From 4485cf13b64f8a2bde6609b7d9ecc1cd4f33868b Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期二, 25 十一月 2025 11:02:12 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs | 136 +++++++++++++++++++++++++++------------------
1 files changed, 82 insertions(+), 54 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs"
index 0d40e08..5aa6090 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs"
@@ -1,4 +1,5 @@
锘縰sing HslCommunication;
+using HslCommunication.WebSocket;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
@@ -40,53 +41,68 @@
public Task Execute(IJobExecutionContext context)
{
- var RelocationTask = _taskRepository.QueryData(x => _taskService.TaskAcrossFloorboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+ var RelocationTask = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskRelocationStatusEnum.RelocationNewAGV);
if (RelocationTask.Count > 0)
{
foreach (var item in RelocationTask)
{
AGVSendTask(item);
+ _taskService.UpdateTaskStatusToNext(item.TaskNum);
}
}
#region AGV璺ㄦゼ灞備换鍔�
- var AcrossFloorTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
- if (AcrossFloorTask != null)
+ var AcrossFloorTasks = _taskRepository.QueryData(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
+ if (AcrossFloorTasks.Count()>0)
{
var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.EndAddressExecuting);
if(task == null)
{
+ Dt_Task? AcrossFloorTask = null;
+ if (AcrossFloorTasks[0].Floor == "2F")
+ {
+ AcrossFloorTask = AcrossFloorTasks.OrderBy(x => x.Grade).ToList().FirstOrDefault();
+ }
+ else
+ {
+ AcrossFloorTask = AcrossFloorTasks.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
+ }
+
+
CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
if (elevator != null)
{
if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
{
- Relocation(AcrossFloorTask);
- if (AcrossFloorTask.Floor == "1F")
+ if (AcrossFloorTask != null)
{
- elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
- elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(1));
- elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(2));
- Thread.Sleep(1000);
- elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
+ if (Relocation(AcrossFloorTask))
+ {
+ if (AcrossFloorTask.Floor == "1F")
+ {
+ elevator.SetValue(ElevatorDBName.TaskNum, Convert.ToInt16(AcrossFloorTask.TaskNum));
+ elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
+ elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(1));
+ elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(2));
+ Thread.Sleep(1000);
+ elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
- _taskService.SendAgvTask("AAA", AcrossFloorTask.TaskNum);
- //AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
- //_taskRepository.UpdateData(AcrossFloorTask);
- _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
- }
- else
- {
- elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
- elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(2));
- elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(1));
- Thread.Sleep(1000);
- elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
+ _taskService.SendAgvTask("AAA", AcrossFloorTask.TaskNum);
+ _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
+ }
+ else
+ {
+ elevator.SetValue(ElevatorDBName.TaskNum, Convert.ToInt16(AcrossFloorTask.TaskNum));
+ elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
+ elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(2));
+ elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(1));
+ Thread.Sleep(1000);
+ elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
- _taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
- //AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
- //_taskRepository.UpdateData(AcrossFloorTask);
- _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
+ _taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
+ _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
+ }
+ }
}
}
}
@@ -95,49 +111,66 @@
#endregion
#region AGV鍚屽眰鎼繍浠诲姟
-
-
- Dt_Task Carry = _taskRepository.QueryFirst(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
- if (Carry != null)
+ var Carrys = _taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+ if (Carrys.Count>0)
{
- Relocation(Carry);
- AGVSendTask(Carry);
+ if (Carrys[0].Floor == "2F")
+ {
+ var Carry = Carrys.OrderBy(x => x.Grade).ToList().FirstOrDefault();
+ Relocation(Carry);
+ AGVSendTask(Carry);
+ _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
+
+ }
+ else
+ {
+ var Carry = Carrys.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
+ Relocation(Carry);
+ AGVSendTask(Carry);
+ _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
+ }
}
#endregion
#region 1妤糀GV鍏ュ簱浠诲姟
- var InTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskInStatusEnum.InNew);
- if (InTask != null)
+ var InTasks = _taskRepository.QueryData(x => x.TaskState == (int)TaskInStatusEnum.InNew);
+ if (InTasks.Count>0)
{
CommonConveyorLine? conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001") as CommonConveyorLine;
var OutTask = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState < (int)TaskOutStatusEnum.AGV_OutExecuting);
var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskInStatusEnum.InNew && x.TaskState < (int)TaskInStatusEnum.SC_InFinish);
- if (OutTask == null)
+ if (OutTask == null && task == null)
{
if (conveyorLine != null)
{
- short InteractiveSignal = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, "LK001");
- var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();
- if ((task != null && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting && !structs[1]) || task == null)
- {
- bool IsWrite = false;
+ Dt_Task? InTask = InTasks.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
+ short InteractiveSignal = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, "LK001");
+ var taskNum = conveyorLine.GetValue<ConveyorLineDBName, int>(ConveyorLineDBName.ConveyorLineTaskNum, "LK001");
+ var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();
+
+ bool IsWrite = false;
+
+ {
if (structs[0] && !structs[1])
{
- IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", Convert.ToInt32(0));
+ IsWrite = conveyorLine.Communicator.Write("DB100.0", Convert.ToInt32(0));
Thread.Sleep(1000);
- IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", Convert.ToInt32(9999));
+ IsWrite = conveyorLine.Communicator.Write("DB100.0", Convert.ToInt32(9999));
if (!IsWrite)
{
return Task.CompletedTask;
}
- Relocation(InTask);
- _taskService.SendAgvTask("LIFANG", InTask.TaskNum);
+ if (Relocation(InTask))
+ {
+ _taskService.SendAgvTask("LIFANG", InTask.TaskNum);
- _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
+ _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
+ }
}
}
+
}
}
}
@@ -152,25 +185,19 @@
if (task.SourceAddress.Contains("XB001") || task.TargetAddress.Contains("XB001"))
{
_taskService.SendAgvTask("cattleCarry1", task.TaskNum);
- task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
- _taskRepository.UpdateData(task);
}
else if (task.Floor == "1F")
{
_taskService.SendAgvTask("forkAutoTemplate1", task.TaskNum);
- task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
- _taskRepository.UpdateData(task);
}
else
{
_taskService.SendAgvTask("cattleCarry1", task.TaskNum);
- task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
- _taskRepository.UpdateData(task);
}
}
- public void Relocation(Dt_Task? task)
+ public bool Relocation(Dt_Task? task)
{
var taskDto = new RequestTaskDto()
{
@@ -197,7 +224,7 @@
{
task.ExceptionMessage = content.Message;
_taskRepository.UpdateData(task);
- return;
+ return false;
}
// 鍙嶅簭鍒楀寲浠诲姟鏁版嵁
@@ -218,7 +245,7 @@
if (IsAddTask)
_taskService.ReceiveWMSTask(taskDTO);
- var taskNew = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+ var taskNew = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskRelocationStatusEnum.RelocationNewAGV);
if (taskNew.Count > 0)
{
if (taskNew[0].Floor == "2F")
@@ -238,6 +265,7 @@
}
}
}
+ return true;
}
}
}
--
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