MingHeZhiNeng/DuiDuoJiLiKu.git

			@@ -1,4 +1,5 @@
			ï»¿using HslCommunication;
			using HslCommunication.WebSocket;
			using Newtonsoft.Json;
			using Newtonsoft.Json.Linq;
			using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
			@@ -40,53 +41,145 @@

			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 AGVè·¨æ¥¼å±ä»»å¡
			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)
			if (task == null)
			{
			CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
			if (elevator != null)
			Dt_Task? AcrossFloorTask = null;
			if (AcrossFloorTasks[0].Floor == "2F")
			{
			if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
			AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray != 1).OrderBy(x => x.Grade).ToList().FirstOrDefault();
			}
			else
			{
			AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray != 1).OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
			}
			if (AcrossFloorTask != null)
			{
			CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
			if (elevator != null)
			{
			Relocation(AcrossFloorTask);
			if (AcrossFloorTask.Floor == "1F")
			if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
			{
			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);
			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);
			_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);
			_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("DDD", AcrossFloorTask.TaskNum);
			//AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
			//_taskRepository.UpdateData(AcrossFloorTask);
			_taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
			var taskDouble = _taskRepository.QueryData(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.EndAddressExecuting && x.DoubleTray == 1);

			if (taskDouble.Count() < 2)
			{
			if (taskDouble.Count == 0)
			{
			Dt_Task? AcrossFloorTask = null;
			if (AcrossFloorTasks.Where(x=>x.DoubleTray==1).FirstOrDefault().Floor == "2F")
			{
			AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray == 1).OrderBy(x => x.Grade).ToList().FirstOrDefault();
			}
			else
			{
			AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray == 1).OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
			}
			if (AcrossFloorTask != null)
			{
			CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
			if (elevator != null)
			{
			if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
			{
			if (AcrossFloorTask != null)
			{
			if (Relocation(AcrossFloorTask))
			{
			if (AcrossFloorTask.Floor == "1F")
			{
			elevator.SetValue(ElevatorDBName.TaskNum, Convert.ToInt16(AcrossFloorTask.TaskNum));
			elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(2));
			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);
			_taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
			}
			else
			{
			elevator.SetValue(ElevatorDBName.TaskNum, Convert.ToInt16(AcrossFloorTask.TaskNum));
			elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(2));
			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);
			_taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
			}
			}
			}
			}
			}
			}
			}
			else
			{
			var taskSecond = AcrossFloorTasks.Where(x => x.Floor == taskDouble.FirstOrDefault().Floor && x.DoubleTray==1).FirstOrDefault();
			if (taskSecond != null)
			{
			if (Relocation(taskSecond))
			{
			if (taskSecond.Floor == "1F")
			{
			_taskService.SendAgvTask("AAA", taskSecond.TaskNum);
			_taskService.UpdateTaskStatusToNext(taskSecond.TaskNum);
			}
			else
			{
			_taskService.SendAgvTask("DDD", taskSecond.TaskNum);
			_taskService.UpdateTaskStatusToNext(taskSecond.TaskNum);
			}
			}
			}
			}
			@@ -95,49 +188,66 @@
			#endregion

			#region AGVåå±æ¬è¿ä»»å¡


			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 1æ¥¼AGVå¥åºä»»å¡
			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)
			{
			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;
			Dt_Task? InTask = InTasks.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();

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

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

			}
			}
			}
			@@ -152,25 +262,19 @@
			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 +301,7 @@
			{
			task.ExceptionMessage = content.Message;
			_taskRepository.UpdateData(task);
			return;
			return false;
			}

			// ååºååä»»å¡æ°æ®
			@@ -218,7 +322,7 @@
			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")
			@@ -238,6 +342,7 @@
			}
			}
			}
			return true;
			}
			}
			}