优化库内移库，堆垛机和穿梭车交互逻辑

dengjunjie

5 天以前 f40ba2a9fb9d3c2ece08e9a7cd987d4744dccab2

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ShuttleCarJob/ShuttleCarExtend/PartialTaskService.cs

@@ -19,56 +19,96 @@
{
    partial class CommonShuttleCarJob
    {
        private object _CarTaskObject = new object();
        #region å †åž›æœºç§»è½¦å®Œæˆ
        /// <summary>
        /// èŽ·å–堆垛机移车完成任务
        /// èŽ·å–堆垛机移车/移库充电任务
        /// </summary>
        public void GetSC_CarFinish()
        {
            Dt_Task dt_Task = GetTask((int)TaskCarStatusEnum.SC_CarFinish, (int)TaskOtherTypeEnum.RelocationCar);
            Dt_Task dt_Task = GetTask(TaskCarStatusEnum.SC_CarFinish.ObjToInt(), TaskOtherTypeEnum.RelocationCar.ObjToInt());//移车任务
            if (dt_Task != null)
            {
                var ShuttleCar = QueryCode(dt_Task.ShuttleCarCode);
                ShuttleCar.ShuttleCarPosition = dt_Task.TargetAddress;
                _shuttleCarService.UpdateData(ShuttleCar);
                if (string.IsNullOrEmpty(dt_Task.Remark))//完成移库任务
                    _taskService.AddTask_Hty(dt_Task, TaskOperateTypeEnum.AutoComplete);
                else//下发充电任务
                    SendTask(dt_Task);
                UpdateShuttleCar(dt_Task.ShuttleCarCode, dt_Task.CurrentAddress);
                _taskService.AddTask_Hty(dt_Task, TaskOperateTypeEnum.AutoComplete);
            }
            dt_Task = GetTask(CarChargingTaskEnum.CarChargingSC_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
            }
        }
        #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 = Address;// a + "-" + targetCodes[1] + "-" + targetCodes[2];
            }
            _shuttleCarService.UpdateData(ShuttleCar);
        }
        private static readonly SemaphoreSlim _CarTaskObject = new SemaphoreSlim(1, 1);
        #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)
        public async Task Get_CarTask(ShuttleCar shuttleCar, ShuttleCarTaskCommandR command)
        {
            lock (_CarTaskObject)
            await _CarTaskObject.WaitAsync();
            try
            {
                Dt_Task dt_Task = GetTask((int)TaskCarStatusEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCar);//获取新建移车任务

                #region èŽ·å–新建移车充电任务
                Dt_Task dt_Task = GetTask((int)CarChargingTaskEnum.CarChargingNew, (int)TaskOtherTypeEnum.RelocationCarCharging);
                if (dt_Task != null && dt_Task.ShuttleCarCode == shuttleCar.DeviceCode)
                {
                    if (!string.IsNullOrEmpty(dt_Task.SourceAddress) && !string.IsNullOrEmpty(dt_Task.TargetAddress) && !string.IsNullOrEmpty(dt_Task.ShuttleCarCode))
                    {
                        Dt_Task? _Task = _taskRepository.QueryData(x => x.ShuttleCarCode == dt_Task.ShuttleCarCode && x.TaskType != TaskOtherTypeEnum.RelocationCarCharging.ObjToInt()).OrderByDescending(x => x.CreateDate).FirstOrDefault();
                        if (_Task != null && _taskService.TaskOutboundTypes.Contains(_Task.TaskType))
                        {
                            if (_Task.TaskState >= TaskOutStatusEnum.SC_OutFinish.ObjToInt())
                                SendTask(dt_Task);
                        }
                        else
                            SendTask(dt_Task);
                    }
                }
                #endregion

                #region èŽ·å–新建移车任务
                dt_Task = GetTask((int)TaskCarStatusEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCar);
                if (dt_Task != null)
                {
                    if (string.IsNullOrEmpty(dt_Task.SourceAddress))
                    {
                        if (command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)
                        {
                            UpdateSource(ref dt_Task, shuttleCar);
                        }
                        (bool, Dt_ShuttleCar) result = GetSourceTask(shuttleCar, command);
                        if (result.Item1)
                            UpdateSource(ref dt_Task, result.Item2);
                        else
                        {
                            #region åˆ¤æ–­æ˜¯å¦å­˜åœ¨ç©ºé—²ç©¿æ¢­è½¦,如都在充电(选择电量高的并超过50%电量的穿梭车退出充电)
                            QuitCharging(dt_Task, shuttleCar, command);
                            #endregion
                        }
                            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
                        var ShuttleCar = _shuttleCarService.QueryNoCode(dt_Task.ShuttleCarCode);
                        WebResponseContent content = new WebResponseContent();
                        var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.GetPosition + $"?position={dt_Task.SourceAddress}", "", headers: new Dictionary<string, string>());
                        var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.GetPosition + $"?position={dt_Task.SourceAddress}&&position1={ShuttleCar.ShuttleCarPosition}", "", headers: new Dictionary<string, string>());
                        if (ResultData.Result != null)
                        {
                            content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);
@@ -82,27 +122,61 @@
                        }
                        #endregion
                    }
                    //穿梭车移库任务下发
                    if (!string.IsNullOrEmpty(dt_Task.SourceAddress) && !string.IsNullOrEmpty(dt_Task.TargetAddress) && !string.IsNullOrEmpty(dt_Task.ShuttleCarCode))
                    //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) && dt_Task.ShuttleCarCode == shuttleCar.DeviceCode)
                    {
                        SendTask(dt_Task);
                        Dt_Task? _Task = _taskRepository.QueryData(x => x.ShuttleCarCode == dt_Task.ShuttleCarCode && x.TaskType != TaskOtherTypeEnum.RelocationCar.ObjToInt()).OrderByDescending(x => x.CreateDate).FirstOrDefault();
                        if (_Task != null && _taskService.TaskOutboundTypes.Contains(_Task.TaskType))
                        {
                            if (_Task.TaskState >= TaskOutStatusEnum.SC_OutFinish.ObjToInt())
                                SendTask(dt_Task);
                        }
                        else
                            SendTask(dt_Task);
                    }
                }
                #region ç©¿æ¢­è½¦å‡ºå…¥åº“任务
                #endregion

                #region ç©¿æ¢­è½¦ä»»åŠ¡
                else
                {
                    var task = _taskService.QueryShuttleCarTask(shuttleCar.DeviceCode);
                    var task = _taskService.ShuttleCarRelocationTask(shuttleCar.DeviceCode);//获取穿梭车移库任务
                    if (task != null)
                    {
                        if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && !task.IsPickPlace)
                        if (!task.SourceIsPickPlace && task.ShuttleCarCode == shuttleCar.DeviceCode)
                        {
                            var ShuttleCar = _shuttleCarService.QueryShuttleCar(task.SourceAddress);//出库任务判断是否存在穿梭车
                            if (ShuttleCar != null) SendTask(task);
                            else _taskService.AddRelocationCarTask("", task.SourceAddress);
                            SendTask(task);
                        }
                    }
                    else
                    {
                        task = _taskService.QueryShuttleCarTask(shuttleCar.DeviceCode);
                        if (task != null)
                        {
                            if (_taskService.TaskOutboundTypes.Contains(task.TaskType) && !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) _taskService.AddRelocationCarTask("", task.SourceAddress);
                                else
                                {
                                    task.ShuttleCarCode = ShuttleCar.ShuttleCarCode;
                                    SendTask(task);
                                }
                            }
                            else
                                SendTask(task);
                        }
                    }
                }
                #endregion
            }
            catch (Exception)
            {
                throw;
            }
            finally
            {
                _CarTaskObject.Release();
            }
        }
        #endregion
@@ -114,53 +188,83 @@
        /// <param name="dt_Task"></param>
        /// <param name="shuttleCar"></param>
        /// <param name="command"></param>
        public void UpdateSource(ref Dt_Task dt_Task, ShuttleCar shuttleCar)
        public void UpdateSource(ref Dt_Task dt_Task, Dt_ShuttleCar _ShuttleCar)
        {
            dt_Task.SourceAddress = QueryCode(shuttleCar._deviceCode).ShuttleCarPosition;
            dt_Task.SourceAddress = _ShuttleCar.ShuttleCarPosition;
            dt_Task.CurrentAddress = dt_Task.SourceAddress;
            dt_Task.ShuttleCarCode = shuttleCar._deviceCode;
            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

        #region é€€å‡ºå……电任务
        public void QuitCharging(Dt_Task dt_Task, ShuttleCar shuttleCar, ShuttleCarTaskCommandR command)
        /// <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)
        {
            List<string> shuttleCarCodes = new List<string>() { "RGV01", "RGV02" };
            string CarCode = shuttleCarCodes.Where(x => !x.Contains(shuttleCar.DeviceCode)).First();
            ShuttleCar shuttleCar1 = Storage.Devices.Where(x => x.DeviceCode.Equals(CarCode)).FirstOrDefault() as ShuttleCar;
            if (shuttleCar1 != null)
            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)
            {
                var command1 = ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar1, shuttleCar1.DeviceCode);//读取穿梭车信息
                if (command1.Status == (short)ShuttleCarStatus.Standby && command1.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command1.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);
                if (_Task != null)
                {
                    UpdateSource(ref dt_Task, shuttleCar1);
                }
                else
                {
                    //选择电量高的并超过50%电量的穿梭车退出充电
                    command = command.ElectricQuantity > command1.ElectricQuantity ? command : command1;
                    shuttleCar = command.ElectricQuantity > command1.ElectricQuantity ? shuttleCar : shuttleCar1;
                }
            }
            if (string.IsNullOrEmpty(dt_Task.SourceAddress))
            {
                if (command.ElectricQuantity > 50)
                {
                    ShuttleCarTaskCommandW shuttleCarTaskCommand = new ShuttleCarTaskCommandW();
                    shuttleCarTaskCommand.Direction = command.Position;
                    shuttleCarTaskCommand.TaskNum = dt_Task.TaskNum;
                    shuttleCarTaskCommand.TaskType = (short)ShuttleCarTaskType.ExitCharge;
                    if (shuttleCar.SendCommand(shuttleCarTaskCommand, shuttleCar.DeviceCode))
                    if (_Task.TaskState == TaskOutStatusEnum.OutNew.ObjToInt() ||
                        _Task.TaskState == TaskRelocationStatusEnum.RelocationNew.ObjToInt() ||
                        _Task.TaskState == TaskCarStatusEnum.CarNew.ObjToInt() ||
                        _Task.TaskState == CarChargingTaskEnum.CarChargingNew.ObjToInt())
                    {
                        dt_Task.Remark = "退出充电已下发";
                        UpdateSource(ref dt_Task, shuttleCar);
                        _Task.ShuttleCarCode = shuttleCar.DeviceCode;
                        SendTask(_Task);
                        return (ok, _ShuttleCar);
                    }
                }
                _Task = _taskRepository.QueryFirst(x => x.TargetAddress == _ShuttleCar.ShuttleCarPosition);
                if (_Task != null)
                {
                    if (_Task.TaskState == TaskInStatusEnum.SC_InFinish.ObjToInt() ||
                        _Task.TaskState == TaskRelocationStatusEnum.SC_RelocationFinish.ObjToInt() ||
                        _Task.TaskState == CarChargingTaskEnum.CarChargingSC_CarFinish.ObjToInt())
                    {
                        _Task.ShuttleCarCode = shuttleCar.DeviceCode;
                        SendTask(_Task);
                        return (ok, _ShuttleCar);
                    }
                }
                _Task = _taskRepository.QueryData(x => x.ShuttleCarCode == _ShuttleCar.ShuttleCarCode && _taskService.TaskOutboundTypes.Contains(x.TaskType)).OrderByDescending(x => x.CreateDate).FirstOrDefault();
                if (_Task != null)
                {
                    if (_Task.TaskState >= TaskOutStatusEnum.SC_OutFinish.ObjToInt())
                        _Task = null;
                }
                #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);
        }
        #endregion

        /// <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>
@@ -173,37 +277,51 @@
            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)
                if (command != null && command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && (command.Err_Status == (short)ShuttleCarErr.Normal || command.Err_Status == (short)ShuttleCarErr.LowBattery))
                {
                    #region åˆ¤æ–­å°è½¦ä½ç½®æ— AB面不下发任务
                    Dt_ShuttleCar _ShuttleCar = QueryCode(task.ShuttleCarCode);
                    var Row = Convert.ToInt32(_ShuttleCar.ShuttleCarPosition.Split("-")[0]);
                    short Position = Convert.ToInt16(Row);
                    #endregion
                    //任务转换
                    shuttleCar.SetValue(ShuttleCarDBName.Direction, Position);//写入车体方向
                    ShuttleCarTaskCommandW shuttleCarTaskCommand = new ShuttleCarTaskCommandW();
                    shuttleCarTaskCommand.Direction = command.Position;
                    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 if (task.TaskType == (int)TaskOtherTypeEnum.RelocationCarCharging)
                    {
                        shuttleCarTaskCommand.TaskType = task.TaskState == CarChargingTaskEnum.CarChargingNew.ObjToInt() ?
                            (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction) :
                            (short)GetCarTaskType(ShuttleCarTaskType.Charging.ToString());
                    }
                    else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
                    {
                        shuttleCarTaskCommand.TaskType = task.TaskState == TaskRelocationStatusEnum.RelocationNew.ObjToInt() ?
                            (short)ShuttleCarTaskType.Out :
                            (short)ShuttleCarTaskType.In;
                    }
                    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);
                            if (!string.IsNullOrEmpty(task.Remark) && task.TaskState == CarChargingTaskEnum.CarChargingNew.ObjToInt())
                                task.Remark = task.Remark + "已下发";
                            task.TaskState = GetTaskState(task.TaskType, task.TaskState);
                            _taskService.UpdateData(task);
                        }
                    }
@@ -245,12 +363,15 @@
            switch (TaskType)
            {
                case (int)TaskInboundTypeEnum.Inbound:
                case (int)TaskInboundTypeEnum.PalletInbound:
                    taskType = ShuttleCarTaskType.In;
                    break;
                case (int)TaskOutboundTypeEnum.Outbound:
                case (int)TaskOutboundTypeEnum.PalletOutbound:
                    taskType = ShuttleCarTaskType.Out;
                    break;
                case (int)TaskOtherTypeEnum.RelocationCar:
                case (int)TaskOtherTypeEnum.RelocationCarCharging:
                    taskType = Direction == 1 ? ShuttleCarTaskType.ZeroA : ShuttleCarTaskType.ZeroB;
                    break;
                default:
@@ -263,20 +384,31 @@
        /// </summary>
        /// <param name="TaskType"></param>
        /// <returns></returns>
        int GetTaskState(int TaskType)
        int GetTaskState(int TaskType, int state)
        {
            int state = 0;
            switch (TaskType)
            {
                case (int)TaskInboundTypeEnum.Inbound:
                case (int)TaskInboundTypeEnum.PalletInbound:
                    state = (int)TaskInStatusEnum.Car_InExecuting;
                    break;
                case (int)TaskOutboundTypeEnum.Outbound:
                case (int)TaskOutboundTypeEnum.PalletOutbound:
                    state = (int)TaskOutStatusEnum.Car_OutExecuting;
                    break;
                case (int)TaskRelocationTypeEnum.Relocation:
                    state = state < (int)TaskRelocationStatusEnum.SC_RelocationFinish.ObjToInt() ?
                        (int)TaskRelocationStatusEnum.CarSource_Executing :
                        (int)TaskRelocationStatusEnum.CarTarget_Executing;
                    break;
                case (int)TaskOtherTypeEnum.RelocationCar:
                    state = (int)TaskCarStatusEnum.ShuttleCar_Executing;
                    break;
                case (int)TaskOtherTypeEnum.RelocationCarCharging:
                    state = state < (int)CarChargingTaskEnum.CarChargingSC_CarFinish ?
                        (int)CarChargingTaskEnum.CarCharging_Executing :
                        (int)CarChargingTaskEnum.CarCharging_Charging;
                    break;
                default:
                    break;
            }