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 | 326 ++++++++++++++++++++++++++++-------------------------
1 files changed, 172 insertions(+), 154 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 7221859..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 +1,5 @@
锘縰sing HslCommunication;
+using HslCommunication.WebSocket;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
@@ -40,57 +41,148 @@
public Task Execute(IJobExecutionContext context)
{
- var RelocationTask = _taskRepository.QueryData(x => _taskService.TaskAcrossFloorboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+ 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);
}
}
- var taskCarry = _taskRepository.QueryData(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
- #region 鍑哄簱浠诲姟
-
- AGVOutTask(taskCarry.Where(x => x.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup).ToList());
-
- #endregion
-
#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);
+ }
+ }
}
}
}
@@ -99,113 +191,69 @@
#endregion
#region AGV鍚屽眰鎼繍浠诲姟
-
-
- Dt_Task Carry = null;
- if (Carry != null)
+ var Carrys = _taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+ if (Carrys.Count > 0)
{
- var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew);
- if (task == null)
+ if (_taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew).Count() == 0)
{
- var taskDto = new RequestTaskDto()
+ if (Carrys[0].Floor == "2F")
{
- Position = Carry.SourceAddress,
- PalletCode = Carry.PalletCode,
- TaskNum = Carry.TaskNum
- };
+ var Carry = Carrys.OrderBy(x => x.Grade).ToList().FirstOrDefault();
+ Relocation(Carry);
+ AGVSendTask(Carry);
+ _taskService.UpdateTaskStatusToNext(Carry.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)
+ else
{
- Carry.ExceptionMessage = content.Message;
- _taskRepository.UpdateData(Carry);
- return null;
+ var Carry = Carrys.OrderByDescending(x => x.Grade).ToList().FirstOrDefault();
+ Relocation(Carry);
+ AGVSendTask(Carry);
+ _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
}
-
- // 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 == Carry.TaskNum)
- {
- IsAddTask = true;
- break;
- }
- else
- {
- IsAddTask = true;
- }
- }
- if (IsAddTask)
- _taskService.ReceiveWMSTask(taskDTO);
-
- var taskNew = _taskRepository.QueryData(x => x.TaskType == (int)TaskAGVCarryTypeEnum.CarryReloction && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
- if (taskNew.Count > 0)
- {
- if (taskNew[0].Remark == "2")
- {
- foreach (var item in taskNew.OrderBy(x => x.Grade).ToList())
- {
- AGVSendTask(item);
- }
- }
- else
- {
- foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
- {
- AGVSendTask(item);
- }
- }
- }
-
- AGVSendTask(Carry);
}
}
#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);
}
+
}
}
}
@@ -215,56 +263,24 @@
return Task.CompletedTask;
}
- /// <summary>
- /// AGV鍑哄簱浠诲姟
- /// </summary>
- /// <param name="tasks"></param>
- public void AGVOutTask(List<Dt_Task> tasks)
- {
- if(tasks.Count > 0)
- {
- var OutTaskOneFloor = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState < (int)TaskOutStatusEnum.AGV_OutExecuting && x.Floor=="1F");
- var OutTaskTwoFloor = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState < (int)TaskOutStatusEnum.AGV_OutExecuting && x.Floor=="1F");
- if(OutTaskOneFloor == null)
- {
- var task = tasks.Where(x => x.Floor == "1F").OrderByDescending(x => x.Grade).FirstOrDefault();
- if (task != null)
- Relocation(task);
- }
- if (OutTaskTwoFloor == null)
- {
- var task = (tasks.Where(x => x.Floor == "2F").OrderBy(x => x.Grade).FirstOrDefault());
- if (task != null)
- Relocation(task);
- }
- }
- }
-
-
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)
+ public bool Relocation(Dt_Task? task)
{
var taskDto = new RequestTaskDto()
{
@@ -291,7 +307,7 @@
{
task.ExceptionMessage = content.Message;
_taskRepository.UpdateData(task);
- return;
+ return false;
}
// 鍙嶅簭鍒楀寲浠诲姟鏁版嵁
@@ -312,25 +328,27 @@
if (IsAddTask)
_taskService.ReceiveWMSTask(taskDTO);
- var taskNew = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
+ 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);
+ AGVSendTask(item);
+ _taskService.UpdateTaskStatusToNext(item.TaskNum);
}
}
else
{
foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
{
- //AGVSendTask(item);
+ AGVSendTask(item);
+ _taskService.UpdateTaskStatusToNext(item.TaskNum);
}
}
}
- //AGVSendTask(task);
+ return true;
}
}
}
--
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