From 9429653e8def2729014b45c7c75ec76e9aa6685b Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期四, 12 六月 2025 17:13:48 +0800
Subject: [PATCH] 优化堆垛机交互逻辑
---
代码管理/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/PartialTaskService_AGV.cs | 187 +++++++++++++++++++++++++++++++++++-----------
1 files changed, 141 insertions(+), 46 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..e780012 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"
@@ -49,6 +49,61 @@
}
/// <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($"绔欑偣銆恵point}銆戝瓨鍦ㄤ换鍔★紒");
+ Dt_CachePoint? cachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == point);
+ if (cachePoint == null) throw new Exception("鏈壘鍒扮紦瀛樼偣!");
+ if (cachePoint.AreaId != 4) throw new Exception("褰撳墠缂撳瓨鐐瑰尯鍩熸棤缁戝畾鏉冮檺!");
+ cachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
+ cachePoint.Remark = qty;
+ cachePoint.Modifier = App.User.UserName;
+ _basicService.CachePointService.Repository.UpdateData(cachePoint);
+ return WebResponseContent.Instance.OK();
+ }
+ catch (Exception ex)
+ {
+ return WebResponseContent.Instance.Error(ex.Message);
+ }
+ }
+ /// <summary>
+ /// 閲婃斁缂撳瓨鐐�
+ /// </summary>
+ /// <param name="point"></param>
+ /// <returns></returns>
+ public WebResponseContent AcrossFloorCallMat(string point)
+ {
+ try
+ {
+ if (Repository.QueryFirst(x => x.SourceAddress == point &&
+ x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
+ x.TargetAddress == point) != null)
+ throw new Exception($"绔欑偣銆恵point}銆戝瓨鍦ㄤ换鍔★紒");
+ 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();
+ _basicService.CachePointService.Repository.UpdateData(cachePoint);
+ return WebResponseContent.Instance.OK();
+ }
+ catch (Exception ex)
+ {
+ return WebResponseContent.Instance.Error(ex.Message);
+ }
+ }
+
+ /// <summary>
/// 鍙枡
/// </summary>
/// <param name="endPoint"></param>
@@ -57,18 +112,23 @@
{
try
{
+ if (Repository.QueryFirst(x => x.SourceAddress == endPoint &&
+ x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
+ x.TargetAddress == endPoint) != null)
+ throw new Exception($"绔欑偣銆恵endPoint}銆戝瓨鍦ㄤ换鍔★紒");
+
Dt_CachePoint cachePoint = GetCachePointByEndPoint(endPoint);
Dt_Task task = new Dt_Task()
{
- CurrentAddress = "D02",// cachePoint.PointCode,
+ CurrentAddress = cachePoint.PointCode,
Grade = 0,
- NextAddress = "C01",//endPoint,
+ NextAddress = endPoint,
OrderNo = "",
- PalletCode = "",//cachePoint.Remark,
+ PalletCode = cachePoint.Remark,
Roadway = "",
- SourceAddress = "D02",//cachePoint.PointCode,
- TargetAddress = "C01",//endPoint,
+ SourceAddress = cachePoint.PointCode,
+ TargetAddress = endPoint,
SourceKey = 0,
TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
TaskStatus = AGVTaskStatusEnum.Create.ObjToInt(),
@@ -77,18 +137,8 @@
cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
Db.Ado.BeginTran();
- #region MyRegion
- AGVSendTaskModel aGVSendTask = new AGVSendTaskModel
- {
- task_id = task.TaskNum.ToString(),// BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)).ToString(),
- src_pos = task.CurrentAddress,// "C01",
- site_value_type = 1,
- dst_pos = task.NextAddress,// "E14"
- src_level=3,
- };
- #endregion
- var response = HttpHelper.Post<WebResponseContent>(AGVurl + "sendTask/", aGVSendTask, "鍙枡浠诲姟涓嬪彂");
- if (response.Code != 200)
+ var response = SendAGVTask(task, cachePoint);
+ if (!response.Status)
{
_unitOfWorkManage.RollbackTran();
return WebResponseContent.Instance.Error($"{response.Message}");
@@ -115,6 +165,11 @@
{
try
{
+ if (Repository.QueryFirst(x => x.SourceAddress == startPoint &&
+ x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
+ x.TargetAddress == startPoint) != null)
+ throw new Exception($"绔欑偣銆恵startPoint}銆戝瓨鍦ㄤ换鍔★紒");
+
Dt_CachePoint cachePoint = GetCachePointByStartPoint(startPoint);
Dt_Task task = new()
@@ -134,12 +189,21 @@
};
cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
+ Db.Ado.BeginTran();
+ var response = SendAGVTask(task, cachePoint);
+ if (!response.Status)
+ {
+ _unitOfWorkManage.RollbackTran();
+ return WebResponseContent.Instance.Error($"{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);
}
}
@@ -151,22 +215,19 @@
/// <exception cref="Exception"></exception>
private Dt_CachePoint GetCachePointByStartPoint(string startPoint)
{
- Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.StartArea == startPoint);
- if (areaRouter == null)
- {
- throw new Exception("鏈壘鍒拌矾鐢变俊鎭�!");
- }
- 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!");
- }
+ #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!");
- Dt_CachePoint? cachePoint = _basicService.CachePointService.AssignCachePoint(areaInfo.Id);
+ 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(areaRouter.NextArea.ObjToInt());
if (cachePoint == null)
{
throw new Exception("鏈壘鍒扮┖闂茬紦瀛樼偣!");
}
+ #endregion
return cachePoint;
}
@@ -178,24 +239,48 @@
/// <exception cref="Exception"></exception>
private Dt_CachePoint GetCachePointByEndPoint(string endPoint)
{
- Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.NextArea == endPoint);
- if (areaRouter == null)
- {
- 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�!");
- }
+ #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!");
- 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(ex.Message);
+ }
+ }
+
/// <summary>
/// 浠诲姟鐘舵�佷笂鎶�
/// </summary>
@@ -208,6 +293,8 @@
{
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:
@@ -225,7 +312,7 @@
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();
@@ -253,17 +340,25 @@
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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