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HightWay_AirPot_WCS
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add - 流程梳理完毕，新任务下发AGV，选择空闲最优AGV算法待优化

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master
SoulStar 3 months ago
parent 4c39b28fe7
commit 9c968a79c8
12 changed files with 381 additions and 84 deletions
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43
SlnMesnac.Business/base/BaseAGVBusiness.cs
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@ -2,6 +2,7 @@
using SlnMesnac.Config;
using SlnMesnac.Model.AirportApiEntity;
using SlnMesnac.Model.domain;
using SlnMesnac.Model.Enum;
using SlnMesnac.Repository;
using SlnMesnac.Repository.service;
using SlnMesnac.TouchSocket;
@ -132,7 +133,7 @@ namespace SlnMesnac.Business.@base
{
try
{
AGVState agvState = _AGVStateService.GetAGVState(AGVGUID);
AGVState agvState = _AGVStateService.GetSingleAGVState(AGVGUID);
if (agvState == null)
{
return false;
@ -237,16 +238,16 @@ namespace SlnMesnac.Business.@base
/// <param name="agvName"></param>
/// <param name="jobName"></param>
/// <returns>新任务GUID</returns>
public string EndTaskAndClearErrorAndDownloadTask(string agvName, string jobName)
public string EndTaskAndClearErrorAndDownloadTask(string agvguid, string jobName)
{
bool result = false;
try
{
//终止小车当前任务
result = EndTaskAndClearError(agvName);
result = EndTaskAndClearError(agvguid);
var param = _appConfig.JobConfig.Where(x => x.JobName == jobName).First();
//调用小车到抓取位置
return DownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVGUID, param.JobGUID, param.PointGUID, param.PointParamName);
return DownloadTask(agvguid, param.JobGUID, param.PointGUID, param.PointParamName);
}
catch (Exception ex)
{
@ -257,16 +258,16 @@ namespace SlnMesnac.Business.@base
/// <summary>
/// 结束任务并清除报警 延迟1s
/// </summary>
public bool EndTaskAndClearError(string agvName)
public bool EndTaskAndClearError(string agvguid)
{
bool result1 = false, result2 = false;
try
{
Task.Run(() =>
{
result1 = EndAGVTask(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVGUID);
Thread.Sleep(500);
result2 = ClaerError(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVIp);
result1 = EndAGVTask(agvguid);
Task.Delay(500);
result2 = ClaerError(agvguid);
});
return result1 && result2;
}
@ -280,15 +281,15 @@ namespace SlnMesnac.Business.@base
/// <summary>
/// 清除报警 延迟500ms
/// </summary>
public bool ClaerError(string agvName)
public bool ClaerError(string agvguid)
{
bool result = false;
try
{
Task.Run(() =>
{
var response = _airPorthttpClient.AGVErrorClear(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVIp);
Thread.Sleep(500);
var response = _airPorthttpClient.AGVErrorClear(_appConfig.AGVConfig.Where(x => x.AGVGUID == agvguid).First().AGVIp);
Task.Delay(500);
if (response == null)
{
_logger.LogError("清除报警返回空数据");
@ -317,6 +318,26 @@ namespace SlnMesnac.Business.@base
}
}
/// <summary>
/// 筛选一辆空闲且指定类型剩余可用空间最大的AGV, 返回GUID
/// </summary>
/// <returns></returns>
public AGVState GetBestAGV(AgvType agvType)
{
try
{
List<AGVState> lists = _AGVStateService.GetAgvState(agvType).Where(x => x.agvworkstate == "待机").ToList();
AGVState agv = lists.Where(x => x.stackcount == lists.Min(x => x.stackcount)).FirstOrDefault();
//var list = _AGVStateService
return agv;
}
catch(Exception ex)
{
_logger.LogError($"AGV筛选发生错误：{ex.Message}");
return null;
}
}
/// <summary>
/// AGV任务状态代码匹配
/// </summary>

119
SlnMesnac.Business/base/BaseTaskInfoBusiness.cs
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@ -19,22 +19,34 @@ using System.Linq;
namespace SlnMesnac.Business.@base
{
/// <summary>
/// 航班任务业务类
/// </summary>
public class BaseTaskInfoBusiness
{
public const int AMRStackNumber = 10;
public const int DeliverStackNumber = 15;
private TcpServer _tcpServer = null;
public Action<AirportTask> _Taskaction;
public Action<string> _RefreshLogMessageAction;
private static BaseTaskInfoBusiness instance;
private ILogger<BaseTaskInfoBusiness> _logger;
private IAirportTaskService _Taskservice;
private IAGVMapPointService _AGVMapPointService;
private IAGVStateService _AGVStateService;
private IAGVJobService _AGVJobService;
private AirPorthttpClient _airpttpClient;
private BaseAGVBusiness _baseAGVBusiness;
System.Timers.Timer RefreshTimer;
public BaseTaskInfoBusiness(
ILogger<BaseTaskInfoBusiness> logger,
IAirportTaskService Taskservice,
IAGVStateService agvService,
IAGVMapPointService aGVMapPointService,
IAGVJobService agvJobService,
TcpServer tcpServer,
AirPorthttpClient airPorthttpClient)
AirPorthttpClient airPorthttpClient,
BaseAGVBusiness baseAGVBusiness)
{
_logger = logger;
_tcpServer = tcpServer;
@ -43,18 +55,26 @@ namespace SlnMesnac.Business.@base
_airpttpClient = airPorthttpClient;
InitClearTimer();
//doWhileGetAGVTaskInfo();
RefreshTimer = new System.Timers.Timer(1000);
RefreshTimer.Elapsed += (sender, e) => RefreshTaskState();
_baseAGVBusiness = baseAGVBusiness;
_AGVMapPointService = aGVMapPointService;
_AGVJobService = agvJobService;
}
public static BaseTaskInfoBusiness GetInstance(
ILogger<BaseTaskInfoBusiness> logger,
IAirportTaskService Taskservice,
IAGVStateService agvService,
IAGVMapPointService aGVMapPointService,
IAGVJobService aAGVJobService,
TcpServer tcpServer,
AirPorthttpClient airPorthttpClient)
AirPorthttpClient airPorthttpClient,
BaseAGVBusiness baseAGVBusiness)
{
if (instance == null)
{
instance = new BaseTaskInfoBusiness(logger, Taskservice, agvService, tcpServer, airPorthttpClient);
instance = new BaseTaskInfoBusiness(logger, Taskservice, agvService, aGVMapPointService, aAGVJobService, tcpServer, airPorthttpClient, baseAGVBusiness);
}
return instance;
}
@ -76,8 +96,8 @@ namespace SlnMesnac.Business.@base
deliveragvisarrive = string.Empty, //需要判断，更新 Deliver是否到达
totalcount = totalCount, //判断条件 总数量是多少
loadcount = 0, //需要判断，更新 现抓取数量
taskstate = "新任务待分配", //需要判断，更新 任务状态
starttime = DateTime.Now,
taskstate = "等待", //需要判断，更新 任务状态
starttime = DateTime.Now,
finishtime = null,
deliveragvTaskNo = string.Empty, //需要判断，更新
amragvTaskNo = string.Empty, //需要判断，更新
@ -94,7 +114,87 @@ namespace SlnMesnac.Business.@base
}
}
/// <summary>
/// AGV状态查询控制
/// </summary>
/// <param name="state"></param>
public void AGVStateUpdateTimerOperation(TimerControl state)
{
try
{
switch (state)
{
case TimerControl.Start:
RefreshTimer.Start();
break;
case TimerControl.Stop:
RefreshTimer.Stop();
break;
case TimerControl.Dispose:
RefreshTimer.Dispose();
break;
default:
_logger.LogError("未知状态");
break;
}
}
catch (Exception ex)
{
_logger.LogError("AGV状态操作失败！" + ex.Message);
}
}
/// <summary>
/// Timer刷新任务状态, 有新任务初次下发AGV
/// </summary>
public void RefreshTaskState()
{
try
{
//获取任务列表
List<AirportTask> Task = _Taskservice.GetAGVTaskInfos();
if (Task != null && Task.Count > 0)
{
//更新前端
_RefreshLogMessageAction?.Invoke("任务数量:" + Task.Count);
foreach(AirportTask taskItem in Task)
{
//查询待执行任务
if (taskItem.taskstate == "等待" || string.IsNullOrEmpty(taskItem.amragvno))
{
//首先调一辆最优AMR
AGVState firstAMR = _baseAGVBusiness.GetBestAGV(AgvType.AMR);
string amrTaskId = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
firstAMR.agvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入位", taskItem.conveyorno).JobName);
taskItem.amragvTaskNo = amrTaskId;
taskItem.amragvno = firstAMR.agvno;
taskItem.amragvisarrive = "未到达";
taskItem.taskstate = "执行中";
//需要AGV和AMR才能装下
if (taskItem.totalcount > (AMRStackNumber - firstAMR.stackcount))
{
//调一辆最优Deliver
AGVState firstDeliver = _baseAGVBusiness.GetBestAGV(AgvType.Deliver);
string deliverTaskID = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
firstDeliver.agvno,
_AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", taskItem.conveyorno).JobName);
taskItem.deliveragvTaskNo = amrTaskId;
taskItem.deliveragvno = firstDeliver.agvno;
taskItem.deliveragvisarrive = "未到达";
}
_Taskservice.UpdateTaskAsync(taskItem);
}
}
}
}
catch (Exception ex)
{
_logger.LogError($"查询任务列表初次下发任务发生错误Message：{ex.Message}");
}
}
/// <summary>
/// 获取任务列表，向待执行任务派发AGV （定期执行）
@ -128,6 +228,7 @@ namespace SlnMesnac.Business.@base
_logger.LogInformation($"正在为AGV，AMR分配任务");
//查询AGV设备状态及AMR设备状态
//这里要看AGV是否会立刻更新状态
CreateAGVTask(taskItem);
//查询机械臂状态
@ -147,7 +248,7 @@ namespace SlnMesnac.Business.@base
_logger.LogInformation($"正在为AGV分配任务");
}
}
_Taskaction?.Invoke(taskItem);
}
}
@ -196,7 +297,7 @@ namespace SlnMesnac.Business.@base
{
try
{
Task.Run((() =>
Task.Run(() =>
{
while (true)
{
@ -204,7 +305,7 @@ namespace SlnMesnac.Business.@base
Task.Delay(1000);
}
}));
});
}
catch (Exception ex)
@ -228,7 +329,7 @@ namespace SlnMesnac.Business.@base
timer.Start();
}
/// <summary>
/// 向AMR派发任务

57
SlnMesnac.Model/domain/AGVJob.cs
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@ -0,0 +1,57 @@
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Text;
namespace SlnMesnac.Model.domain
{
public class AGVJob
{
[SqlSugar.SugarColumn(ColumnName = "id", IsPrimaryKey = true, IsIdentity = true)]
public int ID { get; set; }
/// <summary>
/// 模板名字
/// </summary>
[SugarColumn(ColumnName = "jobname")]
public string JobName { get; set; }
/// <summary>
/// 模板GUID
/// </summary>
[SugarColumn(ColumnName = "jobguid")]
public string JobGuid { get; set; }
/// <summary>
/// 模板对应的传送带编号
/// </summary>
[SugarColumn(ColumnName = "conveyorno")]
public string ConveyorNo { get; set; }
/// <summary>
/// 模板类型
/// </summary>
[SugarColumn(ColumnName = "jobtype")]
public string JobType { get; set; }
/// <summary>
/// 模板参数点位GUID
/// </summary>
[SugarColumn(ColumnName = "pointguid")]
public string PointGuid { get; set; }
/// <summary>
/// 模板参数点位名称
/// </summary>
[SugarColumn(ColumnName = "pointname")]
public string PointName { get; set; }
/// <summary>
/// 模板参数点位参数名
/// </summary>
[SugarColumn(ColumnName = "pointparamname")]
public string PointParamName { get; set; }
}
}

10
SlnMesnac.Model/domain/AGVSetting.cs
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@ -21,5 +21,15 @@ namespace SlnMesnac.Model.domain
/// AGV类型 1：DeliverAGV 2: AMRAGV
/// </summary>
public string AGVType { get; set; }
/// <summary>
/// AGV名称
/// </summary>
public string AGVName { get; set; }
/// <summary>
/// AGVIp
/// </summary>
public string AGVIp { get; set; }
}
}

106
SlnMesnac.Model/domain/AGVState.cs
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@ -11,61 +11,69 @@ namespace SlnMesnac.Repository
[SugarTable("AGVState")]
public partial class AGVState
{
/// <summary>
/// Desc:
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(IsPrimaryKey=true,IsIdentity=true,ColumnName="ID")]
public int id {get;set;}
/// <summary>
/// Desc:
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(IsPrimaryKey = true, IsIdentity = true, ColumnName = "ID")]
public int id { get; set; }
/// <summary>
/// Desc:AGV编号
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName="AGVNo")]
public string agvno {get;set;}
/// <summary>
/// Desc:AGV编号
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName = "AGVNo")]
public string agvno { get; set; }
/// <summary>
/// Desc:AGV类型 1：DeliverAGV 2: AMRAGV
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName="AGVType")]
public string agvtype {get;set;}
/// <summary>
/// Desc:AGV类型 1：DeliverAGV 2: AMRAGV
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName = "AGVType")]
public string agvtype { get; set; }
/// <summary>
/// Desc:任务编号
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName="TaskNo")]
public string taskno {get;set;}
/// <summary>
/// Desc:任务编号
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName = "TaskNo")]
public string taskno { get; set; }
/// <summary>
/// Desc:AGV报警状态
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName="AGVAlarmState")]
public string agvalarmstate {get;set;}
/// <summary>
/// Desc:AGV报警状态
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName = "AGVAlarmState")]
public string agvalarmstate { get; set; }
/// <summary>
/// Desc:AGV工作状态
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName="AGVWorkState")]
public string agvworkstate {get;set;}
/// <summary>
/// Desc:AGV工作状态
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName = "AGVWorkState")]
public string agvworkstate { get; set; }
/// <summary>
/// Desc:刷新时间
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName="RefreshTime")]
public DateTime refreshtime {get;set;}
/// <summary>
/// Desc:刷新时间
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName = "RefreshTime")]
public DateTime refreshtime { get; set; }
/// <summary>
/// Desc:码筐计数
/// Default:
/// Nullable:False
/// </summary>
[SugarColumn(ColumnName = "StackCount")]
public int stackcount { get; set; }
}
}

32
SlnMesnac.Repository/service/IAGVJobService.cs
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@ -0,0 +1,32 @@
using SlnMesnac.Model.domain;
using SlnMesnac.Repository.service.@base;
using System;
using System.Collections.Generic;
using System.Text;
namespace SlnMesnac.Repository.service
{
public interface IAGVJobService : IBaseService<AGVJob>
{
/// <summary>
/// 获取AGV模板列表
/// </summary>
/// <returns></returns>
List<AGVJob> GetAGVJobList();
/// <summary>
/// 根据模板类型获取对应的AGV模板列表
/// </summary>
/// <param name="jobType"></param>
/// <returns></returns>
List<AGVJob> GetAGVJobListByJobType(string jobType);
/// <summary>
/// 根据模板类型和传送带编号获取对应的AGV模板
/// </summary>
/// <param name="jobType"></param>
/// <param name="conveyorno"></param>
/// <returns></returns>
AGVJob GetAGVJobListByTypeAndConveyorNo(string jobType, string conveyorno);
}
}

2
SlnMesnac.Repository/service/IAGVStateService.cs
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@ -49,7 +49,7 @@ namespace SlnMesnac.Repository.service
/// </summary>
/// <param name="AGVguid"></param>
/// <returns></returns>
AGVState GetAGVState(string AGVguid);
AGVState GetSingleAGVState(string AGVguid);
}
}

61
SlnMesnac.Repository/service/Impl/AGVJobServiceImpl.cs
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@ -0,0 +1,61 @@
using Microsoft.Extensions.Logging;
using SlnMesnac.Model.domain;
using SlnMesnac.Repository.service.@base;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace SlnMesnac.Repository.service.Impl
{
public class AGVJobServiceImpl : BaseServiceImpl<AGVJob>, IAGVJobService
{
private ILogger<AGVJobServiceImpl> _logger;
public AGVJobServiceImpl(Repository<AGVJob> repository, ILogger<AGVJobServiceImpl> logger) : base(repository)
{
_logger = logger;
}
public List<AGVJob> GetAGVJobList()
{
try
{
var list = _rep.GetList();
return list;
}
catch (Exception ex)
{
_logger.LogError($"获取列表发生错误: {ex.Message}");
return null;
}
}
public List<AGVJob> GetAGVJobListByJobType(string jobType)
{
try
{
var list = _rep.GetList().Where(x => x.JobType == jobType).ToList();
return list;
}
catch (Exception ex)
{
_logger.LogError($"获取列表发生错误: {ex.Message}");
return null;
}
}
public AGVJob GetAGVJobListByTypeAndConveyorNo(string jobType, string conveyorno)
{
try
{
AGVJob record = GetAGVJobListByJobType(jobType).Where(x => x.ConveyorNo == conveyorno).First();
return record;
}
catch (Exception ex)
{
_logger.LogError($"获取列表发生错误: {ex.Message}");
return null;
}
}
}
}

2
SlnMesnac.Repository/service/Impl/AGVStateServiceImpl.cs
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@ -134,7 +134,7 @@ namespace SlnMesnac.Repository.service.Impl
/// </summary>
/// <param name="AGVguid"></param>
/// <returns></returns>
public AGVState GetAGVState(string AGVguid)
public AGVState GetSingleAGVState(string AGVguid)
{
try
{

10
SlnMesnac.TouchSocket/AirPorthttpClient.cs
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@ -93,7 +93,7 @@ namespace SlnMesnac.TouchSocket
// }
//}
public AGVResponseEntity<T> JsonStringToEntity<T>(string json) where T : class
public AGVResponseEntity<T> JsonStringToEntity<T>(string json) where T : class
{
if (json == null)
{
@ -127,7 +127,7 @@ namespace SlnMesnac.TouchSocket
///
public AGVResponseEntity<ResponseAddTaskDataEntity> AGVAddTaskRequest(AGVRequestAddTaskEntity requestValue)
{
if(_httpClient == null)
if (_httpClient == null)
{
_logger.LogError("http服务为空");
return null;
@ -276,13 +276,13 @@ namespace SlnMesnac.TouchSocket
// {
// _logger.LogError("http服务为空");
// }
// //序列化输入数据
// 序列化输入数据
// string json = Newtonsoft.Json.JsonConvert.SerializeObject(requestValue);
// var context = new StringContent(json, Encoding.UTF8, "application/json");
// var httpContent = _httpClient.PostAsync($"{Url}/api/task/addTask", context).ConfigureAwait(false).GetAwaiter().GetResult().Content;
// var httpContent = _httpClient.PostAsync($"http://192.168.10.199/api/v1.0.0/Jobs", context).ConfigureAwait(false).GetAwaiter().GetResult().Content;
// string result = httpContent.ReadAsStringAsync().ConfigureAwait(false).GetAwaiter().GetResult();
// AGVResponseEntity<ResponseAddTaskDataEntity> responseEntity = JsonConvert.DeserializeObject<AGVResponseEntity<ResponseAddTaskDataEntity>>(result);
// //JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/v1.0.0/Positions?mapId={0}", null);
// JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/v1.0.0/Positions?mapId={0}", null);
// return JTokenToEntity<object>(responseValue);
//}

9
SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs
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@ -52,10 +52,13 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
private ILogger<IndexContentViewModel> _logger;
private ILogger<BaseTaskInfoBusiness> _taskBusinessLogger;
private ILogger<BaseStateRefreshBusiness> _stateBusinessLogger;
private ILogger<BaseAGVBusiness> _AGVBusinessLogger;
private IAirportTaskService _taskservice;
private IAGVStateService _agvstateService;
private IAGVMapPointService _agvmapPointService;
private BaseTaskInfoBusiness _taskInfoBusiness;
private BaseStateRefreshBusiness _StateRefreshBusiness;
private BaseAGVBusiness _baseAGVBusiness;
private DispatcherTimer _timer;
private TcpServer _tcpServer;
private AppConfig _appConfig;
@ -65,14 +68,18 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
{
LogMessages = new ObservableCollection<string>();
_taskBusinessLogger = App.ServiceProvider.GetService<ILogger<BaseTaskInfoBusiness>>();
_stateBusinessLogger = App.ServiceProvider.GetService<ILogger<BaseStateRefreshBusiness>>();
_AGVBusinessLogger = App.ServiceProvider.GetService<ILogger<BaseAGVBusiness>>();
_logger = App.ServiceProvider.GetService<ILogger<IndexContentViewModel>>();
_taskservice = App.ServiceProvider.GetService<IAirportTaskService>();
_agvmapPointService = App.ServiceProvider.GetService<IAGVMapPointService>();
_agvstateService = App.ServiceProvider.GetService<IAGVStateService>();
_tcpServer = App.ServiceProvider.GetService<TcpServer>();
_appConfig = App.ServiceProvider.GetService<AppConfig>();
_airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
_taskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_taskBusinessLogger, _taskservice, _agvstateService, _tcpServer, _airPorthttpClient);
_baseAGVBusiness = BaseAGVBusiness.GetInstance(_AGVBusinessLogger, _airPorthttpClient, _agvstateService, _agvmapPointService, _appConfig);
_taskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_taskBusinessLogger, _taskservice, _agvstateService, _agvmapPointService, _tcpServer, _airPorthttpClient, _baseAGVBusiness);
_taskInfoBusiness._RefreshLogMessageAction += RefreshLogMessage;
_taskInfoBusiness._Taskaction += task =>
{

14
SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs
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@ -116,7 +116,7 @@ namespace SlnMesnac.WPF.ViewModel
_AGVSettingService = App.ServiceProvider.GetService<IAGVSettingService>();
_tcpServer = App.ServiceProvider.GetService<TcpServer>();
_airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
_baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, _Taskservice, _AGVStateService, _tcpServer, _airPorthttpClient);
_baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, _Taskservice, _AGVStateService, _AGVMapPointService, _tcpServer, _airPorthttpClient, _baseAGVBusiness);
_baseAGVBusiness = BaseAGVBusiness.GetInstance(_baseAGVBusinessLogger, _airPorthttpClient, _AGVStateService, _AGVMapPointService, _appConfig);
_visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer);
_baseStateRefreshBusiness = BaseStateRefreshBusiness.GetInstance(_StateRefreshBusinessLogger, _AGVStateService, _airPorthttpClient, _AGVSettingService);
@ -129,7 +129,7 @@ namespace SlnMesnac.WPF.ViewModel
ShellScannerStatus = _state ? 1 : 2;
}
};
//_baseStateRefreshBusiness.AGVStateUpdateTimerOperation(TimerControl.Start);
_baseStateRefreshBusiness.AGVStateUpdateTimerOperation(TimerControl.Start);
UserContent = indexContent;
}
@ -190,19 +190,19 @@ namespace SlnMesnac.WPF.ViewModel
_visionBusiness.RequestVisionReplace(_tcpServer.VID);
break;
case "TestButton3":
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S800-B", "800小车进入位置任务pause");
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S800-B").First().AGVGUID, "800小车进入位置任务pause");
break;
case "TestButton4":
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S800-B", "800小车入库任务pause");
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S800-B").First().AGVGUID, "800小车入库任务pause");
break;
case "TestButton8":
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S1000-A", "1000小车进入位置任务pause");
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000小车进入位置任务pause");
break;
case "TestButton9":
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S1000-A", "1000小车入库任务pause");
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000小车入库任务pause");
break;
case "TestButton10":
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S1000-A", "1000校正模板");
_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000校正模板");
break;
case "TestButton5":
//手动停止任务

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