From e69f814f50fd59739dbedd88518dc8cb8d2ed3ee Mon Sep 17 00:00:00 2001
From: z8018 <1282578289@qq.com>
Date: 星期二, 08 四月 2025 21:18:47 +0800
Subject: [PATCH] 1
---
项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs | 981 +++++++++++----------------------------------------------
1 files changed, 199 insertions(+), 782 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
index 5ce308e..058e2e0 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
@@ -16,851 +16,268 @@
#endregion << 鐗� 鏈� 娉� 閲� >>
using AutoMapper;
-using Magicodes.ExporterAndImporter.Core;
-using Microsoft.AspNetCore.Mvc.RazorPages;
-using NetTaste;
-using Newtonsoft.Json;
-using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
-using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
-using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
+using HslCommunication.WebSocket;
using SqlSugar;
-using System;
-using System.Collections.Generic;
-using System.ComponentModel;
-using System.Diagnostics;
-using System.Diagnostics.CodeAnalysis;
-using System.Linq;
-using System.Linq.Expressions;
-using System.Reflection;
-using System.Reflection.Metadata;
-using System.Security.Policy;
-using System.Text;
-using System.Threading.Tasks;
-using System.Xml.Linq;
-using WIDESEA_Comm.Http;
-using WIDESEA_Common.Log;
-using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_BasicInfoRepository;
+using WIDESEAWCS_BasicInfoService;
+using WIDESEAWCS_Common;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
-using WIDESEAWCS_Core.Enums;
-using WIDESEAWCS_Core.Utilities;
-using WIDESEAWCS_DTO.Enum;
+using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.TaskInfo;
+using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
-using WIDESEAWCS_QuartzJob.Models;
-using WIDESEAWCS_QuartzJob.Service;
-using static Microsoft.IO.RecyclableMemoryStreamManager;
+using WIDESEAWCS_QuartzJob.Repository;
namespace WIDESEAWCS_TaskInfoService
{
public class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
{
- private readonly IRouterService _routerService;
- private readonly ITaskExecuteDetailService _taskExecuteDetailService;
- private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
- private readonly ITask_HtyService _task_HtyService;
private readonly IMapper _mapper;
+ private readonly IContainerRepository _containerRepository;
+ private readonly IContainerItemRepository _containerItemRepository;
+ private readonly WebSocketServer _webSocketServer;
+ private readonly IOrderDetailsRepository _orderDetailsRepository;
-
- private Dictionary<string, OrderByType> _taskOrderBy = new()
- {
- {nameof(Dt_Task.Grade),OrderByType.Desc },
- {nameof(Dt_Task.CreateDate),OrderByType.Asc},
- };
-
- public Dictionary<string, OrderByType> TaskOrderBy { get { return _taskOrderBy; } set { _taskOrderBy = value; } }
-
- public List<int> TaskInboundTypes => typeof(TaskInboundTypeEnum).GetEnumIndexList();
-
- public List<int> TaskOutboundTypes => typeof(TaskOutboundTypeEnum).GetEnumIndexList();
-
- public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, ITask_HtyService task_HtyService) : base(BaseDal)
+ public TaskService(ITaskRepository BaseDal, IMapper mapper, IContainerRepository containerRepository, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer, IOrderDetailsRepository orderDetailsRepository) : base(BaseDal)
{
- _routerService = routerService;
- _taskExecuteDetailService = taskExecuteDetailService;
- _taskExecuteDetailRepository = taskExecuteDetailRepository;
- _task_HtyService = task_HtyService;
_mapper = mapper;
+ _containerRepository = containerRepository;
+ _containerItemRepository = containerItemRepository;
+ _webSocketServer = webSocketServer;
+ _orderDetailsRepository = orderDetailsRepository;
}
- /// <summary>
- /// 鎺ユ敹WMS浠诲姟淇℃伅
- /// </summary>
- /// <param name="taskDTOs">WMS浠诲姟瀵硅薄闆嗗悎</param>
- /// <returns>杩斿洖澶勭悊缁撴灉</returns>
- public WebResponseContent ReceiveWMSTask(Dt_Task taskDTOs)
+ public Dt_Task? QueryAGantryUnExecuteTask(string gantryDeviceNo)
{
- WebResponseContent content = new WebResponseContent();
+ return BaseDal.QueryFirst(x => x.TaskState == (int)TaskStatusEnum.Gantry_New && x.DeviceCode == gantryDeviceNo);
+ }
+
+ public WebResponseContent PlaceBlockTest(int orderRowId)
+ {
try
{
-
- BaseDal.AddData(taskDTOs);
- content = WebResponseContent.Instance.OK("鎴愬姛");
- }
- catch (Exception ex)
- {
- content = WebResponseContent.Instance.Error($"鐢熸垚浠诲姟澶辫触,閿欒淇℃伅:{ex.Message}");
- }
- finally
- {
- WriteLog.GetLog("鐢熸垚浠诲姟").Write(JsonConvert.SerializeObject(content), "鐢熸垚浠诲姟");
- }
- return content;
- }
-
- /// <summary>
- /// 鏌ユ壘璇ョ珯鍙版槸鍚︽湁浠诲姟
- /// </summary>
- /// <param name="deviceNo">璁惧缂栧彿</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns></returns>
- public List<string> QueryConveyorLineTaskSourceAddress()
- {
- return BaseDal.QueryData().Select(task => task.SourceAddress).ToList();
- }
-
- /// <summary>
- /// 淇敼浠诲姟锛屾坊鍔犵洰鏍囧湴鍧�
- /// </summary>
- /// <param name="deviceNo">璁惧缂栧彿</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns></returns>
- public WebResponseContent UpdateTargetAddress(int TaskId,string TargetAddress)
- {
-
- WebResponseContent content = new WebResponseContent();
- try
- {
- Dt_Task dt_Task = BaseDal.QueryFirst(x => x.TaskId == TaskId);
- dt_Task.TargetAddress = TargetAddress;
- dt_Task.NextAddress = TargetAddress;
- BaseDal.UpdateData(dt_Task);
- content = WebResponseContent.Instance.OK("鎴愬姛");
- }
- catch (Exception ex)
- {
- content = WebResponseContent.Instance.Error($"浠诲姟鎺ユ敹閿欒,閿欒淇℃伅:{ex.Message}");
- }
- finally
- {
- WriteLog.GetLog("鎺ユ敹浠诲姟").Write(JsonConvert.SerializeObject(content), "鎺ユ敹浠诲姟");
- }
- return content;
- }
-
- /// <summary>
- /// 鏌ユ壘鏄惁鏈変换鍔″彲浠ユ斁鍦ㄨ浣嶇疆
- /// </summary>
- /// <param name="deviceNo">璁惧缂栧彿</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns></returns>
- public Dt_Task QueryConveyorLineTaskRoadway(int agvarea)
- {
- return BaseDal.QueryFirst(x => x.Roadway == agvarea.ToString() && x.MaterialType == (int)AgvStationEnum.BoardUnload && x.TargetAddress =="");
-
- }
-
-
- public bool QueryConveyorLinetaeersuadd(string taeersuadd)
- {
- Dt_Task dt_= BaseDal.QueryFirst(x => x.SourceAddress == taeersuadd || x.TargetAddress == taeersuadd);
- if(dt_==null) return true;
- else return false;
-
- }
- /// <summary>
- /// 鏍规嵁璁惧缂栧彿銆佸綋鍓嶅湴鍧�鏌ヨ杈撻�佺嚎鏈墽琛岀殑浠诲姟
- /// </summary>
- /// <param name="deviceNo">璁惧缂栧彿</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns></returns>
- public Dt_Task QueryConveyorLineTask(string deviceNo, string currentAddress)
- {
- return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish) && x.CurrentAddress == currentAddress, TaskOrderBy);
- }
-
- /// <summary>
- /// 鏍规嵁浠诲姟鍙枫�佷笅涓�鍦板潃鏌ヨ杈撻�佺嚎鎵ц涓殑浠诲姟
- /// </summary>
- /// <param name="taskNum">浠诲姟鍙�</param>
- /// <param name="nextAddress">涓嬩竴鍦板潃</param>
- /// <returns></returns>
- public Dt_Task QueryExecutingConveyorLineTask(int taskNum, string nextAddress)
- {
- return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.NextAddress == nextAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InExecuting || x.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting), TaskOrderBy);
- }
-
- /// <summary>
- /// 鏍规嵁浠诲姟鍙枫�佸綋鍓嶅湴鍧�鏌ヨ杈撻�佺嚎瀹屾垚鐨勪换鍔�
- /// </summary>
- /// <param name="taskNum">浠诲姟鍙�</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns></returns>
- public Dt_Task QueryCompletedConveyorLineTask(int taskNum, string currentAddress)
- {
- return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InFinish || x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish), TaskOrderBy);
- }
-
- /// <summary>
- /// 鏍规嵁璁惧缂栧彿銆佷换鍔＄被鍨嬪垎缁�(鍙��)鎸夌収浼樺厛绾т互鍙婂垱寤烘椂闂存帓搴忔煡璇换鍔℃睜鏂板鐨勪换鍔�
- /// </summary>
- /// <param name="deviceNo">璁惧缂栧彿</param>
- /// <param name="taskTypeGroup">浠诲姟绫诲瀷鍒嗙粍(鍙��)</param>
- /// <returns></returns>
- public Dt_Task? QuertStackerCraneTask(string deviceNo, TaskTypeGroup? taskTypeGroup = null)
- {
- if(taskTypeGroup == null)
- return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
- if(taskTypeGroup.Value == TaskTypeGroup.InboundGroup)
- return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, TaskOrderBy);
- if(taskTypeGroup.Value == TaskTypeGroup.OutbondGroup)
- return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
- return null;
- }
-
- /// <summary>
- /// 鏍规嵁璁惧缂栧彿銆佸綋鍓嶅湴鍧�鎸夌収浼樺厛绾т互鍙婂垱寤烘椂闂存帓搴忔煡璇换鍔℃睜鏂板鐨勪换鍔�
- /// </summary>
- /// <param name="deviceNo">璁惧缂栧彿</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns>杩斿洖浠诲姟瀹炰綋瀵硅薄锛屽彲鑳戒负null</returns>
- public Dt_Task QueryStackerCraneTask(string deviceNo, string currentAddress = "")
- {
- return BaseDal.QueryFirst(x => x.TaskState == (int)TaskOutStatusEnum.OutNew && (deviceNo == "AGV01" ? x.Roadway == AgvareaEnum.AreaOne.ToString() : x.Roadway != AgvareaEnum.AreaOne.ToString()),TaskOrderBy);
- }
-
-
- public Dt_Task IngStackerCraneTask(string deviceNo)
- {
- //string deviceNot = deviceNo == "SC01" ? "1" : "2";
- return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskState == (int)TaskInStatusEnum.SC_InExecuting);
- }
-
- public Dt_Task IngStackerCraneTask2(string deviceNo)
- {
- //string deviceNot = deviceNo == "SC01" ? "1" : "2";
- try
- {
- return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting);
- }
- catch (Exception ex)
- {
-
- throw;
- }
- }
-
- /// <summary>
- /// 鏍规嵁璁惧缂栧彿銆佸綋鍓嶅湴鍧�鎸夌収浼樺厛绾т互鍙婂垱寤烘椂闂存帓搴忔煡璇换鍔℃睜鍏ュ簱绫诲瀷鐨勬柊澧炵殑浠诲姟
- /// </summary>
- /// <param name="deviceNo">璁惧缂栧彿</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns>杩斿洖浠诲姟瀹炰綋瀵硅薄锛屽彲鑳戒负null</returns>
- public Dt_Task QueryStackerCraneInTask(string deviceNo, string currentAddress = "")
- {
- if (string.IsNullOrEmpty(currentAddress))
- return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish, TaskOrderBy);
- else
- return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
- }
-
- /// <summary>
- /// 鏍规嵁璁惧缂栧彿銆佸綋鍓嶅湴鍧�鎸夌収浼樺厛绾т互鍙婂垱寤烘椂闂存帓搴忔煡璇换鍔℃睜鍑哄簱绫诲瀷鐨勬柊澧炵殑浠诲姟
- /// </summary>
- /// <param name="deviceNo">璁惧缂栧彿</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns>杩斿洖浠诲姟瀹炰綋瀵硅薄锛屽彲鑳戒负null</returns>
- public Dt_Task QueryStackerCraneOutTask(string deviceNo, string currentAddress = "")
- {
- if (string.IsNullOrEmpty(currentAddress))
- return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
- else
- return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.CurrentAddress == currentAddress, TaskOrderBy);
- }
-
- /// <summary>
- /// 鏍规嵁璁惧缂栧彿銆佸綋鍓嶅湴鍧�鎸夌収浼樺厛绾т互鍙婂垱寤烘椂闂存帓搴忔煡璇换鍔℃睜鍑哄簱绫诲瀷鐨勬柊澧炵殑浠诲姟
- /// </summary>
- /// <param name="deviceNo">璁惧缂栧彿</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns>杩斿洖浠诲姟瀹炰綋瀵硅薄闆嗗悎锛屽彲鑳戒负null</returns>
- public List<Dt_Task> QueryStackerCraneOutTasks(string deviceNo, List<string> outStationCodes)
- {
- return BaseDal.QueryData(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && outStationCodes.Contains(x.CurrentAddress), TaskOrderBy);
- }
-
- /// <summary>
- /// 鏍规嵁鍑哄簱璐т綅鏌ヨ鏄惁鏈夊綋鍓嶆祬璐т綅浠诲姟
- /// </summary>
- /// <param name="deviceNo">璁惧缂栧彿</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns>杩斿洖浠诲姟瀹炰綋瀵硅薄闆嗗悎锛屽彲鑳戒负null</returns>
- public List<Dt_Task> QueryStationIsOccupiedOutTasks(string deviceNo, string SourceAddress)
- {
- return BaseDal.QueryData(x => x.Roadway == deviceNo && SourceAddress.Contains(x.SourceAddress), TaskOrderBy);
- }
-
- /// <summary>
- /// 鏇存柊浠诲姟寮傚父淇℃伅鏄剧ず
- /// </summary>
- /// <param name="taskNum">浠诲姟鍙�</param>
- /// <param name="message">寮傚父淇℃伅</param>
- public WebResponseContent UpdateTaskExceptionMessage(int taskNum, string message)
- {
- WebResponseContent content = new WebResponseContent();
- try
- {
- Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
- if (task == null) return WebResponseContent.Instance.Error($"鏈壘鍒拌浠诲姟淇℃伅,浠诲姟鍙�:銆恵taskNum}銆�");
- if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+ List<OrderDetails> orderDetails = _orderDetailsRepository.QueryData(x => x.Orderrowsid == orderRowId);
+ if (orderDetails == null || orderDetails.Count == 0)
{
- task.TaskState = (int)TaskOutStatusEnum.OutPending;
+ return WebResponseContent.Instance.Error("鏈壘鍒拌鍗曟槑缁嗕俊鎭�");
}
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
+
+ Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt());
+ if (putContainer == null)
{
- task.TaskState = (int)TaskInStatusEnum.InPending;
+ return WebResponseContent.Instance.Error("鏀捐揣浣嶇疆涓嶅瓨鍦�");
}
- task.ExceptionMessage = message;
- task.ModifyDate = DateTime.Now;
- BaseDal.UpdateData(task);
- _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, task.ExceptionMessage);
+ ContainerSize containerSize = new ContainerSize(1500, putContainer.ContainerWidth, putContainer.ContainerHeight);
+ List<PlacedBlock> placedBlocks = new List<PlacedBlock>();
- content = WebResponseContent.Instance.OK();
- }
- catch (Exception ex)
- {
- content = WebResponseContent.Instance.Error(ex.Message);
- }
- return content;
- }
-
- /// <summary>
- /// 鏇存柊浠诲姟鐘舵�佷俊鎭紝骞跺悓姝ヨ嚦WMS
- /// </summary>
- /// <param name="taskNum">浠诲姟鍙�</param>
- /// <param name="status">浠诲姟鐘舵��</param>
- public void UpdateTaskStatus(int taskNum, int status)
- {
- Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
- if (task == null) return;
- task.TaskState = status;
- task.ModifyDate = DateTime.Now;
- BaseDal.UpdateData(task);
- }
-
- /// <summary>
- /// 灏嗕换鍔＄姸鎬佷慨鏀逛负涓嬩竴涓姸鎬�
- /// </summary>
- /// <param name="taskNum">浠诲姟鍙�</param>
- public WebResponseContent UpdateTaskStatusToNext(int taskNum)
- {
- WebResponseContent content = new WebResponseContent();
- try
- {
- Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
- if (task == null) return WebResponseContent.Instance.Error($"鏈壘鍒拌浠诲姟淇℃伅,浠诲姟鍙�:銆恵taskNum}銆�");
- return UpdateTaskStatusToNext(task);
- }
- catch (Exception ex)
- {
- content = WebResponseContent.Instance.Error(ex.Message);
- }
- return content;
- }
-
- /// <summary>
- /// 灏嗕换鍔＄姸鎬佷慨鏀逛负涓嬩竴涓姸鎬�
- /// </summary>
- /// <param name="task">浠诲姟瀹炰綋瀵硅薄</param>
- /// <returns></returns>
- public WebResponseContent UpdateTaskStatusToNext([NotNull] Dt_Task task)
- {
- WebResponseContent content = new WebResponseContent();
- try
- {
- int oldState = task.TaskState;
- if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
+ for (int i = 0; i < orderDetails.Count; i++)
{
- if (task.TaskState >= (int)TaskOutStatusEnum.OutFinish)
+ try
{
- return content = WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskState}銆�");
- }
-
- int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskOutStatusEnum>();
-
- task.TaskState = nextStatus;
- if (task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
- {
- task.Dispatchertime = DateTime.Now;
- }
- }
- else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
- {
- if (task.TaskState >= (int)TaskInStatusEnum.InFinish)
- {
- return content = WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskState}銆�");
- }
-
- int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
- task.TaskState = nextStatus;
- if (task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
- {
- task.Dispatchertime = DateTime.Now;
- }
- if (task.TaskState == (int)TaskRelocationTypeEnum.Relocation)
- {
- Random random = new Random();
- task.CurrentAddress = task.NextAddress;
- task.NextAddress = $"{random.Next(1, 100).ToString().PadLeft(3, '0')}-{random.Next(1, 100).ToString().PadLeft(3, '0')}-{random.Next(1, 100).ToString().PadLeft(3, '0')}";
- task.TargetAddress = task.NextAddress;
- }
- }
- else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
- {
- if (task.TaskState <= (int)TaskRelocationStatusEnum.SC_RelocationFinish)
- {
-
- return content = WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskState}銆�");
- }
-
- int nextStatus = (int)TaskRelocationStatusEnum.SC_RelocationExecuting;
- task.TaskState = nextStatus;
- if (task.TaskState == (int)TaskRelocationStatusEnum.SC_RelocationExecuting)
- {
- task.Dispatchertime = DateTime.Now;
- }
- }
- else
- {
- throw new Exception($"浠诲姟绫诲瀷閿欒,鏈壘鍒拌浠诲姟绫诲瀷,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟绫诲瀷:銆恵task.TaskType}銆�");
- }
-
- if (task.TaskState <= 0)
- {
- return content = WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskState}銆�");
- }
-
-
- task.ModifyDate = DateTime.Now;
- task.Modifier = "System";
- BaseDal.UpdateData(task);
-
- _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, App.User.UserId > 0 ? $"浜哄伐鎵嬪姩灏嗕换鍔＄姸鎬佷粠銆恵oldState}銆戣烦杞埌銆恵task.TaskState}銆�" : $"绯荤粺鑷姩娴佺▼锛屼换鍔＄姸鎬佷粠銆恵oldState}銆戣浆鍒般�恵task.TaskState}銆�");
-
- content = WebResponseContent.Instance.OK();
- }
- catch (Exception ex)
- {
- content = WebResponseContent.Instance.Error(ex.Message);
- }
- return content;
- }
-
- /// <summary>
- /// 鏍规嵁浠诲姟鍙枫�佸綋鍓嶅湴鍧�鏇存柊浠诲姟浣嶇疆淇℃伅
- /// </summary>
- /// <param name="taskNum">浠诲姟鍙�</param>
- /// <param name="currentAddress">褰撳墠鍦板潃</param>
- /// <returns></returns>
- public Dt_Task? UpdatePosition(int taskNum, string currentAddress)
- {
- try
- {
- Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress);
- if (task == null) throw new Exception($"鏈壘鍒拌浠诲姟淇℃伅,浠诲姟鍙�:銆恵taskNum}銆�");
-
- string oldCurrentPos = task.CurrentAddress;
- string oldNextPos = task.NextAddress;
-
- List<Dt_Router> routers = _routerService.QueryNextRoutes(task.NextAddress, task.TargetAddress);
- if (!routers.Any()) throw new Exception($"鏈壘鍒拌澶囪矾鐢变俊鎭�");
-
- task.CurrentAddress = task.NextAddress;
- task.NextAddress = routers.FirstOrDefault().ChildPosi;
-
- task.ModifyDate = DateTime.Now;
- task.Modifier = "System";
- BaseDal.UpdateData(task);
-
- _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"绯荤粺鑷姩娴佺▼锛屾洿鏂板綋鍓嶄綅缃�恵oldCurrentPos} ----> {task.CurrentAddress}銆戝拰涓嬩竴浣嶇疆銆恵oldNextPos} ----> {task.NextAddress}銆�");
- return task;
- }
- catch (Exception ex)
- {
- }
- return null;
- }
-
-
- public WebResponseContent StackCraneTaskCompleted(int taskNum)
- {
- WebResponseContent content = new WebResponseContent();
- try
- {
- Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
- if (task == null) return WebResponseContent.Instance.Error($"鏈壘鍒拌浠诲姟淇℃伅,浠诲姟鍙�:銆恵taskNum}銆�");
-
- if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && task.TaskState == (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�");*/
-
- task.TaskState = (int)TaskOutStatusEnum.OutFinish;
- task.ModifyDate = DateTime.Now;
- BaseDal.DeleteData(task);
- _task_HtyService.AddTaskHty(task);
- _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"鍑哄簱瀹屾垚");
- //todo 鍚屾鍒癢MS
-
- //鏆備笉鑰冭檻澶氫釜鍑哄簱鍙�
- }
- else if (task.TaskType == (int)TaskInboundTypeEnum.Inbound && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
- {
- //todo
- //int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
- task.TaskState = (int)TaskInStatusEnum.InFinish;
- task.ModifyDate = DateTime.Now;
- task.Modifier = "System";
- BaseDal.DeleteData(task);
- _task_HtyService.AddTaskHty(task);
- _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"鍏ュ簱瀹屾垚");
-
- }
- else
- {
- throw new Exception($"浠诲姟绫诲瀷閿欒,鏈壘鍒拌浠诲姟绫诲瀷,浠诲姟鍙�:銆恵taskNum}銆�,浠诲姟绫诲瀷:銆恵task.TaskType}銆�");
- }
- content = WebResponseContent.Instance.OK();
- }
- catch (Exception ex)
- {
- content = WebResponseContent.Instance.Error($"浠诲姟瀹屾垚寮傚父,浠诲姟鍙�:銆恵taskNum}銆�");
- }
- return content;
- }
-
- /// <summary>
- /// 鎭㈠鎸傝捣浠诲姟
- /// </summary>
- /// <param name="taskNum">浠诲姟鍙�</param>
- /// <returns>杩斿洖澶勭悊缁撴灉</returns>
- public WebResponseContent TaskStatusRecovery(int taskNum)
- {
- WebResponseContent content = new WebResponseContent();
- try
- {
- Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
- if (task == null) return WebResponseContent.Instance.Error($"鏈壘鍒拌浠诲姟淇℃伅,浠诲姟鍙�:銆恵taskNum}銆�");
- if (task.TaskState != (int)TaskInStatusEnum.InPending && task.TaskState != (int)TaskOutStatusEnum.OutPending)
- {
- return content = WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙仮澶�,浠诲姟鍙�:銆恵taskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskState}銆�");
- }
-
- Dt_TaskExecuteDetail taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.IsNormal, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });
- if (taskExecuteDetail != null)
- {
- task.TaskState = taskExecuteDetail.TaskState;
- }
- else
- {
- if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
- {
- task.TaskState = (int)TaskOutStatusEnum.OutNew;
- }
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
- {
- task.TaskState = (int)TaskInStatusEnum.InNew;
- }
- //todo
- }
-
- task.ExceptionMessage = string.Empty;
-
- BaseDal.UpdateData(task);
-
- _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"浜哄伐鎭㈠鎸傝捣浠诲姟,鎭㈠鎸傝捣鏃朵换鍔＄姸鎬併�恵task.TaskState}銆�");
-
- content = WebResponseContent.Instance.OK();
- }
- catch (Exception ex)
- {
- content = WebResponseContent.Instance.Error(ex.Message);
- }
- return content;
- }
-
- /// <summary>
- /// 鍥炴粴浠诲姟鐘舵��
- /// </summary>
- /// <param name="taskNum">浠诲姟鍙�</param>
- /// <returns>杩斿洖澶勭悊缁撴灉</returns>
- public WebResponseContent RollbackTaskStatusToLast(int taskNum)
- {
- WebResponseContent content = new();
- try
- {
- Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
- if (task == null) return WebResponseContent.Instance.Error($"鏈壘鍒拌浠诲姟淇℃伅,浠诲姟鍙�:銆恵taskNum}銆�");
-
- int oldState = task.TaskState;
- Dt_TaskExecuteDetail taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.TaskState < task.TaskState && x.TaskState > 0, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });
- if (taskExecuteDetail != null)
- {
- task.TaskState = taskExecuteDetail.TaskState;
- task.CurrentAddress = taskExecuteDetail.CurrentAddress;
- task.NextAddress = taskExecuteDetail.NextAddress;
- }
- else
- {
- return content = WebResponseContent.Instance.Error($"鏈壘鍒颁换鍔℃槑缁嗕俊鎭�,璇ヤ换鍔＄姸鎬佷笉鍙洖婊氬埌涓婁竴姝�,浠诲姟鍙�:銆恵taskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskState}銆�");
- }
-
- task.ExceptionMessage = string.Empty;
-
- BaseDal.UpdateData(task);
-
- _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"浜哄伐灏嗕换鍔＄姸鎬佷粠銆恵oldState}銆戝洖婊氬埌銆恵task.TaskState}銆�");
-
- content = WebResponseContent.Instance.OK();
- }
- catch (Exception ex)
- {
- content = WebResponseContent.Instance.Error(ex.Message);
- }
- return content;
- }
-
-
- /// <summary>
- /// 鍒犻櫎鏁版嵁
- /// </summary>
- /// <param name="keys">涓婚敭鏁扮粍</param>
- /// <returns></returns>
- public virtual WebResponseContent DeleteData(object[] keys)
- {
- try
- {
- List<Dt_Task> tasks = BaseDal.QureyDataByIds(keys);
- foreach (Dt_Task task in tasks)
- {
- _task_HtyService.AddTaskHty(task);
- }
-
-
- if (typeof(Dt_Task).GetNavigatePro() == null)
- return BaseDal.DeleteDataByIds(keys) ? WebResponseContent.Instance.OK() : WebResponseContent.Instance.Error();
- else
- {
- if (keys != null)
- {
- Type detailType = typeof(Dt_Task).GetDetailType();
- string name = typeof(Dt_Task).GetMainIdByDetail();
- List<object> dynamicDelKeys = new List<object>();
-
- for (int i = 0; i < keys.Length; i++)
+ lock (placedBlocks)
{
- dynamicDelKeys.Add(keys[i]);
+ int length = Convert.ToInt32(orderDetails[i].Orderdetails_length);
+ int width = Convert.ToInt32(orderDetails[i].Orderdetails_width);
+ int height = Convert.ToInt32(orderDetails[i].Orderdetails_thickness);
+
+ TaskPosition taskPosition = new TaskPosition();
+ taskPosition = GetTakePutPosition(length, width, height, containerSize, placedBlocks);
+
+ PlacedBlock placedBlock = new PlacedBlock(new Point3D(taskPosition.PositionX, taskPosition.PositionY, taskPosition.PositionZ), length, width, height);
+ placedBlocks.Add(placedBlock);
+
+ object obj = new
+ {
+ x = taskPosition.PutCenterPositionX - containerSize.Length / 2,
+ y = taskPosition.PutCenterPositionY - containerSize.Width / 2,
+ z = taskPosition.PutCenterPositionZ,
+ length,
+ width,
+ height,
+ };
+
+ _webSocketServer.PublishAllClientPayload(obj.Serialize());
+
+ Thread.Sleep(100);
}
- ((SqlSugarClient)BaseDal.Db).BeginTran();
-
- if (dynamicDelKeys.Count > 0)
- BaseDal.Db.Deleteable<object>().AS(detailType.Name).Where($"{name} in (@id)", new { id = dynamicDelKeys.ToArray() }).ExecuteCommandHasChange();
-
- BaseDal.DeleteDataByIds(keys);
-
- ((SqlSugarClient)BaseDal.Db).CommitTran();
-
- return WebResponseContent.Instance.OK();
}
- else
+ catch (Exception ex)
{
- return WebResponseContent.Instance.Error("鍙傛暟閿欒");
+
}
}
+ return WebResponseContent.Instance.OK(data: placedBlocks);
}
catch (Exception ex)
{
- ((SqlSugarClient)BaseDal.Db).RollbackTran();
return WebResponseContent.Instance.Error(ex.Message);
}
}
- //agv浠诲姟
- public WebResponseContent GetAgvTaskData()
+ public TaskPosition GetTakePutPosition(int length, int width, int height, ContainerSize containerSize, List<PlacedBlock> placedBlocks)
{
- WebResponseContent content=new WebResponseContent();
- List<Dt_Task> tasks = BaseDal.QueryData().ToList();
- List<AGCTaskDto> agvdto = new List<AGCTaskDto>();
- foreach (var item in tasks)
- {
- AGCTaskDto aGCTaskDto = new AGCTaskDto();
- aGCTaskDto.TaskNum = item.TaskNum;
- aGCTaskDto.SourceAddress= item.SourceAddress;
- aGCTaskDto.TargetAddress= item.TargetAddress==null? "鏆傚畾" : item.TargetAddress;
- aGCTaskDto.Dispatchertime = item.Dispatchertime;
- aGCTaskDto.TaskState = item.TaskState == (int)TaskInStatusEnum.InNew ? "鏂板缓浠诲姟" : (item.TaskState == (int)TaskInStatusEnum.AGV_InExecuting ? "AGV浠诲姟鎵ц" : "浠诲姟瀹屾垚");
- aGCTaskDto.TaskType = item.TaskType.ToString();
- aGCTaskDto.Roadway = item.Roadway=="1"?"鍖哄煙涓�":(item.Roadway == "2" ? "鍖哄煙浜�": item.Roadway == "3" ? "鍖哄煙涓�":"鍖哄煙鍥�");
- agvdto.Add(aGCTaskDto);
- }
- return content.OK(data: agvdto);
- }
-
- //agv鐘舵��
- public WebResponseContent GetAgvStatusData()
- {
- var response = new WebResponseContent();
try
{
- //agv绫诲瀷锛�0-娼滀紡鍨嬶紝1 - 鐗靛紩鍨嬶紝2 - 鎵胯浇鍨嬶紝3 - 涓惧崌鍨嬶紝4 -杈婇亾鍨嬶紝5 - 鍙夎溅鍨嬶紝6 - 鍏朵粬
- int agvType = 0;
- //agv缂栧彿
- int agvCode = 2;
- //agv涓婁笅绾跨姸鎬侊紝0-涓嬬嚎锛�1 - 涓婄嚎
- int agvOnline = 4;
- //agv褰撳墠鍦版爣鍙�
- int agvRfidLabel = 6;
- //agv褰撳墠x鍧愭爣鍊�
- int agvXcoordinate = 8;
- //agv褰撳墠y鍧愭爣鍊�
- int agvYcoordinate = 12;
- //agv杩愯鐘舵�� 锛�0-鍋滄锛�1 - 琛岄┒锛�2 - 鏆傚仠
- int agvStatus = 16;
- //agv褰撳墠杩愯閫熷害(mm / s)
- int agvSpeed = 18;
- //agv鎶ヨ浠ｇ爜(鎸変綅鐘舵�佹彁鍙栵紝鏈�澶氬彲琛ㄧず32绉嶆姤璀�
- int agvAlarmCode = 20;
- bool isFirst = true;
- List<AGVStatus> statusList = new List<AGVStatus>();
-
- for (int i = 0; i < 3; i++)
- {
- AGVStatus aGVStatus = new AGVStatus();
- aGVStatus.agvCode = i;
- aGVStatus.agvType = 1+i;
- aGVStatus.agvOnline = "123" + i;
- aGVStatus.agvRfidLabel = 2 + i;
- aGVStatus.agvXcoordinate = 3 + i;
- aGVStatus.agvYcoordinate = 4 + i;
- aGVStatus.agvStatus = 5 + i;
- aGVStatus.agvSpeed = 6 + i;
- aGVStatus.agvAlarmCode = i+99; //client.SiemensPLCClient.SiemensS7NetClient.Read("DB1001." + agvAlarmCode.ToString(), 32).Content;
- statusList.Add(aGVStatus);
+ PlaceBlockService placeBlockService = new PlaceBlockService(containerSize, placedBlocks);
+ Point3D? point3D = placeBlockService.PlaceBlock(length, width, height);
+ if (point3D == null)
+ {
+ throw new Exception("鏀捐揣浣嶇疆宸叉弧");
}
-
- response.OK(data: statusList);
+
+ //鏀捐揣浣嶇疆鏉挎潗涓績鐐�
+ Point3D putCenter = new Point3D(point3D.Value.X + length / 2, point3D.Value.Y + width / 2, point3D.Value.Z + height / 2);
+
+ //鍙栬揣浣嶇疆鏉挎潗涓績鐐�
+ Point3D takeCenter = new Point3D(length / 2, width / 2, height / 2);
+
+ //鍚哥洏闀�530 闂撮殧660 鏈�澶�920 鍚哥洏瀹�130
+
+ int positionR = 1;
+
+ int takePositionX = 0;
+ int takePositionY = 0;
+ int takePositionZ = 0;
+ int putPositionX = 0;
+ int putPositionY = 0;
+ int putPositionZ = 0;
+
+ //1.濡傛灉闀垮害澶т簬920锛屽搴﹀ぇ浜庣瓑浜�300锛屽垯鍙互浣跨敤鍙屽惛鐩樻í鍚戝惛鍙�
+ if (length > 920 && width >= 300)
+ {
+ //
+ Point3D deviceCenter = new Point3D(530 / 2, 920 / 2, 0);
+
+ positionR = 1;
+ takePositionX = takeCenter.Y - deviceCenter.X;
+ takePositionY = takeCenter.X - deviceCenter.Y;
+ takePositionZ = 10;
+
+ putPositionX = putCenter.Y - deviceCenter.X;
+ putPositionY = putCenter.X - deviceCenter.Y;
+ putPositionZ = point3D.Value.Z; // putCenter.Z /*+ 10*/;
+ }
+ else
+ {
+ positionR = 0;
+ Point3D deviceCenter = new Point3D(130 / 2, 530 / 2, 0);
+ takePositionX = takeCenter.Y - deviceCenter.X;
+ takePositionY = takeCenter.X - deviceCenter.Y;
+ takePositionZ = 10;
+
+ putPositionX = putCenter.Y - deviceCenter.X;
+ putPositionY = putCenter.X - deviceCenter.Y;
+ putPositionZ = point3D.Value.Z; //putCenter.Z /*+ 10*/;
+ }
+
+ TaskPosition taskPosition = new TaskPosition()
+ {
+ PositionR = positionR,
+ TakePositionX = takePositionX,
+ TakePositionY = takePositionY,
+ TakePositionZ = takePositionZ,
+ PutPositionX = putPositionX,
+ PutPositionY = putPositionY,
+ PutPositionZ = putPositionZ,
+ TakeCenterPositionX = takeCenter.X,
+ TakeCenterPositionY = takeCenter.Y,
+ TakeCenterPositionZ = takeCenter.Z,
+ PutCenterPositionX = putCenter.X,
+ PutCenterPositionY = putCenter.Y,
+ PutCenterPositionZ = putCenter.Z,
+ PositionX = point3D.Value.X,
+ PositionY = point3D.Value.Y,
+ PositionZ = point3D.Value.Z
+ };
+
+ return taskPosition;
}
catch (Exception ex)
{
- response.Error(ex.Message);
+ throw new Exception(ex.Message);
}
-
- return response;
}
- public WebResponseContent GetAgvStatusData2()
+ public WebResponseContent CreateTask(string takePosition, string putPosition, string deviceCode, int length, int width, int height)
{
- var response = new WebResponseContent();
try
{
- //agv绫诲瀷锛�0-娼滀紡鍨嬶紝1 - 鐗靛紩鍨嬶紝2 - 鎵胯浇鍨嬶紝3 - 涓惧崌鍨嬶紝4 -杈婇亾鍨嬶紝5 - 鍙夎溅鍨嬶紝6 - 鍏朵粬
- int agvType = 0;
- //agv缂栧彿
- int agvCode = 2;
- //agv涓婁笅绾跨姸鎬侊紝0-涓嬬嚎锛�1 - 涓婄嚎
- int agvOnline = 4;
- //agv褰撳墠鍦版爣鍙�
- int agvRfidLabel = 6;
- //agv褰撳墠x鍧愭爣鍊�
- int agvXcoordinate = 8;
- //agv褰撳墠y鍧愭爣鍊�
- int agvYcoordinate = 12;
- //agv杩愯鐘舵�� 锛�0-鍋滄锛�1 - 琛岄┒锛�2 - 鏆傚仠
- int agvStatus = 16;
- //agv褰撳墠杩愯閫熷害(mm / s)
- int agvSpeed = 18;
- //agv鎶ヨ浠ｇ爜(鎸変綅鐘舵�佹彁鍙栵紝鏈�澶氬彲琛ㄧず32绉嶆姤璀�
- int agvAlarmCode = 20;
- bool isFirst = true;
- List<AGVStatus> statusList = new List<AGVStatus>();
-
- for (int i = 0; i < 6; i++)
+ Dt_Container takeContainer = _containerRepository.QueryFirst(x => x.ContainerCode == takePosition && x.ContainerType == ContainerTypeEnum.TakeContainer.ObjToInt());
+ if (takeContainer == null)
{
- AGVStatus aGVStatus = new AGVStatus();
- aGVStatus.agvCode = i;
- aGVStatus.agvType = 1 + i;
- aGVStatus.agvOnline = "123" + i;
- aGVStatus.agvRfidLabel = 2 + i;
- aGVStatus.agvXcoordinate = 3 + i;
- aGVStatus.agvYcoordinate = 4 + i;
- aGVStatus.agvStatus = 5 + i;
- aGVStatus.agvSpeed = 6 + i;
- aGVStatus.agvAlarmCode = i + 99; //client.SiemensPLCClient.SiemensS7NetClient.Read("DB1001." + agvAlarmCode.ToString(), 32).Content;
- statusList.Add(aGVStatus);
-
+ return WebResponseContent.Instance.Error("鍙栬揣浣嶇疆涓嶅瓨鍦�");
}
- response.OK(data: statusList);
+ Dt_Container putContainer = _containerRepository.QueryFirst(x => x.ContainerCode == putPosition && x.ContainerType == ContainerTypeEnum.PutContainer.ObjToInt());
+ if (putContainer == null)
+ {
+ return WebResponseContent.Instance.Error("鏀捐揣浣嶇疆涓嶅瓨鍦�");
+ }
+
+ ContainerSize containerSize = new ContainerSize(putContainer.ContainerLength, putContainer.ContainerWidth, putContainer.ContainerHeight);
+ List<Dt_ContainerItem> containerItems = _containerItemRepository.QueryData(x => x.ContainerId == putContainer.Id);
+
+ List<PlacedBlock> placedBlocks = containerItems.Select(x => new PlacedBlock(new Point3D(x.ItemPositionX, x.ItemPositionY, x.ItemPositionZ), x.ItemLength, x.ItemWidth, x.ItemHeight)).ToList();
+
+
+ TaskPosition taskPosition = GetTakePutPosition(length, width, height, containerSize, placedBlocks);
+
+ object obj = new
+ {
+ x = taskPosition.PutCenterPositionX - putContainer.ContainerLength / 2,
+ y = taskPosition.PutCenterPositionY - putContainer.ContainerWidth / 2,
+ z = taskPosition.PutCenterPositionZ,
+ length,
+ width,
+ height,
+ };
+
+ _webSocketServer.PublishAllClientPayload(obj.Serialize());
+
+ string code = DateTime.Now.ToString("yyyyMMddHHmmss");
+
+ Dt_ContainerItem dt_ContainerItem = new Dt_ContainerItem()
+ {
+ ContainerId = putContainer.Id,
+ ItemCode = code,
+ ItemLength = length,
+ ItemWidth = width,
+ ItemHeight = height,
+ ItemPositionX = taskPosition.PutPositionX,
+ ItemPositionY = taskPosition.PutPositionY,
+ ItemPositionZ = taskPosition.PutPositionZ,
+ ItemStatus = (int)ItemStatusEnum.Assigned,
+ ItemName = code
+ };
+
+ Dt_Task dt_Task = new Dt_Task()
+ {
+ TaskNum = 1,
+ PalletCode = code,
+ DeviceCode = deviceCode,
+ TaskState = (int)TaskStatusEnum.Gantry_New,
+ TaskType = 0,
+ SourceAddress = $"{takePosition}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}",
+ TargetAddress = $"{putPosition}*{taskPosition.PutPositionX}*{taskPosition.PutPositionX}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}",
+ CurrentAddress = $"{takePosition}*{taskPosition.TakePositionX}*{taskPosition.TakePositionY}*{taskPosition.TakePositionZ}*{taskPosition.PositionR}",
+ NextAddress = $"{putPosition}*{taskPosition.PutPositionX}*{taskPosition.PutPositionX}*{taskPosition.PutPositionZ}*{taskPosition.PositionR}",
+ Grade = 0,
+ };
+
+ _containerItemRepository.AddData(dt_ContainerItem);
+ base.AddData(dt_Task);
+
+ return WebResponseContent.Instance.OK();
}
catch (Exception ex)
{
- response.Error(ex.Message);
+ return WebResponseContent.Instance.Error(ex.Message);
}
-
- return response;
- }
-
-
- public class AGVStatus
- {
- /// <summary>
- /// agv绫诲瀷锛�0-娼滀紡鍨嬶紝1 - 鐗靛紩鍨嬶紝2 - 鎵胯浇鍨嬶紝3 - 涓惧崌鍨嬶紝4 -杈婇亾鍨嬶紝5 - 鍙夎溅鍨嬶紝6 - 鍏朵粬
- /// </summary>
- public int agvType { get; set; }
-
- /// <summary>
- /// agv缂栧彿
- /// </summary>
- public int agvCode { get; set; }
-
- /// <summary>
- /// agv涓婁笅绾跨姸鎬侊紝0-涓嬬嚎锛�1 - 涓婄嚎
- /// </summary>
- public string agvOnline { get; set; }
-
- /// <summary>
- /// agv褰撳墠鍦版爣鍙�
- /// </summary>
- public int agvRfidLabel { get; set; }
-
- /// <summary>
- /// agv褰撳墠x鍧愭爣鍊�
- /// </summary>
- public int agvXcoordinate { get; set; }
-
- /// <summary>
- /// agv褰撳墠y鍧愭爣鍊�
- /// </summary>
- public int agvYcoordinate { get; set; }
-
- /// <summary>
- /// agv杩愯鐘舵�� 锛�0-鍋滄锛�1 - 琛岄┒锛�2 - 鏆傚仠
- /// </summary>
- public int agvStatus { get; set; }
-
- /// <summary>
- /// agv褰撳墠杩愯閫熷害(mm / s)
- /// </summary>
- public int agvSpeed { get; set; }
-
- /// <summary>
- /// agv鎶ヨ浠ｇ爜(鎸変綅鐘舵�佹彁鍙栵紝鏈�澶氬彲琛ㄧず32绉嶆姤璀�
- /// </summary>
- public int agvAlarmCode { get; set; }
}
}
}
--
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