From 46f0794372bb79dedfbb1d7f0a34081cf06204ce Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期五, 22 八月 2025 14:58:25 +0800
Subject: [PATCH] 增加堆垛机召回功能
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs | 124 ++++++++++++++++++++++++++++++++--------
1 files changed, 98 insertions(+), 26 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
index 379dac1..534cc62 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs"
@@ -28,6 +28,7 @@
using WIDESEAWCS_Tasks.ConveyorLineJob;
using WIDESEAWCS_TaskInfoRepository;
using static Microsoft.EntityFrameworkCore.DbLoggerCategory.Database;
+using System.Collections;
namespace WIDESEAWCS_Tasks
{
@@ -60,13 +61,6 @@
CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
if (commonStackerCrane != null)
{
- //if (!commonStackerCrane.IsEventSubscribed)
- //{
- // commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//璁㈤槄浠诲姟瀹屾垚浜嬩欢
- //}
-
- //commonStackerCrane.CheckStackerCraneTaskCompleted();//闃叉浠诲姟瀹屾垚浜嬩欢鐩戞祴瓒呮椂锛屽啀鎵嬪姩瑙﹀彂涓�娆�
-
if (commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.TaskCompleted))
{
var x = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CurrentTaskNum);
@@ -129,6 +123,7 @@
true => "鏁呴殰",
false => "姝ｅ父",
};
+
object obj = new
{
Automatic = StackerCraneAutoStatus(commonStackerCrane.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.Automatic)),
@@ -138,6 +133,8 @@
CurrentLayer = Convert.ToInt32(commonStackerCrane.GetValue<StackerCraneDBName, byte>(StackerCraneDBName.CurrentLayer)),
LevelPoint = commonStackerCrane.GetValue<StackerCraneDBName, int>(StackerCraneDBName.LevelPoint),
CurrentTaskNum = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.CurrentTaskNum),
+ StackerAlarm = GetAlarm(commonStackerCrane.GetValue<StackerCraneDBName, uint>(StackerCraneDBName.StackerAlarm)),
+
commonStackerCrane.DeviceCode,
commonStackerCrane.DeviceName,
};
@@ -152,6 +149,56 @@
}
return Task.CompletedTask;
}
+ public string GetAlarm(uint value)
+ {
+ byte[] bytes = BitConverter.GetBytes(value);
+ BitArray bits = new BitArray(bytes);
+
+ for (int i = 0; i < bits.Length; i++)
+ {
+ if (bits[i])
+ {
+ return StackerCraneAlarm(i);
+ }
+ }
+ return "";
+ }
+ public string StackerCraneAlarm(int alarm) => alarm switch
+ {
+ 0 => "鎸囦护鎴栧湴鍧�閿欒",
+ 1 => "鎬ュ仠",
+ 2 => "鍏夐�氳涓柇",
+ 3 => "缁勬�佸け鑱�",
+ 4 => "琛岃蛋鍙橀鏁呴殰",
+ 5 => "琛岃蛋鏋侀檺瑙﹀彂",
+ 6 => "琛岃蛋杩愯瓒呮椂",
+ 7 => "鎻愬崌鍙橀鏁呴殰",
+ 8 => "鎻愬崌鏋侀檺瑙﹀彂",
+ 9 => "鎻愬崌杩愯瓒呮椂",
+ 10 => "杞借揣鍙拌秴杞�",
+ 11 => "杞借揣鍙版瑺杞斤紙鏉剧怀)",
+ 12 => "杞借揣鍙板け閫�",
+ 13 => "璐у弶鍙橀鎶ヨ",
+ 14 => "璐у弶杩愯瓒呮椂",
+ 15 => "璐у弶鏋侀檺瑙﹀彂",
+ 16 => "璐у弶涓嶅眳涓�",
+ 17 => "宸︿晶瓒呴珮",
+ 18 => "鍙充晶瓒呴珮",
+ 19 => "宸︿晶瓒呭",
+ 20 => "鍙充晶瓒呭",
+ 21 => "宸﹁秴鍑�",
+ 22 => "鍙宠秴鍑�",
+ 23 => "鍙栬揣鏃惰浇璐у彴鏈夎揣",
+ 24 => "鍙栬揣鍚庤浇璐у彴鏃犺揣",
+ 25 => "鍙栨繁璐т綅鏃舵祬璐т綅鏈夎揣",
+ 26 => "鏀捐揣鏃惰浇璐у彴鏃犺揣",
+ 27 => "鏀捐揣鏃惰揣鏋舵湁璐�",
+ 28 => "鏀捐揣鍚庤浇璐у彴鏈夎揣",
+ 29 => "鏀炬繁璐ф椂娴呰揣浣嶆湁璐�",
+ 30 => "琛岃蛋浣嶇疆寮傚父",
+ 31 => "鎻愬崌浣嶇疆寮傚父",
+ _ => $"鏈煡鎶ヨ({alarm})"
+ };
/// <summary>
/// 浠诲姟瀹屾垚浜嬩欢璁㈤槄鐨勬柟娉�
@@ -186,6 +233,7 @@
{
if (commonStackerCrane != null)
{
+ WriteInfo("鍫嗗灈鏈轰换鍔″畬鎴�", $"{commonStackerCrane.DeviceName}瀹屾垚浠诲姟鍙穥TaskNum}");
var task = _taskRepository.QueryFirst(x => x.TaskNum == TaskNum);
if (task != null)
{
@@ -353,7 +401,7 @@
{
StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();
- stackerCraneTaskCommand.TaskNum = (byte)Convert.ToSByte(task.TaskNum);
+ stackerCraneTaskCommand.TaskNum = (short)Convert.ToInt16(task.TaskNum);
if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//鍒ゆ柇鏄惁鏄叆搴撲换鍔�
{
@@ -364,9 +412,9 @@
string[] sourceCodes = stationManager.stationLocation.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(sourceCodes[0]);
- stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(sourceCodes[0])));
+ stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[1]);
}
else
{
@@ -378,9 +426,9 @@
string[] targetCodes = task.TargetAddress.Split("-");
if (targetCodes.Length == 3)
{
- stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(targetCodes[0]);
- stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(targetCodes[0])));
+ stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[1]);
}
else
{
@@ -404,9 +452,9 @@
string[] sourceCodes = task.CurrentAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(sourceCodes[0]);
- stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(sourceCodes[0])));
+ stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[1]);
}
else
{
@@ -417,9 +465,9 @@
string[] targetCodes = stationManager.stationLocation.Split("-");
if (targetCodes.Length == 3)
{
- stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(targetCodes[0]);
- stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(targetCodes[0])));
+ stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[1]);
}
else
{
@@ -440,9 +488,9 @@
string[] sourceCodes = task.SourceAddress.Split("-");
if (sourceCodes.Length == 3)
{
- stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(Convert.ToInt16(sourceCodes[0]) % 2 != 0 ? (short)1 : (short)2);
- stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[1]);
- stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(sourceCodes[0])));
+ stackerCraneTaskCommand.StartColumn = (byte)Convert.ToSByte(sourceCodes[2]);
+ stackerCraneTaskCommand.StartLayer = (byte)Convert.ToSByte(sourceCodes[1]);
}
else
{
@@ -453,9 +501,9 @@
string[] targetCodes = task.TargetAddress.Split("-");
if (targetCodes.Length == 3)
{
- stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(Convert.ToInt16(targetCodes[0]) % 2 != 0 ? (short)1 : (short)2);
- stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[1]);
- stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndRow = (byte)Convert.ToSByte(GetRowCode(Convert.ToInt32(targetCodes[0])));
+ stackerCraneTaskCommand.EndColumn = (byte)Convert.ToSByte(targetCodes[2]);
+ stackerCraneTaskCommand.EndLayer = (byte)Convert.ToSByte(targetCodes[1]);
}
else
{
@@ -466,5 +514,29 @@
}
return stackerCraneTaskCommand;
}
+
+ public int GetRowCode(int number)
+ {
+ if (number == 1 || number == 15 || number == 11 || number == 18)
+ {
+ return 1;
+ }
+ else if (number == 2 || number == 5 || number == 8 || number == 12 || number == 16 || number == 19)
+ {
+ return 2;
+ }
+ else if (number == 3 || number == 6 || number == 9 || number == 13 || number == 17 || number == 20)
+ {
+ return 3;
+ }
+ else if (number == 4 || number == 7 || number == 10 || number == 14 || number == 21)
+ {
+ return 4;
+ }
+ else
+ {
+ throw new ArgumentOutOfRangeException(nameof(number), "杈撳叆鐨勬暟瀛楀繀椤诲湪1-16鑼冨洿鍐�");
+ }
+ }
}
}
\ No newline at end of file
--
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