接入agv信号

source/Common/util/MyWebClient.cs

@@ -159,18 +159,20 @@ namespace OnlineStore.Common
         {
             try
             {
-                //lock (lockpost)
-                {
-                    string json = JsonConvert.SerializeObject(operation);
-                    string result = Post(url, json, 2000);
-                    T op = JsonConvert.DeserializeObject<T>(result);
+                string json = JsonHelper.SerializeObject(operation);
+                var wc = new MyWebClient(5000);
+                if (string.IsNullOrEmpty(wc.Headers["Content-Type"]))
+                    wc.Headers.Add("Content-Type", "application/json;charset=UTF-8");
+                wc.Encoding = Encoding.UTF8;
 
-                    if (printlog)
-                    {
-                        LogUtil.info("Send [" + json + "]  Revice [" + result + "]");
-                    }
-                    return op;
+                string result = wc.UploadString(url, "POST", json);
+                T op = JsonConvert.DeserializeObject<T>(result);
+
+                if (printlog)
+                {
+                    LogUtil.info("Send [" + json + "]  Revice [" + result + "]");
                 }
+                return op;
 
             }
             catch (Exception ex)
@@ -212,7 +214,7 @@ namespace OnlineStore.Common
                 using (var wc = new MyWebClient(timeOut))
                 {
                     if (string.IsNullOrEmpty(wc.Headers["Content-Type"]))
-                        wc.Headers.Add("Content-Type", "application/json;charset=UTF-8");
+                        wc.Headers.Add("Content-Type", "application/x-www-form-urlencoded;charset=UTF-8");
                     wc.Encoding = encoding;
 
                     result = wc.UploadString(url, "POST", paramData);

source/DeviceLibrary/manager/SServerManager.cs

@@ -623,6 +623,36 @@ namespace OnlineStore.DeviceLibrary
             }
             return result;
         }
+
+        public static int GetOutTaskCount(string hSerial)
+        {
+            try
+            {                
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add("cids", StoreManager.Config.CID);
+                paramMap.Add("hSerial", hSerial);
+
+                string server = GetAddr("/service/store/outTaskCount", paramMap);
+                DateTime startTime = DateTime.Now;
+
+                string resultStr = HttpHelper.Post(server, "", Encoding.UTF8, 10000, out bool IsTimeOut);
+
+                LogUtil.info("GetoutTaskCount " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
+                if (IsTimeOut)
+                {
+                    return 998;
+                }
+                if (int.TryParse(resultStr, out int r))
+                    return r;
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("GetoutTaskCount error ", ex);
+                return 997;
+            }
+            return 999;
+        }
+
         public static void SendPosToStoreCheck(string deviceName, InOutParam param)
         {
             //if (param == null || param.IsNG)

source/DeviceLibrary/manager/agvClient/DoorInfo.cs

@@ -21,8 +21,8 @@ public enum doorIndexE
     //LeftIn = 2,
     //LeftOut = 1,
 
-    XLR_1 = 4,
-    XLR_2 = 3,
+    XLR_1 = 3,
+    XLR_2 = 4,
 
 }
 public enum doorStatusE

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

@@ -51,10 +51,16 @@ namespace OnlineStore.DeviceLibrary
         /// <returns></returns>
         private bool PreInStoreCheck(InOutParam param)
         {
+
+
             if (!AutoInout.autoNext && !InDoorCheck(param))
             {
                 if (param == null || param.PosInfo == null)
                     return false;
+
+                if (param.PosInfo.barcode.StartsWith("Test"))
+                    return true;
+
                 SetWarnMsg(Name + $" 启动入库出错，入口料盘无入库信息[barcode={param.PosInfo.barcode},PosSide={param.PosInfo.GetPosSide()}], 任务取消");
                 SServerManager.cancelPutInTask(Name, param.PosInfo.barcode);
                 return false;
@@ -72,6 +78,8 @@ namespace OnlineStore.DeviceLibrary
             }
             else
             {
+                if (param.PosInfo.barcode.StartsWith("Test"))
+                    return true;
                 if (!ReviceInStoreCMD(param.PosInfo.PosId, param.PosInfo.PlateH, param.PosInfo.PlateW, param.PosInfo.barcode))
                 {
                     LogUtil.error($" 入库验证失败:{param.PosInfo.ToStr()}");
@@ -107,6 +115,8 @@ namespace OnlineStore.DeviceLibrary
             }
             else
             {
+                if (posinfo.barcode.StartsWith("Test"))
+                    return true;
                 if (!ReviceInStoreCMD(posinfo.PosId, posinfo.PlateH, posinfo.PlateW, posinfo.barcode))
                 {
                     SetWarnMsg($" 入库验证失败:{posinfo.ToStr()}");

source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs

@@ -516,6 +516,7 @@ namespace OnlineStore.DeviceLibrary
         /// <param name="hasTray">true：有抽屉</param>
         private void AddHookCheck(bool hasTray)
         {
+            return;//暂时屏蔽
             if (CheckASide())
             {
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Hook_A_Check,hasTray? IO_VALUE.HIGH:IO_VALUE.LOW));
@@ -527,6 +528,7 @@ namespace OnlineStore.DeviceLibrary
         }
         private void AddReelCheck(bool hasReel)
         {
+            return;//暂时屏蔽
             if (CheckASide())
             {
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ForkA_Tray_Check, hasReel ? IO_VALUE.HIGH : IO_VALUE.LOW));

source/DeviceLibrary/storeBean/boxBean/BoxEquip_PosDebug.cs

@@ -434,6 +434,9 @@ namespace OnlineStore.DeviceLibrary
         public void NextGrid()
         {
             PosDebugResultManager.SaveResult();
+            Common.LogUtil.info($"CurColInDrawer:{CurColInDrawer},PreColInDrawer:{PreColInDrawer}; CurRowInDrawer:{CurRowInDrawer},PreRowInDrawer:{PreRowInDrawer}");
+            Common.LogUtil.info($"CurRowInDrawer:{CurRowInDrawer},PreRowInDrawer:{PreRowInDrawer}; CurColInDrawer:{CurColInDrawer},PreColInDrawer:{PreColInDrawer}");
+
             if ((CurColInDrawer == PreColInDrawer && CurRowInDrawer == PreRowInDrawer) || //第一个料格结束
     (CurRowInDrawer == PreRowInDrawer && CurColInDrawer > PreColInDrawer))//同一层下一个，正向走
             {

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs

@@ -119,7 +119,7 @@ namespace OnlineStore.DeviceLibrary
                 {
 
                    //doorInfo.hSerial = MoveInfo.MoveParam.hSerial;
-                    doorInfo.status = doorStatusE.needBox;
+                    doorInfo.status = doorStatusE.free;
                     doorInfo.hasContainer = false;
                     WorkLog($"无料串,：通知agv来送料串 ShelfType:{ShelfType},{doorInfo.doorIndex},hasContainer:{doorInfo.hasContainer}");
                     //Asa.ClientAction action= AgvClient.GetAction(Config.AgvName);
@@ -135,8 +135,8 @@ namespace OnlineStore.DeviceLibrary
             {
                 shelfWatch.Stop();
 
-                doorInfo.status = doorStatusE.free;
-                doorInfo.hasContainer = false;
+                //doorInfo.status = doorStatusE.inStore;
+                //doorInfo.hasContainer = true;
                 //AgvClient.SetToNone(Config.AgvName);
             }
         }

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs

@@ -53,8 +53,8 @@ namespace OnlineStore.DeviceLibrary
                 //LogUtil.info(Name + "StartInstore 失败，料串" + CurrShelf.ToStr() + "需要离开，NeedLeave:" + Config.AgvName + "," + CurrShelf.ShelfRfid + ",agvcallresult:" + agvcallresult.ToString());
 
                 //doorInfo.hSerial = MoveInfo.MoveParam.hSerial;
-                doorInfo.status = doorStatusE.fullBoxNeedLeave;
-                doorInfo.hasContainer = false;
+                doorInfo.status = doorStatusE.free;
+                doorInfo.hasContainer = true;
                 WorkLog($"有料串,：通知agv来取料串 ShelfType:{ShelfType},{doorInfo.doorIndex},hasContainer:{doorInfo.hasContainer}");
 
                 return false;
@@ -126,7 +126,8 @@ namespace OnlineStore.DeviceLibrary
             MoveInfo.ShelfNoTray = false;
             AgvClient.SetToNone(Config.AgvName);
             MoveInfo.NextMoveStep(StepEnum.IB07_AxisUpMove);
-
+            doorInfo.status = doorStatusE.inStore;
+            doorInfo.hasContainer = true;
             WorkLog("料串入料 ：上料轴开始慢速上升到P2点，等待检测到料盘");
             preCodeList = new List<string>(LastCodeList);
             LastCodeList = new List<string>();
@@ -322,8 +323,8 @@ namespace OnlineStore.DeviceLibrary
                 //WorkLog("送出出库料串 ：通知agv来取料串，等待料串离开Config.AgvName:" + Config.AgvName + ",CurrShelfId:" + CurrShelf.ShelfRfid + ",agvcallresult:" + agvcallresult.ToString());
 
                 //doorInfo.hSerial = MoveInfo.MoveParam.hSerial;
-                doorInfo.status = doorStatusE.fullBoxNeedLeave;
-                doorInfo.hasContainer = false;
+                doorInfo.status = doorStatusE.free;
+                doorInfo.hasContainer = true;
                 WorkLog($"有料串,：通知agv来取料串 ShelfType:{ShelfType},{doorInfo.doorIndex},hasContainer:{doorInfo.hasContainer}");
 
                 //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
@@ -514,10 +515,10 @@ namespace OnlineStore.DeviceLibrary
             {
                 needLeave = false;
             }
-
-            if (needLeave)
+            //入库料串强制转出库
+            if (true || needLeave)
             {
-                UpdateShelf(3);
+                UpdateShelf(2);
                 MoveInfo.NextMoveStep(StepEnum.IB21_BatchToP1);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                 WorkLog("送出料串 ：" + msg + "，提升伺服到P1点");
@@ -597,6 +598,7 @@ namespace OnlineStore.DeviceLibrary
             if (MoveInfo.MoveType.Equals(MoveType.InStore) && MoveInfo.IsStep(StepEnum.IB20_InStoreEnd))
             {
                 MoveInfo.NewMove(MoveType.OutStore);
+                doorInfo.status = doorStatusE.outStore;
                 //如果已经在P2位置 或者伺服检测信号亮，直接开始
                 if (BatchAxis.IsInPosition(Config.BatchAxisP2) || Robot.IOValue(Config.IO_ReelCheck).Equals(IO_VALUE.HIGH))
                 {
@@ -634,6 +636,7 @@ namespace OnlineStore.DeviceLibrary
                 }
                 else
                 {
+                    doorInfo.status = doorStatusE.outStore;
                     MoveInfo.NextMoveStep(StepEnum.IS11_ShelfReady);
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 }
@@ -740,7 +743,13 @@ namespace OnlineStore.DeviceLibrary
             { 
                 MoveInfo.NextMoveStep(StepEnum.IS14_ReelOK);
                 WorkLog($"出库{MoveInfo.SLog} 放料完成");
-                CheckShelfIsFull();
+
+                if (SServerManager.GetOutTaskCount(MoveInfo.MoveParam.PosInfo.hSerial) == 0)
+                {
+                    SendOutShelfLeave("工单已结束:" + MoveInfo.MoveParam.PosInfo.hSerial);
+
+                }else
+                    CheckShelfIsFull();
             }
             else
             {
@@ -749,7 +758,9 @@ namespace OnlineStore.DeviceLibrary
         }
 
         private void CheckShelfIsFull()
-        {            
+        {
+
+
             int currPositon = BatchAxis.GetAclPosition();
             int nextP = currPositon - Robot.Config.Height_ChangeValue * (8 + 20);
             if (nextP <= Config.BatchAxisP1)
@@ -1070,7 +1081,7 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (ShelfState.Equals(2))
             {
-                return "料串：" + ShelfRfid + "_出库中";
+                return "料串：" + ShelfRfid + "_待机/出库中";
             }
             else if (ShelfState.Equals(3))
             {

source/DeviceLibrary/storeBean/inputBean/InputEquip.cs

@@ -513,26 +513,36 @@ namespace OnlineStore.DeviceLibrary
         }
         private bool CheckStartOutPos(string posType, InOutPosInfo posInfo, String ioType, List<BatchMoveBean> BatchMoveList, bool shelfAutoLeave = false)
         {
+            DoorInfo doorinfo =null;
             if (posInfo != null && IOValue(ioType).Equals(IO_VALUE.HIGH))
             {
                 foreach (BatchMoveBean moveBean in BatchMoveList)
                 {
-                    var curhSerial = moveBean.MoveInfo.MoveParam.PosInfo.hSerial;
+                    var curhSerial = moveBean.MoveInfo.MoveParam?.PosInfo?.hSerial;
                     if (!string.IsNullOrEmpty(curhSerial) && curhSerial != posInfo.hSerial) {
                         LogInfo($"{posType}当前料串的 hSerial:{curhSerial}，与准备出库到料串 hSerial:{posInfo.hSerial} 不符");
                         moveBean.ShelfNeedLeave = true;
-                        return false;
                     }
-                    else
-                    if (moveBean.ShelfReadyOut(posInfo, shelfAutoLeave))
+                    else if (moveBean.MoveInfo.MoveType== MoveType.InStore && moveBean.MoveInfo.MoveStep== StepEnum.IS23_WaitAgv) {
+                        moveBean.MoveInfo.NextMoveStep(StepEnum.IB20_InStoreEnd);
+                        moveBean.StartOutstore();
+                        return true;
+                    }
+                    else if (moveBean.ShelfReadyOut(posInfo, shelfAutoLeave))
                     {
                         InOutParam param = new InOutParam(posInfo.ToCopy());
                         param.ShelfType = moveBean.ShelfType;
                         LogInfo($"{posType}物料{param.PosInfo.ToStr()}，准备出库到料串{param.ShelfType}");
                         StartOutstore(param);
                         return true;
-                        break;
                     }
+                    if (moveBean.MoveInfo.MoveType == MoveType.None) {
+                        doorinfo = moveBean.doorInfo;
+                    }
+                }
+                if (doorinfo != null) {
+                    doorinfo.status = doorStatusE.needBox;
+                    doorinfo.hasContainer = false;
                 }
 
             }