From aa201fcecc1ce93da4f660a833f7b1176fc037cb Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期二, 02 十二月 2025 18:04:54 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs | 131 +++++++++++++++++++++++++++++++++++--------
1 files changed, 107 insertions(+), 24 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 1c4dbc4..504876f 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"
@@ -53,29 +53,28 @@
#region AGV璺ㄦゼ灞備换鍔�
var AcrossFloorTasks = _taskRepository.QueryData(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
- if (AcrossFloorTasks.Count()>0)
+ if (AcrossFloorTasks.Count() > 0)
{
var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.EndAddressExecuting);
- if(task == null)
+ if (task == null)
{
Dt_Task? AcrossFloorTask = null;
if (AcrossFloorTasks[0].Floor == "2F")
{
- AcrossFloorTask = AcrossFloorTasks.OrderBy(x => x.Grade).ToList().FirstOrDefault();
+ AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray != 1).OrderBy(x => x.Grade).ToList().FirstOrDefault();
}
else
{
- AcrossFloorTask = AcrossFloorTasks.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
+ AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray != 1).OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
}
-
-
- CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
- if (elevator != null)
+ if (AcrossFloorTask != null)
{
- if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
+ CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
+ if (elevator != null)
{
- if (AcrossFloorTask != null)
+ if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
{
+
if (Relocation(AcrossFloorTask))
{
if (AcrossFloorTask.Floor == "1F")
@@ -107,27 +106,111 @@
}
}
}
+
+ var taskDouble = _taskRepository.QueryData(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.EndAddressExecuting && x.DoubleTray == 1);
+
+ if (taskDouble.Count() < 2)
+ {
+ if (taskDouble.Count == 0)
+ {
+ Dt_Task? AcrossFloorTask = null;
+ if (AcrossFloorTasks.Where(x=>x.DoubleTray==1).FirstOrDefault().Floor == "2F")
+ {
+ AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray == 1).OrderBy(x => x.Grade).ToList().FirstOrDefault();
+ }
+ else
+ {
+ AcrossFloorTask = AcrossFloorTasks.Where(x => x.DoubleTray == 1).OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
+ }
+ if (AcrossFloorTask != null)
+ {
+ CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
+ if (elevator != null)
+ {
+ if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
+ {
+ if (AcrossFloorTask != null)
+ {
+ if (Relocation(AcrossFloorTask))
+ {
+ if (AcrossFloorTask.Floor == "1F")
+ {
+ elevator.SetValue(ElevatorDBName.TaskNum, Convert.ToInt16(AcrossFloorTask.TaskNum));
+ elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(2));
+ 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);
+ _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
+ }
+ else
+ {
+ elevator.SetValue(ElevatorDBName.TaskNum, Convert.ToInt16(AcrossFloorTask.TaskNum));
+ elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(2));
+ 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);
+ _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+ if (taskDouble.Where(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.FirstCarryFinish) != null)
+ {
+ var taskSecond = AcrossFloorTasks.Where(x => x.Floor == taskDouble.FirstOrDefault().Floor && x.DoubleTray == 1).FirstOrDefault();
+ if (taskSecond != null)
+ {
+ if (Relocation(taskSecond))
+ {
+ if (taskSecond.Floor == "1F")
+ {
+ _taskService.SendAgvTask("AAA", taskSecond.TaskNum);
+ _taskService.UpdateTaskStatusToNext(taskSecond.TaskNum);
+ }
+ else
+ {
+ _taskService.SendAgvTask("DDD", taskSecond.TaskNum);
+ _taskService.UpdateTaskStatusToNext(taskSecond.TaskNum);
+ }
+ }
+ }
+ }
+ }
+ }
}
#endregion
#region AGV鍚屽眰鎼繍浠诲姟
var Carrys = _taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
- if (Carrys.Count>0)
+ if (Carrys.Count > 0)
{
- if (Carrys[0].Floor == "2F")
+ if (_taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew).Count() == 0)
{
- var Carry = Carrys.OrderBy(x => x.Grade).ToList().FirstOrDefault();
- Relocation(Carry);
- AGVSendTask(Carry);
- _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
+ if (Carrys[0].Floor == "2F")
+ {
+ var Carry = Carrys.OrderBy(x => x.Grade).ToList().FirstOrDefault();
+ Relocation(Carry);
+ AGVSendTask(Carry);
+ _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
- }
- else
- {
- var Carry = Carrys.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
- Relocation(Carry);
- AGVSendTask(Carry);
- _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
+ }
+ else
+ {
+ var Carry = Carrys.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
+ Relocation(Carry);
+ AGVSendTask(Carry);
+ _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
+ }
}
}
@@ -151,7 +234,7 @@
var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();
bool IsWrite = false;
- if (taskNum == 0)
+
{
if (structs[0] && !structs[1])
{
--
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