1

张东亮
Commit 6bf6ab7b 由 张东亮 编写于 2023-02-10 15:57:04 +0800
DeviceLibrary/bean/job/FixToInStoreJob.cs
DeviceLibrary/bean/job/GoLineForRecyJob.cs
DeviceLibrary/bean/job/GoWarehouseForOutStoreJob.cs
DeviceLibrary/bean/job/SendFixToLineJob.cs
DeviceLibrary/manager/AGVManager.cs
DeviceLibrary/manager/FixMissionManager.cs
DeviceLibrary/manager/WarehouseSigManager.cs
DeviceLibrary/service/FixtureService.cs
DeviceLibrary/service/MissionInfo.cs
SO940-AGV/App.config
SO940-AGV/FrmMain.cs
--- a/DeviceLibrary/bean/job/FixToInStoreJob.cs
查看文件 @6bf6ab7
+++ b/DeviceLibrary/bean/job/FixToInStoreJob.cs
查看文件 @6bf6ab7
@@ -52,6 +52,7 @@ namespace DeviceLibrary
                else
                {
                    JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_REACH_RECY_ST);
+                    WarehouseSigManager.TargetWithFix.CurPlace = JobParam.TargetNode.Name;
                    runInfo = string.Format("从{0}去{1}", JobParam.SrcNode, JobParam.TargetNode);
                    JobRunStep.Msg = runInfo;
                    AllocateTask(agv, JobParam.TargetNode.Name);
@@ -72,6 +73,7 @@ namespace DeviceLibrary
                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                {
                    JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_REACH_RECY_ST);
+                    WarehouseSigManager.TargetWithFix.CurPlace = JobParam.TargetNode.Name;
                    runInfo = string.Format("进门，送往{0}", JobParam.TargetNode);
                    JobRunStep.Msg = runInfo;
                    AllocateTask(agv, JobParam.TargetNode.Name);
@@ -85,7 +87,6 @@ namespace DeviceLibrary
            {
                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                {
-                    WarehouseSigManager.TargetWithFix.CurPlace = JobParam.TargetNode.Name;
                    JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_RECY_ST_RESPONSE);
                    runInfo = "AGV到达 " + JobParam.TargetNode + "，并发送治具入库请求";
                    JobRunStep.Msg = runInfo;
@@ -120,13 +121,13 @@ namespace DeviceLibrary
                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                {
                    JobRunStep.ToNextStep(RunStep.RECY_BACK_CHECK_OUT_STORE);
-                    runInfo = $"治具{(JobParam.Shelf == null ? "" : JobParam.Shelf.RFID)}进入{JobParam.TargetNode}完成";
+                    runInfo = $"治具{(JobParam.Shelf == null ? "" : JobParam.Shelf.RFID)}进入{JobParam.TargetNode}完成，检查是否有出库任务";
                    JobRunStep.Msg = runInfo;
                }
                else if (WarehouseSigManager.StopEnter)
                {
                    JobRunStep.ToNextStep(RunStep.RECY_BACK_CHECK_OUT_STORE);
-                    runInfo = $"治具{(JobParam.Shelf == null ? "" : JobParam.Shelf.RFID)}进入{JobParam.TargetNode}完成";
+                    runInfo = $"治具{(JobParam.Shelf == null ? "" : JobParam.Shelf.RFID)}进入{JobParam.TargetNode}完成，检查是否有出库任务";
                    JobRunStep.Msg = runInfo;
                    AllocateTask(agv, SettingString.Init);
                    WarehouseSigManager.StopEnter = false;
@@ -145,8 +146,9 @@ namespace DeviceLibrary
                {
                    //调宽
                    JobRunStep.ToNextStep(RunStep.ADJUST_WIDTH);
-                    runInfo = JobParam.TargetNode + " 有出库任务，开始调宽:"+ WarehouseSigManager.OutStore.Type;
+                    runInfo = JobParam.TargetNode + " 有出库任务，开始调宽:"+ WarehouseSigManager.OutStore.Type+$",Id={WarehouseSigManager.OutStore.Id}";
                    JobRunStep.Msg = runInfo;
+                    SetPlc(agv, 52, 1);
                    AdjustWidth(agv, WarehouseSigManager.OutStore.Type);
                }
                else if (OpManager.Info.GetTransfer(out string target))

--- a/DeviceLibrary/bean/job/GoLineForRecyJob.cs
查看文件 @6bf6ab7
+++ b/DeviceLibrary/bean/job/GoLineForRecyJob.cs
查看文件 @6bf6ab7
@@ -30,6 +30,7 @@ namespace DeviceLibrary
                JobRunStep.ToNextStep(RunStep.ADJUST_WIDTH);
                runInfo = "准备去" + JobParam.TargetNode + "，先调宽";
                JobRunStep.Msg = runInfo;
+                SetPlc(agv, 52, 0);
                AdjustWidth(agv, JobParam.FixMissionInfo.Type);
            }
            else if (JobRunStep.IsStep(RunStep.ADJUST_WIDTH))
@@ -259,7 +260,7 @@ namespace DeviceLibrary
            {
                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                {
-                    //设置音效类型并播放
+                    //设置音效类型
                    SetPlcWithToInstore(agv);
                    AllocateTask(agv, SettingString.PlaySound);
                    if (JobParam.OpType.Equals(OpType.ComToLine))

--- a/DeviceLibrary/bean/job/GoWarehouseForOutStoreJob.cs
查看文件 @6bf6ab7
+++ b/DeviceLibrary/bean/job/GoWarehouseForOutStoreJob.cs
查看文件 @6bf6ab7
@@ -27,6 +27,7 @@ namespace DeviceLibrary
                JobRunStep.ToNextStep(RunStep.ADJUST_WIDTH);
                runInfo = "准备去" + JobParam.TargetNode + "，先调宽";
                JobRunStep.Msg = runInfo;
+                SetPlc(agv, 52, 1);
                AdjustWidth(agv, JobParam.FixMissionInfo.Type);
            }
            else if (JobRunStep.IsStep(RunStep.ADJUST_WIDTH))
@@ -52,6 +53,7 @@ namespace DeviceLibrary
                    }
                    else if (!agv.IsExistShelf)
                    {
+                        WarehouseSigManager.TargetWithFix.CurPlace = JobParam.TargetNode.Name;
                        if (JobParam.SrcNode.Area.Equals(Area.D))
                        {
                            JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_A6);
@@ -101,7 +103,6 @@ namespace DeviceLibrary
                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                {
                    JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_A6);
-                    WarehouseSigManager.TargetWithFix.CurPlace = JobParam.TargetNode.Name;
                    runInfo = $"去{JobParam.TargetNode.Name}接料";
                    JobRunStep.Msg = runInfo;
                    AllocateTask(agv, JobParam.TargetNode.Name);
@@ -156,7 +157,7 @@ namespace DeviceLibrary
                {
                    agv.HasError = false;
                    JobRunStep.ToNextStep(RunStep.WAIT_LEAVE_SIG);
-                    runInfo = JobParam.TargetNode.Name + "治具进入小车完成";
+                    runInfo = JobParam.TargetNode.Name + "治具进入小车完成,等待离开信号";
                    JobRunStep.Msg = runInfo;
                    //JobRunStep.EndJob();
                    // return new SendFixToLineJob(new JobParam(JobParam.TargetNode.ToCopy()),true);

--- a/DeviceLibrary/bean/job/SendFixToLineJob.cs
查看文件 @6bf6ab7
+++ b/DeviceLibrary/bean/job/SendFixToLineJob.cs
查看文件 @6bf6ab7
@@ -47,6 +47,7 @@ namespace DeviceLibrary
                    JobRunStep.ToNextStep(RunStep.ADJUST_WIDTH);
                    runInfo = "准备去" + JobParam.TargetNode + "，先调宽";
                    JobRunStep.Msg = runInfo;
+                    SetPlc(agv, 52, 0);
                    AdjustWidth(agv, JobParam.FixMissionInfo.Type);
                }

--- a/DeviceLibrary/manager/AGVManager.cs
查看文件 @6bf6ab7
+++ b/DeviceLibrary/manager/AGVManager.cs
查看文件 @6bf6ab7
@@ -99,6 +99,7 @@ namespace DeviceLibrary
        /// AGV编号
        /// </summary>
        public string AGVNum { get; set; } = "";
+        public string DeviceName { get; set; } = "";
        /// <summary>
        /// 任务名称
        /// </summary>
@@ -176,6 +177,7 @@ namespace DeviceLibrary
            }
        }
        private string agvname = "";
+        public string DeviceName { get; set; } = "";
        /// <summary>
        /// 开始时间
        /// </summary>

--- a/DeviceLibrary/manager/FixMissionManager.cs
查看文件 @6bf6ab7
+++ b/DeviceLibrary/manager/FixMissionManager.cs
查看文件 @6bf6ab7
@@ -113,6 +113,30 @@ namespace DeviceLibrary.manager
            WriteMission();
            MissionChangedEvent?.Invoke();
        }
+        public static void DeleteById(string id)
+        {
+            try
+            {
+                MissionInfo missionInfo = null;
+                if (Monitor.TryEnter(lockObj, 1000))
+                {
+                    missionInfo = fixMissionInfos.Find(s => s.Id.Equals(id));
+                    fixMissionInfos.Remove(missionInfo);
+                    LogUtil.info($"入库时存在出库任务，删除呼叫的缓存任务：id={id}");
+                }
+            }
+            catch (Exception e)
+            {
+                LogUtil.error("操作 fixMissionInfos 超时");
+            }
+            finally
+            {
+                Monitor.Exit(lockObj);
+            }
+            WriteMission();
+            MissionChangedEvent?.Invoke();
+        }
        public static MissionInfo ExecuteMission(MissionType missionType)
        {
            MissionInfo missionInfo=null;

--- a/DeviceLibrary/manager/WarehouseSigManager.cs
查看文件 @6bf6ab7
+++ b/DeviceLibrary/manager/WarehouseSigManager.cs
查看文件 @6bf6ab7
@@ -68,17 +68,18 @@ namespace DeviceLibrary.manager
    {
        public bool Has { get; set; }
        public FixType Type { get; set; }
+        public string Id { get; set; } = "";
-        public void Set(bool has,FixType fixType)
+        public void Set(bool has,FixType fixType,string id="")
        {
            Has = has;
            Type = fixType;
+            Id = id;
        }
        public void Reset()
        {
            Has = false;
            Type = FixType.None;
+            Id = "";
        }
    }

--- a/DeviceLibrary/service/FixtureService.cs
查看文件 @6bf6ab7
+++ b/DeviceLibrary/service/FixtureService.cs
查看文件 @6bf6ab7
@@ -17,8 +17,8 @@ namespace DeviceLibrary
        [WebInvoke(UriTemplate = "call", Method = "POST", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
        Result CallByPost(Stream stream);
        [OperationContract]
-        [WebInvoke(UriTemplate = "call?target={target}&type={type}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
+        [WebInvoke(UriTemplate = "call?target={target}&type={type}&id={id}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
-        Result CallByGet(string target, int type);
+        Result CallByGet(string target, int type,string id);
        [OperationContract]
@@ -53,8 +53,8 @@ namespace DeviceLibrary
        [WebInvoke(UriTemplate = "outStore", Method = "POST", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
        Result OutStoreByPost(Stream stream);
        [OperationContract]
-        [WebInvoke(UriTemplate = "outStore?has={has}&type={type}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
+        [WebInvoke(UriTemplate = "outStore?has={has}&type={type}&id={id}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
-        Result OutStoreByGet(bool has, int type);
+        Result OutStoreByGet(bool has, int type,string id);
        [OperationContract]
        [WebInvoke(UriTemplate = "mayLeave", Method = "POST", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
@@ -103,14 +103,14 @@ namespace DeviceLibrary
    {
        static log4net.ILog Log = log4net.LogManager.GetLogger("FixtureServices");
        #region 呼叫
-        public Result CallByGet(string target, int type)
+        public Result CallByGet(string target, int type,string id="")
        {
            Result res;
            MissionInfo missionInfo;
            if (SettingString.Warehouse.Equals(target))
            {
-                missionInfo = new MissionInfo(target, (FixType)type, MissionType.Warehouse);
+                missionInfo = new MissionInfo(target, (FixType)type, MissionType.Warehouse,id);
-                if (!FixMissionManager.Contains(missionInfo))
+                //if (!FixMissionManager.Contains(missionInfo))
                {
                    if (AGVManager.agvInfo[0].CurJob is StandyJob || AGVManager.agvInfo[0].CurJob is ChargeJob)
                    {
@@ -118,7 +118,7 @@ namespace DeviceLibrary
                        {
                            res = new Result() { Succeed = false, Data = $"target:{target},type:{type}", Msg = $"AGV has Line Misssion,{target} is not allowed to call." };
                            FixMissionManager.Add(missionInfo);
-                            Log.Error("立库呼叫失败[GET]（AGV正在执行任务）：" + missionInfo.ToString());
+                            Log.Error("立库呼叫失败[GET]（AGV正在执行任务，暂存任务）：" + missionInfo.ToString());
                            return res;
                        }
@@ -127,7 +127,7 @@ namespace DeviceLibrary
                    {
                        res = new Result() { Succeed = false, Data = $"target:{target},type:{type}", Msg = $"AGV is doing Misssion,{target} is not allowed to call." };
                        FixMissionManager.Add(missionInfo);
-                        Log.Error("立库呼叫失败[GET]（AGV正在执行任务）：" + missionInfo.ToString());
+                        Log.Error("立库呼叫失败[GET]（AGV正在执行任务，暂存任务）：" + missionInfo.ToString());
                        return res;
                    }
                }
@@ -137,6 +137,7 @@ namespace DeviceLibrary
            {
                missionInfo = new MissionInfo(target, (FixType)type, MissionType.Line);
            }
            if (!NodeManager.HasNode(target))
            {
                res = new Result() { Succeed = false, Data = $"target:{target},type:{type}", Msg = $"节点名{target}不存在" };
@@ -169,11 +170,12 @@ namespace DeviceLibrary
            System.Collections.Specialized.NameValueCollection nvc = System.Web.HttpUtility.ParseQueryString(s);
            string target = nvc["target"];
            int type = int.Parse(nvc["type"]);
+            string id = nvc["id"];
            MissionInfo missionInfo;
            if (SettingString.Warehouse.Equals(target))
            {
-                missionInfo = new MissionInfo(target, (FixType)type, MissionType.Warehouse);
+                missionInfo = new MissionInfo(target, (FixType)type, MissionType.Warehouse, id);
-                if (!FixMissionManager.Contains(missionInfo))
+                // if (!FixMissionManager.Contains(missionInfo))
                {
                    if (AGVManager.agvInfo[0].CurJob is StandyJob || AGVManager.agvInfo[0].CurJob is ChargeJob)
                    {
@@ -182,7 +184,7 @@ namespace DeviceLibrary
                            res = new Result() { Succeed = false, Data = $"target:{target},type:{type}", Msg = $"AGV has Line Misssion,{target} is not allowed to call." };
                            FixMissionManager.Add(missionInfo);
-                            Log.Error("立库呼叫失败[POST]（AGV正在执行任务）：" + missionInfo.ToString());
+                            Log.Error("立库呼叫失败[POST]（AGV正在执行任务,暂存任务）：" + missionInfo.ToString());
                            return res;
                        }
                    }
@@ -190,7 +192,7 @@ namespace DeviceLibrary
                    {
                        res = new Result() { Succeed = false, Data = $"target:{target},type:{type}", Msg = $"AGV is doing Misssion,{target} is not allowed to call." };
                        FixMissionManager.Add(missionInfo);
-                        Log.Error("立库呼叫失败[POST]（AGV正在执行任务）：" + missionInfo.ToString());
+                        Log.Error("立库呼叫失败[POST]（AGV正在执行任务，暂存任务）：" + missionInfo.ToString());
                        return res;
                    }
                }
@@ -224,6 +226,14 @@ namespace DeviceLibrary
            return res;
        }
+        //public Result CallByPost(Stream stream)
+        //{
+        //    StreamReader sr = new StreamReader(stream);
+        //    string s = sr.ReadToEnd();
+        //    TestClass testClass = JsonHelper.DeserializeJsonToObject<TestClass>(s);
+        //    return new Result();
+        //}
        #endregion
        #region 获取治具类型
@@ -329,10 +339,11 @@ namespace DeviceLibrary
            return result1;
        }
-        public Result OutStoreByGet(bool has, int type)
+        public Result OutStoreByGet(bool has, int type,string id="")
        {
-            WarehouseSigManager.OutStore.Set(has, (FixType)type);
+            WarehouseSigManager.OutStore.Set(has, (FixType)type,id);
-            Log.Info($"Get: 收到出库信息：{has.ToString()} {type}");
+            FixMissionManager.DeleteById(id);
+            Log.Info($"Get: 收到出库信息：{has.ToString()},{type},{id}");
            return new Result() { Succeed = true, Data = $"OutStore:{has},{type}", Msg = "" };
        }
@@ -343,8 +354,10 @@ namespace DeviceLibrary
            System.Collections.Specialized.NameValueCollection nvc = System.Web.HttpUtility.ParseQueryString(s);
            bool has = bool.Parse(nvc["has"]);
            int type = int.Parse(nvc["type"]);
-            WarehouseSigManager.OutStore.Set(has, (FixType)type);
+            string id = nvc["id"];
-            Log.Info($"Post: 收到出库信息：{has.ToString()} {type}");
+            WarehouseSigManager.OutStore.Set(has, (FixType)type,id);
+            FixMissionManager.DeleteById(id);
+            Log.Info($"Post: 收到出库信息：{has.ToString()},{type},{id}");
            return new Result() { Succeed = true, Data = $"OutStore:{has},{type}", Msg = "" };
        }
@@ -437,6 +450,11 @@ namespace DeviceLibrary
            return result1;
        }
    }
+    public class TestClass
+    {
+        public string target { get; set; }
+        public int type { get; set; }
+    }
    public class WebService
    {

--- a/DeviceLibrary/service/MissionInfo.cs
查看文件 @6bf6ab7
+++ b/DeviceLibrary/service/MissionInfo.cs
查看文件 @6bf6ab7
@@ -21,6 +21,10 @@ namespace DeviceLibrary.manager
        /// </summary>
        public FixType Type { get; set; }
        /// <summary>
+        /// 治具Id
+        /// </summary>
+        public string Id { get; set; }
+        /// <summary>
        /// 目的地名称
        /// </summary>
        public string Target { get; set; }
@@ -32,12 +36,13 @@ namespace DeviceLibrary.manager
        /// 任务是否执行
        /// </summary>
        public bool On { get; set; } = true;
-        public MissionInfo(string target, FixType fixType, MissionType missionType)
+        public MissionInfo(string target, FixType fixType, MissionType missionType,string id="")
        {
            RTime = DateTime.Now;
            Type = fixType;
            Target = target;
            MissionType = missionType;
+            Id = id;
        }
        public MissionInfo() { }
        public override string ToString()
@@ -87,7 +92,7 @@ namespace DeviceLibrary.manager
        /// <summary>
        /// 烧录治具
        /// </summary>
-        BRUN = 3,
+        BURN = 3,
        /// <summary>
        /// 抓手治具
        /// </summary>

--- a/SO940-AGV/App.config
查看文件 @6bf6ab7
+++ b/SO940-AGV/App.config
查看文件 @6bf6ab7
@@ -6,7 +6,7 @@
  <appSettings>
    <add key="ITS" value="10.85.17.233"/>
-    <add key="WebService" value="http://10.85.196.40/service/agv/"/>
+    <add key="WebService" value="http://127.0.0.1:8888/service/agv/"/>
    <add key="http.server" value="http://10.85.199.25/myproject/"/>
    <add key="FLEET" value="10.85.19.3"/>
    <add key="log4net_configname" value="log4net.config"/>

--- a/SO940-AGV/FrmMain.cs
查看文件 @6bf6ab7
+++ b/SO940-AGV/FrmMain.cs
查看文件 @6bf6ab7
@@ -219,7 +219,7 @@ namespace AGVControl
        private void dgvInfos_CellContentClick(object sender, DataGridViewCellEventArgs e)
        {
-            if (e.ColumnIndex == 4)
+            if (e.ColumnIndex == 5)
            {
                if (e.RowIndex == -1)
                    return;