From 750eb80fa8b1f00dad961a0da0b8c87060332e79 Mon Sep 17 00:00:00 2001
From: CaesarBao <445720029@qq.com>
Date: Fri, 27 Sep 2024 09:03:23 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=BB=BB=E5=8A=A1=E5=AE=9E?=
=?UTF-8?q?=E4=BD=93=EF=BC=8C=E6=96=B0=E5=A2=9EAGV=E4=BB=BB=E5=8A=A1?=
=?UTF-8?q?=E7=BC=96=E5=8F=B7?=
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---
.../base/BaseTaskInfoBusiness.cs | 151 +++++++++++++-----
SlnMesnac.Business/base/UpLoadBusiness.cs | 42 +++++
SlnMesnac.Model/domain/AirportTask.cs | 16 ++
.../service/Impl/AirportTaskServiceImpl.cs | 2 +-
4 files changed, 168 insertions(+), 43 deletions(-)
create mode 100644 SlnMesnac.Business/base/UpLoadBusiness.cs
diff --git a/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs b/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs
index c0b2a7d..b07056b 100644
--- a/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs
+++ b/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs
@@ -1,4 +1,5 @@
-using Microsoft.Extensions.Logging;
+
+using Microsoft.Extensions.Logging;
using SlnMesnac.Repository.service;
using System;
using System.Collections.Generic;
@@ -14,6 +15,7 @@ using SlnMesnac.Model.Enum;
using HslCommunication.Enthernet;
using System.Threading;
using SlnMesnac.TouchSocket.Entity;
+using static SlnMesnac.TouchSocket.TcpServer;
namespace SlnMesnac.Business.@base
{
@@ -30,8 +32,8 @@ namespace SlnMesnac.Business.@base
{
_logger = logger;
_tcpServer = tcpServer;
- _tcpServer.VisionSysStateEvent += TcpServerOnVisionSysStateEvent;
- _tcpServer.StackWorkDoneEvent += _tcpServer_StackWorkDoneEvent;
+ _tcpServer.ReceiveVisionSysStateEvent += TcpServerOnVisionSysStateEvent;
+ _tcpServer.ReceiveStackWorkDoneEvent += _tcpServer_StackWorkDoneEvent;
_Taskservice = Taskservice;
_AGVStateService = agvService;
InitClearTimer();
@@ -41,7 +43,7 @@ namespace SlnMesnac.Business.@base
/// 一次码垛完成，发送码垛结果
///
///
- private void _tcpServer_StackWorkDoneEvent(TcpVisionEntity entity)
+ private void _tcpServer_StackWorkDoneEvent(TcpVisionEntity entity, string id)
{
try
{
@@ -76,7 +78,7 @@ namespace SlnMesnac.Business.@base
/// 视觉系统回复给上位机调度系统开始工作状态
///
///
- private void TcpServerOnVisionSysStateEvent(TcpVisionEntity entity)
+ private void TcpServerOnVisionSysStateEvent(TcpVisionEntity entity, string id)
{
try
{
@@ -111,27 +113,6 @@ namespace SlnMesnac.Business.@base
return instance;
}
- private void doWhileGetAGVTaskInfo()
- {
- try
- {
- Task.Run((() =>
- {
- while (true)
- {
- GetAGVTaskInfo(null,null);
- Task.Delay(1000);
- }
-
-
- }));
-
- }
- catch (Exception ex)
- {
-
- }
- }
private void InitClearTimer()
{
System.Timers.Timer timer = new System.Timers.Timer
@@ -263,24 +244,59 @@ namespace SlnMesnac.Business.@base
//根据规则筛选最优AGV
if (AgvItem.agvworkstate == "任务空闲")
{
- _logger.LogInformation($"获取空闲AGV列表");
- _RefreshLogMessageAction?.Invoke("执行站台[" + AirportTask.conveyorno + "]，下发" + "[" + AirportTask.taskno + "]任务");
- //调用派发任务接口,向任务状态为任务空闲的AGV派发任务
- bool iTaskflag = true;
- if (iTaskflag)
+ //搬运机器人是否已到位
+ if (string.IsNullOrEmpty(AirportTask.agvtaskno))
{
- _RefreshLogMessageAction?.Invoke("[" + AgvItem.agvno + "]AGV，执行任务[" + AirportTask.taskno + "]");
- AgvItem.taskno = AirportTask.taskno;
- AgvItem.agvworkstate = "任务执行中";
- AgvItem.refreshtime = DateTime.Now;
- _AGVStateService.UpdateAsync(AgvItem);
+ _logger.LogInformation($"获取空闲AGV列表");
+ _RefreshLogMessageAction?.Invoke("执行站台[" + AirportTask.conveyorno + "]，下发" + "[" + AirportTask.taskno + "]任务");
- //更新任务信息表状态为执行中
- AirportTask.agvno = AgvItem.agvno;
- AirportTask.taskstate = "执行中";
- _Taskservice.UpdateTaskAsync(AirportTask);
- break;
+ //调用派发任务接口,向任务状态为任务空闲的复合AGV、搬运AGV派发任务
+ bool iTaskflag = true;
+ if (iTaskflag)
+ {
+ _RefreshLogMessageAction?.Invoke("[" + AgvItem.agvno + "]AGV，执行任务[" + AirportTask.taskno + "]");
+ AgvItem.taskno = AirportTask.taskno;
+ AgvItem.agvworkstate = "任务执行中";
+ AgvItem.refreshtime = DateTime.Now;
+ _AGVStateService.UpdateAsync(AgvItem);
+
+ //更新任务信息表状态为执行中
+ AirportTask.agvno = AgvItem.agvno;
+ AirportTask.taskstate = "执行中";
+ //等待agv返回任务编号
+ AirportTask.agvtaskno = Guid.NewGuid().ToString("N");
+
+
+ _Taskservice.UpdateTaskAsync(AirportTask);
+ break;
+ }
+ }
+ //复合机器人是否已到位
+ if (string.IsNullOrEmpty(AirportTask.amrtaskno))
+ {
+ _logger.LogInformation($"获取空闲AGV列表");
+ _RefreshLogMessageAction?.Invoke("执行站台[" + AirportTask.conveyorno + "]，下发" + "[" + AirportTask.taskno + "]任务");
+
+ //调用派发任务接口,向任务状态为任务空闲的复合AGV、搬运AGV派发任务
+ bool iTaskflag = true;
+ if (iTaskflag)
+ {
+ _RefreshLogMessageAction?.Invoke("[" + AgvItem.agvno + "]AGV，执行任务[" + AirportTask.taskno + "]");
+ AgvItem.taskno = AirportTask.taskno;
+ AgvItem.agvworkstate = "任务执行中";
+ AgvItem.refreshtime = DateTime.Now;
+ _AGVStateService.UpdateAsync(AgvItem);
+
+ //更新任务信息表状态为执行中
+ AirportTask.agvno = AgvItem.agvno;
+ AirportTask.taskstate = "执行中";
+ //等待agv返回任务编号
+ AirportTask.amrtaskno = Guid.NewGuid().ToString("N");
+ _Taskservice.UpdateTaskAsync(AirportTask);
+ break;
+ }
}
+
}
}
return iflag;
@@ -321,10 +337,61 @@ namespace SlnMesnac.Business.@base
// 设置计时器
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
- //通过任务编号查询agv任务
+ foreach (AirportTask airportTask in Task)
+ {
+ //1.根据搬运AGV任务编号查询agv是否到达
+ if (!string.IsNullOrEmpty(airportTask.agvtaskno))
+ {
+ //2.调用3.查询任务状态接口
+ //根据搬运AGV任务编号查询agv是否到达
+ bool iflag = true;
+ if (iflag)
+ {
+ //3:已完成
+ // if (state == 3)
+ // {
+ //
+ // }
+ //更新任务表中AGV编号
+ airportTask.agvno = "";
+ //更新agv返回任务编号
+ airportTask.agvtaskno = Guid.NewGuid().ToString("N");
+ _Taskservice.UpdateTaskAsync(airportTask);
+ }
+ }
+ //根据复合AGV任务编号查询agv是否到达
+ if (!string.IsNullOrEmpty(airportTask.amrtaskno))
+ {
+ //根据复合AGV任务编号查询agv是否到达
+ bool iflag = true;
+ if (iflag)
+ {
+ //已到达更新任务表中AGV编号
+
+ }
+ }
+ //复合、搬运已到上料点
+ if (!string.IsNullOrEmpty(airportTask.agvtaskno) && !string.IsNullOrEmpty(airportTask.agvtaskno))
+ {
+ //1.获取任务抓取数量
+ //判断是否为第一车，搬运机器人码垛无需定位
+ if (airportTask.loadcount == 0)
+ {
+ //下发视觉抓取任务
+
+ }
+ if (airportTask.loadcount == 0)
+ {
+ //下发视觉抓取任务
+
+ }
+ }
+ }
+
+
// 检查是否超过两秒
if (stopwatch.ElapsedMilliseconds > 2000)
{
diff --git a/SlnMesnac.Business/base/UpLoadBusiness.cs b/SlnMesnac.Business/base/UpLoadBusiness.cs
new file mode 100644
index 0000000..7354b96
--- /dev/null
+++ b/SlnMesnac.Business/base/UpLoadBusiness.cs
@@ -0,0 +1,42 @@
+using Microsoft.Extensions.Logging;
+using SlnMesnac.Repository;
+using SlnMesnac.Repository.service;
+using SlnMesnac.TouchSocket;
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Business.@base
+{
+ public class UpLoadBusiness
+ {
+ #region 单例模式
+ //private static readonly Lazy lazy = new Lazy(() => new UpLoadBusiness(_logger,_tcpServer,));
+
+ //public static UpLoadBusiness Instance
+ //{
+ // get
+ // {
+ // return lazy.Value;
+ // }
+ //}
+
+ public UpLoadBusiness(ILogger logger, IAirportTaskService Taskservice, IAGVStateService agvService, TcpServer tcpServer)
+ {
+ _logger = logger;
+ _tcpServer = tcpServer;
+ _Taskservice = Taskservice;
+ _AGVStateService = agvService;
+
+ }
+ #endregion
+ private TcpServer _tcpServer = null;
+ public Action _Taskaction;
+ public Action _RefreshLogMessageAction;
+ private static UpLoadBusiness instance;
+ private ILogger _logger;
+ private IAirportTaskService _Taskservice;
+ private IAGVStateService _AGVStateService;
+
+ }
+}
diff --git a/SlnMesnac.Model/domain/AirportTask.cs b/SlnMesnac.Model/domain/AirportTask.cs
index 1574354..35d2fdf 100644
--- a/SlnMesnac.Model/domain/AirportTask.cs
+++ b/SlnMesnac.Model/domain/AirportTask.cs
@@ -119,5 +119,21 @@ namespace SlnMesnac.Repository
[SugarColumn(ColumnName="FinishTime")]
public DateTime? finishtime {get;set;}
+ ///
+ /// Desc:
+ /// Default:
+ /// Nullable:False
+ ///
+ [SugarColumn(ColumnName = "AGVTaskNo")]
+ public string agvtaskno { get; set; }
+
+ ///
+ /// Desc:
+ /// Default:
+ /// Nullable:False
+ ///
+ [SugarColumn(ColumnName = "AMRTaskNo")]
+ public string amrtaskno { get; set; }
+
}
}
diff --git a/SlnMesnac.Repository/service/Impl/AirportTaskServiceImpl.cs b/SlnMesnac.Repository/service/Impl/AirportTaskServiceImpl.cs
index 2009ff8..30e6102 100644
--- a/SlnMesnac.Repository/service/Impl/AirportTaskServiceImpl.cs
+++ b/SlnMesnac.Repository/service/Impl/AirportTaskServiceImpl.cs
@@ -70,7 +70,7 @@ namespace SlnMesnac.Repository.service.Impl
List taskInfos = null;
try
{
- String sql = "select *from ( SELECT id, ConveyorNo,TaskNo,FlightNo,AGVNo,ManipulatorNo,MAX(StartTime) as StartTime,TaskState, TotalCount ,LoadCount FROM AirportTask group by ConveyorNo )";
+ String sql = "select *from ( SELECT id, ConveyorNo,TaskNo,FlightNo,AGVNo,ManipulatorNo,MAX(StartTime) as StartTime,TaskState, TotalCount ,LoadCount,AGVTaskNo,AMRTaskNo FROM AirportTask group by ConveyorNo )";
taskInfos = base._rep.AsTenant().GetConnection("AGV").Ado.SqlQuery(sql);
}
catch (Exception ex)