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dengjunjie

6 天以前 fd073a00f6813eada92b08f1884b115295ac1177

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

@@ -19,10 +19,9 @@
{
    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
        /// èŽ·å–堆垛机移车/移库充电任务
        /// </summary>
        public void GetSC_CarFinish()
        {
@@ -32,15 +31,12 @@
                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
            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
            }
            dt_Task = GetTask(TaskRelocationStatusEnum.SC_RelocationFinish.ObjToInt(), TaskRelocationTypeEnum.Relocation.ObjToInt());//移库任务
            if (dt_Task != null)
                SendTask(dt_Task);
        }
        #endregion
        /// <summary>
@@ -60,27 +56,37 @@
            }
            else
            {
                var a = Row == 1 ? 2.ToString("000") : 1.ToString("000");
                //var a = Row == 1 ? 2.ToString("000") : 1.ToString("000");
                ShuttleCar.ShuttleCarPosition = Address;
                ShuttleCar.ShuttleCarPosition1 = a + "-" + targetCodes[1] + "-" + targetCodes[2];
                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
            {

                #region èŽ·å–新建移车充电任务
                Dt_Task dt_Task = GetTask((int)CarChargingTaskEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCarCharging);
                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))
                    {
                        SendTask(dt_Task);
                        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
@@ -119,7 +125,14 @@
                    //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);
                    }
                }
                #endregion
@@ -130,8 +143,10 @@
                    var task = _taskService.ShuttleCarRelocationTask(shuttleCar.DeviceCode);//获取穿梭车移库任务
                    if (task != null)
                    {
                        if (!task.SourceIsPickPlace)
                        if (!task.SourceIsPickPlace && task.ShuttleCarCode == shuttleCar.DeviceCode)
                        {
                            SendTask(task);
                        }
                    }
                    else
                    {
@@ -154,6 +169,14 @@
                    }
                }
                #endregion
            }
            catch (Exception)
            {
                throw;
            }
            finally
            {
                _CarTaskObject.Release();
            }
        }
        #endregion
@@ -187,11 +210,37 @@
            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);
                Dt_Task? _Task = _taskRepository.QueryFirst(x => x.SourceAddress == _ShuttleCar.ShuttleCarPosition);
                if (_Task != null)
                {
                    if (_Task.TaskState == TaskOutStatusEnum.OutNew.ObjToInt() ||
                        _Task.TaskState == TaskRelocationStatusEnum.RelocationNew.ObjToInt() ||
                        _Task.TaskState == TaskCarStatusEnum.CarNew.ObjToInt() ||
                        _Task.TaskState == CarChargingTaskEnum.CarChargingNew.ObjToInt())
                    {
                        _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;
            }
@@ -231,22 +280,9 @@
                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
                    //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)
                    //    {
                    //        task.ExceptionMessage = Message;
                    //        _taskService.UpdateData(task);
                    //    }
                    //    return;
                    //}
                    Dt_ShuttleCar _ShuttleCar = QueryCode(task.ShuttleCarCode);
                    var Row = Convert.ToInt32(_ShuttleCar.ShuttleCarPosition.Split("-")[0]);
                    short Position = Convert.ToInt16(Row < 3 ? 1 : 2);
                    short Position = Convert.ToInt16(Row);
                    #endregion
                    //任务转换
                    shuttleCar.SetValue(ShuttleCarDBName.Direction, Position);//写入车体方向
@@ -257,32 +293,33 @@
                    {
                        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.CarNew.ObjToInt() ?
                        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.TaskState == CarChargingTaskEnum.CarNew.ObjToInt())
                            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);
@@ -359,13 +396,18 @@
                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.SC_CarFinish ?
                        (int)CarChargingTaskEnum.ShuttleCar_Executing :
                        (int)CarChargingTaskEnum.ShuttleCar_Charging;
                    state = state < (int)CarChargingTaskEnum.CarChargingSC_CarFinish ?
                        (int)CarChargingTaskEnum.CarCharging_Executing :
                        (int)CarChargingTaskEnum.CarCharging_Charging;
                    break;
                default:
                    break;