From 2c889b38311883ceb703c4e0034c798fdaa2e21c Mon Sep 17 00:00:00 2001
From: wangxinhui <wangxinhui@hnkhzn.com>
Date: 星期二, 12 八月 2025 23:11:57 +0800
Subject: [PATCH] 更新代码，货位分配优化等
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/成品仓/AGV_CPExtend.cs | 432 +++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 382 insertions(+), 50 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 bae010c..d267cb4 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"
@@ -21,51 +21,385 @@
{
try
{
- 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)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
- foreach (var task in newTasks)
+ var AllTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (nameof(AGV_CPJob).Contains(x.DeviceCode))).ToList();
+ var stationMangers = _stationMangerRepository.QueryData();
+ #region 鍏ュ簱浠诲姟鎺ㄩ��
{
- try
+ var newTasksIn = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType>=TaskTypeEnum.Inbound.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 (newTasksIn.Count>0)
{
- if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
- task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
- else
- task.NextAddress = GetAGVAddress(task.NextAddress);
- AgvTaskDTO taskDTO = new AgvTaskDTO()
+ foreach (var task in newTasksIn)
{
- TaskCode = task.AgvTaskNum,
- ReqCode = DateTime.Now.ToString("yyyyMMddHHmmss") + task.AgvTaskNum,
- TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
- ctnrCode = task.PalletCode,
- PositionCodePath = new List<CodePath>()
- {
- new CodePath()
+ try
{
- type="05",
- positionCode=task.CurrentAddress
- },
- new CodePath()
- {
- type="05",
- positionCode=task.NextAddress
+ if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
+ else
+ task.NextAddress = GetAGVAddress(task.NextAddress);
+ AgvTaskDTO taskDTO = new AgvTaskDTO()
+ {
+ TaskCode = task.AgvTaskNum,
+ ReqCode = DateTime.Now.ToString("yyMMdd") + 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")
+ {
+ taskDTO.Priority = task.Grade.ToString();
+ }
+ if (task.GroupId.IsNotEmptyOrNull())
+ {
+ taskDTO.GroupId=task.GroupId;
+ }
+ if (task.TaskType==TaskTypeEnum.OutMesRworkProduct.ObjToInt())
+ {
+ taskDTO.Priority = "127";
+ }
+ //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);
}
- },
- };
- //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();
- }
- catch (Exception ex)
- {
- task.TaskState = TaskStatusEnum.Exception.ObjToInt();
- task.ExceptionMessage = ex.Message;
+ catch (Exception ex)
+ {
+ task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+ task.ExceptionMessage = ex.Message;
+ }
+ }
+ if (newTasksIn.Count > 0)
+ {
+ _taskService.UpdateData(newTasksIn);
+ }
}
}
- if (newTasks.Count>0)
+ #endregion
+ #region 鍑哄簱鎺ㄩ�佷换鍔�1绾�
{
- _taskService.UpdateData(newTasks);
+ var newTasksOut1 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress=="5236").OrderBy(x => x.Grade).ThenBy(x => x.GroupId).Take(5).ToList();
+ var downTasksOut1 = AllTasks.Where(x => (x.TaskState > TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5236").ToList();
+ Dt_StationManger? stationManger = stationMangers.FirstOrDefault(x => x.AGVStationCode == "5236");
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
+ if (device != null)
+ {
+ OtherDevice otherDevice = (OtherDevice)device;
+ short stationCurrentStatus = device.Communicator.Read<short>("DB29.112");
+ if (newTasksOut1.Count > 0 && downTasksOut1.Count <= 0 && stationCurrentStatus == 1)
+ {
+ foreach (var task in newTasksOut1)
+ {
+ try
+ {
+ if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
+ else
+ task.NextAddress = GetAGVAddress(task.NextAddress);
+ AgvTaskDTO taskDTO = new AgvTaskDTO()
+ {
+ TaskCode = task.AgvTaskNum,
+ ReqCode = DateTime.Now.ToString("yyMMdd") + 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")
+ {
+ taskDTO.Priority = task.Grade.ToString();
+ }
+ if (task.GroupId.IsNotEmptyOrNull())
+ {
+ taskDTO.GroupId = task.GroupId;
+ }
+ if (task.TaskType == TaskTypeEnum.OutMesRworkProduct.ObjToInt())
+ {
+ taskDTO.Priority = "127";
+ }
+ //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);
+ }
+ }
+ catch (Exception ex)
+ {
+ task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+ task.ExceptionMessage = ex.Message;
+ }
+ }
+ if (newTasksOut1.Count > 0)
+ {
+ _taskService.UpdateData(newTasksOut1);
+ }
+ }
+ }
+
}
+ #endregion
+ #region 鍑哄簱鎺ㄩ�佷换鍔�2绾�
+ {
+ var newTasksOut2 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5243").OrderBy(x => x.Grade).ThenBy(x => x.GroupId).Take(5).ToList();
+ var downTasksOut2 = AllTasks.Where(x => (x.TaskState > TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5243").ToList();
+ Dt_StationManger? stationManger = stationMangers.FirstOrDefault(x => x.AGVStationCode == "5243");
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
+ if (device != null)
+ {
+ OtherDevice otherDevice = (OtherDevice)device;
+ short stationCurrentStatus = device.Communicator.Read<short>("DB29.126");
+ if (newTasksOut2.Count > 0 && downTasksOut2.Count <= 0 && stationCurrentStatus == 1)
+ {
+ foreach (var task in newTasksOut2)
+ {
+ try
+ {
+ if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
+ else
+ task.NextAddress = GetAGVAddress(task.NextAddress);
+ AgvTaskDTO taskDTO = new AgvTaskDTO()
+ {
+ TaskCode = task.AgvTaskNum,
+ ReqCode = DateTime.Now.ToString("yyMMdd") + 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")
+ {
+ taskDTO.Priority = task.Grade.ToString();
+ }
+ if (task.GroupId.IsNotEmptyOrNull())
+ {
+ taskDTO.GroupId = task.GroupId;
+ }
+ if (task.TaskType == TaskTypeEnum.OutMesRworkProduct.ObjToInt())
+ {
+ taskDTO.Priority = "127";
+ }
+ //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);
+ }
+ }
+ catch (Exception ex)
+ {
+ task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+ task.ExceptionMessage = ex.Message;
+ }
+ }
+ if (newTasksOut2.Count > 0)
+ {
+ _taskService.UpdateData(newTasksOut2);
+ }
+ }
+ //else
+ //{
+ // WriteInfo(nameof(AGV_CPJob), $"2绾挎棤浠诲姟锛岀姸鎬亄stationCurrentStatus}");
+ //}
+ }
+
+ }
+ #endregion
+ #region 鍑哄簱鎺ㄩ�佷换鍔�3绾�
+ {
+ var newTasksOut3 = AllTasks.Where(x => (x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5250").OrderBy(x => x.Grade).ThenBy(x => x.GroupId).Take(5).ToList();
+ var downTasksOut3 = AllTasks.Where(x => (x.TaskState > TaskStatusEnum.New.ObjToInt()) && x.TaskType < TaskTypeEnum.Inbound.ObjToInt() && x.NextAddress == "5250").ToList();
+ Dt_StationManger? stationManger = stationMangers.FirstOrDefault(x => x.AGVStationCode == "5250");
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
+ if (device != null)
+ {
+ OtherDevice otherDevice = (OtherDevice)device;
+ short stationCurrentStatus = device.Communicator.Read<short>("DB29.140");
+ if (newTasksOut3.Count > 0 && downTasksOut3.Count <= 0 && stationCurrentStatus == 1)
+ {
+ foreach (var task in newTasksOut3)
+ {
+ try
+ {
+ if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
+ else
+ task.NextAddress = GetAGVAddress(task.NextAddress);
+ AgvTaskDTO taskDTO = new AgvTaskDTO()
+ {
+ TaskCode = task.AgvTaskNum,
+ ReqCode = DateTime.Now.ToString("yyMMdd") + 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")
+ {
+ taskDTO.Priority = task.Grade.ToString();
+ }
+ if (task.GroupId.IsNotEmptyOrNull())
+ {
+ taskDTO.GroupId = task.GroupId;
+ }
+ if (task.TaskType == TaskTypeEnum.OutMesRworkProduct.ObjToInt())
+ {
+ taskDTO.Priority = "127";
+ }
+ //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);
+ }
+ }
+ catch (Exception ex)
+ {
+ task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+ task.ExceptionMessage = ex.Message;
+ }
+ }
+ if (newTasksOut3.Count > 0)
+ {
+ _taskService.UpdateData(newTasksOut3);
+ }
+ }
+ //else
+ //{
+ // WriteInfo(nameof(AGV_CPJob), $"3绾挎棤浠诲姟锛岀姸鎬亄stationCurrentStatus}");
+ //}
+ }
+
+ }
+ #endregion
+ #region 绌烘鎼繍
+ {
+ 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("yyMMdd") + 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;
+ }
+ }
+ }
+ }
+ #endregion
}
catch (Exception ex)
{
@@ -80,27 +414,27 @@
try
{
//鑾峰彇鏄惁鏈夊畨鍏ㄧ敵璇蜂腑鐨勪换鍔�
- var continueTask = _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).FirstOrDefault();
- if (continueTask!=null)
+ 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);
+ Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.CurrentAddress || x.StationCode == continueTask.CurrentAddress);
if (stationManger == null)
{
- throw new Exception($"鏈壘鍒扮珯鍙皗continueTask.CurrentAddress}淇℃伅");
+ continue;
}
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
if (device == null)
{
- throw new Exception($"鏈壘鍒拌澶噞stationManger.StationDeviceCode}淇℃伅");
+ continue;
}
OtherDevice otherDevice = (OtherDevice)device;
short canTake = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
if (canTake != 1)
{
- return;
+ continue;
}
}
else//鏀捐揣鍥炶皟
@@ -108,18 +442,18 @@
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.NextAddress);
if (stationManger == null)
{
- throw new Exception($"鏈壘鍒扮珯鍙皗continueTask.NextAddress}淇℃伅");
+ continue;
}
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
if (device == null)
{
- throw new Exception($"鏈壘鍒拌澶噞stationManger.StationDeviceCode}淇℃伅");
+ continue;
}
OtherDevice otherDevice = (OtherDevice)device;
short canPut = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
if (canPut != 1)
{
- return;
+ continue;
}
}
//鑾峰彇璋冨叆鍙傛暟
@@ -139,23 +473,21 @@
}
//璇锋眰鏂欑鍥炶皟鎺ュ彛
WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
- if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
+ if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && boxApplyPassDTO.TaskCode == continueTask.AgvTaskNum)
{
- continueTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
_taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Executing);
}
- else if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ else if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && boxApplyPassDTO.TaskCode== continueTask.AgvTaskNum)
{
- continueTask.TaskState = TaskStatusEnum.AGV_Puting.ObjToInt();
_taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Puting);
}
else
{
- continueTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
continueTask.ExceptionMessage = content.Message;
_taskService.UpdateTask(continueTask, TaskStatusEnum.Exception);
}
}
+
}
catch (Exception ex)
{
--
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