using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup; using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Threading.Tasks; using WIDESEA_DTO.Agv; using WIDESEAWCS_Common.APIEnum; using WIDESEAWCS_Common.TaskEnum; using WIDESEAWCS_Core; using WIDESEAWCS_Core.Helper; using WIDESEAWCS_DTO.Agv; using WIDESEAWCS_Model.Models; using WIDESEAWCS_QuartzJob; namespace WIDESEAWCS_Tasks { public partial class AGV_CPJob { public void SendAGVTask() { try { var newTasks = _taskService.Db.Queryable().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()|| x.TaskState == TaskStatusEnum.New.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.TaskType!=999).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList(); if (newTasks.Count>0) { foreach (var task in newTasks) { try { if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt()) task.CurrentAddress = GetAGVAddress(task.CurrentAddress); else task.NextAddress = GetAGVAddress(task.NextAddress); AgvTaskDTO taskDTO = new AgvTaskDTO() { TaskCode = task.AgvTaskNum, ReqCode = DateTime.Now.ToString("yyyyMMdd") + task.AgvTaskNum, TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR", ctnrCode = task.PalletCode, PositionCodePath = new List() { new CodePath() { type = "05", positionCode = task.CurrentAddress }, new CodePath() { type = "05", positionCode = task.NextAddress } } }; if (taskDTO.TaskTyp== "CPC") { taskDTO.Priority = task.Grade.ToString(); } if (task.GroupId.IsNotEmptyOrNull()) { taskDTO.GroupId=task.GroupId; } //发送AGV任务 WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask); if (!content.Status) throw new Exception(content.Message); if (taskDTO.TaskTyp == "CPC") { task.Dispatchertime = DateTime.Now; _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing); } else { task.Dispatchertime = DateTime.Now; _taskService.UpdateTask(task, TaskStatusEnum.AGV_Takeing); } Thread.Sleep(500); } catch (Exception ex) { task.TaskState = TaskStatusEnum.Exception.ObjToInt(); task.ExceptionMessage = ex.Message; } } if (newTasks.Count > 0) { _taskService.UpdateData(newTasks); } } var newTasksLocations = _taskService.Db.Queryable().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.Remark == "测试空框").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList(); if (newTasksLocations.Count>0) { foreach (var task in newTasksLocations) { try { string CurrentAddress = GetAGVAddress(task.CurrentAddress); string NextAddress = GetAGVAddress(task.NextAddress); AgvTaskDTO taskDTO = new AgvTaskDTO() { TaskCode = task.AgvTaskNum, ReqCode = DateTime.Now.ToString("yyyyMMdd") + task.AgvTaskNum, TaskTyp = "CP", ctnrCode = task.PalletCode, PositionCodePath = new List() { new CodePath() { type="05", positionCode=CurrentAddress }, new CodePath() { type="05", positionCode=NextAddress } }, }; //发送AGV任务 WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask); if (!content.Status) throw new Exception(content.Message); task.TaskState = TaskStatusEnum.AGV_Takeing.ObjToInt(); task.CurrentAddress = CurrentAddress; task.NextAddress = NextAddress; _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing); } catch (Exception ex) { task.TaskState = TaskStatusEnum.Exception.ObjToInt(); task.ExceptionMessage = ex.Message; } } } } catch (Exception ex) { WriteError(nameof(AGV_CPJob), ex.Message, ex); } } /// /// AGV取放货回调 /// public void ContinueAGVTask() { try { //获取是否有安全申请中的任务 var continueTasks = _taskService.Db.Queryable().Where(x => (x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList(); foreach (var continueTask in continueTasks) { //取货回调 if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup) { Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.CurrentAddress || x.StationCode == continueTask.CurrentAddress); if (stationManger == null) { continue; } IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode); if (device == null) { continue; } OtherDevice otherDevice = (OtherDevice)device; short canTake = otherDevice.GetValue(GroundStationDBName.R_IsCanTake, stationManger.StationCode); if (canTake != 1) { continue; } } else//放货回调 { Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.NextAddress); if (stationManger == null) { continue; } IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode); if (device == null) { continue; } OtherDevice otherDevice = (OtherDevice)device; short canPut = otherDevice.GetValue(GroundStationDBName.R_IsCanPut, stationManger.StationCode); if (canPut != 1) { continue; } } //获取调入参数 AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO() { ReqCode = Guid.NewGuid().ToString().Replace("-", ""), ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), TaskCode = continueTask.AgvTaskNum }; if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup) { boxApplyPassDTO.Type = "1"; } else { boxApplyPassDTO.Type = "2"; } //请求料箱回调接口 WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO); if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && boxApplyPassDTO.TaskCode == continueTask.AgvTaskNum) { _taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Executing); } else if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && boxApplyPassDTO.TaskCode== continueTask.AgvTaskNum) { _taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Puting); } else { continueTask.ExceptionMessage = content.Message; _taskService.UpdateTask(continueTask, TaskStatusEnum.Exception); } } } catch (Exception ex) { WriteError(nameof(AGV_CPJob), ex.Message, ex); } } /// /// 获取AGV地址 /// /// /// public static string GetAGVAddress(string Address) { string[] targetCodes = Address.Split("-"); if (targetCodes.Length == 5) { var Row = Convert.ToInt16(targetCodes[1]); var Column = Convert.ToInt16(targetCodes[2]); var Layer = Convert.ToInt16(targetCodes[3]); var a = Row switch { 1 => "A", 2 => "B", 3 => "C", 4 => "D", 5 => "E", _ => throw new Exception($"未定义的排,地址:【{Address}】"), }; var b = Layer > 9 ? "" + Layer : "0" + Layer; var c = Column > 9 ? "" + Column : "0" + Column; if (Column == 10) c = "010"; Address = a + b + c; } else { throw new Exception($"地址有误,地址:【{Address}】"); } return Address; } } }