发送任务间隔长

Common/util/HttpHelper.cs

@@ -184,7 +184,7 @@ namespace Common
         {
             try
             {
-                var wc = new MyWebClient(10000) { Encoding = encoding };                
+                var wc = new MyWebClient(3000) { Encoding = encoding };                
                 var readStream = wc.OpenRead(url);
                 using (var sr = new StreamReader(readStream, encoding))
                 {

DeviceLibrary/bean/MiR_API.cs

@@ -388,7 +388,7 @@ namespace DeviceLibrary
         {
             try
             {
-                
+
                 string ip = info.FleetIP;
                 string url = "http://" + ip + "/api/v2.0.0/mission_scheduler/search";
                 string body = "{\"filters\" : [{\"fieldname\": \"description\", \"operator\": \"LIKE\", \"value\": \"" + info.TaskRunState.Task.Name + "-" + info.TaskRunState.TaskTimeStamp + "-" + info.ID + "\"}]}";
@@ -482,7 +482,7 @@ namespace DeviceLibrary
         /// 删除当前所有任务
         /// </summary>
         /// <param name="info"></param>
-         static void Del_Mission(AgvInfo info)
+        static void Del_Mission(AgvInfo info)
         {
             try
             {
@@ -500,7 +500,7 @@ namespace DeviceLibrary
         /// </summary>
         /// <param name="authorization"></param>
         /// <param name="id"></param>
-         static void Del_Mission_Fleet(AgvInfo agv)
+        static void Del_Mission_Fleet(AgvInfo agv)
         {
             try
             {
@@ -588,7 +588,7 @@ namespace DeviceLibrary
         /// <param name="battery"></param>
         /// <param name="mission_text"></param>
         /// <returns></returns>
-        public static bool Get_State(AgvInfo info, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out MirPosition position,out List<Mir_Error> mir_Errors)
+        public static bool Get_State(AgvInfo info, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out MirPosition position, out List<Mir_Error> mir_Errors)
         {
             stateID = eAGVState.UNKNOWN;
             stateText = "";
@@ -629,13 +629,17 @@ namespace DeviceLibrary
                 position.Point.Y = Convert.ToSingle(posDic["y"]);
 
                 object[] errors = (object[])dic["errors"];
-                if(errors !=null)
+                if (errors != null)
                 {
                     foreach (var item in errors)
                     {
                         Dictionary<string, object> tmp = (Dictionary<string, object>)item;
-                        mir_Errors.Add(new Mir_Error() { code=int.Parse(tmp["code"].ToString()), 
-                            description=tmp["description"].ToString(), module=tmp["module"].ToString() });
+                        mir_Errors.Add(new Mir_Error()
+                        {
+                            code = int.Parse(tmp["code"].ToString()),
+                            description = tmp["description"].ToString(),
+                            module = tmp["module"].ToString()
+                        });
                     }
                 }
                 return true;
@@ -665,6 +669,8 @@ namespace DeviceLibrary
                 Dictionary<string, object> dic = (Dictionary<string, object>)serializer.DeserializeObject(json);
                 if (dic == null) return false;
 
+                if (!dic.ContainsKey("state_id"))
+                    return false;
                 string s = dic["state_id"].ToString();
                 if (s == "3")
                     return true;
@@ -756,7 +762,7 @@ namespace DeviceLibrary
                 ping.Dispose();
                 if (result.Status != System.Net.NetworkInformation.IPStatus.Success)
                 {
-                   // log.Debug("Ping " + ip + " 请求没有响应");
+                    // log.Debug("Ping " + ip + " 请求没有响应");
                     return false;
                 }
                 return true;
@@ -792,7 +798,7 @@ namespace DeviceLibrary
         {
             var client = new RestClient(url) { Timeout = httpTimeout };
             var request = new RestRequest(Method.POST);
-            request.Timeout =10000;
+            request.Timeout = 10000;
             request.AddHeader("Host", ip);
             request.AddHeader("Content-Type", "application/json");
             request.AddHeader("Accept-Language", "zh_CN");
@@ -836,7 +842,7 @@ namespace DeviceLibrary
             request.AddHeader("Accept-Language", "zh_CN");
             request.AddParameter("application/json", "", ParameterType.RequestBody);
             int tryTimes = 5;
-            while(tryTimes>0)
+            while (tryTimes > 0)
             {
                 IRestResponse response = client.Execute(request);
                 log.Info($"HttpDel URL: [{url}][{response.StatusCode}]");

DeviceLibrary/bean/job/ChargeJob.cs

@@ -103,6 +103,7 @@ namespace DeviceLibrary
                             ChargePileManager.StopCharge(agv);
                             runInfo = "充电过程检测到任务，电量" + agv.Battery + "%大于最小电量" + BatteryMin + "%,中断充电执行任务";
                             JobRunStep.Msg = runInfo;
+                            MiR_API.DelMission(agv);
                             JobRunStep.EndJob();
                             return job;
                         }
@@ -132,6 +133,7 @@ namespace DeviceLibrary
                             ChargePileManager.StopCharge(agv);
                             runInfo = "充电过程检测到任务，电量" + agv.Battery + "%大于最小电量" + BatteryMin + "%,中断充电执行任务";
                             JobRunStep.Msg = runInfo;
+                            MiR_API.DelMission(agv);
                             JobRunStep.EndJob();
                             return job;
                         }

DeviceLibrary/bean/job/LiftToLinesJob.cs

@@ -231,7 +231,7 @@ namespace DeviceLibrary
                     // //报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                    service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.agvButton,
-                    $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"), true);
+                    $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"), false);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_10_CheckNextLine))
@@ -423,7 +423,7 @@ namespace DeviceLibrary
                     ////上报运输状态
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
-                        $"等待电梯到达超时"));
+                        $"等待电梯到达超时"),false);
 
 
                 }
@@ -498,7 +498,7 @@ namespace DeviceLibrary
                     //上报位置
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
-                        $"电梯卸车"));
+                        $"电梯卸车"), false);
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回到达电梯内, out string msg);
                 }

DeviceLibrary/bean/job/LineOneToManyJob.cs

@@ -158,7 +158,7 @@ namespace DeviceLibrary.bean.job
                     //报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                    service.model.TransportStatus.TypeStr.error, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
-                    $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"), true);
+                    $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"), false);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_06_CheckNextLine))

DeviceLibrary/bean/job/LineToLiftJob.cs

@@ -193,6 +193,7 @@ namespace DeviceLibrary
                         //4C车使用4D的标识
                         liftClient = $"{Common.AppConfigHelper.GetValue(SettingString.AppIdentity, "NEOTEL")}-{SettingString._4D}";
                     }
+
                     if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, liftClient, out JobParam.LiftStatus))
                     {
                         ChargePileManager.StopCharge(agv);
@@ -207,7 +208,7 @@ namespace DeviceLibrary
                             JobRunStep.ToNextStep(RunStep.LineToLift_05_01_ToStandby);
                             //设置电梯占用
                             //SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车但无工单信息，去待机点，需要手动清空电梯缓存并关闭电梯门";//
+                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车但无工单信息【{JsonHelper.SerializeObject(JobParam?.LiftStatus)}】，去待机点，需要手动清空电梯缓存并关闭电梯门【{LiftContext.GetLiftInfos()}】";//
                             ToStandby(agv);
                             JobRunStep.Msg = runInfo;
                         }
@@ -244,7 +245,7 @@ namespace DeviceLibrary
                     ////上报运输状态
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
-                        $"等待电梯到达超时"));
+                        $"等待电梯到达超时"), false);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_05_01_ToStandby))

DeviceLibrary/bean/job/LineToLineJob.cs

@@ -111,7 +111,7 @@ namespace DeviceLibrary.bean.job
                         //报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
                         manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                        service.model.TransportStatus.TypeStr.error, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
-                        $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"), true);
+                        $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"), false);
                     }
                 }
             }

DeviceLibrary/bean/job/SteelLiftToLinesJob.cs

@@ -176,7 +176,7 @@ namespace DeviceLibrary.bean.job
                     //报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                    service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.agvButton,
-                    $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"), true);
+                    $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"), false);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_10_CheckNextLine))

DeviceLibrary/bean/job/SteelLiftToStorageJob.cs

@@ -170,7 +170,7 @@ namespace DeviceLibrary.bean.job
                     //报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                    service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.agvButton,
-                    $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"), true);
+                    $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"), false);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_10_CheckNextLine))
@@ -281,7 +281,7 @@ namespace DeviceLibrary.bean.job
                     //上报运输状态
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
-                        $"等待立库离开信号超时"));
+                        $"等待立库离开信号超时"),false);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_18_PutOn))
@@ -409,7 +409,7 @@ namespace DeviceLibrary.bean.job
                     //上报运输状态
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
-                        $"等待电梯到达超时"));
+                        $"等待电梯到达超时"),false);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_22_CheckLiftStatus))

DeviceLibrary/bean/job/SteelLineToLiftJob.cs

@@ -115,7 +115,7 @@ namespace DeviceLibrary
                     //报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                    service.model.TransportStatus.TypeStr.error, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
-                    $"等待{JobParam.SrcNode.Name}确认超时{timeoutval.ToString("f2")}分"), true);
+                    $"等待{JobParam.SrcNode.Name}确认超时{timeoutval.ToString("f2")}分"), false);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_WaitConfirm))
@@ -184,7 +184,7 @@ namespace DeviceLibrary
                             JobRunStep.ToNextStep(RunStep.LineToLift_05_01_ToStandby);
                             //设置电梯占用
                             //SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车但无工单信息，去待机点，需要手动清空电梯缓存并关闭电梯门";//
+                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车但无工单信息【{JsonHelper.SerializeObject(JobParam?.LiftStatus)}】，去待机点，需要手动清空电梯缓存并关闭电梯门【{LiftContext.GetLiftInfos()}】";//
                             ToStandby(agv);
                             JobRunStep.Msg = runInfo;
                         }
@@ -219,7 +219,7 @@ namespace DeviceLibrary
                     //上报运输状态
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
-                        $"等待电梯到达超时"));
+                        $"等待电梯到达超时"), false);
 
                 }
             }

DeviceLibrary/manager/HttpManager.cs

@@ -472,14 +472,14 @@ namespace DeviceLibrary
         }
 
         static string agvreporttask = AppConfigHelper.GetValue(SettingString.ITS_UpdateLine, "http://10.85.17.233/ESMTCommonInterface/CommonService.asmx/") + "UpdateAGVtranstask";
-      
-        
+
+
         /// <summary>
         /// AGV反馈任务执行信息
         /// </summary>
         /// <param name="send"></param>
         /// <returns></returns>
-        public static void UpdateAGVtranstask(string txt, bool isError = false)
+        public static void UpdateAGVtranstask(string txt, bool waiFinish = false)
         {
 
             Task task = Task.Factory.StartNew(() =>
@@ -514,7 +514,10 @@ namespace DeviceLibrary
                    }
                }
                    );
-            task.Wait();
+            if (waiFinish)
+            {
+                task.Wait();
+            }
         }
         #endregion
     }

DeviceLibrary/manager/MissionManager.cs

@@ -289,7 +289,7 @@ namespace DeviceLibrary.manager
 
                 missionInfo = missions.Find(s => s.sourceWorkshop.Equals(agv.Scope.Workshop) && !s.sourceWorkshop.Equals(s.destinationWorkshop) &&
                                 s.state.Equals(MissionState.创建) && !s.projectType.Equals(ProjectType.钢网入库) && !s.projectType.Equals(ProjectType.钢网领用) &&
-                                agv.Scope.Tasks.Contains(s.projectType.ToString()) && AgvCanGetMission(s)&& CanExecuteLiftMission(s));
+                                agv.Scope.Tasks.Contains(s.projectType.ToString()) && AgvCanGetMission(s) && CanExecuteLiftMission(s));
                 if (missionInfo != null)// && AgvCanGetMission(missionInfo)
                 {
                     liftname = missionInfo.liftName;//MissionManager.GetLiftName(missionInfo);
@@ -348,7 +348,7 @@ namespace DeviceLibrary.manager
         /// </summary>
         /// <param name="missionType"></param>
         /// <returns></returns>
-        public static MissionInfo GetReceiveMission(AgvInfo agv,string liftId)
+        public static MissionInfo GetReceiveMission(AgvInfo agv, string liftId)
         {
             MissionInfo missionInfo = null;
             try
@@ -360,7 +360,7 @@ namespace DeviceLibrary.manager
                 && agv.Scope.Tasks.Contains(s.projectType.ToString())
                 && !s.projectType.Equals(ProjectType.移远成品入库)
                 && !s.projectType.Equals(ProjectType.钢网入库)
-                 && !s.projectType.Equals(ProjectType.钢网领用)&& s.liftName.Equals(liftId));
+                 && !s.projectType.Equals(ProjectType.钢网领用) && s.liftName.Equals(liftId));
                 if (missionInfo != null && AgvCanGetMission(missionInfo))
                 {
                     return missionInfo;
@@ -607,7 +607,7 @@ namespace DeviceLibrary.manager
                                  && w.state != MissionState.取消 && w.state != MissionState.完成).ToList();
 
                 missionInfo = missions.Where(s => s.destinationWorkshop.Equals(SettingString._4C) &&
-                s.sourceWorkshop.Equals(SettingString._4D) &&agv.Scope.Workshop.Equals(SettingString._4D) &&
+                s.sourceWorkshop.Equals(SettingString._4D) && agv.Scope.Workshop.Equals(SettingString._4D) &&
                 //(s.projectType.Equals(ProjectType.PCB领用) || s.projectType.Equals(ProjectType.包材领用))&&
                 (s.state == MissionState.创建) && agv.Scope.Tasks.Contains(s.projectType.ToString())).FirstOrDefault();
                 if (missionInfo != null && AgvCanGetMission(missionInfo))
@@ -932,6 +932,10 @@ namespace DeviceLibrary.manager
                             {
                                 liftname = SettingString.LIFT_D2;
                             }
+                            else if (missionInfo.destinationWorkshop.Equals(SettingString._3D))
+                            {
+                                liftname = SettingString.LIFT_D2;
+                            }
                         }
                         if (missionInfo.sourceWorkshop.Equals(SettingString._4C))
                         {

DeviceLibrary/manager/UploadManager.cs

@@ -93,12 +93,12 @@ namespace DeviceLibrary.manager
         /// 运输状态上报
         /// </summary>
         /// <param name="transportStatus"></param>
-        public static void UploadTransportStatus(service.model.TransportStatus transportStatus,bool iserror=false)
+        public static void UploadTransportStatus(service.model.TransportStatus transportStatus,bool waiFinish=true)
         {
             try
             {
                 string txt = Common.JsonHelper.SerializeObject(transportStatus);
-                HttpManager.UpdateAGVtranstask(txt, iserror);
+                HttpManager.UpdateAGVtranstask(txt, waiFinish);
             }
             catch (Exception ex)
             {