using Admin.NET.Core.TaskModule.Enum;
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using iWareCC.ConveyorService;
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using iWareCommon.Utils;
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using iWareModel;
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using iWareModel.Entity.AGV;
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using iWareModel.EnumType.AoSinPublicCommon;
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using iWareModel.EnumType.EDevice.AGV;
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using iWareSql;
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using iWareSql.DbOrm;
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using iWareSql.Orm;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Runtime.CompilerServices;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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//using WZ.Useful.Commons;
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using XiGang.Core.Model;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement.Header;
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namespace iWareCC
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{
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public class AGVThreadService : DeviceThreadServiceHandle
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{
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private string _namespace = "iWareCC.AGVThreadService";
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public string host = ConfigHelper.GetConfigString("AgvHost");
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public string createTask = ConfigHelper.GetConfigString("createTask");
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public string wmshost = ConfigHelper.GetConfigString("WMSHost");
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public string agvcallback = ConfigHelper.GetConfigString("agvcallback");
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public string continueTask = ConfigHelper.GetConfigString("continueTask");
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private AGVThreadService() { }
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public AGVThreadService(LogType logType)
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{
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base.currentLogType = logType;
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}
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public override void StartService()
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{
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Task.Run(() =>
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{
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try
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{
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//自动执行立库Agv任务线程
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Log4NetHelper.WriteInfoLog(base.currentLogType, "[自动执行立库AGV任务线程] 启动了");
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ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(DoAgvTask)), (int)EDevice.AGV);
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//自动结束立库输送线任务线程
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//ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(FinishTask)), (int)EDevice.AGV);
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//自动结束立库输送线任务线程
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ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(HandleTask)), (int)EDevice.AGV);
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}
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catch (Exception ex)
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{
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Log4NetHelper.WriteErrorLog(base.currentLogType, "ConveyorThreadService线程启动出现异常", ex);
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}
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});
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}
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/// <summary>
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/// 自动执行立库输送线任务
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/// </summary>
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/// <param name="srmName"></param>
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private void DoAgvTask(object deviceId)
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{
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string errMsg = "";
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while (true)
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{
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if (SystemValue.isStartedModel)
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{
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DoAgvTaskByThead(deviceId, out errMsg);
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}
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SystemWarningMsg._lbl_Alert_ConveyerRelease = errMsg;
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Thread.Sleep(cycleDelay);
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}
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}
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/// <summary>
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/// 自动执行立库AGV任务（线程）
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/// </summary>
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/// <param name="srmName"></param>
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private void DoAgvTaskByThead(object deviceId, out string errMsg)
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{
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errMsg = "";
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try
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{
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int int_deviceId = (int)deviceId;
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using (DbOrm dbOrm = new DbOrm())
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{
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var currentTask = dbOrm.ware_task_sub.Where(u => u.DeviceId == int_deviceId && u.TaskState == (int)SubTaskStateEnum.未开始).OrderBy(u => u.CreatedTime).FirstOrDefault();
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if (currentTask == null)
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{
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return;
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}
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if (!FormCC.IsSimulationPLC)
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{
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//验证起始点和目标点是否正确
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RealPlaceEntity realPlaceEntity = null;
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if (!ValdiatePalceIsRight(dbOrm, currentTask.SourcePlace, currentTask.ToPlace, ref realPlaceEntity)) return;
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List<PositionCodePathItem> itemlist = new List<PositionCodePathItem>(){
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new PositionCodePathItem(){positionCode = currentTask.SourcePlace,type = EnumberHelper.GetEnumDescription(AgvPositionType.位置编号)},
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new PositionCodePathItem(){positionCode = currentTask.ToPlace,type = EnumberHelper.GetEnumDescription(AgvPositionType.位置编号)},
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};
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AgvSchedulingTaskDto taskDto = new AgvSchedulingTaskDto()
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{
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reqCode = DateTime.Now.ToString("yyyyMMddhhmmssfff"),
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taskTyp = currentTask.TaskType == (int)TaskCategoryEnum.OutStock ? AgvTaskTypeEnum.CK01.ToString() : AgvTaskTypeEnum.RK01.ToString(),
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positionCodePath = itemlist,
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};
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var response = HttpHelper.GetHttpResponse<AgvSchedulingTaskDto, AgvCommonResponseDto>(host + createTask, taskDto, 10000);
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if (response.code == "0")
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{
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//4、下发成功后，更新任务状态
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currentTask.TaskState = (int)SubTaskStateEnum.已下发;
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currentTask.UpdatedTime = DateTime.Now;//下发时间
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currentTask.AgvTaskCode = response.data;
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SystemWarningMsg._lbl_Alert_Agv = "AGV任务下发成功";
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}
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else
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{
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Log4NetHelper.WriteErrorLog(currentLogType, response.message);
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}
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}
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else
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{
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currentTask.TaskState = (int)SubTaskStateEnum.已下发;
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currentTask.UpdatedTime = DateTime.Now;//下发时间
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currentTask.AgvTaskCode = currentTask.Id.ToString();
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}
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dbOrm.SaveChanges();
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}
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}
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catch (Exception ex)
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{
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Log4NetHelper.WriteErrorLog(currentLogType, "发送失败");
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SystemWarningMsg._lbl_Alert_Agv = "AGV任务下发失败" + ex.Message;
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}
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}
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/// <summary>
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/// 验证立库输送线是否允许任务开始
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/// </summary>
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public bool ValidateDeviceTaskIsAllowStart(ware_task_sub subtask, DbOrm dbOrm)
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{
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var queryTaskState1 = (int)SubTaskStateEnum.已下发;
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//要判断和他同一个任务的且任务优先级高的堆垛机任务是不是已经已完成，如果是就允许开始任务，如果不是，就不允许开始
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var srmTask = dbOrm.ware_task_sub.Where(x => x.TaskId == subtask.TaskId && x.TaskSequence < subtask.TaskSequence && x.TaskState != queryTaskState1).FirstOrDefault();
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if (srmTask != null)
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{
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return false;
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}
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return true;
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}
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#region 模拟用
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///// <summary>
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///// 模拟结束立库AGV任务线程
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///// </summary>
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///// <param name="srmName"></param>
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//private void FinishTask(object deviceId)
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//{
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// string errMsg = "";
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// while (true)
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// {
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// if (SystemValue.isStartedModel)
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// {
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// FinishAgvTaskByThead(deviceId, out errMsg);
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// }
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// SystemWarningMsg._lbl_Alert_ConveyerReleaseFinish = errMsg;
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// Thread.Sleep(cycleDelay);
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// }
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//}
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///// <summary>
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///// 自动结束立库AGV任务线程（线程）
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///// </summary>
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///// <param name="srmName"></param>
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//public void FinishAgvTaskByThead(object deviceId, out string errMsg)
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//{
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// errMsg = "";
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// try
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// {
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// int int_deviceId = (int)deviceId;
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// using (DbOrm dbOrm = new DbOrm())
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// {
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// #region //3、判断数据库中是否有可要完成的任务，如果有判断是否跟立库输送线中的完成任务相符，如果相符就处理
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// var currTasks = dbOrm.ware_task_sub.Where(x => x.DeviceId == int_deviceId && (x.TaskState == (int)SubTaskStateEnum.已下发 || x.TaskState == (int)SubTaskStateEnum.执行中)).ToList().OrderBy(x => x.CreatedTime).ToList();//按照主任务优先级的升序排序
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// if (currTasks == null || currTasks.Count == 0)
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// {
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// //表示DB中没有任务要发送给立库输送线
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// return;
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// }
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// #endregion
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// foreach (var currentTask in currTasks)
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// {
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// try
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// {
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// AgvCallbackRequestDto requestDto = new AgvCallbackRequestDto()
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// {
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// reqCode = "",
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// reqTime = "",
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// cooX = "",
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// cooY = "",
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// method = currentTask.TaskState == (int)SubTaskStateEnum.已下发 ? "start" : "end",
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// robotCode = "6001",
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// taskCode = currentTask.AgvTaskCode,
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// };
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// var response = HttpHelper.GetHttpResponse<AgvCallbackRequestDto, AgvCommonResponseDto>(wmshost + agvcallback, requestDto, 10000);
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// }
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// catch (Exception ex)
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// {
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// throw;
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// }
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// }
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// }
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// }
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// catch (Exception ex)
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// {
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// //ExceptionHandels.GetExceptionInfoForError("自动结束立库输送线任务线程（线程）出现异常,deviceId:" + deviceId + ",异常:" + ex.Message, ex, ref exception);
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// //ExceptionHandels.InsertExceptionInfo(exception, true);
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// Log4NetHelper.WriteErrorLog(currentLogType, "给输送线完成任务指令出现异常,deviceId:" + deviceId + ",异常:" + ex.Message);
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// }
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//}
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#endregion
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/// <summary>
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/// 处理AGV任务
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/// </summary>
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private void HandleTask(object deviceId)
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{
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string errMsg = "";
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while (true)
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{
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if (SystemValue.isStartedModel)
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{
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HandleAgvTaskByThead(deviceId, out errMsg);
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}
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SystemWarningMsg._lbl_Alert_ConveyerReleaseFinish = errMsg;
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Thread.Sleep(cycleDelay);
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}
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}
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public SdaResEntity sdaResult = new SdaResEntity();
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public ConveyerServiceClient vs = null;
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public List<ware_task_sub> currTasks = null;
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public AgvCommonResponseDto response = null;
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/// <summary>
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/// AGV任务处理线程（线程）
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/// </summary>
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/// <param name="srmName"></param>
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public void HandleAgvTaskByThead(object deviceId, out string errMsg)
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{
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errMsg = "";
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try
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{
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int int_deviceId = (int)deviceId;
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//读取
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vs = new ConveyerServiceClient();
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if (vs.ReadAddress("6900|502.3"))
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{
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sdaResult = vs.WriteAGVRequestOutArr(3, false);
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}
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using (DbOrm dbOrm = new DbOrm())
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{
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#region //3、判断数据库中是否有可要完成的任务，如果有判断是否跟立库输送线中的完成任务相符，如果相符就处理
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currTasks = dbOrm.ware_task_sub.Where(x => x.DeviceId == int_deviceId /*&& (x.TaskState == (int)SubTaskStateEnum.请求进 || x.TaskState == (int)SubTaskStateEnum.进到位 || x.TaskState == (int)SubTaskStateEnum.出到位 || x.TaskState == (int)SubTaskStateEnum.请求出)*/).ToList().OrderBy(x => x.CreatedTime).ToList();//按照主任务优先级的升序排序
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if (currTasks == null || currTasks.Count == 0)
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{
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//表示DB中没有任务要发送给立库输送线
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return;
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}
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#endregion
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foreach (var currentTask in currTasks)
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{
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try
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{
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switch (currentTask.TaskState)
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{
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case (int)SubTaskStateEnum.请求进:
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//currentTask.TaskState = (int)SubTaskStateEnum.等待允许进;
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//这里增加一个判断，当前升降机有任务就不发
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var isExist1 = dbOrm.ware_task_sub.AsNoTracking().Any(u => u.TaskId != currentTask.TaskId && u.DeviceId == 3 && u.TaskState != (int)SubTaskStateEnum.未开始);
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if (isExist1)
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{
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SystemWarningMsg._lbl_Alert_Agv = "升降机有执行中的任务，等待下发";
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continue;
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}
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//向plc写入请求进
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sdaResult = vs.WriteAGVRequestIn(3, true);
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if (sdaResult.result)
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{
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sdaResult = vs.WriteAGVTaskType(3, Convert.ToInt16(currentTask.TaskType));
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if (sdaResult.result)
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{
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try
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{
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//入库时同时下发升降机任务
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var tranTask = dbOrm.ware_task_sub.Where(u => u.DeviceId == 3 && u.TaskId == currentTask.TaskId && u.TaskType == (int)TaskCategoryEnum.InStock && u.TaskState == (int)SubTaskStateEnum.未开始).FirstOrDefault();
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//var maintask = dbOrm.ware_task.AsNoTracking().Where(u => u.Id == currentTask.TaskId).FirstOrDefault();
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if (tranTask != null)
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{
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if (FormCC.IsSimulationPLC)
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{
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sdaResult.result = true;
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}
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else
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{
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sdaResult = vs.SendConveyerTask((int)tranTask.DeviceId, Convert.ToInt32(tranTask.TaskNo), tranTask.SourcePlace, tranTask.ToPlace, "1", Convert.ToString(tranTask.TaskType));
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//sdaResult = JsonConvert.DeserializeObject<SdaResEntity>(sdaResultStr);
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}
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if (sdaResult.result == false)
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{
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//给立库输送线下发指令失败
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Log4NetHelper.WriteErrorLog(currentLogType, "agv请求进时下发升降机任务失败");
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return;
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}
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else
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{
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tranTask.TaskState = (int)SubTaskStateEnum.已下发;
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currentTask.TaskState = (int)SubTaskStateEnum.等待允许进;
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Log4NetHelper.WriteErrorLog(currentLogType, $"agv请求进时下发升降机任务成功,deviceId:{deviceId}");
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SystemWarningMsg._lbl_Alert_Agv = "AGV等待允许进";
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}
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}
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else
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{
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currentTask.TaskState = (int)SubTaskStateEnum.等待允许进;
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Log4NetHelper.WriteErrorLog(currentLogType, $"agv请求进时下发升降机任务成功,deviceId:{deviceId}");
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}
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}
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catch (Exception ex)
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{
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Log4NetHelper.WriteErrorLog(currentLogType, $"给立库输送线发送任务指令出现异常,deviceId:{deviceId},异常:{ex.Message}");
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return;
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}
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}
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}
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break;
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case (int)SubTaskStateEnum.等待允许进:
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//PLC允许进
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if (vs.ReadAddress("6900|502.0") || FormCC.IsSimulationPLC)
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{
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sdaResult = vs.WriteAGVRequestIn(3, false);
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if (sdaResult.result == false)
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{
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Log4NetHelper.WriteErrorLog(currentLogType, "给立库输送线清请求进");
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}
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currentTask.TaskState = (int)SubTaskStateEnum.允许进;
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//agv任务继续
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response = ContinueTask(currentTask);
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if (response.code == "0")
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{
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//4、下发成功后，更新任务状态
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currentTask.TaskState = (int)SubTaskStateEnum.等待进到位;
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currentTask.UpdatedTime = DateTime.Now;//下发时间
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SystemWarningMsg._lbl_Alert_Agv = "AGV等待进到位";
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}
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else
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{
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Log4NetHelper.WriteErrorLog(currentLogType, $"ag继续任务失败，{response.message}");
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SystemWarningMsg._lbl_Alert_Agv = $"ag继续任务失败，{response.message}";
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return;
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}
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}
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break;
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case (int)SubTaskStateEnum.进到位:
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//向plc写入进到位
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sdaResult = vs.WriteAGVRequestInArr(3, true);
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if (sdaResult.result == false)
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{
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Log4NetHelper.WriteErrorLog(currentLogType, "agv请求进时下发进到位失败");
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return;
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}
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currentTask.TaskState = (int)SubTaskStateEnum.等待升降完成;
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SystemWarningMsg._lbl_Alert_Agv = "AGV等待升降完成";
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break;
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case (int)SubTaskStateEnum.等待升降完成:
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if (FormCC.IsSimulationPLC)
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{
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currentTask.TaskState = (int)SubTaskStateEnum.升降完成;
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}
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var tranTask1 = dbOrm.ware_task_sub.AsNoTracking().Where(u => u.DeviceId == 3 && u.TaskId == currentTask.TaskId).FirstOrDefault();
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if (tranTask1 != null)
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{
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if (tranTask1.TaskState == (int)SubTaskStateEnum.已完成)
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{
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currentTask.TaskState = (int)SubTaskStateEnum.升降完成;
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}
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}
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break;
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case (int)SubTaskStateEnum.升降完成:
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sdaResult = vs.WriteAGVRequestInArr(3, false);
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if (sdaResult.result == false)
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{
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Log4NetHelper.WriteErrorLog(currentLogType, "给立库输送线清请求进");
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}
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//agv任务继续
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response = ContinueTask(currentTask);
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if (response.code == "0")
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{
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//4、下发成功后，更新任务状态
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currentTask.TaskState = (int)SubTaskStateEnum.请求出;
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currentTask.UpdatedTime = DateTime.Now;//下发时间
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}
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else
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{
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Log4NetHelper.WriteErrorLog(currentLogType, $"ag继续任务失败,{response.message}");
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SystemWarningMsg._lbl_Alert_Agv = $"ag继续任务失败,{response.message}";
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return;
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}
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break;
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case (int)SubTaskStateEnum.请求出:
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sdaResult = vs.WriteAGVRequestOUT(3, true);
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if (sdaResult.result == true)
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{
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currentTask.TaskState = (int)SubTaskStateEnum.等待允许出;
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SystemWarningMsg._lbl_Alert_Agv = "AGV等待允许出";
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}
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break;
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case (int)SubTaskStateEnum.等待允许出:
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//if (FormCC.conveyerView.R_AGV_AllowOut || FormCC.IsSimulationPLC)
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if (vs.ReadAddress("6900|502.2") || FormCC.IsSimulationPLC)
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{
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sdaResult = vs.WriteAGVRequestOUT(3, false);
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if (sdaResult.result == true)
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{
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//currentTask.TaskState = (int)SubTaskStateEnum.等待离开;
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//agv任务继续
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response = ContinueTask(currentTask);
|
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if (response.code == "0")
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{
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//4、下发成功后，更新任务状态
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currentTask.TaskState = (int)SubTaskStateEnum.等待出到位;
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currentTask.UpdatedTime = DateTime.Now;//下发时间
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SystemWarningMsg._lbl_Alert_Agv = "AGV等待出到位";
|
}
|
else
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{
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Log4NetHelper.WriteErrorLog(currentLogType, $"ag继续任务失败, {response.message}");
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SystemWarningMsg._lbl_Alert_Agv = $"ag继续任务失败,{response.message}";
|
}
|
}
|
}
|
break;
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case (int)SubTaskStateEnum.离开:
|
sdaResult = vs.WriteAGVRequestOutArr(3, true);
|
if (sdaResult.result)
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{
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sdaResult = vs.WriteAGVTaskType(3, 0);
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response = ContinueTask(currentTask);
|
|
if (response.code == "0")
|
{
|
//4、下发成功后，更新任务状态
|
//currentTask.TaskState = (int)SubTaskStateEnum.等待完成;
|
currentTask.TaskState = (int)SubTaskStateEnum.已完成;
|
|
currentTask.UpdatedTime = DateTime.Now;//下发时间
|
var isExist = dbOrm.ware_task_sub.Any(u => u.TaskId == currentTask.TaskId && u.TaskState != (int)SubTaskStateEnum.已完成 && u.Id != currentTask.Id);
|
if (!isExist)
|
{
|
var maintask = dbOrm.ware_task.Where(u => u.Id == currentTask.TaskId).FirstOrDefault();
|
if (maintask != null)
|
{
|
maintask.TaskState = (int)TaskStateEnum.已完成;
|
maintask.FinishedTime = DateTime.Now;
|
}
|
}
|
SystemWarningMsg._lbl_Alert_Agv = "AGV完成";
|
}
|
else
|
{
|
Log4NetHelper.WriteErrorLog(currentLogType, $"ag继续任务失败，{response.message}");
|
SystemWarningMsg._lbl_Alert_Agv = $"ag继续任务失败,{response.message}";
|
}
|
}
|
break;
|
default:
|
break;
|
}
|
}
|
catch (Exception ex)
|
{
|
Log4NetHelper.WriteErrorLog(currentLogType, ex.Message);
|
throw;
|
}
|
}
|
dbOrm.SaveChanges();
|
}
|
vs.Close();
|
}
|
catch (Exception ex)
|
{
|
//ExceptionHandels.GetExceptionInfoForError("自动结束立库输送线任务线程（线程）出现异常,deviceId:" + deviceId + ",异常:" + ex.Message, ex, ref exception);
|
//ExceptionHandels.InsertExceptionInfo(exception, true);
|
SystemWarningMsg._lbl_Alert_Agv = ex.Message;
|
Log4NetHelper.WriteErrorLog(currentLogType, $"给输送线完成任务指令出现异常,deviceId:{deviceId},异常:{ex.Message}");
|
}
|
}
|
|
/// <summary>
|
/// 通用AGV继续任务
|
/// </summary>
|
/// <param name="currentTask"></param>
|
/// <returns></returns>
|
public AgvCommonResponseDto ContinueTask(ware_task_sub currentTask)
|
{
|
//agv任务继续
|
var agvtaskcontinue = new AgvContinueTask()
|
{
|
reqCode = DateTime.Now.ToString("yyyyMMddhhmmssfff"),
|
//agvCode = currentTask.AgvCode,
|
taskCode = currentTask.AgvTaskCode,
|
};
|
return HttpHelper.GetHttpResponse<AgvContinueTask, AgvCommonResponseDto>(host + continueTask, agvtaskcontinue, 10000);
|
}
|
}
|
}
|
