合肥佳通AGV项目
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
lss
2025-06-27 e3ee006de3ccd8940ad2a600c03675cd2ac5e2cb 
 HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/process/TaskProcess.cs


@@ -2,11 +2,13 @@


using HH.WCS.JiaTong.core;


using HH.WCS.JiaTong.device;


using HH.WCS.JiaTong.dispatch;


using HH.WCS.JiaTong.LISTA.models;


using HH.WCS.JiaTong.LISTA.process;


using HH.WCS.JiaTong.util;


using HH.WCS.JiaTong.wms;


using Microsoft.Owin.BuilderProperties;


using Newtonsoft.Json;


using Newtonsoft.Json.Linq;


using SqlSugar;


using System;


using System.Collections.Generic;


@@ -54,7 +56,7 @@




                if (!string.IsNullOrEmpty(mst.S_CNTR_CODE))


                {


                    LogHelper.Info($"任务{mst.S_CODE} 货位{mst.S_END_LOC}卸货完成，起点解绑容器{mst.S_CNTR_CODE}");


                    LogHelper.Info($"任务{mst.S_CODE} 货位{mst.S_END_LOC}卸货完成，终点绑定容器{mst.S_CNTR_CODE}");


                    LocationHelper.BindingLoc(mst.S_END_LOC, mst.S_CNTR_CODE.Split(',').ToList());


                }


                else


@@ -82,13 +84,10 @@


            }


            else


            {




                //起点终点解锁


                LocationHelper.UnLockLoc(mst.S_START_LOC);


                LocationHelper.UnLockLoc(mst.S_END_LOC);




            }




        }




        /// <summary>


@@ -133,7 +132,11 @@


                            }


                            else


                            {


                                ModbusHelper.WriteSingleRegister(40089, EndLoc.N_LAYER, device.address, 1024);


                                int layerValue = 0;


                                if (EndLoc.N_LAYER == 1) layerValue = 1;


                                else if (EndLoc.N_LAYER == 2) layerValue = 3;


                                else if (EndLoc.N_LAYER == 3) layerValue = 5;


                                ModbusHelper.WriteSingleRegister(40089, layerValue, device.address, 1024);


                                ModbusHelper.WriteSingleRegister(40101, 2, device.address, 1024);


                                ModbusHelper.WriteSingleRegister(40003, 2, device.address, 1024);


                                ModbusHelper.WriteSingleRegister(40102, 1, device.address, 1024);


@@ -209,13 +212,25 @@


                            if (Device != null)


                            {


                                //写入失败重新写入


                                while (!S7Helper.WriteDpj(Device.address, 1001, 1))


                                if (!S7Helper.WriteDpj(Device.address, 1001, 1))


                                {


                                    Thread.Sleep(1000);


                                    Task.Run(() =>


                                    {


                                        while (!S7Helper.WriteDpj(Device.address, 1001, 1))


                                        {


                                            Thread.Sleep(1000);


                                        }


                                    });


                                }


                                while (!S7Helper.WriteDpj(Device.address, 1002, 0))


                                if (!S7Helper.WriteDpj(Device.address, 1002, 0))


                                {


                                    Thread.Sleep(1000);


                                    Task.Run(() =>


                                    {


                                        while (!S7Helper.WriteDpj(Device.address, 1002, 0))


                                        {


                                            Thread.Sleep(1000);


                                        }


                                    });


                                }


                            }


                            else


@@ -249,9 +264,13 @@


                            }


                            else


                            {


                                int layerValue = 0;


                                if (startloc.N_LAYER == 1) layerValue = 1;


                                else if (startloc.N_LAYER == 2) layerValue = 3;


                                else if (startloc.N_LAYER == 3) layerValue = 5;


                                ModbusHelper.WriteSingleRegister(40101, 2, device.address, 1024);


                                ModbusHelper.WriteSingleRegister(40003, 2, device.address, 1024);


                                ModbusHelper.WriteSingleRegister(40089, startloc.N_LAYER, device.address, 1024);


                                ModbusHelper.WriteSingleRegister(40089, layerValue, device.address, 1024);


                                ModbusHelper.WriteSingleRegister(40102, 1, device.address, 1024);


                            }




@@ -294,7 +313,11 @@


                                {


                                    LogHelper.Info($"根据任务终点:{mstbyEqno.S_END_LOC},未找到对应货位");


                                }


                                ModbusHelper.WriteSingleRegister(40089, Endloc.N_LAYER, device.address, 1024);


                                int value = 0;


                                if (Endloc.N_LAYER == 1) value = 1;


                                else if (Endloc.N_LAYER == 2) value = 3;


                                else if (Endloc.N_LAYER == 3) value = 5;


                                ModbusHelper.WriteSingleRegister(40089, value, device.address, 1024);


                                ModbusHelper.WriteSingleRegister(40102, 1, device.address, 1024);




                            }


@@ -430,6 +453,14 @@


        {


            var result = true;


            var db = new SqlHelper<object>().GetInstance();


            //根据起点仓库编码判断是否可以推送


            var taskLimit = db.Queryable<TASK_LIMIT>().Where(a => a.S_WH_CODE == mst.S_START_WH && a.OPEN == "1").First();


            if (taskLimit != null)


            {


                Console.WriteLine($"任务：{mst.S_CODE},起点仓库：{mst.S_START_WH}已经禁用推送");


                return false;


            }




            var mstbyEqno = db.Queryable<WCSTask>().Where(a => a.S_EQ_NO == mst.S_EQ_NO).ToList();


            if (mstbyEqno.Count() == 1)


            {


@@ -455,12 +486,16 @@


                else if (mst.S_TYPE == "电梯2")


                {


                    var mst2 = mstbyEqno.Where(a => a.S_TYPE == "电梯1").First();


                    if (mst2.S_B_STATE == "卸货完成" || mst2.S_B_STATE == "完成")


                    {


                    if (mst2 == null)


                    { 


                        return result;


                    }


                    else


                    {


                        if (mst2.S_B_STATE == "卸货完成" || mst2.S_B_STATE == "完成")


                        {


                            return result;


                        }


                        result = false;


                    }


                }


@@ -523,14 +558,22 @@


        internal static bool SendTask(WCSTask mst)


        {






            var db = new SqlHelper<object>().GetInstance();


            var result = false;


            var start = "0"; var end = "0";


            var taskType = mst.S_TYPE.Trim();


            var list = db.Queryable<Location>().ToList().Count;


            //LogHelper.Info($"查询全部货位数据{list}");


            // if (mst.N_B_STATE == 0) {


            if (mst.N_SCHEDULE_TYPE == 1)


            {


                LogHelper.Info($"任务推送数据：{JsonConvert.SerializeObject(mst)}");


                if (string.IsNullOrEmpty(mst.S_START_LOC)|| string.IsNullOrEmpty(mst.S_END_LOC))


                {


                    LogHelper.Info($"任务{mst.S_CODE},起点终点有空参数，不推送任务");


                }


            


             


                start = LocationHelper.GetAgvSite(mst.S_START_LOC);


                end = LocationHelper.GetAgvSite(mst.S_END_LOC);


                //if (mst.N_START_LAYER > 1)


@@ -582,7 +625,12 @@


                        {


                            LogHelper.Info($"根据任务起点:{mst.S_START_LOC},未找到对应货位");


                        }


                        ModbusHelper.WriteSingleRegister(40089, loc.N_LAYER, device.address, 1024);


                        int value = 0;


                        if (loc.N_LAYER == 1) value = 1;


                        else if (loc.N_LAYER == 2) value = 3;


                        else if (loc.N_LAYER == 3) value = 5;




                        ModbusHelper.WriteSingleRegister(40089, value, device.address, 1024);


                        ModbusHelper.WriteSingleRegister(40102, 1, device.address, 1024);






@@ -784,6 +832,11 @@


                var time = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();


                statusarrive.RequestId = "杭叉AGV" + time;




                int flag = 0;


                if (mst.S_NOTE == "粉料")


                {


                    flag = 1;


                }


                //List<StatusArrive> statusArrives = new List<StatusArrive>();


                StatusArrive statusArrive = new StatusArrive();


                statusarrive.UseToken = "iFQ5fExGrLYLXliHYWzs";


@@ -791,7 +844,9 @@


                statusArrive.LocationNum = mst.S_END_LOC;


                statusArrive.Time = DateTime.Now.ToString();


                statusArrive.Status = status.ToString();


           


                statusArrive.Rfid = mst.S_CNTR_CODE;


                statusArrive.Flag = flag;




                //statusArrives.Add(statusArrive);


                statusarrive.data = statusArrive;


                //开始回报


@@ -857,7 +912,8 @@


                mesItemBackModel.Rfid = mst.S_CNTR_CODE;


                mesItemBackModel.LocationNum = mst.S_END_LOC;


                mesItemBackModel.Result = "1";


                mesItemBackModel.ArricalTime = DateTime.Now.ToString("yyyy-MM-dd");


                mesItemBackModel.ArricalTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff");




                if (cntritem != null)


                {


                    list.Add(new MesItemBackInfoModel()