1

huangxiaoqiang

2 天以前 5a15fa73d5f6a39917013871a65eb11a8c013391

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

@@ -49,13 +49,6 @@
                }
            }

            var taskCarry = _taskRepository.QueryData(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
            #region å‡ºåº“任务

            AGVOutTask(taskCarry.Where(x => x.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup).ToList());
            
            #endregion

            #region AGV跨楼层任务
            var AcrossFloorTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
            if (AcrossFloorTask != null)
@@ -68,6 +61,7 @@
                    {
                        if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
                        {
                            Relocation(AcrossFloorTask);
                            if (AcrossFloorTask.Floor == "1F")
                            {
                                elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
@@ -77,8 +71,9 @@
                                elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));

                                _taskService.SendAgvTask("AAA", AcrossFloorTask.TaskNum);
                                AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
                                _taskRepository.UpdateData(AcrossFloorTask);
                                //AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
                                //_taskRepository.UpdateData(AcrossFloorTask);
                                _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
                            }
                            else
                            {
@@ -89,8 +84,9 @@
                                elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));

                                _taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
                                AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
                                _taskRepository.UpdateData(AcrossFloorTask);
                                //AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
                                //_taskRepository.UpdateData(AcrossFloorTask);
                                _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
                            }
                        }
                    }
@@ -101,79 +97,11 @@
            #region AGV同层搬运任务


            Dt_Task Carry = null;
            Dt_Task Carry = _taskRepository.QueryFirst(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            if (Carry != null)
            {
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew);
                if (task == null)
                {
                    var taskDto = new RequestTaskDto()
                    {
                        Position = Carry.SourceAddress,
                        PalletCode = Carry.PalletCode,
                        TaskNum = Carry.TaskNum
                    };

                    // èŽ·å–WMSip地址
                    var configz = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
                    var wmsBasez = configz.Where(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE).FirstOrDefault()?.ConfigValue;
                    var requestLocation = configz.Where(x => x.ConfigKey == SysConfigKeyConst.AGVIsNeedRelocation).FirstOrDefault()?.ConfigValue;
                    if (wmsBasez == null || requestLocation == null)
                    {
                        throw new InvalidOperationException("WMS IP æœªé…ç½®");
                    }
                    var wmsIpAddrss = wmsBasez + requestLocation;

                    var result = HttpHelper.PostAsync(wmsIpAddrss, taskDto.ToJsonString()).Result;

                    WebResponseContent content = JsonConvert.DeserializeObject<WebResponseContent>(result);

                    if (!content.Status)
                    {
                        Carry.ExceptionMessage = content.Message;
                        _taskRepository.UpdateData(Carry);
                        return null;
                    }

                    // ååºåˆ—化任务数据
                    var taskDTO = JsonConvert.DeserializeObject<List<WMSTaskDTO>>(content.Data.ToString());
                    bool IsAddTask = false;
                    foreach (var t in taskDTO)
                    {
                        if (t.TaskNum == Carry.TaskNum)
                        {
                            IsAddTask = true;
                            break;
                        }
                        else
                        {
                            IsAddTask = true;
                        }
                    }
                    if (IsAddTask)
                        _taskService.ReceiveWMSTask(taskDTO);

                    var taskNew = _taskRepository.QueryData(x => x.TaskType == (int)TaskAGVCarryTypeEnum.CarryReloction && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
                    if (taskNew.Count > 0)
                    {
                        if (taskNew[0].Remark == "2")
                        {
                            foreach (var item in taskNew.OrderBy(x => x.Grade).ToList())
                            {
                                AGVSendTask(item);
                            }
                        }
                        else
                        {
                            foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
                            {
                                AGVSendTask(item);
                            }
                        }
                    }

                    AGVSendTask(Carry);
                }
                Relocation(Carry);
                AGVSendTask(Carry);
            }

            #endregion
@@ -182,29 +110,33 @@
            var InTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskInStatusEnum.InNew);
            if (InTask != null)
            {
                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);
                if (OutTask == null && task == null)
                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)
                {
                    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])
                        if ((task != null && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting && !structs[1]) || task == null)
                        {
                            IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 0);
                            Thread.Sleep(1000);
                            IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 9999);
                            if (!IsWrite)
                            bool IsWrite = false;

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

                                _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
                            }

                            _taskService.SendAgvTask("LIFANG", InTask.TaskNum);

                            _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
                        }
                    }
                }
@@ -214,32 +146,6 @@

            return Task.CompletedTask;
        }

        /// <summary>
        /// AGV出库任务
        /// </summary>
        /// <param name="tasks"></param>
        public void AGVOutTask(List<Dt_Task> tasks)
        {
            if(tasks.Count > 0)
            {
                var OutTaskOneFloor = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState < (int)TaskOutStatusEnum.AGV_OutExecuting && x.Floor=="1F");
                var OutTaskTwoFloor = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState < (int)TaskOutStatusEnum.AGV_OutExecuting && x.Floor=="1F");
                if(OutTaskOneFloor == null)
                {
                    var task = tasks.Where(x => x.Floor == "1F").OrderByDescending(x => x.Grade).FirstOrDefault();
                    if (task != null)
                        Relocation(task);
                }
                if (OutTaskTwoFloor == null)
                {
                    var task = (tasks.Where(x => x.Floor == "2F").OrderBy(x => x.Grade).FirstOrDefault());
                    if (task != null)
                        Relocation(task);
                }
            }
        }


        public void AGVSendTask(Dt_Task task)
        {
@@ -319,18 +225,19 @@
                {
                    foreach (var item in taskNew.OrderBy(x => x.Grade).ToList())
                    {
                        //AGVSendTask(item);
                        AGVSendTask(item);
                        _taskService.UpdateTaskStatusToNext(item.TaskNum);
                    }
                }
                else
                {
                    foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
                    {
                        //AGVSendTask(item);
                        AGVSendTask(item);
                        _taskService.UpdateTaskStatusToNext(item.TaskNum);
                    }
                }
            }
            //AGVSendTask(task);
        }
    }
}