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 | 490 ++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 453 insertions(+), 37 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..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"
@@ -3,115 +3,531 @@
using System.Linq;
using System.Text;
using System.Threading.Tasks;
+using HslCommunication.WebSocket;
using Quartz;
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
{
/// <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
{
private readonly ITaskRepository _taskRepository;
private readonly ITaskService _taskService;
private readonly IContainerItemRepository _containerItemRepository;
- public GantryJob(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository)
+ private readonly WebSocketServer _webSocketServer;
+ private readonly 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)
{
- try
+ bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
+ if (flag && value is OtherDevice otherDevice)
{
- bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
- if (flag && value != null && value is OtherDevice)
+ 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)
{
+ #region 鍙栬揣浣嶇疆鍒ゆ柇
string[] takePositions = task.CurrentAddress.Split("*");
- if(takePositions.Length != 5)
+ if (takePositions.Length != 5)
{
- //WriteError
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "鍙栬揣浣嶇疆閿欒");
+ if (task.ExceptionMessage?.Contains("鍙栬揣浣嶇疆閿欒") ?? true)
+ {
+ task.ExceptionMessage = "鍙栬揣浣嶇疆閿欒";
+ _taskRepository.UpdateData(task);
+ }
return Task.CompletedTask;
}
+ #endregion
+ #region 鏀捐揣浣嶇疆鍒ゆ柇
string[] putPositions = task.NextAddress.Split("*");
if (putPositions.Length != 5)
{
- //WriteError
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "鏀捐揣浣嶇疆閿欒");
+ if (task.ExceptionMessage?.Contains("鏀捐揣浣嶇疆閿欒") ?? true)
+ {
+ task.ExceptionMessage = "鏀捐揣浣嶇疆閿欒";
+ _taskRepository.UpdateData(task);
+ }
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)
{
- //WriteError
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "鏉挎潗灏哄鑾峰彇閿欒");
+ if (task.ExceptionMessage?.Contains("鏉挎潗灏哄鑾峰彇閿欒") ?? true)
+ {
+ task.ExceptionMessage = "鏉挎潗灏哄鑾峰彇閿欒";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+ #endregion
+
+ #region 鏀捐揣宸ヤ綅鍒ゆ柇
+ Dt_Container container = _containerRepository.QueryFirst(x => x.ContainerCode == putPositions[0]);
+ if (container == null)
+ {
+ WriteError($"{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)
+ {
+ 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}", $"宸ヤ綅銆恵putPositions[0]}銆戞棤鍨澘,{LightStatusStorage.StationStautsDic.Serialize()}");
+ if (task.ExceptionMessage?.Contains($"宸ヤ綅銆恵putPositions[0]}銆戞棤鍨澘") ?? true)
+ {
+ task.ExceptionMessage = $"宸ヤ綅銆恵putPositions[0]}銆戞棤鍨澘";
+ _taskRepository.UpdateData(task);
+ }
+ return Task.CompletedTask;
+ }
+ #endregion
+
+ #region 鍙栬揣Z鍧愭爣鍒ゆ柇
+ if (OPositions.HPositions[takePositions[0]].PositionZ == 0)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "璇诲彇鍙栬揣Z鍧愭爣璇诲彇涓�0");
+ if (task.ExceptionMessage?.Contains($"璇诲彇鍙栬揣Z鍧愭爣璇诲彇涓�0") ?? true)
+ {
+ task.ExceptionMessage = $"璇诲彇鍙栬揣Z鍧愭爣璇诲彇涓�0";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+ #endregion
+
+ #region 鏀捐揣Z鍧愭爣鍒ゆ柇
+ if (OPositions.HPositions[putPositions[0]].PositionZ == 0)
+ {
+ WriteError($"{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)
+ {
+ task.ExceptionMessage = $"璇诲彇鏀捐揣Z鍧愭爣璇诲彇涓�0";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+ #endregion
+
+ #region 浠诲姟瀹炰綋鍙傛暟杞崲澶勭悊
+ int takePoX = Convert.ToInt32(takePositions[1]);
+ int takePoY = Convert.ToInt32(takePositions[2]);
+ int takePoZ = OPositions.HPositions[takePositions[0]].PositionZ + 30 * 1000 - Convert.ToInt32(takePositions[3]) * 1000;
+
+ int takePoR = 0;
+
+ int putPoX = Convert.ToInt32(putPositions[1]);
+ int putPoY = Convert.ToInt32(putPositions[2]);
+ int putPoZ = OPositions.HPositions[putPositions[0]].PositionZ - Convert.ToInt32(putPositions[3]) * 1000;
+
+ int putPoR = 0;
+ #endregion
+
+ #region 鍧愭爣涔樹互1000澶勭悊,2#榫欓棬鏋跺彇鍙�(涔樹互-1000)
+ int temp = 1000;
+ if (otherDevice.DeviceCode == "GT02")
+ {
+ temp = -1000;
+ }
+ #endregion
+
+ #region 鍧愭爣璁＄畻
+ if (Convert.ToInt32(takePositions[4]) == 1 || Convert.ToInt32(takePositions[4]) == 2)
+ {
+ takePoX = takePoX * temp + OPositions.HPositions[takePositions[0]].PositionX;
+ takePoY = takePoY * temp + OPositions.HPositions[takePositions[0]].PositionY;
+ putPoX = putPoX * temp + OPositions.HPositions[putPositions[0]].PositionX;
+ putPoY = putPoY * temp + OPositions.HPositions[putPositions[0]].PositionY;
+ takePoR = OPositions.HPositions[takePositions[0]].PositionR;
+
+ if (Convert.ToInt32(takePositions[4]) == 1)
+ putPoR = OPositions.HPositions[putPositions[0]].PositionR;
+ else
+ {
+ if (otherDevice.DeviceCode == "GT03")
+ putPoR = otherDevice.Communicator.Read<int>("DB10.840");
+ else if (otherDevice.DeviceCode == "GT02")
+ putPoR = otherDevice.Communicator.Read<int>("DB10.836");
+ else if (otherDevice.DeviceCode == "GT01")
+ putPoR = otherDevice.Communicator.Read<int>("DB10.832");
+ else
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "R鍧愭爣閿欒");
+ if (task.ExceptionMessage?.Contains($"R鍧愭爣閿欒") ?? true)
+ {
+ task.ExceptionMessage = $"R鍧愭爣閿欒";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+ }
+ }
+ else
+ {
+ takePoX = takePoX * temp + OPositions.ZPositions[takePositions[0]].PositionX;
+ takePoY = takePoY * temp + OPositions.ZPositions[takePositions[0]].PositionY;
+ putPoX = putPoX * temp + OPositions.ZPositions[putPositions[0]].PositionX;
+ putPoY = putPoY * temp + OPositions.ZPositions[putPositions[0]].PositionY;
+ takePoR = OPositions.ZPositions[takePositions[0]].PositionR;
+ putPoR = OPositions.ZPositions[putPositions[0]].PositionR;
+ }
+ #endregion
+
+ #region Debug鏃ュ織璁板綍,璁板綍鍙栬揣鍜屾斁璐у潗鏍囦俊鎭�
+ WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"鍙栬揣浣嶏細{takePositions[0]},鏀捐揣浣嶏細{putPositions[0]}{Environment.NewLine}鍙栬揣鍧愭爣锛歑:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}鏀捐揣鍧愭爣锛歑:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}璇诲彇PLC鍙栬揣鍧愭爣锛歑:{OPositions.HPositions[takePositions[0]].PositionX} Y:{OPositions.HPositions[takePositions[0]].PositionY} Z:{OPositions.HPositions[takePositions[0]].PositionZ} R:{OPositions.HPositions[takePositions[0]].PositionR}{Environment.NewLine}璇诲彇PLC鏀捐揣鍧愭爣锛歑:{OPositions.HPositions[putPositions[0]].PositionX} Y:{OPositions.HPositions[putPositions[0]].PositionY} Z:{OPositions.HPositions[putPositions[0]].PositionZ} R:{OPositions.HPositions[putPositions[0]].PositionR}");
+ #endregion
+
+ #region 瓒呰繃瀹瑰櫒瀹藉害澶勭悊
+ bool isMoreWidth = orderContainer == null ? false : orderContainer.MaxWidth > container.ContainerWidth;
+ if (isMoreWidth)
+ {
+ putPoX = putPoX - (orderContainer.MaxWidth - container.ContainerWidth) / 2 * temp;
+ }
+ #endregion
+
+ #region 鍧愭爣鑼冨洿鍒ゆ柇
+ List<DeviceProDTO> devicePros = otherDevice.DeviceProDTOs.Where(x => x.DeviceProParamType == "MaxPosition").ToList();
+
+ DeviceProDTO? devicePro = devicePros.OrderBy(x => x.DeviceProOffset).FirstOrDefault();
+ if (devicePro == null)
+ {
+ WriteError($"{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)
+ {
+ task.ExceptionMessage = $"璁惧鍗忚鍙傛暟閿欒锛屾湭鎵惧埌鏈�澶ф渶灏忓潗鏍囧湴鍧�";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
return Task.CompletedTask;
}
- otherDevice.SetValue(GantryDBName.TwoHand, true);
+ int[] data = otherDevice.Communicator.Read<int>(devicePro.DeviceProAddress, (ushort)(devicePros.Count));
+ int maxX = data[0];
+ int minX = data[1];
+ int maxY = data[2];
+ int minY = data[3];
+ int maxZ = data[4];
+ int minZ = data[5];
+ int maxR = data[6];
+ int minR = data[7];
+
+ if (takePoX < minX || takePoX > maxX)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"X鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoX},鏈�澶у�硷細{maxX},鏈�灏忓�硷細{minX}");
+ if (task.ExceptionMessage?.Contains($"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}") ?? true)
+ {
+ task.ExceptionMessage = $"X鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoX},鏈�澶у�硷細{maxX},鏈�灏忓�硷細{minX}";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+
+ if (putPoX < minX || putPoX > maxX)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"X鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoX},鏈�澶у�硷細{maxX},鏈�灏忓�硷細{minX}");
+ if (task.ExceptionMessage?.Contains($"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}") ?? true)
+ {
+ task.ExceptionMessage = $"X鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoX},鏈�澶у�硷細{maxX},鏈�灏忓�硷細{minX}";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+
+ if (takePoY < minY || takePoY > maxY)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"Y鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoY},鏈�澶у�硷細{maxY},鏈�灏忓�硷細{minY}");
+ if (task.ExceptionMessage?.Contains($"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}") ?? true)
+ {
+ task.ExceptionMessage = $"Y鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoY},鏈�澶у�硷細{maxY},鏈�灏忓�硷細{minY}";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+
+ if (putPoY < minY || putPoY > maxY)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"Y鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoY},鏈�澶у�硷細{maxY},鏈�灏忓�硷細{minY}");
+ if (task.ExceptionMessage?.Contains($"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}") ?? true)
+ {
+ task.ExceptionMessage = $"Y鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoY},鏈�澶у�硷細{maxY},鏈�灏忓�硷細{minY}";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+
+ if (takePoZ < minZ || takePoZ > maxZ)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"Z鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoZ},鏈�澶у�硷細{maxZ},鏈�灏忓�硷細{minZ}");
+ if (task.ExceptionMessage?.Contains($"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}") ?? true)
+ {
+ task.ExceptionMessage = $"Z鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoZ},鏈�澶у�硷細{maxZ},鏈�灏忓�硷細{minZ}";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+
+ if (putPoZ < minZ || putPoZ > maxZ)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"Z鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoZ},鏈�澶у�硷細{maxZ},鏈�灏忓�硷細{minZ}");
+ if (task.ExceptionMessage?.Contains($"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}") ?? true)
+ {
+ task.ExceptionMessage = $"Z鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoZ},鏈�澶у�硷細{maxZ},鏈�灏忓�硷細{minZ}";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+
+ if (takePoR < minR || takePoR > maxR)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"R鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoR},鏈�澶у�硷細{maxR},鏈�灏忓�硷細{minR}");
+ if (task.ExceptionMessage?.Contains($"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}") ?? true)
+ {
+ task.ExceptionMessage = $"R鍙栬揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿takePoR},鏈�澶у�硷細{maxR},鏈�灏忓�硷細{minR}";
+ _taskRepository.UpdateData(task);
+ }
+ if (LightStatusStorage.LightStatusDic.ContainsKey(putPositions[0]))
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightError;
+ }
+ return Task.CompletedTask;
+ }
+
+ if (putPoR < minR || putPoR > maxR)
+ {
+ WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-鍧愭爣", $"R鏀捐揣鍧愭爣瓒呭嚭鑼冨洿,鍙栬揣鍧愭爣锛歿putPoR},鏈�澶у�硷細{maxR},鏈�灏忓�硷細{minR}");
+ if (task.ExceptionMessage?.Contains($"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}") ?? true)
+ {
+ 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.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]));
+ 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);
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)
+ {
+ LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightWorking;
+ }
+ }
+ #endregion
}
}
- else if(gantryWorkStatus == 5)
+ else if (gantryWorkStatus == 5)
{
-
+ int currentTaskNum = otherDevice.GetValue<GantryDBName, int>(GantryDBName.TaskNum);
+ if (currentTaskNum > 0)
+ {
+ Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == currentTaskNum);
+ if (task != null)
+ {
+ _taskService.TaskComplete(task);
+
+ Task.Run(() =>
+ {
+ _orderDetailsService.ToMes(task.PalletCode, 4);
+ });
+
+ string[] putPositions = task.NextAddress.Split("*");
+ if (putPositions.Length != 5)
+ {
+ 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;
- }
-
- public Dt_Task GetTask()
- {
- return new Dt_Task();
}
}
}
--
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