= HttpManager.CloseDoor(new service.model.DoorInfo() { liftId=liftId,sourceClient=agvInfo.Client,sourceFloor=agvInfo.Scope.Floor});
Common.LogUtil.info($"{agvInfo.Name} 关门 {rtn}");
}
//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($"{agvInfo.Name} 关门 {rtn}");
//}
/// <summary>
/// 请求使用电梯
/// </summary>
/// <param name="liftId"></param>
/// <param name="missionInfo"></param>
/// <param name="isback">是否是返回</param>
public static void Request(string liftId,service.model.MissionInfo missionInfo,bool isback=false)
public static bool Request(service.model.MissionInfo missionInfo, AgvInfo agvInfo, bool isback = false)
{
service.model.SendInInfo info;
if(isback)
bool rtn=false;
if (isback)//返回
{
info = new service.model.SendInInfo() { };
if (!AGVManager.GetsysClientBy(missionInfo.sourceFloor, missionInfo.liftName, out string destclient))
{
Common.LogUtil.error($"请求电梯失败,因目的系统标识获取失败：floor={agvInfo.Scope.Floor},lift={missionInfo.liftName}");
return false;
}
info = new service.model.SendInInfo()
{
destinationFloor = missionInfo.sourceFloor,
destinationPoint = missionInfo.sourcePoint,
destinationClient = destclient,
sourceFloor = missionInfo.destinationFloor,
sourceClient = agvInfo.Client
};
rtn= HttpManager.RequestSendIn(info);
if (rtn)
HttpManager.AGVCall(new service.model.DoorInfo { liftId= missionInfo.liftName, sourceClient=agvInfo.Client, sourceFloor=missionInfo.destinationFloor});
}
else
{
info = new service.model.SendInInfo() { };
if (!AGVManager.GetsysClientBy(missionInfo.destinationFloor, missionInfo.liftName, out string destclient))
{
Common.LogUtil.error($"请求电梯失败,因目的系统标识获取失败：floor={agvInfo.Scope.Floor},lift={missionInfo.liftName}");
return false;
}
info = new service.model.SendInInfo()
{
sourceClient = agvInfo.Client,
sourceFloor = missionInfo.sourceFloor,
sourcePoint = missionInfo.sourcePoint,
destinationClient = destclient,
destinationFloor = missionInfo.destinationFloor,
destinationPoint = missionInfo.destinationPoint,
};
rtn = HttpManager.RequestSendIn(info);
if (rtn)
HttpManager.AGVCall(new service.model.DoorInfo { liftId = missionInfo.liftName, sourceClient = agvInfo.Client, sourceFloor = missionInfo.sourceFloor });
}
HttpManager.RequestSendIn(info);
return rtn;
}
public static void SwitchControl(string liftId, service.model.MissionInfo missionInfo)
/// <summary>
/// AGV离开
/// </summary>
/// <param name="liftId"></param>
/// <param name="agvInfo"></param>
/// <returns></returns>
public static bool AGVLeave(string liftId, AgvInfo agvInfo)
{
bool rtn = HttpManager.AGVLeave(new service.model.DoorInfo() { liftId = liftId, sourceClient = agvInfo.Client, sourceFloor = agvInfo.Scope.Floor });
Common.LogUtil.info($"{agvInfo.Name} 离开 {rtn}");
return rtn;
}
/// <summary>
/// 电梯开门
/// AGV呼叫
/// </summary>
/// <param name="liftId"></param>
public static void OpenDoor(string liftId,AgvInfo agvInfo)
/// <param name="agvInfo"></param>
/// <returns></returns>
public static bool AGVCall(string liftId, AgvInfo agvInfo)
{
bool rtn = HttpManager.OpenDoor(new service.model.DoorInfo() { liftId = liftId, sourceClient = agvInfo.Client, sourceFloor = agvInfo.Scope.Floor });
Common.LogUtil.info($"{agvInfo.Name} 开门 {rtn}");
bool rtn = HttpManager.AGVCall(new service.model.DoorInfo() { liftId = liftId, sourceClient = agvInfo.Client, sourceFloor = agvInfo.Scope.Floor });
Common.LogUtil.info($"{agvInfo.Name} 呼叫 {rtn}");
return rtn;
}
/// <summary>
/// 运行到指定楼层
/// 检查离开信号发送情况
/// </summary>
/// <param name="liftId"></param>
/// <param name="floor"></param>
public static void RunTo(string liftId,int floor)
/// <returns></returns>
public static bool CheckAgvLeaveSig(string liftId)
{
if (!lifts[liftId].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>
/// <returns></returns>
public static bool HasShelfNeedLeave(string liftId,string client,out LiftStatus liftStatus)
public static bool HasShelfNeedLeave(string liftId, string client, out LiftStatus liftStatus)
{
liftStatus = GetLiftStatus(liftId);
if (liftStatus.destinationClient.Equals(client))
......@@ -101,7 +155,7 @@ namespace DeviceLibrary.lift
/// <param name="liftId"></param>
/// <param name="missionId"></param>
/// <returns></returns>
public static bool CheckIfRequestOk(string liftId,service.model.MissionInfo mission)
public static bool CheckIfRequestOk(string liftId, service.model.MissionInfo mission)
{
LiftStatus liftStatus = GetLiftStatus(liftId);
if (liftStatus.missionId.Equals(mission.missionId))
......@@ -126,19 +180,19 @@ namespace DeviceLibrary.lift
{
return lifts.Keys.ToArray();
}
static void UpdateStatus(ClientStatus status)
public static void UpdateStatus(ClientStatus status)
{
try
{
LiftStatus lift = HttpManager.UpdateStatusToLift(status);
if(lift!=null)
LiftStatus lift = HttpManager.UpdateStatusToLift(status);
if (lift != null)
{
lifts[status.liftId] = lift;
}
}
catch(Exception e)
catch (Exception e)
{
Common.LogUtil.error($"上报状态给电梯失败:{status.ToString()}",e);
Common.LogUtil.error($"上报状态给电梯失败:{status.ToString()}", e);
}
}
......
DeviceLibrary/lift/_system~.ini 0 → 100644
文件属性发生变化
DeviceLibrary/manager/AGVManager.cs
......@@ -9,6 +9,7 @@ using System.Threading;
using DeviceLibrary.bean.jobType;
using Common;
using DeviceLibrary.manager;
using DeviceLibrary.bean.agv;
using static DeviceLibrary.AgvInfo;
namespace DeviceLibrary
......@@ -26,6 +27,7 @@ namespace DeviceLibrary
public static Control control;
public static List<JobType> jobTypes;
public static readonly string CONFIG_PATH = AppDomain.CurrentDomain.BaseDirectory + "Config\\";
public static List<string> sysClients = new List<string>();
#region 任务日志
static log4net.ILog runLog = log4net.LogManager.GetLogger("RunLog");
static Dictionary<string, RunInfo> runInfoMap = new Dictionary<string, RunInfo>();
......@@ -59,22 +61,142 @@ namespace DeviceLibrary
public static void Init()
{
jobTypes = new List<JobType>();
jobTypes.Add(new SendToLinesWithBackJobType());
jobTypes.Add(new LiftToLinesJobType());
jobTypes.Add(new F1LiftToStoreJobType());
jobTypes.Add(new F1StoreToLiftJobType());
jobTypes.Add(new LineToLineJobType());
jobTypes.Add(new StoreToLinesWithBackJobType());
//jobTypes.Add(new LineToLineJobType());
jobTypes.Add(new LineOneToManyJobType());
jobTypes.Add(new ChargeJobType());
InitAgv();
//任务加载
AgvTaskManager.InitAgvTask();
}
/// <summary>
/// 获取任务系统标识
/// </summary>
/// <param name="floor"></param>
/// <param name="liftId"></param>
/// <param name="client"></param>
/// <returns></returns>
public static bool GetsysClientBy(int floor,string liftId,out string client)
{
client = "";
AgvInfo agv = agvInfo.Find(s=>s.Scope.Floor.Equals(floor)&& s.Scope.Remark.Split(',').Contains(liftId));
if (agv == null)
return false;
else
{
client = agv.Client;
return true;
}
}
static void InitAgv()
{
agvInfo = new List<AgvInfo>();
XmlConfigOperation.LoadAgvInfos(agvInfo);
ReadAgvContextInfo(agvInfo);
foreach (AgvInfo item in agvInfo)
{
if (!sysClients.Contains(item.Client))
sysClients.Add(item.Client);
}
}
static object writeobj = new object();
public static void SaveAgvContextInfo(string step)
{
string filePath = CONFIG_PATH + AppConfigHelper.GetValue(SettingString.FileName_AgvContext);
if(Monitor.TryEnter(writeobj,500))
{
try
{
List<JobContext> context = new List<JobContext>();
foreach (AgvInfo item in agvInfo)
{
context.Add(item.JobContext);
}
string json = JsonHelper.SerializeObject(context);
if (File.Exists(filePath))
{
if (true)
{
string backUpPath = filePath + ".back";
File.Copy(filePath, backUpPath, true);
}
File.Delete(filePath);
}
File.WriteAllText(filePath, json);
LogUtil.info("保存Agv上下文信息到[" + filePath + $"]:{json}");
}
catch (Exception ex)
{
LogUtil.error("保存Agv上下文信息到[" + filePath + "]失败:", ex);
}
finally
{
Monitor.Exit(writeobj);
}
}
else
{
LogUtil.error("SaveAgvContextInfo timeout:"+step);
}
}
static void ReadAgvContextInfo(List<AgvInfo> agvInfos)
{
string filePath = CONFIG_PATH + AppConfigHelper.GetValue(SettingString.FileName_AgvContext);
List<JobContext> agvs =new List<JobContext>();
try
{
string json = "";
bool configchanged = false;
if (File.Exists(filePath))
{
json=File.ReadAllText(filePath);
if(!string.IsNullOrEmpty(json))
{
agvs = JsonHelper.DeserializeJsonToList<JobContext>(json);
if(agvs ==null)
{
return;
}
else
{
foreach (AgvInfo agv in agvInfos)
{
JobContext info = agvs.Find(s => agv.Name.Equals(s.Name));
if (info == null)
{
LogUtil.info($"{agv.Name}配置文件发生变化,不使用Agv上下文信息");
configchanged = true;
break;
}
}
if(!configchanged)
{
bean.jobType.RecoveryJobType recoveryJobType = new RecoveryJobType();
foreach (AgvInfo agv in agvInfos)
{
JobContext info = agvs.Find(s => s.Name.Equals(agv.Name));
if (info != null)
{
agv.SetJobContext(info);
agv.CurJob = recoveryJobType.GetNewJob(agv);
}
}
LogUtil.info("读取并使用Agv上下文信息[" + filePath + "]:"+json);
}
}
}
}
}
catch (Exception ex)
{
LogUtil.error("读取Agv上下文信息[" + filePath + "]失败:", ex);
}
}
}
......
DeviceLibrary/manager/AgvTaskManager.cs
......@@ -43,7 +43,7 @@ namespace DeviceLibrary
{
comboBox.Items.Add(mission);
}
comboBox.SelectedItem = GetTaskByName(SettingString.Init, agv);
comboBox.SelectedItem = GetTaskByName($"{SettingString.Init}", agv);
}
/// <summary>
/// 根据id获取任务
......@@ -89,10 +89,10 @@ namespace DeviceLibrary
{
bool rtn = false;
AgvTask task = GetTaskByName(taskname, agv);
Node node=null;
if (taskname.Equals(SettingString.Standby))
Node node = null;
if (taskname.Contains($"{SettingString.Standby}"))
{
node = new Node() { Name = SettingString.Standby, AliceName = "待机位", Type = NodeType.Standby};
node = new Node() { Name = $"{agv.Name}{SettingString.Standby}", AliceName = $"{agv.Name}待机位", Type = NodeType.Standby };
}
else
{
......@@ -114,8 +114,11 @@ namespace DeviceLibrary
if (!agv.IsCon)
{
agv.TaskRunState.ResetInfo();
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 离线，任务{1}加入等待队列 ", agv.Name, task.AliceName));
if (agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 离线，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
return false;
}
if (agv.UseFleet)
......@@ -124,11 +127,11 @@ namespace DeviceLibrary
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet {1} Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet {1} Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
else
......@@ -137,23 +140,29 @@ namespace DeviceLibrary
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add_Mission {1} Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
LogUtil.info(string.Format("{0} Add_Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission {1} Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
LogUtil.info(string.Format("{0} Add_Mission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
if (!rtn)
agv.TaskRunState.EnWaitTaskQueue(task);
{
if (agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 发送失败，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
}
}
return rtn;
}
public static bool AssignMission(AgvInfo agv, DeviceLibrary.bean.ChargePile chargePile, AgvTask task)
{
bool rtn = false;
Node node = new Node() { Name = chargePile.Name, AliceName = chargePile.AliceName, Type = NodeType.AutoCharge};
Node node = new Node() { Name = chargePile.Name, AliceName = chargePile.AliceName, Type = NodeType.AutoCharge };
if (task != null)
{
agv.TaskRunState.Task = task;
......@@ -162,8 +171,11 @@ namespace DeviceLibrary
if (!agv.IsCon)
{
agv.TaskRunState.ResetInfo();
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 离线，任务{1}加入等待队列 ", agv.Name, task.AliceName));
if (agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 离线，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
return false;
}
if (agv.UseFleet)
......@@ -172,11 +184,11 @@ namespace DeviceLibrary
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet {1} Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet {1} Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
else
......@@ -185,16 +197,22 @@ namespace DeviceLibrary
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add_Mission {1} Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
LogUtil.info(string.Format("{0} Add_Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission {1} Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
LogUtil.info(string.Format("{0} Add_Mission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
if (!rtn)
agv.TaskRunState.EnWaitTaskQueue(task);
{
if (agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 发送失败，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
}
}
return rtn;
}
......@@ -212,7 +230,7 @@ namespace DeviceLibrary
{
MiR_API.Del_Mission(agv);
}
LogUtil.info(string.Format("{0} DelMission [{1}] OK", agv.Name, agv.TaskRunState.ToTaskInfo()));
LogUtil.info(string.Format("{0} DelMission[{1}]OK", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
......
DeviceLibrary/manager/ChargePileManager.cs
......@@ -17,32 +17,8 @@ namespace DeviceLibrary
{
ChargePiles = new ChargePiles();
manager.XmlConfigOperation.LoadChargePileInfos(ChargePiles);
CheckPileDulp();
}
/// <summary>
/// 检查是否存在一台agv占用多个充电桩
/// </summary>
public static void CheckPileDulp()
{
List<ChargePile> cps;
foreach (AgvInfo item in AGVManager.agvInfo)
{
cps = ChargePiles.GetChargePilesByAgv(item);
if (cps != null && cps.Count > 1)
{
foreach (ChargePile cp in cps)
{
if (cp.Fixed)
{
System.Windows.Forms.MessageBox.Show($"{item.Name} 有固定充电桩 {cp.AliceName}，不允许在其他充电桩上配置该车，请检查配置文件{"chargeinfos.xml"}", "警告");
return;
}
}
}
}
}
public static ChargePiles GetChargePiles()
{
return ChargePiles;
......@@ -55,7 +31,7 @@ namespace DeviceLibrary
/// <returns>充电任务结果</returns>
public static bool HasEmpty(AgvInfo agv, out ChargePile charge)
{
charge=null;
charge = null;
lock (loc)
{
......@@ -82,10 +58,10 @@ namespace DeviceLibrary
}
public static void StopCharge(AgvInfo agv)
{
List<ChargePile> cps = ChargePiles.GetChargePilesByAgv(agv);
List<ChargePile> cps = ChargePiles.GetChargePilesByAgv(agv);
foreach (ChargePile item in cps)
{
if(agv.Equals(item.OccupiedAgv))
if (agv.Equals(item.OccupiedAgv))
{
item.DelOccupy(agv);
agv.IsInCharge = false;
......@@ -97,7 +73,7 @@ namespace DeviceLibrary
{
bool isRandom = true;
ChargePile cp = ChargePiles.GetChargePileByAgv(agv);
if(cp !=null)
if (cp != null)
{
isRandom = !cp.Fixed;
}
......
DeviceLibrary/manager/HttpManager.cs
using Common;
using RestSharp;
using System;
using System.Collections.Generic;
using System.Drawing;
namespace DeviceLibrary
{
......@@ -86,6 +84,7 @@ namespace DeviceLibrary
}
return msg;
}
private static string GetAddr(string addr, Dictionary<string, string> paramsMap)
{
string server = AppConfigHelper.GetValue(SettingString.httpServer);
......@@ -103,7 +102,7 @@ namespace DeviceLibrary
return path;
}
static string updateStatus = AppConfigHelper.GetValue(SettingString.Lift_Server)+"status";
static string updateStatus = AppConfigHelper.GetValue(SettingString.Lift_Server) + "status";
public static lift.LiftStatus UpdateStatusToLift(lift.ClientStatus clientStatus)
{
try
......@@ -127,85 +126,163 @@ namespace DeviceLibrary
}
}
static string opendoor = AppConfigHelper.GetValue(SettingString.Lift_Server) + "openDoor";
//static string opendoor = AppConfigHelper.GetValue(SettingString.Lift_Server) + "openDoor";
///// <summary>
///// 开门操作
///// </summary>
///// <param name="doorInfo"></param>
///// <returns></returns>
//public static bool OpenDoor(service.model.DoorInfo doorInfo)
//{
// try
// {
// string resultStr = HttpHelper.Post(opendoor, JsonHelper.SerializeObject(doorInfo));
// Result data = JsonHelper.DeserializeJsonToObject<Result>(resultStr);
// if (data == null)
// {
// log.Warn($"OpenDoor fail:{JsonHelper.SerializeObject(doorInfo)}");
// return false;
// }
// else
// {
// if (data.code.Equals(0))
// {
// log.Info($"OpenDoor info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
// return true;
// }
// else
// {
// log.Warn($"OpenDoor info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
// return false;
// }
// }
// }
// catch (Exception e)
// {
// log.Error("OpenDoor", e);
// }
// return false;
//}
//static string closedoor = AppConfigHelper.GetValue(SettingString.Lift_Server) + "closeDoor";
///// <summary>
///// 关门操作
///// </summary>
///// <param name="doorInfo"></param>
///// <returns></returns>
//public static bool CloseDoor(service.model.DoorInfo doorInfo)
//{
// try
// {
// string resultStr = HttpHelper.Post(closedoor, JsonHelper.SerializeObject(doorInfo));
// Result data = JsonHelper.DeserializeJsonToObject<Result>(resultStr);
// if (data == null)
// {
// log.Warn($"CloseDoor fail:{JsonHelper.SerializeObject(doorInfo)}");
// return false;
// }
// else
// {
// if (data.code.Equals(0))
// {
// log.Info($"CloseDoor info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
// return true;
// }
// else
// {
// log.Warn($"CloseDoor info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
// return false;
// }
// }
// }
// catch (Exception e)
// {
// log.Error("CloseDoor", e);
// }
// return false;
//}
static string agvleave = AppConfigHelper.GetValue(SettingString.Lift_Server) + "leave";
/// <summary>
/// 开门操作
/// AGV离开
/// </summary>
/// <param name="doorInfo"></param>
/// <returns></returns>
public static bool OpenDoor(service.model.DoorInfo doorInfo)
public static bool AGVLeave(service.model.DoorInfo doorInfo)
{
try
{
string resultStr = HttpHelper.Post(opendoor, JsonHelper.SerializeObject(doorInfo));
string resultStr = HttpHelper.Post(agvleave, JsonHelper.SerializeObject(doorInfo));
Result data = JsonHelper.DeserializeJsonToObject<Result>(resultStr);
if (data == null)
{
log.Warn($"OpenDoor fail:{JsonHelper.SerializeObject(doorInfo)}");
log.Warn($"AGVLeave fail:{JsonHelper.SerializeObject(doorInfo)}");
return false;
}
else
{
if(data.code.Equals(0))
if (data.code.Equals(0))
{
log.Info($"OpenDoor info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
log.Info($"AGVLeave info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
return true;
}
else
else
{
log.Warn($"OpenDoor info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
log.Warn($"AGVLeave info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
return false;
}
}
}
catch (Exception e)
{
log.Error("OpenDoor", e);
log.Error("AGVLeave", e);
}
return false;
}
static string closedoor = AppConfigHelper.GetValue(SettingString.Lift_Server) + "closeDoor";
static string agvcall = AppConfigHelper.GetValue(SettingString.Lift_Server) + "call";
/// <summary>
/// 关门操作
/// AGV呼叫
/// </summary>
/// <param name="doorInfo"></param>
/// <returns></returns>
public static bool CloseDoor(service.model.DoorInfo doorInfo)
public static bool AGVCall(service.model.DoorInfo doorInfo)
{
try
{
string resultStr = HttpHelper.Post(closedoor, JsonHelper.SerializeObject(doorInfo));
string resultStr = HttpHelper.Post(agvcall, JsonHelper.SerializeObject(doorInfo));
Result data = JsonHelper.DeserializeJsonToObject<Result>(resultStr);
if (data == null)
{
log.Warn($"CloseDoor fail:{JsonHelper.SerializeObject(doorInfo)}");
log.Warn($"AGVCall fail:{JsonHelper.SerializeObject(doorInfo)}");
return false;
}
else
{
if (data.code.Equals(0))
{
log.Info($"CloseDoor info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
log.Info($"AGVCall info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
return true;
}
else
{
log.Warn($"CloseDoor info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
log.Warn($"AGVCall info:{JsonHelper.SerializeObject(doorInfo)},result:code={data.code},msg={data.msg},data={data.data}");
return false;
}
}
}
catch (Exception e)
{
log.Error("CloseDoor", e);
log.Error("AGVCall", e);
}
return false;
}
static string sendIn = AppConfigHelper.GetValue(SettingString.Lift_Server) + "sendIn";
static string sendIn = AppConfigHelper.GetValue(SettingString.Lift_Server) + "sendIn";
public static bool RequestSendIn(service.model.SendInInfo send)
{
try
......@@ -227,7 +304,7 @@ namespace DeviceLibrary
}
else
{
log.Warn($"RequestSendIn info:{JsonHelper.SerializeObject(send)},result:code={data.code},msg={data.msg},data={data.data}");
log.Error($"RequestSendIn info:{JsonHelper.SerializeObject(send)},result:code={data.code},msg={data.msg},data={data.data}");
return false;
}
}
......@@ -238,6 +315,94 @@ namespace DeviceLibrary
}
return false;
}
#region ITS接口
private static string GetItsAddr(string addr, Dictionary<string, string> paramsMap)
{
string server = AppConfigHelper.GetValue(SettingString.ITS_UpdateLine);
if (server.EndsWith("/"))
{
server = server.Substring(0, server.Length - 1);
}
string path = server + addr.Trim() + "?";
foreach (string paramName in paramsMap.Keys)
{
string par = System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
path += paramName + "=" + par + "&";
}
path = path.Substring(0, path.Length - 1);
return path;
}
static string agvreportstate = AppConfigHelper.GetValue(SettingString.ITS_UpdateLine) + "UpdateAgvtransinfo";
public static string Agvtransinfo = "";
/// <summary>
/// 定时输出所有agv信息
/// </summary>
/// <param name="send"></param>
/// <returns></returns>
public static void AgvReportState(string txt)
{
try
{
//string resultStr = HttpHelper.Post(agvreportstate, txt);
Dictionary<string, string> param = new Dictionary<string, string>();
param.Add("info", txt);
string addr = GetItsAddr("/UpdateAgvtransinfo", param);
string resultStr = HttpHelper.Get(addr);
itsData data = JsonHelper.DeserializeJsonToObject<itsData>(resultStr);
//fbackkinfo":"no agvinfo","fbacktime":"20215306105317"}
//if (data == null)
{
Agvtransinfo = $"{agvreportstate}:[{txt}]\r\n[{resultStr}]";
}
//else
//{
// Agvtransinfo = $"{agvreportstate}:[{txt}][{resultStr}]";
//}
}
catch (Exception e)
{
log.Error("AgvReportState", e);
}
}
static string agvreporttask = AppConfigHelper.GetValue(SettingString.ITS_UpdateLine) + "UpdateAGVtranstask";
/// <summary>
/// AGV反馈任务执行信息
/// </summary>
/// <param name="send"></param>
/// <returns></returns>
public static void UpdateAGVtranstask(string txt)
{
try
{
//string resultStr = HttpHelper.Post(agvreporttask, txt);
Dictionary<string, string> param = new Dictionary<string, string>();
param.Add("info", txt);
string addr = GetItsAddr("/UpdateAGVtranstask", param);
string resultStr = HttpHelper.Get(addr);
itsData data = JsonHelper.DeserializeJsonToObject<itsData>(resultStr);
//fbackkinfo":"no agvinfo","fbacktime":"20215306105317"}
if (data == null)
{
log.Error($"AGV反馈任务执行信息 fail:[{txt}][{resultStr}]");
}
else
{
log.Info($"AGV反馈任务执行信息 info:[{txt}][{resultStr}]");
}
}
catch (Exception e)
{
log.Error("UpdateAGVtranstask", e);
}
}
#endregion
}
public class StatusResult
{
......@@ -294,4 +459,10 @@ namespace DeviceLibrary
public Dictionary<string, string> data { get; set; }
}
public class itsData
{
//fbackinfo":"no agvinfo","fbacktime":"20215306105317"}
public string fbackinfo { get; set; }
public string fbacktime { get; set; }
}
}
DeviceLibrary/manager/IOManager.cs
......@@ -23,6 +23,10 @@ namespace DeviceLibrary.manager
{
KPIOServer.StopServer();
}
public static void WriteDO(string ip,int idx,int value)
{
KPIOServer.WriteDO(ip, idx, value);
}
public static string GetDI(string ip)
{
try
......
DeviceLibrary/manager/UploadManager.cs
......@@ -31,22 +31,35 @@ namespace DeviceLibrary.manager
battery = item.Battery,
position = item.Position,
/// <summary>
/// 当前状态:执行任务/归位中/充电中/故障中
/// </summary>
state = item.StateID.ToString(),
curTarget = item.Place.Name,
statusTxt = item.MissionText
};
if (item.CurJob != null && item.CurJob.JobParam != null && item.CurJob.JobParam.GetMissionInfo() != null)
{
agvState.state = "执行任务";
agvState.missionId = item.CurJob.JobParam.GetMissionInfo().missionId;
agvState.remark = item.CurJob.JobParam.GetMissionInfo().Remark;
}
else
{
if(item.StateID.Equals(eAGVState.Error) || item.StateID.Equals(eAGVState.EmergencyStop))
{
agvState.state = "故障中";
}
else if(item.CurJob!=null && item.CurJob is StandyJob)
{
agvState.state = "归位中";
}
else if (item.CurJob != null && item.CurJob is ChargeJob)
{
agvState.state = "充电中";
}
}
agvStates.Add(agvState);
}
string txt = Common.JsonHelper.SerializeObject(agvStates);
Common.LogUtil.debug(txt);
HttpManager.AgvReportState(txt);
//Common.LogUtil.debug($"输出所有Agv信息:{txt}");
}
finally
{
......@@ -60,14 +73,18 @@ namespace DeviceLibrary.manager
/// 运输状态上报
/// </summary>
/// <param name="transportStatus"></param>
public static void UploadPosition(service.model.TransportStatus transportStatus)
public static void UploadTransportStatus(service.model.TransportStatus transportStatus)
{
try
{
string txt = Common.JsonHelper.SerializeObject(transportStatus);
Common.LogUtil.info(txt);
//Common.LogUtil.info($"运输状态上报{txt}");
HttpManager.UpdateAGVtranstask(txt);
System.Threading.Thread.Sleep(2000);
}
catch(Exception ex) {
Common.LogUtil.error($"UploadTransportStatus:{Common.JsonHelper.SerializeObject(transportStatus)}",ex);
}
catch { }
}
#endregion
}
......
DeviceLibrary/service/Service.cs
......@@ -106,12 +106,25 @@ namespace DeviceLibrary
if (missionInfo.State.Equals(MissionState.创建))
{
MissionManager.SetMissionState(missionInfo, MissionState.取消);
MissionManager.DeleteById(deleteMission.missionId);
}
else
{
MissionManager.SetMissionState(missionInfo, MissionState.中止);
AgvInfo agvInfo=AGVManager.agvInfo.Find(k=>k.JobContext.MissionId == deleteMission.missionId);
if(agvInfo == null)
{
MissionManager.SetMissionState(missionInfo, MissionState.中止);
MissionManager.DeleteById(deleteMission.missionId);
}
else
{
result.code = -1;
result.msg = $"已执行该任务,无法取消:{deleteMission.missionId}";
Log.Error(result.msg);
}
}
MissionManager.DeleteById(deleteMission.missionId);
}
}
......
DeviceLibrary/service/model/AgvState.cs
......@@ -9,7 +9,7 @@ using static DeviceLibrary.AgvInfo;
namespace DeviceLibrary.service.model
{
/// <summary>
/// Agv状态
/// 上报Agv状态
/// </summary>
public class AgvState
{
......
DeviceLibrary/service/model/MissionInfo.cs
......@@ -22,7 +22,8 @@ namespace DeviceLibrary.service.model
/// <summary>
/// 优先级。3最高，1最低
/// </summary>
public int Priority { get; set; } = 1;
//public int Priority { get; set; } = 1;
/// <summary>
/// 是否可合并
/// </summary>
......@@ -128,7 +129,7 @@ namespace DeviceLibrary.service.model
}
public string Remark { get; set; }
public string JobName { get { return string.Format("{0}->{1} {2}任务", sourceWorkshop, destinationWorkshop, projectType.ToString()); } }
public string JobName { get { return string.Format("[{0}->{1} {2}任务]", sourceWorkshop, destinationWorkshop, projectType.ToString()); } }
}
public enum MissionState
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!