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1、库位导入代码调整

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2、电梯通信代码调整
This commit is contained in:
yang.lee
2023-12-11 13:52:54 +08:00
parent c8d5847941
commit 0dd220ee4f
14 changed files with 352 additions and 130 deletions
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40
WarehouseMgr/Tnb.WarehouseMgr/WareHouseService.cs
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@@ -14,6 +14,7 @@ using Mapster;
using Microsoft.AspNetCore.Mvc;
using Microsoft.CodeAnalysis;
using Newtonsoft.Json;
using NPOI.OpenXmlFormats.Dml;
using SqlSugar;
using Tnb.BasicData.Entities;
using Tnb.Common.Extension;
@@ -252,7 +253,6 @@ namespace Tnb.WarehouseMgr
floor = b.floor
}, true).ToListAsync();
Logger.Information($"可用电梯信息:{string.Join(",", elevatorList.Select(e => e.elevator_code).Distinct())}");
//获取所有未下发的预任务申请
@@ -386,7 +386,6 @@ namespace Tnb.WarehouseMgr
{
elevatorList = elevatorList.FindAll(x => endPointIds.Contains(x.point_id));
Logger.Information($"过滤后的elevatorList：{JsonConvert.SerializeObject(elevatorList)}");
if (elevatorList?.Count > 0)
{
@@ -438,9 +437,18 @@ namespace Tnb.WarehouseMgr
.Select(it => (it.endlocation_code, it.device_id, it.id, it.start_floor)).ToList();
if (endLocCodes?.Count > 0)
{
Logger.Information("呼梯操作");
await CallingLanding(endLocCodes);
if (endLocCodes.Select(x => x.device_id).All(x => !x.IsNullOrWhiteSpace()))
{
Logger.Information("呼梯操作");
_ = CallingLanding(endLocCodes);
}
else
{
Logger.Error("呼梯失败，没有设备ID");
return;
}
}
//执行电梯任务
List<WmsDistaskH>? elevatorTasks = disTasks.Where(it => it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
@@ -449,16 +457,18 @@ namespace Tnb.WarehouseMgr
Logger.Information($"当前电梯任务数:{elevatorTasks?.Count ?? 0}");
foreach (WmsDistaskH? elevatorTask in elevatorTasks)
{
await ExecuteTargetFloorTask(elevatorTask);
_ = ExecuteTargetFloorTask(elevatorTask);
}
}
}
////调用AGV创建任务链接口
//调用AGV创建任务链接口
List<WmsDistaskH> agvTasks = disTasks.Where(it => !it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
if (agvTasks?.Count > 0)
{
Logger.Information($"Agv任务数量：{agvTasks.Count},taskCodes:{string.Join(",", agvTasks.Select(x => x.bill_code).Distinct())}");
await AgvDispatch(agvTasks, agvCts.Token);
_ = AgvDispatch(agvTasks, agvCts.Token);
}
@@ -489,7 +499,6 @@ namespace Tnb.WarehouseMgr
private async Task CallingLanding(List<(string endlocation_code, string device_id, string id, int floorNO)> endLocCodes)
{
Logger.Information($" 开始呼梯操作.............");
Logger.Information($"电梯信息:{JsonConvert.SerializeObject(s_elevatorMap)}");
try
{
foreach ((_, string devId, string disTaskId, int floorNO) in endLocCodes)
@@ -508,8 +517,7 @@ namespace Tnb.WarehouseMgr
(int sysStatus, int runStatus, int curFloorNo, int doorStatus, int agvStatus) eleStatusMulti = (-1, -1, -1, -1, -1);
if (!_elevatorAgvCtlStatusMap.TryGetValue(devId, out int agvCtlStatus) || agvCtlStatus != (int)EnumAgvStatus.AGV运行状态)
{
Logger.Information("获取电梯状态");
Logger.Information($"_elevatorControlService ==null{_elevatorControlService == null}");
Logger.Information("获取电梯AGV运行状态");
var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
do
{
@@ -522,7 +530,7 @@ namespace Tnb.WarehouseMgr
Logger.Information($"任务开始目标楼层为:{floorNO}");
int floorN = await GetRealFloor(floorNO.ParseToInt());
int floorN = await GetRealFloor(floorNO);
//如果电梯在当前楼层则不呼梯
if (floorN == eleStatusMulti.curFloorNo)
{
@@ -586,9 +594,13 @@ namespace Tnb.WarehouseMgr
Logger.Information($"当前:{devName.Match(@"\d+")}#梯");
_ = await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
(int sysStatus, int runStatus, int curFloorNo, int doorStatus, int agvStatus) eleStatusMulti = (-1, -1, -1, -1, -1);
var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
(int sysStatus, int runStatus, int curFloorNo, int doorStatus, int agvStatus) eleStatusMulti = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);
if (eleStatusMulti.agvStatus != (int)EnumAgvStatus.AGV运行状态)
{
_ = await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
}
if (!_elevatorAgvCtlStatusMap.TryGetValue(disTask.id, out int agvCtlStatus) || agvCtlStatus != (int)EnumAgvStatus.AGV运行状态)
{
do
@@ -661,6 +673,7 @@ namespace Tnb.WarehouseMgr
/// <returns></returns>
private async Task AgvDispatch(List<WmsDistaskH> disTasks, CancellationToken token)
{
Logger.Information("Agv任务执行....");
//调用AGV创建任务链接口
try
{
@@ -999,7 +1012,6 @@ namespace Tnb.WarehouseMgr
{
List<WmsRoad> roads = await _db.Queryable<WmsRoad>().Where(it => it.status == 1).ToListAsync();
List<WmsPointH> points = await LocPathCalcAlgorithms(pStartId, pEndId, roads);
Logger.Information($"points:{string.Join(",", points.Select(p => p.point_code))}");
try
{
if (points?.FindAll(x => x.location_code != null && x.location_code.Contains("dt", StringComparison.OrdinalIgnoreCase))?.Count > 0)