穿梭车堆垛机立体库
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dengjunjie
2025-02-24 cde56aae50adc11ff8db84e424d873843c566bfd 
 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ShuttleCarJob/ShuttleCarExtend/PartialTaskService.cs


@@ -10,11 +10,261 @@


using WIDESEAWCS_QuartzJob.DTO;


using WIDESEAWCS_QuartzJob;


using WIDESEAWCS_Core;


using Newtonsoft.Json;


using WIDESEAWCS_Core.Helper;


using WIDESEAWCS_DTO.WMSInfo;


using WIDESEAWCS_Tasks.ShuttleCarJob;




namespace WIDESEAWCS_Tasks


{


    partial class CommonShuttleCarJob


    {


        private object _CarTaskObject = new object();


        #region å †åž›æœºç§»è½¦å®Œæˆ


        /// <summary>


        /// èŽ·å–堆垛机移车/移库完成任务


        /// </summary>


        public void GetSC_CarFinish()


        {


            Dt_Task dt_Task = GetTask(TaskCarStatusEnum.SC_CarFinish.ObjToInt(), TaskOtherTypeEnum.RelocationCar.ObjToInt());//移车任务


            if (dt_Task != null)


            {


                UpdateShuttleCar(dt_Task.ShuttleCarCode, dt_Task.CurrentAddress);


                _taskService.AddTask_Hty(dt_Task, TaskOperateTypeEnum.AutoComplete);


            }


            dt_Task = GetTask(CarChargingTaskEnum.SC_CarFinish.ObjToInt(), TaskOtherTypeEnum.RelocationCarCharging.ObjToInt());//移车充电任务


            if (dt_Task != null)


            {


                UpdateShuttleCar(dt_Task.ShuttleCarCode, dt_Task.CurrentAddress);


                SendTask(dt_Task);//下发充电任务


            }


            dt_Task = GetTask(TaskRelocationStatusEnum.SC_RelocationFinish.ObjToInt(), TaskRelocationTypeEnum.Relocation.ObjToInt());//移库任务


            if (dt_Task != null)


                SendTask(dt_Task);


        }


        #endregion


        /// <summary>


        /// ä¿®æ”¹ç©¿æ¢­è½¦ä½ç½®ä¿¡å·


        /// </summary>


        /// <param name="ShuttleCarCode">穿梭车号</param>


        /// <param name="Address">位置</param>


        public void UpdateShuttleCar(string ShuttleCarCode, string Address)


        {


            var ShuttleCar = QueryCode(ShuttleCarCode);


            string[] targetCodes = Address.Split("-");


            var Row = Convert.ToInt16(targetCodes[0]);


            if (Row == 3)


            {


                ShuttleCar.ShuttleCarPosition = Address;


                ShuttleCar.ShuttleCarPosition1 = Address;


            }


            else


            {


                var a = Row == 1 ? 2.ToString("000") : 1.ToString("000");


                ShuttleCar.ShuttleCarPosition = Address;


                ShuttleCar.ShuttleCarPosition1 = a + "-" + targetCodes[1] + "-" + targetCodes[2];


            }


            _shuttleCarService.UpdateData(ShuttleCar);


        }


        #region èŽ·å–移车任务


        /// <summary>


        /// èŽ·å–移车任务/出入库任务


        /// </summary>


        public void Get_CarTask(ShuttleCar shuttleCar, ShuttleCarTaskCommandR command)


        {


            lock (_CarTaskObject)


            {


                #region èŽ·å–新建移车任务


                Dt_Task dt_Task = GetTask((int)TaskCarStatusEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCar);


                if (dt_Task != null)


                {


                    if (string.IsNullOrEmpty(dt_Task.SourceAddress))


                    {


                        (bool, Dt_ShuttleCar) result = GetSourceTask(shuttleCar, command);


                        if (result.Item1)


                            UpdateSource(ref dt_Task, result.Item2);


                        else


                            GetShuttleCar(ref dt_Task, shuttleCar);//获取另外一个穿梭车信息


                    }


                    else if (string.IsNullOrEmpty(dt_Task.TargetAddress))


                    {


                        #region å‘WMS申请


                        WebResponseContent content = new WebResponseContent();


                        var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.GetPosition + $"?position={dt_Task.SourceAddress}", "", headers: new Dictionary<string, string>());


                        if (ResultData.Result != null)


                        {


                            content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);


                            if (content != null && content.Status)


                            {


                                dt_Task.TargetAddress = content.Message;


                                dt_Task.NextAddress = dt_Task.TargetAddress;


                                _taskService.UpdateData(dt_Task);


                                _taskExecuteDetailService.AddTaskExecuteDetail(dt_Task.TaskNum, "更新移车任务目标地址");


                            }


                        }


                        #endregion


                    }


                    //穿梭车移车任务下发


                    if (!string.IsNullOrEmpty(dt_Task.SourceAddress) && !string.IsNullOrEmpty(dt_Task.TargetAddress) && !string.IsNullOrEmpty(dt_Task.ShuttleCarCode))


                    {


                        SendTask(dt_Task);


                    }


                }


                #endregion




                #region ç©¿æ¢­è½¦ä»»åŠ¡


                else


                {


                    var task = _taskService.ShuttleCarRelocationTask(shuttleCar.DeviceCode);//获取穿梭车移库任务


                    if (task != null)


                    {


                        if (!task.SourceIsPickPlace)


                            SendTask(task);


                    }


                    else


                    {


                        task = _taskService.QueryShuttleCarTask(shuttleCar.DeviceCode);


                        if (task != null)


                        {


                            if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && !task.SourceIsPickPlace)


                            {


                                var ShuttleCar = _shuttleCarService.QueryShuttleCar(task.SourceAddress);//出库任务判断起点是否有穿梭车


                                if (ShuttleCar != null) SendTask(task);


                                else _taskService.AddRelocationCarTask("", task.SourceAddress);


                            }


                            else


                                SendTask(task);


                        }


                    }


                }


                #endregion


            }


        }


        #endregion




        #region æ›´æ–°ç§»è½¦ä»»åŠ¡èµ·å§‹åœ°å€


        /// <summary>


        /// æ›´æ–°ç§»è½¦ä»»åŠ¡èµ·å§‹åœ°å€


        /// </summary>


        /// <param name="dt_Task"></param>


        /// <param name="shuttleCar"></param>


        /// <param name="command"></param>


        public void UpdateSource(ref Dt_Task dt_Task, Dt_ShuttleCar _ShuttleCar)


        {


            dt_Task.SourceAddress = _ShuttleCar.ShuttleCarPosition;


            dt_Task.CurrentAddress = dt_Task.SourceAddress;


            dt_Task.ShuttleCarCode = _ShuttleCar.ShuttleCarCode;


            _taskService.UpdateData(dt_Task);


            _taskExecuteDetailService.AddTaskExecuteDetail(dt_Task.TaskNum, "更新移车任务起始地址");


        }


        #endregion


        /// <summary>


        /// åˆ¤æ–­å½“前穿梭车是否可以执行移库


        /// </summary>


        /// <param name="shuttleCar"></param>


        /// <param name="command"></param>


        /// <returns></returns>


        public (bool, Dt_ShuttleCar) GetSourceTask(ShuttleCar shuttleCar, ShuttleCarTaskCommandR command)


        {


            Dt_ShuttleCar _ShuttleCar = QueryCode(shuttleCar.DeviceCode);


            bool ok = false;


            if (command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)


            {


                #region åˆ¤æ–­å½“前穿梭车是否存在任务


                Dt_Task? _Task = _taskRepository.QueryFirst(x =>


                x.SourceAddress == _ShuttleCar.ShuttleCarPosition ||


                x.TargetAddress == _ShuttleCar.ShuttleCarPosition ||


                x.SourceAddress == _ShuttleCar.ShuttleCarPosition1 ||


                x.TargetAddress == _ShuttleCar.ShuttleCarPosition1);


                #endregion


                ok = _Task == null;


            }


            if (!ok)


            {


                if (command.Status == (short)ShuttleCarStatus.Charging && command.ElectricQuantity >= 50)//退出充电


                {


                    ok = shuttleCar.SetValue(ShuttleCarDBName.TaskType, (short)ShuttleCarStatus.QuitCharging);


                }


            }


            return (ok, _ShuttleCar);


        }




        /// <summary>


        /// èŽ·å–另外一个穿梭车信息


        /// </summary>


        public void GetShuttleCar(ref Dt_Task dt_Task, ShuttleCar shuttleCar)


        {


            Dt_ShuttleCar _ShuttleCar = _shuttleCarService.QueryNoCode(shuttleCar.DeviceCode);


            ShuttleCar shuttleCar1 = Storage.Devices.Where(x => x.DeviceCode.Equals(_ShuttleCar.ShuttleCarCode)).FirstOrDefault() as ShuttleCar;


            ShuttleCarTaskCommandR command = ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar1, shuttleCar1.DeviceCode);//读取穿梭车信息


            (bool, Dt_ShuttleCar) result = GetSourceTask(shuttleCar1, command);


            if (result.Item1) UpdateSource(ref dt_Task, result.Item2);


        }




        #region ä¸‹å‘穿梭车任务


        /// <summary>


        /// ä¸‹å‘穿梭车任务


        /// </summary>


        /// <param name="task"></param>


        private void SendTask(Dt_Task task)


        {


            ShuttleCar shuttleCar = Storage.Devices.FirstOrDefault(x => x.DeviceCode == task.ShuttleCarCode) as ShuttleCar;


            if (shuttleCar != null)


            {


                ShuttleCarTaskCommandR command = ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar, shuttleCar.DeviceCode);//读取穿梭车信息


                if (command != null && command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)


                {


                    #region åˆ¤æ–­å°è½¦ä½ç½®æ— AB面不下发任务


                    short Position = 0;


                    if (shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.DirectionA)) Position = 1;


                    if (shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.DirectionB)) Position = 2;


                    if (Position != 1 && Position != 2)


                    {


                        var Message = $"{shuttleCar.DeviceName}无AB面";


                        if (task.ExceptionMessage != Message)


                            _taskService.UpdateData(task);


                        return;


                    }


                    #endregion


                    //任务转换


                    shuttleCar.SetValue(ShuttleCarDBName.Direction, Position);//写入车体方向


                    ShuttleCarTaskCommandW shuttleCarTaskCommand = new ShuttleCarTaskCommandW();


                    shuttleCarTaskCommand.Direction = Position;


                    shuttleCarTaskCommand.TaskNum = task.TaskNum;


                    if (task.TaskType == (int)TaskOtherTypeEnum.RelocationCar)//移车


                    {


                        if (task.TaskState == (int)TaskCarStatusEnum.CarNew)


                        {


                            //if (task.Remark == ShuttleCarTaskType.ExitCharge.ToString()) shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.Remark);


                            //else


                            shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);


                        }


                        else if (task.TaskState == (int)TaskCarStatusEnum.SC_CarFinish)


                        {


                            if (task.Remark == ShuttleCarTaskType.Charging.ToString()) shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.Remark);


                            //else


                            //    shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);


                        }


                    }


                    else


                        shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);


                    //shuttleCarTaskCommand.TaskType = string.IsNullOrEmpty(task.Remark) ? (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction) : (short)GetCarTaskType(task.Remark);


                    //任务下发


                    if (shuttleCarTaskCommand.TaskType != null)//0


                    {


                        if (shuttleCar.SendCommand(shuttleCarTaskCommand, shuttleCar.DeviceCode))


                        {


                            if (!string.IsNullOrEmpty(task.Remark)) task.Remark = task.Remark + "已下发";


                            task.TaskState = GetTaskState(task.TaskType);


                            _taskService.UpdateData(task);


                        }


                    }


                }


            }


        }


        #endregion






        /// <summary>


        /// æ ¹æ®ä»»åŠ¡çŠ¶æ€ã€ç±»åž‹èŽ·å–任务


        /// </summary>


@@ -53,6 +303,7 @@


                    taskType = ShuttleCarTaskType.Out;


                    break;


                case (int)TaskOtherTypeEnum.RelocationCar:


                case (int)TaskOtherTypeEnum.RelocationCarCharging:


                    taskType = Direction == 1 ? ShuttleCarTaskType.ZeroA : ShuttleCarTaskType.ZeroB;


                    break;


                default: