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张东亮 / Qisda-SO1037-AGVDispatch

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Commit 9d3930d7 由 张东亮
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1 个父辈 9691621b
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内嵌 并排
正在显示 21 个修改的文件 包含 139 行增加 和 112 行删除
Common/util/HttpHelper.cs
...@@ -180,7 +180,7 @@ namespace Common ...@@ -180,7 +180,7 @@ namespace Common
} }
catch (Exception e) catch (Exception e)
{ {
LogUtil.error($"POST ERROR：【{url}】【{paramData}】", e); LogUtil.debug($"POST ERROR：【{url}】【{paramData}】");
} }
return result; return result;
} }
...@@ -194,7 +194,7 @@ namespace Common ...@@ -194,7 +194,7 @@ namespace Common
try try
{ {
LogUtil.debug("HTTP GET FROM: " + url); LogUtil.debug("HTTP GET FROM: " + url);
var wc = new WebClient { Encoding = encoding }; var wc = new WebClient { Encoding = encoding};
var readStream = wc.OpenRead(url); var readStream = wc.OpenRead(url);
using (var sr = new StreamReader(readStream, encoding)) using (var sr = new StreamReader(readStream, encoding))
{ {
...@@ -205,7 +205,7 @@ namespace Common ...@@ -205,7 +205,7 @@ namespace Common
} }
catch (Exception e) catch (Exception e)
{ {
LogUtil.error("HTTP GET ERROR:[" +url+ "]"+e.Message); LogUtil.error("HTTP GET ERROR:[" +url+ "]",e);
} }
return ""; return "";
} }
......
DeviceLibrary/Control.cs
...@@ -5,6 +5,8 @@ using System.Runtime.InteropServices; ...@@ -5,6 +5,8 @@ using System.Runtime.InteropServices;
using System.Threading; using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
using System.Web.Script.Serialization; using System.Web.Script.Serialization;
using System.Windows.Forms;
using System.Xml.Linq;
using Common; using Common;
using DeviceLibrary.manager; using DeviceLibrary.manager;
using log4net.Util; using log4net.Util;
...@@ -171,6 +173,19 @@ namespace DeviceLibrary ...@@ -171,6 +173,19 @@ namespace DeviceLibrary
//{ //{
// continue; // continue;
//} //}
//if (!agv.TaskRunState.IsAllocatingTask && agv.Auto && agv.CurJob != null && agv.TaskRunState.TaskID.Equals(-1)
// && agv.TaskRunState.Task != null && !string.IsNullOrEmpty(agv.TaskRunState.Task.Guid))
//{
// if (!MiR_API.Get_MissionByDescrp(agv))
// {
// LogUtil.info($"{agv.Name}：Task=-1处理,Fleet无任务,重发任务:{agv.TaskRunState.Task.Name}");
// agv.CurJob.ResendTask(agv);
// }
// else
// {
// LogUtil.info($"{agv.Name}：Task=-1处理,Fleet有任务，自动赋值FleetTaskID={agv.TaskRunState.TaskID}");
// }
//}
if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task)) if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task))
{ {
if (agv.CurJob != null) if (agv.CurJob != null)
......
DeviceLibrary/bean/MiR_API.cs
...@@ -475,7 +475,7 @@ namespace DeviceLibrary ...@@ -475,7 +475,7 @@ namespace DeviceLibrary
{ {
MiR_API.Del_Mission(agv); MiR_API.Del_Mission(agv);
} }
LogUtil.info(string.Format("{0} DelMission[{1}]OK", agv.Name, agv.TaskRunState.ToTaskInfo())); LogUtil.info(string.Format("{0} Del Pre Mission OK", agv.Name));
} }
/// <summary> /// <summary>
......
DeviceLibrary/bean/TaskRunState.cs
...@@ -61,12 +61,12 @@ namespace DeviceLibrary ...@@ -61,12 +61,12 @@ namespace DeviceLibrary
return !TaskID.Equals(-1) && !TaskState.Equals(SettingString.Wait); return !TaskID.Equals(-1) && !TaskState.Equals(SettingString.Wait);
} }
string preTaskState = ""; string preTaskState = "";
public bool CheckTaskFinished(string name = "") public bool CheckTaskFinished(AgvInfo agv)
{ {
if (!TaskState.Equals(preTaskState)) if (!TaskState.Equals(preTaskState))
{ {
preTaskState = new string(TaskState.ToArray()); preTaskState = new string(TaskState.ToArray());
LogUtil.info($"{Task?.Name ?? ""},{TaskID},{TaskState}"); LogUtil.info($"Mission State {agv.Name} {Task?.Name ?? ""},{TaskID},{TaskState}");
} }
if (TaskState.Equals(SettingString.Done)) if (TaskState.Equals(SettingString.Done))
......
DeviceLibrary/bean/agv/Agv_Info.cs
...@@ -354,12 +354,17 @@ namespace DeviceLibrary ...@@ -354,12 +354,17 @@ namespace DeviceLibrary
{ {
SetKanban(); SetKanban();
if (!Control.CheckOnline(this)) return; if (!Control.CheckOnline(this)) return;
if (!TaskRunState.IsAllocatingTask && Auto && CurJob != null && TaskRunState.TaskID.Equals(-1)) //获取AGV状态
MiR_API.Get_State(this, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out AgvInfo.MirPosition position, out List<Mir_Error> errors);
Thread.Sleep(50);
SetState(stateID, battery, mission_text, position, errors);
if (!TaskRunState.IsAllocatingTask && Auto && CurJob != null && TaskRunState.TaskID.Equals(-1)
&& TaskRunState.Task != null && !string.IsNullOrEmpty(TaskRunState.Task.Guid))
{ {
if (!MiR_API.Get_MissionByDescrp(this)) if (!MiR_API.Get_MissionByDescrp(this))
{ {
CurJob.ResendTask(this);
LogUtil.info($"{Name}：Task=-1处理,Fleet无任务,重发任务:{TaskRunState.Task.Name}"); LogUtil.info($"{Name}：Task=-1处理,Fleet无任务,重发任务:{TaskRunState.Task.Name}");
CurJob.ResendTask(this);
} }
else else
{ {
...@@ -373,10 +378,6 @@ namespace DeviceLibrary ...@@ -373,10 +378,6 @@ namespace DeviceLibrary
Thread.Sleep(50); Thread.Sleep(50);
MiR_API.Get_IO_Status(this); MiR_API.Get_IO_Status(this);
} }
//获取AGV状态
MiR_API.Get_State(this, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out AgvInfo.MirPosition position, out List<Mir_Error> errors);
Thread.Sleep(50);
SetState(stateID, battery, mission_text, position, errors);
} }
catch (Exception ex) catch (Exception ex)
......
DeviceLibrary/bean/job/CrossDoorJob.cs
...@@ -46,7 +46,7 @@ namespace DeviceLibrary ...@@ -46,7 +46,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.CrossDoor_01_ToCurDoor)) else if (JobRunStep.IsStep(RunStep.CrossDoor_01_ToCurDoor))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.CrossDoor_02_OpenCurDoor); JobRunStep.ToNextStep(RunStep.CrossDoor_02_OpenCurDoor);
runInfo = $"到达{JobParam.CrossDoor.CurNode.AliceName}侧门前，开门"; runInfo = $"到达{JobParam.CrossDoor.CurNode.AliceName}侧门前，开门";
...@@ -56,7 +56,7 @@ namespace DeviceLibrary ...@@ -56,7 +56,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.CrossDoor_02_OpenCurDoor)) else if (JobRunStep.IsStep(RunStep.CrossDoor_02_OpenCurDoor))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.CrossDoor_03_Enter); JobRunStep.ToNextStep(RunStep.CrossDoor_03_Enter);
runInfo = $"从{JobParam.CrossDoor.CurNode.AliceName}侧进门"; runInfo = $"从{JobParam.CrossDoor.CurNode.AliceName}侧进门";
...@@ -66,7 +66,7 @@ namespace DeviceLibrary ...@@ -66,7 +66,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.CrossDoor_03_Enter)) else if (JobRunStep.IsStep(RunStep.CrossDoor_03_Enter))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.CrossDoor_04_CloseCurDoor); JobRunStep.ToNextStep(RunStep.CrossDoor_04_CloseCurDoor);
runInfo = $"关闭{JobParam.CrossDoor.CurNode.AliceName}侧的门"; runInfo = $"关闭{JobParam.CrossDoor.CurNode.AliceName}侧的门";
...@@ -76,7 +76,7 @@ namespace DeviceLibrary ...@@ -76,7 +76,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.CrossDoor_04_CloseCurDoor)) else if (JobRunStep.IsStep(RunStep.CrossDoor_04_CloseCurDoor))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.CrossDoor_05_OpenAntherDoor); JobRunStep.ToNextStep(RunStep.CrossDoor_05_OpenAntherDoor);
runInfo = $"打开{JobParam.CrossDoor.NextNode.AliceName}侧门"; runInfo = $"打开{JobParam.CrossDoor.NextNode.AliceName}侧门";
...@@ -86,7 +86,7 @@ namespace DeviceLibrary ...@@ -86,7 +86,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.CrossDoor_05_OpenAntherDoor)) else if (JobRunStep.IsStep(RunStep.CrossDoor_05_OpenAntherDoor))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.CrossDoor_06_LeaveDoor); JobRunStep.ToNextStep(RunStep.CrossDoor_06_LeaveDoor);
runInfo = $"离开门，进入{JobParam.CrossDoor.NextNode.AliceName}侧"; runInfo = $"离开门，进入{JobParam.CrossDoor.NextNode.AliceName}侧";
...@@ -96,7 +96,7 @@ namespace DeviceLibrary ...@@ -96,7 +96,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.CrossDoor_06_LeaveDoor)) else if (JobRunStep.IsStep(RunStep.CrossDoor_06_LeaveDoor))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.CrossDoor_07_CloseAntherDoor); JobRunStep.ToNextStep(RunStep.CrossDoor_07_CloseAntherDoor);
runInfo = $"关闭{JobParam.CrossDoor.NextNode.AliceName}侧门"; runInfo = $"关闭{JobParam.CrossDoor.NextNode.AliceName}侧门";
...@@ -106,7 +106,7 @@ namespace DeviceLibrary ...@@ -106,7 +106,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.CrossDoor_07_CloseAntherDoor)) else if (JobRunStep.IsStep(RunStep.CrossDoor_07_CloseAntherDoor))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.CrossDoor_08_Finish); JobRunStep.ToNextStep(RunStep.CrossDoor_08_Finish);
runInfo = $"到达{JobParam.CrossDoor.NextNode.AliceName}的车间"; runInfo = $"到达{JobParam.CrossDoor.NextNode.AliceName}的车间";
......
DeviceLibrary/bean/job/Job.cs
...@@ -161,7 +161,7 @@ namespace DeviceLibrary ...@@ -161,7 +161,7 @@ namespace DeviceLibrary
/// <returns></returns> /// <returns></returns>
protected bool AGVTaskIsFinished(AgvInfo agv) protected bool AGVTaskIsFinished(AgvInfo agv)
{ {
return agv.TaskRunState.CheckTaskFinished(agv.Name); return agv.TaskRunState.CheckTaskFinished(agv);
} }
/// <summary> /// <summary>
/// 卸下料架 /// 卸下料架
......
DeviceLibrary/bean/job/LiftToLinesJob.cs
...@@ -69,7 +69,7 @@ namespace DeviceLibrary ...@@ -69,7 +69,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_01_ToLift)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_01_ToLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_02_WaitLiftDoorOpen); JobRunStep.ToNextStep(RunStep.SD_LiftToLine_02_WaitLiftDoorOpen);
//上报运输状态 //上报运输状态
...@@ -96,7 +96,7 @@ namespace DeviceLibrary ...@@ -96,7 +96,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_03_EnterLift)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_03_EnterLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_04_PutShelfOn); JobRunStep.ToNextStep(RunStep.SD_LiftToLine_04_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车"; runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
...@@ -106,7 +106,7 @@ namespace DeviceLibrary ...@@ -106,7 +106,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_04_PutShelfOn)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_04_PutShelfOn))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_05_LeaveLift); JobRunStep.ToNextStep(RunStep.SD_LiftToLine_05_LeaveLift);
//上报运输状态 //上报运输状态
...@@ -121,7 +121,7 @@ namespace DeviceLibrary ...@@ -121,7 +121,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_05_LeaveLift)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_05_LeaveLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_06_CloseLiftDoor); JobRunStep.ToNextStep(RunStep.SD_LiftToLine_06_CloseLiftDoor);
//关门 //关门
...@@ -182,7 +182,7 @@ namespace DeviceLibrary ...@@ -182,7 +182,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_ToLine)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_ToLine))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
//确认按钮生效 //确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm(); JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
...@@ -326,7 +326,7 @@ namespace DeviceLibrary ...@@ -326,7 +326,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_BackToLift)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_BackToLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
if (TargetIsOccupied(agv, JobParam.SrcNode.Name)) if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{ {
...@@ -443,7 +443,7 @@ namespace DeviceLibrary ...@@ -443,7 +443,7 @@ namespace DeviceLibrary
#region 电梯内无料车 #region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_EnterLift)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_EnterLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift); JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.SrcNode.AliceName}放料点，准备卸下料车"; runInfo = $"到达{JobParam.SrcNode.AliceName}放料点，准备卸下料车";
...@@ -453,7 +453,7 @@ namespace DeviceLibrary ...@@ -453,7 +453,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_LeaveLift); JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_LeaveLift);
runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开"; runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开";
...@@ -471,7 +471,7 @@ namespace DeviceLibrary ...@@ -471,7 +471,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_LeaveLift)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_LeaveLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor); JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor);
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv); bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
...@@ -500,7 +500,7 @@ namespace DeviceLibrary ...@@ -500,7 +500,7 @@ namespace DeviceLibrary
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_16_TakeShelfOff)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_16_TakeShelfOff))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成"; runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
JobRunStep.Msg = runInfo; JobRunStep.Msg = runInfo;
...@@ -569,7 +569,7 @@ namespace DeviceLibrary ...@@ -569,7 +569,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_23_ToShelfPlace)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_23_ToShelfPlace))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_24_TakeShelfOff); JobRunStep.ToNextStep(RunStep.SD_LiftToLine_24_TakeShelfOff);
runInfo = $"到达料架缓存点，准备卸下料车"; runInfo = $"到达料架缓存点，准备卸下料车";
...@@ -579,7 +579,7 @@ namespace DeviceLibrary ...@@ -579,7 +579,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_24_TakeShelfOff)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_24_TakeShelfOff))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
//设置任务状态为料架换缓存 //设置任务状态为料架换缓存
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存_返回, out string msg); MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存_返回, out string msg);
......
DeviceLibrary/bean/job/LineOneToManyJob.cs
...@@ -32,7 +32,7 @@ namespace DeviceLibrary.bean.job ...@@ -32,7 +32,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_01_ToPickUpPosition)) else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_01_ToPickUpPosition))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_02_PutShelfOn); JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_02_PutShelfOn);
//任务状态变更 //任务状态变更
...@@ -49,7 +49,7 @@ namespace DeviceLibrary.bean.job ...@@ -49,7 +49,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_02_PutShelfOn)) else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_02_PutShelfOn))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_03_ToLine); JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_03_ToLine);
//上报运输状态 //上报运输状态
...@@ -65,7 +65,7 @@ namespace DeviceLibrary.bean.job ...@@ -65,7 +65,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_03_ToLine)) else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_03_ToLine))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
//确认按钮生效 //确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm(); JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
...@@ -122,7 +122,7 @@ namespace DeviceLibrary.bean.job ...@@ -122,7 +122,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_06_CheckNextLine)) else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_06_CheckNextLine))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
if (JobParam.TargetNodes != null && JobParam.TargetNodes.Count > 0) if (JobParam.TargetNodes != null && JobParam.TargetNodes.Count > 0)
{ {
...@@ -162,7 +162,7 @@ namespace DeviceLibrary.bean.job ...@@ -162,7 +162,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_07_BackToPickUpPosition)) else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_07_BackToPickUpPosition))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff); JobRunStep.ToNextStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff);
//上报运输状态 //上报运输状态
...@@ -176,7 +176,7 @@ namespace DeviceLibrary.bean.job ...@@ -176,7 +176,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff)) else if (JobRunStep.IsStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.END); JobRunStep.ToNextStep(RunStep.END);
if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack) if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
......
DeviceLibrary/bean/job/LineToLiftJob.cs
...@@ -63,7 +63,7 @@ namespace DeviceLibrary ...@@ -63,7 +63,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_01_ToLine)) else if (JobRunStep.IsStep(RunStep.LineToLift_01_ToLine))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.LineToLift_02_PutShelfOn); JobRunStep.ToNextStep(RunStep.LineToLift_02_PutShelfOn);
//任务状态变更 //任务状态变更
...@@ -80,7 +80,7 @@ namespace DeviceLibrary ...@@ -80,7 +80,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn)) else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
//上报状态 //上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId, manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
...@@ -143,7 +143,7 @@ namespace DeviceLibrary ...@@ -143,7 +143,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_03_ToLift)) else if (JobRunStep.IsStep(RunStep.LineToLift_03_ToLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus); JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
//上报状态 //上报状态
...@@ -235,7 +235,7 @@ namespace DeviceLibrary ...@@ -235,7 +235,7 @@ namespace DeviceLibrary
#region 电梯内有空成品料车 #region 电梯内有空成品料车
else if (JobRunStep.IsStep(RunStep.LineToLift_05_13_ToShelfPlace)) else if (JobRunStep.IsStep(RunStep.LineToLift_05_13_ToShelfPlace))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.LineToLift_05_14_TakeShelfOff); JobRunStep.ToNextStep(RunStep.LineToLift_05_14_TakeShelfOff);
runInfo = $"到达料架缓存点，准备卸下料车"; runInfo = $"到达料架缓存点，准备卸下料车";
...@@ -245,7 +245,7 @@ namespace DeviceLibrary ...@@ -245,7 +245,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_05_14_TakeShelfOff)) else if (JobRunStep.IsStep(RunStep.LineToLift_05_14_TakeShelfOff))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
//设置任务状态为料架换缓存 //设置任务状态为料架换缓存
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存, out string msg); MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存, out string msg);
...@@ -274,7 +274,7 @@ namespace DeviceLibrary ...@@ -274,7 +274,7 @@ namespace DeviceLibrary
#region 电梯内无料车 #region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.LineToLift_06_01_EnterLift)) else if (JobRunStep.IsStep(RunStep.LineToLift_06_01_EnterLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift); JobRunStep.ToNextStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车"; runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车";
...@@ -284,7 +284,7 @@ namespace DeviceLibrary ...@@ -284,7 +284,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift)) else if (JobRunStep.IsStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
//清除任务占用 //清除任务占用
ResetMissionOccupiedAgv(JobParam.GetMissionInfo()); ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
...@@ -302,7 +302,7 @@ namespace DeviceLibrary ...@@ -302,7 +302,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_06_03_LeaveLift)) else if (JobRunStep.IsStep(RunStep.LineToLift_06_03_LeaveLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.END); JobRunStep.ToNextStep(RunStep.END);
bool rtn = false; bool rtn = false;
......
DeviceLibrary/bean/job/LineToLineJob.cs
...@@ -32,7 +32,7 @@ namespace DeviceLibrary.bean.job ...@@ -32,7 +32,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_01_ToPickUpPosition)) else if (JobRunStep.IsStep(RunStep.SD_LineToLine_01_ToPickUpPosition))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LineToLine_02_PutShelfOn); JobRunStep.ToNextStep(RunStep.SD_LineToLine_02_PutShelfOn);
//任务状态变更 //任务状态变更
...@@ -50,7 +50,7 @@ namespace DeviceLibrary.bean.job ...@@ -50,7 +50,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_02_PutShelfOn)) else if (JobRunStep.IsStep(RunStep.SD_LineToLine_02_PutShelfOn))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LineToLine_03_ToLine); JobRunStep.ToNextStep(RunStep.SD_LineToLine_03_ToLine);
//上报位置 //上报位置
...@@ -67,7 +67,7 @@ namespace DeviceLibrary.bean.job ...@@ -67,7 +67,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_03_ToLine)) else if (JobRunStep.IsStep(RunStep.SD_LineToLine_03_ToLine))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
if(NeedConfirm()) if(NeedConfirm())
{ {
...@@ -97,7 +97,7 @@ namespace DeviceLibrary.bean.job ...@@ -97,7 +97,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_04_PlaySound)) else if (JobRunStep.IsStep(RunStep.SD_LineToLine_04_PlaySound))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode)) if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
{ {
...@@ -117,7 +117,7 @@ namespace DeviceLibrary.bean.job ...@@ -117,7 +117,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_04_WaitConfirm)) else if (JobRunStep.IsStep(RunStep.SD_LineToLine_04_WaitConfirm))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
manager.UploadManager.UploadTransportStatus(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.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton, service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
...@@ -149,7 +149,7 @@ namespace DeviceLibrary.bean.job ...@@ -149,7 +149,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_05_BackToSrcLine)) else if (JobRunStep.IsStep(RunStep.SD_LineToLine_05_BackToSrcLine))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.SD_LineToLine_06_TakeShelfOff); JobRunStep.ToNextStep(RunStep.SD_LineToLine_06_TakeShelfOff);
//上报运输状态 //上报运输状态
...@@ -163,7 +163,7 @@ namespace DeviceLibrary.bean.job ...@@ -163,7 +163,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_06_TakeShelfOff)) else if (JobRunStep.IsStep(RunStep.SD_LineToLine_06_TakeShelfOff))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.END); JobRunStep.ToNextStep(RunStep.END);
if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack) if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
......
DeviceLibrary/bean/job/ShelfBackLiftToStoreJob.cs
...@@ -65,7 +65,7 @@ namespace DeviceLibrary.bean.job ...@@ -65,7 +65,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_01_ToLift)) else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_01_ToLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_02_01_WaitLiftDoorOpen); JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_02_01_WaitLiftDoorOpen);
//上报状态 //上报状态
...@@ -91,7 +91,7 @@ namespace DeviceLibrary.bean.job ...@@ -91,7 +91,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_02_02_EnterLift)) else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_02_02_EnterLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_03_PutShelfOn); JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_03_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，开始取料车"; runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，开始取料车";
...@@ -102,7 +102,7 @@ namespace DeviceLibrary.bean.job ...@@ -102,7 +102,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_03_PutShelfOn)) else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_03_PutShelfOn))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_04_LeaveLift); JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_04_LeaveLift);
//上报状态 //上报状态
...@@ -117,7 +117,7 @@ namespace DeviceLibrary.bean.job ...@@ -117,7 +117,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_04_LeaveLift)) else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_04_LeaveLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor); JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor);
//关门 //关门
...@@ -157,7 +157,7 @@ namespace DeviceLibrary.bean.job ...@@ -157,7 +157,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_06_ToStore)) else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_06_ToStore))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_07_TakeShelfOff); JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_07_TakeShelfOff);
//上报状态 //上报状态
...@@ -171,7 +171,7 @@ namespace DeviceLibrary.bean.job ...@@ -171,7 +171,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_07_TakeShelfOff)) else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_07_TakeShelfOff))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成"; runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
//任务状态变更 //任务状态变更
......
DeviceLibrary/bean/job/StandyJob.cs
...@@ -45,7 +45,7 @@ namespace DeviceLibrary ...@@ -45,7 +45,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.STANDBY_WAIT_REACH_STANDBY)) else if (JobRunStep.IsStep(RunStep.STANDBY_WAIT_REACH_STANDBY))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.END); JobRunStep.ToNextStep(RunStep.END);
// runInfo = "到达待机位"; // runInfo = "到达待机位";
......
DeviceLibrary/bean/job/SteelLiftToLinesJob.cs
...@@ -40,7 +40,7 @@ namespace DeviceLibrary.bean.job ...@@ -40,7 +40,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_01_ToLift)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_01_ToLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_02_WaitLiftDoorOpen); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_02_WaitLiftDoorOpen);
//上报运输状态 //上报运输状态
...@@ -67,7 +67,7 @@ namespace DeviceLibrary.bean.job ...@@ -67,7 +67,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_03_EnterLift)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_03_EnterLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_04_PutShelfOn); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_04_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车"; runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
...@@ -77,7 +77,7 @@ namespace DeviceLibrary.bean.job ...@@ -77,7 +77,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_04_PutShelfOn)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_04_PutShelfOn))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_05_LeaveLift); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_05_LeaveLift);
//上报运输状态 //上报运输状态
...@@ -92,7 +92,7 @@ namespace DeviceLibrary.bean.job ...@@ -92,7 +92,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_05_LeaveLift)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_05_LeaveLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_06_CloseLiftDoor); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_06_CloseLiftDoor);
//关门 //关门
...@@ -127,7 +127,7 @@ namespace DeviceLibrary.bean.job ...@@ -127,7 +127,7 @@ namespace DeviceLibrary.bean.job
#region 钢网出库 #region 钢网出库
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_07_ToLine)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_07_ToLine))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
//确认按钮生效 //确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm(); JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
...@@ -202,7 +202,7 @@ namespace DeviceLibrary.bean.job ...@@ -202,7 +202,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_11_ToShelfPlace)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_11_ToShelfPlace))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_12_TakeShelfOff); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_12_TakeShelfOff);
runInfo = $"到达{JobParam.SteelShelfNode.AliceName}，准备卸车"; runInfo = $"到达{JobParam.SteelShelfNode.AliceName}，准备卸车";
...@@ -216,7 +216,7 @@ namespace DeviceLibrary.bean.job ...@@ -216,7 +216,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_12_TakeShelfOff)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_12_TakeShelfOff))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.END); JobRunStep.ToNextStep(RunStep.END);
runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成"; runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
......
DeviceLibrary/bean/job/SteelLiftToStorageJob.cs
...@@ -42,7 +42,7 @@ namespace DeviceLibrary.bean.job ...@@ -42,7 +42,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_01_ToLift)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_01_ToLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_02_WaitLiftDoorOpen); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_02_WaitLiftDoorOpen);
//上报运输状态 //上报运输状态
...@@ -69,7 +69,7 @@ namespace DeviceLibrary.bean.job ...@@ -69,7 +69,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_03_EnterLift)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_03_EnterLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_04_PutShelfOn); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_04_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车"; runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
...@@ -80,7 +80,7 @@ namespace DeviceLibrary.bean.job ...@@ -80,7 +80,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_04_PutShelfOn)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_04_PutShelfOn))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_05_LeaveLift); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_05_LeaveLift);
//上报运输状态 //上报运输状态
...@@ -95,7 +95,7 @@ namespace DeviceLibrary.bean.job ...@@ -95,7 +95,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_05_LeaveLift)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_05_LeaveLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_06_CloseLiftDoor); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_06_CloseLiftDoor);
//关门 //关门
...@@ -121,7 +121,7 @@ namespace DeviceLibrary.bean.job ...@@ -121,7 +121,7 @@ namespace DeviceLibrary.bean.job
#region 未使用 #region 未使用
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_07_ToLine)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_07_ToLine))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
//确认按钮生效 //确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm(); JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
...@@ -196,7 +196,7 @@ namespace DeviceLibrary.bean.job ...@@ -196,7 +196,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_11_ToShelfPlace)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_11_ToShelfPlace))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_12_TakeShelfOff); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_12_TakeShelfOff);
runInfo = $"到达{JobParam.SteelShelfNode.AliceName}，准备卸车"; runInfo = $"到达{JobParam.SteelShelfNode.AliceName}，准备卸车";
...@@ -210,7 +210,7 @@ namespace DeviceLibrary.bean.job ...@@ -210,7 +210,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_12_TakeShelfOff)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_12_TakeShelfOff))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.END); JobRunStep.ToNextStep(RunStep.END);
runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成"; runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
...@@ -229,7 +229,7 @@ namespace DeviceLibrary.bean.job ...@@ -229,7 +229,7 @@ namespace DeviceLibrary.bean.job
#region 钢网入库 #region 钢网入库
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_13_ToLiku)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_13_ToLiku))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_14_Dock); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_14_Dock);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点";//，开始停靠 runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点";//，开始停靠
...@@ -239,7 +239,7 @@ namespace DeviceLibrary.bean.job ...@@ -239,7 +239,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_14_Dock)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_14_Dock))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_15_CheckState); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_15_CheckState);
runInfo = "等待立库停靠完成信号"; runInfo = "等待立库停靠完成信号";
...@@ -258,7 +258,7 @@ namespace DeviceLibrary.bean.job ...@@ -258,7 +258,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_16_TakeOff)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_16_TakeOff))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
manager.DataBufferManager.DetachShelf = true; manager.DataBufferManager.DetachShelf = true;
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_17_WaitShelfLeave); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_17_WaitShelfLeave);
...@@ -285,7 +285,7 @@ namespace DeviceLibrary.bean.job ...@@ -285,7 +285,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_18_PutOn)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_18_PutOn))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_19_BackToLift); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_19_BackToLift);
MissionManager.ChangeSteelSrcNodes(JobParam.GetMissionInfo().missionId, "storage"); MissionManager.ChangeSteelSrcNodes(JobParam.GetMissionInfo().missionId, "storage");
...@@ -319,7 +319,7 @@ namespace DeviceLibrary.bean.job ...@@ -319,7 +319,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_19_BackToLift)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_19_BackToLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_20_Request); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_20_Request);
...@@ -408,7 +408,7 @@ namespace DeviceLibrary.bean.job ...@@ -408,7 +408,7 @@ namespace DeviceLibrary.bean.job
#region 电梯内无料车 #region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_01_EnterLift)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_01_EnterLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_02_TakeShelfOffAtLift); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_02_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.SrcNode.AliceName}放料点，准备卸下料车"; runInfo = $"到达{JobParam.SrcNode.AliceName}放料点，准备卸下料车";
...@@ -418,7 +418,7 @@ namespace DeviceLibrary.bean.job ...@@ -418,7 +418,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_02_TakeShelfOffAtLift)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_02_TakeShelfOffAtLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_03_LeaveLift); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_03_LeaveLift);
runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开"; runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开";
...@@ -435,7 +435,7 @@ namespace DeviceLibrary.bean.job ...@@ -435,7 +435,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_03_LeaveLift)) else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_03_LeaveLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_04_CloseLiftDoor); JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_04_CloseLiftDoor);
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv); bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
......
DeviceLibrary/bean/job/SteelLineToLiftJob.cs
...@@ -44,7 +44,7 @@ namespace DeviceLibrary ...@@ -44,7 +44,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_01_ToLine)) else if (JobRunStep.IsStep(RunStep.LineToLift_01_ToLine))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.LineToLift_02_PutShelfOn); JobRunStep.ToNextStep(RunStep.LineToLift_02_PutShelfOn);
//任务状态变更 //任务状态变更
...@@ -61,7 +61,7 @@ namespace DeviceLibrary ...@@ -61,7 +61,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn)) else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
//if(JobParam.GetMissionInfo().projectType.Equals(ProjectType.钢网入库)) //if(JobParam.GetMissionInfo().projectType.Equals(ProjectType.钢网入库))
//{ //{
...@@ -84,7 +84,7 @@ namespace DeviceLibrary ...@@ -84,7 +84,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_ToSteelSrc)) else if (JobRunStep.IsStep(RunStep.LineToLift_ToSteelSrc))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.LineToLift_PlaySound); JobRunStep.ToNextStep(RunStep.LineToLift_PlaySound);
//确认按钮生效 //确认按钮生效
...@@ -153,7 +153,7 @@ namespace DeviceLibrary ...@@ -153,7 +153,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_03_ToLift)) else if (JobRunStep.IsStep(RunStep.LineToLift_03_ToLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus); JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
//上报状态 //上报状态
...@@ -221,7 +221,7 @@ namespace DeviceLibrary ...@@ -221,7 +221,7 @@ namespace DeviceLibrary
#region 电梯内无料车 #region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.LineToLift_06_01_EnterLift)) else if (JobRunStep.IsStep(RunStep.LineToLift_06_01_EnterLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift); JobRunStep.ToNextStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车"; runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车";
...@@ -231,7 +231,7 @@ namespace DeviceLibrary ...@@ -231,7 +231,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift)) else if (JobRunStep.IsStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.LineToLift_06_03_LeaveLift); JobRunStep.ToNextStep(RunStep.LineToLift_06_03_LeaveLift);
//上报状态 //上报状态
...@@ -253,7 +253,7 @@ namespace DeviceLibrary ...@@ -253,7 +253,7 @@ namespace DeviceLibrary
} }
else if (JobRunStep.IsStep(RunStep.LineToLift_06_03_LeaveLift)) else if (JobRunStep.IsStep(RunStep.LineToLift_06_03_LeaveLift))
{ {
if (agv.TaskRunState.CheckTaskFinished(agv.Name)) if (agv.TaskRunState.CheckTaskFinished(agv))
{ {
JobRunStep.ToNextStep(RunStep.END); JobRunStep.ToNextStep(RunStep.END);
bool rtn = false; bool rtn = false;
......
DeviceLibrary/bean/jobType/F1LiftD2ToLiftC1JobType.cs
using Common; using Common;
using DeviceLibrary.bean.job; using DeviceLibrary.bean.job;
using DeviceLibrary.lift;
using DeviceLibrary.manager; using DeviceLibrary.manager;
namespace DeviceLibrary.bean.jobType namespace DeviceLibrary.bean.jobType
...@@ -29,6 +30,8 @@ namespace DeviceLibrary.bean.jobType ...@@ -29,6 +30,8 @@ namespace DeviceLibrary.bean.jobType
Node src = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift); Node src = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
Node dest = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift); Node dest = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
JobParam jobParam = new JobParam(src, dest, null, missionInfo); JobParam jobParam = new JobParam(src, dest, null, missionInfo);
//设置电梯占用
LiftContext.SetLiftNodeOccupied(agv, liftname);
MissionManager.SetMissionOccupied(missionInfo, agv); MissionManager.SetMissionOccupied(missionInfo, agv);
return new F1LiftD2ToLiftC1Job(jobParam); return new F1LiftD2ToLiftC1Job(jobParam);
} }
......
DeviceLibrary/manager/AgvTaskManager.cs
...@@ -123,7 +123,7 @@ namespace DeviceLibrary ...@@ -123,7 +123,7 @@ namespace DeviceLibrary
} }
} }
if (task != null) if (task != null&& !string.IsNullOrEmpty(task.Guid))
{ {
agv.TaskRunState.Task = task; agv.TaskRunState.Task = task;
if (node != null) if (node != null)
...@@ -148,11 +148,11 @@ namespace DeviceLibrary ...@@ -148,11 +148,11 @@ namespace DeviceLibrary
MiR_API.State_Ready(agv); MiR_API.State_Ready(agv);
if (rtn) 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 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 else
...@@ -161,11 +161,11 @@ namespace DeviceLibrary ...@@ -161,11 +161,11 @@ namespace DeviceLibrary
MiR_API.State_Ready(agv); MiR_API.State_Ready(agv);
if (rtn) 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 else
{ {
LogUtil.info(string.Format("{0} Add_Mission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo())); LogUtil.info(string.Format("{0} AddMission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
} }
} }
agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo()); agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
...@@ -205,11 +205,11 @@ namespace DeviceLibrary ...@@ -205,11 +205,11 @@ namespace DeviceLibrary
MiR_API.State_Ready(agv); MiR_API.State_Ready(agv);
if (rtn) 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 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 else
...@@ -218,11 +218,11 @@ namespace DeviceLibrary ...@@ -218,11 +218,11 @@ namespace DeviceLibrary
MiR_API.State_Ready(agv); MiR_API.State_Ready(agv);
if (rtn) 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 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()); agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
......
DeviceLibrary/manager/HttpManager.cs
...@@ -2,6 +2,8 @@ ...@@ -2,6 +2,8 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Runtime.CompilerServices; using System.Runtime.CompilerServices;
using System.Threading;
using System.Threading.Tasks;
using static DeviceLibrary.HttpManager; using static DeviceLibrary.HttpManager;
namespace DeviceLibrary namespace DeviceLibrary
...@@ -481,21 +483,27 @@ namespace DeviceLibrary ...@@ -481,21 +483,27 @@ namespace DeviceLibrary
try try
{ {
//string resultStr = HttpHelper.Post(agvreporttask, txt); //string resultStr = HttpHelper.Post(agvreporttask, txt);
Dictionary<string, string> param = new Dictionary<string, string>();
param.Add("info", txt); Task.Factory.StartNew(() =>
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($"AGV反馈任务执行信息 info:[{txt}][{resultStr}]"); Dictionary<string, string> param = new Dictionary<string, string>();
param.Add("info", txt);
string addr = GetItsAddr("/UpdateAGVtranstask", param);
while (true)
{
string resultStr = HttpHelper.Get(addr);
itsData data = JsonHelper.DeserializeJsonToObject<itsData>(resultStr);
//fbackkinfo":"no agvinfo","fbacktime":"20215306105317"}
if (data != null)
{
log.Info($"AGV反馈任务执行信息 info:[{txt}][{resultStr}]");
break;
}
Thread.Sleep(1000);
}
});
}
} }
catch (Exception e) catch (Exception e)
{ {
......
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