From a206dda817a9f9615db1fa52e3ac193af9ac4a92 Mon Sep 17 00:00:00 2001
From: wankeda <Administrator@DESKTOP-HAU3ST3>
Date: 星期五, 11 四月 2025 10:27:24 +0800
Subject: [PATCH] 1
---
代码管理/NEWCode/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGVJob/SendTaskAGV.cs | 43 ++++++++++++++++++++++---------------------
1 files changed, 22 insertions(+), 21 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/NEWCode/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGVJob/SendTaskAGV.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/NEWCode/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGVJob/SendTaskAGV.cs"
index 37cb8f7..ffe6c58 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/NEWCode/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGVJob/SendTaskAGV.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/NEWCode/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGVJob/SendTaskAGV.cs"
@@ -191,24 +191,24 @@
try
{
// 璇诲彇浠诲姟浜や簰鍜岄噸缃氦浜掔殑鐘舵��
- int taskInteractive = agv.Communicator.Read<int>(taskInteractiveR); // 1琛ㄧず鏀跺埌
- int taskInteractiveW = agv.Communicator.Read<int>(taskInteractiveW1); // 0鍒濆/1涓嬪彂/2鍙栨秷/3鏇存敼
- int resetTaskInteractiveW = agv.Communicator.Read<int>(resetTaskW);
- int resetTaskInteractiver = agv.Communicator.Read<int>(resetTaskInteractiveR);
+ int taskInteractive = agv.Communicator.Read<Int16>(taskInteractiveR); // 1琛ㄧず鏀跺埌
+ int taskInteractiveW = agv.Communicator.Read<Int16>(taskInteractiveW1); // 0鍒濆/1涓嬪彂/2鍙栨秷/3鏇存敼
+ int resetTaskInteractiveW = agv.Communicator.Read<Int16>(resetTaskW);
+ int resetTaskInteractiver = agv.Communicator.Read<Int16>(resetTaskInteractiveR);
// 澶勭悊浠诲姟浜や簰W鍜岄噸缃氦浜扺涓嶄负0鐨勬儏鍐�
if (isTrue1 && name1 == agv.DeviceName)
{
if (taskInteractiveW != 0 || resetTaskInteractiveW != 0 || taskInteractive != 0)
{
- agv.Communicator.Write(resetTaskW, 1);
+ agv.Communicator.Write<UInt16>(resetTaskW, 1);
Task.Delay(2000).Wait();
- resetTaskInteractiveW = agv.Communicator.Read<int>(resetTaskW);
+ resetTaskInteractiveW = agv.Communicator.Read<Int16>(resetTaskW);
if (resetTaskInteractiveW == 1)
{
- agv.Communicator.Write(resetTaskW, 0);
- agv.Communicator.Write(taskInteractiveW1, 0);
+ agv.Communicator.Write<UInt16>(resetTaskW, 0);
+ agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
Task.Delay(2000).Wait();
}
return;
@@ -220,14 +220,14 @@
// 濡傛灉閲嶇疆浜や簰R涓�1锛屽垯閲嶇疆浠诲姟浜や簰W
if (resetTaskInteractiver == 1)
{
- agv.Communicator.Write(taskInteractiveW1, 0);
+ agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
for (int i = 0; i < 5; i++)
{
Task.Delay(300).Wait(); // 鐢═ask.Delay浠ｆ浛Thread.Sleep锛屼互閬垮厤绾跨▼闃诲
- int agvNumber = agv.Communicator.Read<int>(taskInteractiveW1);
+ int agvNumber = agv.Communicator.Read<Int16>(taskInteractiveW1);
if (agvNumber != 0)
{
- agv.Communicator.Write(taskInteractiveW1, 0);
+ agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
}
else
{
@@ -251,7 +251,8 @@
// 妫�鏌ヤ换鍔D鏄惁鍐欏叆姝ｇ‘
string taskId = agv.Communicator.Read<string>(taskID);
- if (taskId != agvTask.TaskNum.ToString())
+ string numberPart = taskId.Split('-')[1];
+ if (numberPart != agvTask.TaskNum.ToString())
{
throw new Exception($"缁橝GV鍐欏叆浠诲姟澶辫触,浠诲姟鍙穥agvTask.TaskNum}");
}
@@ -260,19 +261,19 @@
if (string.IsNullOrEmpty(rel))
{
// 鍐欏叆浠诲姟纭淇″彿1
- agv.Communicator.Write(taskInteractiveW1, 1);
+ agv.Communicator.Write<UInt16>(taskInteractiveW1, 1);
Task.Delay(1000).Wait();
// 璇诲彇AGV鐨勭‘璁や俊鍙�
- int readTask1Ok = agv.Communicator.Read<int>(taskInteractiveR);
+ int readTask1Ok = agv.Communicator.Read<Int16>(taskInteractiveR);
if (readTask1Ok == 1)
{
// 鍐欏叆WCS鐨勭‘璁や俊鍙�0
- agv.Communicator.Write(taskInteractiveW1, 0);
+ agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
Task.Delay(2000).Wait();
// 鍐嶆璇诲彇AGV鐨勭‘璁や俊鍙�
- int readTask0Ok = agv.Communicator.Read<int>(taskInteractiveR);
+ int readTask0Ok = agv.Communicator.Read<Int16>(taskInteractiveR);
if (readTask0Ok == 0)
{
// 鏇存柊浠诲姟鐘舵�佸苟淇濆瓨
@@ -292,7 +293,7 @@
else if (readTask1Ok == 11)
{
// 澶勭悊浠诲姟寮傚父鎯呭喌
- agv.Communicator.Write(taskInteractiveW1, 0);
+ agv.Communicator.Write<UInt16>(taskInteractiveW1, 0);
Task.Delay(2000).Wait();
int readTask0Error = agv.Communicator.Read<int>(taskInteractiveR);
@@ -342,7 +343,7 @@
public static string TaskWrite(AGV client, Dt_Task agvTask, AGVJobEnum jobEnum)
{
List<byte> sendData = new List<byte>();
- string tmp = agvTask.TaskNum.ToString();
+ string tmp = "KH-" + agvTask.TaskNum.ToString();
List<byte> taskID = Encoding.Default.GetBytes(tmp).ToList();//浠诲姟ID
taskID.Insert(0, 30);
taskID.Insert(1, Convert.ToByte(tmp.Length));
@@ -377,11 +378,11 @@
Array.Reverse(taskType);
sendData.AddRange(taskType);
- List<byte> containerType = Encoding.Default.GetBytes(agvTask.PalletCode).ToList();
+ List<byte> containerType = Encoding.Default.GetBytes(agvTask.Barcode).ToList();
containerType.Insert(0, 30);
- containerType.Insert(1, Convert.ToByte(agvTask.PalletCode.Length));
+ containerType.Insert(1, Convert.ToByte(agvTask.Barcode.Length));
- for (int i = 0; i < 30 - agvTask.PalletCode.Length; i++)
+ for (int i = 0; i < 30 - agvTask.Barcode.Length; i++)
{
containerType.Add(0);
}
--
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