From b6837f097e9cdb2645368aed4ddb03f580c331e4 Mon Sep 17 00:00:00 2001
From: z8018 <1282578289@qq.com>
Date: 星期一, 05 五月 2025 17:29:07 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Gantry/GantryJob.cs | 135 +++++++++++++++++++++++++++++++++-----------
1 files changed, 100 insertions(+), 35 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 30a28cd..7dfb4a9 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"
@@ -8,10 +8,12 @@
using WIDESEAWCS_Common;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_IBasicInfoRepository;
+using WIDESEAWCS_IBasicInfoService;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
+using WIDESEAWCS_QuartzJob.DTO;
namespace WIDESEAWCS_Tasks
{
@@ -25,12 +27,14 @@
private readonly ITaskService _taskService;
private readonly IContainerItemRepository _containerItemRepository;
private readonly WebSocketServer _webSocketServer;
- public GantryJob(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer)
+ private readonly IOrderDetailsService _orderDetailsService;
+ public GantryJob(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer, IOrderDetailsService orderDetailsService)
{
_taskRepository = taskRepository;
_taskService = taskService;
_containerItemRepository = containerItemRepository;
_webSocketServer = webSocketServer;
+ _orderDetailsService = orderDetailsService;
}
public Task Execute(IJobExecutionContext context)
@@ -57,38 +61,40 @@
string[] takePositions = task.CurrentAddress.Split("*");
if (takePositions.Length != 5)
{
- //WriteError
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "鍙栬揣浣嶇疆閿欒");
return Task.CompletedTask;
}
string[] putPositions = task.NextAddress.Split("*");
if (putPositions.Length != 5)
{
- //WriteError
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "鏀捐揣浣嶇疆閿欒");
return Task.CompletedTask;
}
Dt_ContainerItem containerItem = _containerItemRepository.QueryFirst(x => x.ItemCode == task.PalletCode);
if (containerItem == null)
{
- //WriteError
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "鏉挎潗灏哄鑾峰彇閿欒");
return Task.CompletedTask;
}
- if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
- {
- if (lightStatusDic != LightStatusEnum.LightWorking)
- {
- LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightWorking;
- }
- }
- otherDevice.SetValue(GantryDBName.TwoHand, true);
- otherDevice.SetValue(GantryDBName.TaskNum, task.TaskNum);
+ if (!LightStatusStorage.StationStautsDic.TryGetValue(putPositions[0],out bool stationStatus))
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", $"宸ヤ綅銆恵putPositions[0]}銆戞湁鏃犲灚鏉挎暟鎹敊璇�,{LightStatusStorage.StationStautsDic.Serialize()}");
+ return Task.CompletedTask;
+ }
+ if (!stationStatus)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", $"宸ヤ綅銆恵putPositions[0]}銆戞棤鍨澘,{LightStatusStorage.StationStautsDic.Serialize()}");
+ return Task.CompletedTask;
+ }
+
int takePoX = Convert.ToInt32(takePositions[1]);
int takePoY = Convert.ToInt32(takePositions[2]);
int takePoZ = OPositions.HPositions[takePositions[0]].PositionZ + 30 * 1000 - Convert.ToInt32(takePositions[3]) * 1000;
- if(OPositions.HPositions[takePositions[0]].PositionZ == 0)
+ if (OPositions.HPositions[takePositions[0]].PositionZ == 0)
{
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "鍙栬揣Z鍧愭爣璇诲彇涓�0");
return Task.CompletedTask;
@@ -107,45 +113,87 @@
}
int putPoR = 0;
- if (Convert.ToInt32(takePositions[4]) == 1)
+ int temp = 1000;
+ if(otherDevice.DeviceCode == "GT02")
{
- 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;
+ temp = -1000;
+ }
+
+ if (Convert.ToInt32(takePositions[4]) == 1 || Convert.ToInt32(takePositions[4]) == 2)
+ {
+ takePoX = takePoX * temp + OPositions.HPositions[takePositions[0]].PositionX;
+ takePoY = takePoY * temp + OPositions.HPositions[takePositions[0]].PositionY;
+ putPoX = putPoX * temp + OPositions.HPositions[putPositions[0]].PositionX;
+ putPoY = putPoY * temp + OPositions.HPositions[putPositions[0]].PositionY;
takePoR = OPositions.HPositions[takePositions[0]].PositionR;
- putPoR = OPositions.HPositions[putPositions[0]].PositionR;
+
+ if (Convert.ToInt32(takePositions[4]) == 1)
+ putPoR = OPositions.HPositions[putPositions[0]].PositionR;
+ else
+ {
+ if (otherDevice.DeviceCode == "GT03")
+ putPoR = otherDevice.Communicator.Read<int>("DB10.840");
+ else if (otherDevice.DeviceCode == "GT02")
+ putPoR = otherDevice.Communicator.Read<int>("DB10.836");
+ else if (otherDevice.DeviceCode == "GT01")
+ putPoR = otherDevice.Communicator.Read<int>("DB10.832");
+ else
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "R鍧愭爣閿欒");
+ return Task.CompletedTask;
+ }
+ }
WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"鍙栬揣浣嶏細{takePositions[0]},鏀捐揣浣嶏細{putPositions[0]}{Environment.NewLine}鍙栬揣鍧愭爣锛歑:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}鏀捐揣鍧愭爣锛歑:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}璇诲彇PLC鍙栬揣鍧愭爣锛歑:{OPositions.HPositions[takePositions[0]].PositionX} Y:{OPositions.HPositions[takePositions[0]].PositionY} Z:{OPositions.HPositions[takePositions[0]].PositionZ} R:{OPositions.HPositions[takePositions[0]].PositionR}{Environment.NewLine}璇诲彇PLC鏀捐揣鍧愭爣锛歑:{OPositions.HPositions[putPositions[0]].PositionX} Y:{OPositions.HPositions[putPositions[0]].PositionY} Z:{OPositions.HPositions[putPositions[0]].PositionZ} R:{OPositions.HPositions[putPositions[0]].PositionR}");
}
else
{
- takePoX = takePoX * 1000 + OPositions.ZPositions[takePositions[0]].PositionX;
- takePoY = takePoY * 1000 + OPositions.ZPositions[takePositions[0]].PositionY;
- putPoX = putPoX * 1000 + OPositions.ZPositions[putPositions[0]].PositionX;
- putPoY = putPoY * 1000 + OPositions.ZPositions[putPositions[0]].PositionY;
+ takePoX = takePoX * temp + OPositions.ZPositions[takePositions[0]].PositionX;
+ takePoY = takePoY * temp + OPositions.ZPositions[takePositions[0]].PositionY;
+ putPoX = putPoX * temp + OPositions.ZPositions[putPositions[0]].PositionX;
+ putPoY = putPoY * temp + OPositions.ZPositions[putPositions[0]].PositionY;
takePoR = OPositions.ZPositions[takePositions[0]].PositionR;
putPoR = OPositions.ZPositions[putPositions[0]].PositionR;
WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"鍙栬揣浣嶏細{takePositions[0]},鏀捐揣浣嶏細{putPositions[0]}{Environment.NewLine}鍙栬揣鍧愭爣锛歑:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}鏀捐揣鍧愭爣锛歑:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}璇诲彇PLC鍙栬揣鍧愭爣锛歑:{OPositions.ZPositions[takePositions[0]].PositionX} Y:{OPositions.ZPositions[takePositions[0]].PositionY} Z:{OPositions.ZPositions[takePositions[0]].PositionZ} R:{OPositions.ZPositions[takePositions[0]].PositionR}{Environment.NewLine}璇诲彇PLC鏀捐揣鍧愭爣锛歑:{OPositions.ZPositions[putPositions[0]].PositionX} Y:{OPositions.ZPositions[putPositions[0]].PositionY} Z:{OPositions.ZPositions[putPositions[0]].PositionZ} R:{OPositions.ZPositions[putPositions[0]].PositionR}");
}
+ #region
+ List<DeviceProDTO> devicePros = otherDevice.DeviceProDTOs.Where(x => x.DeviceProParamType == "MaxPosition").ToList();
- int maxX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxX);
- int minX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinX);
- int maxY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxY);
- int minY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinY);
- int maxZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxZ);
- int minZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinZ);
- int maxR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxR);
- int minR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinR);
+ DeviceProDTO? devicePro = devicePros.OrderBy(x => x.DeviceProOffset).FirstOrDefault();
+ if(devicePro == null)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "璁惧鍗忚鍙傛暟閿欒锛屾湭鎵惧埌鏈�澶ф渶灏忓潗鏍囧湴鍧�");
+ return Task.CompletedTask;
+ }
+ int[] data = otherDevice.Communicator.Read<int>(devicePro.DeviceProAddress, (ushort)(devicePros.Count));
- if(takePoX < minX || takePoX > maxX)
+ int maxX = data[0];
+ int minX = data[1];
+ int maxY = data[2];
+ int minY = data[3];
+ int maxZ = data[4];
+ int minZ = data[5];
+ int maxR = data[6];
+ int minR = data[7];
+
+ //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", $"X鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoX},鏈�澶у�硷細{maxX},鏈�灏忓�硷細{minX}");
return Task.CompletedTask;
}
- if(putPoX < minX || putPoX > maxX)
+ if (putPoX < minX || putPoX > maxX)
{
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"X鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoX},鏈�澶у�硷細{maxX},鏈�灏忓�硷細{minX}");
return Task.CompletedTask;
@@ -186,7 +234,10 @@
WriteError($"{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;
}
+ #endregion
+ otherDevice.SetValue(GantryDBName.TwoHand, true);
+ otherDevice.SetValue(GantryDBName.TaskNum, task.TaskNum);
otherDevice.SetValue(GantryDBName.TakePositionX, takePoX);
otherDevice.SetValue(GantryDBName.TakePositionY, takePoY);
otherDevice.SetValue(GantryDBName.TakePositionZ, takePoZ);
@@ -203,11 +254,19 @@
task.TaskState = TaskStatusEnum.Gantry_Executing.ObjToInt();
_taskRepository.UpdateData(task);
+
+ if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
+ {
+ if (lightStatusDic != LightStatusEnum.LightWorking)
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightWorking;
+ }
+ }
}
}
else if (gantryWorkStatus == 5)
{
- int currentTaskNum = otherDevice.GetValue<GantryDBName, int>(GantryDBName.CurrentTaskNum);
+ int currentTaskNum = otherDevice.GetValue<GantryDBName, int>(GantryDBName.TaskNum);
if (currentTaskNum > 0)
{
Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == currentTaskNum);
@@ -215,6 +274,12 @@
{
_taskService.TaskComplete(task);
+ Task.Run(() =>
+ {
+ _orderDetailsService.ToMes(task.PalletCode, 4);
+ });
+
+
string[] putPositions = task.NextAddress.Split("*");
if (putPositions.Length != 5)
{
--
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