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/StackerCraneJob/CommonStackerCraneJob.cs | 290 +++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 229 insertions(+), 61 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 5e14f93..b6be071 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"
@@ -1,82 +1,212 @@
锘縰sing Microsoft.AspNetCore.Components.Routing;
+using Newtonsoft.Json;
using Quartz;
using System;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
+using System.Net.Http.Json;
+using System.Net.NetworkInformation;
+using System.Reflection;
+using System.Reflection.Metadata;
+using System.Reflection.PortableExecutable;
using System.Text;
+using System.Text.Json.Nodes;
using System.Threading.Tasks;
-using WIDESEAWCS_Core.Enums;
+using WIDESEAWCS_Common.StackerCraneEnum;
+using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Core;
+using WIDESEAWCS_Core.Caches;
+using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_IShuttleCar;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
+using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
+using WIDESEAWCS_TaskInfoService;
+using WIDESEAWCS_Tasks.ConveyorLineJob;
+using WIDESEAWCS_Tasks.ShuttleCarJob;
using WIDESEAWCS_Tasks.StackerCraneJob;
namespace WIDESEAWCS_Tasks
{
[DisallowConcurrentExecution]
- public class CommonStackerCraneJob : IJob
+ public partial class CommonStackerCraneJob : JobBase, IJob
{
private readonly ITaskService _taskService;
private readonly ITaskExecuteDetailService _taskExecuteDetailService;
private readonly ITaskRepository _taskRepository;
private readonly IRouterService _routerService;
+ private readonly IShuttleCarService _shuttleCarService;
+ private readonly ICacheService _cacheService;
- public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
+ public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IShuttleCarService shuttleCarService, ICacheService cacheService)
{
_taskService = taskService;
_taskExecuteDetailService = taskExecuteDetailService;
_taskRepository = taskRepository;
_routerService = routerService;
+ _shuttleCarService = shuttleCarService;
+ _cacheService = cacheService;
}
public Task Execute(IJobExecutionContext context)
{
try
{
- CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
+ SpeStackerCrane commonStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
if (commonStackerCrane != null)
{
- if (!commonStackerCrane.IsEventSubscribed)
+ commonStackerCrane.Communicator.IsReadAfterWrite = false;
+ #region 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ StackerCraneTaskCommandR common = ReadCustomer<StackerCraneTaskCommandR>(commonStackerCrane, commonStackerCrane.DeviceCode);
+ _cacheService.AddOrUpdate(commonStackerCrane.DeviceCode, common);
+ #endregion
+ #region 淇″彿浜や簰澶勭悊
+ //Heartbeat(commonStackerCrane);
+ ShuttleCarSignal(commonStackerCrane);
+ #endregion
+
+ #region 浠诲姟瀹屾垚
+ if (common.CompleteStatus == 2 || common.CompleteStatus == 3)
{
- commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//璁㈤槄浠诲姟瀹屾垚浜嬩欢
+ NormalCompleted(commonStackerCrane);
}
-
- if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
+ //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
+ #region 浠诲姟閫昏緫澶勭悊
+ if (common.Onlinestate == (short)Onlinestate.online)
{
- commonStackerCrane.CheckStackerCraneTaskCompleted();//闃叉浠诲姟瀹屾垚浜嬩欢鐩戞祴瓒呮椂锛屽啀鎵嬪姩瑙﹀彂涓�娆�
-
- if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
+ #region 鏌ヨ浠诲姟,閫昏緫澶勭悊
+ if (common.RunStatus == (short)RunStatus.Standby)
{
- Dt_Task? task = GetTask(commonStackerCrane);
- if (task != null)
+ var Task = _taskService.GetTaskState((int)TaskCarStatusEnum.ShuttleCar_Finish, (int)TaskOtherTypeEnum.RelocationCar);//鑾峰彇绉昏溅浠诲姟
+ var Task1 = _taskService.GetTaskState((int)CarChargingTaskEnum.CarCharging_Finish, (int)TaskOtherTypeEnum.RelocationCarCharging);//鑾峰彇绉昏溅鍏呯數浠诲姟
+ if (Task != null)
{
- StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
- if (stackerCraneTaskCommand != null)
+ SendTask(commonStackerCrane, Task);
+ }
+ else if (Task1 != null)
+ {
+ SendTask(commonStackerCrane, Task1);
+ }
+ else
+ {
+ Dt_Task? task = GetTask(commonStackerCrane);//鑾峰彇鍫嗗灈鏈轰换鍔�
+ if (task != null)
{
- bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
- if (sendFlag)
+ if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)//绉诲簱浠诲姟鍒ゆ柇缁堢偣鏄惁鏈夌┛姊溅
{
- commonStackerCrane.LastTaskType = task.TaskType;
- _taskService.UpdateTaskStatusToNext(task.TaskNum);
+ if (task.SourceIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.RelocationNew)
+ {
+ var ShuttleCar = GetShuttleCarInfo(task.TargetAddress);//绉诲簱浠诲姟鍒ゆ柇缁堢偣鏄惁鏈夌┛姊溅
+ if (ShuttleCar == null)
+ {
+ _taskService.AddRelocationCarTask("", task.TargetAddress);
+ }
+ else
+ SendTask(commonStackerCrane, task);//涓嬪彂鍫嗗灈鏈轰换鍔�
+ }
+ else if (!task.SourceIsPickPlace && task.TaskState == (int)TaskRelocationStatusEnum.RelocationNew && task.ShuttleCarCode == null)
+ {
+ 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);
+ #region 鏌ヨ
+ task = _taskService.QueryCarOutFinish();
+ if (task != null) SendTask(commonStackerCrane, task);//涓嬪彂鍫嗗灈鏈轰换鍔�
+ #endregion
+ }
+ 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.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
+ SendTask(commonStackerCrane, task);//涓嬪彂鍫嗗灈鏈轰换鍔�
}
}
+
}
+ #endregion
}
+ #endregion
}
}
catch (Exception ex)
{
- Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
+ //Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
}
return Task.CompletedTask;
}
+ #region 浠诲姟涓嬪彂缁欏爢鍨涙満
+ private void SendTask(SpeStackerCrane commonStackerCrane, Dt_Task task)
+ {
+
+ StackerCraneTaskCommandW? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
+ 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);
+ if (sendFlag && worktype)
+ {
+ if (commonStackerCrane.SetValue(StackerCraneDBName.CommandSend, sendFlag))
+ {
+ if (_taskService.TaskInboundTypes.Contains(task.TaskType) ||
+ _taskService.TaskOutboundTypes.Contains(task.TaskType))
+ commonStackerCrane.LastTaskType = task.TaskType;
+ _taskService.UpdateTaskStatusToNext(task.TaskNum);
+ }
+ }
+ }
+ }
+ #endregion
/// <summary>
/// 浠诲姟瀹屾垚浜嬩欢璁㈤槄鐨勬柟娉�
@@ -96,56 +226,88 @@
}
}
}
-
+ /// <summary>
+ /// 浠诲姟姝ｅ父瀹屾垚
+ /// </summary>
+ /// <param name="commonStackerCrane"></param>
+ public void NormalCompleted(SpeStackerCrane commonStackerCrane)
+ {
+ if (commonStackerCrane != null)
+ {
+ var content = _taskService.StackCraneTaskCompleted(commonStackerCrane.CurrentTaskNum);
+ commonStackerCrane.SetValue(StackerCraneDBName.ConfirmComplete, content.Status);
+ }
+ }
/// <summary>
/// 鑾峰彇浠诲姟
/// </summary>
/// <param name="commonStackerCrane">鍫嗗灈鏈哄璞�</param>
/// <returns></returns>
- private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
+ private Dt_Task? GetTask(SpeStackerCrane commonStackerCrane)
{
- Dt_Task task;
- if (commonStackerCrane.LastTaskType == null)
+ 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)
{
- task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
+ return task;
+ //if (task.SourceIsPickPlace && task.ShuttleCarCode != null)
+ // return task;
+ //else return null;
}
+ #endregion
+
+ #region 鍑哄叆搴撲换鍔�
else
{
- if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
+ if (task != null) return task;
+ 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 && 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 (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
{
- if (OutTaskStationIsOccupied(task) != null)
+ task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode) ?? _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
+ if (task == null)
{
- return task;
+ task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
}
}
- task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
+ else
+ {
+ task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode) ?? _taskService.QueryStackerCraneInTask(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�
+ }
+ #endregion
return task;
}
@@ -163,10 +325,15 @@
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
{
@@ -186,14 +353,11 @@
/// <param name="task">浠诲姟瀹炰綋</param>
/// <returns></returns>
/// <exception cref="Exception"></exception>
- public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
+ public StackerCraneTaskCommandW? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
{
- StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();
+ StackerCraneTaskCommandW stackerCraneTaskCommand = new StackerCraneTaskCommandW();
- stackerCraneTaskCommand.Barcode = task.PalletCode;
stackerCraneTaskCommand.TaskNum = task.TaskNum;
- stackerCraneTaskCommand.WorkType = 1;
- stackerCraneTaskCommand.TrayType = 0;
if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//鍒ゆ柇鏄惁鏄叆搴撲换鍔�
{
List<Dt_Router> routers = _routerService.QueryNextRoutes(task.CurrentAddress, task.Roadway);
@@ -206,7 +370,8 @@
string[] targetCodes = task.NextAddress.Split("-");
if (targetCodes.Length == 3)
{
- stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
+ var EndRow = Convert.ToInt16(targetCodes[0]);
+ stackerCraneTaskCommand.EndRow = EndRow;// Convert.ToInt16(EndRow > 1 ? EndRow - 1 : EndRow);
stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
}
@@ -235,7 +400,8 @@
string[] sourceCodes = task.CurrentAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
+ var StartRow = Convert.ToInt16(sourceCodes[0]);
+ stackerCraneTaskCommand.StartRow = StartRow;// Convert.ToInt16(StartRow > 1 ? StartRow - 1 : StartRow);
stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
}
@@ -252,12 +418,13 @@
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 = EndRow;// Convert.ToInt16(EndRow > 1 ? EndRow - 1 : EndRow);
stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
}
@@ -270,7 +437,8 @@
string[] sourceCodes = task.CurrentAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
+ var SourceRow = Convert.ToInt16(sourceCodes[0]);
+ stackerCraneTaskCommand.StartRow = SourceRow;// Convert.ToInt16(SourceRow > 1 ? SourceRow - 1 : SourceRow);
stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
}
--
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