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Commit ab1c3da7 由 张东亮
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合并

2 个父辈 1947a66c 8b6e4812
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正在显示 36 个修改的文件 包含 1081 行增加 和 161 行删除
AGVDispatch/FrmMain.Designer.cs
......@@ -53,6 +53,7 @@
this.txtShow = new System.Windows.Forms.TextBox();
this.tableLayoutPanel4 = new System.Windows.Forms.TableLayoutPanel();
this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
this.textBox1 = new System.Windows.Forms.TextBox();
this.tableLayoutPanel3.SuspendLayout();
this.tabControl1.SuspendLayout();
this.tabPage2.SuspendLayout();
......@@ -358,6 +359,7 @@
//
// tabPage5
//
this.tabPage5.Controls.Add(this.textBox1);
this.tabPage5.Controls.Add(this.txtShow);
this.tabPage5.Location = new System.Drawing.Point(4, 25);
this.tabPage5.Margin = new System.Windows.Forms.Padding(4);
......@@ -369,12 +371,12 @@
//
// txtShow
//
this.txtShow.Dock = System.Windows.Forms.DockStyle.Fill;
this.txtShow.Dock = System.Windows.Forms.DockStyle.Top;
this.txtShow.Location = new System.Drawing.Point(0, 0);
this.txtShow.Margin = new System.Windows.Forms.Padding(4);
this.txtShow.Multiline = true;
this.txtShow.Name = "txtShow";
this.txtShow.Size = new System.Drawing.Size(1696, 356);
this.txtShow.Size = new System.Drawing.Size(1696, 199);
this.txtShow.TabIndex = 0;
//
// tableLayoutPanel4
......@@ -402,6 +404,16 @@
this.flowLayoutPanel1.Size = new System.Drawing.Size(1698, 506);
this.flowLayoutPanel1.TabIndex = 0;
//
// textBox1
//
this.textBox1.Dock = System.Windows.Forms.DockStyle.Top;
this.textBox1.Location = new System.Drawing.Point(0, 199);
this.textBox1.Margin = new System.Windows.Forms.Padding(4);
this.textBox1.Multiline = true;
this.textBox1.Name = "textBox1";
this.textBox1.Size = new System.Drawing.Size(1696, 151);
this.textBox1.TabIndex = 1;
//
// FrmMain
//
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F);
......@@ -463,6 +475,7 @@
private System.Windows.Forms.TextBox txtShow;
private System.Windows.Forms.CheckBox checkBox1;
private System.Windows.Forms.Button button1;
private System.Windows.Forms.TextBox textBox1;
}
}
AGVDispatch/FrmMain.cs
......@@ -12,6 +12,7 @@ using System.Threading.Tasks;
using System.Windows.Forms;
using Common;
using DeviceLibrary;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using DeviceLibrary.service.model;
......@@ -157,6 +158,12 @@ namespace AGVControl
Invoke(new Action(() =>
{
txtShow.Text = DeviceLibrary.HttpManager.Agvtransinfo;
try
{
textBox1.Text = LiftContext.GetLiftNodeOccupiedInfo();
}
catch { }
}));
......@@ -230,7 +237,7 @@ namespace AGVControl
private void dgvInfos_DataError(object sender, DataGridViewDataErrorEventArgs e)
{
LogUtil.error($"表格式异常:{e.RowIndex},{e.ColumnIndex},{e.Exception.Message}");
}
private void dgvInfos_CellContentClick(object sender, DataGridViewCellEventArgs e)
......
AGVDispatch/Manual.cs
......@@ -94,6 +94,7 @@ namespace AGVControl
{
Agv.Auto = false;
LiftContext.ResetLiftOccupiedAgv(Agv);
LiftContext.SetLiftNodeOccupied(Agv);
ChargePileManager.StopCharge(Agv);
LogUtil.info($"取消自动任务，当前运行信息是：{Agv.Msg}");
try
......
Common/SettingString.cs
......@@ -31,6 +31,18 @@ namespace Common
public const string LIFT_D2 = "LIFT_D2";
public const string LIFT_C1 = "LIFT_C1";
public const string storage = "storage";
public const string CrossDoor = "CrossDoor";
public const string CrossAirDoor = "CrossAirDoor";
public const string In = "In";
public const string Out = "Out";
public const string ToDoor = "ToDoor";
public const string OpenDoor = "OpenDoor";
public const string EnterDoor = "EnterDoor";
public const string CloseDoor = "CloseDoor";
public const string OpenOtherDoor = "OpenOtherDoor";
public const string LeaveDoor = "LeaveDoor";
public const string CloseOtherDoor = "CloseOtherDoor";
//任务状态
public const string Wait = "Wait";
public const string Done = "Done";
......@@ -70,6 +82,9 @@ namespace Common
public const string Lift_Names = "Lift_Names";
public const string IsDebug = "IsDebug";
#endregion
#region 点位
public const string ShelfBuff = "ShelfBuff";
#endregion
}
}
Common/util/HttpHelper.cs
......@@ -142,7 +142,7 @@ namespace Common
}
catch (Exception e)
{
LogUtil.error("POST ERROR:" + url, e);
LogUtil.error($"POST ERROR：【{url}】【{paramData}】",e);
}
if (!result.Contains("null") && result.Length != 0)
{
......@@ -180,7 +180,7 @@ namespace Common
}
catch (Exception e)
{
LogUtil.error("POST ERROR:" + e.ToString());
LogUtil.error($"POST ERROR：【{url}】【{paramData}】", e);
}
return result;
}
......
DeviceLibrary/Control.cs
......@@ -30,7 +30,7 @@ namespace DeviceLibrary
{
AgvCallTimer = new System.Timers.Timer
{
Interval = 300,
Interval = 500,
AutoReset = true,
Enabled = false
};
......@@ -38,7 +38,7 @@ namespace DeviceLibrary
AgvStateTimer = new System.Timers.Timer
{
Interval = 5000,
Interval = 3000,
AutoReset = true,
Enabled = false
};
......@@ -181,7 +181,6 @@ namespace DeviceLibrary
return null;
if (job != null)
{
//log.Debug(agv_Info.Name + " GetJob OK " + job.ToString());
return job;
}
}
......@@ -214,7 +213,6 @@ namespace DeviceLibrary
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()));
continue;
}
if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task))
......
DeviceLibrary/DeviceLibrary.csproj
......@@ -87,6 +87,7 @@
<Compile Include="bean\agv\Mir_Error.cs" />
<Compile Include="bean\agv\Scope.cs" />
<Compile Include="bean\ChargePiles.cs" />
<Compile Include="bean\jobType\ShelfBuffToLiftJobType.cs" />
<Compile Include="bean\jobType\SteelLiftToLinesJobType.cs" />
<Compile Include="bean\jobType\F1LiftC1ToLiftD2JobType.cs" />
<Compile Include="bean\jobType\F1LiftD2ToLiftC1JobType.cs" />
......@@ -97,6 +98,7 @@
<Compile Include="bean\job\ChargeJob.cs" />
<Compile Include="bean\job\F1LiftC1ToLiftD2Job.cs" />
<Compile Include="bean\job\F1LiftD2ToLiftC1Job.cs" />
<Compile Include="bean\job\CrossDoorJob.cs" />
<Compile Include="bean\job\SteelLiftToStorageJob.cs" />
<Compile Include="bean\job\SteelLiftToLinesJob.cs" />
<Compile Include="bean\job\LineOneToManyJob.cs" />
......@@ -108,6 +110,7 @@
<Compile Include="bean\JobParam.cs" />
<Compile Include="bean\jobType\BackLiftToLineJobType.cs" />
<Compile Include="bean\jobType\LineToLiftJobType.cs" />
<Compile Include="bean\job\SwitchShelfJob.cs" />
<Compile Include="bean\TaskRunState.cs" />
<Compile Include="bean\jobType\LiftToLinesJobType.cs" />
<Compile Include="bean\job\StandyJob.cs" />
......
DeviceLibrary/bean/JobParam.cs
using Common;
using DeviceLibrary.lift;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Web.UI.WebControls.WebParts;
namespace DeviceLibrary.bean
{
......@@ -16,7 +18,10 @@ namespace DeviceLibrary.bean
/// 初始地点
/// </summary>
public Node SrcNode { get; set; }
/// <summary>
/// 过门信息
/// </summary>
public CrossDoor CrossDoor { get; set; } = new CrossDoor();
private service.model.MissionInfo missionInfo;
/// <summary>
......@@ -26,7 +31,10 @@ namespace DeviceLibrary.bean
{
return missionInfo;
}
/// <summary>
/// 电梯内的料架信息
/// </summary>
public LiftStatus LiftStatus;
/// <summary>
/// 任务信息
/// </summary>
......@@ -51,6 +59,10 @@ namespace DeviceLibrary.bean
/// </summary>
public Shelf Shelf { get; set; }
public OpType OpType { get; set; } = OpType.ComToLine;
/// <summary>
/// 回调Job
/// </summary>
public JobCallBack CallbackJob;
public JobParam(Node srcplace, Node tarplace =null,Shelf shelf=null, service.model.MissionInfo MissionInfo =null)
{
SrcNode = srcplace;
......@@ -58,6 +70,7 @@ namespace DeviceLibrary.bean
Shelf = shelf;
this.missionInfo = MissionInfo;
TargetNodes = new List<Node>();
CrossDoor = new CrossDoor();
}
}
/// <summary>
......@@ -82,4 +95,35 @@ namespace DeviceLibrary.bean
/// </summary>
MaulAndAPI,
}
public class JobCallBack
{
public Type Type { get; set; }
public Job Job { get; set; }
public RunStep RunStep { get; set; }
public JobCallBack(Type type, RunStep step)
{
this.Type = type;
this.RunStep = step;
}
}
public class CrossDoor
{
/// <summary>
/// 当前位置
/// </summary>
public Node CurNode { get; set; }
/// <summary>
/// 下一位置
/// </summary>
public Node NextNode { get; set; }
/// <summary>
/// 是否是进入方向
/// </summary>
public bool IsIn { get; set; } = true;
/// <summary>
/// 是否是风淋门
/// </summary>
public bool IsAir { get; set; } = false;
}
}
DeviceLibrary/bean/RunStep.cs
......@@ -34,6 +34,7 @@ namespace DeviceLibrary.bean
#endregion
#region 料架返回 电梯到线体
ShelfBack_LiftToStore_01_ToStandby,
/// <summary>
/// 去电梯口
/// </summary>
......@@ -58,6 +59,7 @@ namespace DeviceLibrary.bean
/// 关闭电梯门
/// </summary>
ShelfBack_LiftToStore_05_CloseLiftDoor,
ShelfBack_LiftToStore_06_CrossDoor,
/// <summary>
/// 去库房
/// </summary>
......@@ -66,11 +68,14 @@ namespace DeviceLibrary.bean
/// 放下料车
/// </summary>
ShelfBack_LiftToStore_07_TakeShelfOff,
ShelfBack_LiftToStore_07_CrossDoor,
#endregion
#region 线体到电梯
LineToLift_00_CrossDoor,
LineToLift_01_ToLine,
LineToLift_02_PutShelfOn,
LineToLift_02_CrossDoor,
LineToLift_ToSteelSrc,
LineToLift_PlaySound,
LineToLift_WaitConfirm,
......@@ -103,6 +108,8 @@ namespace DeviceLibrary.bean
LineToLift_05_10_ToTemp1,
LineToLift_05_11_PutTemp1ShelfOn,
LineToLift_05_12_ToLift,
LineToLift_05_13_ToShelfPlace,
LineToLift_05_14_TakeShelfOff,
#endregion
#region 电梯内无料车
......@@ -114,6 +121,7 @@ namespace DeviceLibrary.bean
#endregion
#region 电梯到线体 产品分发 最后空料料架返回
SD_LiftToLine_00_ToStandby,
/// <summary>
/// 去电梯口
/// </summary>
......@@ -142,6 +150,8 @@ namespace DeviceLibrary.bean
/// 去线体
/// </summary>
SD_LiftToLine_07_ToLine,
SD_LiftToLine_07_CrossDoor,
SD_LiftToLine_07_CrossTwoDoor,
/// <summary>
/// 到达线体，上报位置
/// </summary>
......@@ -159,6 +169,8 @@ namespace DeviceLibrary.bean
/// </summary>
SD_LiftToLine_11_BackToLift,
SD_LiftToLine_11_ToStandby,
SD_LiftToLine_11_CrossTwoDoor,
SD_LiftToLine_11_CrossTDoor,
/// <summary>
/// 等待电梯门开启
/// </summary>
......@@ -194,6 +206,8 @@ namespace DeviceLibrary.bean
/// 料车无需返回，直接结束
/// </summary>
SD_LiftToLine_16_TakeShelfOff,
SD_LiftToLine_16_CrossTwoDoor,
SD_LiftToLine_16_CrossTDoor,
SD_LiftToLine_17_Dock,
SD_LiftToLine_18_CheckState,
SD_LiftToLine_19_TakeOff,
......@@ -363,6 +377,7 @@ namespace DeviceLibrary.bean
#endregion
#region 1F 成品空料架从D2到C1
S1F_LiftD2ToLiftC1_00_ToStandby,
/// <summary>
/// 去电梯口
/// </summary>
......@@ -387,6 +402,7 @@ namespace DeviceLibrary.bean
/// 关闭电梯门
/// </summary>
S1F_LiftD2ToLiftC1_06_CloseLiftDoor,
S1F_LiftD2ToLiftC1_07_ToStandby,
S1F_LiftD2ToLiftC1_07_ToLiftC1,
S1F_LiftD2ToLiftC1_08_CheckC1Status,
......@@ -412,6 +428,7 @@ namespace DeviceLibrary.bean
S1F_LiftD2ToLiftC1_19_03_ToTemp1,
S1F_LiftD2ToLiftC1_19_04_PutTemp1ShelfOn,
S1F_LiftD2ToLiftC1_19_05_ToLift,
S1F_LiftD2ToLiftC1_19_05_ToStandby,
#endregion
#region 空成品料车
......@@ -434,6 +451,10 @@ namespace DeviceLibrary.bean
#endregion
#region 1F 成品入库从C1到D2
S1F_LiftC1ToLiftD2_Buff,
S1F_LiftC1ToLiftD2_ToLine,
S1F_LiftC1ToLiftD2_PutShelf,
S1F_LiftC1ToLiftD2_00_ToStandby,
/// <summary>
/// 去电梯口
/// </summary>
......@@ -459,6 +480,7 @@ namespace DeviceLibrary.bean
/// </summary>
S1F_LiftC1ToLiftD2_06_CloseLiftDoor,
S1F_LiftC1ToLiftD2_07_ToLiftD2,
S1F_LiftC1ToLiftD2_ToStandby,
S1F_LiftC1ToLiftD2_08_CheckD2Status,
#region 电梯内无料车
......@@ -467,9 +489,9 @@ namespace DeviceLibrary.bean
S1F_LiftC1ToLiftD2_11_LeaveLift,
#endregion
#region 电梯内有料车
S1F_LiftC1ToLiftD2_12_ToTemp1,
S1F_LiftC1ToLiftD2_12_ToStandby,
S1F_LiftC1ToLiftD2_13_TakeShelfOffAtTemp1,
S1F_LiftC1ToLiftD2_13_ToShelfBuff,
S1F_LiftC1ToLiftD2_14_TakeShelfOff,
S1F_LiftC1ToLiftD2_14_ToLift,
S1F_LiftC1ToLiftD2_15_EnterLift,
S1F_LiftC1ToLiftD2_16_PutShelfOn,
......@@ -504,6 +526,96 @@ namespace DeviceLibrary.bean
#endregion
#region 电梯口料架交换
/// <summary>
/// 料架交换：去临时点1
/// </summary>
Switch_01_ToTmp1,
/// <summary>
/// 料架交换：在临时点1卸下料架
/// </summary>
Switch_02_TakeShelfOffAtTmp1,
/// <summary>
/// 料架交换：去电梯
/// </summary>
Switch_03_ToLift,
/// <summary>
/// 料架交换：进入电梯
/// </summary>
Switch_04_EnterLift,
/// <summary>
/// 料架交换：拾取电梯内的料架
/// </summary>
Switch_05_PutLiftShelfOn,
/// <summary>
/// 料架交换：离开电梯
/// </summary>
Switch_06_LeaveLift,
/// <summary>
/// 料架交换：去临时点2
/// </summary>
Switch_07_ToTmp2,
/// <summary>
/// 料架交换：在临时点2卸下料车
/// </summary>
Switch_08_TakeShelfOffAtTpm2,
/// <summary>
/// 料架交换：去临时点1
/// </summary>
Switch_09_ReToTmp1,
/// <summary>
/// 料架交换：在临时点1拾取料架
/// </summary>
Switch_10_PutShelfOnAtTmp1,
/// <summary>
/// 料架交换：去电梯
/// </summary>
Switch_11_ToLift,
/// <summary>
/// 料架交换：进入电梯
/// </summary>
Switch_12_EnterLift,
/// <summary>
/// 料架交换：在电梯放下料车
/// </summary>
Switch_13_TakeLiftShelfOff,
/// <summary>
/// 料架交换：离开电梯
/// </summary>
Switch_14_LeaveLift,
/// <summary>
/// 料架交换：关门,并更新送料信息
/// </summary>
Switch_15_CloseDoor,
Switch_15_WaitDoorClose,
/// <summary>
/// 料架交换：去临时点2
/// </summary>
Switch_16_ReToTmp2,
/// <summary>
/// 料架交换：在临时点2拾取料架
/// </summary>
Switch_17_PutShelfOnAtTmp2,
/// <summary>
/// 根据当前状态送料
/// </summary>
Switch_18_SendShelf,
/// <summary>
/// 根据当前状态返还料架
/// </summary>
Switch_19_ReturnShelf,
#endregion
#region 过门任务
CrossDoor_01_ToCurDoor,
CrossDoor_02_OpenCurDoor,
CrossDoor_03_Enter,
CrossDoor_04_CloseCurDoor,
CrossDoor_05_OpenAntherDoor,
CrossDoor_06_LeaveDoor,
CrossDoor_07_CloseAntherDoor,
CrossDoor_08_Finish,
#endregion
/// <summary>
/// 结束
/// </summary>
......
DeviceLibrary/bean/job/ChargeJob.cs
......@@ -24,17 +24,17 @@ 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
}) ;
//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))
{
ClearLiftNodeOccupied(agv);
if (!ChargePileManager.HasEmpty(agv, out ChargePile charge))
{
runInfo = $"无空闲充电桩，从" + JobParam.SrcNode + "回到待机位";
......
DeviceLibrary/bean/job/CrossDoorJob.cs 0 → 100644
using Common;
using DeviceLibrary.bean;
using DeviceLibrary.manager;
using System.Text;
namespace DeviceLibrary
{
/// <summary>
/// 过门任务
/// </summary>
public class CrossDoorJob : Job
{
/// <summary>
/// 待机任务
/// </summary>
/// <param name="agvPlae"></param>
public CrossDoorJob(JobParam jobParam) : base(jobParam)
{
JobName = "过门任务";
}
public CrossDoorJob() : base()
{
JobName = "过门任务";
}
/// <summary>
/// 过门任务
/// </summary>
/// <param name="agv"></param>
public override Job Run(AgvInfo agv)
{
Job job = this;
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))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_01_ToCurDoor);
runInfo = $"去{JobParam.CrossDoor.CurNode.AliceName}侧门前";
JobRunStep.Msg = runInfo;
tocurDoor(agv);
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_01_ToCurDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_02_OpenCurDoor);
runInfo = $"到达{JobParam.CrossDoor.CurNode.AliceName}侧门前，开门";
JobRunStep.Msg = runInfo;
openCurDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_02_OpenCurDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_03_Enter);
runInfo = $"从{JobParam.CrossDoor.CurNode.AliceName}侧进门";
JobRunStep.Msg = runInfo;
enterDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_03_Enter))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_04_CloseCurDoor);
runInfo = $"关闭{JobParam.CrossDoor.CurNode.AliceName}侧的门";
JobRunStep.Msg = runInfo;
closeCurDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_04_CloseCurDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_05_OpenAntherDoor);
runInfo = $"打开{JobParam.CrossDoor.NextNode.AliceName}侧门";
JobRunStep.Msg = runInfo;
openNextDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_05_OpenAntherDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_06_LeaveDoor);
runInfo = $"离开门，进入{JobParam.CrossDoor.NextNode.AliceName}侧";
JobRunStep.Msg = runInfo;
leaveDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_06_LeaveDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_07_CloseAntherDoor);
runInfo = $"关闭{JobParam.CrossDoor.NextNode.AliceName}侧门";
JobRunStep.Msg = runInfo;
closeNextDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_07_CloseAntherDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_08_Finish);
runInfo = $"到达{JobParam.CrossDoor.NextNode.AliceName}的车间";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_08_Finish))
{
job = GetCallBackJob();
job.JobRunStep.ToNextStep(GetCallBackStep());
JobRunStep.Msg = $"从{JobParam.CrossDoor.CurNode.AliceName}-》{JobParam.CrossDoor.NextNode.AliceName}完成";
}
return job;
}
//默认 4D->4C
//4C外-》4C风淋门内
//3D风淋门外-》3D风淋门内
/// <summary>
/// 获取任务名
/// </summary>
/// <returns></returns>
string getTaskName(string name)
{
StringBuilder sb = new StringBuilder();
if (JobParam.CrossDoor?.IsAir??false)
sb.Append(SettingString.CrossAirDoor);
else
{
sb.Append(SettingString.CrossDoor);
}
sb.Append("_");
if (JobParam.CrossDoor?.IsIn??true)
sb.Append(SettingString.In);
else
sb.Append(SettingString.Out);
sb.Append("_");
sb.Append(name);
return sb.ToString();
}
/// <summary>
/// 去当前车间门前
/// </summary>
void tocurDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.ToDoor));
}
/// <summary>
/// 开当前门
/// </summary>
void openCurDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.OpenDoor));
}
/// <summary>
/// 进入门里
/// </summary>
void enterDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.EnterDoor));
}
/// <summary>
/// 关闭当前门
/// </summary>
void closeCurDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.CloseDoor));
}
/// <summary>
/// 开另一个门
/// </summary>
void openNextDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.OpenOtherDoor));
}
/// <summary>
/// 离开门
/// </summary>
void leaveDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.LeaveDoor));
}
/// <summary>
/// 关闭另一个门
/// </summary>
void closeNextDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.CloseOtherDoor));
}
}
}
DeviceLibrary/bean/job/ShelfBackLiftToStoreJob.cs
using Common;
using DeviceLibrary.manager;
using System.Data.Entity.Infrastructure;
namespace DeviceLibrary.bean.job
{
......@@ -20,6 +21,7 @@ namespace DeviceLibrary.bean.job
}
public override Job Run(AgvInfo agv)
{
Job job = this;
agv.SetJobContext(new bean.agv.JobContext()
{
MissionId = JobParam.GetMissionInfo().missionId,
......@@ -31,10 +33,35 @@ namespace DeviceLibrary.bean.job
});
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_01_ToLift);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}");
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_01_ToStandby);
runInfo = $"{JobParam.SrcNode.AliceName}有小车，去待机点";
JobRunStep.Msg = runInfo;
ToStandby(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_01_ToLift);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
ToLift(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_01_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
}
else
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_01_ToLift);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
ToLift(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_01_ToLift))
{
......@@ -44,7 +71,7 @@ namespace DeviceLibrary.bean.job
//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 }"));
$"到达{JobParam.SrcNode.Name}"));
runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
JobRunStep.Msg = runInfo;
}
......@@ -56,9 +83,9 @@ namespace DeviceLibrary.bean.job
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_02_02_EnterLift);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，去取料点";
//任务状态变更
lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name,agv.IP);
lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name, agv.IP);
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯到达, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
ToPutShelfOn(agv, $"{JobParam.SrcNode.Name}");
JobRunStep.Msg = runInfo;
}
}
......@@ -84,7 +111,8 @@ namespace DeviceLibrary.bean.job
$"电梯取车"));
runInfo = $"在{JobParam.SrcNode.AliceName}取料车完成，准备离开";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
//AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
LeaveLift(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_04_LeaveLift))
......@@ -93,20 +121,38 @@ namespace DeviceLibrary.bean.job
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor);
//关门
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv,false);
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv, false);
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;
ClearLiftNodeOccupied(agv);
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor))
{
if (NodeManager.NeedCrossDoor(agv, JobParam.SrcNode, JobParam.CurTargetNode, out bool isin, out bool isair))
{
JobParam.CrossDoor.CurNode = JobParam.SrcNode;
JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
JobParam.CrossDoor.IsIn = isin;
JobParam.CrossDoor.IsAir = isair;
GenJobCallBack(this.GetType(), RunStep.ShelfBack_LiftToStore_06_CrossDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_06_CrossDoor);
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_06_CrossDoor))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_06_ToStore);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}放料点";
runInfo = $"去{JobParam.CurTargetNode.AliceName}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.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
ToTakeShelfOff(agv, $"{JobParam.CurTargetNode.Name}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_06_ToStore))
......@@ -117,7 +163,7 @@ namespace DeviceLibrary.bean.job
//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 }"));
$"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);
......@@ -127,23 +173,45 @@ namespace DeviceLibrary.bean.job
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"任务结束：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
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"));
if (IsProjectType(service.model.ProjectType.移远成品入库))
{
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,
$"卸货{JobParam.CurTargetNode.Name}"));
}
else
//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"));
if (NodeManager.NeedCrossDoor(agv, JobParam.CurTargetNode, JobParam.SrcNode, out bool isin, out bool isair))
{
JobParam.CrossDoor.CurNode = JobParam.CurTargetNode;
JobParam.CrossDoor.NextNode = JobParam.SrcNode;
JobParam.CrossDoor.IsIn = isin;
JobParam.CrossDoor.IsAir = isair;
GenJobCallBack(this.GetType(), RunStep.ShelfBack_LiftToStore_07_CrossDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_07_CrossDoor);
}
}
}
else if(JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_07_CrossDoor))
{
JobRunStep.ToNextStep(RunStep.END);
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
job = null;
}
return this;
return job;
}
}
}
DeviceLibrary/bean/job/StandyJob.cs
......@@ -27,14 +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
});
//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))
{
{
......@@ -43,7 +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);
ToStandby(agv);
}
}
......
DeviceLibrary/bean/job/SteelLiftToStorageJob.cs
......@@ -294,7 +294,7 @@ namespace DeviceLibrary.bean.job
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.AliceName))
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_19_ToStandby);
runInfo = $"{JobParam.SrcNode.AliceName}有车，去停留点";
......@@ -319,7 +319,7 @@ namespace DeviceLibrary.bean.job
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_19_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.AliceName))
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
}
else
......
DeviceLibrary/bean/job/SteelLineToLiftJob.cs
......@@ -36,7 +36,7 @@ namespace DeviceLibrary
{
JobRunStep.ToNextStep(RunStep.LineToLift_01_ToLine);
runInfo = $"任务开始：去{JobParam.SteelShelfNode.AliceName}的取料点";
AllocateTask(agv, $"{JobParam.SteelShelfNode.Name}_{SettingString.PutShelfOn}");
ToPutShelfOn(agv, JobParam.SteelShelfNode.Name);
JobRunStep.Msg = runInfo;
}
......@@ -54,7 +54,7 @@ namespace DeviceLibrary
runInfo = $"到达{JobParam.SrcNode.AliceName}的取料点，开始拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.PutShelfOn);
PutShelfOn(agv);
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn))
......@@ -67,7 +67,7 @@ namespace DeviceLibrary
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.SrcNode.AliceName}放料点";
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
ToTakeShelfOff(agv, JobParam.SrcNode.Name);
JobRunStep.Msg = runInfo;
}
}
......@@ -113,7 +113,7 @@ namespace DeviceLibrary
runInfo = $"在{JobParam.SrcNode.AliceName}确认完成，去{JobParam.CurTargetNode.AliceName}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.前往电梯, out string msg);
AllocateTask(agv, JobParam.CurTargetNode.Name);
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
......@@ -143,7 +143,7 @@ namespace DeviceLibrary
JobRunStep.ToNextStep(RunStep.LineToLift_05_01_ToTemp1);
SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有料车，去临时点1的卸料点，准备卸下车上料车";
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
ToTmp1TakeOff(agv, JobParam.CurTargetNode.Name);
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
......@@ -157,7 +157,7 @@ namespace DeviceLibrary
JobRunStep.ToNextStep(RunStep.LineToLift_06_01_EnterLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
ToTakeShelfOff(agv, JobParam.CurTargetNode.Name);
}
}
else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
......
DeviceLibrary/bean/jobType/BackLiftToLineJobType.cs
using Common;
using DeviceLibrary.bean.job;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using System;
namespace DeviceLibrary.bean.jobType
{
......@@ -15,19 +17,26 @@ namespace DeviceLibrary.bean.jobType
return null;
else
{
if(agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))//agv.Scope.Floor.Equals(1) &&
if (agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))//agv.Scope.Floor.Equals(1) &&
{
service.model.MissionInfo missionInfo = manager.MissionManager.ShelfBackMission(agv);
if(missionInfo!=null)
service.model.MissionInfo missionInfo = manager.MissionManager.ShelfBackMission(agv);
if (missionInfo != null)
{
if (!liftname.Equals(missionInfo?.liftName))
return null;
if (CheckHasSameJob(agv,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);
JobParam jobParam = new JobParam(src, dest,null,missionInfo);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
LiftContext.SetLiftNodeOccupied(agv, liftname);
MissionManager.SetMissionOccupied(missionInfo, agv);
return new ShelfBackLiftToStoreJob(jobParam);
}
......@@ -35,5 +44,22 @@ namespace DeviceLibrary.bean.jobType
}
return null;
}
bool CheckHasSameJob(AgvInfo agv,string liftname)
{
return false;
try
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && (s.CurJob is F1LiftC1ToLiftD2Job ||
s.CurJob is F1LiftD2ToLiftC1Job || (s.CurJob is LineToLiftJob && liftname.Equals(s?.CurJob?.JobParam?.CurTargetNode?.Name??""))));
if (agvInfo != null)
return true;
}
catch
{
return false;
}
return false;
}
}
}
DeviceLibrary/bean/jobType/F1LiftC1ToLiftD2JobType.cs
......@@ -21,13 +21,13 @@ namespace DeviceLibrary.bean.jobType
{
if(agv.Scope.Floor.Equals(1) && agv.HasFinishedShelfInLift(out string liftname, out lift.LiftStatus lift))
{
//if (CheckOtherRobotState(agv, SettingString.LIFT_C1) || CheckOtherRobotState(agv, SettingString.LIFT_D2))
//{
// return null;
//}
service.model.MissionInfo missionInfo = manager.MissionManager.GetF1SendFullFinishedC1ToD2Mission(agv);
if(missionInfo!=null)
{
if (TargetIsOccupied(agv, SettingString.LIFT_C1))//TargetIsOccupied(agv, SettingString.LIFT_D2) ||
{
return null;
}
if (service.model.MissionInfo.IsFinishedProdcut(missionInfo))
{
Node src = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
......@@ -43,10 +43,11 @@ namespace DeviceLibrary.bean.jobType
}
bool CheckHasSameJob(AgvInfo agv)
{
return false;
try
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && (s.CurJob is F1LiftC1ToLiftD2Job || s.CurJob is F1LiftD2ToLiftC1Job));
&& !s.IP.Equals(agv.IP) && s.CurJob != null && (s.CurJob is F1LiftC1ToLiftD2Job || s.CurJob is F1LiftD2ToLiftC1Job ));//|| (s.CurJob is LineToLiftJob && SettingString.LIFT_C1.Equals(s.CurJob?.JobParam?.GetMissionInfo()?.liftName??"")
if (agvInfo != null)
return true;
}
......
DeviceLibrary/bean/jobType/F1LiftD2ToLiftC1JobType.cs
......@@ -19,10 +19,10 @@ namespace DeviceLibrary.bean.jobType
{
if (agv.Scope.Floor.Equals(1) && agv.HasFinishedEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))
{
//if (CheckOtherRobotState(agv, SettingString.LIFT_C1) || CheckOtherRobotState(agv, SettingString.LIFT_D2))
//{
// return null;
//}
if (TargetIsOccupied(agv, SettingString.LIFT_D2))
{
return null;
}
service.model.MissionInfo missionInfo = manager.MissionManager.GetF1FinishedD2ToC1Mission(agv);
if (missionInfo != null)
{
......@@ -38,10 +38,11 @@ namespace DeviceLibrary.bean.jobType
}
bool CheckHasSameJob(AgvInfo agv)
{
return false;
try
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && (s.CurJob is F1LiftD2ToLiftC1Job || s.CurJob is F1LiftC1ToLiftD2Job));
&& !s.IP.Equals(agv.IP) && s.CurJob != null && (s.CurJob is F1LiftD2ToLiftC1Job || s.CurJob is F1LiftC1ToLiftD2Job || s.CurJob is LineToLiftJob));
if (agvInfo != null)
return true;
}
......
DeviceLibrary/bean/jobType/JobType.cs
using Common;
using DeviceLibrary.lift;
using System;
using System.Collections.Generic;
using System.Linq;
......@@ -17,39 +18,57 @@ namespace DeviceLibrary
{
return null;
}
//public bool HasRobotExecuteLiftTask(AgvInfo agvInfo,string liftName)
//{
// AGVManager.agvInfo.Find(s=>s.Auto&& !s.IP.Equals(agvInfo.IP)&&(agvInfo?.CurJob?.JobParam?.))
//}
/// <summary>
/// 检查其他机器人是否有电梯任务
/// 目标点是否有小车
/// </summary>
/// <param name="agvInfo"></param>
/// <param name="liftname"></param>
/// <returns>true：有</returns>
protected bool CheckOtherRobotState(AgvInfo agvInfo, string liftname)
/// <param name="agv"></param>
/// <param name="targetName"></param>
/// <returns></returns>
protected bool TargetIsOccupied(AgvInfo agv, string targetName)
{
var allAgv = AGVManager.agvInfo.FindAll(s => s.Auto && !agvInfo.IP.Equals(s.IP) &&
agvInfo.Scope.Workshop.Equals(s.Scope.Workshop));
try
{
AgvInfo agvInfo1 = allAgv.Find(s => s.Place != null && s.Place.Name.Contains(liftname));
//AgvInfo agvInfo1 = allAgv.Find(s => s.CurJob != null && s.CurJob.JobParam != null &&
// ((s.CurJob.JobParam.SrcNode != null && s.CurJob.JobParam.SrcNode.Name.Contains(liftname)) &&
// (s.CurJob.JobParam.CurTargetNode != null && s.CurJob.JobParam.CurTargetNode.Name.Contains(liftname))));
if (agvInfo1 != null)
return true;
return LiftContext.OtherAGVIsInLift(agv, targetName);
}
catch (Exception ex)
{
foreach (var item in allAgv)
LogUtil.error($"TargetIsOccupied:{agv.Name},{JsonHelper.SerializeObject(AGVManager.agvInfo)}", ex);
return false;
}
}
/// <summary>
/// 只有去电梯取料料架使用
/// </summary>
/// <param name="agv"></param>
/// <param name="targetName"></param>
/// <returns></returns>
protected bool AgvAtPlace(AgvInfo agv, string targetName)
{
try
{
if (LiftContext.OtherAGVIsInLift(agv, targetName))
{
return true;
}
else
{
LogUtil.error($"CheckOtherRobotState,{agvInfo.Name},{liftname}: {JsonHelper.SerializeObject(item)}", ex);
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP)
&& agv.Scope.Workshop.Equals(s.Scope.Workshop));
if (agvInfo != null)
{
if (agvInfo?.TaskRunState?.Task?.Name.Contains(targetName) ?? false)
{
return true;
}
}
return false;
}
return true;
}
return false;
catch (Exception ex)
{
LogUtil.error($"AgvAtPlace:{agv.Name},{JsonHelper.SerializeObject(AGVManager.agvInfo)}", ex);
return false;
}
}
}
}
DeviceLibrary/bean/jobType/LiftToLinesJobType.cs
......@@ -6,6 +6,7 @@ using DeviceLibrary.manager;
using DeviceLibrary.bean;
using DeviceLibrary.bean.job;
using System;
using DeviceLibrary.lift;
namespace DeviceLibrary
{
......@@ -26,6 +27,8 @@ namespace DeviceLibrary
return null;
else if (CheckHasSameJob(agv))
return null;
else if (CheckHasSendJob(agv))
return null;
else
{
if (agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))//!agv.Scope.Floor.Equals(1) &&
......@@ -35,7 +38,7 @@ namespace DeviceLibrary
{
if (!liftname.Equals(missionInfo?.liftName))
return null;
if (TargetIsOccupied(agv, liftname))
if (AgvAtPlace(agv, liftname))
return null;
if (service.model.MissionInfo.IsFinishedProdcut(missionInfo))
return null;
......@@ -59,6 +62,9 @@ namespace DeviceLibrary
}
}
LiftContext.SetLiftNodeOccupied(agv, liftname);
MissionManager.SetMissionOccupied(missionInfo, agv);
MissionManager.Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
return new LiftToLinesJob(jobParam);
}
}
......@@ -68,12 +74,13 @@ namespace DeviceLibrary
bool CheckHasSameJob(AgvInfo agv)
{
return false;
try
{
if (agv.Scope.Workshop.Equals("1F"))
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && (s.CurJob is LiftToLinesJob ) && s.Scope.Workshop.Equals("1F"));
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP) && s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && (s.CurJob is LiftToLinesJob));
if (agvInfo != null)
return true;
}
......@@ -88,34 +95,32 @@ namespace DeviceLibrary
}
return false;
}
bool TargetIsOccupied(AgvInfo agv, string targetName)
bool CheckHasSendJob(AgvInfo agv)
{
return false;
try
{
if (agv.Scope.Equals("1F"))
if (agv.Scope.Workshop.Equals("1F"))
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP)
&& agv.Scope.Workshop.Equals(s.Scope.Workshop) && s.Scope.Equals("1F"));
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP)&&s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && s.Scope.Workshop.Equals("1F") && (s.CurJob is LineToLiftJob || s.CurJob is F1LiftC1ToLiftD2Job
|| s.CurJob is F1LiftD2ToLiftC1Job));
if (agvInfo != null)
{
//if (agvInfo?.Place.Name.Contains(targetName) ?? false)
// return true;
if (agvInfo?.TaskRunState?.Task?.Name.Equals(targetName) ?? false)
{
return true;
}
}
return true;
}
else
return false;
return false;
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP) && s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && (s.CurJob is LineToLiftJob));
if (agvInfo != null)
return true;
}
}
catch (Exception ex)
catch
{
LogUtil.error($"TargetIsOccupied:{agv.Name},{JsonHelper.SerializeObject(AGVManager.agvInfo)}", ex);
return false;
}
return false;
}
}
}
DeviceLibrary/bean/jobType/LineToLiftJobType.cs
using Common;
using DeviceLibrary.bean.job;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using System;
using System.Collections.Generic;
......@@ -18,6 +19,8 @@ namespace DeviceLibrary.bean.jobType
{
if (!agv.IsIdle())
return null;
if (LiftContext.CheckHasEmptyFinished(agv, SettingString.LIFT_D2, out LiftStatus liftStatus))
return null;
service.model.MissionInfo missionInfo = manager.MissionManager.GetLineToLiftMission(agv, out string liftname);
if (missionInfo != null)
{
......@@ -35,10 +38,10 @@ namespace DeviceLibrary.bean.jobType
Common.LogUtil.error($"无法生成任务，电梯不存在：{liftname}");
return null;
}
if (CheckOtherRobotState(agv, liftname))
{
return null;
}
//if (TargetIsOccupied(agv, liftname))
//{
// return null;
//}
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
MissionManager.SetMissionOccupied(missionInfo, agv);
MissionManager.Log.Info($"执行任务[{agv.Name}][LineToLiftJobType]{JsonHelper.SerializeObject(missionInfo)}");
......@@ -49,19 +52,19 @@ namespace DeviceLibrary.bean.jobType
return null;
}
bool CheckHasSameJob(AgvInfo agv,string liftname)
bool CheckHasSameJob(AgvInfo agv, string liftname)
{
return false;
try
{
if (agv.Scope.Workshop.Equals("1F"))
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop) &&
s.Scope.Workshop.Equals("1F")
&& s.CurJob != null && (s.CurJob is LineToLiftJob || s.CurJob is F1LiftC1ToLiftD2Job
|| s.CurJob is F1LiftD2ToLiftC1Job));
!s.IP.Equals(agv.IP)&&s.CurJob != null && ( s.CurJob is F1LiftC1ToLiftD2Job
|| s.CurJob is F1LiftD2ToLiftC1Job));//s.CurJob is LineToLiftJob ||
if (agvInfo != null)
{
if(agvInfo?.CurJob?.JobParam?.GetMissionInfo()?.liftName?.Equals(liftname)??true)
if (agvInfo?.CurJob?.JobParam?.GetMissionInfo()?.liftName?.Equals(liftname) ?? true)
{
return true;
}
......@@ -71,11 +74,19 @@ namespace DeviceLibrary.bean.jobType
// return true;
}
else
return false;
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop) &&
!s.IP.Equals(agv.IP) && s.CurJob != null && (s.CurJob is LineToLiftJob));
if (agvInfo != null)
{
return true;
}
}
return false;
}
catch(Exception ex)
catch (Exception ex)
{
LogUtil.error("LineToLiftJobType CheckHasSameJob",ex);
LogUtil.error("LineToLiftJobType CheckHasSameJob", ex);
return true;
}
return false;
......
DeviceLibrary/bean/jobType/ShelfBuffToLiftJobType.cs 0 → 100644
using Common;
using DeviceLibrary.bean.job;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using DeviceLibrary.service.model;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.bean.jobType
{
/// <summary>
/// 从缓存点取料并送入电梯内
/// </summary>
public class ShelfBuffToLiftJobType : JobType
{
public override Job GetNewJob(AgvInfo agv)
{
if (!agv.IsIdle())
return null;
if (LiftContext.CheckHasEmptyFinished(agv, SettingString.LIFT_D2, out LiftStatus liftStatus))
return null;
service.model.MissionInfo missionInfo = manager.MissionManager.BuffToLiftMission(agv);
if (missionInfo != null)
{
if (CheckHasSameJob(agv, missionInfo.liftName))
return null;
Node src = manager.NodeManager.GetNode(SettingString.ShelfBuff, NodeType.Node);
Node dest = manager.NodeManager.GetNode(missionInfo.liftName, NodeType.Lift);
if (src == null)
{
Common.LogUtil.error($"无法生成任务，起始点不存在：{missionInfo.sourcePoint}");
return null;
}
if (dest == null)
{
Common.LogUtil.error($"无法生成任务，电梯不存在：{missionInfo.liftName}");
return null;
}
//if (TargetIsOccupied(agv, missionInfo.liftName))
//{
// return null;
//}
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
MissionManager.SetMissionOccupied(missionInfo, agv);
MissionManager.Log.Info($"执行任务[{agv.Name}][ShelfBuffToLiftJobType]{JsonHelper.SerializeObject(missionInfo)}");
if (missionInfo.projectType.Equals(ProjectType.移远成品入库))
{
jobParam.CurTargetNode = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
F1LiftC1ToLiftD2Job job = new F1LiftC1ToLiftD2Job(jobParam);
job.JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_Buff);
return job;
}
else
return new LineToLiftJob(jobParam);
}
return null;
}
bool CheckHasSameJob(AgvInfo agv, string liftname)
{
return false;
try
{
if (agv.Scope.Workshop.Equals("1F"))
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop) &&
s.Scope.Workshop.Equals("1F")
&& s.CurJob != null && (s.CurJob is LineToLiftJob || s.CurJob is F1LiftC1ToLiftD2Job
|| s.CurJob is F1LiftD2ToLiftC1Job));
if (agvInfo != null)
{
if (agvInfo?.CurJob?.JobParam?.GetMissionInfo()?.liftName?.Equals(liftname) ?? true)
{
return true;
}
}
//if (agvInfo != null)
// return true;
}
else
return false;
}
catch (Exception ex)
{
LogUtil.error("LineToLiftJobType CheckHasSameJob", ex);
return true;
}
return false;
}
}
}
DeviceLibrary/lift/LiftContext.cs
......@@ -5,6 +5,7 @@ using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Web.Management;
using static DeviceLibrary.OpManager;
namespace DeviceLibrary.lift
......@@ -41,11 +42,92 @@ namespace DeviceLibrary.lift
{
if (liftStatus?.HasEmptyFinishedShelf ?? false)//D2电梯有成品空架子，不返回门状态
{
//返回一个成品任务id
liftStatus.missionId = manager.MissionManager.GetMissionIdByEmptyFinishedShelfInLift(SettingString.LIFT_C1);
return true;
}
}
return false;
}
public static string GetLiftNodeOccupiedInfo()
{
try
{
StringBuilder sb = new StringBuilder();
sb.AppendLine("电梯位置占用信息");
foreach (var item in lifts)
{
sb.Append(item.Key + "：");
sb.AppendLine("[点位占用："+string.Join(";", item.Value.Agvs) +"][电梯使用："+item.Value.UsingAgv+"]");
}
return sb.ToString();
}
catch
{
}
return "";
}
/// <summary>
/// 设置电梯节点的占用
/// </summary>
/// <param name="agv"></param>
/// <param name="liftName"></param>
public static void SetLiftNodeOccupied(AgvInfo agv, string liftName = "")
{
try
{
if (string.IsNullOrEmpty(liftName))
{
foreach (var item in lifts.Values)
{
if (item.Agvs != null && item.Agvs.Contains(agv.IP))
{
item.Agvs.Remove(agv.IP);
LogUtil.info($"【{agv.Name}】清除电梯节点占用：{string.Join(",",item.Agvs)}");
}
}
}
else
{
if (!lifts[liftName].Agvs.Contains(agv.IP))
{
lifts[liftName].Agvs.Add(agv.IP);
LogUtil.info($"【{agv.Name}】设置电梯【{liftName}】节点占用：{string.Join(",", lifts[liftName].Agvs)}");
}
}
}
catch (Exception ex)
{
LogUtil.error($"SetLiftOccupied: {agv.IP},{liftName}", ex);
}
}
/// <summary>
/// 同车间的其他小车是否在电梯处
/// </summary>
/// <param name="agv"></param>
/// <param name="liftName"></param>
/// <returns></returns>
public static bool OtherAGVIsInLift(AgvInfo agv, string liftName)
{
try
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s =>
s.Scope.Workshop.Equals(agv.Scope.Workshop) && !s.IP.Equals(agv.IP)&&s.Auto);
if (agvInfo != null)
{
return lifts[liftName].Agvs.Contains(agvInfo.IP);
}
else
return false;
}
catch(Exception ex)
{
LogUtil.error($"OtherAGVIsInLift: {agv.IP},{liftName}",ex);
}
return false;
}
/// <summary>
/// 电梯是否开门
/// </summary>
......@@ -79,7 +161,7 @@ namespace DeviceLibrary.lift
/// <returns>true：是</returns>
public static bool IsOccupied(AgvInfo agv, string liftId)
{
return lifts[liftId].OccupiedAgv.Equals(agv.IP);
return lifts[liftId].UsingAgv.Equals(agv.IP);
}
/// <summary>
/// 请求使用电梯
......@@ -135,6 +217,58 @@ namespace DeviceLibrary.lift
return rtn;
}
/// <summary>
/// 更新请求信息
/// </summary>
/// <param name="missionInfo"></param>
/// <param name="agvInfo"></param>
/// <param name="isback"></param>
/// <returns></returns>
public static bool UpdateRequestInfo(service.model.MissionInfo missionInfo, AgvInfo agvInfo, bool isback = false)
{
service.model.SendInInfo info;
bool rtn = false;
if (isback)//返回
{
if (!AGVManager.GetsysClientBy(missionInfo.sourceFloor, missionInfo.liftName, out string destclient))
{
Common.LogUtil.error($"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()
{
liftId = missionInfo.liftName,
destinationFloor = missionInfo.sourceFloor,
destinationPoint = missionInfo.sourcePoint,
destinationClient = destclient,
sourceFloor = missionInfo.destinationFloor,
sourceClient = agvInfo.Client,
updateInfo=true
};
}
else
{
if (!AGVManager.GetsysClientBy(missionInfo.destinationFloor, missionInfo.liftName, out string destclient))
{
Common.LogUtil.error($"请求电梯失败,因目的系统标识获取失败：floor={agvInfo.Scope.Floor},lift={missionInfo.liftName}");
return false;
}
info = new service.model.SendInInfo()
{
liftId = missionInfo.liftName,
sourceClient = agvInfo.Client,
sourceFloor = missionInfo.sourceFloor,
sourcePoint = missionInfo.sourcePoint,
destinationClient = destclient,
destinationFloor = missionInfo.destinationFloor,
destinationPoint = missionInfo.destinationPoint,
updateInfo = true
};
}
LogUtil.info($"更新电梯请求信息：{JsonHelper.SerializeObject(info)}");
rtn = HttpManager.RequestSendIn(info);
return rtn;
}
/// <summary>
/// 成品呼叫
/// </summary>
/// <param name="missionInfo"></param>
......@@ -314,19 +448,19 @@ namespace DeviceLibrary.lift
/// <param name="agvIp"></param>
public static void SetLiftOccupiedAgv(string liftId, string agvIp)
{
lifts[liftId].OccupiedAgv = agvIp;
Common.LogUtil.info($"设置电梯占用:{liftId},{agvIp}【{JsonHelper.SerializeObject(lifts)}】");
lifts[liftId].UsingAgv = agvIp;
Common.LogUtil.info($"使用电梯:{liftId},{agvIp}【{JsonHelper.SerializeObject(lifts)}】");
}
public static void ResetLiftOccupiedAgv(string liftId)
{
try
{
lifts[liftId].OccupiedAgv = "";
Common.LogUtil.info($"清除电梯占用:{liftId}【{JsonHelper.SerializeObject(lifts)}】");
lifts[liftId].UsingAgv = "";
Common.LogUtil.info($"清除使用电梯:{liftId}【{JsonHelper.SerializeObject(lifts)}】");
}
catch (Exception ex)
{
Common.LogUtil.error($"清除电梯占用失败:{liftId}", ex);
Common.LogUtil.error($"清除使用电梯失败:{liftId}", ex);
}
}
public static void ResetLiftOccupiedAgv(AgvInfo agv)
......@@ -335,17 +469,17 @@ namespace DeviceLibrary.lift
{
foreach (var item in lifts.Values)
{
if (agv.IP.Equals(item.OccupiedAgv))
if (agv.IP.Equals(item.UsingAgv))
{
item.OccupiedAgv = "";
Common.LogUtil.info($"{agv.Name}清除电梯占用:【{JsonHelper.SerializeObject(lifts)}】");
item.UsingAgv = "";
Common.LogUtil.info($"{agv.Name}清除使用电梯:【{JsonHelper.SerializeObject(lifts)}】");
}
}
}
catch (Exception ex)
{
Common.LogUtil.error($"{agv.Name}清除电梯占用失败", ex);
Common.LogUtil.error($"{agv.Name}清除使用电梯失败", ex);
}
}
/// <summary>
......@@ -355,8 +489,8 @@ namespace DeviceLibrary.lift
/// <returns>true:占用</returns>
public static bool CheckLiftOccupied(string liftId)
{
LogUtil.debug($"检查电梯{liftId}是否被占用：【{JsonHelper.SerializeObject(lifts)}】");
return !lifts[liftId].OccupiedAgv.Equals("");
LogUtil.debug($"检查电梯{liftId}是否被使用：【{JsonHelper.SerializeObject(lifts)}】");
return !lifts[liftId].UsingAgv.Equals("");
}
/// <summary>
/// 获取电梯状态
......
DeviceLibrary/lift/LiftInfo.cs
......@@ -9,7 +9,11 @@ namespace DeviceLibrary.lift
public class LiftInfo
{
public LiftStatus LiftStatus { get; set; }
public string OccupiedAgv { get; set; } = "";
public string UsingAgv { get; set; } = "";
/// <summary>
/// 占用电梯的小车名
/// </summary>
public List<string> Agvs { get; set; } = new List<string>();
public LiftInfo()
{
LiftStatus = new LiftStatus();
......
DeviceLibrary/manager/AGVManager.cs
......@@ -66,6 +66,7 @@ namespace DeviceLibrary
jobTypes.Add(new F1LiftD2ToLiftC1JobType());
jobTypes.Add(new LiftToLinesJobType());
jobTypes.Add(new BackLiftToLineJobType());
jobTypes.Add(new ShelfBuffToLiftJobType());
jobTypes.Add(new LineToLiftJobType());
jobTypes.Add(new LineOneToManyJobType());
jobTypes.Add(new SteelLineToLiftJobType());
......
DeviceLibrary/manager/MissionManager.cs
......@@ -255,6 +255,33 @@ namespace DeviceLibrary.manager
}
return null;
}
/// <summary>
/// 获取料架缓存点的任务
/// </summary>
/// <param name="agv"></param>
/// <returns></returns>
public static MissionInfo BuffToLiftMission(AgvInfo agv)
{
MissionInfo missionInfo = null;
try
{
if (!agv.Scope.Workshop.Equals("1F")) return null;
var missions = GetMissionInfos().Where(w => w.state != MissionState.中止
&& w.state != MissionState.取消 && w.state != MissionState.完成).ToList();
missionInfo = missions.Find(s => (s.state.Equals(MissionState.料架缓存) &&
agv.Scope.Tasks.Contains(s.projectType.ToString())
));
if (missionInfo != null && AgvCanGetMission(missionInfo))
return missionInfo;
}
catch (Exception e)
{
Log.Error("BuffToLiftMission", e);
}
return null;
}
static bool AgvCanGetMission(MissionInfo missionInfo)
{
return string.IsNullOrEmpty(missionInfo.occupiedAgv);
......@@ -276,8 +303,6 @@ namespace DeviceLibrary.manager
&& agv.Scope.Tasks.Contains(s.projectType.ToString()) && !s.projectType.Equals(ProjectType.移远成品入库));
if (missionInfo != null && AgvCanGetMission(missionInfo))
{
SetMissionOccupied(missionInfo, agv);
Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
return missionInfo;
}
}
......@@ -303,12 +328,11 @@ namespace DeviceLibrary.manager
missionInfo = missions.Where(s => (agv.Scope.Workshop.Equals(s.sourceWorkshop)) &&
(!s.projectType.Equals(ProjectType.钢网入库) && !s.projectType.Equals(ProjectType.钢网领用))
&&
&&
(s.state >= MissionState.返回到达电梯内 && s.state <= MissionState.返回电梯到达)
&& agv.Scope.Tasks.Contains(s.projectType.ToString())).FirstOrDefault();
if (missionInfo != null && AgvCanGetMission(missionInfo))
{
Log.Info($"执行料架返回任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
return missionInfo;
}
}
......@@ -331,7 +355,6 @@ namespace DeviceLibrary.manager
&& agv.Scope.Tasks.Contains(s.projectType.ToString())).FirstOrDefault();
if (missionInfo != null && AgvCanGetMission(missionInfo))
{
Log.Info($"执行钢网分发线体任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
return missionInfo;
}
}
......@@ -354,8 +377,6 @@ namespace DeviceLibrary.manager
&& agv.Scope.Tasks.Contains(s.projectType.ToString())).FirstOrDefault();
if (missionInfo != null && AgvCanGetMission(missionInfo))
{
Log.Info($"执行钢网去立库任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
return missionInfo;
}
}
......@@ -382,7 +403,6 @@ namespace DeviceLibrary.manager
&& s.projectType.Equals(ProjectType.移远成品入库)).FirstOrDefault();
if (missionInfo != null && AgvCanGetMission(missionInfo))
{
Log.Info($"执行1F成品回收任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
return missionInfo;
}
}
......@@ -411,7 +431,6 @@ namespace DeviceLibrary.manager
&& s.projectType.Equals(ProjectType.移远成品入库)).FirstOrDefault();
if (missionInfo != null && AgvCanGetMission(missionInfo) && missionInfo.missionId.StartsWith("P16"))
{
Log.Info($"执行1F成品入库任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
return missionInfo;
}
}
......@@ -442,7 +461,6 @@ namespace DeviceLibrary.manager
if (missionInfo != null && AgvCanGetMission(missionInfo))
{
SetMissionOccupied(missionInfo, agv);
Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
return missionInfo;
}
}
......@@ -489,6 +507,11 @@ namespace DeviceLibrary.manager
SetMissionOccupiedAgv(missionInfo.missionId, agv.Name);
MissionChangedEvent?.Invoke();
}
public static void SetMissionOccupied(string missionId, AgvInfo agv)
{
SetMissionOccupiedAgv(missionId, agv.Name);
MissionChangedEvent?.Invoke();
}
/// <summary>
/// 设置任务状态
/// </summary>
......@@ -581,7 +604,7 @@ namespace DeviceLibrary.manager
public static void AddSteelTarNodes(string missionId, string nodes)
{
MissionInfo missionInfo = GetMission(missionId);
if(missionInfo!=null)
if (missionInfo != null)
{
missionInfo.destinationPoint = nodes;
{
......@@ -605,7 +628,7 @@ namespace DeviceLibrary.manager
Log.Info($"任务[{missionInfo.missionId}]更改钢网目的地[{nodes}]成功");
}
}
/// <summary>
/// 根据任务信息得到电梯名称
......
DeviceLibrary/manager/NodeManager.cs
......@@ -8,6 +8,9 @@ using DeviceLibrary.manager;
using System.Windows.Forms;
using System.Drawing;
using static DeviceLibrary.Node;
using System.Runtime.CompilerServices;
using static System.Net.Mime.MediaTypeNames;
using System.Runtime.ConstrainedExecution;
namespace DeviceLibrary.manager
{
......@@ -20,6 +23,7 @@ namespace DeviceLibrary.manager
public static void InitNodesInfos()
{
InitLinesInAirShower();
nodeInfo = new List<Node>();
XmlConfigOperation.LoadNodeInfos(nodeInfo);
WriteAllNodeInfos();
......@@ -32,7 +36,7 @@ namespace DeviceLibrary.manager
XmlConfigOperation.LoadNodeInfos(nodes);
nodeInfo = nodes;
}
catch(Exception ex)
catch (Exception ex)
{
MessageBox.Show("重载节点失败：" + ex.StackTrace, "提示");
}
......@@ -49,7 +53,8 @@ namespace DeviceLibrary.manager
DgvNode.AutoGenerateColumns = false;
DgvNode.AutoSize = true;
DgvNode.DataSource = bindingSource;
DgvNode.RowPostPaint += delegate {
DgvNode.RowPostPaint += delegate
{
DgvNode.RowsDefaultCellStyle.BackColor = Color.White;
DgvNode.AlternatingRowsDefaultCellStyle.BackColor = Color.LightBlue;
};
......@@ -88,7 +93,7 @@ namespace DeviceLibrary.manager
//}
}
public static void UpdateDataSource(DataGridView dataGridView,int curRow=0,int curColum=0)
public static void UpdateDataSource(DataGridView dataGridView, int curRow = 0, int curColum = 0)
{
BindingSource bindingSource = new BindingSource();
foreach (Node node in NodeManager.nodeInfo)
......@@ -98,8 +103,8 @@ namespace DeviceLibrary.manager
bindingSource.Add(node);
}
dataGridView.DataSource = bindingSource;
if(dataGridView.Rows.Count>=curRow
&& dataGridView.Columns.Count>=curColum)
if (dataGridView.Rows.Count >= curRow
&& dataGridView.Columns.Count >= curColum)
{
dataGridView.CurrentCell = dataGridView.Rows[curRow].Cells[curColum]; ;
}
......@@ -129,10 +134,10 @@ namespace DeviceLibrary.manager
else
return true;
}
public static bool CheckNodes(string nodenames,out string names)
public static bool CheckNodes(string nodenames, out string names)
{
string[] nodes = nodenames.Split(',');
names = "";
names = "";
foreach (string item in nodes)
{
Node node = nodeInfo.Find(s => s.Name.Equals(item));
......@@ -193,5 +198,110 @@ namespace DeviceLibrary.manager
// LogUtil.info(item.ToString());
//}
}
#region 跨门 跨风淋门
/// <summary>
/// 风淋门内的线体
/// key:车间名
/// val:线体名
/// </summary>
static Dictionary<string, List<string>> linesInAirShower = new Dictionary<string, List<string>>();
static void InitLinesInAirShower()
{
//添加3D的
linesInAirShower.Add("3D", new List<string>() { "S1Tail" });
//添加4C的
linesInAirShower.Add("4C", new List<string>() { "C14Tail", "C15Tail" });
}
/// <summary>
/// 检查是否需要跨门
/// </summary>
/// <param name="cur"></param>
/// <param name="next"></param>
/// <returns></returns>
public static bool NeedCrossDoor(AgvInfo agv, Node cur, Node next, out bool isIn, out bool isAirDoor)
{
isIn = true;
isAirDoor = false;
if (agv.Scope.Workshop.Equals("1F")) return false;
return false;
try
{
if (cur == null) cur = agv.Place;
if (next == null) next = agv.Place;
if (!cur.Workshop.Equals(next.Workshop))
{
if (cur.Equals("4D") && next.Workshop.Equals("4C"))
{
return true;
}
else if (cur.Workshop.Equals("4C") && next.Workshop.Equals("4D"))
{
isIn = false;
return true;
}
}
else//在相同车间
{
if (linesInAirShower.ContainsKey(cur.Workshop))//当前点在风淋门内
{
if (linesInAirShower.ContainsKey(next.Workshop))//目标点在风淋门内
{
return false;
}
else//目标点在风淋门外
{
isAirDoor = true;
isIn = false;
return true;
}
}
else//当前点在风淋门外
{
if (linesInAirShower.ContainsKey(next.Workshop))//目标点在风淋门内
{
isAirDoor = true;
return true;
}
else//目标点在风淋门外
{
return false;
}
}
}
}
catch (Exception ex)
{
LogUtil.error("NeedCrossDoor", ex);
}
return false;
}
/// <summary>
/// 是否需要跨两个门
/// </summary>
/// <param name="agv"></param>
/// <param name="node"></param>
/// <returns></returns>
public static bool NeedCrossTwoDoor(AgvInfo agv, Node src, Node dst)
{
if (agv.Scope.Workshop.Equals("1F")) return false;
return false;
try
{
if (src == null) src = agv.Place;
if (dst == null) dst = agv.Place;
if (!src.Workshop.Equals(dst.Workshop) && linesInAirShower.ContainsKey(dst.Workshop))
{
return true;
}
}
catch (Exception ex)
{
LogUtil.error("NeedCrossDoor", ex);
}
return false;
}
#endregion
}
}
DeviceLibrary/service/Service.cs
......@@ -7,6 +7,7 @@ using System.Runtime.Serialization;
using Common;
using DeviceLibrary.service.model;
using DeviceLibrary.manager;
using System.Reflection;
namespace DeviceLibrary
{
......@@ -35,6 +36,13 @@ namespace DeviceLibrary
}
else
{
int.TryParse(createMissionInfo.missionId.Substring(1, 2), out int projectType);
if (projectType > 16)
{
result.code = -1;
result.msg = $"创建任务失败，不存在的任务类型,请确认编号规则:{createMissionInfo.missionId}";
Log.Error(result.msg);
}
if (!NodeManager.CheckNode(createMissionInfo.sourcePoint))
{
result.code = -1;
......
DeviceLibrary/service/model/MissionInfo.cs
......@@ -144,6 +144,19 @@ namespace DeviceLibrary.service.model
return false;
return missionInfo.projectType.Equals(ProjectType.移远成品入库);
}
/// <summary>
/// 拷贝一个新的实例
/// </summary>
/// <returns></returns>
//public MissionInfo ToCopy()
//{
// MissionInfo posInfo = new MissionInfo();
// System.Reflection.PropertyInfo[] info1 = posInfo.GetType().GetProperties();
// System.Reflection.PropertyInfo[] info2 = this.GetType().GetProperties();
// for (int i = 0; i < info1.Length; i++)
// info1[i].SetValue(posInfo, info2[i].GetValue(this));
// return posInfo;
//}
}
public enum MissionState
......@@ -203,7 +216,8 @@ namespace DeviceLibrary.service.model
/// 完成
/// </summary>
完成,
等待成品回收
等待成品回收,
料架缓存
}
/// <summary>
/// 项目类型
......
DeviceLibrary/service/model/SendInInfo.cs
......@@ -39,5 +39,9 @@ namespace DeviceLibrary.service.model
/// 目的地点位
/// </summary>
public string destinationPoint { get; set; }
/// <summary>
/// 更新电梯信息
/// </summary>
public bool updateInfo { get; set; } = false;
}
}
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