From 1f361850d35ba47225951efbc49d592eea685cf8 Mon Sep 17 00:00:00 2001
From: z8018 <1282578289@qq.com>
Date: 星期三, 16 四月 2025 17:35:53 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Gantry/GantryJob.cs | 184 ++++++++++++++++++++++++++++++++++++++++------
1 files changed, 160 insertions(+), 24 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Gantry/GantryJob.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Gantry/GantryJob.cs"
index f3ce8eb..30a28cd 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Gantry/GantryJob.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Gantry/GantryJob.cs"
@@ -3,6 +3,7 @@
using System.Linq;
using System.Text;
using System.Threading.Tasks;
+using HslCommunication.WebSocket;
using Quartz;
using WIDESEAWCS_Common;
using WIDESEAWCS_Core.Helper;
@@ -23,37 +24,38 @@
private readonly ITaskRepository _taskRepository;
private readonly ITaskService _taskService;
private readonly IContainerItemRepository _containerItemRepository;
- public GantryJob(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository)
+ private readonly WebSocketServer _webSocketServer;
+ public GantryJob(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer)
{
_taskRepository = taskRepository;
_taskService = taskService;
_containerItemRepository = containerItemRepository;
+ _webSocketServer = webSocketServer;
}
public Task Execute(IJobExecutionContext context)
{
- try
+ bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
+ if (flag && value != null && value is OtherDevice)
{
- bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
- if (flag && value != null && value is OtherDevice)
+ OtherDevice otherDevice = (OtherDevice)value;
+ try
{
- OtherDevice otherDevice = (OtherDevice)value;
-
byte gantryStatus = otherDevice.GetValue<GantryDBName, byte>(GantryDBName.GantryStatus);
byte gantryAutoStatus = otherDevice.GetValue<GantryDBName, byte>(GantryDBName.GantryAutoStatus);
byte gantryWorkStatus = otherDevice.GetValue<GantryDBName, byte>(GantryDBName.GantryWorkStatus);
- if(gantryStatus == 1 && gantryAutoStatus == 3 && gantryWorkStatus == 0)
+ if (gantryStatus == 1 && gantryAutoStatus == 3 && gantryWorkStatus == 0)
{
// 閫昏緫澶勭悊
// 1. 璇诲彇浠诲姟
// 2. 浠诲姟鎵ц
// 3. 浠诲姟瀹屾垚
Dt_Task? task = _taskService.QueryAGantryUnExecuteTask(otherDevice.DeviceCode);
- if(task != null)
+ if (task != null)
{
string[] takePositions = task.CurrentAddress.Split("*");
- if(takePositions.Length != 5)
+ if (takePositions.Length != 5)
{
//WriteError
return Task.CompletedTask;
@@ -72,20 +74,127 @@
//WriteError
return Task.CompletedTask;
}
+ if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
+ {
+ if (lightStatusDic != LightStatusEnum.LightWorking)
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightWorking;
+ }
+ }
otherDevice.SetValue(GantryDBName.TwoHand, true);
-
otherDevice.SetValue(GantryDBName.TaskNum, task.TaskNum);
- //otherDevice.SetValue(GantryDBName.TakePosition, Convert.ToInt32(takePositions[0]));
- otherDevice.SetValue(GantryDBName.TakePositionX, Convert.ToInt32(takePositions[1]));
- otherDevice.SetValue(GantryDBName.TakePositionY, Convert.ToInt32(takePositions[2]));
- otherDevice.SetValue(GantryDBName.TakePositionZ, Convert.ToInt32(takePositions[3]));
- otherDevice.SetValue(GantryDBName.TakePositionR, Convert.ToInt32(takePositions[4]));
- //otherDevice.SetValue(GantryDBName.PutPosition, Convert.ToInt32(putPositions[0]));
- otherDevice.SetValue(GantryDBName.PutPositionX, Convert.ToInt32(putPositions[1]));
- otherDevice.SetValue(GantryDBName.PutPositionY, Convert.ToInt32(putPositions[2]));
- otherDevice.SetValue(GantryDBName.PutPositionZ, Convert.ToInt32(putPositions[3]));
- otherDevice.SetValue(GantryDBName.PutPositionR, Convert.ToInt32(putPositions[4]));
+ int takePoX = Convert.ToInt32(takePositions[1]);
+ int takePoY = Convert.ToInt32(takePositions[2]);
+ int takePoZ = OPositions.HPositions[takePositions[0]].PositionZ + 30 * 1000 - Convert.ToInt32(takePositions[3]) * 1000;
+
+ if(OPositions.HPositions[takePositions[0]].PositionZ == 0)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "鍙栬揣Z鍧愭爣璇诲彇涓�0");
+ return Task.CompletedTask;
+ }
+
+ int takePoR = 0;
+
+ int putPoX = Convert.ToInt32(putPositions[1]);
+ int putPoY = Convert.ToInt32(putPositions[2]);
+ int putPoZ = OPositions.HPositions[putPositions[0]].PositionZ - Convert.ToInt32(putPositions[3]) * 1000;
+
+ if (OPositions.HPositions[takePositions[0]].PositionZ == 0)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "鏀捐揣Z鍧愭爣璇诲彇涓�0");
+ return Task.CompletedTask;
+ }
+ int putPoR = 0;
+
+ if (Convert.ToInt32(takePositions[4]) == 1)
+ {
+ takePoX = takePoX * 1000 + OPositions.HPositions[takePositions[0]].PositionX;
+ takePoY = takePoY * 1000 + OPositions.HPositions[takePositions[0]].PositionY;
+ putPoX = putPoX * 1000 + OPositions.HPositions[putPositions[0]].PositionX;
+ putPoY = putPoY * 1000 + OPositions.HPositions[putPositions[0]].PositionY;
+ takePoR = OPositions.HPositions[takePositions[0]].PositionR;
+ putPoR = OPositions.HPositions[putPositions[0]].PositionR;
+
+ WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"鍙栬揣浣嶏細{takePositions[0]},鏀捐揣浣嶏細{putPositions[0]}{Environment.NewLine}鍙栬揣鍧愭爣锛歑:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}鏀捐揣鍧愭爣锛歑:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}璇诲彇PLC鍙栬揣鍧愭爣锛歑:{OPositions.HPositions[takePositions[0]].PositionX} Y:{OPositions.HPositions[takePositions[0]].PositionY} Z:{OPositions.HPositions[takePositions[0]].PositionZ} R:{OPositions.HPositions[takePositions[0]].PositionR}{Environment.NewLine}璇诲彇PLC鏀捐揣鍧愭爣锛歑:{OPositions.HPositions[putPositions[0]].PositionX} Y:{OPositions.HPositions[putPositions[0]].PositionY} Z:{OPositions.HPositions[putPositions[0]].PositionZ} R:{OPositions.HPositions[putPositions[0]].PositionR}");
+ }
+ else
+ {
+ takePoX = takePoX * 1000 + OPositions.ZPositions[takePositions[0]].PositionX;
+ takePoY = takePoY * 1000 + OPositions.ZPositions[takePositions[0]].PositionY;
+ putPoX = putPoX * 1000 + OPositions.ZPositions[putPositions[0]].PositionX;
+ putPoY = putPoY * 1000 + OPositions.ZPositions[putPositions[0]].PositionY;
+ takePoR = OPositions.ZPositions[takePositions[0]].PositionR;
+ putPoR = OPositions.ZPositions[putPositions[0]].PositionR;
+
+ WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"鍙栬揣浣嶏細{takePositions[0]},鏀捐揣浣嶏細{putPositions[0]}{Environment.NewLine}鍙栬揣鍧愭爣锛歑:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}鏀捐揣鍧愭爣锛歑:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}璇诲彇PLC鍙栬揣鍧愭爣锛歑:{OPositions.ZPositions[takePositions[0]].PositionX} Y:{OPositions.ZPositions[takePositions[0]].PositionY} Z:{OPositions.ZPositions[takePositions[0]].PositionZ} R:{OPositions.ZPositions[takePositions[0]].PositionR}{Environment.NewLine}璇诲彇PLC鏀捐揣鍧愭爣锛歑:{OPositions.ZPositions[putPositions[0]].PositionX} Y:{OPositions.ZPositions[putPositions[0]].PositionY} Z:{OPositions.ZPositions[putPositions[0]].PositionZ} R:{OPositions.ZPositions[putPositions[0]].PositionR}");
+ }
+
+ int maxX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxX);
+ int minX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinX);
+ int maxY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxY);
+ int minY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinY);
+ int maxZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxZ);
+ int minZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinZ);
+ int maxR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxR);
+ int minR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinR);
+
+ if(takePoX < minX || takePoX > maxX)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"X鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoX},鏈�澶у�硷細{maxX},鏈�灏忓�硷細{minX}");
+ return Task.CompletedTask;
+ }
+
+ if(putPoX < minX || putPoX > maxX)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"X鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoX},鏈�澶у�硷細{maxX},鏈�灏忓�硷細{minX}");
+ return Task.CompletedTask;
+ }
+
+ if (takePoY < minY || takePoY > maxY)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"Y鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoY},鏈�澶у�硷細{maxY},鏈�灏忓�硷細{minY}");
+ return Task.CompletedTask;
+ }
+
+ if (putPoY < minY || putPoY > maxY)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"Y鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoY},鏈�澶у�硷細{maxY},鏈�灏忓�硷細{minY}");
+ return Task.CompletedTask;
+ }
+
+ if (takePoZ < minZ || takePoZ > maxZ)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"Z鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoZ},鏈�澶у�硷細{maxZ},鏈�灏忓�硷細{minZ}");
+ return Task.CompletedTask;
+ }
+
+ if (putPoZ < minZ || putPoZ > maxZ)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"Z鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoZ},鏈�澶у�硷細{maxZ},鏈�灏忓�硷細{minZ}");
+ return Task.CompletedTask;
+ }
+
+ if (takePoR < minR || takePoR > maxR)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"R鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoR},鏈�澶у�硷細{maxR},鏈�灏忓�硷細{minR}");
+ return Task.CompletedTask;
+ }
+
+ if (putPoR < minR || putPoR > maxR)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"R鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoR},鏈�澶у�硷細{maxR},鏈�灏忓�硷細{minR}");
+ return Task.CompletedTask;
+ }
+
+ otherDevice.SetValue(GantryDBName.TakePositionX, takePoX);
+ otherDevice.SetValue(GantryDBName.TakePositionY, takePoY);
+ otherDevice.SetValue(GantryDBName.TakePositionZ, takePoZ);
+ otherDevice.SetValue(GantryDBName.TakePositionR, takePoR);
+ otherDevice.SetValue(GantryDBName.PutPositionX, putPoX);
+ otherDevice.SetValue(GantryDBName.PutPositionY, putPoY);
+ otherDevice.SetValue(GantryDBName.PutPositionZ, putPoZ);
+ otherDevice.SetValue(GantryDBName.PutPositionR, putPoR);
otherDevice.SetValue(GantryDBName.Length, containerItem.ItemLength);
otherDevice.SetValue(GantryDBName.Width, containerItem.ItemWidth);
otherDevice.SetValue(GantryDBName.Height, containerItem.ItemHeight);
@@ -96,15 +205,42 @@
_taskRepository.UpdateData(task);
}
}
- else if(gantryWorkStatus == 5)
+ else if (gantryWorkStatus == 5)
{
-
+ int currentTaskNum = otherDevice.GetValue<GantryDBName, int>(GantryDBName.CurrentTaskNum);
+ if (currentTaskNum > 0)
+ {
+ Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == currentTaskNum);
+ if (task != null)
+ {
+ _taskService.TaskComplete(task);
+
+ string[] putPositions = task.NextAddress.Split("*");
+ if (putPositions.Length != 5)
+ {
+ //WriteError
+ return Task.CompletedTask;
+ }
+ if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
+ {
+ if (lightStatusDic != LightStatusEnum.Ready)
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.Ready;
+ }
+ }
+ }
+ }
+ otherDevice.SetValue(GantryDBName.WorkType, 5);
}
}
+ catch (Exception ex)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", ex.Message, ex);
+ }
}
- catch (Exception ex)
+ else
{
-
+ WriteError(nameof(GantryJob), "鍙傛暟閿欒,鏈紶閫掕澶囧弬鏁版垨璁惧绫诲瀷閿欒");
}
return Task.CompletedTask;
}
--
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