1

huangxiaoqiang

2025-10-22 d4b0b578752a1478f6c11b352fbb8d2bad1f9e1d

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

@@ -1,13 +1,24 @@
using HslCommunication;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
using Quartz;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_DTO.WMS;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks.ConveyorLineJob;
using WIDESEAWCS_Tasks.ElevatorJob;
@@ -19,19 +30,37 @@
    {
        private readonly ITaskRepository _taskRepository;
        private readonly ITaskService _taskService;
        public CommonAGVJob(ITaskRepository taskRepository,ITaskService taskService) 
        private readonly ISys_ConfigService _sys_ConfigService;
        public CommonAGVJob(ITaskRepository taskRepository,ITaskService taskService,ISys_ConfigService configService) 
        {
            _taskRepository = taskRepository;
            _taskService = taskService;
            _sys_ConfigService = configService;
        }

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

            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)
            {
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.SecondCarryFinish);
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.EndAddressExecuting);
                if(task == null)
                {
                    CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
@@ -70,23 +99,83 @@
            #endregion

            #region AGV同层搬运任务
            var Carry = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);


            Dt_Task Carry = null;
            if (Carry != null)
            {
                if (Carry.Floor == "1F")
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew);
                if (task == null)
                {
                    _taskService.SendAgvTask("forkAutoTemplate1", Carry.TaskNum);
                    Carry.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
                    _taskRepository.UpdateData(Carry);
                }
                else
                {
                    _taskService.SendAgvTask("cattleCarry1", Carry.TaskNum);
                    Carry.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
                    _taskRepository.UpdateData(Carry);
                    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);
                }
            }

            #endregion

            #region 1楼AGV入库任务
@@ -94,17 +183,24 @@
            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)
                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;
                    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])
                        {
                            conveyorLine.Communicator.WriteNoRead("DB100.0", 9999);
                            IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 0);
                            Thread.Sleep(1000);
                            IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 9999);
                            if (!IsWrite)
                            {
                                return Task.CompletedTask;
                            }

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

@@ -118,5 +214,123 @@

            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)
        {
            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)
        {
            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.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)
            {
                task.ExceptionMessage = content.Message;
                _taskRepository.UpdateData(task);
                return;
            }

            // 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 == task.TaskNum)
                {
                    IsAddTask = false;
                    break;
                }
                else
                {
                    IsAddTask = true;
                }
            }
            if (IsAddTask)
                _taskService.ReceiveWMSTask(taskDTO);

            var taskNew = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            if (taskNew.Count > 0)
            {
                if (taskNew[0].Floor == "2F")
                {
                    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(task);
        }
    }
}