From 8abc9481eafeb715b39a4f4f8d6f628a642e6b53 Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期三, 19 三月 2025 17:38:18 +0800
Subject: [PATCH] 优化AGV和输送线、产线对接逻辑
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs | 190 ++++++++++++++++++++++++++++++----------------
1 files changed, 123 insertions(+), 67 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
index 1d8ea5d..20a859b 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
@@ -15,7 +15,6 @@
using System.Threading.Tasks;
using WIDESEAWCS_Common.StackerCraneEnum;
using WIDESEAWCS_Common.TaskEnum;
-using WIDESEAWCS_Common.WMSInfo;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_IShuttleCar;
@@ -31,12 +30,11 @@
using WIDESEAWCS_TaskInfoService;
using WIDESEAWCS_Tasks.ConveyorLineJob;
using WIDESEAWCS_Tasks.StackerCraneJob;
-using static WIDESEAWCS_Common.WMSInfo.RequestWMS;
namespace WIDESEAWCS_Tasks
{
[DisallowConcurrentExecution]
- public partial class CommonStackerCraneJob : IJob
+ public partial class CommonStackerCraneJob : JobBase, IJob
{
private readonly ITaskService _taskService;
private readonly ITaskExecuteDetailService _taskExecuteDetailService;
@@ -60,45 +58,84 @@
SpeStackerCrane commonStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
if (commonStackerCrane != null)
{
+ commonStackerCrane.Communicator.IsReadAfterWrite = false;
#region 淇″彿浜や簰澶勭悊
- Heartbeat(commonStackerCrane);
+ //Heartbeat(commonStackerCrane);
ShuttleCarSignal(commonStackerCrane);
#endregion
- #region 浠诲姟閫昏緫澶勭悊
- if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.Onlinestate) == (short)Onlinestate.online
- && commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WriteStatus) == (short)WriteStatus.Permit)
+ #region 浠诲姟瀹屾垚
+ DeviceProtocolDetailDTO? deviceProtocolDetail = commonStackerCrane.DeviceProtocolDetailDTOs.FirstOrDefault(x => x.ProtocalDetailValue == commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CompleteStatus).ToString() && x.DeviceProParamName == nameof(StackerCraneTaskCommandR.CompleteStatus));
+ if (deviceProtocolDetail != null)
{
- #region 浠诲姟瀹屾垚
- DeviceProtocolDetailDTO? deviceProtocolDetail = commonStackerCrane.DeviceProtocolDetailDTOs.FirstOrDefault(x => x.ProtocalDetailValue == commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CompleteStatus).ToString() && x.DeviceProParamName == nameof(StackerCraneTaskCommandR.CompleteStatus));
- if (deviceProtocolDetail != null)
- {
- MethodInfo? method = GetType().GetMethod(deviceProtocolDetail.ProtocolDetailType);
- if (method != null) method.Invoke(this, new object[] { commonStackerCrane });
- }
- #endregion
-
+ MethodInfo? method = GetType().GetMethod(deviceProtocolDetail.ProtocolDetailType);
+ if (method != null) method.Invoke(this, new object[] { commonStackerCrane });
+ }
+ #endregion
+ #region 浠诲姟閫昏緫澶勭悊
+ var onlinestate = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.Onlinestate);
+ var writeStatus = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WriteStatus);
+ if (onlinestate == (short)Onlinestate.online /*&& writeStatus == (short)WriteStatus.Permit*/)
+ {
#region 鏌ヨ浠诲姟,閫昏緫澶勭悊
if (Enum.Parse<RunStatus>(commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.RunStatus).ToString()) == RunStatus.Standby)
{
var Task = _taskService.GetTaskState(TaskType: (int)TaskOtherTypeEnum.RelocationCar);//鑾峰彇绉昏溅浠诲姟
+ var Task1 = _taskService.GetTaskState((int)CarChargingTaskEnum.ShuttleCar_Finish, (int)TaskOtherTypeEnum.RelocationCarCharging);//鑾峰彇绉昏溅鍏呯數浠诲姟
if (Task != null)
{
if (Task.TaskState == (int)TaskCarStatusEnum.ShuttleCar_Finish) SendTask(commonStackerCrane, Task);
}
+ else if (Task1 != null)
+ {
+ SendTask(commonStackerCrane, Task1);
+ }
else
{
- Dt_Task? task = GetTask(commonStackerCrane);//鑾峰彇鍫嗗灈鏈哄嚭鍏ュ簱浠诲姟
+ Dt_Task? task = GetTask(commonStackerCrane);//鑾峰彇鍫嗗灈鏈轰换鍔�
if (task != null)
{
- if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
+ if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)//绉诲簱浠诲姟鍒ゆ柇缁堢偣鏄惁鏈夌┛姊溅
{
- var ShuttleCar = GetShuttleCarInfo(task.TargetAddress);//鍏ュ簱浠诲姟鍒ゆ柇鏄惁瀛樺湪绌挎杞�
- if (task.IsPickPlace && ShuttleCar != null)//绉昏蛋
+ if (task.SourceIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.RelocationNew)
+ SendTask(commonStackerCrane, task);//涓嬪彂鍫嗗灈鏈轰换鍔�
+ else if (!task.SourceIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.RelocationNew)
+ {
+ var ShuttleCar = GetShuttleCarInfo(task.SourceAddress);//绉诲簱浠诲姟鍒ゆ柇璧风偣鏄惁鏈夌┛姊溅
+ if (ShuttleCar != null)
+ {
+ task.ShuttleCarCode = ShuttleCar.ShuttleCarCode;
+ _taskService.UpdateData(task);
+ }
+ else _taskService.AddRelocationCarTask("", task.SourceAddress);
+ }
+ else if (!task.TargetIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.CarSource_Finish)
+ {
+ var ShuttleCar = GetShuttleCarInfo(task.TargetAddress);//绉诲簱浠诲姟鍒ゆ柇缁堢偣鏄惁鏈夌┛姊溅
+ if (task.TargetIsPickPlace && ShuttleCar != null)//绉昏蛋
+ {
+ _taskService.AddRelocationCarTask(task.TargetAddress, "", ShuttleCar.ShuttleCarCode);
+ }
+ else if (!task.TargetIsPickPlace && ShuttleCar == null)
+ {
+ _taskService.AddRelocationCarTask("", task.TargetAddress);
+ }
+ else
+ {
+ task.ShuttleCarCode = ShuttleCar?.ShuttleCarCode;
+ _taskService.UpdateData(task);
+ SendTask(commonStackerCrane, task);//涓嬪彂鍫嗗灈鏈轰换鍔�
+ }
+ }
+ }
+ else if (_taskService.TaskInboundTypes.Contains(task.TaskType))
+ {
+ var ShuttleCar = GetShuttleCarInfo(task.TargetAddress);//鍏ュ簱浠诲姟鍒ゆ柇缁堢偣鏄惁鏈夌┛姊溅
+ if (task.TargetIsPickPlace && ShuttleCar != null)//绉昏蛋
{
_taskService.AddRelocationCarTask(task.TargetAddress, "", ShuttleCar.ShuttleCarCode);
}
- else if (!task.IsPickPlace && ShuttleCar == null)
+ else if (!task.TargetIsPickPlace && ShuttleCar == null)
{
_taskService.AddRelocationCarTask("", task.TargetAddress);
}
@@ -109,6 +146,8 @@
SendTask(commonStackerCrane, task);//涓嬪彂鍫嗗灈鏈轰换鍔�
}
}
+ else
+ SendTask(commonStackerCrane, task);//涓嬪彂鍫嗗灈鏈轰换鍔�
}
}
@@ -120,7 +159,7 @@
}
catch (Exception ex)
{
- Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
+ //Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
}
return Task.CompletedTask;
}
@@ -132,7 +171,7 @@
if (stackerCraneTaskCommand != null)
{
bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
- bool worktype = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, task.TaskType == (int)TaskOtherTypeEnum.RelocationCar ? (short)WorkType.Car : (short)WorkType.Cargo);
+ bool worktype = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, task.TaskType >= (int)TaskOtherTypeEnum.RelocationCar ? (short)WorkType.Car : (short)WorkType.Cargo);
if (sendFlag && worktype)
{
if (commonStackerCrane.SetValue(StackerCraneDBName.CommandSend, sendFlag))
@@ -171,9 +210,8 @@
{
if (commonStackerCrane != null)
{
- Console.Out.WriteLine($"鍫嗗灈鏈轰换鍔″畬鎴愶細[{commonStackerCrane.CurrentTaskNum}]锛泏DateTime.Now}");
- var Status = _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum).Status;///闇�淇敼锛侊紒锛侊紒锛侊紒锛侊紒锛侊紒锛侊紒锛侊紒
- commonStackerCrane.SetValue(StackerCraneDBName.ConfirmComplete, Status);
+ _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum);
+ commonStackerCrane.SetValue(StackerCraneDBName.ConfirmComplete, true);
}
}
/// <summary>
@@ -183,52 +221,61 @@
/// <returns></returns>
private Dt_Task? GetTask(SpeStackerCrane commonStackerCrane)
{
- Dt_Task task;
- if (commonStackerCrane.LastTaskType == null)
- {
- task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
- }
+ Dt_Task task = _taskService.QueryStackerCraneRelocationTask(commonStackerCrane.DeviceCode);//鑾峰彇绉诲簱浠诲姟
+ #region 瀛樺湪绉诲簱浠诲姟蹇呴』鍏堟墽琛岀Щ搴撲换鍔�
+ if (task != null) return task;
+ #endregion
+
+ #region 鍑哄叆搴撲换鍔�
else
{
- if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ if (commonStackerCrane.LastTaskType == null)
{
- task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
- if (task == null)
- {
- task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
- }
+ task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
}
else
{
- task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
- if (task == null)
+ if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
{
+ task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode) ?? _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
+ if (task == null)
+ {
+ task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
+ }
+ }
+ else
+ {
+ task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
+ if (task == null)
+ {
+ task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
+ }
+ }
+ }
+
+ if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ {
+ if (OutTaskStationIsOccupied(task) != null)
+ {
+ return task;
+ }
+ else
+ {
+ List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
+ List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
+ foreach (var item in tasks)
+ {
+ if (OutTaskStationIsOccupied(item) != null)
+ {
+ return item;
+ }
+ }
task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
}
}
+ if (task != null && !string.IsNullOrEmpty(task.TargetAddress)) return task;//鍏ュ簱浠诲姟鍒ゆ柇鏄惁宸插垎閰嶈揣浣嶏紝WMS鍒ゆ柇璐т綅鐘舵�佹槸鍚﹀厑璁告斁璐�
}
-
- if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
- {
- if (OutTaskStationIsOccupied(task) != null)
- {
- return task;
- }
- else
- {
- List<string> otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList();
- List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes);
- foreach (var item in tasks)
- {
- if (OutTaskStationIsOccupied(item) != null)
- {
- return item;
- }
- }
- task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
- }
- }
- if (task != null && !string.IsNullOrEmpty(task.TargetAddress)) return task;//鍏ュ簱浠诲姟鍒ゆ柇鏄惁宸插垎閰嶈揣浣嶏紝WMS鍒ゆ柇璐т綅鐘舵�佹槸鍚﹀厑璁告斁璐�
+ #endregion
return task;
}
@@ -246,10 +293,15 @@
if (device != null)
{
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
- if (conveyorLine.IsOccupied(router.ChildPosi))//鍑哄簱绔欏彴鏈鍗犵敤
+ ConveyorLineTaskCommandR command = conveyorLine.ReadCustomer<ConveyorLineTaskCommandR>(router.ChildPosi);
+ if (command.Status == 4)
{
return task;
}
+ //if (conveyorLine.IsOccupied(router.ChildPosi))//鍑哄簱绔欏彴鏈鍗犵敤
+ //{
+ // return task;
+ //}
}
else
{
@@ -286,7 +338,8 @@
string[] targetCodes = task.NextAddress.Split("-");
if (targetCodes.Length == 3)
{
- stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
+ var EndRow = Convert.ToInt16(targetCodes[0]);
+ stackerCraneTaskCommand.EndRow = Convert.ToInt16(EndRow > 1 ? EndRow - 1 : EndRow);
stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
}
@@ -315,7 +368,8 @@
string[] sourceCodes = task.CurrentAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
+ var StartRow = Convert.ToInt16(sourceCodes[0]);
+ stackerCraneTaskCommand.StartRow = Convert.ToInt16(StartRow > 1 ? StartRow - 1 : StartRow);
stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
}
@@ -332,12 +386,13 @@
return null;
}
}
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
+ else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup || task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
{
string[] targetCodes = task.NextAddress.Split("-");
if (targetCodes.Length == 3)
{
- stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
+ var EndRow = Convert.ToInt16(targetCodes[0]);
+ stackerCraneTaskCommand.EndRow = Convert.ToInt16(EndRow > 1 ? EndRow - 1 : EndRow);
stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
}
@@ -350,7 +405,8 @@
string[] sourceCodes = task.CurrentAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
+ var SourceRow = Convert.ToInt16(sourceCodes[0]);
+ stackerCraneTaskCommand.StartRow = Convert.ToInt16(SourceRow > 1 ? SourceRow - 1 : SourceRow);
stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
}
--
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