using Microsoft.IdentityModel.Tokens;
|
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
|
using System;
|
using System.Collections.Generic;
|
using System.Linq;
|
using System.Text;
|
using System.Threading.Tasks;
|
using WIDESEA_DTO.Agv;
|
using WIDESEAWCS_Common.APIEnum;
|
using WIDESEAWCS_Common.TaskEnum;
|
using WIDESEAWCS_Core;
|
using WIDESEAWCS_Core.Helper;
|
using WIDESEAWCS_DTO.Agv;
|
using WIDESEAWCS_Model.Models;
|
using WIDESEAWCS_QuartzJob;
|
|
namespace WIDESEAWCS_Tasks
|
{
|
public partial class AGVJob
|
{
|
public void SendAGVTask()
|
{
|
try
|
{
|
var newTasksOut = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType==TaskTypeEnum.Outbound.ObjToInt() && x.DeviceCode == "AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
|
var newTasksIn = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType == TaskTypeEnum.Inbound.ObjToInt() && x.DeviceCode == "AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
|
#region 出库任务下发
|
if (newTasksOut.Count>0)
|
{
|
List<string> GroupIds = newTasksOut.GroupBy(x => x.GroupId).Select(x => x.Key).ToList();
|
foreach (var GroupId in GroupIds)
|
{
|
var tasks = newTasksOut.Where(x => x.GroupId == GroupId).ToList();
|
try
|
{
|
AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
|
{
|
MissionData = new List<MissionDataItem>()
|
};
|
foreach (var task in tasks)
|
{
|
//获取目标点货位
|
Dt_LocationInfo locationInfoStart = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.CurrentAddress);
|
//获取拣选出库站台
|
Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);
|
|
if (locationInfoStart == null || stationMangerEnd == null) throw new Exception($"未找到任务号${task.TaskNum}起始点{task.CurrentAddress}或目标点{task.NextAddress}位置信息");
|
agvTaskSend.RequestId = GroupId;
|
agvTaskSend.MissionCode = GroupId;
|
if (task.Grade == 0)
|
{
|
agvTaskSend.Priority = 99;
|
}
|
else
|
{
|
agvTaskSend.Priority = 99 - task.Grade;
|
}
|
//料箱子搬运任务
|
MissionDataItem missionDataItem = new MissionDataItem()
|
{
|
Sequence = task.TaskNum,
|
BinCode = task.PalletCode,
|
StartPosition = locationInfoStart.AgvPoint,
|
StartSlotCode = locationInfoStart.LocationCode,
|
EndPosition = stationMangerEnd.StationCode,
|
EndSlotCode = stationMangerEnd.CraneStationCode,
|
TakeActionConfirm = false,
|
TakeActionInform = false,
|
PutActionConfirm = true,
|
PutActionInform = true,
|
};
|
agvTaskSend.MissionData.Add(missionDataItem);
|
}
|
//发送AGV任务
|
WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
|
if (!content.Status)
|
throw new Exception(content.Message);
|
tasks.ForEach(x =>
|
{
|
x.Dispatchertime = DateTime.Now;
|
x.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
|
});
|
_taskService.UpdateData(tasks);
|
Thread.Sleep(500);
|
}
|
catch (Exception ex)
|
{
|
tasks.ForEach(x =>
|
{
|
x.TaskState = TaskStatusEnum.Exception.ObjToInt();
|
x.ExceptionMessage = ex.Message;
|
});
|
_taskService.UpdateData(tasks);
|
}
|
}
|
}
|
#endregion
|
#region 入库任务下发
|
if (newTasksIn.Count > 0)
|
{
|
foreach (var task in newTasksIn)
|
{
|
try
|
{
|
AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
|
{
|
MissionData = new List<MissionDataItem>()
|
};
|
//获取目标点货位
|
Dt_LocationInfo locationInfoEnd = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.NextAddress);
|
//获取线体入库站台
|
Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x => x.StationCode == task.CurrentAddress);
|
if (locationInfoEnd == null || stationMangerStart == null) throw new Exception($"未找到任务号${task.TaskNum}起始点{task.CurrentAddress}或目标点{task.NextAddress}位置信息");
|
agvTaskSend.RequestId = Guid.NewGuid().ToString().Replace("-", "");
|
agvTaskSend.MissionCode = task.TaskNum.ToString();
|
if (task.Grade == 0)
|
{
|
agvTaskSend.Priority = 99;
|
}
|
else
|
{
|
agvTaskSend.Priority = 99 - task.Grade;
|
}
|
//料箱子搬运任务
|
MissionDataItem missionDataItem = new MissionDataItem()
|
{
|
Sequence = task.TaskNum,
|
BinCode = task.PalletCode,
|
StartPosition = stationMangerStart.StationCode,
|
StartSlotCode = stationMangerStart.CraneStationCode,
|
EndPosition = locationInfoEnd.AgvPoint,
|
EndSlotCode = locationInfoEnd.LocationCode,
|
TakeActionConfirm = true,
|
TakeActionInform = true,
|
PutActionConfirm = false,
|
PutActionInform = false,
|
};
|
agvTaskSend.MissionData.Add(missionDataItem);
|
//发送AGV任务
|
WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
|
if (!content.Status)
|
throw new Exception(content.Message);
|
task.Dispatchertime = DateTime.Now; task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
|
_taskService.UpdateData(task);
|
Thread.Sleep(500);
|
}
|
catch (Exception ex)
|
{
|
task.TaskState = TaskStatusEnum.Exception.ObjToInt();
|
task.ExceptionMessage = ex.Message;
|
_taskService.UpdateData(task);
|
}
|
}
|
}
|
#endregion
|
}
|
catch (Exception ex)
|
{
|
WriteError(nameof(AGVJob), ex.Message, ex);
|
}
|
}
|
}
|
}
|
