| | |
|---|
| | | Thread.Sleep(sp); |
|---|
| | | } |
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| | | |
|---|
| | | private static object locker1 = new object(); |
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| | | |
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| | | |
|---|
| | | /// <summary> |
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| | | /// agv动作缓存处理 |
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| | | /// </summary> |
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| | | /// <param name="model"></param> |
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| | | public static void agvActionManage() |
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| | | { |
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| | | |
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| | | var db = new SqlHelper<object>().GetInstance(); |
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| | | |
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| | | |
|---|
| | | try |
|---|
| | | { |
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| | | lock (locker1) |
|---|
| | | { |
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| | | var operations = db.Queryable<AgvActionState>().OrderBy(a => a.T_CREATE).ToList().Take(50); |
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| | | foreach (var model in operations) |
|---|
| | | { |
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| | | var wmsTask = TaskHelper.GetTask(model.task_no); |
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| | | LogHelper.Info("agvActionManage--任务信息" + JsonConvert.SerializeObject(wmsTask), "agv动作缓存"); |
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| | | LogHelper.Info("agvActionManage--参数信息" + JsonConvert.SerializeObject(model), "agv动作缓存"); |
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| | | if (wmsTask != null) |
|---|
| | | { |
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| | | if (model.state <= 7) |
|---|
| | | { |
|---|
| | | //有任务号请求 |
|---|
| | | switch (model.state) |
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| | | { |
|---|
| | | case 1: |
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| | | TaskHelper.Begin(wmsTask, model.forklift_no); |
|---|
| | | //胎面交互 |
|---|
| | | TaskHelper.TmSafety(wmsTask); |
|---|
| | | break; |
|---|
| | | case 3: |
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| | | TaskHelper.UpdateStatus(wmsTask, "开始取货"); |
|---|
| | | break; |
|---|
| | | case 4: |
|---|
| | | TaskHelper.UpdateStatus(wmsTask, "取货完成"); |
|---|
| | | LocationHelper.UnLockLoc(wmsTask.S_START_LOC); |
|---|
| | | TaskProcess.OperateStatus(wmsTask, 4); |
|---|
| | | break; |
|---|
| | | case 5: |
|---|
| | | TaskHelper.UpdateStatus(wmsTask, "开始卸货"); |
|---|
| | | break; |
|---|
| | | case 6: |
|---|
| | | TaskHelper.UpdateStatus(wmsTask, "卸货完成"); |
|---|
| | | LocationHelper.UnLockLoc(wmsTask.S_END_LOC); |
|---|
| | | TaskProcess.OperateStatus(wmsTask, 6); |
|---|
| | | |
|---|
| | | //如果是二段任务则下发立库任务 |
|---|
| | | var wcsTask = TaskHelper.GetTaskByState("未执行", "wcs", wmsTask.S_OP_CODE, "入库"); |
|---|
| | | if (wcsTask != null) |
|---|
| | | { |
|---|
| | | LocationHelper.LockLoc(wcsTask.S_START_LOC, "出库锁", 2); |
|---|
| | | WcsTask.WcsTaskEntity(wcsTask); |
|---|
| | | } |
|---|
| | | break; |
|---|
| | | case 2: |
|---|
| | | //空托出或者满托出任务完成判断是否要提高入库优先级 |
|---|
| | | |
|---|
| | | LogHelper.Info($"任务{wmsTask.S_CODE}完成，判断入库优先级", "入库优先级"); |
|---|
| | | TaskProcess.inPri(wmsTask); |
|---|
| | | TaskHelper.End(wmsTask); |
|---|
| | | break; |
|---|
| | | case 7: |
|---|
| | | |
|---|
| | | var wcsTask1 = TaskHelper.GetTaskByWorkNo(wmsTask.S_OP_CODE, "wcs"); |
|---|
| | | if (wcsTask1 != null) |
|---|
| | | { |
|---|
| | | //agv执行通知 wcs取消 |
|---|
| | | WcsTask.WcsCallback(wmsTask, model.state, model.forklift_no); |
|---|
| | | if (!TaskHelper.CheckActionRecordExist(wcsTask1.S_CODE, "6")) |
|---|
| | | { |
|---|
| | | TaskHelper.Fail(wcsTask1); |
|---|
| | | TaskProcess.OperateStatus(wcsTask1, 7); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | TaskHelper.Fail(wmsTask); |
|---|
| | | TaskProcess.OperateStatus(wmsTask, 7); |
|---|
| | | //入库或者回库任务取消删除托盘物料 |
|---|
| | | if (wmsTask.S_TYPE.Contains("入库") || wmsTask.S_TYPE.Contains("回库")) |
|---|
| | | { |
|---|
| | | ContainerHelper.delCntr(wmsTask.S_CNTR_CODE); |
|---|
| | | ContainerHelper.delCntrItem(wmsTask.S_CNTR_CODE); |
|---|
| | | } |
|---|
| | | |
|---|
| | | //出库取消判断接驳位是否有货，有货需要解绑 |
|---|
| | | if (!WcsTask.WcsCvstate(wmsTask)) |
|---|
| | | { |
|---|
| | | LogHelper.Info($"Wcs立库接驳位无货，解绑货位:{wmsTask.S_START_LOC}", "立库"); |
|---|
| | | TaskProcess.OperateStatus(wmsTask, 4); |
|---|
| | | ContainerHelper.delCntr(wmsTask.S_CNTR_CODE); |
|---|
| | | ContainerHelper.delCntrItem(wmsTask.S_CNTR_CODE); |
|---|
| | | } |
|---|
| | | break; |
|---|
| | | |
|---|
| | | } |
|---|
| | | TaskHelper.AddActionRecord(wmsTask.S_CODE, model.state, model.forklift_no, model.ext_data); |
|---|
| | | } |
|---|
| | | else |
|---|
| | | { |
|---|
| | | //安全请求等 |
|---|
| | | TaskProcess.OperateReq(model.task_no, model.state, model.forklift_no, model.ext_data); |
|---|
| | | } |
|---|
| | | db.Deleteable(model).ExecuteCommand(); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | catch (Exception ex) |
|---|
| | | { |
|---|
| | | LogHelper.Info("agvActionManage--异常信息" + ex.Message, "agv动作缓存"); |
|---|
| | | throw; |
|---|
| | | } |
|---|
| | | |
|---|
| | | } |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | private static object locker = new object(); |
|---|
| | |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | //查找起点 |
|---|
| | | List<Location> strrtList; |
|---|
| | | //查找起点 |
|---|
| | | List<Location> strrtList; |
|---|
| | | |
|---|
| | | Location start = null; |
|---|
| | | |
|---|
| | |
|---|
| | | continue; |
|---|
| | | } |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | LocationHelper.LockLoc(start.S_CODE, "出库锁", 2); |
|---|
| | | |
|---|
| | | |
|---|
| | | |
|---|
| | | //起点终点查找成功，创建作业 |
|---|
| | | |
|---|
| | | var taskType = int.Parse(workFlow.FLOWCODE); |
|---|
| | |
|---|
| | | } |
|---|
| | | catch (Exception ex) |
|---|
| | | { |
|---|
| | | |
|---|
| | | LogHelper.Info($"空托出库异常信息" + ex.Message, "空托出库"); |
|---|
| | | } |
|---|
| | | } |
|---|
