From 25cb7cd50d12f48e93d6cde47420ca3458e9c47a Mon Sep 17 00:00:00 2001
From: helongyang <647556386@qq.com>
Date: 星期四, 12 六月 2025 21:39:43 +0800
Subject: [PATCH] 1
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/成品仓/AGV_CPExtend.cs | 239 ++++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 200 insertions(+), 39 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs"
index ce8099a..8909902 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs"
@@ -1,4 +1,5 @@
-锘縰sing System;
+锘縰sing OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
+using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
@@ -8,7 +9,9 @@
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_DTO.Agv;
using WIDESEAWCS_Model.Models;
+using WIDESEAWCS_QuartzJob;
namespace WIDESEAWCS_Tasks
{
@@ -18,52 +21,210 @@
{
try
{
- var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && nameof(AGV_FLJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
- foreach (var task in newTasks)
+ var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()|| x.TaskState == TaskStatusEnum.New.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.TaskType!=999).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
+
+ if (newTasks.Count>0)
{
- try
+ foreach (var task in newTasks)
{
- if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt() || task.TaskType == TaskTypeEnum.OutEmpty.ObjToInt() || task.TaskType == TaskTypeEnum.OutAllocate.ObjToInt())
- task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
- else
- task.NextAddress = GetAGVAddress(task.NextAddress);
- AgvTaskDTO taskDTO = new AgvTaskDTO()
+ try
{
- TaskCode = task.AgvTaskNum,
- ReqCode = DateTime.Now.ToString("yyyyMMddHHmmss") + task.AgvTaskNum,
- TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "FLC" : "FLR",
- ctnrCode = task.PalletCode,
- PositionCodePath = new List<CodePath>()
- {
- new CodePath()
+ if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
+ task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
+ else
+ task.NextAddress = GetAGVAddress(task.NextAddress);
+ AgvTaskDTO taskDTO = new AgvTaskDTO()
{
- type="05",
- positionCode=task.CurrentAddress
- },
- new CodePath()
+ TaskCode = task.AgvTaskNum,
+ ReqCode = DateTime.Now.ToString("yyyyMMdd") + task.AgvTaskNum,
+ TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
+ ctnrCode = task.PalletCode,
+ PositionCodePath = new List<CodePath>()
+ {
+ new CodePath()
+ {
+ type = "05",
+ positionCode = task.CurrentAddress
+ },
+ new CodePath()
+ {
+ type = "05",
+ positionCode = task.NextAddress
+ }
+ }
+ };
+ if (taskDTO.TaskTyp== "CPC")
{
- type="05",
- positionCode=task.NextAddress
+ taskDTO.Priority = task.Grade.ToString();
}
- },
- };
- WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_FLSendTask);
- if (!content.Status) throw new Exception(content.Message);
-
- task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
-
+ if (task.GroupId.IsNotEmptyOrNull())
+ {
+ taskDTO.GroupId=task.GroupId;
+ }
+ //鍙戦�丄GV浠诲姟
+ WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
+ if (!content.Status)
+ throw new Exception(content.Message);
+ if (taskDTO.TaskTyp == "CPC")
+ {
+ task.Dispatchertime = DateTime.Now;
+ _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
+ }
+ else
+ {
+ task.Dispatchertime = DateTime.Now;
+ _taskService.UpdateTask(task, TaskStatusEnum.AGV_Takeing);
+ }
+ Thread.Sleep(500);
+ }
+ catch (Exception ex)
+ {
+ task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+ task.ExceptionMessage = ex.Message;
+ }
}
- catch (Exception ex)
+ if (newTasks.Count > 0)
{
- task.TaskState = TaskStatusEnum.Exception.ObjToInt();
- task.ExceptionMessage = ex.Message;
+ _taskService.UpdateData(newTasks);
}
}
- _taskService.UpdateData(newTasks);
+ var newTasksLocations = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.Remark == "娴嬭瘯绌烘").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
+ if (newTasksLocations.Count>0)
+ {
+ foreach (var task in newTasksLocations)
+ {
+ try
+ {
+ string CurrentAddress = GetAGVAddress(task.CurrentAddress);
+ string NextAddress = GetAGVAddress(task.NextAddress);
+ AgvTaskDTO taskDTO = new AgvTaskDTO()
+ {
+ TaskCode = task.AgvTaskNum,
+ ReqCode = DateTime.Now.ToString("yyyyMMdd") + task.AgvTaskNum,
+ TaskTyp = "CP",
+ ctnrCode = task.PalletCode,
+ PositionCodePath = new List<CodePath>()
+ {
+ new CodePath()
+ {
+ type="05",
+ positionCode=CurrentAddress
+ },
+ new CodePath()
+ {
+ type="05",
+ positionCode=NextAddress
+ }
+ },
+ };
+ //鍙戦�丄GV浠诲姟
+ WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
+ if (!content.Status)
+ throw new Exception(content.Message);
+ task.TaskState = TaskStatusEnum.AGV_Takeing.ObjToInt();
+ task.CurrentAddress = CurrentAddress;
+ task.NextAddress = NextAddress;
+ _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
+ }
+ catch (Exception ex)
+ {
+ task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+ task.ExceptionMessage = ex.Message;
+ }
+ }
+ }
}
catch (Exception ex)
{
- WriteError(nameof(AGV_FLJob), ex.Message, ex);
+ WriteError(nameof(AGV_CPJob), ex.Message, ex);
+ }
+ }
+ /// <summary>
+ /// AGV鍙栨斁璐у洖璋�
+ /// </summary>
+ public void ContinueAGVTask()
+ {
+ try
+ {
+ //鑾峰彇鏄惁鏈夊畨鍏ㄧ敵璇蜂腑鐨勪换鍔�
+ var continueTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
+ foreach (var continueTask in continueTasks)
+ {
+ //鍙栬揣鍥炶皟
+ if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
+ {
+ Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.CurrentAddress || x.StationCode == continueTask.CurrentAddress);
+ if (stationManger == null)
+ {
+ continue;
+ }
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
+ if (device == null)
+ {
+ continue;
+ }
+ OtherDevice otherDevice = (OtherDevice)device;
+ short canTake = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
+ if (canTake != 1)
+ {
+ continue;
+ }
+ }
+ else//鏀捐揣鍥炶皟
+ {
+ Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.NextAddress);
+ if (stationManger == null)
+ {
+ continue;
+ }
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
+ if (device == null)
+ {
+ continue;
+ }
+ OtherDevice otherDevice = (OtherDevice)device;
+ short canPut = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
+ if (canPut != 1)
+ {
+ continue;
+ }
+ }
+ //鑾峰彇璋冨叆鍙傛暟
+ AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
+ {
+ ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
+ ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
+ TaskCode = continueTask.AgvTaskNum
+ };
+ if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
+ {
+ boxApplyPassDTO.Type = "1";
+ }
+ else
+ {
+ boxApplyPassDTO.Type = "2";
+ }
+ //璇锋眰鏂欑鍥炶皟鎺ュ彛
+ WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
+ if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && boxApplyPassDTO.TaskCode == continueTask.AgvTaskNum)
+ {
+ _taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Executing);
+ }
+ else if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && boxApplyPassDTO.TaskCode== continueTask.AgvTaskNum)
+ {
+ _taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Puting);
+ }
+ else
+ {
+ continueTask.ExceptionMessage = content.Message;
+ _taskService.UpdateTask(continueTask, TaskStatusEnum.Exception);
+ }
+ }
+
+ }
+ catch (Exception ex)
+ {
+ WriteError(nameof(AGV_CPJob), ex.Message, ex);
}
}
/// <summary>
@@ -81,11 +242,11 @@
var Layer = Convert.ToInt16(targetCodes[3]);
var a = Row switch
{
- 1 => "A1",
- 2 => "B1",
- 3 => "C1",
- 4 => "D1",
- 5 => "E1",
+ 1 => "A",
+ 2 => "B",
+ 3 => "C",
+ 4 => "D",
+ 5 => "E",
_ => throw new Exception($"鏈畾涔夌殑鎺�,鍦板潃:銆恵Address}銆�"),
};
var b = Layer > 9 ? "" + Layer : "0" + Layer;
--
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