1

Source/AGVDispatch/bin/ProCopyClient.exe.config

@@ -4,6 +4,6 @@
     <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
     <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
   </startup>
   </startup>
   <appSettings>
   <appSettings>
-    <add key="ProName" value="AGVDispatch-待机点不显示" />
+    <add key="ProName" value="AGVDispatch-添加上报日志打印" />
   </appSettings>
   </appSettings>
 </configuration>
 </configuration>
\ No newline at end of file

Source/DeviceLib/bll/Context.cs

@@ -8,7 +8,7 @@ namespace DeviceLib.BLL
     public class Context
     public class Context
     {
     {
         static Thread threadRobotCall;
         static Thread threadRobotCall;
-        static int interval = 300;
+        static int interval = 1000;
         static bool isLoad = false;
         static bool isLoad = false;
         static bool loop = false;
         static bool loop = false;
 
 

Source/DeviceLib/bll/manager/RobotManager.cs

@@ -62,7 +62,7 @@ namespace DeviceLib.BLL
         /// <returns></returns>
         /// <returns></returns>
         public static bool RobotIsInNode(string nodename)
         public static bool RobotIsInNode(string nodename)
         {
         {
-            return robots.Find(s=>s?.mission_state?.node_name.Equals(nodename) ??false)!=null;
+            return robots.Find(s => s?.mission_state?.node_name.Equals(nodename) ?? false) != null;
         }
         }
         /// <summary>
         /// <summary>
         /// 获取可执行任务的机器人
         /// 获取可执行任务的机器人
@@ -87,7 +87,7 @@ namespace DeviceLib.BLL
         public static void SetRobot(Robot robot)
         public static void SetRobot(Robot robot)
         {
         {
             ConfigOperation.SetRobot(robot);
             ConfigOperation.SetRobot(robot);
-        }       
+        }
         public static void SetDebug(int id, bool debug)
         public static void SetDebug(int id, bool debug)
         {
         {
             Robot robot = getRobot(id);
             Robot robot = getRobot(id);
@@ -129,31 +129,32 @@ namespace DeviceLib.BLL
             }
             }
 
 
         }
         }
+        static Dictionary<string, string> uploadStr = new Dictionary<string, string>();
         public static void UploadState(Robot robot)
         public static void UploadState(Robot robot)
         {
         {
             try
             try
             {
             {
-                AgvStatus agv=  new AgvStatus()
+                AgvStatus agv = new AgvStatus()
                 {
                 {
                     name = robot.name,
                     name = robot.name,
                     elec = robot?.status?.battery_percentage.ToString("f2"),
                     elec = robot?.status?.battery_percentage.ToString("f2"),
-                    type= robot.id
-                 };
-                if(robot.job!=null)
+                    type = robot.id
+                };
+                if (robot.job != null)
                 {
                 {
-                    if(robot.job is StandbyJob)
+                    if (robot.job is StandbyJob)
                     {
                     {
                         agv.loc = "STANDBY";
                         agv.loc = "STANDBY";
                     }
                     }
-                    else if(robot.job is ChargeJob)
+                    else if (robot.job is ChargeJob)
                     {
                     {
                         agv.loc = "CHARGE";
                         agv.loc = "CHARGE";
                     }
                     }
-                    else if(robot.job is CommLineJob || robot.job is ToStoreJob)
+                    else if (robot.job is CommLineJob || robot.job is ToStoreJob)
                     {
                     {
                         agv.loc = "TAKE";
                         agv.loc = "TAKE";
                     }
                     }
-                    else if(robot.job.JobParam.LineNode!=null)
+                    else if (robot.job.JobParam.LineNode != null)
                     {
                     {
                         agv.loc = robot.job.JobParam.LineNode.name;
                         agv.loc = robot.job.JobParam.LineNode.name;
                     }
                     }
@@ -170,21 +171,38 @@ namespace DeviceLib.BLL
                 {
                 {
                     if (!string.IsNullOrEmpty(robot.mission_state.node_name))
                     if (!string.IsNullOrEmpty(robot.mission_state.node_name))
                     {
                     {
-                        if(Setting_Str.standby.Equals(robot.mission_state.node_name))
+                        if (Setting_Str.standby.Equals(robot.mission_state.node_name))
                         {
                         {
                             agv.loc = "STANDBY";
                             agv.loc = "STANDBY";
                         }
                         }
-                        else if(Setting_Str.Charge.Equals(robot.mission_state.node_name))
+                        else if (Setting_Str.Charge.Equals(robot.mission_state.node_name))
                         {
                         {
                             agv.loc = "CHARGE";
                             agv.loc = "CHARGE";
                         }
                         }
                     }
                     }
                 }
                 }
-                HttpManager.UpdateAgvStatus(new List<AgvStatus> {agv });
+                HttpManager.UpdateAgvStatus(new List<AgvStatus> { agv });
+                string json = JsonHelper.SerializeObject(agv);
+                if (!uploadStr.ContainsKey(agv.name))
+                {
+                    uploadStr.Add(agv.name, json);
+                    LogUtil.Info($"Upload AGV State:{json}");
+                }
+                else
+                {
+                    if (!string.IsNullOrEmpty(json))
+                    {
+                        if (!json.Equals(uploadStr[agv.name]))
+                        {
+                            uploadStr[agv.name] = json;
+                            LogUtil.Info($"Upload AGV State:{json}");
+                        }
+                    }
+                }
             }
             }
-            catch(Exception ex)
+            catch (Exception ex)
             {
             {
-                LogUtil.Error($"{robot.name} 上报状态失败",ex);
+                LogUtil.Error($"{robot.name} 上报状态失败", ex);
             }
             }
         }
         }
         static MissionState getMissionState(int id)
         static MissionState getMissionState(int id)
@@ -205,9 +223,9 @@ namespace DeviceLib.BLL
             }
             }
             return null;
             return null;
         }
         }
-        public static void ClearBoxBind(Robot robot,string rfid)
+        public static void ClearBoxBind(Robot robot, string rfid)
         {
         {
-            HttpManager.ClearBoxBind(rfid,robot.name);
+            HttpManager.ClearBoxBind(rfid, robot.name);
         }
         }
     }
     }
 }
 }