From 419159c8611dca81b94b3103cdeaeb9272aed5ea Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 23 四月 2026 16:40:32 +0800
Subject: [PATCH] feat(机器人任务): 实现本地创建机器人任务功能
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/StackerCraneTaskSelector.cs | 33 ++++++++++++++++++++++-----------
1 files changed, 22 insertions(+), 11 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/StackerCraneTaskSelector.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/StackerCraneTaskSelector.cs
index 4500212..1e5c562 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/StackerCraneTaskSelector.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/StackerCraneTaskSelector.cs
@@ -101,14 +101,14 @@
Dt_Task? candidateTask;
var deviceCode = commonStackerCrane.DeviceCode;
- QuartzLogHelper.LogDebug(_logger, $"寮�濮嬮�夋嫨浠诲姟锛岃澶�: {deviceCode}锛屼笂涓�浠诲姟绫诲瀷: {commonStackerCrane.LastTaskType}",commonStackerCrane.DeviceName);
+ QuartzLogHelper.LogInfo(_logger, $"寮�濮嬮�夋嫨浠诲姟锛岃澶�: {deviceCode}锛屼笂涓�浠诲姟绫诲瀷: {commonStackerCrane.LastTaskType}", commonStackerCrane.DeviceName);
// 鏍规嵁涓婁竴浠诲姟绫诲瀷鍐冲畾鏌ヨ绛栫暐
if (commonStackerCrane.LastTaskType == null || commonStackerCrane.LastTaskType == TaskRelocationTypeEnum.Relocation.GetHashCode())
{
// 娌℃湁涓婁竴浠诲姟绫诲瀷锛屾煡璇㈡櫘閫氫换鍔�
candidateTask = _taskService.QueryStackerCraneTask(deviceCode);
- QuartzLogHelper.LogDebug(_logger, $"鏌ヨ鏅�氫换鍔★紝璁惧: {deviceCode}锛岀粨鏋�: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
+ QuartzLogHelper.LogInfo(_logger, $"鏌ヨ鏅�氫换鍔★紝璁惧: {deviceCode}锛岀粨鏋�: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
}
else if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
{
@@ -116,26 +116,29 @@
candidateTask = _taskService.QueryStackerCraneInTask(deviceCode);
// 濡傛灉娌℃湁鍏ュ簱浠诲姟锛屽啀鏌ヤ竴涓嬪嚭搴撲换鍔�
candidateTask ??= _taskService.QueryStackerCraneOutTask(deviceCode);
- QuartzLogHelper.LogDebug(_logger, $"鍑哄簱鍚庝紭鍏堟煡鍏ュ簱锛岃澶�: {deviceCode}锛岀粨鏋�: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
+ QuartzLogHelper.LogInfo(_logger, $"鍑哄簱鍚庝紭鍏堟煡鍏ュ簱锛岃澶�: {deviceCode}锛岀粨鏋�: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
}
else
{
// 涓婁竴浠诲姟鏄叆搴擄紙闈炲嚭搴擄級锛屼紭鍏堟煡鍑哄簱浠诲姟
candidateTask = _taskService.QueryStackerCraneOutTask(deviceCode);
- QuartzLogHelper.LogDebug(_logger, $"鍏ュ簱鍚庝紭鍏堟煡鍑哄簱锛岃澶�: {deviceCode}锛岀粨鏋�: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
+
+ // 濡傛灉娌℃湁鍑哄簱浠诲姟锛屽啀鏌ヤ竴涓嬪叆搴撲换鍔�
+ candidateTask ??= _taskService.QueryStackerCraneInTask(deviceCode);
+ QuartzLogHelper.LogInfo(_logger, $"鍏ュ簱鍚庝紭鍏堟煡鍑哄簱锛岃澶�: {deviceCode}锛岀粨鏋�: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
}
// 濡傛灉娌℃湁鍊欓�変换鍔★紝杩斿洖 null
if (candidateTask == null)
{
- QuartzLogHelper.LogDebug(_logger, $"娌℃湁鍊欓�変换鍔★紝璁惧: {deviceCode}", commonStackerCrane.DeviceName);
+ QuartzLogHelper.LogInfo(_logger, $"娌℃湁鍊欓�変换鍔★紝璁惧: {deviceCode}", commonStackerCrane.DeviceName);
return null;
}
// 濡傛灉涓嶆槸鍑哄簱浠诲姟锛岀洿鎺ヨ繑鍥�
if (candidateTask.TaskType.GetTaskTypeGroup() != TaskTypeGroup.OutbondGroup)
{
- QuartzLogHelper.LogDebug(_logger, $"閫変腑闈炲嚭搴撲换鍔★紝浠诲姟鍙�: {candidateTask.TaskNum}锛屼换鍔＄被鍨�: {candidateTask.TaskType}", commonStackerCrane.DeviceName);
+ QuartzLogHelper.LogInfo(_logger, $"閫変腑闈炲嚭搴撲换鍔★紝浠诲姟鍙�: {candidateTask.TaskNum}锛屼换鍔＄被鍨�: {candidateTask.TaskType}", commonStackerCrane.DeviceName);
return candidateTask;
}
@@ -143,7 +146,7 @@
Dt_Task? selectedTask = TrySelectOutboundTask(candidateTask);
if (selectedTask != null)
{
- QuartzLogHelper.LogDebug(_logger, $"閫変腑鍑哄簱浠诲姟锛屼换鍔″彿: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
+ QuartzLogHelper.LogInfo(_logger, $"閫変腑鍑哄簱浠诲姟锛屼换鍔″彿: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
return selectedTask;
}
@@ -158,7 +161,7 @@
selectedTask = TrySelectOutboundTask(sameStationTask);
if (selectedTask != null)
{
- QuartzLogHelper.LogDebug(_logger, $"閫変腑鍚岀珯鍙板閫夊嚭搴撲换鍔★紝浠诲姟鍙�: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
+ QuartzLogHelper.LogInfo(_logger, $"閫変腑鍚岀珯鍙板閫夊嚭搴撲换鍔★紝浠诲姟鍙�: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
return selectedTask;
}
}
@@ -177,14 +180,14 @@
selectedTask = TrySelectOutboundTask(alternativeTask);
if (selectedTask != null)
{
- QuartzLogHelper.LogDebug(_logger, $"閫変腑澶囬�夊嚭搴撲换鍔★紝浠诲姟鍙�: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
+ QuartzLogHelper.LogInfo(_logger, $"閫変腑澶囬�夊嚭搴撲换鍔★紝浠诲姟鍙�: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
return selectedTask;
}
}
// 娌℃湁鍙敤鍑哄簱浠诲姟锛屽皾璇曡繑鍥炲叆搴撲换鍔�
var inboundTask = _taskService.QueryStackerCraneInTask(deviceCode);
- QuartzLogHelper.LogDebug(_logger, $"杩斿洖鍏ュ簱浠诲姟锛屼换鍔″彿: {inboundTask?.TaskNum}", commonStackerCrane.DeviceName);
+ QuartzLogHelper.LogInfo(_logger, $"杩斿洖鍏ュ簱浠诲姟锛屼换鍔″彿: {inboundTask?.TaskNum}", commonStackerCrane.DeviceName);
return inboundTask;
}
@@ -213,6 +216,14 @@
// 鍒ゆ柇 NextAddress 鍑哄簱绔欏彴鏄惁鍙敤
if (!IsOutTaskStationAvailable(outboundTask))
{
+ return null;
+ }
+
+ // 妫�鏌ユ槸鍚︽湁姝ｅ湪鎵ц鐨勮緭閫佺嚎浠诲姟鍘诲線鍚屼竴 TargetAddress
+ if (_taskService.HasExecutingTaskToTarget(outboundTask.Roadway, outboundTask.TargetAddress))
+ {
+ QuartzLogHelper.LogInfo(_logger, "TrySelectOutboundTask锛歍argetAddress: {TargetAddress} 宸叉湁姝ｅ湪鎵ц鐨勮緭閫佺嚎浠诲姟锛屼换鍔″彿: {TaskNum}",
+ $"TrySelectOutboundTask锛歍argetAddress: {outboundTask.TargetAddress} 宸叉湁姝ｅ湪鎵ц鐨勮緭閫佺嚎浠诲姟", outboundTask.Roadway, outboundTask.TargetAddress, outboundTask.TaskNum);
return null;
}
@@ -385,7 +396,7 @@
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
// 璇诲彇 CV_State锛孋V_State == 2 琛ㄧず绌洪棽
- byte cvState = conveyorLine.GetValue<ConveyorLineStatus, byte>(ConveyorLineStatus.CV_State, task.TargetAddress);
+ byte cvState = conveyorLine.GetValue<ConveyorLineDBNameNew, byte>(ConveyorLineDBNameNew.CV_State, task.TargetAddress);
bool isAvailable = cvState == 2;
QuartzLogHelper.LogInfo(_logger, "IsTargetAddressConveyorStationAvailable锛歍argetAddress: {TargetAddress}锛孋V_State: {CV_State}锛屾槸鍚︾┖闂�: {IsAvailable}锛屼换鍔″彿: {TaskNum}",
$"IsTargetAddressConveyorStationAvailable锛歍argetAddress: {task.TargetAddress}锛孋V_State: {cvState}锛屾槸鍚︾┖闂�: {isAvailable}", task.Roadway, task.TargetAddress, cvState, isAvailable, task.TaskNum);
--
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