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 | 213 +++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 164 insertions(+), 49 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 8eb709d..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;
@@ -40,7 +41,7 @@
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)
@@ -51,42 +52,136 @@
}
#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 (Relocation(AcrossFloorTask))
+ if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 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);
- _taskService.UpdateTaskStatusToNext(AcrossFloorTask.TaskNum);
+ 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.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);
+ 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);
+ }
}
}
}
@@ -96,21 +191,34 @@
#endregion
#region AGV鍚屽眰鎼繍浠诲姟
-
-
- Dt_Task Carry = _taskRepository.QueryFirst(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && 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)
{
- Relocation(Carry);
- AGVSendTask(Carry);
- _taskService.UpdateTaskStatusToNext(Carry.TaskNum);
+ if (_taskRepository.QueryData(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew).Count() == 0)
+ {
+ 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)
{
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);
@@ -119,24 +227,31 @@
{
if (conveyorLine != null)
{
+ 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();
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)
+ if (structs[0] && !structs[1])
{
- return Task.CompletedTask;
- }
- Relocation(InTask);
- _taskService.SendAgvTask("LIFANG", InTask.TaskNum);
+ 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.UpdateTaskStatusToNext(InTask.TaskNum);
+ }
+ }
}
}
@@ -213,7 +328,7 @@
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")
--
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