From 7195cf4e463af9a9f5138ced6be433f62d8ee68a Mon Sep 17 00:00:00 2001
From: xiazhengtongxue <133085197+xiazhengtongxue@users.noreply.github.com>
Date: 星期四, 25 十二月 2025 17:09:28 +0800
Subject: [PATCH] 播种墙一期优化
---
项目代码/WCSServices/WIDESEAWCS_Tasks/AGV/AGVExtend.cs | 273 +++++++++++++++++++++++------------------------------
1 files changed, 119 insertions(+), 154 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_Tasks/AGV/AGVExtend.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_Tasks/AGV/AGVExtend.cs"
index a7df9df..4babe88 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_Tasks/AGV/AGVExtend.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_Tasks/AGV/AGVExtend.cs"
@@ -6,6 +6,7 @@
using System.Text;
using System.Threading.Tasks;
using WIDESEA_DTO.Agv;
+using WIDESEAWCS_Common;
using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
@@ -22,191 +23,155 @@
{
try
{
- var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()|| x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.DeviceCode=="AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
-
- if (newTasks.Count>0)
+ var newTasksOut = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType==TaskTypeEnum.Outbound.ObjToInt() && x.DeviceCode == "AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.TaskNum).ToList();
+ var newTasksIn = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType == TaskTypeEnum.Inbound.ObjToInt() && x.DeviceCode == "AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.TaskNum).ToList();
+ var taskDownOut = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState > TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType == TaskTypeEnum.Outbound.ObjToInt() && x.DeviceCode == "AGV").OrderBy(x => x.TaskNum).ToList();
+ #region 鍑哄簱浠诲姟涓嬪彂
+ if (newTasksOut.Count>0)
{
- foreach (var task in newTasks)
+ foreach (var GroupTask in newTasksOut.GroupBy(x=>x.NextAddress))
{
- try
+ int taskCount = 6;
+ if (GroupTask.ObjToInt() > 201)
{
- Guid guid = Guid.NewGuid();
- AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
+ taskCount = 4;
+ }
+ var tasks = GroupTask.Take(taskCount).ToList();
+ TimeSpan span = DateTime.Now - tasks.FirstOrDefault().CreateDate;
+ int taskDownCount = taskDownOut.Where(x => x.NextAddress == GroupTask.Key).Count();
+ if (taskDownCount < (GroupTask.ObjToInt() > 201 ? 4 : 6) && (tasks.Count >= 4 || (int)span.TotalSeconds >= 20))
+ {
+ try
{
- SysToken=guid.ToString().Replace("-",""),
- ReceiveTaskID=task.TaskNum.ToString(),
- MapCode="01",
- Variables=new List<PointDetail>()
- };
- if (task.NextAddress== "涓�妤兼湀鍙扮爜澶�")
- {
- string? address =_taskService.RequestTargetAddress(task.TaskNum);
- if (address.IsNullOrEmpty())
+ AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
{
- task.ExceptionMessage = "鏈壘鍒癆GV绔欑偣";
- continue;
- }
- task.NextAddress = address;
- }
- Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x=>x.StationCode==task.CurrentAddress);
- Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.StationCode == task.NextAddress);
- //娣诲姞浠诲姟璺緞鍙婇珮搴�
- if (stationMangerStart !=null && stationMangerEnd != null)
- {
- PointDetail pointDetail1 = new PointDetail()
- {
- Code= "GoodPoint",
- Value=stationMangerStart.AGVStationCode
+ MissionData = new List<MissionDataItem>()
};
- //鍒ゆ柇鏄惁鏈夊墠缃偣
- if (!string.IsNullOrEmpty(stationMangerStart.AGVFrontCode))
+ string taskGroupId = Guid.NewGuid().ToString().Replace("-", "");
+
+ foreach (var task in tasks)
{
- PointDetail pointDetail2 = new PointDetail()
+ //鑾峰彇鐩爣鐐硅揣浣�
+ Dt_LocationInfo locationInfoStart = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.CurrentAddress);
+ //鑾峰彇鎷ｉ�夊嚭搴撶珯鍙�
+ Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);
+
+ if (locationInfoStart == null || stationMangerEnd == null) throw new Exception($"鏈壘鍒颁换鍔″彿${task.TaskNum}璧峰鐐箋task.CurrentAddress}鎴栫洰鏍囩偣{task.NextAddress}浣嶇疆淇℃伅");
+ agvTaskSend.RequestId = taskGroupId;
+ agvTaskSend.MissionCode = taskGroupId;
+ agvTaskSend.ViewBoardType = "W01";
+ //鏂欑瀛愭惉杩愪换鍔�
+ MissionDataItem missionDataItem = new MissionDataItem()
{
- Code = "CostPoint",
- Value = stationMangerStart.AGVFrontCode
+ Sequence = task.TaskNum,
+ BinCode = task.PalletCode,
+ StartPosition = locationInfoStart.AgvPoint,
+ StartSlotCode = locationInfoStart.LocationCode,
+ EndPosition = stationMangerEnd.StationCode,
+ EndSlotCode = stationMangerEnd.CraneStationCode,
+ TakeActionConfirm = false,
+ TakeActionInform = false,
+ PutActionConfirm = true,
+ PutActionInform = true,
};
- agvTaskSend.Variables.Add(pointDetail2);
+ agvTaskSend.MissionData.Add(missionDataItem);
}
- PointDetail pointDetail3 = new PointDetail()
+ if (tasks.OrderByDescending(x => x.Grade).FirstOrDefault()?.Grade == 0)
{
- Code = "PointB",
- Value = stationMangerEnd.AGVStationCode
- };
- //鍒ゆ柇鏄惁鏈夊墠缃偣
- if (!string.IsNullOrEmpty(stationMangerEnd.AGVFrontCode))
- {
- PointDetail pointDetail4 = new PointDetail()
- {
- Code = "PointA",
- Value = stationMangerEnd.AGVFrontCode
- };
- agvTaskSend.Variables.Add(pointDetail4);
- }
- PointDetail pointDetail5 = new PointDetail()
- {
- Code = "QUQTH",
- Value = stationMangerStart.AGVStationHeight.ToString()
- };
- PointDetail pointDetail6 = new PointDetail()
- {
- Code = "FHMH",
- Value = stationMangerEnd.AGVStationHeight.ToString()
- };
- agvTaskSend.Variables.Add(pointDetail1);
- agvTaskSend.Variables.Add(pointDetail3);
- agvTaskSend.Variables.Add(pointDetail5);
- agvTaskSend.Variables.Add(pointDetail6);
- }
- else
- {
- throw new Exception("鏈壘鍒癆GV绔欑偣");
- }
- //鍙栨斁浠诲姟妯＄増
- if (stationMangerStart.StationCode.Contains("PNT") && !stationMangerEnd.StationCode.Contains("PNT") && stationMangerEnd.IsManual==0)//璇锋眰鏀�
- {
- agvTaskSend.TaskCode = "DUIGAO1";
- if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//娼滀紡椤跺崌杞�
- {
- agvTaskSend.TaskCode = "DUOLUN1";
- }
- }
- else if (!stationMangerStart.StationCode.Contains("PNT") && stationMangerEnd.StationCode.Contains("PNT") && stationMangerStart.IsManual == 0)//璇锋眰鍙�
- {
- agvTaskSend.TaskCode = "DUIGAO2";
- if (stationMangerStart.StationType==998 || stationMangerEnd.StationType == 998)//娼滀紡椤跺崌杞�
- {
- agvTaskSend.TaskCode = "DUOLUN2";
- }
- }
- else if (!stationMangerStart.StationCode.Contains("PNT") && !stationMangerEnd.StationCode.Contains("PNT") && stationMangerStart.IsManual == 0 && stationMangerStart.IsManual == 0)//璇锋眰鍙栨斁
- {
- agvTaskSend.TaskCode = "DUIGAO3";
- if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//娼滀紡椤跺崌杞�
- {
- agvTaskSend.TaskCode = "DUOLUN3";
- }
- }
- else//鏃犺姹�
- {
- agvTaskSend.TaskCode = "DUIGAO4";
- if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//娼滀紡椤跺崌杞�
- {
- agvTaskSend.TaskCode = "DUOLUN4";
- }
- }
- if (stationMangerStart.StationType == 998 || stationMangerEnd.StationType == 998)//娼滀紡椤跺崌杞�
- {
- agvTaskSend.Variables.FirstOrDefault(x => x.Code == "FHMH").Value = "0";
- agvTaskSend.Variables.FirstOrDefault(x => x.Code == "GoodPoint").Value = "";
- //鍒ゆ柇浜哄伐鎵嬪姩
- PointDetail complete = new();
- if (stationMangerStart.IsManual==1 && stationMangerEnd.IsManual==0)
- {
- complete = new()
- {
- Code = "Complete",
- Value = "1"
- };
- }
- else if (stationMangerStart.IsManual == 0 && stationMangerEnd.IsManual == 1)
- {
- complete = new()
- {
- Code = "Complete",
- Value = "2"
- };
- }
- else if (stationMangerStart.IsManual == 1 && stationMangerEnd.IsManual == 1)
- {
- complete = new()
- {
- Code = "Complete",
- Value = "3"
- };
+ agvTaskSend.Priority = 99;
}
else
{
- complete = new()
- {
- Code = "Complete",
- Value = "0"
- };
+ agvTaskSend.Priority = 99 - tasks.OrderByDescending(x => x.Grade).FirstOrDefault().Grade;
}
- //涓嬪彂浠诲姟AGV浠诲姟闆嗙兢
- agvTaskSend.AgvGroupCode = "QianF";
- PointDetail pointDetail2 = new PointDetail()
+ tasks.ForEach(x =>
{
- Code = "CostPoint",
- Value = stationMangerStart.AGVStationCode
- };
- agvTaskSend.Variables.Add(pointDetail2);
- agvTaskSend.Variables.Add(complete);
+ x.GroupId = taskGroupId;
+ });
+ //鍙戦�丄GV浠诲姟
+ WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
+ if (!content.Status)
+ throw new Exception(content.Message);
+ tasks.ForEach(x =>
+ {
+ x.Dispatchertime = DateTime.Now;
+ x.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
+ });
+ _taskService.UpdateData(tasks);
+ Thread.Sleep(500);
}
- if (task.TaskType==TaskTypeEnum.OutCarton.ObjToInt())
+ catch (Exception ex)
{
- agvTaskSend.AgvGroupCode = "GAOc";
+ tasks.ForEach(x =>
+ {
+ x.TaskState = TaskStatusEnum.Exception.ObjToInt();
+ x.ExceptionMessage = ex.Message;
+ });
+ _taskService.UpdateData(tasks);
}
+ }
+ }
+ }
+ #endregion
+ #region 鍏ュ簱浠诲姟涓嬪彂
+ if (newTasksIn.Count > 0)
+ {
+ foreach (var task in newTasksIn)
+ {
+ try
+ {
+ AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
+ {
+ MissionData = new List<MissionDataItem>()
+ };
+ //鑾峰彇鐩爣鐐硅揣浣�
+ Dt_LocationInfo locationInfoEnd = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.NextAddress);
+ //鑾峰彇绾夸綋鍏ュ簱绔欏彴
+ Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x => x.StationCode == task.CurrentAddress);
+ if (locationInfoEnd == null || stationMangerStart == null) throw new Exception($"鏈壘鍒颁换鍔″彿${task.TaskNum}璧峰鐐箋task.CurrentAddress}鎴栫洰鏍囩偣{task.NextAddress}浣嶇疆淇℃伅");
+ agvTaskSend.RequestId = Guid.NewGuid().ToString().Replace("-", "");
+ agvTaskSend.MissionCode = task.TaskNum.ToString();
+ agvTaskSend.ViewBoardType = "W02";
+ if (task.Grade == 0)
+ {
+ agvTaskSend.Priority = 99;
+ }
+ else
+ {
+ agvTaskSend.Priority = 99 - task.Grade;
+ }
+ //鏂欑瀛愭惉杩愪换鍔�
+ MissionDataItem missionDataItem = new MissionDataItem()
+ {
+ Sequence = task.TaskNum,
+ BinCode = task.PalletCode,
+ StartPosition = stationMangerStart.StationCode,
+ StartSlotCode = stationMangerStart.CraneStationCode,
+ EndPosition = locationInfoEnd.AgvPoint,
+ EndSlotCode = locationInfoEnd.LocationCode,
+ TakeActionConfirm = true,
+ TakeActionInform = true,
+ PutActionConfirm = false,
+ PutActionInform = false,
+ };
+ agvTaskSend.MissionData.Add(missionDataItem);
//鍙戦�丄GV浠诲姟
WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
if (!content.Status)
throw new Exception(content.Message);
- task.Dispatchertime = DateTime.Now;
- _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
+ task.Dispatchertime = DateTime.Now; task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
+ _taskService.UpdateData(task);
Thread.Sleep(500);
}
catch (Exception ex)
{
task.TaskState = TaskStatusEnum.Exception.ObjToInt();
task.ExceptionMessage = ex.Message;
+ _taskService.UpdateData(task);
}
- }
- //鏇存柊浠诲姟
- if (newTasks.Count > 0)
- {
- _taskService.UpdateData(newTasks);
- }
+ }
}
+ #endregion
}
catch (Exception ex)
{
--
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