JC34WCS.git - Gitblit

			@@ -143,7 +143,7 @@
			StartRead();
			ConnectionStatus();
			StartWatchAlarm();
			//AssignTasks();
			AssignTasks();
			//StartWatchPosition();
			}
			}
			@@ -209,15 +209,15 @@
			var (result, value) = modPlcUtil.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);
			if (result.IsSucceed)
			{
			//如果是穿梭车，这里发送心跳
			if (modPlc.Type == PLCTypeEnum.ShuttleCar)
			{
			var modHeart = listPlcPosition.Where(s => s.DeviceId == modDevice.Id && s.Text == "心跳").FirstOrDefault();
			if (modHeart != null)
			{
			modPlcUtil.SetPlcDBValue(modHeart.PosType, modHeart.PlcPos, "1");
			}
			}
			////如果是穿梭车，这里发送心跳
			//if (modPlc.Type == PLCTypeEnum.ShuttleCar)
			//{
			// var modHeart = listPlcPosition.Where(s => s.DeviceId == modDevice.Id && s.Text == "心跳").FirstOrDefault();
			// if (modHeart != null)
			// {
			// modPlcUtil.SetPlcDBValue(modHeart.PosType, modHeart.PlcPos, "1");
			// }
			//}
			//无流程跳出
			if (Convert.ToInt32(value) == 0)
			continue;
			@@ -265,11 +265,22 @@
			var (result, value) = modbusUtil.GetDBValue(modDevice.PosType, modDevice.PlcPos);
			if (result.IsSucceed)
			{
			//如果是穿梭车，这里发送心跳
			if (modPlc.Type == PLCTypeEnum.ShuttleCar)
			{
			var modHeart = listPlcPosition.Where(s => s.DeviceId == modDevice.Id && s.Text == "心跳").FirstOrDefault();
			if (modHeart != null)
			{
			modbusUtil.SetDBValue(modHeart.PosType, modHeart.PlcPos, "1");
			}
			}

			//无流程跳出
			if (value == 0)
			continue;
			var dto = modDevice.Adapt<WcsDeviceDto>();
			dto.Value = value;
			dto.PlcIdIP = modPlc.IP;
			dto.Type = _modplc.Type;
			dto.modbusUtil = modbusUtil;
			dto.listStation = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList();
			@@ -367,10 +378,13 @@
			{
			// 获取密集库未执行任务根据创建时间排序
			var waitTask = _db.Queryable<WcsTask>().Where(s => s.IsDelete == false && s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(s => s.CreateTime).First();

			if (waitTask == null)
			{
			continue;
			}
			//01010101: 01排 01列 01层 01深度-此项目不做判断
			var taskpai = int.Parse(waitTask.StartLocate.Substring(4, 2));
			var tasklie = int.Parse(waitTask.StartLocate.Substring(4, 2));
			var taskpai = int.Parse(waitTask.StartLocate.Substring(0, 2));
			var tasklie = int.Parse(waitTask.StartLocate.Substring(2, 2));
			var taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2));

			#region 获取当前任务所在层所有空闲小车
			@@ -380,6 +394,7 @@

			// 获取当前任务所在层所有空闲小车（根据小车任务表是否有任务和小车状态共同判断小车是否空闲)
			var kXCarList = new List<CarInfo>();
			var carErr = false;//小车是否有失联的
			foreach (var modbusUtil in listModbusUtil)
			{
			//如果小车有未执行的任务，跳出
			@@ -414,7 +429,8 @@
			if (!kXCarList.Any(m => m.CarPlcIp == modbusUtil.PlcIP))
			{
			var carVal = ((int)valuex).ToString().PadLeft(2, '0') + ((int)valuey).ToString().PadLeft(2, '0') + ((int)valuez).ToString().PadLeft(2, '0');
			var d = FourWayCarUtil.GetCarPath(carVal, waitTask.StartLocate, 0);
			//小车到取货储位路径
			var d = FourWayCarUtil.GetCarPath(carVal, waitTask.StartLocate);
			kXCarList.Add(new CarInfo()
			{
			CarPlcIp = modbusUtil.PlcIP,
			@@ -430,8 +446,15 @@
			else
			{
			Console.WriteLine($"读取四向车{modbusUtil.PlcIP}状态失败");
			return;//有一个小车读取失败跳出方法，暂缓分配，防止同层小车关机或失联导致阻挡路径
			carErr = true;
			break;//有一个小车读取失败跳出方法，暂缓分配，防止同层小车关机或失联导致阻挡路径
			}
			}
			//有小车失联，不分配任务
			if (carErr)
			{
			kXCarList.Clear();//清楚空车记录
			break;
			}
			}

			@@ -442,7 +465,7 @@
			var assignCar = kXCarList.OrderBy(m => m.Level).FirstOrDefault();
			if (assignCar == null)
			{
			break;//没有空闲小车
			continue;//没有空闲小车
			}
			var data = new List<CarModel>();
			if (assignCar.Level != 0)
			@@ -450,14 +473,15 @@
			//判断小车位置是否与任务的起始储位相同,不相同：获取小车到取货储位路径
			var carLocate = assignCar.X.ToString().PadLeft(2, '0')+assignCar.Y.ToString().PadLeft(2, '0')+ assignCar.Z.ToString().PadLeft(2, '0');
			//获取小车去取货储位任务路径
			var data1 = FourWayCarUtil.GetCarPath(carLocate, waitTask.StartLocate, 0);
			data.AddRange(data1);
			var data1 = FourWayCarUtil.GetCarPath(carLocate, waitTask.StartLocate);
			var datas = FourWayCarUtil.GetCarPathUp(data1, 0);
			data.AddRange(datas);
			}
			//获取小车去放货储位任务路径
			var data2 = FourWayCarUtil.GetCarPath(waitTask.StartLocate, waitTask.EndLocate, 2, "1");

			data.AddRange(data2);
			if (data == null) { break; }
			var data2 = FourWayCarUtil.GetCarPath(waitTask.StartLocate, waitTask.EndLocate, "1");
			var datas2 = FourWayCarUtil.GetCarPathUp(data2, 1);
			data.AddRange(datas2);
			if (data == null) { continue; }

			var preId1 = "";//前置任务Id
			var executionPath1 = "";//交互路径
			@@ -478,10 +502,10 @@
			//判断如果是完整路径记录交互路径
			if (isOk == "1")
			{
			if (i == 0)
			{
			return;//第一个节点有和其他任务路径冲突，无法避免
			}
			//if (i == 0)
			//{
			// return;//第一个节点有和其他任务路径冲突，无法避免
			//}
			var pathXYZQian = data[i - 1].X.ToString().PadLeft(2, '0') + data[i - 1].Y.ToString().PadLeft(2, '0') + data[i - 1].Z.ToString().PadLeft(2, '0') + data[i].NodeCom.ToString();
			if (!executionPath1.Contains(pathXYZQian))
			{
			@@ -540,14 +564,15 @@
			var endLocate3 = "";
			var executionPath3 = "";
			var path3 = "";
			var data3 = new List<CarModel>();
			var datas3 = new List<CarModel>();
			//查找目标位置
			while (endLocate3 == "" \|\| data3.Count == 0 \|\| data3 == null)
			while (endLocate3 == "" \|\| datas3.Count == 0 \|\| datas3 == null)
			{
			endLocate3 = FourWayCarUtil.GetCarEndLocation(carXYZ, str3);
			data3 = FourWayCarUtil.GetCarPath(carXYZ, endLocate3, 0, "0");
			var data3 = FourWayCarUtil.GetCarPath(carXYZ, endLocate3, "0");
			datas3 = FourWayCarUtil.GetCarPathUp(data3, 0);
			}
			foreach (var itemPath in data3)
			foreach (var itemPath in datas3)
			{
			var pathXYZ = itemPath.X.ToString().PadLeft(2, '0') + itemPath.Y.ToString().PadLeft(2, '0') + itemPath.Z.ToString().PadLeft(2, '0') + itemPath.NodeCom.ToString();

			@@ -612,14 +637,15 @@
			var endLocate = "";
			var executionPath4 = "";
			var path4 = "";
			var data4 = new List<CarModel>();
			var datas4 = new List<CarModel>();
			//查找目标位置
			while (endLocate == "" \|\| data4.Count == 0 \|\| data4 == null)
			while (endLocate == "" \|\| datas4.Count == 0 \|\| datas4 == null)
			{
			endLocate = FourWayCarUtil.GetCarEndLocation(lastPath, str4);
			data4 = FourWayCarUtil.GetCarPath(lastPath, endLocate, 0, "0");
			var data4 = FourWayCarUtil.GetCarPath(lastPath, endLocate);
			datas4 = FourWayCarUtil.GetCarPathUp(data4, 0);
			}
			foreach (var itemPath in data4)
			foreach (var itemPath in datas4)
			{
			var pathXYZ = itemPath.X.ToString().PadLeft(2, '0') + itemPath.Y.ToString().PadLeft(2, '0') + itemPath.Z.ToString().PadLeft(2, '0') + itemPath.NodeCom.ToString();