From e46aa927d231af83724683c7286d9db503e24cf7 Mon Sep 17 00:00:00 2001
From: z8018 <1282578289@qq.com>
Date: 星期二, 10 六月 2025 11:46:20 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Gantry/GantryJob.cs | 220 +++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 175 insertions(+), 45 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 51104ea..bb389c8 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"
@@ -18,8 +18,25 @@
namespace WIDESEAWCS_Tasks
{
/// <summary>
- /// 榫欓棬鏋�
+ /// 榫欓棬鏋朵换鍔″鐞嗙被锛岀户鎵胯嚜JobBase骞跺疄鐜癐Job鎺ュ彛 <br/>
+ /// 鐗规�DisallowConcurrentExecution]琛ㄧず绂佹骞跺彂鎵ц
/// </summary>
+ /// <remarks>
+ /// 涓昏鍔熻兘锛� <br/>
+ /// 1. 妫�鏌ラ緳闂ㄥ悐鐘舵�侊紙鑷姩鐘舵��/宸ヤ綔鐘舵�侊級 <br/>
+ /// 2. 澶勭悊鍙栬揣/鏀捐揣浠诲姟锛� <br/>
+ /// - 楠岃瘉浣嶇疆鍧愭爣鏍煎紡 <br/>
+ /// - 鑾峰彇鏉挎潗灏哄淇℃伅 <br/>
+ /// - 鏍￠獙宸ヤ綅鍜屽鍣ㄤ俊鎭� <br/>
+ /// - 璁＄畻骞舵牎楠屽潗鏍囪寖鍥� <br/>
+ /// - 鏇存柊PLC鎺у埗鍙傛暟 <br/>
+ /// 3. 澶勭悊浠诲姟瀹屾垚鐘舵�侊細 <br/>
+ /// - 鏇存柊浠诲姟鐘舵�� <br/>
+ /// - 閫氱煡MES绯荤粺 <br/>
+ /// - 閲嶇疆宸ヤ綅鐘舵�� <br/>
+ /// 4. 閿欒澶勭悊锛氳褰曞悇绉嶆牎楠屽け璐ョ殑寮傚父鎯呭喌 <br/>
+ /// 渚濊禆澶氫釜浠撳偍鍜屾湇鍔℃帴鍙ｈ繘琛屾暟鎹搷浣�
+ /// </remarks>
[DisallowConcurrentExecution]
public class GantryJob : JobBase, IJob
{
@@ -28,21 +45,25 @@
private readonly IContainerItemRepository _containerItemRepository;
private readonly WebSocketServer _webSocketServer;
private readonly IOrderDetailsService _orderDetailsService;
- public GantryJob(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer, IOrderDetailsService orderDetailsService)
+ private readonly IContainerRepository _containerRepository;
+ private readonly IOrderContainerRepository _orderContainerRepository;
+
+ public GantryJob(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer, IOrderDetailsService orderDetailsService, IContainerRepository containerRepository, IOrderContainerRepository orderContainerRepository)
{
_taskRepository = taskRepository;
_taskService = taskService;
_containerItemRepository = containerItemRepository;
_webSocketServer = webSocketServer;
_orderDetailsService = orderDetailsService;
+ _containerRepository = containerRepository;
+ _orderContainerRepository = orderContainerRepository;
}
public Task Execute(IJobExecutionContext context)
{
bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
- if (flag && value != null && value is OtherDevice)
+ if (flag && value is OtherDevice otherDevice)
{
- OtherDevice otherDevice = (OtherDevice)value;
try
{
byte gantryStatus = otherDevice.GetValue<GantryDBName, byte>(GantryDBName.GantryStatus);
@@ -51,13 +72,10 @@
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)
{
+ #region 鍙栬揣浣嶇疆鍒ゆ柇
string[] takePositions = task.CurrentAddress.Split("*");
if (takePositions.Length != 5)
{
@@ -69,7 +87,9 @@
}
return Task.CompletedTask;
}
+ #endregion
+ #region 鏀捐揣浣嶇疆鍒ゆ柇
string[] putPositions = task.NextAddress.Split("*");
if (putPositions.Length != 5)
{
@@ -81,7 +101,9 @@
}
return Task.CompletedTask;
}
+ #endregion
+ #region 鏉挎潗灏哄鑾峰彇
Dt_ContainerItem containerItem = _containerItemRepository.QueryFirst(x => x.ItemCode == task.PalletCode);
if (containerItem == null)
{
@@ -91,10 +113,52 @@
task.ExceptionMessage = "鏉挎潗灏哄鑾峰彇閿欒";
_taskRepository.UpdateData(task);
}
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
+ #endregion
- if (!LightStatusStorage.StationStautsDic.TryGetValue(putPositions[0],out bool stationStatus))
+ #region 鏀捐揣宸ヤ綅鍒ゆ柇
+ Dt_Container container = _containerRepository.QueryFirst(x => x.ContainerCode == putPositions[0]);
+ if (container == null)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", $"鏀捐揣宸ヤ綅銆恵takePositions[0]}銆戞湭鎵惧埌");
+ if (task.ExceptionMessage?.Contains($"鏀捐揣宸ヤ綅銆恵takePositions[0]}銆戞湭鎵惧埌") ?? true)
+ {
+ task.ExceptionMessage = $"鏀捐揣宸ヤ綅銆恵takePositions[0]}銆戞湭鎵惧埌";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+ #endregion
+
+ #region 宸ヤ綅璁㈠崟淇℃伅鍒ゆ柇
+ Dt_OrderContainer orderContainer = _orderContainerRepository.QueryFirst(x => x.ContainerCode == putPositions[0] && x.ContainerId == container.Id);
+ if (orderContainer == null && container.ContainerType != ContainerTypeEnum.ExceptionContainer.ObjToInt())
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", $"鏀捐揣宸ヤ綅銆恵takePositions[0]}銆戞湭鎵惧埌璁㈠崟淇℃伅");
+ if (task.ExceptionMessage?.Contains($"鏀捐揣宸ヤ綅銆恵takePositions[0]}銆戞湭鎵惧埌璁㈠崟淇℃伅") ?? true)
+ {
+ task.ExceptionMessage = $"鏀捐揣宸ヤ綅銆恵takePositions[0]}銆戞湭鎵惧埌璁㈠崟淇℃伅";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+ #endregion
+
+ #region 宸ヤ綅鍨澘璇诲彇鏁版嵁鍒ゆ柇
+ if (!LightStatusStorage.StationStautsDic.TryGetValue(putPositions[0], out bool stationStatus))
{
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", $"宸ヤ綅銆恵putPositions[0]}銆戞湁鏃犲灚鏉挎暟鎹敊璇�,{LightStatusStorage.StationStautsDic.Serialize()}");
if (task.ExceptionMessage?.Contains($"宸ヤ綅銆恵putPositions[0]}銆戞湁鏃犲灚鏉挎暟鎹敊璇�") ?? true)
@@ -102,8 +166,15 @@
task.ExceptionMessage = $"宸ヤ綅銆恵putPositions[0]}銆戞湁鏃犲灚鏉挎暟鎹敊璇�";
_taskRepository.UpdateData(task);
}
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
+ #endregion
+
+ #region 宸ヤ綅鍨澘鐘舵�佸垽鏂�
if (!stationStatus)
{
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", $"宸ヤ綅銆恵putPositions[0]}銆戞棤鍨澘,{LightStatusStorage.StationStautsDic.Serialize()}");
@@ -114,11 +185,9 @@
}
return Task.CompletedTask;
}
-
- int takePoX = Convert.ToInt32(takePositions[1]);
- int takePoY = Convert.ToInt32(takePositions[2]);
- int takePoZ = OPositions.HPositions[takePositions[0]].PositionZ + 30 * 1000 - Convert.ToInt32(takePositions[3]) * 1000;
+ #endregion
+ #region 鍙栬揣Z鍧愭爣鍒ゆ柇
if (OPositions.HPositions[takePositions[0]].PositionZ == 0)
{
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "璇诲彇鍙栬揣Z鍧愭爣璇诲彇涓�0");
@@ -127,16 +196,16 @@
task.ExceptionMessage = $"璇诲彇鍙栬揣Z鍧愭爣璇诲彇涓�0";
_taskRepository.UpdateData(task);
}
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
+ #endregion
- int takePoR = 0;
-
- int putPoX = Convert.ToInt32(putPositions[1]);
- int putPoY = Convert.ToInt32(putPositions[2]);
- int putPoZ = OPositions.HPositions[putPositions[0]].PositionZ - Convert.ToInt32(putPositions[3]) * 1000;
-
- if (OPositions.HPositions[takePositions[0]].PositionZ == 0)
+ #region 鏀捐揣Z鍧愭爣鍒ゆ柇
+ if (OPositions.HPositions[putPositions[0]].PositionZ == 0)
{
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "璇诲彇鏀捐揣Z鍧愭爣璇诲彇涓�0");
if (task.ExceptionMessage?.Contains($"璇诲彇鏀捐揣Z鍧愭爣璇诲彇涓�0") ?? true)
@@ -144,16 +213,37 @@
task.ExceptionMessage = $"璇诲彇鏀捐揣Z鍧愭爣璇诲彇涓�0";
_taskRepository.UpdateData(task);
}
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
- int putPoR = 0;
+ #endregion
+ #region 浠诲姟瀹炰綋鍙傛暟杞崲澶勭悊
+ 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;
+
+ 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;
+
+ int putPoR = 0;
+ #endregion
+
+ #region 鍧愭爣涔樹互1000澶勭悊,2#榫欓棬鏋跺彇鍙�(涔樹互-1000)
int temp = 1000;
- if(otherDevice.DeviceCode == "GT02")
+ if (otherDevice.DeviceCode == "GT02")
{
temp = -1000;
}
+ #endregion
+ #region 鍧愭爣璁＄畻
if (Convert.ToInt32(takePositions[4]) == 1 || Convert.ToInt32(takePositions[4]) == 2)
{
takePoX = takePoX * temp + OPositions.HPositions[takePositions[0]].PositionX;
@@ -180,11 +270,13 @@
task.ExceptionMessage = $"R鍧愭爣閿欒";
_taskRepository.UpdateData(task);
}
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
}
-
- WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"鍙栬揣浣嶏細{takePositions[0]},鏀捐揣浣嶏細{putPositions[0]}{Environment.NewLine}鍙栬揣鍧愭爣锛歑:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}鏀捐揣鍧愭爣锛歑:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}璇诲彇PLC鍙栬揣鍧愭爣锛歑:{OPositions.HPositions[takePositions[0]].PositionX} Y:{OPositions.HPositions[takePositions[0]].PositionY} Z:{OPositions.HPositions[takePositions[0]].PositionZ} R:{OPositions.HPositions[takePositions[0]].PositionR}{Environment.NewLine}璇诲彇PLC鏀捐揣鍧愭爣锛歑:{OPositions.HPositions[putPositions[0]].PositionX} Y:{OPositions.HPositions[putPositions[0]].PositionY} Z:{OPositions.HPositions[putPositions[0]].PositionZ} R:{OPositions.HPositions[putPositions[0]].PositionR}");
}
else
{
@@ -194,14 +286,26 @@
putPoY = putPoY * temp + OPositions.ZPositions[putPositions[0]].PositionY;
takePoR = OPositions.ZPositions[takePositions[0]].PositionR;
putPoR = OPositions.ZPositions[putPositions[0]].PositionR;
-
- WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"鍙栬揣浣嶏細{takePositions[0]},鏀捐揣浣嶏細{putPositions[0]}{Environment.NewLine}鍙栬揣鍧愭爣锛歑:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}鏀捐揣鍧愭爣锛歑:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}璇诲彇PLC鍙栬揣鍧愭爣锛歑:{OPositions.ZPositions[takePositions[0]].PositionX} Y:{OPositions.ZPositions[takePositions[0]].PositionY} Z:{OPositions.ZPositions[takePositions[0]].PositionZ} R:{OPositions.ZPositions[takePositions[0]].PositionR}{Environment.NewLine}璇诲彇PLC鏀捐揣鍧愭爣锛歑:{OPositions.ZPositions[putPositions[0]].PositionX} Y:{OPositions.ZPositions[putPositions[0]].PositionY} Z:{OPositions.ZPositions[putPositions[0]].PositionZ} R:{OPositions.ZPositions[putPositions[0]].PositionR}");
}
- #region
+ #endregion
+
+ #region Debug鏃ュ織璁板綍,璁板綍鍙栬揣鍜屾斁璐у潗鏍囦俊鎭�
+ WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"鍙栬揣浣嶏細{takePositions[0]},鏀捐揣浣嶏細{putPositions[0]}{Environment.NewLine}鍙栬揣鍧愭爣锛歑:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}鏀捐揣鍧愭爣锛歑:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}璇诲彇PLC鍙栬揣鍧愭爣锛歑:{OPositions.HPositions[takePositions[0]].PositionX} Y:{OPositions.HPositions[takePositions[0]].PositionY} Z:{OPositions.HPositions[takePositions[0]].PositionZ} R:{OPositions.HPositions[takePositions[0]].PositionR}{Environment.NewLine}璇诲彇PLC鏀捐揣鍧愭爣锛歑:{OPositions.HPositions[putPositions[0]].PositionX} Y:{OPositions.HPositions[putPositions[0]].PositionY} Z:{OPositions.HPositions[putPositions[0]].PositionZ} R:{OPositions.HPositions[putPositions[0]].PositionR}");
+ #endregion
+
+ #region 瓒呰繃瀹瑰櫒瀹藉害澶勭悊
+ bool isMoreWidth = orderContainer == null ? false : orderContainer.MaxWidth > container.ContainerWidth;
+ if (isMoreWidth)
+ {
+ putPoX = putPoX - (orderContainer.MaxWidth - container.ContainerWidth) / 2 * temp;
+ }
+ #endregion
+
+ #region 鍧愭爣鑼冨洿鍒ゆ柇
List<DeviceProDTO> devicePros = otherDevice.DeviceProDTOs.Where(x => x.DeviceProParamType == "MaxPosition").ToList();
DeviceProDTO? devicePro = devicePros.OrderBy(x => x.DeviceProOffset).FirstOrDefault();
- if(devicePro == null)
+ if (devicePro == null)
{
WriteError($"{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�");
if (task.ExceptionMessage?.Contains($"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�") ?? true)
@@ -209,8 +313,13 @@
task.ExceptionMessage = $"璁惧鍗忚鍙傛暟閿欒锛屾湭鎵惧埌鏈�澶ф渶灏忓潗鏍囧湴鍧�";
_taskRepository.UpdateData(task);
}
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
+
int[] data = otherDevice.Communicator.Read<int>(devicePro.DeviceProAddress, (ushort)(devicePros.Count));
int maxX = data[0];
@@ -222,16 +331,6 @@
int maxR = data[6];
int minR = data[7];
- //int maxX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxX);
- //int minX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinX);
- //int maxY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxY);
- //int minY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinY);
- //int maxZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxZ);
- //int minZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinZ);
- //int maxR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxR);
- //int minR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinR);
-
-
if (takePoX < minX || takePoX > maxX)
{
WriteError($"{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}");
@@ -239,6 +338,10 @@
{
task.ExceptionMessage = $"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}";
_taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
}
return Task.CompletedTask;
}
@@ -251,6 +354,10 @@
task.ExceptionMessage = $"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}";
_taskRepository.UpdateData(task);
}
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
@@ -261,6 +368,10 @@
{
task.ExceptionMessage = $"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}";
_taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
}
return Task.CompletedTask;
}
@@ -273,6 +384,10 @@
task.ExceptionMessage = $"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}";
_taskRepository.UpdateData(task);
}
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
@@ -283,6 +398,10 @@
{
task.ExceptionMessage = $"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}";
_taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
}
return Task.CompletedTask;
}
@@ -295,6 +414,10 @@
task.ExceptionMessage = $"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}";
_taskRepository.UpdateData(task);
}
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
@@ -305,6 +428,10 @@
{
task.ExceptionMessage = $"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}";
_taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
}
return Task.CompletedTask;
}
@@ -317,10 +444,15 @@
task.ExceptionMessage = $"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}";
_taskRepository.UpdateData(task);
}
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
#endregion
+ #region 浠诲姟鍙戦��
otherDevice.SetValue(GantryDBName.TwoHand, true);
otherDevice.SetValue(GantryDBName.TaskNum, task.TaskNum);
otherDevice.SetValue(GantryDBName.TakePositionX, takePoX);
@@ -336,10 +468,14 @@
otherDevice.SetValue(GantryDBName.Height, containerItem.ItemHeight);
otherDevice.SetValue(GantryDBName.WorkType, 1);
otherDevice.SetValue(GantryDBName.StartCommand, 1);
+ #endregion
+ #region 浠诲姟鐘舵�佹洿鏂�
task.TaskState = TaskStatusEnum.Gantry_Executing.ObjToInt();
_taskRepository.UpdateData(task);
+ #endregion
+ #region 涓夎壊鐏姸鎬佹洿鏂�
if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
{
if (lightStatusDic != LightStatusEnum.LightWorking)
@@ -347,6 +483,7 @@
LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightWorking;
}
}
+ #endregion
}
}
else if (gantryWorkStatus == 5)
@@ -363,12 +500,10 @@
{
_orderDetailsService.ToMes(task.PalletCode, 4);
});
-
string[] putPositions = task.NextAddress.Split("*");
if (putPositions.Length != 5)
{
- //WriteError
return Task.CompletedTask;
}
if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
@@ -393,11 +528,6 @@
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;
- }
-
- public Dt_Task GetTask()
- {
- return new Dt_Task();
}
}
}
--
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