1

huangxiaoqiang

2025-11-25 4485cf13b64f8a2bde6609b7d9ecc1cd4f33868b

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs

@@ -1,4 +1,5 @@
using HslCommunication;
using HslCommunication.WebSocket;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
@@ -40,51 +41,68 @@

        public Task Execute(IJobExecutionContext context)
        {
            var RelocationTask = _taskRepository.QueryData(x => _taskService.TaskAcrossFloorboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            var RelocationTask = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskRelocationStatusEnum.RelocationNewAGV);
            if (RelocationTask.Count > 0)
            {
                foreach (var item in RelocationTask)
                {
                    AGVSendTask(item);
                    _taskService.UpdateTaskStatusToNext(item.TaskNum);
                }
            }

            #region AGV跨楼层任务
            var AcrossFloorTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
            if (AcrossFloorTask != null)
            var AcrossFloorTasks = _taskRepository.QueryData(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
            if (AcrossFloorTasks.Count()>0)
            {
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.EndAddressExecuting);
                if(task == null)
                {
                    Dt_Task? AcrossFloorTask = null;
                    if (AcrossFloorTasks[0].Floor == "2F")
                    {
                        AcrossFloorTask = AcrossFloorTasks.OrderBy(x => x.Grade).ToList().FirstOrDefault();
                    }
                    else
                    {
                        AcrossFloorTask = AcrossFloorTasks.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
                    }


                    CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
                    if (elevator != null)
                    {
                        if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
                        {
                            Relocation(AcrossFloorTask);
                            if (AcrossFloorTask.Floor == "1F")
                            if (AcrossFloorTask != null)
                            {
                                elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
                                elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(1));
                                elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(2));
                                Thread.Sleep(1000);
                                elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
                                if (Relocation(AcrossFloorTask))
                                {
                                    if (AcrossFloorTask.Floor == "1F")
                                    {
                                        elevator.SetValue(ElevatorDBName.TaskNum, Convert.ToInt16(AcrossFloorTask.TaskNum));
                                        elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
                                        elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(1));
                                        elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(2));
                                        Thread.Sleep(1000);
                                        elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));

                                _taskService.SendAgvTask("AAA", AcrossFloorTask.TaskNum);
                                AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
                                _taskRepository.UpdateData(AcrossFloorTask);
                            }
                            else
                            {
                                elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
                                elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(2));
                                elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(1));
                                Thread.Sleep(1000);
                                elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
                                        _taskService.SendAgvTask("AAA", AcrossFloorTask.TaskNum);
                                        _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
                                    }
                                    else
                                    {
                                        elevator.SetValue(ElevatorDBName.TaskNum, Convert.ToInt16(AcrossFloorTask.TaskNum));
                                        elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
                                        elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(2));
                                        elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(1));
                                        Thread.Sleep(1000);
                                        elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));

                                _taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
                                AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
                                _taskRepository.UpdateData(AcrossFloorTask);
                                        _taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
                                        _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
                                    }
                                }
                            }
                        }
                    }
@@ -93,45 +111,66 @@
            #endregion

            #region AGV同层搬运任务


            Dt_Task Carry = _taskRepository.QueryFirst(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            if (Carry != null)
            var Carrys = _taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            if (Carrys.Count>0)
            {
                Relocation(Carry);
                AGVSendTask(Carry);
                if (Carrys[0].Floor == "2F")
                {
                    var Carry = Carrys.OrderBy(x => x.Grade).ToList().FirstOrDefault();
                    Relocation(Carry);
                    AGVSendTask(Carry);
                    _taskService.UpdateTaskStatusToNext(Carry.TaskNum);

                }
                else
                {
                    var Carry = Carrys.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
                    Relocation(Carry);
                    AGVSendTask(Carry);
                    _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
                }
            }

            #endregion

            #region 1楼AGV入库任务
            var InTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskInStatusEnum.InNew);
            if (InTask != null)
            var InTasks = _taskRepository.QueryData(x => x.TaskState == (int)TaskInStatusEnum.InNew);
            if (InTasks.Count>0)
            {
                var OutTask = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState <(int)TaskOutStatusEnum.AGV_OutExecuting);
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskInStatusEnum.InNew && x.TaskState < (int)TaskInStatusEnum.SC_InExecuting);
                CommonConveyorLine? conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001") as CommonConveyorLine;
                var OutTask = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState < (int)TaskOutStatusEnum.AGV_OutExecuting);
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskInStatusEnum.InNew && x.TaskState < (int)TaskInStatusEnum.SC_InFinish);
                if (OutTask == null && task == null)
                {
                    CommonConveyorLine? conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001") as CommonConveyorLine;
                    if (conveyorLine != null)
                    {
                        bool IsWrite = false;
                        short InteractiveSignal = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, "LK001");
                        var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();
                        if (structs[0])
                        {
                            IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 0);
                            Thread.Sleep(1000);
                            IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 9999);
                            if (!IsWrite)
                            {
                                return Task.CompletedTask;
                            }
                            Relocation(InTask);
                            _taskService.SendAgvTask("LIFANG", InTask.TaskNum);
                        Dt_Task? InTask = InTasks.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();

                            _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
                        short InteractiveSignal = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, "LK001");
                        var taskNum = conveyorLine.GetValue<ConveyorLineDBName, int>(ConveyorLineDBName.ConveyorLineTaskNum, "LK001");
                        var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();

                        bool IsWrite = false;
                        
                        {
                            if (structs[0] && !structs[1])
                            {
                                IsWrite = conveyorLine.Communicator.Write("DB100.0", Convert.ToInt32(0));
                                Thread.Sleep(1000);
                                IsWrite = conveyorLine.Communicator.Write("DB100.0", Convert.ToInt32(9999));
                                if (!IsWrite)
                                {
                                    return Task.CompletedTask;
                                }
                                if (Relocation(InTask))
                                {
                                    _taskService.SendAgvTask("LIFANG", InTask.TaskNum);

                                    _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
                                }
                            }
                        }

                    }
                }
            }
@@ -146,25 +185,19 @@
            if (task.SourceAddress.Contains("XB001") || task.TargetAddress.Contains("XB001"))
            {
                _taskService.SendAgvTask("cattleCarry1", task.TaskNum);
                task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
                _taskRepository.UpdateData(task);
            }
            else if (task.Floor == "1F")
            {
                _taskService.SendAgvTask("forkAutoTemplate1", task.TaskNum);
                task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
                _taskRepository.UpdateData(task);
            }
            else
            {
                _taskService.SendAgvTask("cattleCarry1", task.TaskNum);
                task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
                _taskRepository.UpdateData(task);
            }
        }


        public void Relocation(Dt_Task? task)
        public bool Relocation(Dt_Task? task)
        {
            var taskDto = new RequestTaskDto()
            {
@@ -191,7 +224,7 @@
            {
                task.ExceptionMessage = content.Message;
                _taskRepository.UpdateData(task);
                return;
                return false;
            }

            // ååºåˆ—化任务数据
@@ -212,7 +245,7 @@
            if (IsAddTask)
                _taskService.ReceiveWMSTask(taskDTO);

            var taskNew = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            var taskNew = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskRelocationStatusEnum.RelocationNewAGV);
            if (taskNew.Count > 0)
            {
                if (taskNew[0].Floor == "2F")
@@ -232,6 +265,7 @@
                    }
                }
            }
            return true;
        }
    }
}