1

huangxiaoqiang

3 天以前 5a15fa73d5f6a39917013871a65eb11a8c013391

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -2,15 +2,20 @@
using Mapster;
using Microsoft.AspNetCore.Components.Routing;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using Quartz;
using System.Diagnostics.CodeAnalysis;
using System.Text;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.HttpContextUser;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_DTO.WMS;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfoRepository;
@@ -83,6 +88,7 @@
                                    bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
                                    if (sendFlag)
                                    {
                                        var isWorkType = commonStackerCrane.Communicator.WriteNoRead("DB100.18.0", Convert.ToInt16(1));
                                        commonStackerCrane.LastTaskType = task.TaskType;
                                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                        Thread.Sleep(1000);
@@ -225,6 +231,7 @@
            {
                if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.FinishConfirm) != 1)
                {
                    Thread.Sleep(1000);
                    ConsoleHelper.WriteColorLine($"【{commonStackerCrane.DeviceName}】堆垛机作业状态：【{(int)commonStackerCrane.StackerCraneWorkStatusValue}】时间【{DateTime.Now}】", ConsoleColor.Magenta);

                    string str = $"【{commonStackerCrane.DeviceName}】任务完成,任务号：【{e.TaskNum}】时间【{DateTime.Now}】";
@@ -232,9 +239,13 @@
                    ConsoleHelper.WriteColorLine(str, ConsoleColor.Blue);
                    var task = _taskRepository.QueryFirst(x => x.TaskNum == e.TaskNum);

                    if (task == null) commonStackerCrane.SetValue(StackerCraneDBName.FinishConfirm, 1);
                    if (task == null)
                    {
                        commonStackerCrane.SetValue(StackerCraneDBName.FinishConfirm, 1);
                        return;
                    }
                    string WorkStatus = $"【{commonStackerCrane.StackerCraneWorkStatusValue}】";

                    bool IsWrite = false;
                    var content = _taskService.StackCraneTaskCompleted(e.TaskNum);

                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
@@ -246,25 +257,25 @@
                            var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();
                            if (structs[0])
                            {
                                bool x = conveyorLine.Communicator.WriteNoRead("DB100.0", 9999);
                                if (!x)
                                //IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", Convert.ToInt32(0));
                                //Thread.Sleep(1000);
                                IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", Convert.ToInt32(9999));
                                conveyorLine.Communicator.WriteNoRead("DB100.4", Convert.ToInt16(task.TaskNum));
                                if (!IsWrite)
                                {
                                    return;
                                }
                            }
                        }
                        var station = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.TargetAddress);
                        if (station != null)
                        {
                            _taskService.SendAgvTask(station.stationRemark, task.TaskNum);
                            _taskService.UpdateTaskStatusToNext(task.TaskNum);
                        }

                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                    }

                    var isWorkType = commonStackerCrane.SetValue(StackerCraneDBName.FinishConfirm, 1);
                    //var isWorkType = commonStackerCrane.SetValue(StackerCraneDBName.FinishConfirm, 1);
                    var isWorkType = commonStackerCrane.Communicator.WriteNoRead("DB100.0", Convert.ToInt16(1));


                    str = $"{commonStackerCrane.DeviceName}】WMS|WCS任务完成：【{content.Status}{content.Message}】,堆垛机完成信号写入：【{isWorkType}】,任务号：【{e.TaskNum}】时间【{DateTime.Now}】";
                    str = $"{commonStackerCrane.DeviceName}】WMS|WCS任务完成：【{content.Status}{content.Message}】,堆垛机完成信号写入：【{isWorkType}】,任务号：【{e.TaskNum}】时间【{DateTime.Now}】输送线写入{IsWrite}";
                    WriteInfo(commonStackerCrane.DeviceName, str + WorkStatus);
                    ConsoleHelper.WriteColorLine(str, ConsoleColor.Blue);
                }
@@ -320,6 +331,47 @@
                }
                else
                {
                    string[] sourceCodes = task.SourceAddress.Split("-");
                    if (sourceCodes[0].Contains("3"))
                    {
                        var taskDto = new RequestTaskDto()
                        {
                            Position = task.SourceAddress,
                            PalletCode = task.PalletCode,
                            TaskNum = task.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.StackerIsNeedRelocation).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)
                        {
                            task.ExceptionMessage = content.Message;
                            _taskRepository.UpdateData(task);
                            return null;
                        }

                        // ååºåˆ—化任务数据
                        var taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(content.Data.ToString());

                        if (taskDTO.TaskNum != task.TaskNum)
                        {
                            _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                            return _taskRepository.QueryFirst(x => x.TaskNum == taskDTO.TaskNum);
                        }
                    }

                    CommonConveyorLine? conveyorLine = Storage.Devices.FirstOrDefault(x=>x.DeviceCode =="1001") as CommonConveyorLine;
                    if (conveyorLine != null)
                    {
@@ -337,12 +389,14 @@
                        else
                        {
                            task.ExceptionMessage = "请检查输送线是否是自动模式或已经移动到出库口";
                            _taskRepository.UpdateData(task);
                            return null;
                        }
                    }
                    else
                    {
                        task.ExceptionMessage = "输送线设备断开连接";
                        _taskRepository.UpdateData(task);
                        return null;
                    }
                }   
@@ -433,14 +487,13 @@

            stackerCraneTaskCommand.TaskNum = Convert.ToInt16(task.TaskNum);
            stackerCraneTaskCommand.WorkType = Convert.ToInt16(1);
            stackerCraneTaskCommand.StartCommand = Convert.ToInt16(1);
            if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//判断是否是入库任务
            {
                var station = _stationManagerRepository.QueryFirst(x => x.stationType == 1 && x.stationChildCode == task.CurrentAddress);
                string[] sourceCodes = station.stationLocation.Split("-");
                if (sourceCodes.Length == 3)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2;
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                }
@@ -453,7 +506,7 @@
                string[] targetCodes = task.NextAddress.Split("-");
                if (targetCodes.Length == 3)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]) % 2 != 0 ? (short)1 : (short)2;
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
                }
@@ -469,7 +522,7 @@
                string[] sourceCodes = task.CurrentAddress.Split("-");
                if (sourceCodes.Length == 3)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2;
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                }
@@ -483,7 +536,7 @@
                string[] targetCodes = station.stationLocation.Split("-");
                if (targetCodes.Length == 3)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]) % 2 != 0 ? (short)1 : (short)2;
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
                }
@@ -500,7 +553,7 @@
                string[] sourceCodes = task.CurrentAddress.Split("-");
                if (sourceCodes.Length == 3)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2;
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                }
@@ -514,7 +567,7 @@
                string[] targetCodes = task.NextAddress.Split("-");
                if (targetCodes.Length == 3)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]) % 2 != 0 ? (short)1 : (short)2;
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
                }