From 63dcb7fc55d32960f643f4040900ce9a0e33536d Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期一, 20 十月 2025 17:25:56 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs | 238 ++++++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 219 insertions(+), 19 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 c572a39..7221859 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 +1,7 @@
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;
@@ -6,9 +9,16 @@
using System.Linq;
using System.Text;
using System.Threading.Tasks;
+using WIDESEAWCS_Common;
using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Core;
+using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_DTO.TaskInfo;
+using WIDESEAWCS_DTO.WMS;
+using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
+using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks.ConveyorLineJob;
using WIDESEAWCS_Tasks.ElevatorJob;
@@ -20,19 +30,37 @@
{
private readonly ITaskRepository _taskRepository;
private readonly ITaskService _taskService;
- public CommonAGVJob(ITaskRepository taskRepository,ITaskService taskService)
+ private readonly ISys_ConfigService _sys_ConfigService;
+ public CommonAGVJob(ITaskRepository taskRepository,ITaskService taskService,ISys_ConfigService configService)
{
_taskRepository = taskRepository;
_taskService = taskService;
+ _sys_ConfigService = configService;
}
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);
+ }
+ }
+
+ var taskCarry = _taskRepository.QueryData(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
+ #region 鍑哄簱浠诲姟
+
+ AGVOutTask(taskCarry.Where(x => x.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup).ToList());
+
+ #endregion
+
#region AGV璺ㄦゼ灞備换鍔�
var AcrossFloorTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
if (AcrossFloorTask != null)
{
- var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.SecondCarryFinish);
+ var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.EndAddressExecuting);
if(task == null)
{
CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
@@ -71,29 +99,83 @@
#endregion
#region AGV鍚屽眰鎼繍浠诲姟
- var Carry = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+
+ Dt_Task Carry = null;
if (Carry != null)
{
- if (Carry.SourceAddress.Contains("XB001") || Carry.TargetAddress.Contains("XB001"))
+ var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew);
+ if (task == null)
{
- _taskService.SendAgvTask("cattleCarry1", Carry.TaskNum);
- Carry.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
- _taskRepository.UpdateData(Carry);
- }
- else if (Carry.Floor == "1F")
- {
- _taskService.SendAgvTask("forkAutoTemplate1", Carry.TaskNum);
- Carry.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
- _taskRepository.UpdateData(Carry);
- }
- else
- {
- _taskService.SendAgvTask("cattleCarry1", Carry.TaskNum);
- Carry.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
- _taskRepository.UpdateData(Carry);
+ 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);
}
}
+
#endregion
#region 1妤糀GV鍏ュ簱浠诲姟
@@ -132,5 +214,123 @@
return Task.CompletedTask;
}
+
+ /// <summary>
+ /// AGV鍑哄簱浠诲姟
+ /// </summary>
+ /// <param name="tasks"></param>
+ public void AGVOutTask(List<Dt_Task> tasks)
+ {
+ if(tasks.Count > 0)
+ {
+ var OutTaskOneFloor = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState < (int)TaskOutStatusEnum.AGV_OutExecuting && x.Floor=="1F");
+ var OutTaskTwoFloor = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState < (int)TaskOutStatusEnum.AGV_OutExecuting && x.Floor=="1F");
+ if(OutTaskOneFloor == null)
+ {
+ var task = tasks.Where(x => x.Floor == "1F").OrderByDescending(x => x.Grade).FirstOrDefault();
+ if (task != null)
+ Relocation(task);
+ }
+ if (OutTaskTwoFloor == null)
+ {
+ var task = (tasks.Where(x => x.Floor == "2F").OrderBy(x => x.Grade).FirstOrDefault());
+ if (task != null)
+ Relocation(task);
+ }
+ }
+ }
+
+
+ public void AGVSendTask(Dt_Task task)
+ {
+ 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)
+ {
+ 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);
+ }
+ }
+ else
+ {
+ foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
+ {
+ //AGVSendTask(item);
+ }
+ }
+ }
+ //AGVSendTask(task);
+ }
}
}
--
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