From cd92df8b7b383a6a3218f50b3b62264db8332899 Mon Sep 17 00:00:00 2001
From: kazelee <1847801760@qq.com>
Date: 星期三, 14 五月 2025 17:21:49 +0800
Subject: [PATCH] 引入NETSDKCS，修复版本兼容问题；完成拍照逻辑开发，跑通待调试
---
Services/AgvService.cs | 147 ++++++++++++++++++++++++++++---------------------
1 files changed, 84 insertions(+), 63 deletions(-)
diff --git a/Services/AgvService.cs b/Services/AgvService.cs
index 50d342f..2cbf5b8 100644
--- a/Services/AgvService.cs
+++ b/Services/AgvService.cs
@@ -14,6 +14,7 @@
using static HH.WCS.Mobox3.AnGang.Dtos.Response.AgvResponse;
using HH.WCS.Mobox3.AnGang.Consts;
using HH.WCS.Mobox3.AnGang.Dispatch;
+using HH.WCS.Mobox3.AnGang.Devices;
namespace HH.WCS.Mobox3.AnGang.Services {
public class AgvService {
@@ -22,8 +23,8 @@
try {
switch (model.state) {
case 1023:
+ break;
case 1025:
-
break;
case 1012:
break;
@@ -83,10 +84,17 @@
case AgvStateCode.鍙栬揣瀹屾垚:
WCSHelper.UpdateStatus(TN_Task, "鍙栬揣瀹屾垚"); // 浠诲姟鐘舵�鏀规垚鍙栬揣瀹屾垚
- // TODO 鎷嶇収
+ var captureTask = Task.Run(() => {
+ if (TN_Task.S_TYPE == TaskName.璐у搧鍏ュ簱 || TN_Task.S_TYPE == TaskName.浜у搧閮ㄥ垎鍥炲簱) {
+ CapturePic(TN_Task);
+ }
+ });
var setEndLocTask = Task.Run(() => {
- SetEndLoc(TN_Task);
+ // 鍙浠诲姟涓轰骇鍝佸叆搴�PDA)锛屽氨闇�閲嶆柊鎸囧畾缁堢偣锛堥粯璁ndLoc涓�"锛�+ if (TN_Task.S_TYPE == "浜у搧鍏ュ簱(PDA)") {
+ SetEndLoc(TN_Task);
+ }
});
TaskHelper.OperateStatus(TN_Task, 4); // 璧风偣瀹瑰櫒璐т綅瑙ｇ粦,瑙ｉ攣璧风偣
@@ -113,80 +121,93 @@
return true;
}
+ public static void CapturePic(TN_Task model) {
+ var db = DbHelper.GetDbClient();
+
+ var filepath = SnapManager.GetCapturePicturePath();
+ if (string.IsNullOrEmpty(filepath)) {
+ return;
+ }
+
+ if (db.Updateable<TN_CG_Detail>()
+ .SetColumns(d => d.S_IMG_URL == filepath)
+ .Where(d => d.S_CNTR_CODE == model.S_CNTR_CODE).ExecuteCommand() <= 0) {
+
+ LogHelper.Info($"鍥剧墖URL '{filepath}' 鍐欏叆鏁版嵁搴撳け璐�);
+ return;
+ }
+ }
+
public static void SetEndLoc(TN_Task tn_task) {
- // 鍙浠诲姟涓轰骇鍝佸叆搴�PDA)锛屽氨闇�閲嶆柊鎸囧畾缁堢偣锛堥粯璁ndLoc涓�"锛�- if (tn_task.S_TYPE == "浜у搧鍏ュ簱(PDA)") {
+ var db = DbHelper.GetDbClient();
+ var endLoc = new TN_Location();
- var db = DbHelper.GetDbClient();
- var endLoc = new TN_Location();
+ var data = GZRobot.CustomBuf();
+ var weight = float.Parse(data[0].parameter_varchar200_up);
+ tn_task.F_WEIGHT = weight;
- var data = GZRobot.CustomBuf();
- var weight = float.Parse(data[0].parameter_varchar200_up);
- tn_task.F_WEIGHT= weight;
+ // 鍙綋涔嬪墠鎸囧畾缁堢偣璐ф灦鍚庯紝鎵嶅皾璇曡绠楃粓鐐硅揣浣嶏紝鍚﹀垯浜ょ粰浜哄伐鍐冲畾
+ if (tn_task.S_END_AREA != "") {
+ if (weight > 1500) {
+ // 閲嶉噺瓒呰繃1.5t锛岄渶瑕侀�鎷�-3灞傝揣鏋�+ endLoc = db.Queryable<TN_Location>().First(a => a.S_SHELF_CODE == tn_task.S_END_AREA && LocationHelper.IsFree(a) && a.N_CURRENT_NUM == 0 && a.N_HEIGHT <= 3);
+ }
+ else if (weight > 0) {
+ // 閲嶉噺鏈秴杩�.5t锛屽湪鎸囧畾璐ф灦闅忎究閫夋嫨1涓�+ endLoc = db.Queryable<TN_Location>().First(a => a.S_SHELF_CODE == tn_task.S_END_AREA && LocationHelper.IsFree(a) && a.N_CURRENT_NUM == 0);
+ }
+ else {
+ // 娌℃湁鎺ユ敹鍒伴噸閲忥紝鎴栭噸閲忓嚭閿�+ endLoc = null;
+ LogHelper.Info($"閿欒鐨勯噸閲忎俊鎭細{weight}");
+ return;
+ }
- // 鍙綋涔嬪墠鎸囧畾缁堢偣璐ф灦鍚庯紝鎵嶅皾璇曡绠楃粓鐐硅揣浣嶏紝鍚﹀垯浜ょ粰浜哄伐鍐冲畾
- if (tn_task.S_END_AREA != "") {
- if (weight > 1500) {
- // 閲嶉噺瓒呰繃1.5t锛岄渶瑕侀�鎷�-3灞傝揣鏋�- endLoc = db.Queryable<TN_Location>().First(a => a.S_SHELF_CODE == tn_task.S_END_AREA && LocationHelper.IsFree(a) && a.N_CURRENT_NUM == 0 && a.N_HEIGHT <= 3);
- }
- else if (weight > 0) {
- // 閲嶉噺鏈秴杩�.5t锛屽湪鎸囧畾璐ф灦闅忎究閫夋嫨1涓�- endLoc = db.Queryable<TN_Location>().First(a => a.S_SHELF_CODE == tn_task.S_END_AREA && LocationHelper.IsFree(a) && a.N_CURRENT_NUM == 0);
- }
- else {
- // 娌℃湁鎺ユ敹鍒伴噸閲忥紝鎴栭噸閲忓嚭閿�- endLoc = null;
- LogHelper.Info($"閿欒鐨勯噸閲忎俊鎭細{weight}");
- return;
- }
+ // 濡傛灉娌℃湁绗﹀悎鏉′欢鐨勮揣浣嶏紝缃┖锛岀瓑寰匬DA閲嶆柊纭畾
+ if (endLoc == null) {
+ tn_task.S_END_AREA = "";
+ tn_task.S_END_LOC = "";
- // 濡傛灉娌℃湁绗﹀悎鏉′欢鐨勮揣浣嶏紝缃┖锛岀瓑寰匬DA閲嶆柊纭畾
- if (endLoc == null) {
- tn_task.S_END_AREA = "";
- tn_task.S_END_LOC = "";
+ // 涓嶉渶瑕佸啀缁橤Z AGV浼犵┖鍊硷紝涓�紑濮嬪氨娌＄粰鍏蜂綋璐т綅锛屽彧缁欎簡Area
- // 涓嶉渶瑕佸啀缁橤Z AGV浼犵┖鍊硷紝涓�紑濮嬪氨娌＄粰鍏蜂綋璐т綅锛屽彧缁欎簡Area
+ //var request = new UpdateInteractInfo {
+ // interaction_info_id = 3, // 鏇存敼缁堢偣淇℃伅
+ // info_status = "active",
+ // return_value = "",
+ //};
- //var request = new UpdateInteractInfo {
- // interaction_info_id = 3, // 鏇存敼缁堢偣淇℃伅
- // info_status = "active",
- // return_value = "",
- //};
+ //GZRobot.UpdateInteractInfo(request);
- //GZRobot.UpdateInteractInfo(request);
+ using (var trans = db.Ado.UseTran()) {
+ if (db.Updateable<TN_Task>(tn_task).UpdateColumns(it => new { it.S_END_LOC, it.F_WEIGHT })
+ .ExecuteCommand() > 0) {
+ //LocationHelper.LockLoc(endLoc.S_CODE, 1);//缁堢偣鍏ュ簱閿�
- using (var trans = db.Ado.UseTran()) {
- if (db.Updateable<TN_Task>(tn_task).UpdateColumns(it => new { it.S_END_LOC, it.F_WEIGHT })
- .ExecuteCommand() > 0) {
- //LocationHelper.LockLoc(endLoc.S_CODE, 1);//缁堢偣鍏ュ簱閿�-
- trans.CommitTran();
- LogHelper.Info($"閲嶆柊璁＄畻鍚庢病鏈夊悎閫傝揣浣嶏紝浠诲姟 {tn_task.S_CODE} 淇敼鎴愬姛锛屼慨鏀圭粓鐐硅揣鏋跺拰璐т綅涓虹┖");
- }
- else {
- trans.RollbackTran();
- LogHelper.Info($"閲嶆柊璁＄畻鍚庢病鏈夊悎閫傝揣浣嶏紝浠诲姟 {tn_task.S_CODE} 淇敼澶辫触锛屼慨鏀圭粓鐐硅揣鏋跺拰璐т綅涓虹┖");
- }
+ trans.CommitTran();
+ LogHelper.Info($"閲嶆柊璁＄畻鍚庢病鏈夊悎閫傝揣浣嶏紝浠诲姟 {tn_task.S_CODE} 淇敼鎴愬姛锛屼慨鏀圭粓鐐硅揣鏋跺拰璐т綅涓虹┖");
+ }
+ else {
+ trans.RollbackTran();
+ LogHelper.Info($"閲嶆柊璁＄畻鍚庢病鏈夊悎閫傝揣浣嶏紝浠诲姟 {tn_task.S_CODE} 淇敼澶辫触锛屼慨鏀圭粓鐐硅揣鏋跺拰璐т綅涓虹┖");
}
}
- else {
- // 鎵惧埌鍚堥�鐨勮揣浣嶏紝鎺ㄩ�
- tn_task.S_END_LOC = endLoc.S_CODE;
+ }
+ else {
+ // 鎵惧埌鍚堥�鐨勮揣浣嶏紝鎺ㄩ�
+ tn_task.S_END_LOC = endLoc.S_CODE;
- using (var trans = db.Ado.UseTran()) {
- if (db.Updateable<TN_Task>(tn_task).UpdateColumns(it => new {it.S_END_LOC, it.F_WEIGHT})
- .ExecuteCommand() > 0) {
- LocationHelper.LockLoc(endLoc.S_CODE, 1);//缁堢偣鍏ュ簱閿�+ using (var trans = db.Ado.UseTran()) {
+ if (db.Updateable<TN_Task>(tn_task).UpdateColumns(it => new { it.S_END_LOC, it.F_WEIGHT })
+ .ExecuteCommand() > 0) {
+ LocationHelper.LockLoc(endLoc.S_CODE, 1);//缁堢偣鍏ュ簱閿�
- trans.CommitTran();
- LogHelper.Info($"璁＄畻璐т綅鎴愬姛锛屼换鍔�{tn_task.S_CODE} 淇敼鎴愬姛锛岀粓鐐硅揣鏋朵负 {endLoc.S_SHELF_CODE}锛屼慨鏀圭粓鐐逛綅缃负 {endLoc.S_CODE}");
- }
- else {
- trans.RollbackTran();
+ trans.CommitTran();
+ LogHelper.Info($"璁＄畻璐т綅鎴愬姛锛屼换鍔�{tn_task.S_CODE} 淇敼鎴愬姛锛岀粓鐐硅揣鏋朵负 {endLoc.S_SHELF_CODE}锛屼慨鏀圭粓鐐逛綅缃负 {endLoc.S_CODE}");
+ }
+ else {
+ trans.RollbackTran();
- LogHelper.Info($"璁＄畻璐т綅鎴愬姛锛屼换鍔�{tn_task.S_CODE} 淇敼澶辫触锛岀粓鐐硅揣鏋朵负 {endLoc.S_SHELF_CODE}锛屼慨鏀圭粓鐐逛綅缃负 {endLoc.S_CODE}");
- }
+ LogHelper.Info($"璁＄畻璐т綅鎴愬姛锛屼换鍔�{tn_task.S_CODE} 淇敼澶辫触锛岀粓鐐硅揣鏋朵负 {endLoc.S_SHELF_CODE}锛屼慨鏀圭粓鐐逛綅缃负 {endLoc.S_CODE}");
}
}
}
--
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