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 | 340 ++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 279 insertions(+), 61 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..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"
@@ -1,4 +1,8 @@
锘縰sing HslCommunication;
+using HslCommunication.WebSocket;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
using Quartz;
using System;
using System.Collections.Generic;
@@ -6,9 +10,16 @@
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;
@@ -20,49 +31,158 @@
{
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.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskRelocationStatusEnum.RelocationNewAGV);
+ if (RelocationTask.Count > 0)
+ {
+ foreach (var item in RelocationTask)
+ {
+ AGVSendTask(item);
+ _taskService.UpdateTaskStatusToNext(item.TaskNum);
+ }
+ }
+
#region AGV璺ㄦゼ灞備换鍔�
- var AcrossFloorTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
- if (AcrossFloorTask != null)
+ var AcrossFloorTasks = _taskRepository.QueryData(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
+ 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)
{
- CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
- if (elevator != null)
+ Dt_Task? AcrossFloorTask = null;
+ if (AcrossFloorTasks[0].Floor == "2F")
{
- if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
+ 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 (AcrossFloorTask.Floor == "1F")
+ if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
{
- 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);
+ if (Relocation(AcrossFloorTask))
+ {
+ 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);
+ _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);
+ _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("DDD", AcrossFloorTask.TaskNum);
- AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
- _taskRepository.UpdateData(AcrossFloorTask);
+ 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);
+ }
+ }
}
}
}
@@ -71,59 +191,69 @@
#endregion
#region AGV鍚屽眰鎼繍浠诲姟
- var Carry = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
-
- if (Carry != null)
+ var Carrys = _taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+ if (Carrys.Count > 0)
{
- if (Carry.SourceAddress.Contains("XB001") || Carry.TargetAddress.Contains("XB001"))
+ if (_taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew).Count() == 0)
{
- _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);
+ 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);
+ }
}
}
+
#endregion
#region 1妤糀GV鍏ュ簱浠诲姟
- var InTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskInStatusEnum.InNew);
- if (InTask != null)
+ var InTasks = _taskRepository.QueryData(x => x.TaskState == (int)TaskInStatusEnum.InNew);
+ if (InTasks.Count>0)
{
- 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;
+ Dt_Task? InTask = InTasks.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
+
short InteractiveSignal = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, "LK001");
+ var taskNum = conveyorLine.GetValue<ConveyorLineDBName, int>(ConveyorLineDBName.ConveyorLineTaskNum, "LK001");
var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();
- if (structs[0])
+
+ bool IsWrite = false;
+
{
- IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 0);
- Thread.Sleep(1000);
- IsWrite = conveyorLine.Communicator.WriteNoRead("DB100.0", 9999);
- if (!IsWrite)
+ if (structs[0] && !structs[1])
{
- return Task.CompletedTask;
+ IsWrite = conveyorLine.Communicator.Write("DB100.0", Convert.ToInt32(0));
+ Thread.Sleep(1000);
+ IsWrite = conveyorLine.Communicator.Write("DB100.0", Convert.ToInt32(9999));
+ if (!IsWrite)
+ {
+ return Task.CompletedTask;
+ }
+ if (Relocation(InTask))
+ {
+ _taskService.SendAgvTask("LIFANG", InTask.TaskNum);
+
+ _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
+ }
}
-
- _taskService.SendAgvTask("LIFANG", InTask.TaskNum);
-
- _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
}
+
}
}
}
@@ -132,5 +262,93 @@
return Task.CompletedTask;
}
+
+ public void AGVSendTask(Dt_Task task)
+ {
+ if (task.SourceAddress.Contains("XB001") || task.TargetAddress.Contains("XB001"))
+ {
+ _taskService.SendAgvTask("cattleCarry1", task.TaskNum);
+ }
+ else if (task.Floor == "1F")
+ {
+ _taskService.SendAgvTask("forkAutoTemplate1", task.TaskNum);
+ }
+ else
+ {
+ _taskService.SendAgvTask("cattleCarry1", task.TaskNum);
+ }
+ }
+
+
+ public bool 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 false;
+ }
+
+ // 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)TaskRelocationStatusEnum.RelocationNewAGV);
+ 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);
+ }
+ }
+ }
+ return true;
+ }
}
}
--
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