From aaeb530ee2ddc6a80f0254b925cea00e560cc6af Mon Sep 17 00:00:00 2001 From: taoye Date: Wed, 17 Aug 2022 11:42:13 +0800 Subject: [PATCH] =?UTF-8?q?180=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Control/DosingLogicControl.cs | 378 +++++++++--------- 1 file changed, 179 insertions(+), 199 deletions(-) diff --git a/FryPot_DosingSystem/Control/DosingLogicControl.cs b/FryPot_DosingSystem/Control/DosingLogicControl.cs index 2be9ac8d..f7defdac 100644 --- a/FryPot_DosingSystem/Control/DosingLogicControl.cs +++ b/FryPot_DosingSystem/Control/DosingLogicControl.cs @@ -146,10 +146,8 @@ namespace FryPot_DosingSystem.Control List LNinerobotJobId = new List(); //从线体3到清洗台路径 List LTenrobotJobId = new List(); //从清洗台到线体4路径 - Dictionary agvCodeOne = new Dictionary();//1号agv小车的编号对AGV动画小车编号 - Dictionary agvCodeTwo = new Dictionary();//2号agv小车的编号对AGV动画小车编号 - Dictionary agvCodeThree =new Dictionary();//3号agv小车的编号对AGV动画小车编号 - Dictionary agvCodeFour = new Dictionary();//4号agv小车的编号对AGV动画小车编号 + Dictionary agvCode = new Dictionary() { { "1",1 }, { "2",2 }, { "3",3 }, { "4",4 } };//agv小车的编号对AGV动画小车编号 + public int CleanNum = 0;//当前清洗台桶数 @@ -686,7 +684,7 @@ namespace FryPot_DosingSystem.Control Upstreamrequest objData = JsonConvert.DeserializeObject(obj.ToString()); if (objData != null) { - #region 线体到炒锅 + #region 线体到炒锅请求上下料 //线体1请求上下料 if (objData.robotJobId == LOnerobotJobId && objData.command == "LOAD")//同一任务号且处于上料阶段，AGV请求上料 { @@ -730,11 +728,8 @@ namespace FryPot_DosingSystem.Control if (objData.robotJobId == LFourrobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段 { globalVar.rollerLineOne.agvArriveLineFour = true;//AGV到达下料位置 - AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); - AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); - AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.No); - AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hj); - AgvViewModel.GetInstance().Set停车桩(1, IsBool.Yes); + // AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); + } if (objData.robotJobId == LFiverobotJobId && objData.command == "LOAD") @@ -745,11 +740,8 @@ namespace FryPot_DosingSystem.Control if (objData.robotJobId == LFiverobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段 { globalVar.rollerLineTwo.agvArriveLineFour = true;//AGV到达下料位置 - AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); - AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); - AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.No); - AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hj); - AgvViewModel.GetInstance().Set停车桩(2, IsBool.Yes); + + } if (objData.robotJobId == LSixrobotJobId && objData.command == "LOAD") @@ -760,14 +752,11 @@ namespace FryPot_DosingSystem.Control if (objData.robotJobId == LSixrobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段 { globalVar.rollerLineThree.agvArriveLineFour = true;//AGV到达下料位置 - AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); - AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); - AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.No); - AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hj); - AgvViewModel.GetInstance().Set停车桩(3, IsBool.Yes); + + } #endregion - #region 线体到清洗台 + #region 线体123到清洗台请求上下料 if (LSevenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.command == "LOAD")//同一任务号且处于上料阶段，AGV请求上料 { globalVar.agvArriveLineOneLoadEmptyRoller = true;//AGV到达上料位置 @@ -777,10 +766,7 @@ namespace FryPot_DosingSystem.Control { globalVar.rollerLineOne.agvArriveCleanUnLoad = true;//AGV到达下料位置 - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); - AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.qxt_hj); - AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); - AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); + } if ( LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.command == "LOAD") @@ -792,10 +778,7 @@ namespace FryPot_DosingSystem.Control { globalVar.rollerLineTwo.agvArriveCleanUnLoad = true;//AGV到达下料位置 - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); - AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.qxt_hj); - AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); - AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); + } @@ -808,13 +791,10 @@ namespace FryPot_DosingSystem.Control { globalVar.rollerLineThree.agvArriveCleanUnLoad = true;//AGV到达下料位置 - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); - AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.qxt_hj); - AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); - AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); + } #endregion - + #region 清洗台到线体4请求上下料 if (LTenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.command == "LOAD") { globalVar.agvArriveCleanLoad = true;//agv到达清洗台上料位置 @@ -823,12 +803,10 @@ namespace FryPot_DosingSystem.Control { globalVar.agvArriveLineFour = true;//agv到达线体4下料位置 - AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); - AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); - AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.hj); - AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); + + } + #endregion } } @@ -861,35 +839,20 @@ namespace FryPot_DosingSystem.Control { //日志 } - //---------------------空桶从线体去清洗-------------------------------// - //线体1任务上报 - if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")// AGV正在上料，指线体空桶上料 - { - // globalVar.rollerLineOne.IsEpmtyBefore = false; - } - //线体2任务上报 - if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")// AGV正在上料，指线体空桶上料 - { - // globalVar.rollerLineTwo.IsEpmtyBefore = false; - } - //线体3任务上报 - if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")// AGV正在上料，指线体空桶上料 - { - // globalVar.rollerLineThree.IsEpmtyBefore = false; - } + //线体1任务上报 if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体上料 { globalVar.agvLineOneLoadCom = true; - AgvViewModel.GetInstance().Set滚筒线上数量(1, (globalVar.LOneMaterialNum - 1).ToString()); - AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.Yes); + AgvViewModel.GetInstance().Set滚筒线上数量(1, (--globalVar.LOneMaterialNum).ToString()); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.Yes); if (globalVar.LOneFryPotSerial == 1) { - AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.yc_1_1); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_1_1); } else if (globalVar.LOneFryPotSerial == 4) { - AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.yc_1_4); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_1_4); } } @@ -897,15 +860,15 @@ namespace FryPot_DosingSystem.Control if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体上料 { globalVar.agvLineTwoLoadCom = true; - AgvViewModel.GetInstance().Set滚筒线上数量(2, (globalVar.LTwoMaterialNum - 1).ToString()); - AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.Yes); + AgvViewModel.GetInstance().Set滚筒线上数量(2, (--globalVar.LTwoMaterialNum).ToString()); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.Yes); if (globalVar.LTwoFryPotSerial == 2) { - AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_2); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_2_2); } else if (globalVar.LTwoFryPotSerial == 5) { - AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.yc_2_5); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_2_5); } } @@ -913,74 +876,59 @@ namespace FryPot_DosingSystem.Control if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体上料 { globalVar.agvLineThreeLoadCom = true; - AgvViewModel.GetInstance().Set滚筒线上数量(3, (globalVar.LThreeMaterialNum - 1).ToString()); - AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.Yes); - AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.yc_3_3); + AgvViewModel.GetInstance().Set滚筒线上数量(3, (--globalVar.LThreeMaterialNum).ToString()); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.Yes); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.yc_3_3); } - //线体1任务上报 - if (objData.state == "ROLLER_LOAD_FINISH" && LSevenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体1空桶上料 + if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体到炒锅下料 { - globalVar.agvArriveLineOneLoadCom = true; - AgvViewModel.GetInstance().Set滚筒线上数量(1, globalVar.LOneMaterialNum.ToString()); - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes); - AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.tqx_1); - //到清洗处 + } //线体2任务上报 - if (objData.state == "ROLLER_LOAD_FINISH" && LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体2空桶上料 + if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体到炒锅下料 { - globalVar.agvArriveLineTwoLoadCom = true; - AgvViewModel.GetInstance().Set滚筒线上数量(2, globalVar.LTwoMaterialNum.ToString()); - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes); - AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.tqx_2); - //到清洗处 } //线体3任务上报 - if (objData.state == "ROLLER_LOAD_FINISH" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体3空桶上料 + if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体到炒锅下料 { - globalVar.agvArriveLineThreeLoadCom = true; - AgvViewModel.GetInstance().Set滚筒线上数量(3, globalVar.LThreeMaterialNum.ToString()); - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes); - AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.tqx_3); - //到清洗处 } //线体1任务上报 - if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体下料 + if (objData.state == "DONE" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体到炒锅下料 { - + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode],CartMotionTrajectory.hj); + AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); + AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); } //线体2任务上报 - if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体下料 + if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体到炒锅下料 { - + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hj); + AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); + AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); } //线体3任务上报 - if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体下料 + if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体到炒锅下料 { - + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hj); + AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); + AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); } - //线体1任务上报 - if (objData.state == "DONE" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体下料 - { + #endregion - } - //线体2任务上报 - if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体下料 - { - } - //线体3任务上报 - if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体下料 - { - } - #endregion - #region 空桶上下料任务信息回报 + + + + #region 炒锅空桶上下料任务信息回报 //线体1任务上报 if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指炒锅空桶上料 { @@ -1001,36 +949,36 @@ namespace FryPot_DosingSystem.Control if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指炒锅空桶上料 { globalVar.agvFryPotEmptyRollerArrive = true; - AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.OnllYes); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); if (globalVar.LOneFryPotSerial == 1) { - AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hs_1); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_1); } else if (globalVar.LOneFryPotSerial == 4) { - AgvViewModel.GetInstance().Set小车运动(1, CartMotionTrajectory.hs_4); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_4); } } //线体2任务上报 if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LFiverobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指炒锅空桶上料 { globalVar.LTwoagvFryPotEmptyRollerArrive = true; - AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.OnllYes); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); if (globalVar.LTwoFryPotSerial == 2) { - AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_2); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_2); } else if (globalVar.LTwoFryPotSerial == 5) { - AgvViewModel.GetInstance().Set小车运动(2, CartMotionTrajectory.hs_5); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_5); } } //线体3任务上报 if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指炒锅空桶上料 { globalVar.LThreeagvFryPotEmptyRollerArrive = true; - AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.OnllYes); - AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hs_3); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_3); } @@ -1038,131 +986,173 @@ namespace FryPot_DosingSystem.Control if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFourrobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指炒锅空桶下料 { AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); - AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.No); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); + + } + //线体2任务上报 + if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFiverobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指炒锅空桶下料 + { + AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); + + } + //线体3任务上报 + if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LSixrobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指炒锅空桶下料 + { + AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); + + } + //线体1任务上报 + if (objData.state == "DONE" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指炒锅空桶下料 + { + MessageLog.GetInstance.ShowRunLog("1号线炒锅空桶在4号线卸桶完成"); + if (globalVar.LFourRollerNum >= 8) { AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); } else { - AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); + AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); } + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj")); + AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); + AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); + } //线体2任务上报 - if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LFiverobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指炒锅空桶下料 + if (objData.state == "DONE" && objData.robotJobId == LFiverobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指炒锅空桶下料 { - AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); - AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.No); + MessageLog.GetInstance.ShowRunLog("2号线炒锅空桶在4号线卸桶完成"); + if (globalVar.LFourRollerNum >= 8) { AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); } else { - AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); + AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); } + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj")); + AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); + AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); } //线体3任务上报 - if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LSixrobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指炒锅空桶下料 + if (objData.state == "DONE" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指炒锅空桶下料 { - AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); - AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.No); + MessageLog.GetInstance.ShowRunLog("3号线炒锅空桶在4号线卸桶完成"); + if (globalVar.LFourRollerNum >= 8) { AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); } else { - AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); + AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); } + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj")); + AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); + AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); } + #endregion + #region 线体123空桶到清戏台 //线体1任务上报 - if (objData.state == "DONE" && objData.robotJobId == LFourrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指炒锅空桶下料 + if (objData.state == "ROLLER_LOAD_FINISH" && LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体1空桶上料 { - MessageLog.GetInstance.ShowRunLog("1号线炒锅空桶在4号线卸桶完成"); - // globalVar.EmptyRollerUnLoadcCom = true; - AgvViewModel.GetInstance().Set小车运动(1, AgvViewModel.GetInstance().GetCommandValue("hj")); - AgvViewModel.GetInstance().Set小车停止(1); - AgvViewModel.GetInstance().Set停车桩(1, IsBool.Yes); - + globalVar.agvArriveLineOneLoadCom = true; + AgvViewModel.GetInstance().Set滚筒线上数量(1, (--globalVar.LOneMaterialNum).ToString()); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_1); + //到清洗处 } //线体2任务上报 - if (objData.state == "DONE" && objData.robotJobId == LFiverobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指炒锅空桶下料 + if (objData.state == "ROLLER_LOAD_FINISH" && LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体2空桶上料 { - MessageLog.GetInstance.ShowRunLog("2号线炒锅空桶在4号线卸桶完成"); - // globalVar.EmptyRollerUnLoadcCom = true; - AgvViewModel.GetInstance().Set小车运动(2, AgvViewModel.GetInstance().GetCommandValue("hj")); - AgvViewModel.GetInstance().Set小车停止(2); - AgvViewModel.GetInstance().Set停车桩(2, IsBool.Yes); + globalVar.agvArriveLineTwoLoadCom = true; + AgvViewModel.GetInstance().Set滚筒线上数量(2, (--globalVar.LTwoMaterialNum).ToString()); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_2); + //到清洗处 + } //线体3任务上报 - if (objData.state == "DONE" && objData.robotJobId == LSixrobotJobId && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指炒锅空桶下料 + if (objData.state == "ROLLER_LOAD_FINISH" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料点上料完成，这里指线体3空桶上料 { - MessageLog.GetInstance.ShowRunLog("3号线炒锅空桶在4号线卸桶完成"); - // globalVar.EmptyRollerUnLoadcCom = true; - AgvViewModel.GetInstance().Set小车运动(3, AgvViewModel.GetInstance().GetCommandValue("hj")); - AgvViewModel.GetInstance().Set小车停止(3); - AgvViewModel.GetInstance().Set停车桩(3, IsBool.Yes); + globalVar.agvArriveLineThreeLoadCom = true; + AgvViewModel.GetInstance().Set滚筒线上数量(3, (--globalVar.LThreeMaterialNum).ToString()); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.tqx_3); + //到清洗处 + } + if (objData.state == "DONE" && LSevenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指从线体1到清戏台空桶下料 { LSevenrobotJobId.Remove(objData.robotJobId); - MessageLog.GetInstance.ShowRunLog("清洗台卸桶完成"); - AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue("hj")); - AgvViewModel.GetInstance().Set小车停止(4); - AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); + MessageLog.GetInstance.ShowRunLog("线体【1】空桶在清洗台卸桶完成"); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj); + AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); + AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); } if (objData.state == "DONE" && LEightrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指从线体2到清戏台空桶下料 { LEightrobotJobId.Remove(objData.robotJobId); - MessageLog.GetInstance.ShowRunLog("清洗台卸桶完成"); - AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue("hj")); - AgvViewModel.GetInstance().Set小车停止(4); - AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); + MessageLog.GetInstance.ShowRunLog("线体【2】空桶在清洗台卸桶完成"); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj); + AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); + AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); } if (objData.state == "DONE" && LNinerobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指从线体3到清戏台空桶下料 { LNinerobotJobId.Remove(objData.robotJobId); - MessageLog.GetInstance.ShowRunLog("清洗台卸桶完成"); - AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue("hj")); - AgvViewModel.GetInstance().Set小车停止(4); - AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); + MessageLog.GetInstance.ShowRunLog("线体【3】空桶在清洗台卸桶完成"); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.qxt_hj); + AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); + AgvViewModel.GetInstance().SetCleanRollerNum(++CleanNum); } + #endregion + #region 清洗台到线体4 if (objData.state == "ROLLER_LOAD_FINISH" && LTenrobotJobId.FirstOrDefault(p=>p==objData.robotJobId)!=null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定上料位置上料完成，指清戏台空桶到上料 { MessageLog.GetInstance.ShowRunLog("清洗台空桶装载完成"); - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes); - AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.hs_4);//去四号空桶线 - + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.OnllYes); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], CartMotionTrajectory.hs_4);//去四号空桶线 + AgvViewModel.GetInstance().SetCleanRollerNum(--CleanNum); + } if (objData.state == "ROLLER_UNLOAD_DOING" && LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.targetPointCode == "")//指定下料点正在下料，指清洗台空桶到线体4下料 { AgvViewModel.GetInstance().Set滚筒线状态(4, IsRun.Start); - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); + + } + + if (objData.state == "DONE"&& LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指清戏台空桶到线体4下料 + { + LTenrobotJobId.Remove(objData.robotJobId); + MessageLog.GetInstance.ShowRunLog("【4】号线空桶回桶完成"); if (globalVar.LFourRollerNum >= 8) { AgvViewModel.GetInstance().Set滚筒线上数量(4, "8"); } else { - AgvViewModel.GetInstance().Set滚筒线上数量(4, (globalVar.LFourRollerNum + 1).ToString()); + AgvViewModel.GetInstance().Set滚筒线上数量(4, (++globalVar.LFourRollerNum).ToString()); } - } - - if (objData.state == "DONE"&& LTenrobotJobId.FirstOrDefault(p => p == objData.robotJobId) != null && objData.jobData.startPointCode == "" && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指清戏台空桶到线体4下料 - { - LTenrobotJobId.Remove(objData.robotJobId); - MessageLog.GetInstance.ShowRunLog("【4】号线空桶回桶完成"); - AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue("hj")); - AgvViewModel.GetInstance().Set小车停止(4); - AgvViewModel.GetInstance().Set停车桩(4, IsBool.Yes); + AgvViewModel.GetInstance().Set小车是否承载物品(agvCode[objData.jobData.agvCode], IsBool.No); + AgvViewModel.GetInstance().Set小车运动(agvCode[objData.jobData.agvCode], AgvViewModel.GetInstance().GetCommandValue("hj")); + AgvViewModel.GetInstance().Set小车停止(agvCode[objData.jobData.agvCode]); + AgvViewModel.GetInstance().Set停车桩(agvCode[objData.jobData.agvCode], IsBool.Yes); } - #endregion + } } @@ -1485,19 +1475,19 @@ namespace FryPot_DosingSystem.Control if (globalVar.rollerLineOne.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineOne.EmptyRollerNum != 0) { globalVar.rollerLineOne.EmptyRollerNums.Add(globalVar.rollerLineOne.EmptyRollerNum); - globalVar.LOneMaterialNum++; + ++globalVar.LOneMaterialNum; //是否手动复位PLC } if (globalVar.rollerLineTwo.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineTwo.EmptyRollerNum != 0) { globalVar.rollerLineTwo.EmptyRollerNums.Add(globalVar.rollerLineTwo.EmptyRollerNum); - globalVar.LTwoMaterialNum++; + ++globalVar.LTwoMaterialNum; //是否手动复位PLC } if (globalVar.rollerLineThree.EmptyRollerConfirmSingle == 1 && globalVar.rollerLineThree.EmptyRollerNum != 0) { globalVar.rollerLineThree.EmptyRollerNums.Add(globalVar.rollerLineThree.EmptyRollerNum); - globalVar.LThreeMaterialNum++; + ++globalVar.LThreeMaterialNum; //是否手动复位PLC } //炒锅状态数据 @@ -2066,9 +2056,7 @@ namespace FryPot_DosingSystem.Control WritePlcData("D1066", 1);//AGV空桶出桶就位信号下发PlC MessageLog.GetInstance.ShowRunLog("AGV到达清洗台空桶上料位置"); // MessageLog.GetInstance.ShowRunLog("清洗台空桶装载完成"); - AgvViewModel.GetInstance().SetCleanRollerNum(--CleanNum); - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.OnllYes); - AgvViewModel.GetInstance().Set小车运动(4, CartMotionTrajectory.qxt_4); + } } @@ -2724,7 +2712,7 @@ namespace FryPot_DosingSystem.Control { Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_4.workflows.Add(new WorkflowModel { id = globalVar.LOneCurrentCookingStep, Name = OutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); })); } - AgvViewModel.GetInstance().Set小车是否承载物品(1, IsBool.No); + //炒锅滚筒进料运行到位处理 FryPotOneOrFourInputMaterialRollerOperate(); AgvFromFryPotOneOrFourToClean();//上游下发搬运任务给AGV @@ -2784,7 +2772,7 @@ namespace FryPot_DosingSystem.Control Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_5.workflows.Add(new WorkflowModel { id = globalVar.LTwoCurrentCookingStep, Name = LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); })); } - AgvViewModel.GetInstance().Set小车是否承载物品(2, IsBool.No); + //炒锅滚筒进料运行到位处理 FryPotTwoOrFiveInputMaterialRollerOperate(); AgvFromFryPotTwoOrFiveToClean();//上游下发搬运任务给AGV @@ -2820,7 +2808,7 @@ namespace FryPot_DosingSystem.Control { Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep, Name = LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); })); - AgvViewModel.GetInstance().Set小车是否承载物品(3, IsBool.No); + //炒锅滚筒进料运行到位处理 FryPotThreeInputMaterialRollerOperate(); AgvFromFryPotThreeToClean();//上游下发搬运任务给AGV @@ -2906,7 +2894,6 @@ namespace FryPot_DosingSystem.Control //} globalVar.agvFryPotEmptyRollerArrive = false; globalVar.InOrOutputLock = false; - globalVar.LOneMaterialNum--; MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LOneFryPotSerial}】号炒锅将空桶回收到4号滚筒线"); //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅 globalVar.AllowAgvToLineLoadRoller = true; @@ -2962,7 +2949,7 @@ namespace FryPot_DosingSystem.Control //} globalVar.LTwoagvFryPotEmptyRollerArrive = false; globalVar.LTwoInOrOutputLock = false; - globalVar.LTwoMaterialNum--; + MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LTwoFryPotSerial}】号炒锅将空桶回收到4号滚筒线"); //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅 globalVar.AllowAgvToLineTwoLoadRoller = true; @@ -3008,7 +2995,7 @@ namespace FryPot_DosingSystem.Control //AgvViewModel.GetInstance().Set小车运动(3, CartMotionTrajectory.hs_3); globalVar.LThreeagvFryPotEmptyRollerArrive = false; globalVar.LThreeInOrOutputLock = false; - globalVar.LThreeMaterialNum--; + MessageLog.GetInstance.ShowRunLog($"AGV在【{globalVar.LThreeFryPotSerial}】号炒锅将空桶回收到4号滚筒线"); //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅 globalVar.AllowAgvToLineThreeLoadRoller = true; @@ -3521,7 +3508,7 @@ namespace FryPot_DosingSystem.Control if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo)) { MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶"); - AgvViewModel.GetInstance().Set滚筒线状态(1, IsRun.Start); + globalVar.LOneCurrentCookingStep++; OutputMaterialQuene.Enqueue(materialInfo); globalVar.agvArriveUpLoad = false; @@ -3556,8 +3543,8 @@ namespace FryPot_DosingSystem.Control MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置"); DeviceOperate.GetInstance.WritePlcData("D1052", 1);//agv到达线体1上料位置信号下发plc MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶"); - AgvViewModel.GetInstance().Set滚筒线状态(1, IsRun.Start); - globalVar.LOneMaterialNum--; + + globalVar.agvArriveLineOneLoadEmptyRoller = false; //原料到位，agv到位，agv自行运料到清洗处 } @@ -3598,7 +3585,7 @@ namespace FryPot_DosingSystem.Control if (LTwoInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo)) { MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶"); - AgvViewModel.GetInstance().Set滚筒线状态(2, IsRun.Start); + globalVar.LTwoCurrentCookingStep++; LTwoOutputMaterialQuene.Enqueue(materialInfo); globalVar.agvArriveLTwoUpLoad = false; @@ -3635,8 +3622,8 @@ namespace FryPot_DosingSystem.Control MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置"); DeviceOperate.GetInstance.WritePlcData("D1053", 1);//agv到达线体2上料位置信号下发plc MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶"); - AgvViewModel.GetInstance().Set滚筒线状态(2, IsRun.Start); - globalVar.LTwoMaterialNum--; + + globalVar.agvArriveLineTwoLoadEmptyRoller = false; //原料到位，agv到位，agv自行运料到清洗处 @@ -3678,7 +3665,7 @@ namespace FryPot_DosingSystem.Control if (LThreeInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo)) { MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶"); - AgvViewModel.GetInstance().Set滚筒线状态(3, IsRun.Start); + globalVar.LThreeCurrentCookingStep++; LThreeOutputMaterialQuene.Enqueue(materialInfo); globalVar.agvArriveLThreeUpLoad = false; @@ -3715,8 +3702,8 @@ namespace FryPot_DosingSystem.Control MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置"); DeviceOperate.GetInstance.WritePlcData("D1054", 1);//agv到达线体3上料位置信号下发plc MessageLog.GetInstance.ShowRunLog($"AGV正在装载【{emptyRollerNum}】号空料桶"); - AgvViewModel.GetInstance().Set滚筒线状态(3, IsRun.Start); - globalVar.LThreeMaterialNum--; + + globalVar.agvArriveLineThreeLoadEmptyRoller = false; // globalVar.rollerLineThree.IsEpmtyBefore = false; @@ -3753,9 +3740,6 @@ namespace FryPot_DosingSystem.Control { if (errorCode == "SUCCESS") { - AgvViewModel.GetInstance().Set停车桩(num, IsBool.No); - AgvViewModel.GetInstance().Set小车是否承载物品(num, IsBool.No); - AgvViewModel.GetInstance().Set小车运动(num, AgvViewModel.GetInstance().GetCommandValue($"qc_{num}")); MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶"); globalVar.AllowAgvToLineLoadRoller = false; } @@ -3777,9 +3761,7 @@ namespace FryPot_DosingSystem.Control { if (errorCode == "SUCCESS") { - AgvViewModel.GetInstance().Set停车桩(num, IsBool.No); - AgvViewModel.GetInstance().Set小车是否承载物品(4, IsBool.No); - AgvViewModel.GetInstance().Set小车运动(4, AgvViewModel.GetInstance().GetCommandValue($"tqx_{num}")); + MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶"); } else if (errorCode == "Analysis Error") @@ -3800,9 +3782,7 @@ namespace FryPot_DosingSystem.Control { if (errorCode == "SUCCESS") { - AgvViewModel.GetInstance().Set停车桩(num, IsBool.No); - AgvViewModel.GetInstance().Set小车是否承载物品(num, IsBool.No); - AgvViewModel.GetInstance().Set小车运动(num, CartMotionTrajectory.jtqx); + MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线卸桶"); } else if (errorCode == "Analysis Error")