增加AGV任务执行优先级

BPASmartClient.AGV/AGVHelper.cs

@@ -96,9 +96,8 @@ namespace BPASmartClient.AGV
         /// AGV去1号线体装桶到炒锅1
         /// </summary>
         /// <returns></returns>
-        public string AgvToLineOneLoadRoller(string robotJobId)
+        public string AgvToLineOneLoadRoller(string robotJobId, int priority=1)
         {
-
             //bool b = Convert.ToBoolean(config.AppSettings.Settings["appKey"].Value);//配置文件信息读取
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -113,7 +112,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value);//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value; //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -160,7 +159,7 @@ namespace BPASmartClient.AGV
         /// AGV去1号线体装桶到炒锅4
         /// </summary>
         /// <returns></returns>
-        public string AgvFromLineOneToFryFourLoadRoller(string robotJobId)
+        public string AgvFromLineOneToFryFourLoadRoller(string robotJobId, int priority = 1)
         {
 
             //bool b = Convert.ToBoolean(config.AppSettings.Settings["appKey"].Value);//配置文件信息读取
@@ -177,7 +176,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value);//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value; //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -223,7 +222,7 @@ namespace BPASmartClient.AGV
         /// AGV去2号线体装桶到炒锅2
         /// </summary>
         /// <returns></returns>
-        public string AgvToLineTwoLoadRoller(string robotJobId)
+        public string AgvToLineTwoLoadRoller(string robotJobId, int priority = 1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -238,7 +237,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority =Convert.ToInt32( config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority =priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -278,7 +277,7 @@ namespace BPASmartClient.AGV
         /// AGV去2号线体装桶到炒锅5
         /// </summary>
         /// <returns></returns>
-        public string AgvFromLineTwoToFryFiveLoadRoller(string robotJobId)
+        public string AgvFromLineTwoToFryFiveLoadRoller(string robotJobId, int priority = 1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -293,7 +292,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -333,7 +332,7 @@ namespace BPASmartClient.AGV
         /// AGV去3号线体装桶
         /// </summary>
         /// <returns></returns>
-        public string AgvToLineThreeLoadRoller(string robotJobId)
+        public string AgvToLineThreeLoadRoller(string robotJobId, int priority = 1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -348,7 +347,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -388,7 +387,7 @@ namespace BPASmartClient.AGV
         /// AGV从清洗台到4号线体卸桶
         /// </summary>
         /// <returns></returns>
-        public string AgvFromCleanToLineFourUnLoadRoller(string robotJobId)
+        public string AgvFromCleanToLineFourUnLoadRoller(string robotJobId, int priority = 1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -403,7 +402,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -443,7 +442,7 @@ namespace BPASmartClient.AGV
         /// AGV离开炒锅1
         /// </summary>
         /// <returns></returns>
-        public string AgvLeaveFryPotOne(string robotJobId)
+        public string AgvLeaveFryPotOne(string robotJobId, int priority = 1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -458,7 +457,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -498,7 +497,7 @@ namespace BPASmartClient.AGV
         /// AGV离开炒锅2
         /// </summary>
         /// <returns></returns>
-        public string AgvLeaveFryPotTwo(string robotJobId)
+        public string AgvLeaveFryPotTwo(string robotJobId, int priority = 1 )
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -513,7 +512,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -553,7 +552,7 @@ namespace BPASmartClient.AGV
         /// AGV离开炒锅3
         /// </summary>
         /// <returns></returns>
-        public string AgvLeaveFryPotThree(string robotJobId)
+        public string AgvLeaveFryPotThree(string robotJobId, int priority = 1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -568,7 +567,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -608,7 +607,7 @@ namespace BPASmartClient.AGV
         /// AGV离开炒锅4
         /// </summary>
         /// <returns></returns>
-        public string AgvLeaveFryPotFour(string robotJobId)
+        public string AgvLeaveFryPotFour(string robotJobId, int priority = 1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -623,7 +622,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -663,7 +662,7 @@ namespace BPASmartClient.AGV
         /// AGV离开炒锅5
         /// </summary>
         /// <returns></returns>
-        public string AgvLeaveFryPotFive(string robotJobId)
+        public string AgvLeaveFryPotFive(string robotJobId, int priority = 1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -678,7 +677,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -719,7 +718,7 @@ namespace BPASmartClient.AGV
         /// AGV从1号线运空桶洗桶
         /// </summary>
         /// <returns></returns>
-        public string AgvLeaveLOneToClean(string robotJobId)
+        public string AgvLeaveLOneToClean(string robotJobId, int priority = 1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -734,7 +733,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -774,7 +773,7 @@ namespace BPASmartClient.AGV
         /// AGV从2号线运空桶洗桶
         /// </summary>
         /// <returns></returns>
-        public string AgvLeaveLTwoToClean(string robotJobId)
+        public string AgvLeaveLTwoToClean(string robotJobId,int priority=1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -789,7 +788,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -829,7 +828,7 @@ namespace BPASmartClient.AGV
         /// AGV从3号线运空桶洗桶
         /// </summary>
         /// <returns></returns>
-        public string AgvLeaveLThreeToClean(string robotJobId)
+        public string AgvLeaveLThreeToClean(string robotJobId,int priority=1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -844,7 +843,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据
@@ -884,7 +883,7 @@ namespace BPASmartClient.AGV
         /// AGV从洗桶处运桶到4号洗桶线
         /// </summary>
         /// <returns></returns>
-        public string AgvLeaveCleanToLFour(string robotJobId)
+        public string AgvLeaveCleanToLFour(string robotJobId, int priority = 1)
         {
             string url = AGVRequestUrl.GetInstance.TaskSendUrl;
             //请求报文头
@@ -899,7 +898,7 @@ namespace BPASmartClient.AGV
             AGVModel httpModel = new AGVModel();
             httpModel.robotJobId = robotJobId;//上游提供
             httpModel.warehouseId = long.Parse(config.AppSettings.Settings["warehouseId"].Value); //仓库编号
-            httpModel.jobPriority = Convert.ToInt32(config.AppSettings.Settings["jobPriority"].Value);//任务执行的优先级
+            httpModel.jobPriority = priority;//任务执行的优先级
             httpModel.jobPriorityType = Convert.ToInt32(config.AppSettings.Settings["jobPriorityType"].Value); ;//0:根据优先级来执行，1：强制执行
             httpModel.jobType = config.AppSettings.Settings["jobType"].Value;  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
             //详细任务数据

FryPot_DosingSystem/App.config

@@ -8,7 +8,7 @@
 		<add key ="version" value="2.7"/>
 		<add key="warehouseId" value="1"/>
 		<add key="jobPriority" value="1"/>
-		<add key="jobPriorityType" value="1"/>
+		<add key="jobPriorityType" value="0"/>
 		<add key="jobType" value="POINT_ROLLER_MOVE"/>
 		<add  key="autoLoad" value="true"/>
 		<add key="enableIOLoad" value="false"/>

FryPot_DosingSystem/Control/DosingLogicControl.cs

@@ -34,6 +34,8 @@ namespace FryPot_DosingSystem.Control
         public static DosingLogicControl GetInstance => _instance ??= new DosingLogicControl();
 
         public ushort[] RollerNum = new ushort[] { 101, 102, 103, 104, 105, 106, 107, 108, 201, 202, 203, 204, 205, 206, 207, 208, 301, 302, 303, 304, 305, 306, 307, 308, 401, 402, 403, 404, 405, 406, 407, 408, 501, 502, 503, 504, 505, 506, 507, 508 };
+
+        
         /// <summary>
         /// 桶净重
         /// </summary>r
@@ -173,7 +175,7 @@ namespace FryPot_DosingSystem.Control
         public NewRecipeModel potThreeCurrentRecipe = null;
         public NewRecipeModel potFourCurrentRecipe = null;
         public NewRecipeModel potFiveCurrentRecipe = null;
-
+        
         #endregion
         /// <summary>
         /// 调试命令注册
@@ -5029,7 +5031,6 @@ namespace FryPot_DosingSystem.Control
                             DeviceOperate.GetInstance.WritePlcData("D1063", 0);
                         }
                     }
-
                     FryPotOneOrFourOutEmpetyRollerOperate();
                     if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                     {
@@ -5718,6 +5719,9 @@ namespace FryPot_DosingSystem.Control
                         globalVar.agvArriveUpLoad = false;
                         globalVar.AgvToFryPot = true;
                         //原料到位，agv到位，agv自行运料到炒锅
+
+                       
+                        
                     }
                 }
 
@@ -5885,7 +5889,6 @@ namespace FryPot_DosingSystem.Control
                     if (LThreeInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                     {
                         MessageNotify.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
-
                         // globalVar.LThreeCurrentCookingStep++;
                         LThreeOutputMaterialQuene.Enqueue(materialInfo);
                         globalVar.agvArriveLThreeUpLoad = false;
@@ -6064,11 +6067,17 @@ namespace FryPot_DosingSystem.Control
                         string info;
                         if (globalVar.LOneFryPotSerial == 1)
                         {
-                            info = AGVHelper.GetInstance.AgvToLineOneLoadRoller(id);
+                            if (InputMaterialQuene.ElementAt(0).materialType.IsCommonMaterial)
+                                info = AGVHelper.GetInstance.AgvToLineOneLoadRoller(id,2);
+                            else
+                                info = AGVHelper.GetInstance.AgvToLineOneLoadRoller(id);
                         }
                         else
                         {
-                            info = AGVHelper.GetInstance.AgvFromLineOneToFryFourLoadRoller(id);
+                            if (InputMaterialQuene.ElementAt(0).materialType.IsCommonMaterial)
+                                info = AGVHelper.GetInstance.AgvFromLineOneToFryFourLoadRoller(id,2);
+                            else
+                                info = AGVHelper.GetInstance.AgvFromLineOneToFryFourLoadRoller(id);
                         }
                         LOnerobotJobId = id;
                         if (LineCarryTaskErrorCodeAnalysis(info, 1))
@@ -6129,6 +6138,7 @@ namespace FryPot_DosingSystem.Control
                 {
                     if (globalVar.rollerLineTwo.StationEight == LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineTwo.IsEpmtyBefore)//工位8上面是配方料桶
                     {
+
                         globalVar.rollerLineTwo.CanRun = false;
                     e: string id = Guid.NewGuid().ToString("D");
                         if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
@@ -6136,11 +6146,17 @@ namespace FryPot_DosingSystem.Control
                         string info;
                         if (globalVar.LTwoFryPotSerial == 2)
                         {
-                            info = AGVHelper.GetInstance.AgvToLineTwoLoadRoller(id);
+                            if (LTwoInputMaterialQuene.ElementAt(0).materialType.IsCommonMaterial)
+                                info = AGVHelper.GetInstance.AgvToLineTwoLoadRoller(id, 2);
+                            else
+                                info = AGVHelper.GetInstance.AgvToLineTwoLoadRoller(id);
                         }
                         else
                         {
-                            info = AGVHelper.GetInstance.AgvFromLineTwoToFryFiveLoadRoller(id);
+                            if (LTwoInputMaterialQuene.ElementAt(0).materialType.IsCommonMaterial)
+                                info = AGVHelper.GetInstance.AgvFromLineTwoToFryFiveLoadRoller(id,2);
+                            else
+                                info = AGVHelper.GetInstance.AgvFromLineTwoToFryFiveLoadRoller(id);
                         }
                         LTworobotJobId = id;
                         //Thread.Sleep(500);
@@ -6198,8 +6214,11 @@ namespace FryPot_DosingSystem.Control
                     e: string id = Guid.NewGuid().ToString("D");
                         if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                             goto e;
-
-                        string info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
+                        string info = string.Empty;
+                        if (LThreeInputMaterialQuene.ElementAt(0).materialType.IsCommonMaterial)
+                             info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id,2);
+                        else
+                            info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
                         LThreerobotJobId = id;
                         //Thread.Sleep(500);
                         if (LineCarryTaskErrorCodeAnalysis(info, 3))

FryPot_DosingSystem/Control/GlobalVariable.cs

@@ -397,8 +397,7 @@ namespace FryPot_DosingSystem.Control
         /// 洗桶就位信号
         /// </summary>
         public ushort WashRollerArriveSignal { get; set; }
-
-      
+       
 
     }
     /// <summary>
@@ -504,6 +503,7 @@ namespace FryPot_DosingSystem.Control
         /// 洗桶就位信号
         /// </summary>
         public ushort WashRollerArriveSignal { get; set; }
+        
     }
     /// <summary>
     /// 滚筒线3相关变量
@@ -608,6 +608,7 @@ namespace FryPot_DosingSystem.Control
         /// 洗桶就位信号
         /// </summary>
         public ushort WashRollerArriveSignal { get; set; }
+        
 
     }
     /// <summary>

FryPot_DosingSystem/Model/MaterialType.cs

@@ -35,6 +35,11 @@ namespace FryPot_DosingSystem.Model
         /// </summary>
         private ushort _materialLoc;
         public ushort MaterialLoc { get { return _materialLoc; } set { _materialLoc = value; OnPropertyChanged(); } }
+        /// <summary>
+        /// 是否有多桶相同物料
+        /// </summary>
+        private bool _isCommonMaterial;
+        public bool IsCommonMaterial { get { return _isCommonMaterial; }set { _isCommonMaterial = value;OnPropertyChanged(); } }
 
         public object Clone()
         {

FryPot_DosingSystem/View/NewRecipeView.xaml

@@ -425,7 +425,20 @@
                                                        BorderBrush="#e69519" Foreground="LightGray" Width="140" Margin="5,0,0,10" ></TextBox>
                                                 <TextBlock VerticalAlignment="Center" FontSize="14" Margin="4,0,0,10" Text="Kg" Foreground="#e69519" ></TextBlock>
                                             </StackPanel>
-                                            <Button Grid.Column="4"
+                                            <StackPanel Orientation="Horizontal" Grid.Column="4">
+                                                <CheckBox IsChecked="{Binding IsCommonMaterial}" VerticalAlignment="Center" Margin="20,0,0,10"/>
+                                                <Button 
+                                                    Content="删除"
+                                                    Width="70"
+                                                    Height="30"
+                                                    FontSize="14"
+                                                    Margin="10,0,20,10"
+                                                    Background="Transparent"
+                                                       BorderBrush="#e69519" Foreground="LightGray" HorizontalAlignment="Center"
+                                                    Command="{Binding DataContext.RemoveRecipe,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}"
+                                                    CommandParameter="{Binding MaterialCode}"></Button>
+                                            </StackPanel>
+                                            <!--<Button Grid.Column="4"
                                                     Content="删除"
                                                     Width="100"
                                                     Height="30"
@@ -434,7 +447,7 @@
                                                     Background="Transparent"
                                                        BorderBrush="#e69519" Foreground="LightGray" HorizontalAlignment="Center"
                                                     Command="{Binding DataContext.RemoveRecipe,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}"
-                                                    CommandParameter="{Binding MaterialCode}"></Button>
+                                                    CommandParameter="{Binding MaterialCode}"></Button>-->
                                         </Grid>
                                     </ControlTemplate>
                                 </RadioButton.Template>