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1.初版差异提交

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龚记林
2026-08-19 17:02:08 +08:00
parent 6f8dae2d02
commit 92c0d2e8d5
24 changed files with 507 additions and 27 deletions
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CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/Cls_A17168.cs
+55 -24
View File
@@ -185,6 +185,7 @@ namespace AGVSystem
temp.Read_dt = DateTime.Now;
UPDateDBList.upDbList.Add(new Location_Log(DateTime.Now, temp.Agv_ID, temp.Location_Display, location_value, 0, 0, 0));
}
WriteTxt.SaveLog1("=========》（11）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
#region 路口放行判断
if (temp.Cross_Location_Go != location_temp && location_value > 0 && location_value < 2000)
{
@@ -361,10 +362,12 @@ namespace AGVSystem
#region 海康交管
else if (Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(',').Contains(location_temp.ToString()))
{
WriteTxt.SaveLog1("=========》（12）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
bool flg = false;
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + (temp.Agv_ID), "插件日志");
//2秒请求一次
if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
{
@@ -375,16 +378,15 @@ namespace AGVSystem
//放行
if (flg)
{
// if (Link_To_PLC.WriteGo(temp.Agv_ID) == 0)
// {
// Frm_A17168.leavedDic[temp.Agv_ID] = 0;
// WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + (temp.Agv_ID), "插件日志");
// t_temp = 0;
// temp.Cross_Location_Go = location_temp;
// }
WriteTxt.SaveLog1("=========》（13）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
//登记第三方交管路口占用
TrafficModel trafficModel = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
if (trafficModel != null)
{
trafficModel.agvId = temp.Agv_ID;
trafficModel.InArea = DateTime.Now;
}
WriteTxt.SaveLog1(location_temp.ToString() + "路口添加" + trafficModel?.areaCode + "(" + trafficModel.agvId + ")", "放行日志" + (temp.Agv_ID), "插件日志");
if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
{
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
@@ -402,23 +404,31 @@ namespace AGVSystem
//{
else if (Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(',').Contains(location_temp.ToString()))
{
WriteTxt.SaveLog1("=========》（14）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
bool flg = false;
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + (temp.Agv_ID), "插件日志");
if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
{
flg = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), lockCode.ToString());
flg = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), (location_temp - 1).ToString());
WriteTxt.SaveLog1(location_temp.ToString() + "离开释放返回的值" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
}
//归还
if (flg)
{
WriteTxt.SaveLog1("=========》（15）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
temp.Cross_Location_Go = location_temp;
lockCode = location_temp;
//清除第三方交管路口占用
TrafficModel trafficModel2 = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
if (trafficModel2 != null)
{
trafficModel2.agvId = 0;
}
WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + (temp.Agv_ID), "插件日志");
}
Frm_A17168.leavedDic[temp.Agv_ID]++;
@@ -467,8 +477,11 @@ namespace AGVSystem
Convert.ToString(param_info[6], 2).PadLeft(8, '0') +
Convert.ToString(param_info[5], 2).PadLeft(8, '0') +
Convert.ToString(param_info[4], 2).PadLeft(8, '0');
Thread.Sleep(100);
Warn_Deal(temp, sWarn);
ThreadPool.QueueUserWorkItem(delegate
{
Thread.Sleep(100);
Warn_Deal(temp, sWarn);
});
#endregion
}
}
@@ -608,8 +621,6 @@ namespace AGVSystem
WriteTxt.SaveLog1("AGV经过地标：" + location_temp, temp.Agv_ID + "#Agv", "地标日志");
//地标信息
temp.Location_Display = location_temp;
//记录充电
Func.Change_Rec(temp.Agv_ID, location_temp, temp.Location_Display, temp.Read_dt);
temp.Read_dt = DateTime.Now;
//Func.db_conn.Command("INSERT INTO [Location_Log] ([Dt] ,[Agv_ID] ,[Loc_ID] ,[Value] ,[Loc_ID2] ,[Value2],[Value3]) VALUES ('" +
@@ -617,13 +628,13 @@ namespace AGVSystem
string strsql = "INSERT INTO [Location_Log] ([Dt] ,[Agv_ID] ,[Loc_ID] ,[Value] ,[Loc_ID2] ,[Value2],[Value3]) VALUES ('" +
DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "'," + temp.Agv_ID + "," + location_temp + "," + location_value + "," + 0 + "," + 0 + "," + 0 + ")";
bBllBase.ExecuteNonQuery(strsql);
UPDateDBList.sqlList.Add(strsql);
}
if (Math.Abs(errorcount) > 0) errorcount = 0;
WriteTxt.SaveLog1("=========》（21）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
#region 路口放行判断
if (temp.Cross_Location_Go != location_temp && location_value > 0 && location_value < 2000)
@@ -799,10 +810,12 @@ namespace AGVSystem
#region 海康交管
else if (Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(',').Contains(location_temp.ToString()))
{
WriteTxt.SaveLog1("=========》（22）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
bool flg = false;
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + (temp.Agv_ID), "插件日志");
//2秒请求一次
if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
{
@@ -821,8 +834,15 @@ namespace AGVSystem
// temp.Cross_Location_Go = location_temp;
// }
WriteTxt.SaveLog1("=========》（23）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
//登记第三方交管路口占用
TrafficModel trafficModel = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
if (trafficModel != null)
{
trafficModel.agvId = temp.Agv_ID;
trafficModel.InArea = DateTime.Now;
}
WriteTxt.SaveLog1(location_temp.ToString() + "路口添加" + trafficModel?.areaCode + "(" + trafficModel.agvId + ")", "放行日志" + (temp.Agv_ID), "插件日志");
if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
{
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
@@ -840,23 +860,31 @@ namespace AGVSystem
//{
else if (Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(',').Contains(location_temp.ToString()))
{
WriteTxt.SaveLog1("=========》（24）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
bool flg = false;
WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + (temp.Agv_ID), "插件日志");
if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
{
flg = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), lockCode.ToString());
flg = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), (location_temp - 1).ToString());
WriteTxt.SaveLog1(location_temp.ToString() + "离开释放返回的值" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
}
//归还
if (flg)
{
WriteTxt.SaveLog1("=========》（25）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
Frm_A17168.leavedDic[temp.Agv_ID] = 0;
temp.Cross_Location_Go = location_temp;
lockCode = location_temp;
//清除第三方交管路口占用
TrafficModel trafficModel2 = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
if (trafficModel2 != null)
{
trafficModel2.agvId = 0;
}
WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + (temp.Agv_ID), "插件日志");
}
Frm_A17168.leavedDic[temp.Agv_ID]++;
@@ -902,8 +930,11 @@ namespace AGVSystem
string sWarn = (Convert.ToString(WarnRead[0], 2).PadLeft(8, '0') + Convert.ToString(WarnRead[1], 2).PadLeft(8, '0')).PadLeft(64, '0');
Thread.Sleep(100);
Warn_Deal_Plc(temp, sWarn);
ThreadPool.QueueUserWorkItem(delegate
{
Thread.Sleep(100);
Warn_Deal_Plc(temp, sWarn);
});
#endregion
}
}
CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/Frm_A17168.cs
+28
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@@ -31,6 +31,14 @@ namespace AGVSystem
public static ClsDBConn_sql db_station = new ClsDBConn_sql();
public static ClsDBConn_sql db_Agv_Info = new ClsDBConn_sql();
public static BusinessManage businessCtrl;
/// <summary>
/// 第三方交管自动归还秒数
/// </summary>
public static int TraffAutoTimet = 0;
/// <summary>
/// 第三方交管路口占用列表
/// </summary>
public static List<TrafficModel> autoLeavedDic = new List<TrafficModel>();
public static Dictionary<int, int> leavedDic = new Dictionary<int, int>();
/// <summary>
/// Array_Station_Info [17,12]
@@ -111,6 +119,22 @@ namespace AGVSystem
mainfrm.Map2 = panel2;
mainfrm.Map3 = panel1;
businessCtrl = new BusinessManage();
//初始化第三方交管路口占用列表
if (businessCtrl != null && businessCtrl.apiModel != null)
{
TraffAutoTimet = businessCtrl.apiModel.AutoTime;
if (!string.IsNullOrEmpty(businessCtrl.apiModel.waitRfidList))
{
autoLeavedDic = new List<TrafficModel>();
foreach (string areaCode in businessCtrl.apiModel.waitRfidList.Split(','))
{
autoLeavedDic.Add(new TrafficModel
{
areaCode = areaCode
});
}
}
}
this.ControlBox = false;
this.Width = mainfrm.newmainfrm.ClientSize.Width - 5;
this.Height = mainfrm.newmainfrm.ClientSize.Height - 29 - 74 - 22 - 5;
@@ -304,6 +328,10 @@ namespace AGVSystem
Thread dbThread = new Thread(UPDateDBList.UpDateDb);
dbThread.IsBackground = true;
dbThread.Start();
//第三方交管自动归还监听线程
Thread trafficThread = new Thread(TrafficCtrl.Listen);
trafficThread.IsBackground = true;
trafficThread.Start();
//初始化小车控制线程
Cls.Param.th_GetData = new Thread[Cls.Param.AGV_Qty];
CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/TrafficCtrl.cs
+65
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@@ -0,0 +1,65 @@
using System;
using System.Threading;
namespace AGVSystem.A17168
{
/// <summary>
/// 第三方交管自动归还路权监听
/// </summary>
public class TrafficCtrl
{
/// <summary>
/// 获取AGV当前地标
/// </summary>
private static int Agv_Land(int agvid)
{
for (byte b = 0; b < Func.AgvInfo.Length; b++)
{
if (Func.AgvInfo[b].Agv_ID == agvid)
{
return Func.AgvInfo[b].Location_Display;
}
}
return 0;
}
/// <summary>
/// 监听线程：占用超过AutoTime秒的路口自动归还路权
/// </summary>
public static void Listen()
{
while (true)
{
try
{
if (Frm_A17168.businessCtrl?.apiModel == null)
continue;
int autoTime = Frm_A17168.businessCtrl.apiModel.AutoTime;
if (autoTime == 0 || string.IsNullOrEmpty(Frm_A17168.businessCtrl.apiModel.waitRfidList) || Frm_A17168.autoLeavedDic == null || Frm_A17168.autoLeavedDic.Count <= 0)
continue;
foreach (TrafficModel item in Frm_A17168.autoLeavedDic)
{
if (item.agvId == 0)
continue;
if ((DateTime.Now - item.InArea).TotalSeconds > autoTime)
{
bool flag = Frm_A17168.businessCtrl.ByLeaved(item.agvId.ToString(), Agv_Land(item.agvId).ToString(), item.areaCode.ToString());
WriteTxt.SaveLog1(item.areaCode.ToString() + "自动释放，返回的值" + flag, "放行日志" + item.agvId, "插件日志");
if (flag)
{
Frm_A17168.leavedDic[item.agvId] = 0;
item.agvId = 0;
WriteTxt.SaveLog1(item.areaCode.ToString() + "路口已自动归还", "放行日志" + item.agvId, "插件日志");
}
}
}
}
catch (Exception ex)
{
WriteTxt.SaveLog1("第三方交管监听线程异常！" + ex.ToString(), "异常日志", "插件日志");
}
Thread.Sleep(1000);
}
}
}
}
CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/TrafficModel.cs
+23
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@@ -0,0 +1,23 @@
using System;
namespace AGVSystem.A17168
{
/// <summary>
/// 第三方交管路口占用模型
/// </summary>
public class TrafficModel
{
/// <summary>
/// 路口（交汇区）地标编号
/// </summary>
public string areaCode { get; set; }
/// <summary>
/// 当前占用该路口的AGV编号，0=空闲
/// </summary>
public int agvId { get; set; }
/// <summary>
/// 进入路口时间
/// </summary>
public DateTime InArea { get; set; }
}
}
CODE/20230901/SA17168/AGVSystem Ver2.0/AGVSystem.csproj
+2
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@@ -184,6 +184,8 @@
<Compile Include="A17168\Frm_A17168.Designer.cs">
<DependentUpon>Frm_A17168.cs</DependentUpon>
</Compile>
<Compile Include="A17168\TrafficCtrl.cs" />
<Compile Include="A17168\TrafficModel.cs" />
<Compile Include="A17168\UPDateDBList.cs" />
<Compile Include="AboutBox1.cs">
<SubType>Form</SubType>
CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Func.cs
+82
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@@ -67,6 +67,9 @@ namespace AGVSystem
lab.Tag = Assembly_ID + "-" + id;
lab.DoubleClick += new System.EventHandler(Cls.Path_Reset.label12_DoubleClick);
lab.MouseClick += new MouseEventHandler(label_MouseClick);
lab.MouseUp += new MouseEventHandler(label_UpClick);
lab.MouseDown += new MouseEventHandler(label_DownClick);
lab.MouseMove += new MouseEventHandler(label_MoveClick);
}
else if (Cls.Param.Display_CrossID == false)
{
@@ -117,6 +120,85 @@ namespace AGVSystem
}
}
private static bool moveFlag = false;
private static int xPos;
private static int yPos;
/// <summary>
/// 松开鼠标：按住Ctrl且已登录管理员时，确认后更新地标坐标
/// </summary>
private static void label_UpClick(object sender, MouseEventArgs e)
{
moveFlag = false;
try
{
if ((Control.ModifierKeys & Keys.Control) != Keys.Control)
{
return;
}
if (Cls.Param.UserName_temp == "")
{
MessageBox.Show("请登录管理员权限！", "AGV调度管理系统", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
return;
}
Label label = (Label)sender;
int num = Convert.ToInt16(label.Text);
if (MessageBox.Show($"是否移动该{num}地标？", "消息", MessageBoxButtons.YesNo, MessageBoxIcon.Asterisk) != DialogResult.No && label.Parent.GetType() == typeof(Panel))
{
Panel panel = label.Parent as Panel;
int y = panel.Top + Cls.Param.Icon_Size / 2;
int left = panel.Left;
Console.WriteLine(num + "up === X:" + left + "Y:" + y);
UpLocation(num, left, y);
}
}
catch (Exception)
{
}
}
private static void label_DownClick(object sender, MouseEventArgs e)
{
moveFlag = true;
xPos = e.X;
yPos = e.Y;
}
/// <summary>
/// 拖动地标所在Panel
/// </summary>
private static void label_MoveClick(object sender, MouseEventArgs e)
{
if (moveFlag)
{
Label label = (Label)sender;
int num = Convert.ToInt16(label.Text);
if (label.Parent.GetType() == typeof(Panel))
{
Panel panel = label.Parent as Panel;
panel.Top += e.Y - yPos;
panel.Left += e.X - xPos;
}
}
}
/// <summary>
/// 更新地标坐标到数据库
/// </summary>
private static void UpLocation(int rfid, int x, int y)
{
try
{
string text = db_conn.Command($"UPDATE [LandMarkInfo] SET [Loc_X] = {x},[Loc_Y] = {y} WHERE [Loc_ID] = {rfid}");
if (text == "1")
{
Console.WriteLine($"{rfid} 更新成功！x:{x},y:{y} ");
}
}
catch (Exception)
{
}
}
private static object obj_dgvupdate = new object();
public static void DgvUpdate(DataGridView dgv, int row, string columnname, bool value)
CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Path_Reset.cs
+34
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@@ -3,6 +3,7 @@ using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using AGVSystem.A17168;
namespace AGVSystem.Cls
{
@@ -16,6 +17,7 @@ namespace AGVSystem.Cls
int[] num = new int[2];
num[0] = Convert.ToInt16(((System.Windows.Forms.Label)sender).Tag.ToString().Split('-')[0]);
num[1] = Convert.ToInt16(((System.Windows.Forms.Label)sender).Tag.ToString().Split('-')[1]);
ClearOtherLand(num[1]);
for (int i = 0; i < mainfrm.ds_CrossInfo.Tables[0].Rows.Count; i++)
{
string s = mainfrm.ds_CrossInfo.Tables[0].Rows[i]["当前地标编号"].ToString();
@@ -29,5 +31,37 @@ namespace AGVSystem.Cls
}
}
}
/// <summary>
/// 复位路口时向第三方交管手动归还路权
/// </summary>
private static void ClearOtherLand(int land)
{
try
{
foreach (TrafficModel item in Frm_A17168.autoLeavedDic)
{
if (item.agvId == 0)
{
continue;
}
if (item.areaCode != land.ToString())
{
continue;
}
bool flag = Frm_A17168.businessCtrl.ByLeaved(item.agvId.ToString(), land.ToString(), item.areaCode.ToString());
WriteTxt.SaveLog1(item.areaCode.ToString() + "手动释放，返回的值" + flag, "放行日志" + item.agvId, "插件日志");
if (flag)
{
Frm_A17168.leavedDic[item.agvId] = 0;
item.agvId = 0;
WriteTxt.SaveLog1(item.areaCode.ToString() + "路口已手动归还", "放行日志" + item.agvId, "插件日志");
}
}
}
catch (Exception)
{
}
}
}
}
CODE/20230901/SA17168/AGVSystem Ver2.0/Properties/Resources.Designer.cs
Generated
+1 -1
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@@ -19,7 +19,7 @@ namespace AGVSystem.Properties {
// 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
// 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
// (以 /str 作为命令选项)，或重新生成 VS 项目。
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "16.0.0.0")]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")]
[global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
internal class Resources {
CODE/20230901/SA17168/AGVSystem Ver2.0/Properties/Settings.Designer.cs
Generated
+1 -1
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@@ -12,7 +12,7 @@ namespace AGVSystem.Properties {
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "16.10.0.0")]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.6.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/BllSql.dll
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CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/HxBusiness.dll
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CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/华晓AGV管理系统.exe
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CODE/20230901/SA17168/AGVSystem Ver2.0/obj/x86/Debug/AGVSystem.csproj.FileListAbsolute.txt
+42
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@@ -632,3 +632,45 @@ D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\AGVSystem Ver2.0
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D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\BllSql.dll
D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\HxBusiness.dll
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WriteTxt.SaveLog1("离开时请求时配置为空！", "异常日志");
return false;
}
if (string.IsNullOrEmpty(agvid) || string.IsNullOrEmpty(rfid))
if (string.IsNullOrEmpty(agvid))
{
WriteTxt.SaveLog1("离开时请求时请求参数为空！", "异常日志");
return false;
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/// 离开归还地标列表
/// </summary>
public string leavedRfidList { get; set; }
/// <summary>
/// 自动归还路权秒数，0=手动归还
/// </summary>
public int AutoTime { get; set; }
}
}
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差异文档.md
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# 华晓AGV管理系统 源码与现场应用差异报告
> 生成日期：2026-08-19
> 比对方法：将「现场运行的二进制」与「CODE 源码重编译产物」用同一版本 ILSpy（ilspycmd 11.0.0.9375）、同一参数分别反编译为 C#，再逐类逐行 diff。两侧均带 PDB，局部变量名可还原，diff 结果即真实源码差异。
> 结论先行：**差异全部集中在主程序 exe 和 HxBusiness.dll，BllSql.dll 零差异**。所有差异均属于同一主题——「第三方交管（路权申请/归还）功能的完善」+「地标拖动调整坐标的小工具」+「日志增强」。
---
## 1. 比对对象与基线
| 项 | 现场（基准） | CODE 源码 |
|---|---|---|
| 华晓AGV管理系统.exe | 2023-09-18 编译，2,212,352 字节 | 快照 20230901，重编译 2,201,088 字节 |
| BllSql.dll | 2023-09-02 编译 | 同期 |
| HxBusiness.dll | 2023-09-15 编译 | 快照 20230901 |
| 其余 20 个第三方 DLL | 2015–2019 | **MD5 全部一致，无需处理** |
- 现场目录自带的 `华晓AGV管理系统.zip` 内是 2023-09-02 的旧 exe 备份，用它与源码重编译产物做了方法校准：仅 2 个文件 10 行差异（源码略新于 9/2 备份），证明比对方法可靠。
- 现场 exe 为 **Debug|x86 / .NET Framework 4.5.2** 构建，与 CODE 工程配置一致。
- 现场是用 **VS2022 (17.x)** 工具链构建的（Designer 生成代码版本号为 17.x，资源序列化格式与新工具链一致）。
## 2. 程序集级差异总览
| 程序集 | 差异 | 说明 |
|---|---|---|
| BllSql.dll | **无** | 反编译逐行一致，源码无需任何改动 |
| HxBusiness.dll | 2 处 | `ApiModel` 新增属性；`ByLeaved` 参数校验放宽 |
| 华晓AGV管理系统.exe | 新增 2 类 + 修改 4 文件 + 2 处生成器版本号 | 详见下文 |
## 3. HxBusiness.dll 差异明细
### 3.1 `Model\ApiModel.cs` — 新增属性
```csharp
public int AutoTime { get; set; } // 自动归还路权秒数，0=手动归还
```
与现场 `Config\ApiModel.json` 中新增的 `"AutoTime": 30` 对应。
### 3.2 `BusinessManage.cs` — `ByLeaved` 校验放宽
```csharp
// 旧（源码）：
if (string.IsNullOrEmpty(agvid) || string.IsNullOrEmpty(rfid))
// 新（现场）：
if (string.IsNullOrEmpty(agvid))
```
原因：交管自动/手动归还场景下 rfid 可能为空（TrafficCtrl 中 Agv_Land 可能返回 0），不应拒绝请求。
## 4. 华晓AGV管理系统.exe 差异明细
### 4.1 新增类 `A17168\TrafficModel.cs`
```csharp
public class TrafficModel
{
public string areaCode { get; set; } // 路口（交汇区）地标编号
public int agvId { get; set; } // 当前占用该路口的AGV，0=空闲
public DateTime InArea { get; set; } // 进入路口时间
}
```
### 4.2 新增类 `A17168\TrafficCtrl.cs` — 第三方交管自动归还监听线程
- `Listen()`：死循环（1s 周期）。当 `apiModel.AutoTime > 0` 且 `waitRfidList` 非空时，遍历 `Frm_A17168.autoLeavedDic`，对占用超过 `AutoTime` 秒的路口调用 `businessCtrl.ByLeaved(agvId, 当前地标, areaCode)` 自动归还路权，成功后清零 `leavedDic[agvId]` 与 `trafficModel.agvId`，写"放行日志X"（插件日志目录）。
- `Agv_Land(agvid)`：私有辅助，从 `Func.AgvInfo` 取该 AGV 当前地标。
- 异常写"异常日志"（插件日志），日志文案：`第三方交管监听线程异常！`。
### 4.3 `A17168\Frm_A17168.cs` — 3 处
1. 新增静态字段：
```csharp
public static int TraffAutoTimet = 0;
public static List<TrafficModel> autoLeavedDic = new List<TrafficModel>();
```
2. 构造函数中 `businessCtrl = new BusinessManage();` 之后新增初始化：按 `apiModel.waitRfidList` 逗号拆分，为每个路口建一个 `TrafficModel` 放入 `autoLeavedDic`，并读取 `TraffAutoTimet = apiModel.AutoTime`。
3. `Frm_A17168_Load` 中启动 `UPDateDBList.UpDateDb` 线程之后，新增启动交管监听线程：
```csharp
Thread thread2 = new Thread(TrafficCtrl.Listen);
thread2.IsBackground = true;
thread2.Start();
```
### 4.4 `A17168\Cls_A17168.cs` — 两个数据线程方法（AGV_Data 网口型 / AGV_Data2 S7-200型）同步修改
> 注：diff 中大量 `agvInfo→temp`、`num→location_temp` 为现场源码的**变量改名**（PDB 还原的真实命名），无语义影响，但为达成"反编译零差异"验收，回灌时同步改名。
真实语义差异（两个方法对称出现，编号 1x 为 AGV_Data，2x 为 AGV_Data2）：
1. **调试日志埋点**：读到地标后写 `"=========》（11/21）：" + 地标` 到"调试日志"；进入 waitRfid 分支写（12/22）；请求放行成功写（13/23）；进入 leavedRfid 分支写（14/24）；释放成功写（15/25）。
2. **放行前日志**：`地标 + "开始请求放行"` / `"开始请求释放"` 写入"放行日志{AgvID}"（插件日志）。
3. **放行成功后登记交管占用**（原来 `if (flag && WriteInfo(...)==0)` 拆为嵌套）：
```csharp
if (flag)
{
TrafficModel m = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
if (m != null) { m.agvId = temp.Agv_ID; m.InArea = DateTime.Now; }
WriteTxt.SaveLog1(location_temp + "路口添加" + m?.areaCode + "(" + m.agvId + ")", "放行日志" + temp.Agv_ID, "插件日志");
if (WriteInfo/WriteVW(...) == 0) { /* 原放行逻辑 */ }
}
```
4. **归还接口第 3 参改变**：`ByLeaved(agvid, 当前地标, num3(上次放行地标))` → `ByLeaved(agvid, 当前地标, (当前地标-1))`（离开地标 = 进入地标+1 的约定）。
5. **归还成功后清除交管占用**：`autoLeavedDic` 中对应 `TrafficModel.agvId = 0`。
6. **报警处理异步化**：`Thread.Sleep(100); Warn_Deal(_Plc)(...)` 改为 `ThreadPool.QueueUserWorkItem(delegate { Thread.Sleep(100); Warn_Deal(_Plc)(temp, sWarn); });`，避免阻塞采集循环。
7. **仅 AGV_Data2**：地标变化时删除了 `Func.Change_Rec(...)` 调用；`Location_Log` 插入由同步 `bBllBase.ExecuteNonQuery(sql)` 改为 `UPDateDBList.sqlList.Add(item)` 异步批量入库。
8. 变量声明顺序/命名调整（`temp`、`location_temp`，`num2~num5` 重排）——纯改名，随语义项一并同步。
### 4.5 `Cls\Func.cs` — 新增"Ctrl+拖动地标改坐标"小工具
1. 新增静态字段：`moveFlag`、`xPos`、`yPos`。
2. `CreateLandMark`（路口地标创建分支）为 label 增挂 3 个事件：`MouseUp += label_UpClick; MouseDown += label_DownClick; MouseMove += label_MoveClick;`。
3. 新增 4 个私有静态方法：
- `label_DownClick`：按下记录起点，`moveFlag=true`；
- `label_MoveClick`：拖动时移动地标所在 Panel；
- `label_UpClick`：松开时若按住 Ctrl 且已登录管理员，弹窗确认后调用 `UpLocation`；
- `UpLocation(rfid,x,y)`：`UPDATE [LandMarkInfo] SET [Loc_X]=x,[Loc_Y]=y WHERE [Loc_ID]=rfid`。
### 4.6 `Cls\Path_Reset.cs` — 双击复位路口时手动归还路权
1. `label12_DoubleClick` 开头新增 `ClearOtherLand(array[1]);`。
2. 新增 `ClearOtherLand(int land)`：在 `autoLeavedDic` 中找到该路口且被占用（agvId≠0）的记录，调用 `businessCtrl.ByLeaved(agvId, land, areaCode)` 手动归还，成功后清零，写"手动释放/路口已手动归还"日志（插件日志）。
3. 文件头新增 `using AGVSystem.A17168;`。
### 4.7 生成器版本号（纯装饰，为达成零差异同步）
- `Properties\Resources.Designer.cs`：`StronglyTypedResourceBuilder` 版本 `16.0.0.0` → `17.0.0.0`
- `Properties\Settings.Designer.cs`：`SettingsSingleFileGenerator` 版本 `16.10.0.0` → `17.6.0.0`
## 5. 配置文件差异（不随 bin 替换，仅记录）
| 文件 | 差异 | 处理 |
|---|---|---|
| `Config\ApiModel.json` | 现场版（2024-03-04）`waitRfidList`/`leavedRfidList` 由 9 个路口扩到 25 个，新增 `"AutoTime": 30`（行尾带 `//` 注释，Json.NET 可解析） | **现场为准，替换 bin 时严禁覆盖**；建议将 CODE bin 内该文件同步为现场版便于本机调试 |
| `华晓AGV管理系统.exe.config`、`info.ini`、`agvinfo.ini`、`item.ini` | 无差异 | 不动 |
| `Nancy.Hosting.Self.dll` | 现场没有此文件；现场代码已不使用 NancyHost 自宿主（`BusinessManage` 中相关代码已注释） | 替换包中**不要**包含此 DLL |
## 6. 与整合无关的说明（查漏补缺结论）
1. 用户提供的 dnSpy 反编译 CODE（`反编译CODE\` 目录）与本报告的 ILSpy 反编译结果核对一致，未发现 dnSpy 导出遗漏的类型；其中 `SqlHelperParameterCache`、`E_State`、`RequestLeavedModel`、`SendModel`、`Channel`、`Location_Log` 等"多出来的文件"只是 dnSpy 按类拆分所致，源码中都存在。
2. CODE 中的 `Creat_Task.cs`、`Cls\Func - 副本 (2).cs` 未被 csproj 编译，现场 exe 中也无对应类型，保持现状即可。
3. 源码快照（20230901）略新于现场 zip 备份中 9/2 的 exe：多了"AGV经过地标"地标日志、`order by id`、部分路口数组扩容——即源码基线本身没有丢内容，缺的只是 9/2–9/18 的增量。
## 7. 回灌与验收
- 回灌范围：4.1–4.7 全部 + 3.1–3.2，共 10 个源文件（新增 2 个、修改 8 个，含 csproj 注册与 2 个 Designer 版本号）。
- 验收标准：重编译后，用同一 ilspycmd 反编译新 exe / HxBusiness.dll / BllSql.dll，与现场反编译结果 **逐行零差异**（反编译器自动生成的 csproj 除外，其差异仅为本机路径）。
- 替换清单（复制到现场目录）：`华晓AGV管理系统.exe`、`华晓AGV管理系统.pdb`、`HxBusiness.dll`、`HxBusiness.pdb`（BllSql 无差异可不换）。
- 回滚：替换前备份现场原文件；现场目录自带 9/2 的 zip 备份可作最后手段。
### 验收结果（2026-08-19 已完成）
| 程序集 | 反编译比对结果 |
|---|---|
| 华晓AGV管理系统.exe | **53 个类型全部逐行一致**（`TrafficCtrl.Listen` 连 IL 字节长度都已对齐） |
| HxBusiness.dll | **全部逐行一致** |
| BllSql.dll | **全部逐行一致**（源码未改动，重编译即一致） |
细节备注：
1. 现场源码风格已在回灌中还原——`continue` 不带大括号（带括号会多一个 `nop` 字节改变 IL 标签号）、`TrafficCtrl` 的 foreach 采用两个独立守卫 `if`、`Frm_A17168` 初始化直接对 `Split(',')` 结果 foreach（不引入中间变量）。
2. `Func.label_UpClick` 现场 IL 采用"正向 if 包裹 + return"结构（297 字节），回灌版为等价的"取反守卫 return"结构（293 字节），两者反编译 C# 完全一致、行为完全一致，仅方法内部 IL 编排不同，不影响验收。
3. 之前 diff 中大量 `agvInfo→temp`、`num→location_temp` 的"改名"是反编译命名假象：现场代码因 lambda 闭包捕获把真实变量名保留进了元数据，回灌 lambda 后两侧命名自动对齐，非真实源码差异。