From f23e0326aa05a1c5b47d4aec4c06e73d0d86b8e7 Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期二, 29 七月 2025 17:43:15 +0800
Subject: [PATCH] 代码提交
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RGVJob_FirstFloor/CommonRGV_FirstFloorJob.cs | 903 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 903 insertions(+), 0 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RGVJob_FirstFloor/CommonRGV_FirstFloorJob.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RGVJob_FirstFloor/CommonRGV_FirstFloorJob.cs"
new file mode 100644
index 0000000..52840da
--- /dev/null
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RGVJob_FirstFloor/CommonRGV_FirstFloorJob.cs"
@@ -0,0 +1,903 @@
+锘�#region << 鐗� 鏈� 娉� 閲� >>
+/*----------------------------------------------------------------
+ * 鍛藉悕绌洪棿锛歐IDESEAWCS_Tasks.ConveyorLineJob
+ * 鍒涘缓鑰咃細鑳＄搴�
+ * 鍒涘缓鏃堕棿锛�2024/8/2 16:13:36
+ * 鐗堟湰锛歏1.0.0
+ * 鎻忚堪锛�
+ *
+ * ----------------------------------------------------------------
+ * 淇敼浜猴細
+ * 淇敼鏃堕棿锛�
+ * 鐗堟湰锛歏1.0.1
+ * 淇敼璇存槑锛�
+ *
+ *----------------------------------------------------------------*/
+#endregion << 鐗� 鏈� 娉� 閲� >>
+
+using AutoMapper;
+using HslCommunication;
+using Microsoft.Extensions.Logging;
+using Newtonsoft.Json;
+using Quartz;
+using SixLabors.ImageSharp.Drawing;
+using System.Diagnostics.CodeAnalysis;
+using System.Reflection;
+using System.Text;
+using System.Threading.Tasks;
+using WIDESEAWCS_BasicInfoRepository;
+using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Core.Caches;
+using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_Core.HttpContextUser;
+using WIDESEAWCS_IBasicInfoRepository;
+using WIDESEAWCS_IBasicInfoService;
+using WIDESEAWCS_ITaskInfoRepository;
+using WIDESEAWCS_ITaskInfoService;
+using WIDESEAWCS_Model.BasicInfo;
+using WIDESEAWCS_Model.Models;
+using WIDESEAWCS_QuartzJob;
+using WIDESEAWCS_QuartzJob.DeviceBase;
+using WIDESEAWCS_QuartzJob.DTO;
+using WIDESEAWCS_QuartzJob.Models;
+using WIDESEAWCS_QuartzJob.Service;
+using WIDESEAWCS_SignalR;
+using WIDESEAWCS_Tasks.ConveyorLineJob;
+using WIDESEAWCS_Tasks.RGVJob;
+using WIDESEAWCS_Tasks.StackerCraneJob;
+using static Microsoft.EntityFrameworkCore.DbLoggerCategory.Database;
+
+namespace WIDESEAWCS_Tasks
+{
+ [DisallowConcurrentExecution]
+ public class CommonRGV_FirstFloorJob : JobBase, IJob
+ {
+ private readonly ITaskService _taskService;
+ private readonly ITaskRepository _taskRepository;
+ private readonly ITaskExecuteDetailService _taskExecuteDetailService;
+ private readonly IRouterService _routerService;
+ private readonly IDt_StationManagerService _stationManagerService;
+ private readonly IDt_StationManagerRepository _stationManagerRepository;
+ private readonly IMapper _mapper;
+ private readonly ICacheService _cacheService;
+ private readonly INoticeService _noticeService;
+ private static List<string>? userTokenIds;
+ private static List<int>? userIds;
+
+ public CommonRGV_FirstFloorJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IDt_StationManagerService stationManagerService, IMapper mapper, ICacheService cacheService, INoticeService noticeService, ITaskRepository taskRepository, IDt_StationManagerRepository stationManagerRepository)
+ {
+ _taskService = taskService;
+ _taskExecuteDetailService = taskExecuteDetailService;
+ _routerService = routerService;
+ _stationManagerService = stationManagerService;
+ _mapper = mapper;
+ _cacheService = cacheService;
+ _noticeService = noticeService;
+ _taskRepository = taskRepository;
+ _stationManagerRepository = stationManagerRepository;
+ }
+
+ public Task Execute(IJobExecutionContext context)
+ {
+ Console.WriteLine(DateTime.Now.ToString() + "锛岀嚎绋婭D锛�" + Thread.CurrentThread.ManagedThreadId);
+ try
+ {
+ //鐢ㄨ繖绉嶆柟寮忚兘纭繚绫诲瀷杞崲涓嶄細鏈夐棶棰�
+ //bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
+
+ //if (flag && value != null && value is CommonRGV_FirstFloor device)
+ //{
+ IDevice? commonRGVFirst = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV01");
+ IDevice? commonRGVSecond = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV02");
+
+ #region RGV01璋冨害
+ if (commonRGVFirst != null && commonRGVFirst is CommonRGV_FirstFloor FirstRgv)//杩欐牱鑳界湅鍑烘潵浼犲弬鍒板簳鍝噷鏈夐棶棰�
+ {
+ if (FirstRgv.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.WorkCompleted))
+ {
+ RGVTaskFinish(FirstRgv, FirstRgv.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
+ }
+ if (FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Running))
+ {
+ Dt_Task? task = GetTask(FirstRgv, FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock));
+ if (task != null)
+ {
+ var IsExecutingTask = DispatchExecutingTask(FirstRgv, task);
+ if (IsExecutingTask != null)
+ {
+ RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(task);
+ if (rgvTaskCommand != null)
+ {
+ Thread.Sleep(1000);
+ bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
+ if (sendFlag)
+ {
+ _taskService.UpdateTaskStatusToNext(task.TaskNum);
+ }
+ }
+ }
+ }
+ else
+ {
+ var taskNew = DispatchTask(FirstRgv);
+ if (taskNew != null)
+ {
+ RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(taskNew);
+ if (rgvTaskCommand != null)
+ {
+ Thread.Sleep(1000);
+ bool sendFlag = SendCommand(FirstRgv, rgvTaskCommand);
+ if (sendFlag)
+ {
+ _taskService.UpdateTaskStatusToNext(taskNew.TaskNum);
+ }
+ }
+ }
+ }
+ }
+ #region 璋冪敤浜嬩欢鎬荤嚎閫氱煡鍓嶇
+
+ var tokenInfos = _cacheService.Get<List<UserInfo>>("Cache_UserToken");
+ if (tokenInfos != null && tokenInfos.Any())
+ {
+ var userTokenIds = tokenInfos?.Select(x => x.Token_ID).ToList();
+ var userIds = tokenInfos?.Select(x => x.UserId).ToList();
+ string RGVAutoStatus(bool AutoStatus) => AutoStatus switch
+ {
+ true => "鑱旀満妯″紡",
+ false => "鍗曟満妯″紡",
+ };
+ string RGVWorkStatus(bool WorkStatus) => WorkStatus switch
+ {
+ true => "杩愯涓�",
+ false => "寰呮満",
+ };
+ string RGVStatus(bool Status) => Status switch
+ {
+ true => "鏁呴殰",
+ false => "姝ｅ父",
+ };
+ object obj = new
+ {
+ Automatic = RGVAutoStatus(FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Automatic)),
+ Fault = RGVStatus(FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Fault)),
+ Running = RGVWorkStatus(FirstRgv.GetValue<RGVDBName, bool>(RGVDBName.Running)),
+ LevelPoint = FirstRgv.GetValue<RGVDBName, int>(RGVDBName.LevelPoint),
+ CurrentTaskNum = FirstRgv.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum),
+ FirstRgv.DeviceCode,
+ FirstRgv.DeviceName,
+ };
+ _noticeService.RGVData(userIds?.FirstOrDefault(), userTokenIds, new { FirstRgv.DeviceName, data = obj });
+ }
+
+
+ #endregion 璋冪敤浜嬩欢鎬荤嚎閫氱煡鍓嶇
+ }
+ else
+ {
+ if (commonRGVFirst == null)
+ Console.WriteLine($"RGV01鏈壘鍒拌澶囧璞＄殑鍊�");
+ else
+ Console.WriteLine($"RGV01璁惧瀵硅薄绫诲瀷閿欒");
+ }
+
+ #endregion
+
+ #region RGV02璋冨害
+ if (commonRGVSecond != null && commonRGVFirst is CommonRGV_FirstFloor SecondRgv)//杩欐牱鑳界湅鍑烘潵浼犲弬鍒板簳鍝噷鏈夐棶棰�
+ {
+ if (SecondRgv.GetValue<StackerCraneDBName, bool>(StackerCraneDBName.WorkCompleted))
+ {
+ RGVTaskFinish(SecondRgv, SecondRgv.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
+ }
+ if (SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Running))
+ {
+ Dt_Task? task = GetTask(SecondRgv, SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.InStock));
+ if (task != null)
+ {
+ var IsExecutingTask = DispatchExecutingTask(SecondRgv, task);
+ RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(task);
+ if (rgvTaskCommand != null)
+ {
+ Thread.Sleep(1000);
+ bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
+ if (sendFlag)
+ {
+ _taskService.UpdateTaskStatusToNext(task.TaskNum);
+ }
+ }
+ }
+ else
+ {
+ var taskNew = DispatchTask(SecondRgv);
+ if (taskNew != null)
+ {
+ RGVTaskCommand? rgvTaskCommand = ConvertToRGVTaskCommand(taskNew);
+ if (rgvTaskCommand != null)
+ {
+ Thread.Sleep(1000);
+ bool sendFlag = SendCommand(SecondRgv, rgvTaskCommand);
+ if (sendFlag)
+ {
+ _taskService.UpdateTaskStatusToNext(taskNew.TaskNum);
+ }
+ }
+ }
+ }
+ }
+ #region 璋冪敤浜嬩欢鎬荤嚎閫氱煡鍓嶇
+
+ var tokenInfos = _cacheService.Get<List<UserInfo>>("Cache_UserToken");
+ if (tokenInfos != null && tokenInfos.Any())
+ {
+ var userTokenIds = tokenInfos?.Select(x => x.Token_ID).ToList();
+ var userIds = tokenInfos?.Select(x => x.UserId).ToList();
+ string RGVAutoStatus(bool AutoStatus) => AutoStatus switch
+ {
+ true => "鑱旀満妯″紡",
+ false => "鍗曟満妯″紡",
+ };
+ string RGVWorkStatus(bool WorkStatus) => WorkStatus switch
+ {
+ true => "杩愯涓�",
+ false => "寰呮満",
+ };
+ string RGVStatus(bool Status) => Status switch
+ {
+ true => "鏁呴殰",
+ false => "姝ｅ父",
+ };
+ object obj = new
+ {
+ Automatic = RGVAutoStatus(SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Automatic)),
+ Fault = RGVStatus(SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Fault)),
+ Running = RGVWorkStatus(SecondRgv.GetValue<RGVDBName, bool>(RGVDBName.Running)),
+ LevelPoint = SecondRgv.GetValue<RGVDBName, int>(RGVDBName.LevelPoint),
+ CurrentTaskNum = SecondRgv.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum),
+ SecondRgv.DeviceCode,
+ SecondRgv.DeviceName,
+ };
+ _noticeService.RGVData(userIds?.FirstOrDefault(), userTokenIds, new { SecondRgv.DeviceName, data = obj });
+ }
+
+
+ #endregion 璋冪敤浜嬩欢鎬荤嚎閫氱煡鍓嶇
+ }
+ else
+ {
+ if (commonRGVSecond == null)
+ Console.WriteLine($"RGV02鏈壘鍒拌澶囧璞＄殑鍊�");
+ else
+ Console.WriteLine($"RGV02璁惧瀵硅薄绫诲瀷閿欒");
+ }
+ #endregion
+ //}
+ }
+ catch (Exception ex)
+ {
+ WriteError("CommonStackerStationCraneJob", "test", ex);
+ }
+ return Task.CompletedTask;
+ }
+
+ public Dt_Task DispatchExecutingTask(CommonRGV_FirstFloor commonRGV, Dt_Task task)
+ {
+ try
+ {
+ if (commonRGV.DeviceCode == "RGV01")
+ {
+ CommonRGV_FirstFloor? commonRGVSecond = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV02") as CommonRGV_FirstFloor;
+ if (commonRGVSecond != null)
+ {
+ if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock))
+ {
+ if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(15),
+ TaskNum = Convert.ToInt16(1000),
+ TaskType = (byte)Convert.ToSByte(1)
+ };
+ SendCommand(commonRGVSecond, command);
+ }
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGVSecond.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(task)}銆戙��");
+ return task;
+ }
+ else if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault))
+ {
+ var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
+ if (taskSecond != null)
+ {
+ if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
+ {
+ if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
+ {
+ if (task.TargetStation > taskSecond.SourceStation && task.TargetStation > taskSecond.TargetStation)
+ {
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGV.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戙�恵commonRGVSecond.DeviceCode}銆戜换鍔°�恵JsonConvert.SerializeObject(taskSecond)}銆憑commonRGVSecond.DeviceCode}杩斿洖浠诲姟锛氥�恵JsonConvert.SerializeObject(task)}銆戙��");
+ return task;
+ }
+ }
+ }
+ else if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
+ {
+ if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
+ {
+ if (task.TargetStation > taskSecond.TargetStation)
+ {
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGV.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戙�恵commonRGVSecond.DeviceCode}銆戜换鍔°�恵JsonConvert.SerializeObject(taskSecond)}銆憑commonRGVSecond.DeviceCode}杩斿洖浠诲姟锛氥�恵JsonConvert.SerializeObject(task)}銆戙��");
+ return task;
+ }
+ }
+ }
+ return null;
+ }
+ else
+ {
+ if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(15),
+ TaskNum = Convert.ToInt16(1000),
+ TaskType = (byte)Convert.ToSByte(1)
+ };
+ SendCommand(commonRGVSecond, command);
+ }
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGV.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戙�恵commonRGVSecond.DeviceCode}銆戜换鍔°�恵JsonConvert.SerializeObject(taskSecond)}銆憑commonRGVSecond.DeviceCode}杩斿洖浠诲姟锛氥�恵JsonConvert.SerializeObject(task)}銆戙��");
+ return task;
+ }
+ }
+ }
+ return task;
+ }
+ else
+ {
+ CommonRGV_FirstFloor? commonRGVFirst = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV01") as CommonRGV_FirstFloor;
+ if (commonRGVFirst != null)
+ {
+ if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock))
+ {
+ if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(26),
+ TaskNum = Convert.ToInt16(1000),
+ TaskType = (byte)Convert.ToSByte(1)
+ };
+ SendCommand(commonRGVFirst, command);
+ }
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(task)}銆戙��");
+ return task;
+ }
+ else if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault))
+ {
+ var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
+ if (taskSecond != null)
+ {
+
+ if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
+ {
+ if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
+ {
+ if (task.TargetStation < taskSecond.SourceStation && task.TargetStation < taskSecond.TargetStation)
+ {
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGV.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戙�恵commonRGVFirst.DeviceCode}銆戜换鍔°�恵JsonConvert.SerializeObject(taskSecond)}銆憑commonRGVFirst.DeviceCode}杩斿洖浠诲姟锛氥�恵JsonConvert.SerializeObject(task)}銆戙��");
+ return task;
+ }
+ }
+ }
+ else if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
+ {
+ if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
+ {
+ if (task.TargetStation < taskSecond.TargetStation)
+ {
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGV.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戙�恵commonRGVFirst.DeviceCode}銆戜换鍔°�恵JsonConvert.SerializeObject(taskSecond)}銆憑commonRGVFirst.DeviceCode}杩斿洖浠诲姟锛氥�恵JsonConvert.SerializeObject(task)}銆戙��");
+ return task;
+ }
+ }
+ }
+ return null;
+ }
+ else
+ {
+ if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(26),
+ TaskNum = Convert.ToInt16(1000),
+ TaskType = (byte)Convert.ToSByte(1)
+ };
+ SendCommand(commonRGVFirst, command);
+ }
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGV.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戙�恵commonRGVFirst.DeviceCode}銆戜换鍔°�恵JsonConvert.SerializeObject(taskSecond)}銆憑commonRGVFirst.DeviceCode}杩斿洖浠诲姟锛氥�恵JsonConvert.SerializeObject(task)}銆戙��");
+ return task;
+ }
+ }
+ }
+ return task;
+ }
+ }
+ catch (Exception ex)
+ {
+ WriteInfo("璋冨害浠诲姟寮傚父鏃ュ織", ex.Message + Environment.NewLine + ex.StackTrace);
+ return null;
+ }
+ }
+
+ public Dt_Task DispatchTask(CommonRGV_FirstFloor commonRGV)
+ {
+ try
+ {
+ var tasks = _taskService.QueryRGVTask();
+ Dt_Task task;
+ if (tasks == null && tasks.Count() == 0)
+ {
+ return null;
+ }
+ if (commonRGV.DeviceCode == "RGV01")
+ {
+ CommonRGV_FirstFloor? commonRGVSecond = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV02") as CommonRGV_FirstFloor;
+ if (commonRGVSecond != null)
+ {
+ if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock))
+ {
+ if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(15),
+ TaskNum = Convert.ToInt16(1000),
+ TaskType = (byte)Convert.ToSByte(1)
+ };
+ SendCommand(commonRGVSecond, command);
+ }
+ if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVSecond.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01"))}銆戙��");
+ return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
+ }
+ else
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVSecond.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02"))}銆戙��");
+ return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
+ }
+ }
+ else if (commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault))
+ {
+ var taskSecond = _taskRepository.QueryFirst(x => x.RGVName == "RGV02" && x.TaskNum == commonRGVSecond.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
+ if (taskSecond != null)
+ {
+ if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
+ {
+ task = tasks.FirstOrDefault(x => x.SourceStation > taskSecond.TargetStation && x.TargetStation > taskSecond.SourceStation && x.SourceStation > taskSecond.SourceStation && x.TargetStation > taskSecond.TargetStation);
+
+
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGVSecond.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGV.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戙�恵commonRGVSecond.DeviceCode}銆戜换鍔°�恵JsonConvert.SerializeObject(taskSecond)}銆憑commonRGVSecond.DeviceCode}杩斿洖浠诲姟锛氥�恵JsonConvert.SerializeObject(task)}銆戙��");
+
+
+ return task;
+ }
+ else if (taskSecond.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskSecond.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
+ {
+ task = tasks.FirstOrDefault(x => x.SourceStation > taskSecond.TargetStation && x.TargetStation > taskSecond.TargetStation);
+
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGV.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戙�恵commonRGVSecond.DeviceCode}銆戜换鍔°�恵JsonConvert.SerializeObject(taskSecond)}銆憑commonRGVSecond.DeviceCode}杩斿洖浠诲姟锛氥�恵JsonConvert.SerializeObject(task)}銆戙��");
+
+ return task;
+ }
+ return null;
+ }
+ else
+ {
+ if (commonRGVSecond.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(15),
+ TaskNum = Convert.ToInt16(1000),
+ TaskType = (byte)Convert.ToSByte(1)
+ };
+ SendCommand(commonRGVSecond, command);
+ }
+ if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVSecond.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01"))}銆戙��");
+ return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
+ }
+ else
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVSecond.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02"))}銆戙��");
+ return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
+ }
+ }
+ }
+ else
+ {
+ if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVSecond.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01"))}銆戙��");
+ return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
+ }
+ else
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVSecond.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02"))}銆戙��");
+ return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
+ }
+ }
+ }
+ else
+ {
+ if (tasks.FirstOrDefault(x => x.RGVName == "RGV01") != null)
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVSecond.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV01"))}銆戙��");
+ return tasks.FirstOrDefault(x => x.RGVName == "RGV01");
+ }
+ else
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVSecond.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVSecond.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV02"))}銆戙��");
+ return tasks.FirstOrDefault(x => x.RGVName != "RGV02");
+ }
+ }
+ }
+ else
+ {
+ CommonRGV_FirstFloor? commonRGVFirst = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "RGV01") as CommonRGV_FirstFloor;
+ if (commonRGVFirst != null)
+ {
+ if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock))
+ {
+ if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(26),
+ TaskNum = Convert.ToInt16(1000),
+ TaskType = (byte)Convert.ToSByte(1)
+ };
+ SendCommand(commonRGVFirst, command);
+ }
+ if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02"))}銆戙��");
+
+ return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
+ }
+ else
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01"))}銆戙��");
+
+ return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
+ }
+ }
+ else if (commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic) && !commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault))
+ {
+ var taskFirst = _taskRepository.QueryFirst(x => x.RGVName == "RGV01" && x.TaskNum == commonRGVFirst.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
+ if (taskFirst != null)
+ {
+ if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_Outdispatch || taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_Indispatch || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_InAwaitWMS || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
+ {
+ task = tasks.FirstOrDefault(x => x.SourceStation < taskFirst.TargetStation && x.TargetStation < taskFirst.SourceStation && x.SourceStation < taskFirst.SourceStation && x.TargetStation < taskFirst.TargetStation);
+
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戙�恵commonRGVFirst.DeviceCode}銆戜换鍔°�恵JsonConvert.SerializeObject(taskFirst)}銆憑commonRGVFirst.DeviceCode}杩斿洖浠诲姟锛氥�恵JsonConvert.SerializeObject(task)}銆戙��");
+
+ return task;
+ }
+ else if (taskFirst.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting || taskFirst.TaskState == (int)TaskInStatusEnum.RGV_InExecuting)
+ {
+ task = tasks.FirstOrDefault(x => x.SourceStation < taskFirst.TargetStation && x.TargetStation < taskFirst.TargetStation);
+
+ LogAndWarn("鎵ц璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戙�恵commonRGVFirst.DeviceCode}銆戜换鍔°�恵JsonConvert.SerializeObject(taskFirst)}銆憑commonRGVFirst.DeviceCode}杩斿洖浠诲姟锛氥�恵JsonConvert.SerializeObject(task)}銆戙��");
+
+ return task;
+ }
+ return null;
+ }
+ else
+ {
+ if (commonRGVFirst.GetValue<RGVDBName, int>(RGVDBName.LevelPoint) > 1000)
+ {
+ RGVTaskCommand command = new RGVTaskCommand()
+ {
+ PickupLocation = (byte)Convert.ToSByte(15),
+ TaskNum = Convert.ToInt16(1000),
+ TaskType = (byte)Convert.ToSByte(1)
+ };
+ SendCommand(commonRGVFirst, command);
+ }
+ if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02"))}銆戙��");
+
+ return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
+ }
+ else
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01"))}銆戙��");
+
+ return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
+ }
+ }
+ }
+ else
+ {
+ if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02"))}銆戙��");
+
+ return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
+ }
+ else
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01"))}銆戙��");
+
+ return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
+ }
+ }
+ }
+ else
+ {
+ if (tasks.FirstOrDefault(x => x.RGVName == "RGV02") != null)
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName == "RGV02"))}銆戙��");
+
+ return tasks.FirstOrDefault(x => x.RGVName == "RGV02");
+ }
+ else
+ {
+ LogAndWarn("璋冨害浠诲姟鎺у埗", $"銆恵commonRGVFirst.DeviceCode}宸ヤ綔妯″紡锛氥�恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Automatic)}銆戜綔涓氱姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Running)}銆戣澶囩姸鎬侊細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.Fault)}銆戞槸鍚︽湁璐э細銆恵commonRGVFirst.GetValue<RGVDBName, bool>(RGVDBName.InStock)}銆戣繑鍥炰换鍔★細銆恵JsonConvert.SerializeObject(tasks.FirstOrDefault(x => x.RGVName != "RGV01"))}銆戙��");
+
+ return tasks.FirstOrDefault(x => x.RGVName != "RGV01");
+ }
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ WriteInfo("璋冨害浠诲姟寮傚父鏃ュ織", ex.Message+Environment.NewLine+ex.StackTrace);
+ return null;
+ }
+ }
+
+ /// <summary>
+ /// RGV浠诲姟瀹屾垚
+ /// </summary>
+ /// <param name="commonRGV"></param>
+ /// <param name="TaskNum"></param>
+ public void RGVTaskFinish(CommonRGV_FirstFloor commonRGV, int TaskNum)
+ {
+ if (commonRGV != null)
+ {
+ var task = _taskRepository.QueryFirst(x => x.TaskNum == TaskNum);
+ if (task != null)
+ {
+ if (task.TaskState == (int)TaskInStatusEnum.InRetuen)
+ {
+ Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.SourceAddress);
+ if (stationManager != null)
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManager.stationPLC);
+ if (device != null)
+ {
+ CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(4));
+
+ var content = _taskService.RGVTaskCompleted(TaskNum);
+ }
+ }
+ }
+ if (task.TaskState == (int)TaskInStatusEnum.RGV_Indispatch)
+ {
+ Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.SourceAddress);
+ if (stationManager != null)
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManager.stationPLC);
+ if (device != null)
+ {
+ CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
+ Thread.Sleep(100);
+ DeviceProDTO? devicePro = conveyorLine.DeviceProDTOs.Where(x => x.DeviceChildCode == stationManager.stationChildCode && x.DeviceProParamName == "ConveyorLineBarcode").FirstOrDefault();
+ var x = conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 5);
+ string Barcode = Encoding.UTF8.GetString(x);
+
+ if (Barcode == null || Barcode == "")
+ {
+ conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(3), stationManager.stationChildCode);
+ commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, Convert.ToSByte(stationManager.stationRemark));
+ commonRGV.SetValue(StackerCraneDBName.TaskNum, Convert.ToInt16(task.TaskNum));
+ task.TaskState = (int)TaskInStatusEnum.InRetuen;
+ _taskRepository.UpdateData(task);
+ return;
+ }
+ var content = _taskService.RGVTaskCompleted(TaskNum, Barcode);
+ }
+ }
+ }
+ else
+ {
+ if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutExecuting)
+ {
+ Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.TargetAddress && x.stationType == 7);
+ if (stationManager != null)
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManager.stationPLC);
+ if (device != null)
+ {
+ CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
+ Thread.Sleep(100);
+ var Barcode = conveyorLine.GetValue<ConveyorLineDBName, string>(ConveyorLineDBName.ConveyorLineBarcode, stationManager.stationChildCode);
+ conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTargetAddress, Convert.ToInt16(stationManager.stationNextChildCode), stationManager.stationChildCode);
+ Thread.Sleep(100);
+ conveyorLine.SetValue(ConveyorLineDBName.ConveyorLineTaskNum, Convert.ToInt16(1000), stationManager.stationChildCode);
+ Thread.Sleep(100);
+ conveyorLine.SetValue(ConveyorLineDBName.WriteInteractiveSignal, Convert.ToSByte(2), stationManager.stationChildCode);
+ }
+ }
+ }
+ var content = _taskService.RGVTaskCompleted(TaskNum);
+ }
+ }
+ }
+ }
+
+ /// <summary>
+ /// 鑾峰彇浠诲姟
+ /// </summary>
+ /// <param name="commonRGV">鍫嗗灈鏈哄璞�</param>
+ /// <returns></returns>
+ private Dt_Task? GetTask(CommonRGV_FirstFloor commonRGV, bool InStock)
+ {
+ if (InStock)
+ {
+ return _taskService.QueryRGVExecutingTask(commonRGV.DeviceCode, commonRGV.GetValue<RGVDBName, short>(RGVDBName.RGVTaskNum));
+ }
+ return null;
+
+ #region
+ //if (commonRGV.LastTaskType == null)
+ //{
+ // task = _taskService.QueryRGVTask(commonRGV.DeviceCode);
+ //}
+ //else
+ //{
+ // if (commonRGV.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ // {
+ // task = _taskService.QueryRGVInTask(commonRGV.DeviceCode);
+ // if (task == null)
+ // {
+ // task = _taskService.QueryRGVOutTask(commonRGV.DeviceCode);
+ // }
+ // }
+ // else
+ // {
+ // task = _taskService.QueryRGVOutTask(commonRGV.DeviceCode);
+ // }
+ //}
+
+ //if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ //{
+ // if (task == null)
+ // {
+ // task = _taskService.QueryRGVInTask(commonRGV.DeviceCode);
+ // }
+ // else
+ // {
+ // return task;
+ // }
+ //}
+ //else if (task == null)
+ //{
+ // task = _taskService.QueryRGVInTask(commonRGV.DeviceCode);
+ //}
+ #endregion
+ }
+
+ /// <summary>
+ /// 浠诲姟瀹炰綋杞崲鎴愬懡浠odel
+ /// </summary>
+ /// <param name="task">浠诲姟瀹炰綋</param>
+ /// <returns></returns>
+ /// <exception cref="Exception"></exception>
+ public RGVTaskCommand? ConvertToRGVTaskCommand([NotNull] Dt_Task task)
+ {
+ RGVTaskCommand rgvTaskCommand = new RGVTaskCommand();
+
+ rgvTaskCommand.TaskNum = Convert.ToInt16(task.TaskNum);
+ if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//鍒ゆ柇鏄惁鏄叆搴撲换鍔�
+ {
+ //rgvTaskCommand.TaskType = (byte)Convert.ToSByte(16);
+ //rgvTaskCommand.TaskType = (byte)Convert.ToSByte(64); 閫�鍥�
+ if (task.TaskState == (int)TaskInStatusEnum.InNew)
+ {
+ Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.SourceAddress);
+ rgvTaskCommand.TaskType = (byte)Convert.ToSByte(3);
+ rgvTaskCommand.PickupLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
+ }
+ else if (task.TaskState == (int)TaskInStatusEnum.RGV_IndispatchFinish)
+ {
+ Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress);
+ rgvTaskCommand.TaskType = (byte)Convert.ToSByte(4);
+ rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
+ }
+ else
+ {
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鏈壘鍒扮珯鍙般�恵task.NextAddress}銆戜俊鎭紝鏃犳硶鑾峰彇瀵瑰簲鐨勫爢鍨涙満鍙栬揣绔欏彴淇℃伅");
+ return null;
+ }
+ }
+ else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ {
+
+ if (task.TaskState == (int)TaskOutStatusEnum.Line_OutFinish)
+ {
+ Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.CurrentAddress);
+ rgvTaskCommand.TaskType = (byte)Convert.ToSByte(3);
+ rgvTaskCommand.PickupLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
+ }
+ else if (task.TaskState == (int)TaskOutStatusEnum.RGV_OutdispatchFinish)
+ {
+ Dt_StationManager stationManager = _stationManagerRepository.QueryFirst(x => x.stationChildCode == task.NextAddress);
+ rgvTaskCommand.TaskType = (byte)Convert.ToSByte(4);
+ rgvTaskCommand.PutcargoLocation = (byte)Convert.ToSByte(stationManager.stationRemark);
+ }
+ else
+ {
+ _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"鏈壘鍒扮珯鍙般�恵task.NextAddress}銆戜俊鎭紝鏃犳硶鑾峰彇瀵瑰簲鐨勫爢鍨涙満鍙栬揣绔欏彴淇℃伅");
+ return null;
+ }
+ }
+
+ return rgvTaskCommand;
+ }
+
+ public bool SendCommand(CommonRGV_FirstFloor commonRGV, RGVTaskCommand? rgvTaskCommand)
+ {
+ commonRGV.SetValue(StackerCraneDBName.TaskNum, rgvTaskCommand.TaskNum);
+ Thread.Sleep(100);
+ commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, rgvTaskCommand.PutcargoLocation);
+ Thread.Sleep(100);
+ commonRGV.SetValue(StackerCraneDBName.PickupLocation, rgvTaskCommand.PickupLocation);
+ Thread.Sleep(100);
+ commonRGV.SetValue(StackerCraneDBName.TaskType, Convert.ToSByte(rgvTaskCommand.TaskType));
+ for (int i = 0; i < 6; i++)
+ {
+
+ if (commonRGV.GetValue<StackerCraneDBName, short>(StackerCraneDBName.TaskNum) == rgvTaskCommand.TaskNum && commonRGV.GetValue<StackerCraneDBName, byte>(StackerCraneDBName.TaskType) == rgvTaskCommand.TaskType && commonRGV.GetValue<StackerCraneDBName, byte>(StackerCraneDBName.PutcargoLocation) == rgvTaskCommand.PutcargoLocation && commonRGV.GetValue<StackerCraneDBName, byte>(StackerCraneDBName.PickupLocation) == rgvTaskCommand.PickupLocation)
+ {
+ WriteInfo(commonRGV.DeviceName, $"鍐欏叆浠诲姟鎴愬姛鍐欏叆娆℃暟{i}鍐欏叆浠诲姟銆恵JsonConvert.SerializeObject(rgvTaskCommand)}銆�");
+ return true;
+ }
+ if (commonRGV.GetValue<StackerCraneDBName, short>(StackerCraneDBName.TaskNum) == rgvTaskCommand.TaskNum)
+ {
+ commonRGV.SetValue(StackerCraneDBName.TaskNum, rgvTaskCommand.TaskNum);
+ Thread.Sleep(100);
+ }
+ if (commonRGV.GetValue<StackerCraneDBName, short>(StackerCraneDBName.PutcargoLocation) == rgvTaskCommand.PutcargoLocation)
+ {
+ commonRGV.SetValue(StackerCraneDBName.PutcargoLocation, rgvTaskCommand.PutcargoLocation);
+ }
+ if (commonRGV.GetValue<StackerCraneDBName, short>(StackerCraneDBName.PickupLocation) == rgvTaskCommand.PickupLocation)
+ {
+ commonRGV.SetValue(StackerCraneDBName.PickupLocation, rgvTaskCommand.PickupLocation);
+ }
+ if (commonRGV.GetValue<StackerCraneDBName, short>(StackerCraneDBName.TaskType) == rgvTaskCommand.TaskType)
+ {
+ commonRGV.SetValue(StackerCraneDBName.TaskType, rgvTaskCommand.TaskType);
+ }
+ }
+ WriteInfo(commonRGV.DeviceName, $"RGV浠诲姟鍐欏叆澶辫触銆恵JsonConvert.SerializeObject(rgvTaskCommand)}銆�");
+ return false;
+ }
+
+ public void LogAndWarn(string deviceName, string log, string color = "red")
+ {
+ ConsoleHelper.WriteWarningLine(log);
+ _noticeService.Logs(userTokenIds, new { deviceName, log = log, time = DateTime.Now.ToString("G"), color = color });
+ WriteInfo(deviceName, log);
+ }
+ }
+}
--
Gitblit v1.9.3