From 8f7e6826d51a25c7b368c210dbb321d423d24a85 Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期一, 10 十一月 2025 17:24:12 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs | 90 +++++++++++++++++++++-----------------------
1 files changed, 43 insertions(+), 47 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..8eb709d 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"
@@ -46,6 +46,7 @@
foreach (var item in RelocationTask)
{
AGVSendTask(item);
+ _taskService.UpdateTaskStatusToNext(item.TaskNum);
}
}
@@ -61,32 +62,32 @@
{
if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
{
- Relocation(AcrossFloorTask);
- if (AcrossFloorTask.Floor == "1F")
+ if (Relocation(AcrossFloorTask))
{
- 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 (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);
+ }
}
}
}
@@ -102,6 +103,7 @@
{
Relocation(Carry);
AGVSendTask(Carry);
+ _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
}
#endregion
@@ -113,31 +115,30 @@
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;
+
+ if (structs[0] && !structs[1])
{
- bool IsWrite = false;
-
- if (structs[0] && !structs[1])
+ IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", Convert.ToInt32(0));
+ Thread.Sleep(1000);
+ IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", Convert.ToInt32(9999));
+ if (!IsWrite)
{
- 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);
+ return Task.CompletedTask;
}
+ Relocation(InTask);
+ _taskService.SendAgvTask("LIFANG", InTask.TaskNum);
+
+ _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
}
+
}
}
}
@@ -152,25 +153,19 @@
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 +192,7 @@
{
task.ExceptionMessage = content.Message;
_taskRepository.UpdateData(task);
- return;
+ return false;
}
// 鍙嶅簭鍒楀寲浠诲姟鏁版嵁
@@ -238,6 +233,7 @@
}
}
}
+ return true;
}
}
}
--
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