From f40ba2a9fb9d3c2ece08e9a7cd987d4744dccab2 Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期二, 17 六月 2025 15:22:05 +0800
Subject: [PATCH] 优化库内移库，堆垛机和穿梭车交互逻辑
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ShuttleCarJob/ShuttleCarExtend/PartialTaskService.cs | 135 ++++++++++++++++++++++++++++++--------------
1 files changed, 91 insertions(+), 44 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ShuttleCarJob/ShuttleCarExtend/PartialTaskService.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ShuttleCarJob/ShuttleCarExtend/PartialTaskService.cs"
index 0b9005d..aff3ceb 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ShuttleCarJob/ShuttleCarExtend/PartialTaskService.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ShuttleCarJob/ShuttleCarExtend/PartialTaskService.cs"
@@ -19,10 +19,9 @@
{
partial class CommonShuttleCarJob
{
- private object _CarTaskObject = new object();
#region 鍫嗗灈鏈虹Щ杞﹀畬鎴�
/// <summary>
- /// 鑾峰彇鍫嗗灈鏈虹Щ杞�/绉诲簱瀹屾垚浠诲姟
+ /// 鑾峰彇鍫嗗灈鏈虹Щ杞�/绉诲簱鍏呯數浠诲姟
/// </summary>
public void GetSC_CarFinish()
{
@@ -32,15 +31,12 @@
UpdateShuttleCar(dt_Task.ShuttleCarCode, dt_Task.CurrentAddress);
_taskService.AddTask_Hty(dt_Task, TaskOperateTypeEnum.AutoComplete);
}
- dt_Task = GetTask(CarChargingTaskEnum.SC_CarFinish.ObjToInt(), TaskOtherTypeEnum.RelocationCarCharging.ObjToInt());//绉昏溅鍏呯數浠诲姟
+ dt_Task = GetTask(CarChargingTaskEnum.CarChargingSC_CarFinish.ObjToInt(), TaskOtherTypeEnum.RelocationCarCharging.ObjToInt());//绉昏溅鍏呯數浠诲姟
if (dt_Task != null)
{
UpdateShuttleCar(dt_Task.ShuttleCarCode, dt_Task.CurrentAddress);
SendTask(dt_Task);//涓嬪彂鍏呯數浠诲姟
}
- dt_Task = GetTask(TaskRelocationStatusEnum.SC_RelocationFinish.ObjToInt(), TaskRelocationTypeEnum.Relocation.ObjToInt());//绉诲簱浠诲姟
- if (dt_Task != null)
- SendTask(dt_Task);
}
#endregion
/// <summary>
@@ -60,34 +56,44 @@
}
else
{
- var a = Row == 1 ? 2.ToString("000") : 1.ToString("000");
+ //var a = Row == 1 ? 2.ToString("000") : 1.ToString("000");
ShuttleCar.ShuttleCarPosition = Address;
- ShuttleCar.ShuttleCarPosition1 = a + "-" + targetCodes[1] + "-" + targetCodes[2];
+ ShuttleCar.ShuttleCarPosition1 = Address;// a + "-" + targetCodes[1] + "-" + targetCodes[2];
}
_shuttleCarService.UpdateData(ShuttleCar);
}
+ private static readonly SemaphoreSlim _CarTaskObject = new SemaphoreSlim(1, 1);
#region 鑾峰彇绉昏溅浠诲姟
/// <summary>
/// 鑾峰彇绉昏溅浠诲姟/鍑哄叆搴撲换鍔�
/// </summary>
- public void Get_CarTask(ShuttleCar shuttleCar, ShuttleCarTaskCommandR command)
+ public async Task Get_CarTask(ShuttleCar shuttleCar, ShuttleCarTaskCommandR command)
{
- lock (_CarTaskObject)
+ await _CarTaskObject.WaitAsync();
+ try
{
+
#region 鑾峰彇鏂板缓绉昏溅鍏呯數浠诲姟
- Dt_Task dt_Task = GetTask((int)CarChargingTaskEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCarCharging);
+ Dt_Task dt_Task = GetTask((int)CarChargingTaskEnum.CarChargingNew, (int)TaskOtherTypeEnum.RelocationCarCharging);
if (dt_Task != null && dt_Task.ShuttleCarCode == shuttleCar.DeviceCode)
{
if (!string.IsNullOrEmpty(dt_Task.SourceAddress) && !string.IsNullOrEmpty(dt_Task.TargetAddress) && !string.IsNullOrEmpty(dt_Task.ShuttleCarCode))
{
- SendTask(dt_Task);
+ Dt_Task? _Task = _taskRepository.QueryData(x => x.ShuttleCarCode == dt_Task.ShuttleCarCode && x.TaskType != TaskOtherTypeEnum.RelocationCarCharging.ObjToInt()).OrderByDescending(x => x.CreateDate).FirstOrDefault();
+ if (_Task != null && _taskService.TaskOutboundTypes.Contains(_Task.TaskType))
+ {
+ if (_Task.TaskState >= TaskOutStatusEnum.SC_OutFinish.ObjToInt())
+ SendTask(dt_Task);
+ }
+ else
+ SendTask(dt_Task);
}
}
#endregion
#region 鑾峰彇鏂板缓绉昏溅浠诲姟
dt_Task = GetTask((int)TaskCarStatusEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCar);
- if (dt_Task != null && dt_Task.ShuttleCarCode == shuttleCar.DeviceCode)
+ if (dt_Task != null)
{
if (string.IsNullOrEmpty(dt_Task.SourceAddress))
{
@@ -117,9 +123,16 @@
#endregion
}
//绌挎杞︾Щ杞︿换鍔′笅鍙�
- if (!string.IsNullOrEmpty(dt_Task.SourceAddress) && !string.IsNullOrEmpty(dt_Task.TargetAddress) && !string.IsNullOrEmpty(dt_Task.ShuttleCarCode))
+ if (!string.IsNullOrEmpty(dt_Task.SourceAddress) && !string.IsNullOrEmpty(dt_Task.TargetAddress) && !string.IsNullOrEmpty(dt_Task.ShuttleCarCode) && dt_Task.ShuttleCarCode == shuttleCar.DeviceCode)
{
- SendTask(dt_Task);
+ Dt_Task? _Task = _taskRepository.QueryData(x => x.ShuttleCarCode == dt_Task.ShuttleCarCode && x.TaskType != TaskOtherTypeEnum.RelocationCar.ObjToInt()).OrderByDescending(x => x.CreateDate).FirstOrDefault();
+ if (_Task != null && _taskService.TaskOutboundTypes.Contains(_Task.TaskType))
+ {
+ if (_Task.TaskState >= TaskOutStatusEnum.SC_OutFinish.ObjToInt())
+ SendTask(dt_Task);
+ }
+ else
+ SendTask(dt_Task);
}
}
#endregion
@@ -130,8 +143,10 @@
var task = _taskService.ShuttleCarRelocationTask(shuttleCar.DeviceCode);//鑾峰彇绌挎杞︾Щ搴撲换鍔�
if (task != null)
{
- if (!task.SourceIsPickPlace)
+ if (!task.SourceIsPickPlace && task.ShuttleCarCode == shuttleCar.DeviceCode)
+ {
SendTask(task);
+ }
}
else
{
@@ -154,6 +169,14 @@
}
}
#endregion
+ }
+ catch (Exception)
+ {
+ throw;
+ }
+ finally
+ {
+ _CarTaskObject.Release();
}
}
#endregion
@@ -187,11 +210,37 @@
if (command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)
{
#region 鍒ゆ柇褰撳墠绌挎杞︽槸鍚﹀瓨鍦ㄤ换鍔�
- Dt_Task? _Task = _taskRepository.QueryFirst(x =>
- x.SourceAddress == _ShuttleCar.ShuttleCarPosition ||
- x.TargetAddress == _ShuttleCar.ShuttleCarPosition ||
- x.SourceAddress == _ShuttleCar.ShuttleCarPosition1 ||
- x.TargetAddress == _ShuttleCar.ShuttleCarPosition1);
+ Dt_Task? _Task = _taskRepository.QueryFirst(x => x.SourceAddress == _ShuttleCar.ShuttleCarPosition);
+ if (_Task != null)
+ {
+ if (_Task.TaskState == TaskOutStatusEnum.OutNew.ObjToInt() ||
+ _Task.TaskState == TaskRelocationStatusEnum.RelocationNew.ObjToInt() ||
+ _Task.TaskState == TaskCarStatusEnum.CarNew.ObjToInt() ||
+ _Task.TaskState == CarChargingTaskEnum.CarChargingNew.ObjToInt())
+ {
+ _Task.ShuttleCarCode = shuttleCar.DeviceCode;
+ SendTask(_Task);
+ return (ok, _ShuttleCar);
+ }
+ }
+ _Task = _taskRepository.QueryFirst(x => x.TargetAddress == _ShuttleCar.ShuttleCarPosition);
+ if (_Task != null)
+ {
+ if (_Task.TaskState == TaskInStatusEnum.SC_InFinish.ObjToInt() ||
+ _Task.TaskState == TaskRelocationStatusEnum.SC_RelocationFinish.ObjToInt() ||
+ _Task.TaskState == CarChargingTaskEnum.CarChargingSC_CarFinish.ObjToInt())
+ {
+ _Task.ShuttleCarCode = shuttleCar.DeviceCode;
+ SendTask(_Task);
+ return (ok, _ShuttleCar);
+ }
+ }
+ _Task = _taskRepository.QueryData(x => x.ShuttleCarCode == _ShuttleCar.ShuttleCarCode && _taskService.TaskOutboundTypes.Contains(x.TaskType)).OrderByDescending(x => x.CreateDate).FirstOrDefault();
+ if (_Task != null)
+ {
+ if (_Task.TaskState >= TaskOutStatusEnum.SC_OutFinish.ObjToInt())
+ _Task = null;
+ }
#endregion
ok = _Task == null;
}
@@ -231,19 +280,9 @@
if (command != null && command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && (command.Err_Status == (short)ShuttleCarErr.Normal || command.Err_Status == (short)ShuttleCarErr.LowBattery))
{
#region 鍒ゆ柇灏忚溅浣嶇疆鏃燗B闈笉涓嬪彂浠诲姟
- short Position = 0;
- if (shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.DirectionA)) Position = 1;
- if (shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.DirectionB)) Position = 2;
- if (Position != 1 && Position != 2)
- {
- var Message = $"{shuttleCar.DeviceName}鏃燗B闈�";
- if (task.ExceptionMessage != Message)
- {
- task.ExceptionMessage = Message;
- _taskService.UpdateData(task);
- }
- return;
- }
+ Dt_ShuttleCar _ShuttleCar = QueryCode(task.ShuttleCarCode);
+ var Row = Convert.ToInt32(_ShuttleCar.ShuttleCarPosition.Split("-")[0]);
+ short Position = Convert.ToInt16(Row);
#endregion
//浠诲姟杞崲
shuttleCar.SetValue(ShuttleCarDBName.Direction, Position);//鍐欏叆杞︿綋鏂瑰悜
@@ -254,32 +293,33 @@
{
if (task.TaskState == (int)TaskCarStatusEnum.CarNew)
{
- //if (task.Remark == ShuttleCarTaskType.ExitCharge.ToString()) shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.Remark);
- //else
shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
}
else if (task.TaskState == (int)TaskCarStatusEnum.SC_CarFinish)
{
if (task.Remark == ShuttleCarTaskType.Charging.ToString()) shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.Remark);
- //else
- // shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
}
}
else if (task.TaskType == (int)TaskOtherTypeEnum.RelocationCarCharging)
{
- shuttleCarTaskCommand.TaskType = task.TaskState == CarChargingTaskEnum.CarNew.ObjToInt() ?
+ shuttleCarTaskCommand.TaskType = task.TaskState == CarChargingTaskEnum.CarChargingNew.ObjToInt() ?
(short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction) :
(short)GetCarTaskType(ShuttleCarTaskType.Charging.ToString());
}
+ else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
+ {
+ shuttleCarTaskCommand.TaskType = task.TaskState == TaskRelocationStatusEnum.RelocationNew.ObjToInt() ?
+ (short)ShuttleCarTaskType.Out :
+ (short)ShuttleCarTaskType.In;
+ }
else
shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
- //shuttleCarTaskCommand.TaskType = string.IsNullOrEmpty(task.Remark) ? (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction) : (short)GetCarTaskType(task.Remark);
//浠诲姟涓嬪彂
if (shuttleCarTaskCommand.TaskType != null)//0
{
if (shuttleCar.SendCommand(shuttleCarTaskCommand, shuttleCar.DeviceCode))
{
- if (!string.IsNullOrEmpty(task.Remark) && task.TaskState == CarChargingTaskEnum.CarNew.ObjToInt())
+ if (!string.IsNullOrEmpty(task.Remark) && task.TaskState == CarChargingTaskEnum.CarChargingNew.ObjToInt())
task.Remark = task.Remark + "宸蹭笅鍙�";
task.TaskState = GetTaskState(task.TaskType, task.TaskState);
_taskService.UpdateData(task);
@@ -323,9 +363,11 @@
switch (TaskType)
{
case (int)TaskInboundTypeEnum.Inbound:
+ case (int)TaskInboundTypeEnum.PalletInbound:
taskType = ShuttleCarTaskType.In;
break;
case (int)TaskOutboundTypeEnum.Outbound:
+ case (int)TaskOutboundTypeEnum.PalletOutbound:
taskType = ShuttleCarTaskType.Out;
break;
case (int)TaskOtherTypeEnum.RelocationCar:
@@ -354,13 +396,18 @@
case (int)TaskOutboundTypeEnum.PalletOutbound:
state = (int)TaskOutStatusEnum.Car_OutExecuting;
break;
+ case (int)TaskRelocationTypeEnum.Relocation:
+ state = state < (int)TaskRelocationStatusEnum.SC_RelocationFinish.ObjToInt() ?
+ (int)TaskRelocationStatusEnum.CarSource_Executing :
+ (int)TaskRelocationStatusEnum.CarTarget_Executing;
+ break;
case (int)TaskOtherTypeEnum.RelocationCar:
state = (int)TaskCarStatusEnum.ShuttleCar_Executing;
break;
case (int)TaskOtherTypeEnum.RelocationCarCharging:
- state = state < (int)CarChargingTaskEnum.SC_CarFinish ?
- (int)CarChargingTaskEnum.ShuttleCar_Executing :
- (int)CarChargingTaskEnum.ShuttleCar_Charging;
+ state = state < (int)CarChargingTaskEnum.CarChargingSC_CarFinish ?
+ (int)CarChargingTaskEnum.CarCharging_Executing :
+ (int)CarChargingTaskEnum.CarCharging_Charging;
break;
default:
break;
--
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