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张东亮 / Qisda-SO1037-AGVDispatch

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Commit d1c76358 由 张东亮
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删除不必要的延时

1 个父辈 29e0dfa3
内嵌 并排
正在显示 5 个修改的文件 包含 22 行增加 和 31 行删除
DeviceLibrary/Control.cs
...@@ -199,22 +199,20 @@ namespace DeviceLibrary ...@@ -199,22 +199,20 @@ namespace DeviceLibrary
AgvInfo agv = AGVManager.agvInfo[i]; AgvInfo agv = AGVManager.agvInfo[i];
if (!agv.IsCon) continue; //AGV网络连接 if (!agv.IsCon) continue; //AGV网络连接
if (!AGVManager.agvInfo[i].Auto) continue; //AGV是否可用 if (!AGVManager.agvInfo[i].Auto) continue; //AGV是否可用
//Ready,Pause,Executing，Error
if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause))
{
MiR_API.State_Ready(AGVManager.agvInfo[i]);
continue;
}
if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Error)) if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Error))
{ {
MiR_API.Clear_Error(AGVManager.agvInfo[i]); MiR_API.Clear_Error(AGVManager.agvInfo[i]);
continue; continue;
} }
if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready) if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause))
&& !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.None))
{ {
continue; MiR_API.State_Ready(AGVManager.agvInfo[i]);
} }
//if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready)
// && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.None))
//{
// continue;
//}
if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task)) if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task))
{ {
if (agv.CurJob != null) if (agv.CurJob != null)
...@@ -234,12 +232,18 @@ namespace DeviceLibrary ...@@ -234,12 +232,18 @@ namespace DeviceLibrary
agv.CurJob = job; agv.CurJob = job;
} }
} }
else
if (agv.CurJob != null)
{ {
agv.CurJob = agv.CurJob.Execute(agv); agv.CurJob = agv.CurJob.Execute(agv);
} }
if(
(agv.CurJob!=null && !(agv.CurJob is ChargeJob || agv.CurJob is StandyJob))&& (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing)))
{
MiR_API.Get_Task_State(agv);
Thread.Sleep(50);
MiR_API.Get_IO_Status(agv);
}
} }
catch (Exception ex) catch (Exception ex)
{ {
......
DeviceLibrary/bean/job/ChargeJob.cs
...@@ -24,14 +24,9 @@ namespace DeviceLibrary ...@@ -24,14 +24,9 @@ namespace DeviceLibrary
/// <param name="agv"></param> /// <param name="agv"></param>
public override Job Run(AgvInfo agv) public override Job Run(AgvInfo agv)
{ {
//agv.SetJobContext(new bean.agv.JobContext() 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)) if (JobRunStep.IsStep(RunStep.NONE))
{ {
ClearLiftNodeOccupied(agv); ClearLiftNodeOccupied(agv);
......
DeviceLibrary/bean/job/LiftToLinesJob.cs
...@@ -379,7 +379,7 @@ namespace DeviceLibrary ...@@ -379,7 +379,7 @@ namespace DeviceLibrary
runInfo = $"{JobParam.SrcNode.AliceName}门已开，检查电梯内该层是否有料车"; runInfo = $"{JobParam.SrcNode.AliceName}门已开，检查电梯内该层是否有料车";
JobRunStep.Msg = runInfo; JobRunStep.Msg = runInfo;
//上报位置 //上报位置
System.Threading.Thread.Sleep(1000); //System.Threading.Thread.Sleep(1000);
} }
else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo())) else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
{ {
...@@ -461,7 +461,6 @@ namespace DeviceLibrary ...@@ -461,7 +461,6 @@ namespace DeviceLibrary
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv); bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关门: {rtn}"; runInfo = $"离开{JobParam.SrcNode.AliceName}，关门: {rtn}";
JobRunStep.Msg = runInfo; JobRunStep.Msg = runInfo;
System.Threading.Thread.Sleep(5000);
ClearLiftNodeOccupied(agv); ClearLiftNodeOccupied(agv);
} }
} }
......
DeviceLibrary/bean/job/StandyJob.cs
...@@ -27,14 +27,9 @@ namespace DeviceLibrary ...@@ -27,14 +27,9 @@ namespace DeviceLibrary
/// <param name="agv"></param> /// <param name="agv"></param>
public override Job Run(AgvInfo agv) public override Job Run(AgvInfo agv)
{ {
//agv.SetJobContext(new bean.agv.JobContext() 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)) if (JobRunStep.IsStep(RunStep.NONE))
{ {
{ {
......
DeviceLibrary/bean/job/SwitchShelfJob.cs
...@@ -240,7 +240,6 @@ namespace DeviceLibrary ...@@ -240,7 +240,6 @@ namespace DeviceLibrary
} }
JobRunStep.Msg = runInfo; JobRunStep.Msg = runInfo;
Thread.Sleep(1000);
} }
} }
else if (JobRunStep.IsStep(RunStep.Switch_15_CloseDoor)) else if (JobRunStep.IsStep(RunStep.Switch_15_CloseDoor))
...@@ -263,7 +262,6 @@ namespace DeviceLibrary ...@@ -263,7 +262,6 @@ namespace DeviceLibrary
continueUse = true; continueUse = true;
//关门 //关门
bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, continueUse); bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, continueUse);
Thread.Sleep(2000);
if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name)) if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
{ {
LiftContext.CloseFinishedProduct(JobParam.CurTargetNode.Name, agv); LiftContext.CloseFinishedProduct(JobParam.CurTargetNode.Name, agv);
......
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