From 29cd467ba62b2bdf49c6546e78ae3ec809c4a723 Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期四, 19 六月 2025 17:50:28 +0800
Subject: [PATCH] 1
---
代码管理/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/PartialTaskService_AGV.cs | 249 +++++++++++++++++++++++++++++++++++++++----------
1 files changed, 197 insertions(+), 52 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/PartialTaskService_AGV.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/PartialTaskService_AGV.cs"
index 83bee59..03a0580 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/PartialTaskService_AGV.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/PartialTaskService_AGV.cs"
@@ -22,17 +22,26 @@
public WebResponseContent ShelfOutboundCarry(Dt_Task outTask)
{
//鍒ゆ柇鏄惁涓虹數鑺簱锛岃緟鏂欏簱浜哄伐澶勭悊(绔嬪簱鐩爣鍦板潃杞崲鎴怉GV绔欑偣鍦板潃)
- Dt_CachePoint cachePoint = GetCachePointByStartPoint(outTask.TargetAddress);
-
+ Dt_RoadwayInfo dt_RoadwayInfo = _basicService.RoadwayInfoService.Repository.QueryFirst(x => x.OutSCStationCode == outTask.TargetAddress);
+ if (dt_RoadwayInfo == null || dt_RoadwayInfo.AreaId == 11) return WebResponseContent.Instance.OK();
+ Dt_CachePoint startcachePoint = new Dt_CachePoint();
+ Dt_CachePoint cachePoint = GetCachePointByStartPoint(dt_RoadwayInfo.OutStationCode, "", ref startcachePoint);
+ if (startcachePoint.EnableStatus == EnableStatusEnum.Disable.ObjToInt()) return WebResponseContent.Instance.OK();
+ //if (dt_RoadwayInfo.AreaId == 11)//杈呮枡涓嶇敤AGV鎼繍
+ //{
+ // startcachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
+ // _basicService.CachePointService.Repository.UpdateData(startcachePoint);
+ // return WebResponseContent.Instance.OK();
+ //}
Dt_Task task = new()
{
- CurrentAddress = outTask.TargetAddress,
+ CurrentAddress = startcachePoint.PointCode,
Grade = 0,
NextAddress = cachePoint.PointCode,
OrderNo = outTask.OrderNo,
PalletCode = outTask.PalletCode + "-AGV",
Roadway = "",
- SourceAddress = outTask.TargetAddress,
+ SourceAddress = startcachePoint.PointCode,
TargetAddress = cachePoint.PointCode,
SourceKey = outTask.TaskId,
TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
@@ -42,10 +51,80 @@
Creater = App.User.UserId > 0 ? App.User.UserName : "System",
};
cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
+ //startcachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
_basicService.CachePointService.Repository.UpdateData(cachePoint);
+ //_basicService.CachePointService.Repository.UpdateData(startcachePoint);
Repository.AddData(task);
+ SendAGVTask(task, cachePoint);
return WebResponseContent.Instance.OK();
+ }
+
+ /// <summary>
+ /// 璐т綅缁戝畾
+ /// </summary>
+ /// <param name="qty"></param>
+ /// <param name="Point"></param>
+ /// <returns></returns>
+ public WebResponseContent Bind(string qty, string point)
+ {
+ try
+ {
+ if (Repository.QueryFirst(x => x.SourceAddress == point &&
+ x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
+ x.TargetAddress == point) != null)
+ throw new Exception($"缂撳瓨鐐广�恵point}銆戝瓨鍦ˋGV浠诲姟锛�");
+ Dt_CachePoint? cachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == point);
+ if (cachePoint == null) throw new Exception("鏈壘鍒扮紦瀛樼偣!");
+ if (cachePoint.Depth == 1)
+ {
+ Dt_CachePoint? cachePoint1 = _basicService.CachePointService.Repository.QueryFirst(x => x.AreaId == cachePoint.AreaId && x.Column == cachePoint.Column && cachePoint.Row - x.Row == 1);
+ if (cachePoint1 != null)
+ {
+ if (Repository.QueryFirst(x => x.SourceAddress == cachePoint1.PointCode &&
+ x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
+ x.TargetAddress == cachePoint1.PointCode) != null)
+ throw new Exception($"鍐呯疆缂撳瓨鐐广�恵cachePoint1.PointCode}銆戝瓨鍦ˋGV浠诲姟锛�");
+ }
+ }
+ //if (cachePoint.AreaId != 4) throw new Exception("褰撳墠缂撳瓨鐐瑰尯鍩熸棤缁戝畾鏉冮檺!");
+ cachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
+ if (cachePoint.AreaId == 4) cachePoint.Remark = qty;
+ cachePoint.Modifier = App.User.UserName;
+ _basicService.CachePointService.Repository.UpdateData(cachePoint);
+ return WebResponseContent.Instance.OK();
+ }
+ catch (Exception ex)
+ {
+ return WebResponseContent.Instance.Error(ex.Message);
+ }
+ }
+ /// <summary>
+ /// 閲婃斁缂撳瓨鐐�
+ /// </summary>
+ /// <param name="point"></param>
+ /// <returns></returns>
+ public WebResponseContent AcrossFloorCallMat(string point)
+ {
+ try
+ {
+ if (Repository.QueryFirst(x => x.SourceAddress == point &&
+ x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
+ x.TargetAddress == point) != null)
+ throw new Exception($"缂撳瓨鐐广�恵point}銆戝瓨鍦ˋGV浠诲姟锛�");
+ Dt_CachePoint? cachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == point);
+ if (cachePoint == null) throw new Exception("鏈壘鍒扮紦瀛樼偣!");
+ //if (cachePoint.AreaId != 2 && cachePoint.AreaId != 5 && cachePoint.AreaId != 8)
+ // throw new Exception("褰撳墠缂撳瓨鐐瑰尯鍩熸棤閲婃斁鏉冮檺!");
+ cachePoint.PointStatus = LocationStatusEnum.Free.ObjToInt();
+ cachePoint.Modifier = App.User.UserName;
+ _basicService.CachePointService.Repository.UpdateData(cachePoint);
+ return WebResponseContent.Instance.OK();
+ }
+ catch (Exception ex)
+ {
+ return WebResponseContent.Instance.Error(ex.Message);
+ }
}
/// <summary>
@@ -53,22 +132,27 @@
/// </summary>
/// <param name="endPoint"></param>
/// <returns></returns>
- public WebResponseContent CallMateriel(string endPoint)
+ public WebResponseContent CallMateriel(string endPoint, string startPoint)
{
try
{
- Dt_CachePoint cachePoint = GetCachePointByEndPoint(endPoint);
+ if (Repository.QueryFirst(x => x.SourceAddress == endPoint &&
+ x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
+ x.TargetAddress == endPoint) != null)
+ throw new Exception($"绔欑偣銆恵endPoint}銆戝瓨鍦ㄤ换鍔★紒");
+
+ Dt_CachePoint cachePoint = GetCachePointByEndPoint(endPoint, startPoint);
Dt_Task task = new Dt_Task()
{
- CurrentAddress = "D02",// cachePoint.PointCode,
+ CurrentAddress = cachePoint.PointCode,
Grade = 0,
- NextAddress = "C01",//endPoint,
+ NextAddress = endPoint,
OrderNo = "",
- PalletCode = "",//cachePoint.Remark,
+ PalletCode = cachePoint.Remark,
Roadway = "",
- SourceAddress = "D02",//cachePoint.PointCode,
- TargetAddress = "C01",//endPoint,
+ SourceAddress = cachePoint.PointCode,
+ TargetAddress = endPoint,
SourceKey = 0,
TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
TaskStatus = AGVTaskStatusEnum.Create.ObjToInt(),
@@ -77,18 +161,8 @@
cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
Db.Ado.BeginTran();
- #region MyRegion
- AGVSendTaskModel aGVSendTask = new AGVSendTaskModel
- {
- task_id = task.TaskNum.ToString(),// BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)).ToString(),
- src_pos = task.CurrentAddress,// "C01",
- site_value_type = 1,
- dst_pos = task.NextAddress,// "E14"
- src_level=3,
- };
- #endregion
- var response = HttpHelper.Post<WebResponseContent>(AGVurl + "sendTask/", aGVSendTask, "鍙枡浠诲姟涓嬪彂");
- if (response.Code != 200)
+ var response = SendAGVTask(task, cachePoint);
+ if (!response.Status)
{
_unitOfWorkManage.RollbackTran();
return WebResponseContent.Instance.Error($"{response.Message}");
@@ -111,11 +185,16 @@
/// </summary>
/// <param name="startPoint"></param>
/// <returns></returns>
- public WebResponseContent MaterielCarry(string startPoint)
+ public WebResponseContent MaterielCarry(string startPoint, string endPoint)
{
try
{
- Dt_CachePoint cachePoint = GetCachePointByStartPoint(startPoint);
+ if (Repository.QueryFirst(x => x.SourceAddress == startPoint &&
+ x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
+ x.TargetAddress == startPoint) != null)
+ throw new Exception($"绔欑偣銆恵startPoint}銆戝瓨鍦ㄤ换鍔★紒");
+ Dt_CachePoint startcachePoint = new Dt_CachePoint();
+ Dt_CachePoint cachePoint = GetCachePointByStartPoint(startPoint, endPoint, ref startcachePoint);
Dt_Task task = new()
{
@@ -134,12 +213,21 @@
};
cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
+ Db.Ado.BeginTran();
+ var response = SendAGVTask(task, cachePoint);
+ if (!response.Status)
+ {
+ _unitOfWorkManage.RollbackTran();
+ return WebResponseContent.Instance.Error($"{response.Message}");
+ }
_basicService.CachePointService.Repository.UpdateData(cachePoint);
Repository.AddData(task);
+ Db.Ado.CommitTran();
return WebResponseContent.Instance.OK();
}
catch (Exception ex)
{
+ Db.Ado.RollbackTran();
return WebResponseContent.Instance.Error(ex.Message);
}
}
@@ -149,24 +237,32 @@
/// <param name="startPoint"></param>
/// <returns></returns>
/// <exception cref="Exception"></exception>
- private Dt_CachePoint GetCachePointByStartPoint(string startPoint)
+ private Dt_CachePoint GetCachePointByStartPoint(string startPoint, string endPoint, ref Dt_CachePoint startcachePoint)
{
- Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.StartArea == startPoint);
- if (areaRouter == null)
+ #region MyRegion
+ Dt_CachePoint? StartcachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == startPoint);
+ if (StartcachePoint == null) throw new Exception($"鏈壘鍒扮紦瀛樼偣{startPoint}!");
+ startcachePoint = StartcachePoint;
+ endPoint = "";
+ if (!string.IsNullOrEmpty(endPoint))
{
- throw new Exception("鏈壘鍒拌矾鐢变俊鎭�!");
+ Dt_CachePoint? cachePoint1 = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == endPoint);
+ if (cachePoint1 == null) throw new Exception($"鏈壘鍒扮紦瀛樼偣{endPoint}!");
+ if (Repository.QueryFirst(x => x.SourceAddress == endPoint &&
+ x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
+ x.TargetAddress == endPoint) != null)
+ throw new Exception($"缂撳瓨鐐广�恵endPoint}銆戝瓨鍦ㄤ换鍔★紒");
+ return cachePoint1;
}
- Dt_AreaInfo areaInfo = _basicService.AreaInfoService.Repository.QueryFirst(x => x.AreaCode == areaRouter.NextArea);
- if (areaInfo == null)
- {
- throw new Exception("鏈壘鍒颁笅涓�鍖哄煙淇℃伅!");
- }
+ Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.StartArea == StartcachePoint.AreaId.ToString());
+ if (areaRouter == null) throw new Exception("鏈壘鍒拌矾鐢变俊鎭�!");
- Dt_CachePoint? cachePoint = _basicService.CachePointService.AssignCachePoint(areaInfo.Id);
+ Dt_CachePoint? cachePoint = _basicService.CachePointService.AssignCachePoint(areaRouter.NextArea.ObjToInt());
if (cachePoint == null)
{
throw new Exception("鏈壘鍒扮┖闂茬紦瀛樼偣!");
}
+ #endregion
return cachePoint;
}
@@ -176,26 +272,61 @@
/// <param name="endPoint"></param>
/// <returns></returns>
/// <exception cref="Exception"></exception>
- private Dt_CachePoint GetCachePointByEndPoint(string endPoint)
+ private Dt_CachePoint GetCachePointByEndPoint(string endPoint, string startPoint)
{
- Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.NextArea == endPoint);
- if (areaRouter == null)
+ #region MyRegion
+ Dt_CachePoint? StartcachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == endPoint);
+ if (StartcachePoint == null) throw new Exception($"鏈壘鍒扮紦瀛樼偣{endPoint}!");
+
+ if (!string.IsNullOrEmpty(endPoint))
{
- throw new Exception("鏈壘鍒拌矾鐢变俊鎭�!");
- }
- Dt_AreaInfo areaInfo = _basicService.AreaInfoService.Repository.QueryFirst(x => x.AreaCode == areaRouter.StartArea);
- if (areaInfo == null)
- {
- throw new Exception("鏈壘鍒拌捣鐐圭紦瀛樺尯鍩熶俊鎭�!");
+ Dt_CachePoint? cachePoint1 = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == startPoint);
+ if (cachePoint1 == null) throw new Exception($"鏈壘鍒扮紦瀛樼偣{startPoint}!");
+ if (Repository.QueryFirst(x => x.SourceAddress == startPoint &&
+ x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
+ x.TargetAddress == startPoint) != null)
+ throw new Exception($"缂撳瓨鐐广�恵startPoint}銆戝瓨鍦ㄤ换鍔★紒");
+ return cachePoint1;
}
- Dt_CachePoint? cachePoint = _basicService.CachePointService.GetIbStockCachePoint(areaInfo.Id);
+ Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.NextArea == StartcachePoint.AreaId.ToString());
+ if (areaRouter == null) throw new Exception("鏈壘鍒拌矾鐢变俊鎭�!");
+
+ Dt_CachePoint? cachePoint = _basicService.CachePointService.GetIbStockCachePoint(areaRouter.StartArea.ObjToInt());
if (cachePoint == null)
{
throw new Exception("鏈壘鍒版湁璐х紦瀛樼偣!");
}
+ #endregion
return cachePoint;
}
+
+ /// <summary>
+ /// 涓嬪彂AGV浠诲姟
+ /// </summary>
+ /// <param name="task"></param>
+ public WebResponseContent SendAGVTask(Dt_Task task, Dt_CachePoint? cachePoint = null)
+ {
+ try
+ {
+ AGVSendTaskModel aGVSendTask = new AGVSendTaskModel
+ {
+ task_id = task.TaskNum.ToString(),
+ src_pos = task.CurrentAddress,
+ site_value_type = 1,
+ dst_pos = task.NextAddress
+ };
+ if (cachePoint != null && cachePoint.AreaId == 4) aGVSendTask.src_level = cachePoint.Remark.ObjToInt() - 1;
+ var response = HttpHelper.Post<WebResponseContent>(AGVurl + "sendTask/", aGVSendTask, "鍙枡浠诲姟涓嬪彂");
+ if (response.Code != 200) throw new Exception(response.Message);
+ return WebResponseContent.Instance.OK();
+ }
+ catch (Exception ex)
+ {
+ return WebResponseContent.Instance.Error("AGV浠诲姟涓嬪彂澶辫触:" + ex.Message);
+ }
+ }
+
/// <summary>
/// 浠诲姟鐘舵�佷笂鎶�
/// </summary>
@@ -208,6 +339,8 @@
{
return new { code = 404, message = "鏈壘鍒拌浠诲姟!" };
}
+ if (task.TaskStatus == ((AGVTaskStatusEnum)Enum.Parse(typeof(AGVTaskStatusEnum), model.Task_status)).ObjToInt())
+ return new { code = 200, message = "鎴愬姛" };
switch ((AGVTaskStatusEnum)Enum.Parse(typeof(AGVTaskStatusEnum), model.Task_status))
{
case AGVTaskStatusEnum.Create:
@@ -225,12 +358,16 @@
if (startCachePoint != null)
{
startCachePoint.PointStatus = LocationStatusEnum.Free.ObjToInt();
- if (startCachePoint.AreaId == 3)//鍒ゆ柇鏄惁涓烘ā缁勭┖鏍堟澘鍖哄煙
+ if (startCachePoint.AreaId == 4)//鍒ゆ柇鏄惁涓烘ā缁勭┖鏍堟澘鍖哄煙
{
var qty = (startCachePoint.Remark.ObjToInt() - 1);
if (qty > 0) startCachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
startCachePoint.Remark = qty.ToString();
}
+ //else if (startCachePoint.AreaId == 1)
+ //{
+ // startCachePoint.PointStatus = LocationStatusEnum.PalletLock.ObjToInt();
+ //}
_basicService.CachePointService.Repository.UpdateData(startCachePoint);
}
}
@@ -253,17 +390,25 @@
return new { code = 200, message = "鎴愬姛" };
}
case AGVTaskStatusEnum.Cancel:
+ case AGVTaskStatusEnum.Terminate:
+ case AGVTaskStatusEnum.Error:
{
+ if (task.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt())
+ {
+ Dt_CachePoint startCachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == task.SourceAddress);
+ startCachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
+ _basicService.CachePointService.Repository.UpdateData(startCachePoint);
+ }
task.TaskStatus = AGVTaskStatusEnum.Cancel.ObjToInt();
BaseDal.DeleteAndMoveIntoHty(task, OperateType.鑷姩鍒犻櫎);
return new { code = 200, message = "鎴愬姛" };
}
- case AGVTaskStatusEnum.Terminate:
- task.TaskStatus = AGVTaskStatusEnum.Terminate.ObjToInt();
- break;
- case AGVTaskStatusEnum.Error:
- task.TaskStatus = AGVTaskStatusEnum.Error.ObjToInt();
- break;
+ //case AGVTaskStatusEnum.Terminate:
+ // task.TaskStatus = AGVTaskStatusEnum.Terminate.ObjToInt();
+ // break;
+ //case AGVTaskStatusEnum.Error:
+ // task.TaskStatus = AGVTaskStatusEnum.Error.ObjToInt();
+ // break;
default:
return new { code = 404, message = "鏈畾涔変换鍔＄被鍨�!" };
}
--
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