From 5a15fa73d5f6a39917013871a65eb11a8c013391 Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期三, 05 十一月 2025 17:30:56 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs | 209 +++++++++++++++++++++++++++------------------------
1 files changed, 111 insertions(+), 98 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 853bb61..0d40e08 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"
@@ -1,6 +1,7 @@
锘縰sing HslCommunication;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
+using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
using Quartz;
using System;
using System.Collections.Generic;
@@ -39,6 +40,15 @@
public Task Execute(IJobExecutionContext context)
{
+ var RelocationTask = _taskRepository.QueryData(x => _taskService.TaskAcrossFloorboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+ if (RelocationTask.Count > 0)
+ {
+ foreach (var item in RelocationTask)
+ {
+ AGVSendTask(item);
+ }
+ }
+
#region AGV璺ㄦゼ灞備换鍔�
var AcrossFloorTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
if (AcrossFloorTask != null)
@@ -51,6 +61,7 @@
{
if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
{
+ Relocation(AcrossFloorTask);
if (AcrossFloorTask.Floor == "1F")
{
elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
@@ -60,8 +71,9 @@
elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
_taskService.SendAgvTask("AAA", AcrossFloorTask.TaskNum);
- AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
- _taskRepository.UpdateData(AcrossFloorTask);
+ //AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
+ //_taskRepository.UpdateData(AcrossFloorTask);
+ _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
}
else
{
@@ -72,8 +84,9 @@
elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
_taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
- AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
- _taskRepository.UpdateData(AcrossFloorTask);
+ //AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
+ //_taskRepository.UpdateData(AcrossFloorTask);
+ _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
}
}
}
@@ -83,88 +96,12 @@
#region AGV鍚屽眰鎼繍浠诲姟
- var CarryTask = _taskRepository.QueryData(x => x.TaskType == (int)TaskAGVCarryTypeEnum.CarryReloction && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
- var Carry = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
- if (CarryTask .Count>0)
- {
- foreach (var item in CarryTask)
- {
- AGVSendTask(item);
- }
- }
+ Dt_Task Carry = _taskRepository.QueryFirst(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
if (Carry != null)
{
- var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew);
- if (task == null)
- {
- var taskDto = new RequestTaskDto()
- {
- Position = Carry.SourceAddress,
- PalletCode = Carry.PalletCode,
- TaskNum = Carry.TaskNum
- };
-
- // 鑾峰彇WMSip鍦板潃
- var configz = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
- var wmsBasez = configz.Where(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE).FirstOrDefault()?.ConfigValue;
- var requestLocation = configz.Where(x => x.ConfigKey == SysConfigKeyConst.AGVIsNeedRelocation).FirstOrDefault()?.ConfigValue;
- if (wmsBasez == null || requestLocation == null)
- {
- throw new InvalidOperationException("WMS IP 鏈厤缃�");
- }
- var wmsIpAddrss = wmsBasez + requestLocation;
-
- var result = HttpHelper.PostAsync(wmsIpAddrss, taskDto.ToJsonString()).Result;
-
- WebResponseContent content = JsonConvert.DeserializeObject<WebResponseContent>(result);
-
- if (!content.Status)
- {
- Carry.ExceptionMessage = content.Message;
- _taskRepository.UpdateData(Carry);
- return null;
- }
-
- // 鍙嶅簭鍒楀寲浠诲姟鏁版嵁
- var taskDTO = JsonConvert.DeserializeObject<List<WMSTaskDTO>>(content.Data.ToString());
- bool IsAddTask = false;
- foreach (var t in taskDTO)
- {
- if (t.TaskNum == Carry.TaskNum)
- {
- IsAddTask = true;
- break;
- }
- else
- {
- IsAddTask = true;
- }
- }
- if (IsAddTask)
- _taskService.ReceiveWMSTask(taskDTO);
-
- var taskNew = _taskRepository.QueryData(x => x.TaskType == (int)TaskAGVCarryTypeEnum.CarryReloction && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
- if (taskNew.Count > 0)
- {
- if (taskNew[0].Remark == "2")
- {
- foreach (var item in taskNew.OrderBy(x => x.Grade).ToList())
- {
- AGVSendTask(item);
- }
- }
- else
- {
- foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
- {
- AGVSendTask(item);
- }
- }
- }
-
- AGVSendTask(Carry);
- }
+ Relocation(Carry);
+ AGVSendTask(Carry);
}
#endregion
@@ -173,29 +110,33 @@
var InTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskInStatusEnum.InNew);
if (InTask != null)
{
- 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_InExecuting);
- if (OutTask == null && task == null)
+ 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)
{
- CommonConveyorLine? conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001") as CommonConveyorLine;
if (conveyorLine != null)
{
- bool IsWrite = false;
short InteractiveSignal = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, "LK001");
var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();
- if (structs[0])
+ if ((task != null && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting && !structs[1]) || task == null)
{
- IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 0);
- Thread.Sleep(1000);
- IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 9999);
- if (!IsWrite)
+ bool IsWrite = false;
+
+ if (structs[0] && !structs[1])
{
- return Task.CompletedTask;
+ IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", Convert.ToInt32(0));
+ Thread.Sleep(1000);
+ IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", Convert.ToInt32(9999));
+ if (!IsWrite)
+ {
+ return Task.CompletedTask;
+ }
+ Relocation(InTask);
+ _taskService.SendAgvTask("LIFANG", InTask.TaskNum);
+
+ _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
}
-
- _taskService.SendAgvTask("LIFANG", InTask.TaskNum);
-
- _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
}
}
}
@@ -205,6 +146,7 @@
return Task.CompletedTask;
}
+
public void AGVSendTask(Dt_Task task)
{
if (task.SourceAddress.Contains("XB001") || task.TargetAddress.Contains("XB001"))
@@ -226,5 +168,76 @@
_taskRepository.UpdateData(task);
}
}
+
+
+ public void Relocation(Dt_Task? task)
+ {
+ var taskDto = new RequestTaskDto()
+ {
+ Position = task.SourceAddress,
+ PalletCode = task.PalletCode,
+ TaskNum = task.TaskNum
+ };
+
+ // 鑾峰彇WMSip鍦板潃
+ var configz = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
+ var wmsBasez = configz.Where(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE).FirstOrDefault()?.ConfigValue;
+ var requestLocation = configz.Where(x => x.ConfigKey == SysConfigKeyConst.AGVIsNeedRelocation).FirstOrDefault()?.ConfigValue;
+ if (wmsBasez == null || requestLocation == null)
+ {
+ throw new InvalidOperationException("WMS IP 鏈厤缃�");
+ }
+ var wmsIpAddrss = wmsBasez + requestLocation;
+
+ var result = HttpHelper.PostAsync(wmsIpAddrss, taskDto.ToJsonString()).Result;
+
+ WebResponseContent content = JsonConvert.DeserializeObject<WebResponseContent>(result);
+
+ if (!content.Status)
+ {
+ task.ExceptionMessage = content.Message;
+ _taskRepository.UpdateData(task);
+ return;
+ }
+
+ // 鍙嶅簭鍒楀寲浠诲姟鏁版嵁
+ var taskDTO = JsonConvert.DeserializeObject<List<WMSTaskDTO>>(content.Data.ToString());
+ bool IsAddTask = false;
+ foreach (var t in taskDTO)
+ {
+ if (t.TaskNum == task.TaskNum)
+ {
+ IsAddTask = false;
+ break;
+ }
+ else
+ {
+ IsAddTask = true;
+ }
+ }
+ if (IsAddTask)
+ _taskService.ReceiveWMSTask(taskDTO);
+
+ var taskNew = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+ if (taskNew.Count > 0)
+ {
+ if (taskNew[0].Floor == "2F")
+ {
+ foreach (var item in taskNew.OrderBy(x => x.Grade).ToList())
+ {
+ AGVSendTask(item);
+ _taskService.UpdateTaskStatusToNext(item.TaskNum);
+ }
+ }
+ else
+ {
+ foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
+ {
+ AGVSendTask(item);
+ _taskService.UpdateTaskStatusToNext(item.TaskNum);
+ }
+ }
+ }
+ }
}
}
--
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