From 2d2d6bf8565f5b89fc9ee054bf6e62f9592f8673 Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <huangxiaoqiang@hnkhzn.com>
Date: 星期一, 23 六月 2025 08:37:37 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs | 300 +++++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 246 insertions(+), 54 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 0f28fa5..9358c77 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"
@@ -1,20 +1,18 @@
-锘縰sing Autofac.Core;
-using Microsoft.AspNetCore.Components.Routing;
-using Microsoft.AspNetCore.Hosting;
-using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
+锘縰sing Newtonsoft.Json;
+using OfficeOpenXml.FormulaParsing.Excel.Functions.Logical;
using Quartz;
-using System;
+using SqlSugar;
+using SqlSugar.Extensions;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
-using System.Diagnostics.Eventing.Reader;
-using System.Linq;
-using System.Reflection.Metadata;
-using System.Text;
using System.Threading.Tasks;
-using WIDESEA_Common.Log;
-using WIDESEAWCS_Common.TaskEnum;
-using WIDESEAWCS_Core;
-using WIDESEAWCS_Core.Enums;
+using WIDESEA_Core.Enums;
+using WIDESEAWCS_Core.Caches;
+using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_Core.HttpContextUser;
+using WIDESEAWCS_DTO.Enum;
+using WIDESEAWCS_IBasicInfoRepository;
+using WIDESEAWCS_ISystemRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
@@ -23,8 +21,12 @@
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
+using WIDESEAWCS_QuartzJob.StackerCrane;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
+using WIDESEAWCS_SignalR;
using WIDESEAWCS_Tasks.StackerCraneJob;
+using static Microsoft.EntityFrameworkCore.DbLoggerCategory.Database;
+using ICacheService = WIDESEAWCS_Core.Caches.ICacheService;
namespace WIDESEAWCS_Tasks
{
@@ -34,14 +36,18 @@
private readonly ITaskService _taskService;
private readonly ITaskExecuteDetailService _taskExecuteDetailService;
private readonly ITaskRepository _taskRepository;
- private readonly IRouterService _routerService;
+ private readonly IDt_StationManagerRepository _stationManagerRepository;
+ private readonly ICacheService _cacheService;
+ private readonly INoticeService _noticeService;
- public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
+ public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository,IDt_StationManagerRepository stationManagerRepository, ICacheService cacheService, INoticeService noticeService)
{
_taskService = taskService;
_taskExecuteDetailService = taskExecuteDetailService;
_taskRepository = taskRepository;
- _routerService = routerService;
+ _stationManagerRepository = stationManagerRepository;
+ _cacheService = cacheService;
+ _noticeService = noticeService;
}
public Task Execute(IJobExecutionContext context)
@@ -51,14 +57,50 @@
CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
if (commonStackerCrane != null)
{
- //娣诲姞鍒ゆ柇agv鐘舵�佹槸鍚﹀彲涓嬪彂
- if (ReadAGVstatus(commonStackerCrane) == 1 && ReadAGVworkingmode(commonStackerCrane) == 1)
+ if (!commonStackerCrane.IsEventSubscribed)
{
- GetTask(commonStackerCrane);
+ commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//璁㈤槄浠诲姟瀹屾垚浜嬩欢
}
- //澶勭悊agv鏄惁瀹屾垚浠诲姟
-
+ if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
+ {
+ commonStackerCrane.CheckStackerCraneTaskCompleted();//妫�娴嬪爢鍨涙満浠诲姟瀹屾垚浜嬩欢
+
+ if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Idle)
+ {
+ if (commonStackerCrane.GetValue<StackerCraneDBName, float>(StackerCraneDBName.Electricity) > 20)
+ {
+ GetTask(commonStackerCrane);
+ }
+ }
+ }
+
+ #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();
+ object obj = new
+ {
+ commonStackerCrane.StackerCraneStatusDes,
+ commonStackerCrane.StackerCraneAutoStatusDes,
+ commonStackerCrane.StackerCraneWorkStatusDes,
+ commonStackerCrane.DeviceCode,
+ commonStackerCrane.DeviceName,
+ commonStackerCrane.CurrentTaskNum,
+ commonStackerCrane.LastTaskNum,
+ SourceAddress = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.StartAddress),
+ TargetAddress = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.EndAddress),
+ Command = commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.Command),
+ Electricity = commonStackerCrane.GetValue<StackerCraneDBName, float>(StackerCraneDBName.Electricity),
+ };
+
+ _noticeService.StackerData(userIds?.FirstOrDefault(), userTokenIds, new { commonStackerCrane.DeviceName, data = obj });
+ }
+
+ #endregion 璋冪敤浜嬩欢鎬荤嚎閫氱煡鍓嶇
}
}
catch (Exception ex)
@@ -73,17 +115,14 @@
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
- private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
+ private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, StackerCraneTaskCompletedEventArgs e)
{
- CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
+ CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
if (commonStackerCrane != null)
{
- if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
- {
- Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
- _taskService.StackCraneTaskCompleted(e.TaskNum);
- commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
- }
+ _taskService.StackCraneTaskCompleted(e.TaskNum);
+ commonStackerCrane.SetValue(StackerCraneDBName.TaskCompleted, 1);
+
}
}
@@ -98,40 +137,187 @@
task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
if (task != null)
{
- StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
- if (stackerCraneTaskCommand != null)
+ if (task.Roadway == "3")
{
- bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
- if (sendFlag)
+ if (AGVToSandyEdgeRead(commonStackerCrane))
+ {
+ WriteAGVTask(task, commonStackerCrane);
+ }
+ else
+ {
+ AGVToSandyEdge(commonStackerCrane);
+ }
+
+ }
+ else if (task.Roadway == "2")
+ {
+ if (AGVToEdgeBandingRead(commonStackerCrane))
+ {
+ WriteAGVTask(task, commonStackerCrane);
+ }
+ else
+ {
+ AGVToEdgeBanding(commonStackerCrane);
+ }
+ }
+ else
+ {
+ WriteAGVTask(task, commonStackerCrane);
+ }
+
+ }
+ }
+
+ public void WriteAGVTask(Dt_Task task, CommonStackerCrane commonStackerCrane)
+ {
+ StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
+ if (stackerCraneTaskCommand != null)
+ {
+ bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
+ Thread.Sleep(2000);
+ if (ReadReceived(commonStackerCrane) == 1)
+ {
+ if (Clear(commonStackerCrane))
{
_taskService.UpdateTaskStatusToNext(task.TaskNum);
}
+
}
}
}
-
- //璇诲彇AGV鐘舵��
- public int ReadAGVstatus(CommonStackerCrane commonStackerCrane)
+ /// <summary>
+ /// 璇诲彇AGV鏀跺埌浣滀笟淇″彿
+ /// </summary>
+ /// <param name="commonStackerCrane"></param>
+ /// <returns></returns>
+ public int ReadReceived(CommonStackerCrane commonStackerCrane)
{
- var deviceProDTO = commonStackerCrane.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AGVCraneStatus");
- return deviceProDTO != null ? commonStackerCrane.Communicator.Read<int>(deviceProDTO.DeviceProAddress) : 99;
- }
- //璇诲彇AGV宸ヤ綔妯″紡
- public int ReadAGVworkingmode(CommonStackerCrane commonStackerCrane)
- {
- var deviceProDTO = commonStackerCrane.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AGVWorkingmode");
- return deviceProDTO != null ? commonStackerCrane.Communicator.Read<int>(deviceProDTO.DeviceProAddress) : 99;
+ return commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.Received);
}
- //璇诲彇浠诲姟鍙�
- public int Readtasknumber(CommonStackerCrane commonStackerCrane)
+ /// <summary>
+ /// 璋冨害AGV鍘诲皝杈瑰尯鍩�
+ /// </summary>
+ /// <param name="commonStackerCrane"></param>
+ /// <param name="value"></param>
+ public void AGVToEdgeBanding(CommonStackerCrane commonStackerCrane)
{
- var deviceProDTO = commonStackerCrane.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AGVWorkingmode");
- return deviceProDTO != null ? commonStackerCrane.Communicator.Read<int>(deviceProDTO.DeviceProAddress) : 99;
+ DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == "AreaWrite" && x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AreaWrite").OrderBy(x => x.DeviceProOffset).FirstOrDefault();
+ commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress, true);
+ commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 3);
+ commonStackerCrane.SetValue(StackerCraneDBName.WriteConfirm, 1);
+ Thread.Sleep(1000);
+ if (ReadReceived(commonStackerCrane) == 1)
+ {
+ Clear(commonStackerCrane);
+ }
}
+ /// <summary>
+ /// 璇诲彇AGV鏄惁鍦ㄧ爞杈�
+ /// </summary>
+ /// <param name="commonStackerCrane"></param>
+ /// <returns></returns>
+ public bool AGVToSandyEdgeRead(CommonStackerCrane commonStackerCrane)
+ {
+ DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == "AreaRead" && x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AreaRead").OrderBy(x => x.DeviceProOffset).FirstOrDefault();
+ if (devicePro == null)
+ {
+ ConsoleHelper.WriteColorLine($"銆愭湭鎵惧埌閰嶇疆璋冨害AGV鍖哄煙鍗忚銆�", ConsoleColor.Magenta);
+ return false;
+ }
+
+ string[] x = devicePro.DeviceProAddress.Split('.');
+
+ x[x.Length - 1] = (int.Parse(x[x.Length - 1]) + 1).ToString();
+
+ string DeviceProAddress = string.Join(".", x);
+ bool read = commonStackerCrane.Communicator.Read<bool>(DeviceProAddress);
+
+ return read;
+ }
+
+ public bool Clear(CommonStackerCrane commonStackerCrane)
+ {
+ DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == "WriteConfirm" && x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "WriteConfirm").OrderBy(x => x.DeviceProOffset).FirstOrDefault();
+
+ if (devicePro == null)
+ {
+ ConsoleHelper.WriteColorLine($"銆愭湭鎵惧埌閰嶇疆璋冨害AGV鍖哄煙鍗忚銆�", ConsoleColor.Magenta);
+ return false;
+ }
+ commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress,Convert.ToInt16(0));
+
+ for (int i = 0; i < 6; i++)
+ {
+ if (i == 5)
+ {
+ return false;
+ }
+ else
+ {
+ int read = commonStackerCrane.Communicator.Read<int>(devicePro.DeviceProAddress);
+ if (read == 0)
+ {
+ return true;
+ }
+ else
+ {
+ commonStackerCrane.Communicator.Write(devicePro.DeviceProAddress, Convert.ToInt16(0));
+ }
+ }
+ }
+ return false;
+ }
+
+ /// <summary>
+ /// 璇诲彇AGV鏄惁鍦ㄥ皝杈�
+ /// </summary>
+ /// <param name="commonStackerCrane"></param>
+ /// <returns></returns>
+ public bool AGVToEdgeBandingRead(CommonStackerCrane commonStackerCrane)
+ {
+ DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == "AreaRead" && x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AreaRead").OrderBy(x => x.DeviceProOffset).FirstOrDefault();
+
+ if (devicePro == null)
+ {
+ ConsoleHelper.WriteColorLine($"銆愭湭鎵惧埌閰嶇疆璋冨害AGV鍖哄煙鍗忚銆�", ConsoleColor.Magenta);
+ return false;
+ }
+ return commonStackerCrane.Communicator.Read<bool>(devicePro.DeviceProAddress);
+ }
+
+ /// <summary>
+ /// 璋冨害AGV鍘荤爞杈瑰尯鍩�
+ /// </summary>
+ /// <param name="commonStackerCrane"></param>
+ /// <param name="value"></param>
+ public void AGVToSandyEdge(CommonStackerCrane commonStackerCrane)
+ {
+ DeviceProDTO? devicePro = commonStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == "AreaWrite" && x.DeviceChildCode == commonStackerCrane.DeviceCode && x.DeviceProParamName == "AreaWrite").OrderBy(x => x.DeviceProOffset).FirstOrDefault();
+
+ if (devicePro == null)
+ {
+ ConsoleHelper.WriteColorLine($"銆愭湭鎵惧埌閰嶇疆璋冨害AGV鍖哄煙鍗忚銆�", ConsoleColor.Magenta);
+ return;
+ }
+
+ string[] x = devicePro.DeviceProAddress.Split('.');
+
+ x[x.Length - 1] = (int.Parse(x[x.Length - 1]) + 1).ToString();
+
+ string DeviceProAddress = string.Join(".", x);
+ commonStackerCrane.Communicator.Write(DeviceProAddress, true);
+ commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 4);
+ commonStackerCrane.SetValue(StackerCraneDBName.WriteConfirm, 1);
+ Thread.Sleep(1000);
+ if (ReadReceived(commonStackerCrane) == 1)
+ {
+ Clear(commonStackerCrane);
+ }
+ }
/// <summary>
/// 浠诲姟瀹炰綋杞崲鎴愬懡浠odel
/// </summary>
@@ -140,17 +326,23 @@
/// <exception cref="Exception"></exception>
public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
{
+ var SourceAddress = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
+ var TargetAddress = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
+
+ if(SourceAddress == null || TargetAddress == null)
+ {
+ ConsoleHelper.WriteColorLine($"銆愪换鍔JsonConvert.SerializeObject(task)}鏈壘鍒扮珯鍙伴厤缃��", ConsoleColor.Magenta);
+ return null;
+ }
StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();
stackerCraneTaskCommand.TaskNum = task.TaskNum;
stackerCraneTaskCommand.WorkType = 1;
- stackerCraneTaskCommand.TrayType = 0;
- stackerCraneTaskCommand.StartAdder = Convert.ToInt16(task.SourceAddress);
- stackerCraneTaskCommand.EndAdder = Convert.ToInt16(task.TargetAddress);
+ stackerCraneTaskCommand.WriteConfirm = 1;
+ stackerCraneTaskCommand.StartAddress = Convert.ToInt16(SourceAddress.stationCode);
+ stackerCraneTaskCommand.EndAddress = Convert.ToInt16(TargetAddress.stationCode);
- return stackerCraneTaskCommand;
-
-
+ return stackerCraneTaskCommand;
}
}
}
--
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