using System;
|
using System.Collections.Generic;
|
using System.Linq;
|
using System.Reflection.Metadata;
|
using System.Text;
|
using System.Threading.Tasks;
|
using WIDESEA_DTO.Agv;
|
using WIDESEAWCS_Common.TaskEnum;
|
using WIDESEAWCS_Core;
|
using WIDESEAWCS_Core.Helper;
|
using WIDESEAWCS_Model.Models;
|
using static Dm.net.buffer.ByteArrayBuffer;
|
using WIDESEAWCS_QuartzJob;
|
|
namespace WIDESEAWCS_Tasks
|
{
|
public partial class AGVJob
|
{
|
/// <summary>
|
/// 下发AGV任务
|
/// </summary>
|
public void SendAGVTask()
|
{
|
try
|
{
|
var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
|
foreach (var agvTask in newTasks)
|
{
|
try
|
{
|
AgvTaskDTO taskDTO = new AgvTaskDTO()
|
{
|
ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
|
TaskTyp = AgvTaskType(agvTask.TaskType, agvTask.DeviceCode),
|
PositionCodePath = new List<CodePath>()
|
{
|
new CodePath()
|
{
|
type="00",
|
positionCode=agvTask.CurrentAddress
|
},
|
new CodePath()
|
{
|
type="00",
|
positionCode=agvTask.NextAddress
|
}
|
},
|
TaskCode = agvTask.AgvTaskNum,
|
PodTyp = agvTask.PalletType < 3 ? "XX" : "DD",
|
};
|
WebResponseContent content = _taskService.AgvSendTask(taskDTO);
|
if (content.Status)
|
{
|
agvTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
|
//agvTask.Remark = content.Data.ObjToString();
|
}
|
else
|
{
|
agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
|
//agvTask.Remark = content.Data.ObjToString();
|
agvTask.ExceptionMessage = content.Message;
|
}
|
}
|
catch (Exception ex)
|
{
|
agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
|
//agvTask.Remark = content.Data.ObjToString();
|
agvTask.ExceptionMessage = ex.Message;
|
WriteError(nameof(AGVJob), ex.Message, ex);
|
}
|
}
|
_taskService.UpdateData(newTasks);
|
}
|
catch (Exception ex)
|
{
|
WriteError(nameof(AGVJob), ex.Message, ex);
|
}
|
}
|
/// <summary>
|
/// 下发AGV继续执行任务
|
/// </summary>
|
public void SendAGVWaitToTask()
|
{
|
try
|
{
|
var WaitToTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt()).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
|
foreach (var WaitToTask in WaitToTasks)
|
{
|
if(WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
|
{
|
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == WaitToTask.NextAddress);
|
if (stationManger == null)
|
{
|
continue;
|
}
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
|
if (device == null)
|
{
|
continue;
|
}
|
OtherDevice otherDevice = (OtherDevice)device;
|
bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
|
bool requestPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.W_PutRequest, stationManger.StationCode);
|
if(!requestPut)
|
{
|
otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
|
continue;
|
}
|
else if (!canPut)
|
{
|
continue;
|
}
|
}
|
else
|
{
|
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == WaitToTask.CurrentAddress);
|
if (stationManger == null)
|
{
|
continue;
|
}
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
|
if (device == null)
|
{
|
continue;
|
}
|
OtherDevice otherDevice = (OtherDevice)device;
|
bool canTake = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
|
bool requestTake = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.W_TakeRequest, stationManger.StationCode);
|
if (!requestTake)
|
{
|
otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
|
continue;
|
}
|
else if (!canTake)
|
{
|
continue;
|
}
|
}
|
|
AgvSecureReplyDTO replyDTO = new AgvSecureReplyDTO()
|
{
|
ReqCode = Guid.NewGuid().ToString().Replace("-", ""), //WaitToTask.TaskNum.ToString(),
|
taskCode = WaitToTask.AgvTaskNum,
|
};
|
WebResponseContent content = _taskService.AgvSecureReply(replyDTO);
|
if (content.Status)
|
{
|
WaitToTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
|
}
|
else
|
{
|
WaitToTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
|
WaitToTask.ExceptionMessage = content.Message;
|
}
|
}
|
_taskService.UpdateData(WaitToTasks);
|
}
|
catch (Exception ex)
|
{
|
Console.Out.WriteLine(nameof(AGVJob) + ":" + ex.Message);
|
}
|
}
|
|
public string AgvTaskType(int TaskType, string DeviceCode)
|
{
|
switch (DeviceCode)
|
{
|
case "AGV_CSJ":
|
{
|
return TaskType == TaskTypeEnum.ProductionReturn.ObjToInt() ? "23" : "24";
|
}
|
case "AGV_ZH":
|
{
|
if (TaskType == TaskTypeEnum.InboundXB.ObjToInt())
|
return "20";
|
else if (TaskType == TaskTypeEnum.InboundJT.ObjToInt())
|
return "21";
|
else return "22";
|
}
|
default:
|
throw new Exception($"设备编号错误");
|
}
|
}
|
}
|
}
|
