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 | 76 ++++++++++++++++++++------------------
1 files changed, 40 insertions(+), 36 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 a03904e..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);
}
}
@@ -61,30 +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);
- }
- 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.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
+ _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
+ }
}
}
}
@@ -100,6 +103,7 @@
{
Relocation(Carry);
AGVSendTask(Carry);
+ _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
}
#endregion
@@ -108,21 +112,23 @@
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);
+ 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 && task == 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])
+
+ bool IsWrite = false;
+
+ if (structs[0] && !structs[1])
{
- IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 0);
+ IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", Convert.ToInt32(0));
Thread.Sleep(1000);
- IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 9999);
+ IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", Convert.ToInt32(9999));
if (!IsWrite)
{
return Task.CompletedTask;
@@ -132,6 +138,7 @@
_taskService.UpdateTaskStatusToNext(InTask.TaskNum);
}
+
}
}
}
@@ -146,25 +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()
{
@@ -191,7 +192,7 @@
{
task.ExceptionMessage = content.Message;
_taskRepository.UpdateData(task);
- return;
+ return false;
}
// 鍙嶅簭鍒楀寲浠诲姟鏁版嵁
@@ -220,6 +221,7 @@
foreach (var item in taskNew.OrderBy(x => x.Grade).ToList())
{
AGVSendTask(item);
+ _taskService.UpdateTaskStatusToNext(item.TaskNum);
}
}
else
@@ -227,9 +229,11 @@
foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
{
AGVSendTask(item);
+ _taskService.UpdateTaskStatusToNext(item.TaskNum);
}
}
}
+ return true;
}
}
}
--
Gitblit v1.9.3