1

DeviceLibrary/Control.cs

@@ -37,7 +37,7 @@ namespace DeviceLibrary
 
             AgvStateTimer = new System.Timers.Timer
             {
-                Interval = 5000,
+                Interval = 3000,
                 AutoReset = true,
                 Enabled = false
             };
@@ -85,6 +85,19 @@ namespace DeviceLibrary
                 {
                     if (!CheckOnline(i)) continue;
                     bool change = false;
+                    //if (Context.agvInfo[i].IsUse && Context.agvInfo[i].CurJob != null && Context.agvInfo[i].CurTaskID.Equals(-1))
+                    //{
+                    //    if (!MiR_API.Get_Fleet_Mission_Info(Context.agvInfo[i]))
+                    //    {
+                    //        Context.agvInfo[i].CurJob.ResendTask(Context.agvInfo[i]);
+                    //        LogUtil.info($"{Context.agvInfo[i].Name}：Task=-1处理,Fleet无任务,重发任务:{Context.agvInfo[i].CurTaskName}");
+                    //    }
+                    //    else
+                    //    {
+                    //        LogUtil.info($"{Context.agvInfo[i].Name}：Task=-1处理,Fleet有任务，手动赋值FleetTaskID={Context.agvInfo[i].CurTaskID}");
+                    //    }
+                    //}
+
                     MiR_API.Get_Task_State(Context.agvInfo[i], out string stateStr);
                     Thread.Sleep(50);
                     //获取AGV状态

DeviceLibrary/bean/Agv_Info.cs

@@ -134,7 +134,7 @@ namespace DeviceLibrary
         /// <summary>
         /// 当前任务的ID号
         /// </summary>
-        public int CurTaskID { get; set; } = -1;
+        public long CurTaskID { get; set; } = -1;
 
         public string CurTaskState { get; set; } = "";
         /// <summary>
@@ -454,6 +454,12 @@ namespace DeviceLibrary
         public bool AssignTask(string taskName)
         {
             bool rtn=false;
+            if(this.isCon)
+            {
+                StateKanban.SetCurTask(Context.showNameMissionName[taskName]);
+                LogUtil.info(string.Format("{0} 因离线分配{1}任务失败", Name, taskName));
+                return false;
+            }
             if (Use_Fleet)
             {
                 rtn = MiR_API.Add_Mission_Fleet(this, Context.agvMission[taskName]);

DeviceLibrary/bean/MiR_API.cs

@@ -297,7 +297,44 @@ namespace DeviceLibrary
                 return false;
             }
         }
+        /// <summary>
+        /// 获取Fleet任务队列
+        /// </summary>
+        /// <param name="info"></param>
+        /// <param name="mission"></param>
+        /// <returns></returns>
+        public static bool Get_Fleet_Mission_Info(Agv_Info info)
+        {
+            try
+            {
+                string ip = AppConfigHelper.GetValue(SettingString.FLEET);
+                string url = "http://" + ip + "/api/v2.0.0/mission_scheduler/search";
+                string body = "{\"filters\" : [{\"fieldname\": \"description\", \"operator\": \"LIKE\", \"value\": \"" + info.CurTaskName + "-" + info.TimeStamp+ "\"}]}";
+                string json = HttpPost(url, info.IP, info.Authorization, body);
+                if (string.IsNullOrWhiteSpace(json)) return false;
+                JavaScriptSerializer serializer = new JavaScriptSerializer();
+                object[] obj = (object[])serializer.DeserializeObject(json);
+                if (obj == null) return false;
 
+                Dictionary<string, object> dic;
+                if (obj.Length > 0)
+                {
+                    dic = (Dictionary<string, object>)obj[0];
+                    info.CurTaskID = long.Parse(dic["id"].ToString());
+                    if (info.CurTaskID == -1)
+                        return false;
+                    if (info.CurJob != null)
+                        info.CurJob.CurTaskID = info.CurTaskID;
+                    return true;
+                }
+                return false;
+            }
+            catch (Exception ex)
+            {
+                log.Error("Get_Mission_Queue", ex);
+                return false;
+            }
+        }
         /// <summary>
         /// 获取所有任务列表
         /// </summary>

DeviceLibrary/bean/job/Job.cs

@@ -17,7 +17,7 @@ namespace DeviceLibrary
         /// </summary>
         public abstract Job Execute(Agv_Info agv);
 
-        public int CurTaskID { get; set; } = -1;
+        public long CurTaskID { get; set; } = -1;
 
         /// <summary>
         /// 当前的任务名称（与任务GUID对应）