1

huangxiaoqiang

2025-11-10 8f7e6826d51a25c7b368c210dbb321d423d24a85

 项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs

@@ -46,6 +46,7 @@
                foreach (var item in RelocationTask)
                {
                    AGVSendTask(item);
                    _taskService.UpdateTaskStatusToNext(item.TaskNum);
                }
            }

@@ -61,32 +62,32 @@
                    {
                        if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
                        {
                            Relocation(AcrossFloorTask);
                            if (AcrossFloorTask.Floor == "1F")
                            if (Relocation(AcrossFloorTask))
                            {
                                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 (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);
                                _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
                            }
                            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.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
                                    _taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
                                    _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
                                }
                            }
                        }
                    }
@@ -102,6 +103,7 @@
            {
                Relocation(Carry);
                AGVSendTask(Carry);
                _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
            }

            #endregion
@@ -113,31 +115,30 @@
                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)
                if (OutTask == null && task == null)
                {
                    if (conveyorLine != null)
                    {
                        short InteractiveSignal = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, "LK001");
                        var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();
                        if ((task != null && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting && !structs[1]) || task == null)

                        bool IsWrite = false;

                        if (structs[0] && !structs[1])
                        {
                            bool IsWrite = false;

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

                            _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
                        }

                    }
                }
            }
@@ -152,25 +153,19 @@
            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()
            {
@@ -197,7 +192,7 @@
            {
                task.ExceptionMessage = content.Message;
                _taskRepository.UpdateData(task);
                return;
                return false;
            }

            // 鍙嶅簭鍒楀寲浠诲姟鏁版嵁
@@ -238,6 +233,7 @@
                    }
                }
            }
            return true;
        }
    }
}