代码更新

wangxinhui

2025-01-04 ca08d1f380987254814242e2fe3ea9de28228132

 代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/AGVExtend.cs

@@ -1,6 +1,7 @@
锘縰sing System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection.Metadata;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_DTO.Agv;
@@ -8,6 +9,8 @@
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Model.Models;
using static Dm.net.buffer.ByteArrayBuffer;
using WIDESEAWCS_QuartzJob;

namespace WIDESEAWCS_Tasks
{
@@ -23,11 +26,13 @@
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var agvTask in newTasks)
                {
                    AgvTaskDTO taskDTO = new AgvTaskDTO()
                    try
                    {
                        ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                        TaskTyp = AgvTaskType(agvTask.TaskType, agvTask.DeviceCode),
                        PositionCodePath = new List<CodePath>()
                        AgvTaskDTO taskDTO = new AgvTaskDTO()
                        {
                            ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                            TaskTyp = AgvTaskType(agvTask.TaskType, agvTask.DeviceCode),
                            PositionCodePath = new List<CodePath>()
                        {
                            new CodePath()
                            {
@@ -40,27 +45,35 @@
                                positionCode=agvTask.NextAddress
                            }
                        },
                        TaskCode = agvTask.AgvTaskNum,
                        PodTyp = agvTask.PalletType < 3 ? "XX" : "DD",
                    };
                    WebResponseContent content = _taskService.AgvSendTask(taskDTO);
                    if (content.Status)
                    {
                        agvTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                        //agvTask.Remark = content.Data.ObjToString();
                            TaskCode = agvTask.AgvTaskNum,
                            PodTyp = agvTask.PalletType < 3 ? "XX" : "DD",
                        };
                        WebResponseContent content = _taskService.AgvSendTask(taskDTO);
                        if (content.Status)
                        {
                            agvTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                            //agvTask.Remark = content.Data.ObjToString();
                        }
                        else
                        {
                            agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                            //agvTask.Remark = content.Data.ObjToString();
                            agvTask.ExceptionMessage = content.Message;
                        }
                    }
                    else
                    catch (Exception ex)
                    {
                        agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                        //agvTask.Remark = content.Data.ObjToString();
                        agvTask.ExceptionMessage = content.Message;
                        agvTask.ExceptionMessage = ex.Message;
                        WriteError(nameof(AGVJob), ex.Message, ex);
                    }
                }
                _taskService.UpdateData(newTasks);
            }
            catch (Exception ex)
            {
                Console.Out.WriteLine(nameof(AGVJob) + ":" + ex.Message);
                WriteError(nameof(AGVJob), ex.Message, ex);
            }
        }
        /// <summary>
@@ -73,6 +86,57 @@
                var WaitToTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt()).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var WaitToTask in WaitToTasks)
                {
                    if(WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == WaitToTask.NextAddress);
                        if (stationManger == null)
                        {
                            continue;
                        }
                        IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                        if (device == null)
                        {
                            continue;
                        }
                        OtherDevice otherDevice = (OtherDevice)device;
                        bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
                        bool requestPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.W_PutRequest, stationManger.StationCode);
                        if(!requestPut)
                        {
                            otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
                            continue;
                        }
                        else if (!canPut)
                        {
                            continue;
                        }
                    }
                    else
                    {
                        Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == WaitToTask.CurrentAddress);
                        if (stationManger == null)
                        {
                            continue;
                        }
                        IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                        if (device == null)
                        {
                            continue;
                        }
                        OtherDevice otherDevice = (OtherDevice)device;
                        bool canTake = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
                        bool requestTake = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.W_TakeRequest, stationManger.StationCode);
                        if (!requestTake)
                        {
                            otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
                            continue;
                        }
                        else if (!canTake)
                        {
                            continue;
                        }
                    }

                    AgvSecureReplyDTO replyDTO = new AgvSecureReplyDTO()
                    {
                        ReqCode = Guid.NewGuid().ToString().Replace("-", ""), //WaitToTask.TaskNum.ToString(),
@@ -114,7 +178,7 @@
                        else return "22";
                    }
                default:
                    throw new NotImplementedException();
                    throw new Exception($"璁惧缂栧彿閿欒");
            }
        }
    }