添加PDA,添加堆垛机调度

Huangxiaoqiang-03

2024-10-31 da58f97834d2bdaeb10e677bab7bdd372a778041

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -1,9 +1,11 @@
using Microsoft.AspNetCore.Components.Routing;
using Quartz;
using SqlSugar.Extensions;
using System;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Core.Enums;
@@ -14,7 +16,6 @@
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
using WIDESEAWCS_Tasks.StackerCraneJob;

namespace WIDESEAWCS_Tasks
@@ -39,31 +40,32 @@
        {
            try
            {
                CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
                if (commonStackerCrane != null)
                SpeStackerCrane speStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
                GetStackerObject getStackerObject = new GetStackerObject();
                if (speStackerCrane != null)
                {
                    if (!commonStackerCrane.IsEventSubscribed)
                    if (getStackerObject.StackerCraneTaskCompletedValue(speStackerCrane) == StackerCraneTaskCompleted.WorkCompleted)
                    {
                        commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                        Console.WriteLine(1);
                    }

                    if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    else
                    {
                        commonStackerCrane.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次

                        if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        if (getStackerObject.StackerCraneAutoStatusValue(speStackerCrane) == StackerCraneAutoStatus.Automatic && getStackerObject.StackerCraneStatusValue(speStackerCrane) == StackerCraneStatus.Ready)
                        {
                            Dt_Task? task = GetTask(commonStackerCrane);
                            if (getStackerObject.StackerCraneWorkStatusValue(speStackerCrane) == StackerCraneWorkStatus.Standby)
                            {
                                Dt_Task? task = GetTask(speStackerCrane);
                            if (task != null)
                            {
                                StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                                if (stackerCraneTaskCommand != null)
                                {
                                    bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
                                        bool sendFlag = speStackerCrane.SendCommand(stackerCraneTaskCommand);
                                    if (sendFlag)
                                    {
                                        commonStackerCrane.LastTaskType = task.TaskType;
                                            speStackerCrane.LastTaskType = task.TaskType;
                                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                        }
                                    }
                                }
                            }
@@ -85,14 +87,14 @@
        /// <param name="e"></param>
        private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
        {
            CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
            if (commonStackerCrane != null)
            SpeStackerCrane? speStackerCrane = sender as SpeStackerCrane;
            if (speStackerCrane != null)
            {
                if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                if (speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                {
                    Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
                    _taskService.StackCraneTaskCompleted(e.TaskNum);
                    commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                    speStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                }
            }
        }
@@ -102,48 +104,40 @@
        /// </summary>
        /// <param name="commonStackerCrane">堆垛机对象</param>
        /// <returns></returns>
        private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
        private Dt_Task? GetTask(SpeStackerCrane speStackerCrane)
        {
            Dt_Task task;
            if (commonStackerCrane.LastTaskType == null)
            if (speStackerCrane.LastTaskType == null)
            {
                task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
                task = _taskService.QueryStackerCraneTask(speStackerCrane.DeviceCode);
            }
            else
            {
                if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                bool flag = speStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup;
                if (flag)
                {
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                    task = _taskService.QueryStackerCraneInTask(speStackerCrane.DeviceCode);
                    if (task == null)
                    {
                        task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                        task = _taskService.QueryStackerCraneOutTask(speStackerCrane.DeviceCode);
                    }
                }
                else
                {
                    task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                    task = _taskService.QueryStackerCraneOutTask(speStackerCrane.DeviceCode);
                }
            }

            if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            {
                if (OutTaskStationIsOccupied(task) != null)
                {
                    return task;
                }
                else
                {
                    List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
                    List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);

                List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(speStackerCrane.DeviceCode, task.TargetAddress);
                    foreach (var item in tasks)
                    {
                        if (OutTaskStationIsOccupied(task) != null)
                        {
                            return task;
                        }
                    }
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                }
                return task;

            }

            return task;
@@ -196,14 +190,22 @@
            stackerCraneTaskCommand.TrayType = 0;
            if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//判断是否是入库任务
            {
                List<Dt_Router> routers = _routerService.QueryNextRoutes(task.CurrentAddress, task.Roadway);
                if (routers.Count > 0)
                if (task.SourceAddress != null && task.TargetAddress != null)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);

                    string[] targetCodes = task.NextAddress.Split("-");
                    string[] sourceCodes = task.SourceAddress.Split("-");
                    if (sourceCodes.Length == 3)
                    {
                        stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
                        stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                        stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                    }
                    else
                    {
                        //数据配置错误
                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务终点错误，起点：【{task.SourceAddress}】");
                        return null;
                    }
                    string[] targetCodes = task.TargetAddress.Split("-");
                    if (targetCodes.Length == 3)
                    {
                        stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
@@ -213,26 +215,34 @@
                    else
                    {
                        //数据配置错误
                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务终点错误，起点：【{task.NextAddress}】");
                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务终点错误，起点：【{task.TargetAddress}】");
                        return null;
                    }
                }
                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");
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.TargetAddress},{task.SourceAddress}】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)
            {
                List<Dt_Router> routers = _routerService.QueryNextRoutes(task.Roadway, task.TargetAddress);
                if (routers.Count > 0)
                if (task.SourceAddress != null && task.TargetAddress != null)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);

                    string[] sourceCodes = task.CurrentAddress.Split("-");
                    string[] targetCodes = task.TargetAddress.Split("-");
                    if (targetCodes.Length == 3)
                    {
                        stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
                        stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
                        stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
                    }
                    else
                    {
                        //数据配置错误
                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务终点错误，起点：【{task.SourceAddress}】");
                        return null;
                    }
                    string[] sourceCodes = task.SourceAddress.Split("-");
                    if (sourceCodes.Length == 3)
                    {
                        stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
@@ -254,7 +264,9 @@
            }
            else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
            {
                string[] targetCodes = task.NextAddress.Split("-");
                if (task.SourceAddress != null && task.TargetAddress != null)
                {
                    string[] targetCodes = task.TargetAddress.Split("-");
                if (targetCodes.Length == 3)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
@@ -264,10 +276,10 @@
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务终点错误，起点：【{task.NextAddress}】");
                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务终点错误，起点：【{task.TargetAddress}】");
                    return null;
                }
                string[] sourceCodes = task.CurrentAddress.Split("-");
                    string[] sourceCodes = task.SourceAddress.Split("-");
                if (sourceCodes.Length == 3)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
@@ -277,11 +289,17 @@
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点错误，起点：【{task.CurrentAddress}】");
                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点错误，起点：【{task.SourceAddress}】");
                    return null;
                    }
                }
                else
                {
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点终点错误，起点：【{task.SourceAddress}】，终点：【{task.TargetAddress}】");
                }
            }
            return stackerCraneTaskCommand;
        }

    }
}