优化码垛程序

huangxiaoqiang

2025-08-30 3ffd1c41bc417d3ce361741c8d585db533becee0

 ÏîÄ¿´úÂë/WCS/WCSServices/WIDESEAWCS_Tasks/Âë¶â/MDJob_CP.cs

@@ -1,8 +1,11 @@
using Microsoft.AspNetCore.Components.Routing;
using Autofac.Core;
using Microsoft.AspNetCore.Components.Routing;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using Quartz;
using System;
using System.Collections.Generic;
using System.IdentityModel.Tokens.Jwt;
using System.Linq;
using System.Reflection.Metadata;
using System.Text;
@@ -14,9 +17,11 @@
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IPackInfoRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Model.Models.PackInfo;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.ConveyorLine.Enum;
using WIDESEAWCS_QuartzJob.DTO;
@@ -37,12 +42,13 @@
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IStationMangerRepository _stationMangerRepository;
        private readonly IDt_PackaxisRepository _packaxisRepository;
        private readonly IRouterRepository _routerRepository;
        private readonly IRouterService _routerService;
        private readonly IRouterExtension _routerExtension;
        private readonly List<Dt_WarehouseDevice> warehouseDevices;

        public MDJob_CP(ICacheService cacheService, ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IStationMangerRepository stationMangerRepository, IRouterRepository routerRepository, IRouterService routerService, IRouterExtension routerExtension)
        public MDJob_CP(ICacheService cacheService, ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IStationMangerRepository stationMangerRepository, IRouterRepository routerRepository, IRouterService routerService, IRouterExtension routerExtension, IDt_PackaxisRepository packaxisRepository)
        {
            _cacheService = cacheService;
            _taskService = taskService;
@@ -52,6 +58,7 @@
            _routerRepository = routerRepository;
            _routerService = routerService;
            _routerExtension = routerExtension;
            _packaxisRepository = packaxisRepository;

            string? warehouseDevicesStr = _cacheService.Get<string>(nameof(Dt_WarehouseDevice));
            if (!string.IsNullOrEmpty(warehouseDevicesStr))
@@ -79,86 +86,61 @@
                    if (deviceProRead != null && deviceProWrite != null && item.IsOccupied==0)
                    {
                        short Allow = device.GetValue<R_MDDB, short>(R_MDDB.R_MDAllow, item.StackerCraneCode);

                        #region è¯»å–工位状态
                        short R_MDStatus1 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus1, item.StackerCraneCode);
                        short R_MDStatus2 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus2, item.StackerCraneCode);
                        short R_MDStatus3 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus3, item.StackerCraneCode);
                        short R_MDStatus4 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus4, item.StackerCraneCode);
                        short R_MDQtys1 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDQtys1, item.StackerCraneCode);
                        short R_MDQtys2 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDQtys2, item.StackerCraneCode);
                        short R_MDQtys3 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDQtys3, item.StackerCraneCode);
                        short R_MDQtys4 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDQtys4, item.StackerCraneCode);
                        #endregion

                        short PackState = device.GetValue<R_MDDB, short>(GetPackStateEnum(item.StackerCraneStationCode), item.StackerCraneCode);

                        short PackNum = device.GetValue<R_MDDB, short>(GetPackNumEnum(item.StackerCraneStationCode), item.StackerCraneCode);
                        if (R_MDStatus1 == 1 || R_MDStatus2 == 1 || R_MDStatus3 == 1 || R_MDStatus4 == 1)
                        {
                            Thread.Sleep(500);
                            device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 0);
                        }
                        if (R_MDQtys2==18)
                        if (PackState == 2)
                        {
                            device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDSend2.ToString()).DeviceProDataBlock, 2);
                            device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 0);
                        }
                        if (R_MDStatus2 == 2)
                        var axis = _packaxisRepository.QueryFirst(x => x.DeviceCode == item.StackerCraneCode && x.StationCode == Convert.ToInt32(item.StackerCraneStationCode));
                        if (axis != null)
                        {
                            device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDSend2.ToString()).DeviceProDataBlock, 0);
                            if (Convert.ToInt32(PackNum) == axis.PackNum)
                            {
                                device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 2);
                        }
                        //获取当前任务
                        Dt_Task task = _taskRepository.QueryData(x => x.NextAddress == item.StationCode && _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState == TaskStatusEnum.MD_Executing.ObjToInt() && x.DeviceCode == device.DeviceCode).OrderBy(x=>x.TaskNum).First();
                            Dt_Task task = _taskRepository.QueryData(x => x.NextAddress == item.StationCode && _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState == TaskStatusEnum.MD_Executing.ObjToInt() && x.DeviceCode == device.DeviceCode).OrderBy(x => x.TaskNum).FirstOrDefault();

                        if (task!=null) //码垛申请
                        {
                            if ((Allow==3 || Allow == 7))
                                if (Allow == 3 || Allow == 7)
                            {
                                if ( R_MDQtys1 / 6 ==1)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDZ.ToString()).DeviceProDataBlock, 400);
                                }
                                else if (R_MDQtys1 / 6 == 2)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDZ.ToString()).DeviceProDataBlock, 800);
                                }
                                else
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDZ.ToString()).DeviceProDataBlock, 0);
                                }
                                if (item.StackerCraneStationCode == "1")
                                {
                                    device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDSend1.ToString()).DeviceProDataBlock, 1);
                                }
                                else if (item.StackerCraneStationCode == "2")
                                {
                                    device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDSend2.ToString()).DeviceProDataBlock, 1);
                                }

                                    device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 1);

                                device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDSendID.ToString()).DeviceProDataBlock, Convert.ToInt16(item.StackerCraneStationCode));
                                if (R_MDQtys1 % 6==0)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1670);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, -1140);
                                }
                                else if (R_MDQtys1 % 6 == 1)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1670);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, -1480);
                                }
                                else if (R_MDQtys1 % 6 == 2)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1670);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, -1820);
                                }
                                else if (R_MDQtys1 % 6 == 3)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1243);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, -1140);
                                }
                                else if (R_MDQtys1 % 6 == 4)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1243);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, -1480);
                                }
                                else if (R_MDQtys1 % 6 == 5)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1243);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, -1820);
                                }
                                device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDA.ToString()).DeviceProDataBlock, item.StackerCraneStationCode.ObjToInt());

                                    #region èŽ·å–写入码垛X、Y、Z坐标
                                    (int, int, int) result = GetAxis(PackNum, axis, item.StackerCraneStationCode);

                                    WriteInfo(item.StationName, $"码垛数量【{PackNum}】，下发码垛坐标X、Y、Z【{result.Serialize()}】");

                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, result.Item1);

                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, result.Item2);

                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDZ.ToString()).DeviceProDataBlock, result.Item3);

                                    #endregion

                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDA.ToString()).DeviceProDataBlock, 1);
                                device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 3);

                                //更新任务信息
                                //_taskService.TaskCompleted(task.TaskNum);
                                task.TaskState = TaskStatusEnum.Finish.ObjToInt();
@@ -166,6 +148,12 @@
                                Thread.Sleep(1500);
                                WriteInfo(item.StationName, $"任务号{task.TaskNum}码垛");
                            }
                                
                            }
                        }
                        else
                        {
                            WriteError(item.StationName, $"未找到该工位{item.StationName}的坐标信息，请核对数据");
                        }
                    }
                    else
@@ -176,5 +164,80 @@
            }
            return Task.CompletedTask;
        }

        public R_MDDB GetPackNumEnum(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return R_MDDB.R_MDQtys1;
                case "2":
                    return R_MDDB.R_MDQtys2;
                case "3":
                    return R_MDDB.R_MDQtys3;
                case "4":
                    return R_MDDB.R_MDQtys4;
                default:
                    throw new Exception("未定义工位");
            }
        }
        public R_MDDB GetPackStateEnum(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return R_MDDB.R_MDStatus1;
                case "2":
                    return R_MDDB.R_MDStatus2;
                case "3":
                    return R_MDDB.R_MDStatus3;
                case "4":
                    return R_MDDB.R_MDStatus4;
                default:
                    throw new Exception("未定义工位");
            }
        }
        public W_MDDB GetPackSendEnum(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return W_MDDB.W_MDSend1;
                case "2":
                    return W_MDDB.W_MDSend2;
                case "3":
                    return W_MDDB.W_MDSend3;
                case "4":
                    return W_MDDB.W_MDSend4;
                default:
                    throw new Exception("未定义工位");
            }
        }
        public (int, int ,int) GetAxis(int PackNum, Dt_Packaxis axis, string StationCode)
        {
            int X = PackNum / axis.AxisYCount % axis.AxisXCount;
            int Y = PackNum % axis.AxisYCount;
            int Z = PackNum / (axis.AxisYCount * axis.AxisXCount) % axis.AxisZCount;
            int axisx = 0;
            int axisy = 0;
            int axisz = 0;
            if (axis == null)
            {
                throw new Exception("未找到坐标值");
            }
            switch (StationCode)
            {
                case "1":
                    return (axisx = axis.AxisX - X * axis.AxisXSpacing, axisy = axis.AxisY + Y * axis.AxisYSpacing,axisz=  axis.AxisZ + Z * axis.AxisZSpacing);
                case "2":
                    return (axisx = axis.AxisX - X * axis.AxisXSpacing, axisy = axis.AxisY - Y * axis.AxisYSpacing, axisz = axis.AxisZ + Z * axis.AxisZSpacing);
                case "3":
                    return (axisx = axis.AxisX + X * axis.AxisXSpacing, axisy = axis.AxisY + Y * axis.AxisYSpacing, axisz = axis.AxisZ + Z * axis.AxisZSpacing);
                case "4":
                    return (axisx = axis.AxisX + X * axis.AxisXSpacing, axisy = axis.AxisY - Y * axis.AxisYSpacing, axisz = axis.AxisZ + Z * axis.AxisZSpacing);
                default:
                    throw new Exception("未定义工位");
            }
        }
    }
}