添加位置误差

source/AssemblyLineClient/FrmLine.cs

@@ -472,6 +472,9 @@ namespace OnlineStore.AssemblyLine
                         SetMenuS(复位RToolStripMenuItem, false);
                         SetMenuS(停止TToolStripMenuItem, false);
                     }
+                    textBox1.Text = $"从AGV获取的信息:{LineManager.RobotInfo}\r\n" +
+                        $"上报的信息：{LineManager.UploadInfo}\r\n" +
+                        $"位置信息:{LineManager.posInfo}";
                 }
                 catch { }
                 finally

source/DeviceLibrary/lineManager/ALineManager.cs

@@ -232,11 +232,16 @@ namespace OnlineStore.DeviceLibrary
             return false;
         }
         static Dictionary<string, List<Point>> AgvPoints = new Dictionary<string, List<Point>>();
-        static string posInfo = "";
+        public static string posInfo = "";
+        public static string RobotInfo = "";
+        public static string UploadInfo = "";
         public static void UploadAGVStatus(RobotStates robotStates)
         {
             try
             {
+                RobotInfo = JsonHelper.SerializeObject(robotStates);
+                int errorX = ConfigHelper.Config.Get("errorPosX", 1000);
+                int errorY = ConfigHelper.Config.Get("errorPosY", 1000);
                 if (robotStates != null && robotStates.robots != null)
                 {
                     List<AgvStatus> agvs = new List<AgvStatus>();
@@ -249,7 +254,8 @@ namespace OnlineStore.DeviceLibrary
                         status.type = j + 1;
                         foreach (var key in AgvPoints.Keys)
                         {
-                            var find = AgvPoints[key].Find(s => s.X.Equals(item.positionX) && s.Y.Equals(item.positionY));
+                            var find = AgvPoints[key].Find(s => (s.X - errorX <= item.positionX && s.X + errorX >= item.positionX)
+                            && (s.Y - errorY <= item.positionY && s.Y + errorY >= item.positionY));
                             if (find != null && find.X != 0 && find.Y != 0)
                             {
                                 status.loc = key;
@@ -262,9 +268,10 @@ namespace OnlineStore.DeviceLibrary
                         }
                         agvs.Add(status);
                     }
+                    UploadInfo = JsonHelper.SerializeObject(agvs);
                     SServerManager.UpdateAgvStatus(agvs);
                     StringBuilder sb = new StringBuilder();
-                    robotStates.robots.ForEach(s => sb.Append($"{s.robotCode} 当前位置:{s.positionX},{s.positionY}"));
+                    robotStates.robots.ForEach(s => sb.Append($" {s.robotCode} [{s.energyLevel}]当前位置:{s.positionX},{s.positionY};"));
                     string curPosInfo = sb.ToString();
                     if (!posInfo.Equals(curPosInfo))
                     {

source/DeviceLibrary/lineManager/SServerManager.cs

@@ -424,7 +424,7 @@ namespace OnlineStore.DeviceLibrary
         /// <param name="status">状态</param>
         /// <param name="locInfo">位置</param>
         /// <returns></returns>
-        public static bool UpdateLocInfo(string deviceName, string barcode, string status, string locInfo ,out bool canRemove,out string msg)
+        public static bool UpdateLocInfo(string deviceName, string barcode, string status, string locInfo, out bool canRemove, out string msg)
         {
             msg = "";
             canRemove = false;
@@ -448,7 +448,7 @@ namespace OnlineStore.DeviceLibrary
                 string server = GetAddr(Addr_UpdateLocInfo, paramMap);
                 DateTime startTime = DateTime.Now;
                 string resultStr = HttpHelper.Get(server);
-                msg=("UpdateTrayLoc   " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
+                msg = ("UpdateTrayLoc   " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
                 // 返回: { "code": 0, "msg":"ok", "data":""}
                 ServerData serverResult = JsonHelper.DeserializeJsonToObject<ServerData>(resultStr);
                 if (serverResult == null)
@@ -460,14 +460,14 @@ namespace OnlineStore.DeviceLibrary
                 {
                     canRemove = true;
                     // code: 0为正常,其他为异常, msg: 消息, data: 为空
-                   // msg = deviceName + " UpdateTrayLoc 任务已完成【" + barcode + "】【" + status + "】【" + locInfo + "】  ：" + "【" + serverResult.code + "】" + serverResult.msg;
+                    // msg = deviceName + " UpdateTrayLoc 任务已完成【" + barcode + "】【" + status + "】【" + locInfo + "】  ：" + "【" + serverResult.code + "】" + serverResult.msg;
                     //LogUtil.info(msg);
                     return true;
                 }
                 else if (serverResult.code.Equals(0).Equals(true))
                 {
                     // 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;
                     // LogUtil.info(msg);
                     return true;
                 }
@@ -531,7 +531,7 @@ namespace OnlineStore.DeviceLibrary
         {
             try
             {
-                if(agvStatuses==null || agvStatuses.Count==0)
+                if (agvStatuses == null || agvStatuses.Count == 0)
                 {
                     LogUtil.error($"UpdateAgvStatus 无信息");
                     return false;
@@ -542,10 +542,14 @@ namespace OnlineStore.DeviceLibrary
                 string content = JsonHelper.SerializeObject(agvStatuses);
                 string json = HttpHelper.Post(server, content);
                 ServerData rtnData = JsonHelper.DeserializeJsonToObject<ServerData>(json);
-                if(!agvStr.Equals(json))
+                if (string.IsNullOrEmpty(json))
+                {
+                    LogUtil.error($"UpdateAgvStatus【{content}】【{json}】");
+                }
+                else if (!agvStr.Equals(content))
                 {
                     LogUtil.info($"UpdateAgvStatus【{content}】【{json}】");
-                    agvStr = json;
+                    agvStr = content;
                 }
                 if (rtnData != null && rtnData.code == 0)
                 {