#region << 版 本 注 释 >>
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/*----------------------------------------------------------------
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* 命名空间：WIDESEAWCS_Tasks.ConveyorLineJob
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* 创建者：胡童庆
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* 创建时间：2024/8/2 16:13:36
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* 版本：V1.0.0
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* 描述：
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*
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* ----------------------------------------------------------------
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* 修改人：
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* 修改时间：
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* 版本：V1.0.1
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* 修改说明：
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*
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*----------------------------------------------------------------*/
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#endregion << 版 本 注 释 >>
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using AutoMapper;
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using HslCommunication;
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using Microsoft.Extensions.Logging;
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using Newtonsoft.Json;
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using Quartz;
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using SixLabors.ImageSharp.Drawing;
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using System.Diagnostics.CodeAnalysis;
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using System.Reflection;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEAWCS_BasicInfoRepository;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core.Caches;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_Core.HttpContextUser;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_IBasicInfoService;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.BasicInfo;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_QuartzJob.DeviceBase;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob.Models;
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using WIDESEAWCS_QuartzJob.Service;
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using WIDESEAWCS_SignalR;
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using WIDESEAWCS_Tasks.ConveyorLineJob;
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using WIDESEAWCS_Tasks.RGVJob;
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using WIDESEAWCS_Tasks.StackerCraneJob;
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using static Microsoft.EntityFrameworkCore.DbLoggerCategory.Database;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class CommonRGV_FirstFloorJob : JobBase, IJob
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{
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private readonly ITaskService _taskService;
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private readonly ITaskRepository _taskRepository;
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private readonly ITaskExecuteDetailService _taskExecuteDetailService;
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private readonly IRouterService _routerService;
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private readonly IDt_StationManagerService _stationManagerService;
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private readonly IDt_StationManagerRepository _stationManagerRepository;
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private readonly IMapper _mapper;
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private readonly ICacheService _cacheService;
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private readonly INoticeService _noticeService;
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private static List<string>? userTokenIds;
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private static List<int>? userIds;
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public CommonRGV_FirstFloorJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IDt_StationManagerService stationManagerService, IMapper mapper, ICacheService cacheService, INoticeService noticeService, ITaskRepository taskRepository, IDt_StationManagerRepository stationManagerRepository)
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{
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_taskService = taskService;
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_taskExecuteDetailService = taskExecuteDetailService;
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_routerService = routerService;
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_stationManagerService = stationManagerService;
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_mapper = mapper;
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_cacheService = cacheService;
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_noticeService = noticeService;
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_taskRepository = taskRepository;
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_stationManagerRepository = stationManagerRepository;
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}
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public Task Execute(IJobExecutionContext context)
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{
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Console.WriteLine(DateTime.Now.ToString() + "，线程ID：" + Thread.CurrentThread.ManagedThreadId);
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try
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{
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//用这种方式能确保类型转换不会有问题
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//bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
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//if (flag && value != null && value is CommonRGV_FirstFloor device)
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//{
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IDevice? commonRGVFirst = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV01");
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IDevice? commonRGVSecond = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV02");
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#region RGV01调度
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if (commonRGVFirst != null && commonRGVFirst is CommonRGV_FirstFloor FirstRgv)//这样能看出来传参到底哪里有问题
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{
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if (FirstRgv.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.WorkCompleted))
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{
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RGVTaskFinish(FirstRgv, FirstRgv.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
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}
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if (FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Running))
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{
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Dt_Task? task = GetTask(FirstRgv, FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock));
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if (task != null)
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{
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var IsExecutingTask = DispatchExecutingTask(FirstRgv, task);
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if (IsExecutingTask != null)
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{
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RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(task);
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if (rgvTaskCommand != null)
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{
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Thread.Sleep(1000);
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bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
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if (sendFlag)
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{
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_taskService.UpdateTaskStatusToNext(task.TaskNum);
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}
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}
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}
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}
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else
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{
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var taskNew = DispatchTask(FirstRgv);
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if (taskNew != null)
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{
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RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(taskNew);
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if (rgvTaskCommand != null)
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{
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Thread.Sleep(1000);
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bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
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if (sendFlag)
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{
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_taskService.UpdateTaskStatusToNext(taskNew.TaskNum);
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}
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}
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}
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}
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}
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#region 调用事件总线通知前端
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var tokenInfos = _cacheService.Get<List<UserInfo>>("Cache_UserToken");
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if (tokenInfos != null && tokenInfos.Any())
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{
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var userTokenIds = tokenInfos?.Select(x => x.Token_ID).ToList();
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var userIds = tokenInfos?.Select(x => x.UserId).ToList();
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string RGVAutoStatus(bool AutoStatus) => AutoStatus switch
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{
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true => "联机模式",
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false => "单机模式",
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};
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string RGVWorkStatus(bool WorkStatus) => WorkStatus switch
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{
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true => "运行中",
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false => "待机",
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};
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string RGVStatus(bool Status) => Status switch
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{
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true => "故障",
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false => "正常",
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};
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object obj = new
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{
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Automatic = RGVAutoStatus(FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Automatic)),
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Fault = RGVStatus(FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Fault)),
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Running = RGVWorkStatus(FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Running)),
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LevelPoint = FirstRgv.GetValue<RGVDBName, int>(RGVDBName.LevelPoint),
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CurrentTaskNum = FirstRgv.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum),
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FirstRgv.DeviceCode,
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FirstRgv.DeviceName,
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};
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_noticeService.RGVData(userIds?.FirstOrDefault(), userTokenIds, new { FirstRgv.DeviceName, data = obj });
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}
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|
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#endregion 调用事件总线通知前端
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}
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else
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{
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if (commonRGVFirst == null)
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Console.WriteLine($"RGV01未找到设备对象的值");
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else
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Console.WriteLine($"RGV01设备对象类型错误");
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}
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#endregion
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#region RGV02调度
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if (commonRGVSecond != null && commonRGVSecond is CommonRGV_FirstFloor SecondRgv)//这样能看出来传参到底哪里有问题
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{
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if (SecondRgv.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.WorkCompleted))
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{
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RGVTaskFinish(SecondRgv, SecondRgv.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
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}
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if (SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Running))
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{
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Dt_Task? task = GetTask(SecondRgv, SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock));
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if (task != null)
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{
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var IsExecutingTask = DispatchExecutingTask(SecondRgv, task);
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RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(task);
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if (rgvTaskCommand != null)
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{
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Thread.Sleep(1000);
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bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
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if (sendFlag)
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{
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_taskService.UpdateTaskStatusToNext(task.TaskNum);
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}
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}
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}
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else
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{
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var taskNew = DispatchTask(SecondRgv);
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if (taskNew != null)
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{
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RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(taskNew);
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if (rgvTaskCommand != null)
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{
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Thread.Sleep(1000);
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bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
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if (sendFlag)
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{
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_taskService.UpdateTaskStatusToNext(taskNew.TaskNum);
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}
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}
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}
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}
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}
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#region 调用事件总线通知前端
|
|
var tokenInfos = _cacheService.Get<List<UserInfo>>("Cache_UserToken");
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if (tokenInfos != null && tokenInfos.Any())
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{
|
var userTokenIds = tokenInfos?.Select(x => x.Token_ID).ToList();
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var userIds = tokenInfos?.Select(x => x.UserId).ToList();
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string RGVAutoStatus(bool AutoStatus) => AutoStatus switch
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{
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true => "联机模式",
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false => "单机模式",
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};
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string RGVWorkStatus(bool WorkStatus) => WorkStatus switch
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{
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true => "运行中",
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false => "待机",
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};
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string RGVStatus(bool Status) => Status switch
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{
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true => "故障",
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false => "正常",
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};
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object obj = new
|
{
|
Automatic = RGVAutoStatus(SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Automatic)),
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Fault = RGVStatus(SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Fault)),
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Running = RGVWorkStatus(SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Running)),
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LevelPoint = SecondRgv.GetValue<RGVDBName, int>(RGVDBName.LevelPoint),
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CurrentTaskNum = SecondRgv.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum),
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SecondRgv.DeviceCode,
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SecondRgv.DeviceName,
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};
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_noticeService.RGVData(userIds?.FirstOrDefault(), userTokenIds, new { SecondRgv.DeviceName, data = obj });
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}
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|
|
#endregion 调用事件总线通知前端
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}
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else
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{
|
if (commonRGVSecond == null)
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Console.WriteLine($"RGV02未找到设备对象的值");
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else
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Console.WriteLine($"RGV02设备对象类型错误");
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}
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#endregion
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//}
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}
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catch (Exception ex)
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{
|
WriteError("CommonStackerStationCraneJob", "test", ex);
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}
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return Task.CompletedTask;
|
}
|
|
public Dt_Task DispatchExecutingTask(CommonRGV_FirstFloor commonRGV, Dt_Task task)
|
{
|
try
|
{
|
if (commonRGV.DeviceCode == "RGV01")
|
{
|
CommonRGV_FirstFloor? commonRGVSecond = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV02") as CommonRGV_FirstFloor;
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if (commonRGVSecond != null)
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{
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if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock))
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{
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if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
|
{
|
RGVTaskCommand command = new RGVTaskCommand()
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{
|
PickupLocation = (byte)Convert.ToSByte(15),
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TaskNum = Convert.ToInt16(1000),
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TaskType = (byte)Convert.ToSByte(1)
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};
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SendCommand(commonRGVSecond, command);
|
}
|
LogAndWarn("执行调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(task)}】】");
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return task;
|
}
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else if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault))
|
{
|
var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
|
if (taskSecond != null)
|
{
|
if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
|
{
|
if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
|
{
|
if (task.TargetStation > taskSecond.SourceStation && task.TargetStation > taskSecond.TargetStation)
|
{
|
LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
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return task;
|
}
|
}
|
}
|
else if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
|
{
|
if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
|
{
|
if (task.TargetStation > taskSecond.TargetStation)
|
{
|
LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
|
return task;
|
}
|
}
|
}
|
return null;
|
}
|
else
|
{
|
if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
|
{
|
RGVTaskCommand command = new RGVTaskCommand()
|
{
|
PickupLocation = (byte)Convert.ToSByte(15),
|
TaskNum = Convert.ToInt16(1000),
|
TaskType = (byte)Convert.ToSByte(1)
|
};
|
SendCommand(commonRGVSecond, command);
|
}
|
LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
|
return task;
|
}
|
}
|
}
|
return task;
|
}
|
else
|
{
|
CommonRGV_FirstFloor? commonRGVFirst = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV01") as CommonRGV_FirstFloor;
|
if (commonRGVFirst != null)
|
{
|
if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock))
|
{
|
if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
|
{
|
RGVTaskCommand command = new RGVTaskCommand()
|
{
|
PickupLocation = (byte)Convert.ToSByte(26),
|
TaskNum = Convert.ToInt16(1000),
|
TaskType = (byte)Convert.ToSByte(1)
|
};
|
SendCommand(commonRGVFirst, command);
|
}
|
LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(task)}】】");
|
return task;
|
}
|
else if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault))
|
{
|
var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
|
if (taskSecond != null)
|
{
|
|
if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
|
{
|
if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
|
{
|
if (task.TargetStation < taskSecond.SourceStation && task.TargetStation < taskSecond.TargetStation)
|
{
|
LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
|
return task;
|
}
|
}
|
}
|
else if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
|
{
|
if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
|
{
|
if (task.TargetStation < taskSecond.TargetStation)
|
{
|
LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
|
return task;
|
}
|
}
|
}
|
return null;
|
}
|
else
|
{
|
if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
|
{
|
RGVTaskCommand command = new RGVTaskCommand()
|
{
|
PickupLocation = (byte)Convert.ToSByte(26),
|
TaskNum = Convert.ToInt16(1000),
|
TaskType = (byte)Convert.ToSByte(1)
|
};
|
SendCommand(commonRGVFirst, command);
|
}
|
LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
|
return task;
|
}
|
}
|
}
|
return task;
|
}
|
}
|
catch (Exception ex)
|
{
|
WriteInfo("调度任务异常日志", ex.Message + Environment.NewLine + ex.StackTrace);
|
return null;
|
}
|
}
|
|
public Dt_Task DispatchTask(CommonRGV_FirstFloor commonRGV)
|
{
|
try
|
{
|
var tasks = _taskService.QueryRGVTask();
|
Dt_Task task;
|
if (tasks.Count() == 0)
|
{
|
return null;
|
}
|
if (commonRGV.DeviceCode == "RGV01")
|
{
|
CommonRGV_FirstFloor? commonRGVSecond = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV02") as CommonRGV_FirstFloor;
|
if (commonRGVSecond != null)
|
{
|
if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock))
|
{
|
if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
|
{
|
RGVTaskCommand command = new RGVTaskCommand()
|
{
|
PickupLocation = (byte)Convert.ToSByte(15),
|
TaskNum = Convert.ToInt16(1000),
|
TaskType = (byte)Convert.ToSByte(1)
|
};
|
SendCommand(commonRGVSecond, command);
|
}
|
if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01"))}】】");
|
return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
|
}
|
else
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02"))}】】");
|
return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
|
}
|
}
|
else if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault))
|
{
|
var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
|
if (taskSecond != null)
|
{
|
if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
|
{
|
task = tasks.FirstOrDefault(x => x.SourceStation > taskSecond.TargetStation && x.TargetStation > taskSecond.SourceStation && x.SourceStation > taskSecond.SourceStation && x.TargetStation > taskSecond.TargetStation);
|
|
|
LogAndWarn("执行调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
|
|
|
return task;
|
}
|
else if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
|
{
|
task = tasks.FirstOrDefault(x => x.SourceStation > taskSecond.TargetStation && x.TargetStation > taskSecond.TargetStation);
|
|
LogAndWarn("执行调度任务控制", $"【{commonRGV.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVSecond.DeviceCode}】任务【{JsonConvert.SerializeObject(taskSecond)}】{commonRGVSecond.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
|
|
return task;
|
}
|
return null;
|
}
|
else
|
{
|
if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
|
{
|
RGVTaskCommand command = new RGVTaskCommand()
|
{
|
PickupLocation = (byte)Convert.ToSByte(15),
|
TaskNum = Convert.ToInt16(1000),
|
TaskType = (byte)Convert.ToSByte(1)
|
};
|
SendCommand(commonRGVSecond, command);
|
}
|
if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01"))}】】");
|
return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
|
}
|
else
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02"))}】】");
|
return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
|
}
|
}
|
}
|
else
|
{
|
if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01"))}】】");
|
return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
|
}
|
else
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02"))}】】");
|
return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
|
}
|
}
|
}
|
else
|
{
|
if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01"))}】】");
|
return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
|
}
|
else
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVSecond.DeviceCode}工作模式：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02"))}】】");
|
return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
|
}
|
}
|
}
|
else
|
{
|
CommonRGV_FirstFloor? commonRGVFirst = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV01") as CommonRGV_FirstFloor;
|
if (commonRGVFirst != null)
|
{
|
if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock))
|
{
|
if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
|
{
|
RGVTaskCommand command = new RGVTaskCommand()
|
{
|
PickupLocation = (byte)Convert.ToSByte(26),
|
TaskNum = Convert.ToInt16(1000),
|
TaskType = (byte)Convert.ToSByte(1)
|
};
|
SendCommand(commonRGVFirst, command);
|
}
|
if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02"))}】】");
|
|
return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
|
}
|
else
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01"))}】】");
|
|
return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
|
}
|
}
|
else if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault))
|
{
|
var taskFirst = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
|
if (taskFirst != null)
|
{
|
if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
|
{
|
task = tasks.FirstOrDefault(x => x.SourceStation < taskFirst.TargetStation && x.TargetStation < taskFirst.SourceStation && x.SourceStation < taskFirst.SourceStation && x.TargetStation < taskFirst.TargetStation);
|
|
LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskFirst)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
|
|
return task;
|
}
|
else if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
|
{
|
task = tasks.FirstOrDefault(x => x.SourceStation < taskFirst.TargetStation && x.TargetStation < taskFirst.TargetStation);
|
|
LogAndWarn("执行调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】【{commonRGVFirst.DeviceCode}】任务【{JsonConvert.SerializeObject(taskFirst)}】{commonRGVFirst.DeviceCode}返回任务：【{JsonConvert.SerializeObject(task)}】】");
|
|
return task;
|
}
|
return null;
|
}
|
else
|
{
|
if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
|
{
|
RGVTaskCommand command = new RGVTaskCommand()
|
{
|
PickupLocation = (byte)Convert.ToSByte(15),
|
TaskNum = Convert.ToInt16(1000),
|
TaskType = (byte)Convert.ToSByte(1)
|
};
|
SendCommand(commonRGVFirst, command);
|
}
|
if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02"))}】】");
|
|
return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
|
}
|
else
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01"))}】】");
|
|
return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
|
}
|
}
|
}
|
else
|
{
|
if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02"))}】】");
|
|
return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
|
}
|
else
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01"))}】】");
|
|
return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
|
}
|
}
|
}
|
else
|
{
|
if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02"))}】】");
|
|
return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
|
}
|
else
|
{
|
LogAndWarn("调度任务控制", $"【{commonRGVFirst.DeviceCode}工作模式：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}】作业状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}】设备状态：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}】是否有货：【{commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}】返回任务：【{JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01"))}】】");
|
|
return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
|
}
|
}
|
}
|
}
|
catch (Exception ex)
|
{
|
WriteInfo("调度任务异常日志", ex.Message+Environment.NewLine+ex.StackTrace);
|
return null;
|
}
|
}
|
|
/// <summary>
|
/// RGV任务完成
|
/// </summary>
|
/// <param name="commonRGV"></param>
|
/// <param name="TaskNum"></param>
|
public void RGVTaskFinish(CommonRGV_FirstFloor commonRGV, int TaskNum)
|
{
|
if (commonRGV != null)
|
{
|
var task = _taskRepository.QueryFirst(x => x.TaskNum == TaskNum);
|
if (task != null)
|
{
|
if (task.TaskState == (int)TaskInStatusEnum.InRetuen)
|
{
|
Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.SourceAddress);
|
if (stationManager != null)
|
{
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManager.stationPLC);
|
if (device != null)
|
{
|
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
|
commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(4));
|
|
var content = _taskService.RGVTaskCompleted(TaskNum);
|
}
|
}
|
}
|
if (task.TaskState == (int)TaskInStatusEnum.RGV_Indispatch)
|
{
|
Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.SourceAddress);
|
if (stationManager != null)
|
{
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManager.stationPLC);
|
if (device != null)
|
{
|
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
|
Thread.Sleep(100);
|
DeviceProDTO? devicePro = conveyorLine.DeviceProDTOs.Where(x => x.DeviceChildCode == stationManager.stationChildCode && x.DeviceProParamName == "ConveyorLineBarcode").FirstOrDefault();
|
var x = conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 5);
|
string Barcode = Encoding.UTF8.GetString(x);
|
|
if (Barcode == null || Barcode == "")
|
{
|
conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(3), stationManager.stationChildCode);
|
commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, Convert.ToSByte(stationManager.stationRemark));
|
commonRGV.SetValue(StackerCraneDBName.TaskNum, Convert.ToInt16(task.TaskNum));
|
task.TaskState = (int)TaskInStatusEnum.InRetuen;
|
_taskRepository.UpdateData(task);
|
return;
|
}
|
var content = _taskService.RGVTaskCompleted(TaskNum, Barcode);
|
}
|
}
|
}
|
else
|
{
|
if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting)
|
{
|
Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.TargetAddress && x.stationType == 7);
|
if (stationManager != null)
|
{
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManager.stationPLC);
|
if (device != null)
|
{
|
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
|
Thread.Sleep(100);
|
var Barcode = conveyorLine.GetValue<ConveyorLineDBName, string>(ConveyorLineDBName.ConveyorLineBarcode, stationManager.stationChildCode);
|
conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTargetAddress, Convert.ToInt16(stationManager.stationNextChildCode), stationManager.stationChildCode);
|
Thread.Sleep(100);
|
conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTaskNum, Convert.ToInt16(1000), stationManager.stationChildCode);
|
Thread.Sleep(100);
|
conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(2), stationManager.stationChildCode);
|
}
|
}
|
}
|
var content = _taskService.RGVTaskCompleted(TaskNum);
|
}
|
}
|
}
|
}
|
|
/// <summary>
|
/// 获取任务
|
/// </summary>
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/// <param name="commonRGV">堆垛机对象</param>
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/// <returns></returns>
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private Dt_Task? GetTask(CommonRGV_FirstFloor commonRGV, bool InStock)
|
{
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if (InStock)
|
{
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return _taskService.QueryRGVExecutingTask(commonRGV.DeviceCode, commonRGV.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
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}
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return null;
|
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#region
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//if (commonRGV.LastTaskType == null)
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//{
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// task = _taskService.QueryRGVTask(commonRGV.DeviceCode);
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//}
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//else
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//{
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// if (commonRGV.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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// {
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// task = _taskService.QueryRGVInTask(commonRGV.DeviceCode);
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// if (task == null)
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// {
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// task = _taskService.QueryRGVOutTask(commonRGV.DeviceCode);
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// }
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// }
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// else
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// {
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// task = _taskService.QueryRGVOutTask(commonRGV.DeviceCode);
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// }
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//}
|
|
//if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
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//{
|
// if (task == null)
|
// {
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// task = _taskService.QueryRGVInTask(commonRGV.DeviceCode);
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// }
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// else
|
// {
|
// return task;
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// }
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//}
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//else if (task == null)
|
//{
|
// task = _taskService.QueryRGVInTask(commonRGV.DeviceCode);
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//}
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#endregion
|
}
|
|
/// <summary>
|
/// 任务实体转换成命令Model
|
/// </summary>
|
/// <param name="task">任务实体</param>
|
/// <returns></returns>
|
/// <exception cref="Exception"></exception>
|
public RGVTaskCommand? ConvertToRGVTaskCommand([NotNull] Dt_Task task)
|
{
|
RGVTaskCommand rgvTaskCommand = new RGVTaskCommand();
|
|
rgvTaskCommand.TaskNum = Convert.ToInt16(task.TaskNum);
|
if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//判断是否是入库任务
|
{
|
//rgvTaskCommand.TaskType = (byte)Convert.ToSByte(16);
|
//rgvTaskCommand.TaskType = (byte)Convert.ToSByte(64); 退回
|
if (task.TaskState == (int)TaskInStatusEnum.InNew)
|
{
|
Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.SourceAddress);
|
rgvTaskCommand.TaskType = (byte)Convert.ToSByte(3);
|
rgvTaskCommand.PickupLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
|
}
|
else if (task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
|
{
|
Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress);
|
rgvTaskCommand.TaskType = (byte)Convert.ToSByte(4);
|
rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
|
}
|
else
|
{
|
_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机取货站台信息");
|
return null;
|
}
|
}
|
else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
|
{
|
|
if (task.TaskState == (int)TaskOutStatusEnum.Line_OutFinish)
|
{
|
Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.CurrentAddress);
|
rgvTaskCommand.TaskType = (byte)Convert.ToSByte(3);
|
rgvTaskCommand.PickupLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
|
}
|
else if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish)
|
{
|
Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress);
|
rgvTaskCommand.TaskType = (byte)Convert.ToSByte(4);
|
rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
|
}
|
else
|
{
|
_taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机取货站台信息");
|
return null;
|
}
|
}
|
|
return rgvTaskCommand;
|
}
|
|
public bool SendCommand(CommonRGV_FirstFloor commonRGV, RGVTaskCommand? rgvTaskCommand)
|
{
|
commonRGV.SetValue(StackerCraneDBName.TaskNum, rgvTaskCommand.TaskNum);
|
Thread.Sleep(100);
|
commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, rgvTaskCommand.PutcargoLocation);
|
Thread.Sleep(100);
|
commonRGV.SetValue(StackerCraneDBName.PickupLocation, rgvTaskCommand.PickupLocation);
|
Thread.Sleep(100);
|
commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(rgvTaskCommand.TaskType));
|
for (int i = 0; i < 6; i++)
|
{
|
|
if (commonRGV.GetValue<StackerCraneDBName, short>(StackerCraneDBName.TaskNum) == rgvTaskCommand.TaskNum && commonRGV.GetValue<StackerCraneDBName, byte>(StackerCraneDBName.TaskType) == rgvTaskCommand.TaskType && commonRGV.GetValue<StackerCraneDBName, byte>(StackerCraneDBName.PutcargoLocation) == rgvTaskCommand.PutcargoLocation && commonRGV.GetValue<StackerCraneDBName, byte>(StackerCraneDBName.PickupLocation) == rgvTaskCommand.PickupLocation)
|
{
|
WriteInfo(commonRGV.DeviceName, $"写入任务成功写入次数{i}写入任务【{JsonConvert.SerializeObject(rgvTaskCommand)}】");
|
return true;
|
}
|
if (commonRGV.GetValue<StackerCraneDBName, short>(StackerCraneDBName.TaskNum) == rgvTaskCommand.TaskNum)
|
{
|
commonRGV.SetValue(StackerCraneDBName.TaskNum, rgvTaskCommand.TaskNum);
|
Thread.Sleep(100);
|
}
|
if (commonRGV.GetValue<StackerCraneDBName, short>(StackerCraneDBName.PutcargoLocation) == rgvTaskCommand.PutcargoLocation)
|
{
|
commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, rgvTaskCommand.PutcargoLocation);
|
}
|
if (commonRGV.GetValue<StackerCraneDBName, short>(StackerCraneDBName.PickupLocation) == rgvTaskCommand.PickupLocation)
|
{
|
commonRGV.SetValue(StackerCraneDBName.PickupLocation, rgvTaskCommand.PickupLocation);
|
}
|
if (commonRGV.GetValue<StackerCraneDBName, short>(StackerCraneDBName.TaskType) == rgvTaskCommand.TaskType)
|
{
|
commonRGV.SetValue(StackerCraneDBName.TaskType, rgvTaskCommand.TaskType);
|
}
|
}
|
WriteInfo(commonRGV.DeviceName, $"RGV任务写入失败【{JsonConvert.SerializeObject(rgvTaskCommand)}】");
|
return false;
|
}
|
|
public void LogAndWarn(string deviceName, string log, string color = "red")
|
{
|
ConsoleHelper.WriteWarningLine(log);
|
_noticeService.Logs(userTokenIds, new { deviceName, log = log, time = DateTime.Now.ToString("G"), color = color });
|
WriteInfo(deviceName, log);
|
}
|
}
|
}
|
