From da5d613a85d97ecd826e343eae6d901806120a05 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期三, 18 三月 2026 14:18:36 +0800
Subject: [PATCH] fix: 修复输送线目标地址选择器并完善机械手任务地址映射
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs | 277 ++++++++++++++++++++-------------------------
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/ConveyorLineTargetAddressSelector.cs | 25 ++-
2 files changed, 138 insertions(+), 164 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
index 64f3c61..adc48a7 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
@@ -19,7 +19,9 @@
using MapsterMapper;
using Microsoft.Extensions.Configuration;
+using Microsoft.IdentityModel.Tokens;
using Newtonsoft.Json;
+using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
using WIDESEA_Core;
@@ -36,6 +38,8 @@
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
+using WIDESEAWCS_QuartzJob.DeviceBase;
+using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
@@ -48,6 +52,7 @@
private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
private readonly IMapper _mapper;
private readonly HttpClientHelper _httpClientHelper;
+ private readonly IRobotTaskService _robotTaskService;
private Dictionary<string, OrderByType> _taskOrderBy = new()
{
@@ -66,13 +71,14 @@
public List<int> TaskRobotTypes => typeof(TaskOtherTypeEnum).GetEnumIndexList();
- public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, HttpClientHelper httpClientHelper) : base(BaseDal)
+ public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, HttpClientHelper httpClientHelper, IRobotTaskService robotTaskService) : base(BaseDal)
{
_routerService = routerService;
_taskExecuteDetailService = taskExecuteDetailService;
_taskExecuteDetailRepository = taskExecuteDetailRepository;
_mapper = mapper;
_httpClientHelper = httpClientHelper;
+ _robotTaskService = robotTaskService;
}
/// <summary>
@@ -96,7 +102,13 @@
task.Creater = "WMS";
if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
{
- var taskType = 100;
+ int taskType = 0;
+ if (task.TaskType == (int)TaskOutboundTypeEnum.OutEmpty)
+ {
+ taskType = 100;
+ }
+ else
+ taskType = task.TaskType;
Dt_Router router = _routerService.QueryNextRoute(item.Roadway, item.TargetAddress, taskType);
//鏆備笉鑰冭檻澶氳矾寰�
if (router != null)
@@ -370,7 +382,7 @@
// 鏇存柊浠诲姟鏁版嵁
task.ModifyDate = DateTime.Now;
task.Modifier = "System";
- if(task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish)
+ if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish)
{
BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩鍒犻櫎);
}
@@ -408,12 +420,14 @@
}
else if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish && task.TaskType == (int)TaskOutboundTypeEnum.OutEmpty)
{
- return GetWMSRobotTask(task);
+ return _robotTaskService.GetWMSRobotTask(task);
}
else
{
- // return UpdateWMSTaskStatus(task);
- return WebResponseContent.Instance.OK();
+ if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutExecuting)
+ return WebResponseContent.Instance.OK();
+ else
+ return UpdateWMSTaskStatus(task);
}
}
@@ -506,8 +520,8 @@
private WebResponseContent GetWMSOutboundTrayTask(Dt_Task task)
{
var targetAddress = task.TargetAddress;
- var warehouseId = MapWarehouseIdConfigKey(task.TargetAddress);
- string sourceLineNo = ResolveRobotRuleValue(targetAddress, "AddressSourceLineNoMap", task.TargetAddress);
+ var warehouseId = _robotTaskService.MapWarehouseIdConfigKey(task.TargetAddress);
+ string sourceLineNo = _robotTaskService.ResolveRobotRuleValue(targetAddress, "AddressSourceLineNoMap", task.TargetAddress);
var result = _httpClientHelper.Post<WebResponseContent>(
nameof(ConfigKey.GetOutBoundTrayTaskAsync),
@@ -516,153 +530,17 @@
if (!result.IsSuccess || !result.Data.Status)
return WebResponseContent.Instance.Error($"鑾峰彇WMS绯荤粺绌烘墭鐩樺嚭搴撲换鍔″け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,閿欒淇℃伅:銆恵result.Data?.Message}銆�");
- var wMSTask = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.Data.ToString());
+ var wMSTask = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.Data?.ToString() ?? string.Empty);
- var tasks = new List<WMSTaskDTO>();
- tasks.Add(wMSTask);
-
+ var tasks = new List<WMSTaskDTO>
+ {
+ wMSTask
+ };
return ReceiveWMSTask(tasks);
}
- /// <summary>
- /// 鑾峰彇WMS绯荤粺鏈烘鎵嬩换鍔�
- /// </summary>
- /// <param name="task"></param>
- /// <returns></returns>
- private WebResponseContent GetWMSRobotTask(Dt_Task task)
- {
- string configKey = ResolveRobotTaskConfigKey(task.TargetAddress);
- StockDTO stock = BuildRobotTaskStock(task, configKey);
-
- var result = _httpClientHelper.Post<WebResponseContent>(configKey, stock.ToJson());
-
- if (!result.IsSuccess || !result.Data.Status)
- return WebResponseContent.Instance.Error($"鑾峰彇WMS绯荤粺鏈烘鎵嬩换鍔″け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,鐩爣鍦板潃:銆恵task.TargetAddress}銆�,鎺ュ彛:銆恵configKey}銆�,閿欒淇℃伅:銆恵result.Data?.Message}銆�");
-
- var tasks = JsonConvert.DeserializeObject<List<WMSTaskDTO>>(result.Data.Data?.ToString() ?? string.Empty);
- if (tasks == null || tasks.Count == 0)
- return WebResponseContent.Instance.Error($"鑾峰彇WMS绯荤粺鏈烘鎵嬩换鍔″け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,閿欒淇℃伅:銆怶MS鏈繑鍥炴湁鏁堜换鍔℃暟鎹��");
-
- return ReceiveWMSTask(tasks);
- }
-
- /// <summary>
- /// 鏍规嵁杈撻�佺嚎鐩爣鍦板潃瑙ｆ瀽鏈烘鎵嬩换鍔℃帴鍙ｃ��
- /// 瑙勫垯锛�
- /// 1. 浠庨厤缃鍙栫簿纭湴鍧�鏄犲皠锛圓ddressMap锛�
- /// 2. 鏈懡涓椂榛樿鎹㈢洏
- /// </summary>
- private string ResolveRobotTaskConfigKey(string? targetAddress)
- {
- string address = (targetAddress ?? string.Empty).Trim();
- if (string.IsNullOrWhiteSpace(address))
- return nameof(ConfigKey.CreateRobotChangePalletTask);
-
- var section = App.Configuration.GetSection("RobotTaskAddressRules");
- var addressMap = ReadRobotRuleMap(section.GetSection("AddressMap"));
- if (addressMap.TryGetValue(address, out string? exactTaskType))
- return MapRobotTaskTypeToConfigKey(exactTaskType);
-
- return nameof(ConfigKey.CreateRobotChangePalletTask);
- }
-
- private int MapWarehouseIdConfigKey(string? targetAddress)
- {
- return targetAddress switch
- {
- "11068" => 1,
- "11001" => 3,
- "11010" => 3,
- "10010" => 1,
- "10030" => 1,
- _ => 1
- };
- }
-
- /// <summary>
- /// 灏嗛厤缃换鍔＄被鍨嬭浆鎹负鎺ュ彛閰嶇疆閿��
- /// 鏀寔鍊硷細Split/Group/Change锛堝ぇ灏忓啓涓嶆晱鎰燂級
- /// </summary>
- private string MapRobotTaskTypeToConfigKey(string? taskType)
- {
- string type = (taskType ?? string.Empty).Trim().ToLowerInvariant();
- return type switch
- {
- "split" => nameof(ConfigKey.CreateRobotSplitPalletTask),
- "group" => nameof(ConfigKey.CreateRobotGroupPalletTask),
- _ => nameof(ConfigKey.CreateRobotChangePalletTask)
- };
- }
-
- /// <summary>
- /// 鏍规嵁鎺ュ彛绫诲瀷鏋勫缓鏈烘鎵嬩换鍔″叆鍙傘��
- /// </summary>
- private StockDTO BuildRobotTaskStock(Dt_Task task, string configKey)
- {
- string targetAddress = task.TargetAddress ?? string.Empty;
- string roadway = ResolveRobotRuleValue(targetAddress, "AddressRoadwayMap", task.Roadway);
- string sourceLineNo = ResolveRobotRuleValue(targetAddress, "AddressSourceLineNoMap", task.SourceAddress);
-
- var stock = new StockDTO
- {
- Roadway = roadway,
- SourceLineNo = sourceLineNo,
- TargetLineNo = task.TargetAddress,
- SourcePalletNo = task.PalletCode,
- TargetPalletNo = task.PalletCode
- };
-
- if (configKey == nameof(ConfigKey.CreateRobotSplitPalletTask))
- {
- stock.TargetPalletNo = string.Empty;
- }
- else if (configKey == nameof(ConfigKey.CreateRobotGroupPalletTask))
- {
- stock.SourcePalletNo = string.Empty;
- }
- else if (configKey == nameof(ConfigKey.CreateRobotChangePalletTask))
- {
- IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == sourceLineNo));
- if (device != null)
- {
- CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
- var barcode = conveyorLine.GetValue<ConveyorLineDBNameNew, string>(ConveyorLineDBNameNew.Barcode, sourceLineNo);
- stock.SourcePalletNo = string.IsNullOrEmpty(barcode) ? string.Empty : barcode;
- }
- }
-
- return stock;
- }
-
- /// <summary>
- /// 鏍规嵁鐩爣鍦板潃鎸夈�岀簿纭� > 鍥為��鍊笺�嶈В鏋愯鍒欏�笺��
- /// </summary>
- private string ResolveRobotRuleValue(string? targetAddress, string addressSectionName, string? fallback)
- {
- string address = (targetAddress ?? string.Empty).Trim();
- string defaultValue = fallback ?? string.Empty;
- if (string.IsNullOrWhiteSpace(address))
- return defaultValue;
-
- var section = App.Configuration.GetSection("RobotTaskAddressRules");
- var addressMap = ReadRobotRuleMap(section.GetSection(addressSectionName));
- if (addressMap.TryGetValue(address, out string? value))
- return value;
-
- return defaultValue;
- }
-
- /// <summary>
- /// 璇诲彇瑙勫垯鏄犲皠娈点��
- /// </summary>
- private Dictionary<string, string> ReadRobotRuleMap(IConfigurationSection section)
- {
- return section
- .GetChildren()
- .Where(x => !string.IsNullOrWhiteSpace(x.Key) && !string.IsNullOrWhiteSpace(x.Value))
- .ToDictionary(x => x.Key.Trim(), x => x.Value!.Trim());
- }
+
/// <summary>
/// 浠嶹MS绯荤粺鑾峰彇鍏ュ簱鐩爣鍦板潃
@@ -744,7 +622,8 @@
string oldCurrentPos = task.CurrentAddress;
string oldNextPos = task.NextAddress;
- Dt_Router routers = _routerService.QueryNextRoute(task.CurrentAddress);
+
+ Dt_Router routers = _routerService.QueryNextRoute(oldNextPos, task.TargetAddress);
if (routers == null) throw new Exception($"鏈壘鍒拌澶囪矾鐢变俊鎭�");
task.CurrentAddress = task.NextAddress;
@@ -779,13 +658,20 @@
if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskStatus == (int)TaskOutStatusEnum.SC_OutExecuting)
{
- List<Dt_Router> routers = _routerService.QueryNextRoutes(task.NextAddress, task.TargetAddress);
- if (!routers.Any()) return WebResponseContent.Instance.Error($"鏈壘鍒拌澶囪矾鐢变俊鎭�");
+ int taskType = 0;
+ if (task.TaskType == (int)TaskOutboundTypeEnum.OutEmpty)
+ {
+ taskType = 100;
+ }
+ else
+ taskType = task.TaskType;
+ Dt_Router router = _routerService.QueryNextRoute(task.NextAddress, task.TargetAddress, taskType);
+ if (router == null) return WebResponseContent.Instance.Error($"鏈壘鍒拌澶囪矾鐢变俊鎭�");
int nextStatus = task.TaskStatus.GetNextNotCompletedStatus<TaskOutStatusEnum>();
task.TaskStatus = nextStatus;
task.CurrentAddress = task.NextAddress;
- task.NextAddress = routers.FirstOrDefault().ChildPosi;
+ task.NextAddress = router.ChildPosi;
task.ModifyDate = DateTime.Now;
task.Modifier = "System";
@@ -1005,4 +891,87 @@
{
Barcode
}
+ public class ConveyorLineTaskCommandNew : DeviceCommand
+ {
+ /// <summary>
+ /// 浠诲姟鍙�
+ /// </summary>
+ public short TaskNo { get; set; }
+
+ /// <summary>
+ /// 婧愪綅缃� 寮�濮嬪湴鍧�
+ /// </summary>
+ public short Source { get; set; }
+
+ /// <summary>
+ /// 鐩爣浣嶇疆
+ /// </summary>
+ public short Target { get; set; }
+
+ /// <summary>
+ /// 绠卞瀷
+ /// </summary>
+ public byte BoxType { get; set; }
+
+ /// <summary>
+ /// 杈撻�佺嚎鐘舵�� 璁惧绌洪棽鐘舵��
+ /// </summary>
+ public byte CV_State { get; set; }
+
+ /// <summary>
+ /// 杈撻�佺嚎閿欒浠ｇ爜
+ /// </summary>
+ public byte CV_ERRCode { get; set; }
+
+ /// <summary>
+ /// WCS灏辩华鏍囧織 WCS涓嬪彂瀹屾垚鏃讹紝瑙﹀彂涓�1
+ /// </summary>
+ public byte WCS_STB { get; set; }
+
+ /// <summary>
+ /// WCS搴旂瓟鏍囧織 WCS鏀跺埌瀹屾垚鏃讹紝瑙﹀彂涓�1
+ /// </summary>
+ public byte WCS_ACK { get; set; }
+
+ /// <summary>
+ /// PLC灏辩华鏍囧織 瀹屾垚浠诲姟鏃讹紝瑙﹀彂涓�1
+ /// </summary>
+ public byte PLC_STB { get; set; }
+
+ /// <summary>
+ /// PLC搴旂瓟鏍囧織 鏀跺埌浠诲姟鏃讹紝瑙﹀彂涓�1
+ /// </summary>
+ public byte PLC_ACK { get; set; }
+
+ /// <summary>
+ /// PLC璇锋眰鏍囧織 鍏ュ簱绔欏彴锛屽埌浣嶅啓1
+ /// </summary>
+ public byte PLC_REQ { get; set; }
+
+ /// <summary>
+ /// WCS閿欒浠ｇ爜
+ /// </summary>
+ public byte WCS_ERRCode { get; set; }
+
+ /// <summary>
+ /// WCS鐗规畩鏍囧織 (鏃嬭浆鏍囪瘑銆佸己鍒舵斁琛屻�佸惊鐜�佺壒娈婄敵璇枫�佹槸鍚﹀彔鐩樸�佹槸鍚﹀牭濉�)
+ /// </summary>
+ public byte WCS_Special { get; set; }
+
+ /// <summary>
+ /// 璁惧鑷姩妯″紡 鎵嬪姩1锛岃嚜鍔�2
+ /// </summary>
+ public byte Equ_Auto { get; set; }
+
+ /// <summary>
+ /// 灏炬澘鏍囧織
+ /// </summary>
+ public byte Last_pallet { get; set; }
+
+ /// <summary>
+ /// 鏉＄爜锛�22涓瓧绗︼級
+ /// </summary>
+ [DataLength(22)]
+ public string Barcode { get; set; }
+ }
}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/ConveyorLineTargetAddressSelector.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/ConveyorLineTargetAddressSelector.cs
index 2983836..16f7735 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/ConveyorLineTargetAddressSelector.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/ConveyorLineTargetAddressSelector.cs
@@ -9,6 +9,11 @@
private const string ConstraintMachineName = "鎷樻潫鏈�";
private const string PinMachineName = "鎻掓嫈閽夋満";
+ // 鎷樻潫鏈虹偣浣�
+ private static readonly List<string> ConstraintMachineCodes = new List<string> { "10180", "20090" };
+ // 鎻掓嫈閽夋満鐐逛綅
+ private static readonly List<string> PinMachineCodes = new List<string> { "10190", "20100" };
+
public void HandleInboundNextAddress(CommonConveyorLine conveyorLine, string nextAddress, string childDeviceCode)
{
HandleDeviceRequest(conveyorLine, nextAddress, childDeviceCode, isUpper: true);
@@ -23,7 +28,7 @@
{
var devices = Storage.Devices;
- if (string.Equals(nextAddress, ConstraintMachineName, StringComparison.Ordinal))
+ if (ConstraintMachineCodes.Contains(nextAddress))
{
ConstraintMachine? constraint = devices.OfType<ConstraintMachine>().FirstOrDefault(d => d.DeviceName == ConstraintMachineName);
if (constraint == null)
@@ -35,11 +40,11 @@
conveyorLine,
childDeviceCode,
getMaterialRequest: () => isUpper
- ? constraint.GetValue<ConstraintMachineDBName, bool>(ConstraintMachineDBName.MaterialRequestUpper)
- : constraint.GetValue<ConstraintMachineDBName, bool>(ConstraintMachineDBName.MaterialRequestLower),
+ ? constraint.GetValue<ConstraintMachineDBName, short>(ConstraintMachineDBName.MaterialRequestUpper) != 0
+ : constraint.GetValue<ConstraintMachineDBName, short>(ConstraintMachineDBName.MaterialRequestLower) != 0,
getOutputRequest: () => isUpper
- ? constraint.GetValue<ConstraintMachineDBName, bool>(ConstraintMachineDBName.OutputRequestUpper)
- : constraint.GetValue<ConstraintMachineDBName, bool>(ConstraintMachineDBName.OutputRequestLower),
+ ? constraint.GetValue<ConstraintMachineDBName, short>(ConstraintMachineDBName.OutputRequestUpper) != 0
+ : constraint.GetValue<ConstraintMachineDBName, short>(ConstraintMachineDBName.OutputRequestLower) != 0,
setOutputReady: outputReq =>
{
if (isUpper)
@@ -52,7 +57,7 @@
}
});
}
- else if (string.Equals(nextAddress, PinMachineName, StringComparison.Ordinal))
+ else if (PinMachineCodes.Contains(nextAddress))
{
PinMachine? pinMachine = devices.OfType<PinMachine>().FirstOrDefault(d => d.DeviceName == PinMachineName);
if (pinMachine == null)
@@ -64,11 +69,11 @@
conveyorLine,
childDeviceCode,
getMaterialRequest: () => isUpper
- ? pinMachine.GetValue<PinMachineDBName, bool>(PinMachineDBName.MaterialRequestUpper)
- : pinMachine.GetValue<PinMachineDBName, bool>(PinMachineDBName.MaterialRequestLower),
+ ? pinMachine.GetValue<PinMachineDBName, short>(PinMachineDBName.MaterialRequestUpper) != 0
+ : pinMachine.GetValue<PinMachineDBName, short>(PinMachineDBName.MaterialRequestLower) != 0,
getOutputRequest: () => isUpper
- ? pinMachine.GetValue<PinMachineDBName, bool>(PinMachineDBName.OutputRequestUpper)
- : pinMachine.GetValue<PinMachineDBName, bool>(PinMachineDBName.OutputRequestLower),
+ ? pinMachine.GetValue<PinMachineDBName, short>(PinMachineDBName.OutputRequestUpper) != 0
+ : pinMachine.GetValue<PinMachineDBName, short>(PinMachineDBName.OutputRequestLower) != 0,
setOutputReady: outputReq =>
{
if (isUpper)
--
Gitblit v1.9.3