软件更新后，工位2等待时间超时清理后会闪退

source/AssemblyLineClient/FrmLine.cs

@@ -386,7 +386,7 @@ namespace OnlineStore.AssemblyLine
             //ClearMemory();
             catch (Exception ex)
             {
-                LogUtil.error("LogM Error: ", ex);
+                //LogUtil.error("LogM Error: ", ex);
             }
         }
         object showLockObj = new object();

source/AssemblyLineClient/Program.cs

@@ -10,6 +10,7 @@ using System.Runtime.InteropServices;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 using OnlineStore.DeviceLibrary;
+using System.Runtime.ExceptionServices;
 
 namespace OnlineStore.AssemblyLine
 {
@@ -52,6 +53,7 @@ namespace OnlineStore.AssemblyLine
         /// 应用程序的主入口点。
         /// </summary>
         [STAThread]
+        [HandleProcessCorruptedStateExceptions]
         static void Main(string[] Args)
         {
             //string code = " (X: 380，Y: 148) L00000000000WG9D19055;E20191230 0180;B7H.10618.5B1008082019123004000;R0080820191230E9600";

source/DeviceLibrary/DeviceLibrary.csproj

@@ -74,6 +74,7 @@
     <Compile Include="clientLine\HY\HY_Shunt.cs" />
     <Compile Include="deviceLibrary\IO\NJSDot\SDotManager.cs" />
     <Compile Include="deviceLibrary\IO\NJSDot\NanjingSDotIO.cs" />
+    <Compile Include="ESS\ESS_CancelBody.cs" />
     <Compile Include="ESS\ESS_CreateTaskBody.cs" />
     <Compile Include="ESS\TaskStateInfo.cs" />
     <Compile Include="lineManager\ALineManager.cs" />

source/DeviceLibrary/ESS/ESS_CancelBody.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace OnlineStore.DeviceLibrary
+{
+    internal class ESS_CancelBody
+    {
+        public List<string> taskCodes { get; set; }
+    }
+}

source/DeviceLibrary/clientLine/AGV/FeedingEquip.cs

@@ -206,7 +206,7 @@ namespace OnlineStore.DeviceLibrary
                     if (IOValue(IO_Type.AGV_BoxCheck).Equals(IO_VALUE.HIGH) && CheckStopWatch(trayCheckWait, TrayWaitTime, true))
                     {
                         EquipBase equipBase = GetOutEquip();
-                        if (equipBase != null && equipBase.IsIdle(1))
+                        if (equipBase != null && equipBase.IsIdle(1) && ContainerManager.CntofContainerOnLine() < 24)
                         {
                             ClearSpecifiedWarnMsg("等待下游");
                             waitNextIdleWatch.Stop();
@@ -219,7 +219,7 @@ namespace OnlineStore.DeviceLibrary
                             {
                                 waitNextIdleWatch.Start();
                             }
-                            if (waitNextIdleWatch.Elapsed.TotalSeconds >= 20)
+                            if (waitNextIdleWatch.Elapsed.TotalSeconds >= 60)
                                 SetWarnMsg($"等待下游{equipBase.Name}空闲超时{FormUtil.GetSpanStr(waitNextIdleWatch.Elapsed)}");
                         }
                     }
@@ -305,7 +305,7 @@ namespace OnlineStore.DeviceLibrary
                 else
                 {
                     MoveInfo.NextMoveStep(LineMoveStep.FO_03_StopUp);
-                    LogInfo( "不存在下游，直接结束");
+                    LogInfo("不存在下游，直接结束");
                 }
             }
             else if (MoveInfo.IsStep(LineMoveStep.FO_03_StopUp))

source/DeviceLibrary/clientLine/EquipBase.cs

@@ -283,6 +283,10 @@ namespace OnlineStore.DeviceLibrary
             PreContainerId = "";
             CurContainerId = "";
         }
+        /// <summary>
+        /// 更新分拣台rfid
+        /// </summary>
+        /// <returns></returns>
         internal RFIDData UpdateStationCode()
         {
             RFIDData ShelfId_Station = new RFIDData();
@@ -298,6 +302,27 @@ namespace OnlineStore.DeviceLibrary
             }
             return ShelfId_Station;
         }
+        internal bool GetStationCode(out string rfid)
+        {
+            rfid = "";
+            RFIDData ShelfId_Station = new RFIDData();
+            try
+            {
+                if (RFIDIP != null && RFIDIP.Count > 0)
+                {
+                    //判断料架的编码是否正确
+                    ShelfId_Station = RFIDManager.ReadRFID(RFIDIP[1]);
+                    rfid = ShelfId_Station.StrData;
+                    return ShelfId_Station.IsValidated();
+                }
+
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(Name + "UpdateStationCode 出错：", ex);
+            }
+            return false;
+        }
         internal bool UpdateContainerCode()
         {
             RFIDData rfidData = RFIDManager.GetContainerCode(Name, DeviceID, 0);

source/DeviceLibrary/clientLine/LineBean.cs

@@ -844,6 +844,12 @@ namespace OnlineStore.DeviceLibrary
                         if (data.IsValidated())
                         {
                             map.Add($"s{equip.DeviceID}", data.StrData);
+                            //自动上传出库料箱被其他工位拿走的状态
+                           if(ContainerManager.GetOutStoreBox(data.ToContainerId()))
+                            {
+                                ContainerManager.UpdateTaskStatus(data.ToContainerId(), TaskStatus.FINISHED, $"s{equip.DeviceID}");
+                                LogUtil.info($"出库容器被拿上工位s{equip.DeviceID},自动完成：{data.ToContainerId()}");
+                            }
                         }
                         else
                         {

source/DeviceLibrary/clientLine/StationEquip_InStore.cs

@@ -87,7 +87,30 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.IsStep(LineMoveStep.SI_03_ReadAndCheckBox))
             {
-                if (IsCurStationBox(curboxInfo))
+                if(GetStationCode(out string rfid))
+                {
+                    EquipBase equipBase = GetOutEquip();
+                    if (equipBase != null)
+                    {
+                        if (equipBase.IsIdle())
+                        {
+                            MoveInfo.NextMoveStep(LineMoveStep.SI_08_StopDown);
+                            LogInfo($"分拣台有箱子{rfid},放行");
+                            StopDown(MoveInfo);
+                        }
+                        else
+                        {
+                            MoveInfo.NextMoveStep(LineMoveStep.SI_09_WaitDownriverIdle);
+                            LogInfo($"分拣台有箱子{rfid},等待下游{equipBase.Name}空闲再放行容器");
+                        }
+                    }
+                    else
+                    {
+                        SetWarnMsg($"无下游信息，结束处理");
+                        MoveEndS();
+                    }
+                }
+                else if (IsCurStationBox(curboxInfo))
                 {
                     MoveInfo.NextMoveStep(LineMoveStep.SI_04_BoxArrive);
                     LogInfo($" 该箱子是该工位出库容器,上报到达状态");

source/DeviceLibrary/clientLine/StationEquip_OutStore.cs

@@ -21,8 +21,8 @@ namespace OnlineStore.DeviceLibrary
             MoveInfo.MoveParam = param;
             MoveInfo.NextMoveStep(LineMoveStep.SO_01_FrontStopUp);
             FrontStopUp(MoveInfo);
-            StopDown(MoveInfo);
-            LogInfo($"开始出库，前阻挡上升，阻挡下降");
+            StopUp(MoveInfo);
+            LogInfo($"开始出库，前阻挡上升，阻挡上升");
             return true;
         }
         protected override void OutStoreProcess()
@@ -39,19 +39,28 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveInfo.NextMoveStep(LineMoveStep.SO_02_WaitBoxInToLine);
                 AddWaitBoxCheck(true);
-                WaitTime(30000);
-                MoveInfo.OneWaitCanEndStep = true;
+                WaitTime(3000);
+                //MoveInfo.OneWaitCanEndStep = true;
                 LogInfo($"等待箱子离开工作站");
             }       
             else if (MoveInfo.IsStep(LineMoveStep.SO_02_WaitBoxInToLine))
             {
+                LogUtil.info("进入 SO_03_WaitTime 前");
                 MoveInfo.NextMoveStep(LineMoveStep.SO_03_WaitTime);
+                LogUtil.info("进入 SO_03_WaitTime 后"+$" barcode={MoveInfo?.MoveParam?.Containercode??""}");
                 ContainerManager.UpdateTaskStatus(MoveInfo.MoveParam.Containercode, TaskStatus.IN_ON_LINE);
-                LogInfo($" 箱子离开工作站完成");
-                FrontStopDown(MoveInfo);
+                LogInfo($" 箱子到达线体，阻挡下降");
+                StopDown(MoveInfo);
+                WaitTime(3000);
             }
             else if (MoveInfo.IsStep(LineMoveStep.SO_03_WaitTime))
             {
+                MoveInfo.NextMoveStep(LineMoveStep.SO_04_FrontStopDown);
+                LogInfo($"前阻挡下降");
+                FrontStopDown(MoveInfo);
+            }
+            else if (MoveInfo.IsStep(LineMoveStep.SO_04_FrontStopDown))
+            {
                 MoveEndS();
             }
             else

source/DeviceLibrary/lineManager/ALineManager.cs

@@ -100,7 +100,7 @@ namespace OnlineStore.DeviceLibrary
 
                     isInit = true;
                     string lineType = ConfigAppSettings.GetValue(Setting_Init.Line_Type);
-                    LogUtil.info("  类型=" + lineType + "，开始加载 配置");
+                    LogUtil.info("类型=" + lineType + "，开始加载 配置");
                     if (lineType == DeviceType.Line)
                     {
                         string appPath = Application.StartupPath;

source/DeviceLibrary/lineManager/ContainerManager.cs

@@ -5,10 +5,12 @@ using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
+using System.ComponentModel;
 using System.Diagnostics;
 using System.Diagnostics.Eventing.Reader;
 using System.IO;
 using System.Linq;
+using System.Security.Cryptography;
 using System.Text;
 using System.Threading;
 using System.Windows.Forms;
@@ -41,6 +43,26 @@ namespace OnlineStore.DeviceLibrary
             return new List<ContainerInfo>(containerInfoMap.Values);
         }
         /// <summary>
+        /// 在线体上的料箱数量
+        /// </summary>
+        /// <returns></returns>
+        public static int CntofContainerOnLine()
+        {
+            try
+            {
+              List<ContainerInfo> containers=  getTrayList().FindAll(s=>(s.Status.Equals(TaskStatus.IN_ON_LINE) || s.Status.Equals(TaskStatus.OUT_ON_LINE)));
+                if(containers!=null)
+                {
+                    return containers.Count;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error($"CntofContainerOnLine", ex);
+            }
+            return 0;
+        }
+        /// <summary>
         ///处理未发送AGV任务的容器
         /// </summary>
         /// <returns></returns>
@@ -62,18 +84,18 @@ namespace OnlineStore.DeviceLibrary
         {
             foreach (var item in getTrayList())
             {
-                bool rtn = SServerManager.UpdateLocInfo("ContainerManager", item.ContainerValidCode, item.Status,item.CurLoc);
+                bool rtn = SServerManager.UpdateLocInfo("ContainerManager", item.ContainerValidCode, item.Status, item.CurLoc);
                 if (rtn)
                 {
                     if (item.Status.Equals(TaskStatus.ERROR))
                     {
-                       bool res= containerInfoMap.TryRemove(item.ContainerValidCode, out ContainerInfo containerInfo);
-                        LogUtil.info($"容器状态上报成功，因任务异常，自动删除该任务【{res}】：【{JsonHelper.SerializeObject(containerInfo)}】");
+                        bool res = containerInfoMap.TryRemove(item.ContainerValidCode, out ContainerInfo containerInfo);
+                        LogUtil.info($"因任务异常，自动删除该任务【{res}】：【{JsonHelper.SerializeObject(containerInfo)}】");
                     }
-                    else if(item.Status.Equals(TaskStatus.FINISHED))
+                    else if (item.Status.Equals(TaskStatus.FINISHED))
                     {
                         bool res = containerInfoMap.TryRemove(item.ContainerValidCode, out ContainerInfo containerInfo);
-                        LogUtil.info($"容器状态上报成功，任务完成【{res}】：【{JsonHelper.SerializeObject(containerInfo)}】");
+                        LogUtil.info($"任务完成【{res}】：【{JsonHelper.SerializeObject(containerInfo)}】");
                     }
                 }
             }
@@ -87,7 +109,35 @@ namespace OnlineStore.DeviceLibrary
             }
             return null;
         }
-
+        /// <summary>
+        /// 获取在线体上的出库箱子
+        /// </summary>
+        /// <param name="boxId"></param>
+        /// <returns>true,存在</returns>
+        public static bool GetOutStoreBox(string boxId)
+        {
+            ContainerInfo container = GetTrayInfo(boxId);
+            try
+            {
+                if (container != null)
+                {
+                    if (container.InOrOutStore.Equals(ContainerType.OutStore))//&& (container.Status.Equals(TaskStatus.OUT_ON_LINE) || container.Status.Equals(TaskStatus.NEED_AWAY))
+                    {
+                        return true;
+                    }
+                }
+                else
+                {
+                    //LogUtil.error($"未找到容器信息： {boxId}");
+                    return false;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error($"GetOutStoreBox {boxId}", ex);
+            }
+            return false;
+        }
         /// <summary>
         /// 站点是否有箱子准备进入
         /// </summary>
@@ -122,7 +172,7 @@ namespace OnlineStore.DeviceLibrary
         internal static bool StationHasOutTask(int deviceId, out InOutParam inOutParam)
         {
             inOutParam = new InOutParam();
-            if (GetOutTaskCnt(deviceId,out ContainerInfo containerInfo))
+            if (GetOutTaskCnt(deviceId, out ContainerInfo containerInfo))
             {
                 inOutParam.Containercode = containerInfo.ContainerValidCode;
                 return true;
@@ -136,14 +186,14 @@ namespace OnlineStore.DeviceLibrary
         /// <returns></returns>
         internal static int GetOutTaskCnt(int deviceId)
         {
-            List<ContainerInfo> containerInfos = getTrayList().FindAll(s => s.InOrOutStore.Equals(ContainerType.InStore) 
-            && s.InoutParam.DeviceId.Equals(deviceId) && (s.Status.Equals(TaskStatus.EXECUTING)|| s.Status.Equals(TaskStatus.WAIT)));
+            List<ContainerInfo> containerInfos = getTrayList().FindAll(s => s.InOrOutStore.Equals(ContainerType.InStore)
+            && s.InoutParam.DeviceId.Equals(deviceId) && (s.Status.Equals(TaskStatus.EXECUTING) || s.Status.Equals(TaskStatus.WAIT)));
             return containerInfos?.Count ?? 0;
         }
-        internal static bool GetOutTaskCnt(int deviceId,out ContainerInfo containerInfo)
+        internal static bool GetOutTaskCnt(int deviceId, out ContainerInfo containerInfo)
         {
-             containerInfo = getTrayList().Find(s => s.InOrOutStore.Equals(ContainerType.InStore) && s.InoutParam.DeviceId.Equals(deviceId) && s.Status.Equals(TaskStatus.EXECUTING));
-            return containerInfo !=null;
+            containerInfo = getTrayList().Find(s => s.InOrOutStore.Equals(ContainerType.InStore) && s.InoutParam.DeviceId.Equals(deviceId) && s.Status.Equals(TaskStatus.EXECUTING));
+            return containerInfo != null;
         }
         /// <summary>
         /// 获取属于该工位的箱子
@@ -203,7 +253,7 @@ namespace OnlineStore.DeviceLibrary
                 }
                 else if (containerTarget.slotCode.Equals("s0"))//站点分拣台已有容器
                 {
-
+                    return true;
                 }
                 else //有入库的料
                 {
@@ -237,12 +287,13 @@ namespace OnlineStore.DeviceLibrary
             }
             return false;
         }
+        
         public static void AddOrUpdateContainerInfo(string containerCode)
         {
             if (string.IsNullOrEmpty(containerCode)) return;
-            if(containerCode.EndsWith("A")|| containerCode.EndsWith("B"))
+            if (containerCode.EndsWith("A") || containerCode.EndsWith("B"))
             {
-                containerCode=containerCode.Substring(0,containerCode.Length-1);
+                containerCode = containerCode.Substring(0, containerCode.Length - 1);
             }
             if (containerInfoMap.ContainsKey(containerCode))
             {
@@ -257,7 +308,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                     if (containerTarget.slotCode.Equals("0") || containerTarget.barcode.Equals(""))
                     {
-                        UpdateContainerNumError(containerCode,"容器无目的地信息，请检查");
+                        UpdateContainerNumError(containerCode, "容器无目的地信息，请检查");
                         return;
                     }
                     UpdateContainerNumError("", "");
@@ -282,7 +333,7 @@ namespace OnlineStore.DeviceLibrary
                 SaveMapToFile();
             }
         }
-        public static void AddOrUpdateContainerInfo(string stationName,string containerCode)
+        public static void AddOrUpdateContainerInfo(string stationName, string containerCode)
         {
             if (string.IsNullOrEmpty(containerCode)) return;
             if (containerCode.EndsWith("A") || containerCode.EndsWith("B"))
@@ -311,7 +362,7 @@ namespace OnlineStore.DeviceLibrary
                     if (HasInstore(containerTarget, out string slotCode))
                     {
                         containerType = ContainerType.InStore;
-                         int.TryParse(stationName.Substring(1), out deviceId);
+                        int.TryParse(stationName.Substring(1), out deviceId);
                     }
                     else if (HasOutstore(containerTarget, out deviceId))
                     {
@@ -333,15 +384,16 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         /// <param name="barcode"></param>
         /// <param name="status"></param>
-        public static void UpdateTaskStatus(string barcode, string status,string loc="")
+        public static void UpdateTaskStatus(string barcode, string status, string loc = "")
         {
             if (containerInfoMap.ContainsKey(barcode))
             {
-                ContainerInfo containerInfo = containerInfoMap[barcode];
-                containerInfoMap[barcode].UpdateStatus(status,loc);
+                LogUtil.info($"已有缓存，更新容器状态：【{barcode}】【{status}】");
+                containerInfoMap[barcode].UpdateStatus(status, loc);
             }
             else
             {
+                LogUtil.info($"更新容器状态：【{barcode}】【{status}】");
                 AddOrUpdateContainerInfo(barcode);
                 UpdateTaskStatus(barcode, status);
             }
@@ -401,6 +453,7 @@ namespace OnlineStore.DeviceLibrary
         static object saveObj = new object();
         static void SaveMapToFile()
         {
+            LogUtil.info("SaveMapToFile");
             if (Monitor.TryEnter(saveObj, 500))
             {
                 try

source/DeviceLibrary/lineManager/SServerManager.cs

@@ -63,6 +63,10 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         private static string Addr_createTask = "/task/create";
         /// <summary>
+        /// ESS创建任务接口
+        /// </summary>
+        private static string Addr_cancelTask = "/task/cancel";
+        /// <summary>
         /// 容器到达，发给ESS
         /// </summary>
         /// <param name="essModel"></param>
@@ -208,7 +212,58 @@ namespace OnlineStore.DeviceLibrary
             }
             return false;
         }
-
+        /// <summary>
+        /// 取消出库任务
+        /// </summary>
+        /// <param name="containerInfos"></param>
+        /// <param name="debug"></param>
+        /// <returns></returns>
+        public static bool CancelOutStoreOrder(List<ContainerInfo> containerInfos, bool debug = false)
+        {
+            try
+            {
+                ESS_CancelBody body = new ESS_CancelBody();
+                body.taskCodes = new List<string>();
+                foreach (var item in containerInfos)
+                {
+                    body.taskCodes.Add(item.TaskCode);
+                }
+                string param = JsonHelper.SerializeObject(body);
+                string path = ess_server + Addr_cancelTask;
+                if (HttpHelper.Post(path, param, out bool isTimueOut, out string outMsg))
+                {
+                    ServerData1 server = JsonHelper.DeserializeJsonToObject<ServerData1>(outMsg);
+                    if (server != null)
+                    {
+                        foreach (var item in containerInfos)
+                        {
+                            if (server.data.ContainsKey(item.TaskCode))
+                            {
+                                if (server.data[item.TaskCode].ToString().ToLower().Equals("ok"))
+                                {
+                                    if (!debug)
+                                        ContainerManager.UpdateTaskStatus(item.ContainerValidCode, TaskStatus.EXECUTING);
+                                }
+                            }
+                        }
+                        LogUtil.info($"取消出库任务成功【{path}】【{param}】【{outMsg}】");
+                        return true;
+                    }
+                    LogUtil.info($"取消出库任务失败，ESS返回失败【{path}】【{param}】【{outMsg}】");
+                    return false;
+                }
+                else
+                {
+                    LogUtil.error($"取消出库任务失败【{path}】【{param}】【{outMsg}】【{isTimueOut}】");
+                    return false;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error($"取消出库任务异常:{JsonHelper.SerializeObject(containerInfos)}", ex);
+            }
+            return false;
+        }
         #endregion
 
         /// <summary>
@@ -374,7 +429,7 @@ namespace OnlineStore.DeviceLibrary
                 }
                 if (string.IsNullOrEmpty(serverAddr))
                 {
-                    LogUtil.error(deviceName + "UpdateTrayLoc   [" + barcode + "]  [" + status + "]  :未找到服务器地址");
+                    LogUtil.error(deviceName + " UpdateTrayLoc   [" + barcode + "]  [" + status + "]  :未找到服务器地址");
                     return false;
                 }
 
@@ -391,12 +446,12 @@ namespace OnlineStore.DeviceLibrary
                 ServerData serverResult = JsonHelper.DeserializeJsonToObject<ServerData>(resultStr);
                 if (serverResult == null)
                 {
-                    msg = deviceName + "UpdateTrayLoc【 " + barcode + "】【" + status + "】【" + locInfo + "】没有收到服务器反馈";
+                    msg = deviceName + " UpdateTrayLoc【" + barcode + "】【" + status + "】【" + locInfo + "】没有收到服务器反馈";
                 }
                 else if (serverResult.code.Equals(0).Equals(false))
                 {
                     // code: 0为正常,其他为异常, msg: 消息, data: 为空
-                    msg = deviceName + " UpdateTrayLoc【 " + barcode + "】【" + status + "】【" + locInfo + "】  ：" + "[" + serverResult.code + "]" + serverResult.msg;
+                    msg = deviceName + " UpdateTrayLoc【" + barcode + "】【" + status + "】【" + locInfo + "】  ：" + "[" + serverResult.code + "]" + serverResult.msg;
                 }
                 if (!msg.Equals(""))
                 {

source/DeviceLibrary/model/StoreStep.cs

@@ -321,6 +321,7 @@ namespace OnlineStore.DeviceLibrary
         /// 工位入库的料：等待一定时间
         /// </summary>
         SO_03_WaitTime,
+        SO_04_FrontStopDown,
         #endregion
 
         #region 入料工位-AGV