From 73a077d76b715aee6b9f384b087a6792a84989d8 Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <1247017146@qq.com>
Date: 星期二, 03 六月 2025 11:35:52 +0800
Subject: [PATCH] 代码提交
---
项目代码/WMS/WIDESEA_WMSServer/WIDESEA_StoragIntegrationServices/AGV/AGVService.cs | 325 ++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 245 insertions(+), 80 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WMS/WIDESEA_WMSServer/WIDESEA_StoragIntegrationServices/AGV/AGVService.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WMS/WIDESEA_WMSServer/WIDESEA_StoragIntegrationServices/AGV/AGVService.cs"
index 2292f84..61d7523 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WMS/WIDESEA_WMSServer/WIDESEA_StoragIntegrationServices/AGV/AGVService.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WMS/WIDESEA_WMSServer/WIDESEA_StoragIntegrationServices/AGV/AGVService.cs"
@@ -27,8 +27,6 @@
private readonly ILocationInfoRepository _locationRepository;
private readonly IDt_TaskRepository BaseDal;
private readonly IDt_TaskService _taskService;
- private readonly IStockInfoRepository _stockInfoRepository;
- private readonly ISys_ConfigService _configService;
private readonly IDt_StationManagerRepository _stationManagerRepository;
private readonly LogFactory LogFactory = new LogFactory();
public SocketClientService _Socket { get; set; }
@@ -36,12 +34,10 @@
private readonly IDt_DeviceInfoRepository _deviceInfoRepository;
private readonly IDt_HandAutomaticRepository _handAutomaticRepository;
- public AGVService(ILocationInfoRepository locationRepository, IDt_TaskRepository taskRepository, IStockInfoRepository stockInfoRepository, ISys_ConfigService configService, IDt_StationManagerRepository stationManagerRepository, IDt_DeviceInfoRepository deviceInfoRepository, IMapper mapper, SocketClientService socketClientService, IDt_TaskService taskService, IDt_HandAutomaticRepository handAutomaticRepository)
+ public AGVService(ILocationInfoRepository locationRepository, IDt_TaskRepository taskRepository, IDt_StationManagerRepository stationManagerRepository, IDt_DeviceInfoRepository deviceInfoRepository, IMapper mapper, SocketClientService socketClientService, IDt_TaskService taskService, IDt_HandAutomaticRepository handAutomaticRepository)
{
_locationRepository = locationRepository;
BaseDal = taskRepository;
- _stockInfoRepository = stockInfoRepository;
- _configService = configService;
_stationManagerRepository = stationManagerRepository;
_deviceInfoRepository = deviceInfoRepository;
_mapper = mapper;
@@ -62,10 +58,10 @@
WebResponseContent content = new WebResponseContent();
try
{
- var HandAutomatic = _handAutomaticRepository.QueryFirst(x => true && x.HandAutomatic == "Automatic");
- if (HandAutomatic == null)
+ var location = _locationRepository.QueryData(x => x.LocationStatus==(int)LocationEnum.Free).ToList();
+ if (location.Count == 0)
{
- return content.Error("褰撳墠涓嶆槸鑷姩妯″紡涓嶅彲涓嬪彂浠诲姟");
+ return content.Error("搴撳唴鏃犲彲鐢ㄥ簱浣�");
}
Dt_StationManager Instation = _stationManagerRepository.QueryFirst(x => x.stationName == aGVDTO.SourceAddress && x.stationType == 1);
List<Dt_StationManager> Outstation = _stationManagerRepository.QueryData(x => x.stationType == 2).ToList();
@@ -132,12 +128,12 @@
WebResponseContent content = new WebResponseContent();
try
{
- var HandAutomatic = _handAutomaticRepository.QueryFirst(x => true && x.HandAutomatic == "Automatic");
- if (HandAutomatic == null)
- {
- _Socket.DeviceAutoStatusReport("1");
- return content.OK();
- }
+ //var HandAutomatic = _handAutomaticRepository.QueryFirst(x => true && x.HandAutomatic == "Automatic");
+ //if (HandAutomatic == null)
+ //{
+ // _Socket.DeviceAutoStatusReport("1");
+ // return content.OK();
+ //}
Dt_DeviceInfo device = _deviceInfoRepository.QueryFirst(x => x.DeviceName == Status.AGVName);
if (device != null)
{
@@ -239,118 +235,245 @@
WebResponseContent content = new WebResponseContent();
try
{
- Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == aGVDTO.TaskNum);
+ Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == Convert.ToInt32(aGVDTO.TaskNum));
if (task != null)
{
- if (task.Roadway == "PDA")
+ switch (task.TaskType)
{
- LogFactory.GetLog("AGV鍔ㄤ綔鐘舵�佸彉鏇碢DA浠诲姟").InfoFormat(true, $"璇锋眰鍙傛暟锛歿JsonConvert.SerializeObject(aGVDTO)}", "");
- if (aGVDTO.Status == "Start")
- {
- _taskService.TaskStatus(task);
- return content.OK();
- }
- else if (aGVDTO.Status == "Unload")
- {
- return _taskService.TaskComplete(task.TaskNum);
- }
- else
- {
- return content.OK();
- }
- }
- else
- {
- switch (task.TaskType)
- {
- case (int)TaskInboundTypeEnum.Inbound:
- //鍏ュ簱
- var station = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
- if (aGVDTO.Status == "Start")
+ case (int)TaskInboundTypeEnum.Inbound:
+ //鍏ュ簱
+ var station = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
+ if (aGVDTO.Status == "Start")
+ {
+ if (task.Roadway == "PDA")
+ {
+ _taskService.TaskStatus(task);
+ return content.OK();
+ }
+ else
{
_Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
task.TaskState = (int)TaskInStatusEnum.AGV_InExecuting;
}
- else if (aGVDTO.Status == "Loadel")
+
+ }
+ else if (aGVDTO.Status == "Loadel")
+ {
+ _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
+ }
+ else
+ {
+ if (task.Roadway == "PDA")
{
- _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
+ _Socket.PalletActionReportPDA("0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
}
else
{
_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
Thread.Sleep(2000);
_Socket.PalletActionReport("0000" + station.HostName, task.TargetAddress, "I", task.PalletCode);
- task.TaskState = (int)TaskInStatusEnum.AGV_InFinish;
- _taskService.CompleteInboundTask(task);
}
- break;
- case (int)TaskOutboundTypeEnum.Outbound:
- //鍑哄簱
- var stationOut = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
- if (aGVDTO.Status == "Start")
+ task.TaskState = (int)TaskInStatusEnum.AGV_InFinish;
+ _taskService.CompleteInboundTask(task);
+ }
+ break;
+ case (int)TaskOutboundTypeEnum.Outbound:
+ //鍑哄簱
+ var stationOut = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
+ if (aGVDTO.Status == "Start")
+ {
+ if (task.Roadway == "PDA")
+ {
+ _taskService.TaskStatus(task);
+ return content.OK();
+ }
+ else
{
_Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
}
- else if (aGVDTO.Status == "Loadel")
+ }
+ else if (aGVDTO.Status == "Loadel")
+ {
+ _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
+ }
+ else
+ {
+ if (task.Roadway == "PDA")
{
- _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
+ _Socket.PalletActionReportPDA(task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
}
else
{
_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
Thread.Sleep(2000);
_Socket.PalletActionReport(task.SourceAddress, "0000" + stationOut.HostName, "O", task.PalletCode);
- task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
- _taskService.CompleteOutboundTask(task);
}
- break;
- case (int)TaskRelocationTypeEnum.Relocation:
- if (aGVDTO.Status == "Start")
+ task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
+ _taskService.CompleteOutboundTask(task);
+ }
+ break;
+ case (int)TaskRelocationTypeEnum.Relocation:
+ if (aGVDTO.Status == "Start")
+ {
+ if (task.Roadway == "PDA")
+ {
+ _taskService.TaskStatus(task);
+ return content.OK();
+ }
+ else
{
_Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationExecuting;
}
- else if (aGVDTO.Status == "Loadel")
+ }
+ else if (aGVDTO.Status == "Loadel")
+ {
+ _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
+ }
+ else
+ {
+ if (task.Roadway == "PDA")
{
- _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
+ _Socket.PalletActionReportPDA(task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
}
else
{
_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
Thread.Sleep(2000);
_Socket.PalletActionReport(task.SourceAddress, task.TargetAddress, "R", task.PalletCode);
- task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationFinish;
- _taskService.CompleteRelocationboundTask(task);
}
- break;
- case (int)TaskStationTypeEnum.StationToStation:
- var stationIn = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
- var stationout = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
- if (aGVDTO.Status == "Start")
+ task.TaskState = (int)TaskRelocationStatusEnum.AGV_RelocationFinish;
+ _taskService.CompleteRelocationboundTask(task);
+ }
+ break;
+ case (int)TaskStationTypeEnum.StationToStation:
+ var stationIn = _stationManagerRepository.QueryFirst(x => x.stationName == task.SourceAddress);
+ var stationout = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
+ if (aGVDTO.Status == "Start")
+ {
+ if (task.Roadway == "PDA")
+ {
+ _taskService.TaskStatus(task);
+ return content.OK();
+ }
+ else
{
_Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
}
- else if (aGVDTO.Status == "Loadel")
+ }
+ else if (aGVDTO.Status == "Loadel")
+ {
+ _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
+ }
+ else
+ {
+ if (task.Roadway == "PDA")
{
- _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
+ _Socket.PalletActionReportPDA("0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
}
else
{
_Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), "0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
Thread.Sleep(2000);
_Socket.PalletActionReport("0000" + stationIn.HostName, "0000" + stationout.HostName, "S", task.PalletCode);
- task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
- _taskService.TaskMoveHty(task);
}
- break;
- default: break;
- }
- BaseDal.Update(task);
- LogFactory.GetLog("AGV鍔ㄤ綔鐘舵�佸彉鏇�").InfoFormat(true, $"璇锋眰鍙傛暟锛歿JsonConvert.SerializeObject(aGVDTO)}", "");
- return content.OK();
- }
+ task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
+ _taskService.TaskMoveHty(task);
+ }
+ break;
+ case (int)TaskFireAlarmTypeEnum.FireAlarmOut:
+ if (aGVDTO.Status == "Start")
+ {
+ _taskService.AddStcokHty(task.PalletCode, task.SourceAddress);
+ task.TaskState = (int)TaskFireAlarmStatusEnum.AGV_FireAlarmExecuting;
+ BaseDal.Update(task);
+ }
+ else if (aGVDTO.Status == "Loadel")
+ {
+
+ }
+ else
+ {
+
+ var stationFireAlarm = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
+ if (task.Roadway == "PDA")
+ {
+ _Socket.PalletActionReportFrie(task.SourceAddress, "0000" + stationFireAlarm.HostName, "F", task.PalletCode); ;
+ }
+ task.TaskState = (int)TaskFireAlarmStatusEnum.AGV_FireAlarmFinish;
+ _taskService.TaskMoveHty(task);
+ }
+ break;
+ case (int)TaskOutboundTypeEnum.OutQuality:
+ //鎶芥
+ var stationC = _stationManagerRepository.QueryFirst(x => x.stationName == task.TargetAddress);
+ if (aGVDTO.Status == "Start")
+ {
+ if (task.Roadway == "PDA")
+ {
+ _taskService.TaskStatus(task);
+ return content.OK();
+ }
+ else
+ {
+ _Socket.JobStartOrEnd(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
+ task.TaskState = (int)TaskOutStatusEnum.AGV_OutExecuting;
+ }
+ }
+ else if (aGVDTO.Status == "Loadel")
+ {
+ if (task.Roadway == "PDA")
+ {
+ return content.OK();
+ }
+ _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
+ }
+ else
+ {
+ if (task.Roadway == "PDA")
+ {
+ _taskService.TaskComplete(task.TaskNum);
+ _Socket.PalletActionReportPDA(task.SourceAddress, "0000" + stationC.HostName, "O", task.PalletCode);
+ }
+ else
+ {
+ _Socket.PalletActionReport(aGVDTO.Status.Substring(0, 1), task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
+ Thread.Sleep(2000);
+ _Socket.PalletActionReport(task.SourceAddress, "0000" + stationC.HostName, "C", task.PalletCode);
+ task.TaskState = (int)TaskOutStatusEnum.AGV_OutFinish;
+ _taskService.CompleteOutboundTask(task);
+ }
+ }
+ break;
+ case (int)TaskInboundTypeEnum.InQuality:
+ //鎶芥
+ if (aGVDTO.Status == "Start")
+ {
+ if (task.Roadway == "PDA")
+ {
+ _taskService.TaskStatus(task);
+ return content.OK();
+ }
+ }
+ else if (aGVDTO.Status == "Loadel")
+ {
+ return content.OK();
+ }
+ else
+ {
+ if (task.Roadway == "PDA")
+ {
+ _taskService.TaskComplete(task.TaskNum);
+ }
+ }
+ break;
+ default: break;
+ }
+ BaseDal.Update(task);
+ LogFactory.GetLog("AGV鍔ㄤ綔鐘舵�佸彉鏇�").InfoFormat(true, $"璇锋眰鍙傛暟锛歿JsonConvert.SerializeObject(aGVDTO)}", "");
+ return content.OK();
}
else
{
@@ -369,20 +492,49 @@
WebResponseContent content = new WebResponseContent();
try
{
- var task = BaseDal.QueryFirst(x => x.TaskNum == aGVDTO.TaskNum);
+ var task = BaseDal.QueryFirst(x => x.TaskNum ==Convert.ToInt32( aGVDTO.TaskNum));
if (task != null)
{
+
+ string HostType = string.Empty;
+ if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
+ {
+ HostType = "I";
+ }
+ else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
+ {
+ HostType = "O";
+ }
+ else if (task.TaskType == (int)TaskOutboundTypeEnum.OutQuality)
+ {
+ HostType = "C";
+ }
+ else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
+ {
+ HostType = "R";
+ }
+ else if (task.TaskType == (int)TaskStationTypeEnum.StationToStation)
+ {
+ HostType = "S";
+ }
switch (aGVDTO.Message)
{
- case "RepeatInbound":
-
+ //绌哄嚭搴�
+ case "0000400":
+ _Socket.EmptyOutBound(task.SourceAddress, "0000" + StationParse(task.TargetAddress), task.PalletCode);
+ _taskService.AddStcokHty(task.PalletCode, task.SourceAddress);
+ _taskService.TaskMoveHty(task);
+ _Socket.AddErrorMessage("2101", "AGV", "");
break;
- case "EmptyOutbound":
-
+ //閲嶅叆搴�
+ case "0000200":
+ _Socket.RecreateGetLocation("0000" + StationParse(task.SourceAddress), task.TargetAddress, HostType, task.PalletCode);
+ _Socket.AddErrorMessage("2100", "AGV", "");
break;
default: break;
}
}
+ LogFactory.GetLog("AGV寮傚父淇℃伅").InfoFormat(true, $"璇锋眰鍙傛暟锛歿JsonConvert.SerializeObject(aGVDTO)}", "");
return content.OK();
}
catch (Exception ex)
@@ -390,6 +542,19 @@
return content.Error(ex.Message);
}
}
+
+ public string StationParse(string station)
+ {
+ var Station = SqlSugarHelper.DbWMS.Queryable<Dt_StationManager>().Where(x => x.stationName == station).First();
+ if (Station != null)
+ {
+ return Station.HostName;
+ }
+ else
+ {
+ return "";
+ }
+ }
#endregion 澶栭儴鎺ュ彛鏂规硶
}
}
--
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