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_Model.Models;
|
|
namespace WIDESEAWCS_Tasks
|
{
|
public partial class AGV_CPJob
|
{
|
public void SendAGVTask()
|
{
|
try
|
{
|
var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && nameof(AGV_FLJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
|
foreach (var task in newTasks)
|
{
|
try
|
{
|
if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt() || task.TaskType == TaskTypeEnum.OutEmpty.ObjToInt() || task.TaskType == TaskTypeEnum.OutAllocate.ObjToInt())
|
task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
|
else
|
task.NextAddress = GetAGVAddress(task.NextAddress);
|
AgvTaskDTO taskDTO = new AgvTaskDTO()
|
{
|
TaskCode = task.AgvTaskNum,
|
ReqCode = DateTime.Now.ToString("yyyyMMddHHmmss") + task.AgvTaskNum,
|
TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "FLC" : "FLR",
|
ctnrCode = task.PalletCode,
|
PositionCodePath = new List<CodePath>()
|
{
|
new CodePath()
|
{
|
type="05",
|
positionCode=task.CurrentAddress
|
},
|
new CodePath()
|
{
|
type="05",
|
positionCode=task.NextAddress
|
}
|
},
|
};
|
WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_FLSendTask);
|
if (!content.Status) throw new Exception(content.Message);
|
|
task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
|
|
}
|
catch (Exception ex)
|
{
|
task.TaskState = TaskStatusEnum.Exception.ObjToInt();
|
task.ExceptionMessage = ex.Message;
|
}
|
}
|
_taskService.UpdateData(newTasks);
|
}
|
catch (Exception ex)
|
{
|
WriteError(nameof(AGV_FLJob), ex.Message, ex);
|
}
|
}
|
/// <summary>
|
/// 获取AGV地址
|
/// </summary>
|
/// <param name="Address"></param>
|
/// <returns></returns>
|
public static string GetAGVAddress(string Address)
|
{
|
string[] targetCodes = Address.Split("-");
|
if (targetCodes.Length == 5)
|
{
|
var Row = Convert.ToInt16(targetCodes[1]);
|
var Column = Convert.ToInt16(targetCodes[2]);
|
var Layer = Convert.ToInt16(targetCodes[3]);
|
var a = Row switch
|
{
|
1 => "A1",
|
2 => "B1",
|
3 => "C1",
|
4 => "D1",
|
5 => "E1",
|
_ => throw new Exception($"未定义的排,地址:【{Address}】"),
|
};
|
var b = Layer > 9 ? "" + Layer : "0" + Layer;
|
var c = Column > 9 ? "" + Column : "0" + Column;
|
if (Column == 10) c = "010";
|
Address = a + b + c;
|
}
|
else
|
{
|
throw new Exception($"地址有误,地址:【{Address}】");
|
}
|
return Address;
|
}
|
}
|
}
|
