一台车等电梯去充电-返回车遇移远成品-钢网接口地点优化

Common/util/HttpHelper.cs

@@ -123,7 +123,7 @@ namespace Common
 
             try
             {
-                var wc = new MyWebClient(10000);
+                var wc = new MyWebClient(30000);
                 if (string.IsNullOrEmpty(wc.Headers["Content-Type"]))
                     wc.Headers.Add("Content-Type", "application/json;charset=UTF-8");
                 wc.Encoding = encoding;

DeviceLibrary/bean/job/Job.cs

@@ -5,6 +5,7 @@ using DeviceLibrary.manager;
 using DeviceLibrary.service.model;
 using log4net.Util;
 using System;
+using System.Runtime.InteropServices.WindowsRuntime;
 using System.Web.UI.WebControls.WebParts;
 using System.Windows.Forms;
 
@@ -39,7 +40,7 @@ namespace DeviceLibrary
         /// <summary>
         /// 等待人员操作超时时间
         /// </summary>
-        public int WaitTimeOut = AppConfigHelper.GetIntValue(SettingString.WaitTimeout,5);
+        public int WaitTimeOut = AppConfigHelper.GetIntValue(SettingString.WaitTimeout, 5);
         /// <summary>
         /// 根据任务状态继续执行任务
         /// </summary>
@@ -384,7 +385,7 @@ namespace DeviceLibrary
             {
                 AllocateTask(agv, $"{SettingString.PutShelfOn}");
             }
-            else if ((JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车领用)) && (JobParam.GetMissionInfo().shelfType==1))
+            else if ((JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车领用)) && (JobParam.GetMissionInfo().shelfType == 1))
             {
                 AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
             }
@@ -425,7 +426,7 @@ namespace DeviceLibrary
                 {
                     AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
                 }
-                else if ((missionInfo.projectType.Equals(ProjectType.空台车领用)) && (missionInfo.shelfType==1))
+                else if ((missionInfo.projectType.Equals(ProjectType.空台车领用)) && (missionInfo.shelfType == 1))
                 {
                     AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
                 }
@@ -773,6 +774,18 @@ namespace DeviceLibrary
         {
             JobParam.CallbackJob = new JobCallBack(type, callbackStep);
         }
+        protected bool HasMultiAgvs(AgvInfo agv)
+        {
+            try
+            {
+                var agvs = AGVManager.agvInfo.FindAll(s => s.Scope.Workshop.Equals(agv.Scope.Workshop));
+                if (agvs != null && agvs.Count > 1)
+                    return true;
+            }
+            catch { }
+
+            return false;
+        }
     }
 }
 

DeviceLibrary/bean/job/LiftToLinesJob.cs

@@ -371,9 +371,26 @@ namespace DeviceLibrary
             {
                 if (LiftContext.CheckHasEmptyFinished(agv, JobParam.SrcNode.Name, out JobParam.LiftStatus))
                 {
-                    JobParam.CurTargetNode = JobParam.SrcNode;
-                    MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
-                    job = new SwitchShelfJob(JobParam);
+                    MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
+                    if (missionInfo != null)
+                    {
+                        JobRunStep.ToNextStep(RunStep.SD_LiftToLine_23_ToShelfPlace);
+                        runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有成品空料车{missionInfo.missionId}，去料架缓存点";//
+                        ToTakeShelfOff(agv, SettingString.ShelfBuff);
+                        JobRunStep.Msg = runInfo;
+                    }
+                    else
+                    {
+                        JobRunStep.ToNextStep(RunStep.SD_LiftToLine_22_ToStandby);
+                        //设置电梯占用
+                        //SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
+                        runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有成品空料车但无工单信息，去待机点,需要手动清空电梯缓存并关闭电梯门";//
+                        ToStandby(agv);
+                        JobRunStep.Msg = runInfo;
+                    }
+                    //JobParam.CurTargetNode = JobParam.SrcNode;
+                    //MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
+                    //job = new SwitchShelfJob(JobParam);
                 }
                 else if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor, agv))
                 {
@@ -395,7 +412,7 @@ namespace DeviceLibrary
                             return job;
                         }
                     }
-                    else if(agv.Battery>50&& agv.IsInCharge)
+                    else if(agv.Battery>50&& agv.IsInCharge && HasMultiAgvs(agv))
                     {
                         ChargePileManager.StopCharge(agv);
                         ToStandby(agv); return job;

DeviceLibrary/bean/job/LineToLiftJob.cs

@@ -224,7 +224,7 @@ namespace DeviceLibrary
                             return job;
                         }
                     }
-                    else if (agv.Battery > 50 && agv.IsInCharge)
+                    else if (agv.Battery > 50 && agv.IsInCharge && HasMultiAgvs(agv))
                     {
                         ChargePileManager.StopCharge(agv);
                         ToStandby(agv); return job;

DeviceLibrary/bean/job/SteelLiftToStorageJob.cs

@@ -378,7 +378,7 @@ namespace DeviceLibrary.bean.job
                             return job;
                         }
                     }
-                    else if (agv.Battery > 50 && agv.IsInCharge)
+                    else if (agv.Battery > 50 && agv.IsInCharge&&HasMultiAgvs(agv))
                     {
                         ChargePileManager.StopCharge(agv);
                         ToStandby(agv); return job;

DeviceLibrary/bean/job/SteelLineToLiftJob.cs

@@ -208,7 +208,7 @@ namespace DeviceLibrary
                             return job;
                         }
                     }
-                    else if (agv.Battery > 50 && agv.IsInCharge)
+                    else if (agv.Battery > 50 && agv.IsInCharge && HasMultiAgvs(agv))
                     {
                         ChargePileManager.StopCharge(agv);
                         ToStandby(agv); return job;

DeviceLibrary/bean/jobType/BackLiftToLineJobType.cs

@@ -22,16 +22,14 @@ namespace DeviceLibrary.bean.jobType
                     service.model.MissionInfo missionInfo = manager.MissionManager.ShelfBackMission(agv);
                     if (missionInfo != null)
                     {
-                        //if (!liftname.Equals(missionInfo?.liftName))
-                        //    return null;
-                        if (CheckHasSameJob(agv,liftname))
+                        if (!liftname.Equals(missionInfo?.liftName))
+                            return null;
+                        if (CheckHasSameJob(agv, missionInfo.liftName))
                         {
                             return null;
                         }
                         if (AgvAtPlace(agv, liftname))
                             return null;
-                        //if (service.model.MissionInfo.IsFinishedProdcut(missionInfo))
-                        //    return null;
                         Node src = manager.NodeManager.GetNode(liftname, NodeType.Lift);
                         string[] dests = lift.destinationPoint.Split(',');
                         Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : lift.destinationPoint, NodeType.Node);

DeviceLibrary/bean/jobType/SteelLiftToLinesJobType.cs

@@ -20,6 +20,8 @@ namespace DeviceLibrary.bean.jobType
                     service.model.MissionInfo missionInfo = manager.MissionManager.GetSteelToLinesReceiveMission(agv);
                     if (missionInfo != null)
                     {
+                        if (!liftname.Equals(missionInfo?.liftName))
+                            return null;
                         Node src = manager.NodeManager.GetNode(liftname, NodeType.Lift);
                         string[] dests = missionInfo.destinationPoint.Split(',');
                         Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : lift.destinationPoint, NodeType.Node);

DeviceLibrary/lift/LiftContext.cs

@@ -485,7 +485,7 @@ namespace DeviceLibrary.lift
         {
             if (lifts.ContainsKey(liftId))
             {
-                return lifts[liftId].LiftStatus;
+                return lifts[liftId].LiftStatus.ToCopy();
             }
             else
                 return new LiftStatus();

DeviceLibrary/lift/LiftStatus.cs

-using System;
+using Common;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -48,5 +49,11 @@ namespace DeviceLibrary.lift
         /// 成品空架子标识
         /// </summary>
         public bool HasEmptyFinishedShelf { get; set; } = false;
+
+        public LiftStatus ToCopy()
+        {
+            string str = JsonHelper.SerializeObject(this);
+            return JsonHelper.DeserializeJsonToObject<LiftStatus>(str);
+        }
     }
 }

DeviceLibrary/service/Service.cs

@@ -214,7 +214,7 @@ namespace DeviceLibrary
             StealResult stealResult = new StealResult();
             stealResult.Msg = $"OK,3D";
             //Place：3D_Enter：3D的⼩车⼊库
-            if (Place.Equals("3D_Enter"))//立库出库，呼叫AGV
+            if (Place.ToUpper().Equals("3D_ENTER"))//立库出库，呼叫AGV
             {
                 MissionInfo missionInfo = new MissionInfo()
                 {
@@ -237,20 +237,20 @@ namespace DeviceLibrary
                 return stealResult;
             }
             //DI_On/DI_Off 信号亮DI_On，没信号DI_Off
-            if (Place.Equals("DI_Off"))
+            if (Place.ToUpper().Equals("DI_OFF"))
             {
                 manager.DataBufferManager.DockingOk = false;
             }
-            else if (Place.Equals("DI_On"))
+            else if (Place.ToUpper().Equals("DI_ON"))
             {
                 manager.DataBufferManager.DockingOk = true;
             }
             //Leave 出料架，小车可以接料架离开
-            else if (Place.Equals("Leave"))
+            else if (Place.ToUpper().Equals("LEAVE"))
             {
                 manager.DataBufferManager.LeaveLiku = true;
             }
-            else if (Place.Equals("Detach"))//Detach 脱离架子
+            else if (Place.ToUpper().Equals("DETACH"))//Detach 脱离架子
             {
                 if (!manager.DataBufferManager.DetachShelf)
                 {