优化配置文件读取和AGV调度细节

kazelee

2025-06-30 3512011e94f013955b7b1e2de8558b8861db86b7

 core/WCSCore.cs

@@ -19,7 +19,7 @@
        public static ReturnResult OperateAgvTaskStatus(AgvTaskState model) {
            var result = new ReturnResult();
            try {
                if (model.state > 0 && model.state < 1000) {
                if (model.state > 0) {
                    // AGV 执行任务的逻辑处理
                    if (!AgvTaskProcessOk(model)) {
                        // 执行不OK，说明没有找到任务
@@ -126,13 +126,13 @@
                    return;
                }

                if (db.Updateable<TN_Loc_Container>()
                    .SetColumns(d => d.S_IMG_URL == filepath)
                    .Where(d => d.S_CNTR_CODE == model.S_CNTR_CODE).ExecuteCommand() <= 0) {
                //if (db.Updateable<TN_Loc_Container>()
                //    .SetColumns(d => d.S_IMG_URL == filepath)
                //    .Where(d => d.S_CNTR_CODE == model.S_CNTR_CODE).ExecuteCommand() <= 0) {

                    LogHelper.Info($"图片URL '{filepath}' 写入数据库失败");
                    return;
                }
                //    LogHelper.Info($"图片URL '{filepath}' 写入数据库失败");
                //    return;
                //}
            }
            catch (Exception ex) {
                LogHelper.Info($"发生了错误：{ex.Message}");
@@ -164,7 +164,7 @@

                if (data.Count == 0) {
                    LogHelper.Info("设置终点货位失败：没有接受到来自国自AGV的重量信息");
                    //return; // TODO 正式运行有国自AGV的时候恢复
                    //cgDetail.F_QTY = 0; // 不设置为空，便于测试时预先设置一个正常值
                }
                else {
                    var weight = float.Parse(data[0].parameter_varchar200_up);
@@ -209,6 +209,19 @@
                    // 重量超过 2t 
                    endLoc = null;
                    LogHelper.Info("重量超过2t，不允许入库");

                    // 传递给国自AGV
                    if (GZRobot.UpdateInteractInfo(new UpdateInteractInfo {
                        type_name = "GET_DST",
                        interaction_info_id = int.Parse(tn_task.S_EQ_TASK_CODE),
                        info_status = "error",
                    })) {
                        LogHelper.Info($"国自AGV接受超重取消信息成功", "HosttoagvTask");
                    }
                    else {
                        LogHelper.Info($"国自AGV接受超重取消信息失败", "HosttoagvTask");
                    }

                    return;
                }
                else if (cgDetail.F_QTY > 1500) {
@@ -232,18 +245,17 @@

                // 如果没有符合条件的货位，置空，等待PDA重新确定
                if (endLoc == null) {
                    tn_task.S_END_AREA = Settings.Areas[1][0]; // HJQ
                    tn_task.S_END_AREA = Settings.Areas[AreaIndex.H货架区][0]; // HJQ
                    tn_task.S_END_LOC = "0";

                    // 不需要再给GZ AGV传空值，一开始就没给具体货位，只给了Area

                    //var request = new UpdateInteractInfo {
                    //    interaction_info_id = 3, // 更改终点信息
                    //    info_status = "active",
                    //    return_value = "",
                    //};

                    //GZRobot.UpdateInteractInfo(request);

                    if (db.Updateable<TN_Task>(tn_task).UpdateColumns(it => new { it.S_END_LOC })
                            .ExecuteCommand() > 0) {
                        //LocationHelper.LockLoc(endLoc.S_CODE, 1);//终点入库锁
@@ -258,6 +270,19 @@
                    tn_task.S_END_LOC = endLoc.S_CODE;

                    LocationHelper.LockLoc(ref endLoc, 1); // 终点入库锁

                    // 传递给国自AGV
                    if (GZRobot.UpdateInteractInfo(new UpdateInteractInfo {
                        type_name = "GET_DST",
                        interaction_info_id = int.Parse(tn_task.S_EQ_TASK_CODE),
                        info_status = "invalid",
                        return_value = LocationHelper.GetAgvSite(tn_task.S_END_LOC), // 目前使用agvsite
                    })) {
                        LogHelper.Info($"国自AGV接受终点信息成功", "HosttoagvTask");
                    }
                    else {
                        LogHelper.Info($"国自AGV接受终点信息失败", "HosttoagvTask");
                    }

                    using (var tran = db.Ado.UseTran()) {
                        if (db.Updateable<TN_Task>(tn_task).UpdateColumns(it => new { it.S_END_LOC })
@@ -337,8 +362,6 @@
                {
                    //使用自定义任务推送
                    TaskProcess.SendTask(task);//调度NDC或杭奥或国自设备
                    //TaskProcess.SendGZTask(task);///调度国自设备

                });
            }
            else
@@ -347,37 +370,13 @@
            }
        }

        public static ReturnResult SafetyInteraction(SafetyInteractionInfo model) {
            var gzResult = new ReturnResult();
            //var db = new SqlHelper<object>().GetInstance();
            //ModbusHelper.Relink();

            //var productionLineInfo = Settings.ProductionLines[0];
            //var prodLineDevice = new ProductionLineDevice(productionLineInfo.PlcIp, productionLineInfo.PlcPort);
            //if (!prodLineDevice.LoadDeviceStateOk()) {
            //    LogHelper.Info("加载设备信息失败");
            //}

            //var tn_task = db.Queryable<TN_Task>().First(a => a.S_CODE == model.task_no);
            //if (tn_task == null) {
            //    LogHelper.Info($"任务号 '{model.task_no}' 不存在");
            //}

            //if (prodLineDevice.SystemState == 1
            //    && prodLineDevice.FullOffline == 1 && tn_task.S_TYPE == "成品胶下线-托盘(WMS)") {
            //    if (!prodLineDevice.SetAgvPicking(1)) {
            //        LogHelper.Info("写入输送线 PLC 失败");
            //    }
            //}

            //if (prodLineDevice.SystemState == 1
            //    && prodLineDevice.AllowAgvPlacePallet == 1 && tn_task.S_TYPE == "空托盘上线(WMS)") {
            //    if (!prodLineDevice.SetAgvPlacingPallet(1)) {
            //        LogHelper.Info("写入输送线 PLC 失败");
            //    }
            //}

            //LogHelper.Info(JsonConvert.SerializeObject(prodLineDevice, Formatting.Indented));
        // DOC 4.   站台申请安全交互 RCS->WMS
        public static gzResult SafetyInteraction(SafetyInteractionInfo model) {
            var gzResult = new gzResult() {
                code = 0,
                msg = "success"
            };
            // 目前该项目没有站台安全交互的功能
            return gzResult;
        }
    }