From 2ae5aa151f7b40a082e34aa7ed22b4b64edd1d3c Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期三, 11 六月 2025 17:13:56 +0800
Subject: [PATCH] 修改堆垛机通讯协议及交互逻辑
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs | 240 +++++++++++++++++++++++++++++++++--------------------------
1 files changed, 135 insertions(+), 105 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
index 5e14f93..766dbe2 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
@@ -1,12 +1,7 @@
-锘縰sing Microsoft.AspNetCore.Components.Routing;
-using Quartz;
-using System;
-using System.Collections.Generic;
+锘縰sing Quartz;
+using SqlSugar.Extensions;
using System.Diagnostics.CodeAnalysis;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using WIDESEAWCS_Core.Enums;
+using WIDESEA_Core.Enums;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
@@ -14,7 +9,7 @@
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
-using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
+using WIDESEAWCS_QuartzJob.StackerCrane;
using WIDESEAWCS_Tasks.StackerCraneJob;
namespace WIDESEAWCS_Tasks
@@ -27,11 +22,11 @@
private readonly ITaskRepository _taskRepository;
private readonly IRouterService _routerService;
- public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
+ public CommonStackerCraneJob(ITaskService taskService, ITaskRepository taskRepository, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService)
{
_taskService = taskService;
- _taskExecuteDetailService = taskExecuteDetailService;
_taskRepository = taskRepository;
+ _taskExecuteDetailService = taskExecuteDetailService;
_routerService = routerService;
}
@@ -39,30 +34,61 @@
{
try
{
- CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
- if (commonStackerCrane != null)
+ #region MyRegion
+ OtherDevice StackerCrane = (OtherDevice)context.JobDetail.JobDataMap.Get("JobParams");
+ if (StackerCrane != null)
{
- if (!commonStackerCrane.IsEventSubscribed)
+ //var CurrentTaskNum = StackerCrane.Communicator.Read<short>("MD755");
+ var DeviceStatu = StackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.DeviceStatus);
+ var StackerCraneStatu = StackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.StackerCraneStatus);
+ var RunStatus = StackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.RunStatus);
+ StackerCrane.SetValue(StackerCraneDBName.StartRow, 1);
+ StackerCrane.SetValue(StackerCraneDBName.StartColumn, 2);
+ StackerCrane.SetValue(StackerCraneDBName.StartLayer, 3);
+ StackerCrane.SetValue(StackerCraneDBName.EndRow, 4);
+ StackerCrane.SetValue(StackerCraneDBName.EndColumn, 5);
+ StackerCrane.SetValue(StackerCraneDBName.EndLayer, 2);
+ StackerCrane.SetValue(StackerCraneDBName.TaskNum, 216);
+ StackerCrane.SetValue(StackerCraneDBName.WorkType, 1);
+ }
+
+ #endregion
+
+ SpeStackerCrane speStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
+ if (speStackerCrane != null)
+ {
+ var CurrentTaskNum = speStackerCrane.Communicator.Read<short>("MD755");
+ var DeviceStatu = speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.DeviceStatus);
+ var StackerCraneStatu = speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.StackerCraneStatus);
+ speStackerCrane.SetValue(StackerCraneDBName.StartRow, 1);
+ speStackerCrane.SetValue(StackerCraneDBName.StartColumn, 2);
+ speStackerCrane.SetValue(StackerCraneDBName.StartLayer, 3);
+ speStackerCrane.SetValue(StackerCraneDBName.EndRow, 4);
+ speStackerCrane.SetValue(StackerCraneDBName.EndColumn, 5);
+ speStackerCrane.SetValue(StackerCraneDBName.EndLayer, 2);
+
+ GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);
+ if (!getStackerObject.IsEventSubscribed)
{
- commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//璁㈤槄浠诲姟瀹屾垚浜嬩欢
+ getStackerObject.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//璁㈤槄浠诲姟瀹屾垚浜嬩欢
}
-
- if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
+ if (getStackerObject.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && getStackerObject.StackerCraneStatusValue == StackerCraneStatus.Ready)
{
- 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�
+ getStackerObject.CheckStackerCraneTaskCompleted();//妫�娴嬪爢鍨涙満浠诲姟瀹屾垚浜嬩欢
- if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
+ if (getStackerObject.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
{
- Dt_Task? task = GetTask(commonStackerCrane);
+ Dt_Task? task = GetTask(speStackerCrane);
if (task != null)
{
StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
if (stackerCraneTaskCommand != null)
{
- bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
+ bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
if (sendFlag)
{
- commonStackerCrane.LastTaskType = task.TaskType;
+ speStackerCrane.SetValue(StackerCraneDBName.CommandSend, 1);//鍚姩鍛戒护
+ speStackerCrane.LastTaskType = task.TaskType;
_taskService.UpdateTaskStatusToNext(task.TaskNum);
}
}
@@ -73,7 +99,7 @@
}
catch (Exception ex)
{
- Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
+ //WriteLog.GetLog($"鍫嗗灈鏈哄紓甯�").Write($"{nameof(CommonStackerCraneJob)}:{ex.Message}", "鍫嗗灈鏈哄紓甯�");
}
return Task.CompletedTask;
}
@@ -83,16 +109,15 @@
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
- private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
+ private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, StackerCraneTaskCompletedEventArgs e)
{
- CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
- if (commonStackerCrane != null)
+ SpeStackerCrane? speStackerCrane = sender as SpeStackerCrane;
+ if (speStackerCrane != null)
{
- if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
+ if (speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
{
- Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
_taskService.StackCraneTaskCompleted(e.TaskNum);
- commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
+ speStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
}
}
}
@@ -102,50 +127,33 @@
/// </summary>
/// <param name="commonStackerCrane">鍫嗗灈鏈哄璞�</param>
/// <returns></returns>
- private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
+ private Dt_Task? GetTask(SpeStackerCrane speStackerCrane)
{
- Dt_Task task;
- if (commonStackerCrane.LastTaskType == null)
+ Dt_Task? task;
+ if (speStackerCrane.LastTaskType == null)
{
- task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
+ task = _taskService.QueryStackerCraneTask(speStackerCrane.DeviceCode);
}
else
{
- if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ bool flag = speStackerCrane.LastTaskType == TaskTypeEnum.Inbound.ObjToInt() || speStackerCrane.LastTaskType == TaskTypeEnum.PalletInbound.ObjToInt();
+ if (flag == false)
{
- task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
+ task = _taskService.QueryStackerCraneInTask(speStackerCrane.DeviceCode);
if (task == null)
{
- task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
+ task = _taskService.QueryStackerCraneOutTask(speStackerCrane.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)
+ task = _taskService.QueryStackerCraneOutTask(speStackerCrane.DeviceCode);
+ if (task == null)
{
- if (OutTaskStationIsOccupied(task) != null)
- {
- return task;
- }
+ task = _taskService.QueryStackerCraneInTask(speStackerCrane.DeviceCode);
}
- task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
}
}
-
return task;
}
@@ -179,7 +187,6 @@
}
return null;
}
-
/// <summary>
/// 浠诲姟瀹炰綋杞崲鎴愬懡浠odel
/// </summary>
@@ -194,50 +201,66 @@
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�
+ if (task.TaskType == TaskTypeEnum.Inbound.ObjToInt() || task.TaskType == TaskTypeEnum.PalletInbound.ObjToInt())//鍒ゆ柇鏄惁鏄叆搴撲换鍔�
{
- List<Dt_Router> routers = _routerService.QueryNextRoutes(task.CurrentAddress, task.Roadway);
- if (routers.Count > 0)
+ if (task.SourceAddress != null && task.TargetAddress != null)
{
- stackerCraneTaskCommand.StartRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
- stackerCraneTaskCommand.StartColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
- stackerCraneTaskCommand.StartLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);
-
- string[] targetCodes = task.NextAddress.Split("-");
- if (targetCodes.Length == 3)
+ string[] sourceCodes = task.SourceAddress.Split("-");
+ if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
- stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
+ stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]);
+ stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[3]);
}
else
{
//鏁版嵁閰嶇疆閿欒
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鍏ュ簱浠诲姟缁堢偣閿欒锛岃捣鐐癸細銆恵task.NextAddress}銆�");
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鍏ュ簱浠诲姟缁堢偣閿欒锛岃捣鐐癸細銆恵task.SourceAddress}銆�");
+ return null;
+ }
+ string[] targetCodes = task.TargetAddress.Split("-");
+ if (targetCodes.Length == 3)
+ {
+ stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
+ stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
+ }
+ else
+ {
+ //鏁版嵁閰嶇疆閿欒
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鍏ュ簱浠诲姟缁堢偣閿欒锛岃捣鐐癸細銆恵task.TargetAddress}銆�");
return null;
}
}
else
{
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鏈壘鍒扮珯鍙般�恵task.NextAddress}銆戜俊鎭紝鏃犳硶鑾峰彇瀵瑰簲鐨勫爢鍨涙満鍙栬揣绔欏彴淇℃伅");
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鏈壘鍒扮珯鍙般�恵task.TargetAddress},{task.SourceAddress}銆戜俊鎭紝鏃犳硶鑾峰彇瀵瑰簲鐨勫爢鍨涙満鍙栬揣绔欏彴淇℃伅");
return null;
}
}
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ else if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt() || task.TaskType == TaskTypeEnum.PalletOutbound.ObjToInt())
{
- List<Dt_Router> routers = _routerService.QueryNextRoutes(task.Roadway, task.TargetAddress);
- if (routers.Count > 0)
+ if (task.SourceAddress != null && task.TargetAddress != null)
{
- stackerCraneTaskCommand.EndRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
- stackerCraneTaskCommand.EndColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
- stackerCraneTaskCommand.EndLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);
-
- string[] sourceCodes = task.CurrentAddress.Split("-");
+ string[] targetCodes = task.TargetAddress.Split("-");
+ if (targetCodes.Length == 3)
+ {
+ stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
+ stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
+ }
+ else
+ {
+ //鏁版嵁閰嶇疆閿欒
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鍑哄簱浠诲姟缁堢偣閿欒锛岃捣鐐癸細銆恵task.SourceAddress}銆�");
+ return null;
+ }
+ string[] sourceCodes = task.SourceAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
- stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
+ stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]);
+ stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[3]);
}
else
{
@@ -252,33 +275,40 @@
return null;
}
}
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
+ else if (task.TaskType == TaskTypeEnum.Relocation.ObjToInt())
{
- string[] targetCodes = task.NextAddress.Split("-");
- if (targetCodes.Length == 3)
+ if (task.SourceAddress != null && task.TargetAddress != null)
{
- stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
- stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
+ string[] targetCodes = task.TargetAddress.Split("-");
+ if (targetCodes.Length == 3)
+ {
+ stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]);
+ stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]);
+ }
+ else
+ {
+ //鏁版嵁閰嶇疆閿欒
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"绉诲簱浠诲姟缁堢偣閿欒锛岃捣鐐癸細銆恵task.TargetAddress}銆�");
+ return null;
+ }
+ string[] sourceCodes = task.SourceAddress.Split("-");
+ if (sourceCodes.Length == 3)
+ {
+ stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]);
+ stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[3]);
+ }
+ else
+ {
+ //鏁版嵁閰嶇疆閿欒
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"绉诲簱浠诲姟璧风偣閿欒锛岃捣鐐癸細銆恵task.SourceAddress}銆�");
+ return null;
+ }
}
else
{
- //鏁版嵁閰嶇疆閿欒
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"绉诲簱浠诲姟缁堢偣閿欒锛岃捣鐐癸細銆恵task.NextAddress}銆�");
- return null;
- }
- string[] sourceCodes = task.CurrentAddress.Split("-");
- if (sourceCodes.Length == 3)
- {
- stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
- stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
- }
- else
- {
- //鏁版嵁閰嶇疆閿欒
- _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"绉诲簱浠诲姟璧风偣閿欒锛岃捣鐐癸細銆恵task.CurrentAddress}銆�");
- return null;
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"绉诲簱浠诲姟璧风偣缁堢偣閿欒锛岃捣鐐癸細銆恵task.SourceAddress}銆戯紝缁堢偣锛氥�恵task.TargetAddress}銆�");
}
}
return stackerCraneTaskCommand;
--
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