From 1af49bdb3cdaa44a7e44ebdc843fb8180596365f Mon Sep 17 00:00:00 2001
From: kazelee <1847801760@qq.com>
Date: 星期四, 15 五月 2025 16:34:39 +0800
Subject: [PATCH] 尾箱回库、移库逻辑开发
---
Services/AgvService.cs | 43 +++++++++++++++++++++++++++----------------
1 files changed, 27 insertions(+), 16 deletions(-)
diff --git a/Services/AgvService.cs b/Services/AgvService.cs
index 593c21f..126abe7 100644
--- a/Services/AgvService.cs
+++ b/Services/AgvService.cs
@@ -1,11 +1,11 @@
锘縰sing System;
+using System.Threading.Tasks;
using HH.WCS.Mobox3.DSZSH.Consts;
using HH.WCS.Mobox3.DSZSH.Devices;
using HH.WCS.Mobox3.DSZSH.Helpers;
-using HH.WCS.Mobox3.DSZSH.Helpers.Model;
using HH.WCS.Mobox3.DSZSH.Models;
-using HH.WCS.Mobox3.DSZSH.Helper;
+using HH.WCS.Mobox3.DSZSH.ServiceCore;
using Newtonsoft.Json;
@@ -17,10 +17,10 @@
public static ReturnResult OperateAgvTaskStatus(AgvTaskState model) {
var result = new ReturnResult();
try {
- switch (model.State) {
+ switch (model.state) {
case 1023:
+ break;
case 1025:
-
break;
case 1012:
break;
@@ -33,7 +33,7 @@
if (!AgvTaskProcessOk(model)) {
// 鎵ц涓峅K锛岃鏄庢病鏈夋壘鍒颁换鍔� result.ResultCode = 1;
- result.ResultMsg = $"鏍规嵁Model.No鏈壘鍒板搴旂殑浠诲姟锛寋model.TaskNo}";
+ result.ResultMsg = $"鏍规嵁Model.No鏈壘鍒板搴旂殑浠诲姟锛寋model.task_no}";
LogHelper.Info(result.ResultMsg, "API");
return result;
}
@@ -55,24 +55,24 @@
}
/// <summary>
- /// 鎵ц AGV 浠诲姟锛屾煡璇笉鍒颁换鍔¤繑鍥�<see langword="false"/>锛堢鏈夋柟娉曪紝鍐呴儴璋冪敤锛�+ /// 鎵ц AGV 浠诲姟锛屾煡璇笉鍒颁换鍔¤繑鍥�<see langword="false"/>
/// </summary>
/// <param name="model"></param>
/// <returns></returns>
private static bool AgvTaskProcessOk(AgvTaskState model) {
- var TN_Task = TaskHelper.GetTask(model.TaskNo); // 鏍规嵁褰撳墠model缂栧彿鏌ヨ浠诲姟
+ var TN_Task = TaskHelper.GetTask(model.task_no); // 鏍规嵁褰撳墠model缂栧彿鏌ヨ浠诲姟
if (TN_Task == null) { return false; }
- if (model.State > 7) {
+ if (model.state > 7) {
//瀹夊叏璇锋眰绛�- TaskHelper.OperateReq(model.TaskNo, model.State, model.ForkliftNo, model.ext_data);
+ TaskHelper.OperateReq(model.task_no, model.state, model.forklift_no, model.ext_data);
return true;
}
// AGV 浠诲姟 134562(7) 鐘舵�澶勭悊
- switch (model.State) {
+ switch (model.state) {
case AgvStateCode.鎵ц:
- TaskHelper.Begin(TN_Task, model.ForkliftNo); // 宸叉帹閫佺殑浠诲姟鐨勭姸鎬佹敼鎴愭墽琛�+ TaskHelper.Begin(TN_Task, model.forklift_no); // 宸叉帹閫佺殑浠诲姟鐨勭姸鎬佹敼鎴愭墽琛� break;
case AgvStateCode.寮�鍙栬揣:
TaskHelper.UpdateStatus(TN_Task, "寮�鍙栬揣"); // 浠诲姟鐘舵�鏀规垚寮�鍙栬揣
@@ -81,7 +81,11 @@
TaskHelper.UpdateStatus(TN_Task, "鍙栬揣瀹屾垚"); // 浠诲姟鐘舵�鏀规垚鍙栬揣瀹屾垚
TaskHelper.OperateStatus(TN_Task, 4); // 璧风偣瀹瑰櫒璐т綅瑙ｇ粦,瑙ｉ攣璧风偣
-
+ if (TN_Task.S_TYPE == TaskName.鎴愬搧鑳跺嚭搴� {
+ var nextOutboundTask = Task.Run(() => {
+ OutboundCore.UpdateTaskState(SpotStateCode.浠诲姟鎵ц瀹屾垚);
+ });
+ }
break;
case AgvStateCode.寮�鍗歌揣:
@@ -93,6 +97,13 @@
break;
case AgvStateCode.瀹屾垚:
TaskHelper.End(TN_Task); // 浠诲姟鐘舵�鏀规垚缁撴潫
+
+ if (TN_Task.S_TYPE == TaskName.鎶芥_鍑哄簱) {
+ var checkCompleteTask = Task.Run(() => {
+ CheckCore.UpdateTaskState(SpotStateCode.浠诲姟鎵ц瀹屾垚);
+ });
+ }
+
break;
case AgvStateCode.寮傚父:
TaskHelper.OperateStatus(TN_Task, 7); // 寮傚父澶勭悊
@@ -101,20 +112,20 @@
}
// 灏咥GV鎵ц鐘舵�锛屽姞鍏N_Task_Action琛ㄤ腑
- TaskHelper.AddActionRecord(model.TaskNo, model.State, model.ForkliftNo, model.ext_data);
+ TaskHelper.AddActionRecord(model.task_no, model.state, model.forklift_no, model.ext_data);
//璋冪敤绗笁鏂规帴鍙ｏ紙濡傛灉鏈夛級TaskProcess.ReportStatus锛屾坊鍔犱换鍔″姩浣滃叧绯昏〃
return true;
}
-
-
-
+
public static ReturnResult SafetyInteraction(SafetyInteractionInfo model) {
var gzResult = new ReturnResult();
var db = DbHelper.GetDbClient();
ModbusHelper.Relink();
try {
+
+
var prodLineInfo = AppStart.Settings.Config.ProductionLines[0];
var prodLineDevice = new ProductionLineDevice(prodLineInfo.PlcIp, prodLineInfo.PlcPort);
if (!prodLineDevice.LoadDeviceStateOk()) {
--
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