From 644cbe3e4eba765affa25454d69fee6286bb6094 Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期四, 30 十月 2025 13:06:35 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs | 143 ++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 122 insertions(+), 21 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 ffde2f2..abacf09 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;
@@ -20,14 +30,25 @@
{
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);
+ }
+ }
+
#region AGV璺ㄦゼ灞備换鍔�
var AcrossFloorTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
if (AcrossFloorTask != null)
@@ -40,6 +61,7 @@
{
if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
{
+ Relocation(AcrossFloorTask);
if (AcrossFloorTask.Floor == "1F")
{
elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
@@ -71,29 +93,15 @@
#endregion
#region AGV鍚屽眰鎼繍浠诲姟
- var Carry = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+
+ Dt_Task Carry = _taskRepository.QueryFirst(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
if (Carry != null)
{
- if (Carry.SourceAddress.Contains("XB001") || Carry.TargetAddress.Contains("XB001"))
- {
- _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);
- }
+ Relocation(Carry);
+ AGVSendTask(Carry);
}
+
#endregion
#region 1妤糀GV鍏ュ簱浠诲姟
@@ -119,7 +127,7 @@
{
return Task.CompletedTask;
}
-
+ Relocation(InTask);
_taskService.SendAgvTask("LIFANG", InTask.TaskNum);
_taskService.UpdateTaskStatusToNext(InTask.TaskNum);
@@ -132,5 +140,98 @@
return Task.CompletedTask;
}
+
+ 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);
+ _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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