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using Microsoft.Extensions.DependencyInjection;
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using Newtonsoft.Json;
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using SlnMesnac.Business.@base;
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using SlnMesnac.Model.domain;
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using SlnMesnac.Model.dto.taskType;
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using SlnMesnac.Model.dto.webapi;
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using SlnMesnac.Plc;
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using SlnMesnac.Serilog;
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using SlnMesnac.WCS.Global;
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using SlnMesnac.WCS.Library;
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using SqlSugar;
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using System.Collections.Generic;
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using System.Threading.Tasks;
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using TouchSocket.Sockets;
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namespace SlnMesnac.WCS.WCS
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{
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/// <summary>
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/// 背负式agv
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/// </summary>
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public class BearAgv : BaseBusiness
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{
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private readonly SerilogHelper _logger;
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private readonly ISqlSugarClient sqlSugarClient;
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private List<string> agvEquipNos = new List<string>() { "AGV01", "AGV02", "AGV03" };
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//3#车间上料点plc
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public readonly PlcAbsractFactory workShop3Plc;
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//2#计量室相关点位
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private readonly PlcAbsractFactory workShop2Plc;
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public readonly WcsBaseEquip baseEquip;
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public List<WcsAgvStatus> agvStatusList = new List<WcsAgvStatus>();
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public BearAgv(IServiceProvider serviceProvider) : base(serviceProvider)
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{
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sqlSugarClient = serviceProvider.GetRequiredService<ISqlSugarClient>();
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_logger = serviceProvider.GetRequiredService<SerilogHelper>();
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workShop3Plc = base.GetPlcByKey("workShop3Plc");
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workShop2Plc = base.GetPlcByKey("workShop2Plc");
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baseEquip = sqlSugarClient.Queryable<WcsBaseEquip>().Where(x => x.EquipNo == "AGV01").First();
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}
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/// <summary>
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/// 启动扫描监听
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/// </summary>
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public void StartPoint()
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{
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try
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{
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//List<WcsBaseEquip> agvList = sqlSugarClient.Queryable<WcsBaseEquip>().Where(x => agvEquipNos.Contains(x.EquipNo)).ToList();
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Task.Run(async () =>
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{
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while (true)
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{
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await ExecuteTaskAsync();
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await Task.Delay(1000);
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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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_logger.Error($"agv执行任务启动扫描监听失败:{ex.Message},{ex.StackTrace}");
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}
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}
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/// <summary>
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/// Agv执行任务
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/// </summary>
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private async Task ExecuteTaskAsync()
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{
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try
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{
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List<WcsTask> taskList = sqlSugarClient.Queryable<WcsTask>().OrderBy(x => x.CreatedTime).ToList();
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foreach (WcsTask item in taskList)
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{
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item.UpdatedTime = DateTime.Now;
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switch (item.TaskType)
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{
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//3#车间补四宫格空箱任务
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case StaticTaskType.SupplyEmptyPalletTask:
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SupplyEmptyPalletTaskHandler(item);
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break;
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//3#车间从下料点到1-16机台送料任务
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case StaticTaskType.TransferMaterialBoxTask:
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TransferMaterialBoxTaskHandler(item);
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break;
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//1-12号机台之间空料箱移库任务
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case StaticTaskType.MoveLocationTask:
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MoveLocationTaskHandler(item);
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break;
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//3#接驳位到2#计量室接驳位的送料任务
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case StaticTaskType.TransferMaterialMetrologyRoomBoxTask:
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lock (string.Empty)
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{
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TransferMaterialMetrologyRoomBoxTaskHandler(item);
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}
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break;
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//3#车间从2#接驳位补充小托盘任务
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case StaticTaskType.SupplySmallPalletTask:
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await SupplySmallPalletTaskHandlerAsync(item);
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break;
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//3#车间从色粉存放点补充小托盘任务
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case StaticTaskType.SupplySmallPalletFromTonerTask:
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await SupplySmallPalletFromTonerTaskHandlerAsync(item);
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break;
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// 2#接驳位色粉派送至色粉存放点
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case StaticTaskType.DeliverTonerTask:
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await DeliverTonerTaskHandlerAsync(item);
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break;
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//色粉存放点空托盘派送至2#接驳位--暂时不使用
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//case StaticTaskType.EmptyReturnFromTonerTask:
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// await EmptyReturnFromTonerTaskHandlerAsync(item);
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// break;
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//四宫格前往异常库位任务处理
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case StaticTaskType.ExceptionTask:
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ExceptionTaskHandler(item);
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break;
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default: break;
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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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_logger.Error($"ExecuteTask异常{ex.StackTrace}");
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Thread.Sleep(2000);
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}
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}
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#region 不同agv任务处理流程
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/// <summary>
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/// 3#车间补四宫格空箱任务处理
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/// </summary>
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private void SupplyEmptyPalletTaskHandler(WcsTask task)
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{
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try
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{
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WcsTaskLog wcsTaskLog = sqlSugarClient.Queryable<WcsTaskLog>().First(t => t.Id == task.Id);
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if (task.TaskStatus == 0)
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{
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TaskStatus0Handle(task);
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}
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else if (task.TaskStatus == 2) //取完料箱前往目的地
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{
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//解锁起始库位
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WmsBaseLocation? startLocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(t => t.AgvPositionCode == task.CurrPointNo);
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if (startLocation != null)
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{
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startLocation.ContainerCode = "";
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startLocation.LocationStatus = 0;
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task.TaskStatus = 3;
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if (wcsTaskLog != null)
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{
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wcsTaskLog.TaskStatus = task.TaskStatus;
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}
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sqlSugarClient.AsTenant().BeginTran();
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try
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{
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sqlSugarClient.Updateable(startLocation).ExecuteCommand();
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sqlSugarClient.Updateable(task).ExecuteCommand();
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sqlSugarClient.Updateable(wcsTaskLog).ExecuteCommand();
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sqlSugarClient.AsTenant().CommitTran();
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}
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catch (Exception ex)
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{
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sqlSugarClient.AsTenant().RollbackTran();
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_logger.Error("SupplyEmptyPalletTaskHandlerAsync提交事务异常:" + ex.Message);
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}
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}
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}
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else if (task.TaskStatus == 4)
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{
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if (workShop3Plc == null || !workShop3Plc.IsConnected)
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{
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_logger.Plc(DateTime.Now + "3#PLC未连接,请检查网络!");
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return;
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}
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//通知plc已经放下了料箱
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workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#四宫格空托盘就绪信号"), true);
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sqlSugarClient.Deleteable(task).ExecuteCommand();
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_logger.Agv($"Agv:{task.NextPointNo};完成{task.TaskName},起点:{task.CurrPointNo},终点:{task.EndPointNo}");
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}
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}
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catch (Exception ex)
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{
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_logger.Error("SupplyEmptyPalletTaskHandlerAsync方法异常:" + ex.Message);
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}
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}
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/// <summary>
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/// 3#车间从下料点到1-16机台送料任务
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/// </summary>
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/// <param name="task"></param>
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/// <returns></returns>
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private void TransferMaterialBoxTaskHandler(WcsTask task)
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{
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try
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{
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WcsTaskLog wcsTaskLog = sqlSugarClient.Queryable<WcsTaskLog>().First(t => t.Id == task.Id);
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if (task.TaskStatus == 0)
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{
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TaskStatus0Handle(task);
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}
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else if (task.TaskStatus == 2) //取完料箱前往目的地
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{
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//复位清空机台号等信息
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if (workShop3Plc == null || !workShop3Plc.IsConnected)
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{
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_logger.Plc(DateTime.Now + "3#PLC未连接,请检查网络!");
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return;
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}
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sqlSugarClient.AsTenant().BeginTran();
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try
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{
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task.TaskStatus = 3;
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if (wcsTaskLog != null)
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{
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wcsTaskLog.TaskStatus = task.TaskStatus;
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}
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sqlSugarClient.Updateable(task).ExecuteCommand();
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sqlSugarClient.Updateable(wcsTaskLog).ExecuteCommand();
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sqlSugarClient.AsTenant().CommitTran();
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//从下料点直接取，清空RFID及机台号，条码等信息--ok
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workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#大料箱agv已取走反馈"), true);
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}
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catch (Exception ex)
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{
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sqlSugarClient.AsTenant().RollbackTran();
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_logger.Error("SupplyEmptyPalletTaskHandlerAsync提交事务异常:" + ex.Message);
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}
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}
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else if (task.TaskStatus == 4)
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{
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//解锁终点库位
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WmsBaseLocation? endLocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(t => t.AgvPositionCode == task.EndPointNo);
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if (endLocation != null)
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{
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//入库校验RFID
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string readEpc = ReadEpcStrByRfidKey(endLocation.EquipKey);
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_logger.Agv($"读到RFID:{readEpc}");
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//todo:12号机台装上RFID以后删除--------------------------------
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/*if (endLocation.MachineId == 12)
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{
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readEpc = task.PalletInfoCode;
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}*/
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//----------------------------------
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if (string.IsNullOrEmpty(readEpc) || readEpc != task.PalletInfoCode)
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{
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int RFIDretrytime;
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for (RFIDretrytime = 0; RFIDretrytime < 5; RFIDretrytime++)
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{
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readEpc = ReadEpcStrByRfidKey(endLocation.EquipKey);
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if (string.IsNullOrEmpty(readEpc) || readEpc != task.PalletInfoCode)
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{
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_logger.Error("入库校验RFID失败,当前库位RFID为空，未读取到,正在重试读取，任务RFID:" + task.PalletInfoCode);
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Thread.Sleep(500);
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}
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else
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{
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_logger.Error("入库校验RFID成功,当前库位RFID:" + readEpc + ",任务RFID:" + task.PalletInfoCode);
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break;
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}
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}
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RFIDretrytime = 0;
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if (string.IsNullOrEmpty(readEpc) || readEpc != task.PalletInfoCode)
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{
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workShop3Plc.writeBoolByAddress("DB100.DBX120.1", true);
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_logger.Error("入库校验RFID失败,当前库位RFID为空，未读取到,重试多次读取，已锁库，任务RFID:" + task.PalletInfoCode);
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endLocation.LocationStatus = 1;
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sqlSugarClient.Updateable(endLocation).ExecuteCommand();
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Thread.Sleep(500);
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return;
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}
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else
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{
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_logger.Error("入库校验RFID成功,当前库位RFID:" + readEpc + ",任务RFID:" + task.PalletInfoCode);
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}
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//workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#机台校验失败提示"), true);
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}
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//workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#机台校验失败提示"), false);
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workShop3Plc.writeBoolByAddress("DB100.DBX120.1", false);
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endLocation.LocationStatus = 0;
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endLocation.ContainerCode = task.PalletInfoCode;
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#region 尝试入库
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int retrytime = 0;
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bool successflag = false;
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while (retrytime <= 3)
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{
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sqlSugarClient.AsTenant().BeginTran();
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try
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{
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int LocationAffectedrow = sqlSugarClient.Updateable(endLocation).ExecuteCommand();
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int DeleteAffectedrow = sqlSugarClient.Deleteable(task).ExecuteCommand();
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sqlSugarClient.AsTenant().CommitTran();
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if (LocationAffectedrow > 0 && DeleteAffectedrow > 0)
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{
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_logger.Agv($"Agv:{task.NextPointNo};完成{task.TaskName},起点:{task.CurrPointNo},终点:{task.EndPointNo}");
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retrytime = 4;
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successflag = true;
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}
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else
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{
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retrytime += 1;
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}
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}
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catch (Exception ex)
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{
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retrytime += 1;
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sqlSugarClient.AsTenant().RollbackTran();
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_logger.Error("SupplyEmptyPalletTaskHandlerAsync提交事务异常:" + ex.Message);
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_logger.Error($"正在进行第{retrytime}次重试......");
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}
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}
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if (successflag!= true)
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{
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workShop3Plc.writeBoolByAddress("DB100.DBX120.0", true);
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try
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{
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_logger.Error($"多次重试失败，正在上锁问题库位......");
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endLocation.LocationStatus = 1;
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sqlSugarClient.AsTenant().BeginTran();
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sqlSugarClient.Updateable(endLocation).ExecuteCommand();
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sqlSugarClient.AsTenant().CommitTran();
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}
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catch (Exception ex) {
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_logger.Error($"上锁失败，正在重试......");
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sqlSugarClient.AsTenant().RollbackTran();
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Thread Lockthread = new Thread(new ThreadStart(delegate ()
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{
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bool Lockflag = false;
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while (!Lockflag)
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{
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try
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{
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endLocation.LocationStatus = 1;
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sqlSugarClient.AsTenant().BeginTran();
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sqlSugarClient.Updateable(endLocation).ExecuteCommand();
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sqlSugarClient.AsTenant().CommitTran();
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Lockflag = true;
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}
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catch
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{
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sqlSugarClient.AsTenant().RollbackTran();
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Thread.Sleep(1000);
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}
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}
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}));
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Lockthread.Start();
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}
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}
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workShop3Plc.writeBoolByAddress("DB100.DBX120.0", false);
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retrytime = 0;
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successflag = false;
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#endregion
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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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_logger.Error("SupplyEmptyPalletTaskHandlerAsync方法异常:" + ex.Message);
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}
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}
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/// <summary>
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/// 1-12号机台之间空料箱移库任务
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/// </summary>
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/// <param name="item"></param>
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private void MoveLocationTaskHandler(WcsTask task)
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{
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try
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{
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WcsTaskLog wcsTaskLog = sqlSugarClient.Queryable<WcsTaskLog>().First(t => t.Id == task.Id);
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if (task.TaskStatus == 0)
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{
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TaskStatus0Handle(task);
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}
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else if (task.TaskStatus == 2) //取完料箱前往目的地
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{
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//解锁起始库位
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WmsBaseLocation? startLocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(t => t.AgvPositionCode == task.CurrPointNo);
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if (startLocation != null)
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{
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startLocation.ContainerCode = "";
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startLocation.LocationStatus = 0;
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task.TaskStatus = 3;
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if (wcsTaskLog != null)
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{
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wcsTaskLog.TaskStatus = task.TaskStatus;
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}
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sqlSugarClient.AsTenant().BeginTran();
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try
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{
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sqlSugarClient.Updateable(startLocation).ExecuteCommand();
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sqlSugarClient.Updateable(task).ExecuteCommand();
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|
|
sqlSugarClient.Updateable(wcsTaskLog).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
_logger.Agv($"Agv:{task.NextPointNo};完成{task.TaskName},起点:{task.CurrPointNo},终点:{task.EndPointNo}");
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync提交事务异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 4)
|
|
|
{
|
|
|
//解锁终点库位
|
|
|
WmsBaseLocation? endLocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(t => t.AgvPositionCode == task.EndPointNo);
|
|
|
if (endLocation != null)
|
|
|
{
|
|
|
endLocation.LocationStatus = 0;
|
|
|
endLocation.ContainerCode = task.PalletInfoCode;
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
sqlSugarClient.Updateable(endLocation).ExecuteCommand();
|
|
|
sqlSugarClient.Deleteable(task).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync提交事务异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync方法异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 四宫格前往异常库位任务处理
|
|
|
/// </summary>
|
|
|
/// <param name="item"></param>
|
|
|
private void ExceptionTaskHandler(WcsTask task)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
WcsTaskLog wcsTaskLog = sqlSugarClient.Queryable<WcsTaskLog>().First(t => t.Id == task.Id);
|
|
|
if (task.TaskStatus == 0)
|
|
|
{
|
|
|
TaskStatus0Handle(task);
|
|
|
}
|
|
|
else if (task.TaskStatus == 2) //取完料箱前往目的地
|
|
|
{
|
|
|
//解锁终点库位
|
|
|
WmsBaseLocation? start = sqlSugarClient.Queryable<WmsBaseLocation>().Where(t => t.AgvPositionCode == task.EndPointNo).First();
|
|
|
if (start != null)
|
|
|
{
|
|
|
start.LocationStatus = 0;
|
|
|
start.ContainerCode = "";
|
|
|
sqlSugarClient.Updateable(start).ExecuteCommand();
|
|
|
}
|
|
|
task.TaskStatus = 3;
|
|
|
if (wcsTaskLog != null)
|
|
|
{
|
|
|
wcsTaskLog.TaskStatus = task.TaskStatus;
|
|
|
}
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
sqlSugarClient.Updateable(task).ExecuteCommand();
|
|
|
sqlSugarClient.Updateable(wcsTaskLog).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
_logger.Agv($"Agv:{task.NextPointNo};完成{task.TaskName},起点:{task.CurrPointNo},终点:{task.EndPointNo}");
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error("ExceptionTaskHandler提交事务异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 4)
|
|
|
{
|
|
|
//解锁终点库位
|
|
|
WmsBaseLocation? endLocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(t => t.AgvPositionCode == task.EndPointNo);
|
|
|
if (endLocation != null)
|
|
|
{
|
|
|
endLocation.LocationStatus = 0;
|
|
|
endLocation.ContainerCode = task.PalletInfoCode;
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
sqlSugarClient.Updateable(endLocation).ExecuteCommand();
|
|
|
sqlSugarClient.Deleteable(task).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync提交事务异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync方法异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 3#接驳位到2#计量室接驳位的送料任务
|
|
|
/// </summary>
|
|
|
/// <param name="task"></param>
|
|
|
private void TransferMaterialMetrologyRoomBoxTaskHandler(WcsTask task)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
WcsTaskLog wcsTaskLog = sqlSugarClient.Queryable<WcsTaskLog>().First(t => t.Id == task.Id);
|
|
|
if (task.TaskStatus == 0)
|
|
|
{
|
|
|
TaskStatus0Handle(task);
|
|
|
}
|
|
|
else if (task.TaskStatus == 2) //agv到达接驳位里面，等待料箱上agv
|
|
|
{
|
|
|
if (workShop3Plc == null || !workShop3Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "3#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
bool goOutFlag = workShop3Plc.readBoolByAddress(StaticData.GetPlcAddress("3#出接驳位信号"));
|
|
|
int outFlag = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#接驳位到位信号"));
|
|
|
if (outFlag != 1 && !goOutFlag)
|
|
|
{
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#出接驳位信号"), true);
|
|
|
}
|
|
|
else if (outFlag == 1)
|
|
|
{ //已经出来就绪，wcs通知agv取走托盘
|
|
|
bool result = ContinueTaskHandle(task).Result;
|
|
|
if (result)
|
|
|
{
|
|
|
//从下料点直接取，清空RFID及机台号，条码等信息--ok
|
|
|
workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#接驳位到位信号"), 0);
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#出接驳位信号"), false);
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#小料箱agv已取走反馈"), true);
|
|
|
_logger.Agv($"agv取走料{task.PalletInfoCode}，3#已取走反馈");
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 4) //agv已经退出接驳位，wcs把 线体忙碌状态改为0，接驳位到位信号 复位写0，出接驳位信号 0，清空RFID、机台号
|
|
|
{
|
|
|
if (workShop3Plc == null || !workShop3Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "3#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
task.TaskStatus = 5;
|
|
|
task.UpdatedTime = DateTime.Now;
|
|
|
if (wcsTaskLog != null)
|
|
|
{
|
|
|
wcsTaskLog.TaskStatus = task.TaskStatus;
|
|
|
wcsTaskLog.UpdatedTime = DateTime.Now;
|
|
|
}
|
|
|
sqlSugarClient.Updateable(task).ExecuteCommand();
|
|
|
sqlSugarClient.Updateable(wcsTaskLog).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error("TransferMaterialMetrologyRoomBoxTaskHandlerAsync提交事务异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 6) //agv到达终点等待点，判断 2#线体忙碌状态 ,下发agv进入接驳位
|
|
|
{
|
|
|
if (workShop2Plc == null || !workShop2Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
int busyFlag = workShop2Plc.readInt16ByAddress(StaticData.GetPlcAddress("2#线体忙碌状态"));
|
|
|
|
|
|
if (busyFlag == 1)
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
if (busyFlag == 0)
|
|
|
{
|
|
|
int amount = sqlSugarClient.Queryable<WcsTask>().Where(x => x.TaskType == StaticTaskType.TransferMaterialMetrologyRoomBoxTask).Count();
|
|
|
|
|
|
int hoistFloor = workShop2Plc.readInt16ByAddress(StaticData.GetPlcAddress("2#提升机当前层"));
|
|
|
if (hoistFloor == 2) //如果提升机正好在2楼
|
|
|
{
|
|
|
Thread.Sleep(300);
|
|
|
}
|
|
|
else if (amount < 2) //如果只有一个agv送料任务
|
|
|
{
|
|
|
Thread.Sleep(2500);
|
|
|
}
|
|
|
else if (amount == 2)
|
|
|
{//如果有两个以上agv送料任务，释放掉一个agv
|
|
|
Thread.Sleep(500);
|
|
|
}
|
|
|
int work2LineBusyFlag = workShop2Plc.readInt16ByAddress(StaticData.GetPlcAddress("2#缓存空箱线体状态"));
|
|
|
busyFlag = workShop2Plc.readInt16ByAddress(StaticData.GetPlcAddress("2#线体忙碌状态"));
|
|
|
if (busyFlag == 0 && work2LineBusyFlag == 0)
|
|
|
{
|
|
|
//抢占线体状态，agv进入接驳位
|
|
|
workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#线体忙碌状态"), 1);
|
|
|
workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#缓存空箱线体状态"), 1);
|
|
|
bool result = ContinueTaskHandle(task).Result;
|
|
|
if (!result)
|
|
|
{
|
|
|
workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#线体忙碌状态"), 0);
|
|
|
}
|
|
|
else //下发agv成功以后，提前写去往计量室，预调度提升机
|
|
|
{
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#前往计量室信号"), true);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 8) //agv到达终点接驳位，等待料箱离开接驳位
|
|
|
{
|
|
|
if (workShop2Plc == null || !workShop2Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
bool goOutFlag = workShop2Plc.readBoolByAddress(StaticData.GetPlcAddress("2#放完成反馈"));
|
|
|
// 2#已离开接驳位信号:有料箱true;无料箱false
|
|
|
bool outFlag = workShop2Plc.readBoolByAddress(StaticData.GetPlcAddress("2#已离开接驳位信号"));
|
|
|
if (!outFlag && !goOutFlag)
|
|
|
{
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#放完成"), true);
|
|
|
}
|
|
|
else if (outFlag)
|
|
|
{ //托盘已经离开，wcs通知agv离开
|
|
|
bool result = ContinueTaskHandle(task).Result;
|
|
|
if (result) //已经离开
|
|
|
{
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#放完成反馈"), false);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 10) //任务完成，删除任务
|
|
|
{
|
|
|
//删除任务
|
|
|
sqlSugarClient.Deleteable<WcsTask>(task).ExecuteCommand();
|
|
|
_logger.Agv($"Agv:{task.NextPointNo};完成{task.TaskName},起点:{task.CurrPointNo},终点:{task.EndPointNo}");
|
|
|
CreateSecondSuppleSmallPallet();
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync方法异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 3#车间从2#接驳位补充小托盘任务
|
|
|
/// </summary>
|
|
|
/// <param name="task"></param>
|
|
|
/// <returns></returns>
|
|
|
private async Task SupplySmallPalletTaskHandlerAsync(WcsTask task)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
WcsTaskLog wcsTaskLog = await sqlSugarClient.Queryable<WcsTaskLog>().FirstAsync(t => t.Id == task.Id);
|
|
|
if (task.TaskStatus == 0)
|
|
|
{
|
|
|
TaskStatus0Handle(task);
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#出一个空托盘信号"), true);
|
|
|
}
|
|
|
else if (task.TaskStatus == 2) //agv到达接驳位里面，等待料箱上agv
|
|
|
{
|
|
|
if (workShop2Plc == null || !workShop2Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
if (!workShop2Plc.readBoolByAddress("DB100.DBX38.0"))
|
|
|
{
|
|
|
workShop2Plc.writeBoolByAddress("DB100.DBX38.0", true);
|
|
|
}
|
|
|
|
|
|
bool goOutFlag = workShop2Plc.readBoolByAddress(StaticData.GetPlcAddress("2#缓存空进AGV任务反馈"));
|
|
|
bool outFlag = workShop2Plc.readBoolByAddress(StaticData.GetPlcAddress("2#接驳位到位信号"));
|
|
|
if (!outFlag && !goOutFlag)
|
|
|
{
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#出一个空托盘信号"), true);
|
|
|
}
|
|
|
else if (outFlag)
|
|
|
{ //已经出来就绪，wcs通知agv取走托盘
|
|
|
bool agvResult = await ContinueTaskHandle(task);
|
|
|
if (agvResult)
|
|
|
{
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#取完成"), true);
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#接驳位到位信号"), false);
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#缓存空进AGV任务反馈"), false);
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#出接驳位信号"), false);
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#出一个空托盘信号"), false);
|
|
|
|
|
|
workShop2Plc.writeBoolByAddress("DB100.DBX38.0", false);
|
|
|
|
|
|
//判断二次生成补空箱任务
|
|
|
Thread.Sleep(500);
|
|
|
CreateSecondSuppleSmallPallet();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 4) //agv已经退出接驳位，wcs把 线体忙碌状态改为0，接驳位到位信号 复位写0，出接驳位信号 0，清空RFID、机台号
|
|
|
{
|
|
|
if (workShop2Plc == null || !workShop2Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
task.TaskStatus = 5;
|
|
|
task.UpdatedTime = DateTime.Now;
|
|
|
if (wcsTaskLog != null)
|
|
|
{
|
|
|
wcsTaskLog.TaskStatus = task.TaskStatus;
|
|
|
wcsTaskLog.UpdatedTime = DateTime.Now;
|
|
|
}
|
|
|
sqlSugarClient.Updateable(task).ExecuteCommand();
|
|
|
sqlSugarClient.Updateable(wcsTaskLog).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error("TransferMaterialMetrologyRoomBoxTaskHandlerAsync提交事务异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 6) //agv到达终点等待点，判断 3#线体忙碌状态 ,下发agv进入接驳位
|
|
|
{
|
|
|
if (workShop3Plc == null || !workShop3Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存请求"),true);
|
|
|
bool busyFlag = workShop3Plc.readBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存允许"));
|
|
|
|
|
|
if (busyFlag == false) {
|
|
|
return;
|
|
|
}
|
|
|
if(busyFlag == true)
|
|
|
{
|
|
|
Thread.Sleep(3000);
|
|
|
busyFlag = workShop3Plc.readBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存允许"));
|
|
|
if (busyFlag == true)
|
|
|
{
|
|
|
bool result = await ContinueTaskHandle(task);
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存请求"), false);
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存允许"), false);
|
|
|
if (!result)
|
|
|
{
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存请求"), false);
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存允许"), false);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
|
|
|
/*int busyFlag = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#线体忙碌状态"));
|
|
|
if (busyFlag == 1)
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
if (busyFlag == 0)
|
|
|
{
|
|
|
Thread.Sleep(3000);
|
|
|
busyFlag = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#线体忙碌状态"));
|
|
|
if (busyFlag == 0)
|
|
|
{
|
|
|
//抢占线体状态，agv进入接驳位
|
|
|
workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#线体忙碌状态"), 1);
|
|
|
bool result = await ContinueTaskHandle(task);
|
|
|
if (!result)
|
|
|
{
|
|
|
workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#线体忙碌状态"), 0);
|
|
|
}
|
|
|
}
|
|
|
}*/
|
|
|
}
|
|
|
else if (task.TaskStatus == 8) //agv到达终点接驳位，等待料箱离开接驳位
|
|
|
{
|
|
|
if (workShop3Plc == null || !workShop3Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "3#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
bool goOutFlag = workShop3Plc.readBoolByAddress(StaticData.GetPlcAddress("3#前往缓存皮带线"));
|
|
|
int outFlag = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#已离开接驳位信号"));
|
|
|
if (outFlag != 1 && !goOutFlag)
|
|
|
{
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#前往缓存皮带线"), true);
|
|
|
}
|
|
|
else if (outFlag == 1)
|
|
|
{ //托盘已经离开，wcs通知agv离开
|
|
|
bool result = await ContinueTaskHandle(task);
|
|
|
if (result)
|
|
|
{
|
|
|
//从下料点直接取，清空RFID及机台号，条码等信息，复位请求信号--ok
|
|
|
workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#接驳位到位信号"), 0);
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#出接驳位信号"), false);
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#小料箱agv已取走反馈"), true);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 10) //任务完成，wcs复位3#接驳位信号，删除任务
|
|
|
{
|
|
|
if (workShop3Plc == null || !workShop3Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
//从下料点直接取，清空RFID及机台号，条码等信息--ok
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#前往缓存皮带线"), false);
|
|
|
workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#已离开接驳位信号"), 0);
|
|
|
|
|
|
//删除任务
|
|
|
sqlSugarClient.Deleteable<WcsTask>(task).ExecuteCommand();
|
|
|
_logger.Agv($"Agv:{task.NextPointNo};完成{task.TaskName},起点:{task.CurrPointNo},终点:{task.EndPointNo}");
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync方法异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
///3#车间从色粉存放点补充小托盘任务
|
|
|
/// </summary>
|
|
|
/// <param name="task"></param>
|
|
|
/// <returns></returns>
|
|
|
private async Task SupplySmallPalletFromTonerTaskHandlerAsync(WcsTask task)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
WcsTaskLog wcsTaskLog = await sqlSugarClient.Queryable<WcsTaskLog>().FirstAsync(t => t.Id == task.Id);
|
|
|
if (task.TaskStatus == 0)
|
|
|
{
|
|
|
TaskStatus0Handle(task);
|
|
|
}
|
|
|
else if (task.TaskStatus == 2) //取完料箱前往目的地
|
|
|
{
|
|
|
if (baseEquip != null)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
task.TaskStatus = 3;
|
|
|
if (wcsTaskLog != null)
|
|
|
{
|
|
|
wcsTaskLog.TaskStatus = task.TaskStatus;
|
|
|
}
|
|
|
sqlSugarClient.Updateable(task).ExecuteCommand();
|
|
|
sqlSugarClient.Updateable(wcsTaskLog).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync提交事务异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 4)
|
|
|
{
|
|
|
if (workShop3Plc == null || !workShop3Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存请求"), true);
|
|
|
bool busyFlag = workShop3Plc.readBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存允许"));
|
|
|
|
|
|
if (busyFlag == false)
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
if (busyFlag == true)
|
|
|
{
|
|
|
Thread.Sleep(1000);
|
|
|
busyFlag = workShop3Plc.readBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存允许"));
|
|
|
if (busyFlag == true)
|
|
|
{
|
|
|
bool result = await ContinueTaskHandle(task);
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存请求"), false);
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存允许"), false);
|
|
|
|
|
|
if (result)
|
|
|
{
|
|
|
//解锁起始色粉库位
|
|
|
WcsBaseEquip? baseEquip = sqlSugarClient.Queryable<WcsBaseEquip>().First(t => t.AgvPositionCode == task.CurrPointNo);
|
|
|
if (baseEquip != null)
|
|
|
{
|
|
|
baseEquip.EquipStatus = 0;
|
|
|
baseEquip.ContainerCode = null;
|
|
|
sqlSugarClient.Updateable(baseEquip).ExecuteCommand();
|
|
|
}
|
|
|
}
|
|
|
else //下发任务继续失败
|
|
|
{
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存请求"), false);
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#空箱进缓存允许"), false);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/*int busyFlag = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#线体忙碌状态"));
|
|
|
if (busyFlag == 1)
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
if (busyFlag == 0)
|
|
|
{
|
|
|
Thread.Sleep(1000);
|
|
|
busyFlag = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#线体忙碌状态"));
|
|
|
if (busyFlag == 0)
|
|
|
{
|
|
|
//抢占线体状态，agv进入接驳位
|
|
|
workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#线体忙碌状态"), 1);
|
|
|
bool result = await ContinueTaskHandle(task);
|
|
|
if (result)
|
|
|
{
|
|
|
//解锁起始色粉库位
|
|
|
WcsBaseEquip? baseEquip = sqlSugarClient.Queryable<WcsBaseEquip>().First(t => t.AgvPositionCode == task.CurrPointNo);
|
|
|
if (baseEquip != null)
|
|
|
{
|
|
|
baseEquip.EquipStatus = 0;
|
|
|
baseEquip.ContainerCode = null;
|
|
|
sqlSugarClient.Updateable(baseEquip).ExecuteCommand();
|
|
|
}
|
|
|
}
|
|
|
else //下发任务继续失败
|
|
|
{
|
|
|
workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#线体忙碌状态"), 0);
|
|
|
}
|
|
|
}
|
|
|
}*/
|
|
|
}
|
|
|
else if (task.TaskStatus == 6) //agv到达终点接驳位，等待料箱离开接驳位
|
|
|
{
|
|
|
if (workShop3Plc == null || !workShop3Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "3#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
bool goOutFlag = workShop3Plc.readBoolByAddress(StaticData.GetPlcAddress("3#前往缓存皮带线"));
|
|
|
int outFlag = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#已离开接驳位信号"));
|
|
|
if (outFlag != 1 && !goOutFlag)
|
|
|
{
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#前往缓存皮带线"), true);
|
|
|
}
|
|
|
else if (outFlag == 1)
|
|
|
{ //托盘已经离开，wcs通知agv离开
|
|
|
await ContinueTaskHandle(task);
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 8) //任务完成，wcs复位3#接驳位信号，删除任务
|
|
|
{
|
|
|
if (workShop3Plc == null || !workShop3Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
//从下料点直接取，清空RFID及机台号，条码等信息--ok
|
|
|
workShop3Plc.writeBoolByAddress(StaticData.GetPlcAddress("3#前往缓存皮带线"), false);
|
|
|
workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#已离开接驳位信号"), 0);
|
|
|
//plc复位
|
|
|
|
|
|
//删除任务
|
|
|
sqlSugarClient.Deleteable<WcsTask>(task).ExecuteCommand();
|
|
|
_logger.Agv($"Agv:{task.NextPointNo};完成{task.TaskName},起点:{task.CurrPointNo},终点:{task.EndPointNo}");
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync方法异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
///2#接驳位色粉派送至色粉存放点
|
|
|
/// </summary>
|
|
|
/// <param name="task"></param>
|
|
|
/// <returns></returns>
|
|
|
private async Task DeliverTonerTaskHandlerAsync(WcsTask task)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
WcsTaskLog wcsTaskLog = await sqlSugarClient.Queryable<WcsTaskLog>().FirstAsync(t => t.Id == task.Id);
|
|
|
if (task.TaskStatus == 0)
|
|
|
{
|
|
|
TaskStatus0Handle(task);
|
|
|
}
|
|
|
else if (task.TaskStatus == 2) //agv到达接驳位里面，等待料箱上agv
|
|
|
{
|
|
|
if (workShop2Plc == null || !workShop2Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
bool PalletReady = workShop2Plc.readBoolByAddress(StaticData.GetPlcAddress("2#色粉返回等待agv到位信号"));
|
|
|
if (!PalletReady)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "等待色粉托盘到达接驳位移栽");
|
|
|
return;
|
|
|
}
|
|
|
bool goOutFlag = workShop2Plc.readBoolByAddress(StaticData.GetPlcAddress("2#出接驳位信号"));
|
|
|
bool outFlag = workShop2Plc.readBoolByAddress(StaticData.GetPlcAddress("2#接驳位到位信号"));
|
|
|
if (!outFlag && !goOutFlag)
|
|
|
{
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#出接驳位信号"), true);
|
|
|
}
|
|
|
else if (outFlag)
|
|
|
{
|
|
|
bool agvResult = await ContinueTaskHandle(task);
|
|
|
if (agvResult)
|
|
|
{
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#取完成"), true);
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#色粉返回等待agv到位信号"), false);
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#接驳位到位信号"), false);
|
|
|
workShop2Plc.writeBoolByAddress(StaticData.GetPlcAddress("2#出接驳位信号"), false);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 4) //agv已经退出接驳位，wcs把 线体忙碌状态改为0，接驳位到位信号 复位写0，出接驳位信号 0，清空RFID、机台号
|
|
|
{
|
|
|
if (workShop2Plc == null || !workShop2Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
//workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#线体忙碌状态"), 0);
|
|
|
//解锁起始库位忙碌状态
|
|
|
WcsBaseEquip? startEquip = sqlSugarClient.Queryable<WcsBaseEquip>().First(it => it.AgvPositionCode == task.CurrPointNo);
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
if (startEquip != null)
|
|
|
{
|
|
|
startEquip.EquipStatus = 0;
|
|
|
sqlSugarClient.Updateable<WcsBaseEquip>(startEquip).ExecuteCommand();
|
|
|
}
|
|
|
task.TaskStatus = 5;
|
|
|
task.UpdatedTime = DateTime.Now;
|
|
|
if (wcsTaskLog != null)
|
|
|
{
|
|
|
wcsTaskLog.TaskStatus = task.TaskStatus;
|
|
|
wcsTaskLog.UpdatedTime = DateTime.Now;
|
|
|
}
|
|
|
sqlSugarClient.Updateable(task).ExecuteCommand();
|
|
|
sqlSugarClient.Updateable(wcsTaskLog).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error("DeliverTonerTaskHandlerAsync提交事务异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 6) //任务结束
|
|
|
{
|
|
|
//更新终点库位信息
|
|
|
WcsBaseEquip? baseEquip = sqlSugarClient.Queryable<WcsBaseEquip>().First(it => it.AgvPositionCode == task.EndPointNo);
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
if (baseEquip != null)
|
|
|
{
|
|
|
baseEquip.EquipStatus = 0;
|
|
|
baseEquip.ContainerCode = task.PalletInfoCode;
|
|
|
sqlSugarClient.Updateable<WcsBaseEquip>(baseEquip).ExecuteCommand();
|
|
|
}
|
|
|
//删除任务
|
|
|
sqlSugarClient.Deleteable<WcsTask>(task).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
_logger.Agv($"Agv:{task.NextPointNo};完成{task.TaskName},起点:{task.CurrPointNo},终点:{task.EndPointNo}");
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error("DeliverTonerTaskHandlerAsync提交事务异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error("DeliverTonerTaskHandlerAsync方法异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
///色粉存放点空托盘派送至2#接驳位---暂不使用
|
|
|
/// </summary>
|
|
|
/// <param name="task"></param>
|
|
|
/// <returns></returns>
|
|
|
private async Task EmptyReturnFromTonerTaskHandlerAsync(WcsTask task)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
WcsTaskLog wcsTaskLog = await sqlSugarClient.Queryable<WcsTaskLog>().FirstAsync(t => t.Id == task.Id);
|
|
|
if (task.TaskStatus == 0)
|
|
|
{
|
|
|
TaskStatus0Handle(task);
|
|
|
}
|
|
|
else if (task.TaskStatus == 2) //取完料箱前往目的地
|
|
|
{
|
|
|
//解锁起始库位
|
|
|
WcsBaseEquip? baseEquip = sqlSugarClient.Queryable<WcsBaseEquip>().First(t => t.AgvPositionCode == task.CurrPointNo);
|
|
|
if (baseEquip != null)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
baseEquip.EquipStatus = 0;
|
|
|
baseEquip.ContainerCode = null;
|
|
|
task.TaskStatus = 3;
|
|
|
if (wcsTaskLog != null)
|
|
|
{
|
|
|
wcsTaskLog.TaskStatus = task.TaskStatus;
|
|
|
}
|
|
|
sqlSugarClient.Updateable(baseEquip).ExecuteCommand();
|
|
|
sqlSugarClient.Updateable(task).ExecuteCommand();
|
|
|
sqlSugarClient.Updateable(wcsTaskLog).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync提交事务异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 4) //等待点
|
|
|
{
|
|
|
if (workShop2Plc == null || !workShop2Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
int busyFlag = workShop2Plc.readInt16ByAddress(StaticData.GetPlcAddress("2#线体忙碌状态"));
|
|
|
if (busyFlag == 1)
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
if (busyFlag == 0)
|
|
|
{
|
|
|
Thread.Sleep(1000);
|
|
|
busyFlag = workShop2Plc.readInt16ByAddress(StaticData.GetPlcAddress("2#线体忙碌状态"));
|
|
|
if (busyFlag == 0)
|
|
|
{
|
|
|
//抢占线体状态，agv进入接驳位
|
|
|
workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#线体忙碌状态"), 1);
|
|
|
await ContinueTaskHandle(task);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 6) //agv到达终点接驳位，等待料箱离开接驳位
|
|
|
{
|
|
|
if (workShop2Plc == null || !workShop2Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
int goOutFlag = workShop2Plc.readInt16ByAddress(StaticData.GetPlcAddress("2#前往缓存链条线"));
|
|
|
bool outFlag = workShop2Plc.readBoolByAddress(StaticData.GetPlcAddress("2#已离开接驳位信号"));
|
|
|
if (!outFlag && goOutFlag != 1)
|
|
|
{
|
|
|
workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#前往缓存链条线"), 1);
|
|
|
}
|
|
|
else if (outFlag)
|
|
|
{ //托盘已经离开，wcs通知agv离开
|
|
|
await ContinueTaskHandle(task);
|
|
|
}
|
|
|
}
|
|
|
else if (task.TaskStatus == 8) //任务完成，wcs复位2#接驳位信号，删除任务
|
|
|
{
|
|
|
if (workShop2Plc == null || !workShop2Plc.IsConnected)
|
|
|
{
|
|
|
_logger.Plc(DateTime.Now + "2#PLC未连接,请检查网络!");
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#前往缓存链条线"), 0);
|
|
|
|
|
|
//plc复位
|
|
|
//workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#线体忙碌状态"), 0);
|
|
|
//删除任务
|
|
|
sqlSugarClient.Deleteable<WcsTask>(task).ExecuteCommand();
|
|
|
_logger.Agv($"Agv:{task.NextPointNo};完成{task.TaskName},起点:{task.CurrPointNo},终点:{task.EndPointNo}");
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error("SupplyEmptyPalletTaskHandlerAsync方法异常:" + ex.Message);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
#endregion 不同agv任务处理流程
|
|
|
|
|
|
#region 任务状态流转处理逻辑
|
|
|
|
|
|
/// <summary>
|
|
|
/// 任务状态0-1下发处理逻辑
|
|
|
/// </summary>
|
|
|
/// <param name="baseEquip"></param>
|
|
|
/// <param name="item"></param>
|
|
|
private void TaskStatus0Handle(WcsTask item)
|
|
|
{
|
|
|
lock (string.Empty)
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
WcsTaskLog wcsTaskLog = sqlSugarClient.Queryable<WcsTaskLog>().First(t => t.Id == item.Id);
|
|
|
WcsBaseDictionary wcsBaseDictionary = sqlSugarClient.Queryable<WcsBaseDictionary>().Where(x => x.Id == item.TaskType).First();
|
|
|
var agvTask = new RequestAGVTaskDto
|
|
|
{
|
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
positionCodePath = GetPositionPath(item.CurrPointNo, item.EndPointNo, wcsBaseDictionary.DicValue, item.TaskType),
|
|
|
taskTyp = wcsBaseDictionary.DicValue,
|
|
|
ctnrTyp = "2",
|
|
|
};
|
|
|
if (item.TaskType == StaticTaskType.ExceptionTask && string.IsNullOrEmpty(item.NextPointNo))
|
|
|
{ //如果是异常任务，必须指定具体agv前往异常库位
|
|
|
agvTask.agvCode = item.NextPointNo;
|
|
|
}
|
|
|
string message = JsonConvert.SerializeObject(agvTask);
|
|
|
string result = HttpHelper.SendPostMessage(baseEquip.ServerIp, baseEquip.ServerPort, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
|
|
|
var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
if (reponseMessage != null && reponseMessage.code == "0")
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
_logger.Agv($"AGV下发任务" + item.CurrPointNo + "," + item.EndPointNo);
|
|
|
item.TaskCode = reponseMessage.data;
|
|
|
item.TaskStatus = 1;
|
|
|
sqlSugarClient.Updateable<WcsTask>(item).ExecuteCommand();
|
|
|
wcsTaskLog.UpdatedTime = DateTime.Now;
|
|
|
wcsTaskLog.TaskStatus = 1;
|
|
|
sqlSugarClient.Updateable<WcsTaskLog>(wcsTaskLog).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
_logger.Error($"TaskStatus0Handle提交事务异常{ex.StackTrace}");
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
_logger.Error($"下发小车任务失败" + result);
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error($"执行任务异常{ex.StackTrace}");
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 根据不同任务模版获取路径
|
|
|
/// </summary>
|
|
|
/// <param name="currPointNo"></param>
|
|
|
/// <param name="endPointNo"></param>
|
|
|
/// <param name="dicValue"></param>
|
|
|
/// <returns></returns>
|
|
|
private List<Position> GetPositionPath(string currPointNo, string endPointNo, string dicValue, int taskType)
|
|
|
{
|
|
|
List<Position> PathList = new List<Position>();
|
|
|
if (dicValue == "DLX") //大料箱只需要起点、终点
|
|
|
{
|
|
|
PathList.Add(new Position { positionCode = currPointNo, type = "00" });
|
|
|
PathList.Add(new Position { positionCode = endPointNo, type = "00" });
|
|
|
}
|
|
|
else if (dicValue == "XLXQL" && taskType == StaticTaskType.SupplySmallPalletTask) //2#->3#小料箱空满交换取料配送流程
|
|
|
{
|
|
|
PathList.Add(new Position { positionCode = "2SmallOut", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "2DeliverMetrologyRoomPoint", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "2DeliverMetrologyRoomPoint", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "3DeliverSmallGoodsPoint", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "3DeliverSmallGoodsPoint", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "3SmallOut", type = "00" });
|
|
|
}
|
|
|
else if (dicValue == "XLXQL" && taskType == StaticTaskType.TransferMaterialMetrologyRoomBoxTask) //3#->2#小料箱空满交换取料配送流程
|
|
|
{
|
|
|
PathList.Add(new Position { positionCode = "3SmallOut", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "3DeliverSmallGoodsPoint", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "3DeliverSmallGoodsPoint", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "2DeliverMetrologyRoomPoint", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "2DeliverMetrologyRoomPoint", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "2SmallOut", type = "00" });
|
|
|
}
|
|
|
else if (dicValue == "XLXSFQL") //从2#接驳位取色粉箱运送到色粉存放点流程
|
|
|
{
|
|
|
PathList.Add(new Position { positionCode = "2SmallOut", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "2DeliverMetrologyRoomPoint", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "2DeliverMetrologyRoomPoint", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = endPointNo, type = "00" });
|
|
|
}
|
|
|
else if (dicValue == "XLXKXPS")
|
|
|
{
|
|
|
//从色粉存放点取空料箱配送到3#接驳位
|
|
|
if (taskType == StaticTaskType.SupplySmallPalletFromTonerTask)
|
|
|
{
|
|
|
PathList.Add(new Position { positionCode = currPointNo, type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "3SmallWait", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = endPointNo, type = "00" });
|
|
|
PathList.Add(new Position { positionCode = endPointNo, type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "3SmallOut", type = "00" });
|
|
|
}
|
|
|
else if (taskType == StaticTaskType.EmptyReturnFromTonerTask) //从色粉存放点取空料箱配送到2#接驳位
|
|
|
{
|
|
|
PathList.Add(new Position { positionCode = currPointNo, type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "2SmallWait", type = "00" });
|
|
|
PathList.Add(new Position { positionCode = endPointNo, type = "00" });
|
|
|
PathList.Add(new Position { positionCode = endPointNo, type = "00" });
|
|
|
PathList.Add(new Position { positionCode = "2SmallOut", type = "00" });
|
|
|
}
|
|
|
}
|
|
|
return PathList;
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
///下发agv任务继续
|
|
|
/// </summary>
|
|
|
/// <param name="item"></param>
|
|
|
private async Task<bool> ContinueTaskHandle(WcsTask task)
|
|
|
{
|
|
|
bool continueResult = false;
|
|
|
try
|
|
|
{
|
|
|
WcsTaskLog wcsTaskLog = await sqlSugarClient.Queryable<WcsTaskLog>().FirstAsync(t => t.Id == task.Id);
|
|
|
|
|
|
#region 下发AGV信号放料箱
|
|
|
|
|
|
//条件过滤，能取托盘或能取料 ，发送agv继续信号
|
|
|
var agvTask = new RequestAGVTaskDto
|
|
|
{
|
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
taskCode = task.TaskCode
|
|
|
};
|
|
|
string message = JsonConvert.SerializeObject(agvTask);
|
|
|
try
|
|
|
{
|
|
|
string result = HttpHelper.SendPostMessage(baseEquip.ServerIp, baseEquip.ServerPort, "rcms/services/rest/hikRpcService/continueTask", message);
|
|
|
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
_logger.Agv($"下发agv任务继续,任务名称:{task.TaskName},任务id:{task.Id},任务状态:{task.TaskStatus}");
|
|
|
task.TaskStatus += 1;
|
|
|
task.UpdatedTime = DateTime.Now;
|
|
|
sqlSugarClient.Updateable<WcsTask>(task).ExecuteCommand();
|
|
|
if (wcsTaskLog != null)
|
|
|
{
|
|
|
wcsTaskLog.UpdatedTime = DateTime.Now;
|
|
|
wcsTaskLog.TaskStatus = task.TaskStatus;
|
|
|
sqlSugarClient.Updateable<WcsTaskLog>(wcsTaskLog).ExecuteCommand();
|
|
|
}
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
continueResult = true;
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error($"第一次下发agv任务继续异常,任务名称:{task.TaskName},任务id:{task.Id},异常信息:{ex.StackTrace}");
|
|
|
_logger.Error("开始尝试第二次下发");
|
|
|
await Task.Delay(1000 * 2);
|
|
|
string result = HttpHelper.SendPostMessage(baseEquip.ServerIp, baseEquip.ServerPort, "rcms/services/rest/hikRpcService/continueTask", message);
|
|
|
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
_logger.Agv($"下发agv任务继续,任务名称:{task.TaskName},任务id:{task.Id},任务状态:{task.TaskStatus}");
|
|
|
task.TaskStatus += 1;
|
|
|
task.UpdatedTime = DateTime.Now;
|
|
|
sqlSugarClient.Updateable<WcsTask>(task).ExecuteCommand();
|
|
|
if (wcsTaskLog != null)
|
|
|
{
|
|
|
wcsTaskLog.UpdatedTime = DateTime.Now;
|
|
|
wcsTaskLog.TaskStatus = task.TaskStatus;
|
|
|
sqlSugarClient.Updateable<WcsTaskLog>(wcsTaskLog).ExecuteCommand();
|
|
|
}
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
continueResult = true;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
_logger.Error($"下发第二次agv任务继续失败，任务名称:{task.TaskName},任务id:{task.Id},异常信息:{ex.StackTrace}");
|
|
|
}
|
|
|
}
|
|
|
|
|
|
#endregion 下发AGV信号放料箱
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error($"下发agv任务第二次继续异常,任务名称:{task.TaskName},任务id:{task.Id},异常信息:{ex.StackTrace}");
|
|
|
}
|
|
|
return continueResult;
|
|
|
}
|
|
|
|
|
|
#endregion 任务状态流转处理逻辑
|
|
|
|
|
|
/// <summary>
|
|
|
/// 在从2#接驳位补托盘退出1s以后，判断如果3#库存为0,并且补小托盘任务数只有1个,总的agv任务书小于3个，并且2#线体空闲并且库存大于0，
|
|
|
/// 那么再次生成从2#接驳位补充空托盘任务，同时锁住2#线体
|
|
|
/// </summary>
|
|
|
private void CreateSecondSuppleSmallPallet()
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
|
|
|
return;
|
|
|
|
|
|
if (workShop3Plc == null || !workShop3Plc.IsConnected || workShop2Plc == null || !workShop2Plc.IsConnected)
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
int work3EmptyAmount = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#缓存皮带线库存数"));
|
|
|
int suppleTaskCount = sqlSugarClient.Queryable<WcsTask>().Where(x => x.TaskType == StaticTaskType.SupplySmallPalletFromTonerTask || x.TaskType == StaticTaskType.SupplySmallPalletTask).Count();
|
|
|
int totalTaskCount = sqlSugarClient.Queryable<WcsTask>().Count();
|
|
|
int work2EmptyAmount = workShop2Plc.readInt16ByAddress(StaticData.GetPlcAddress("2#缓存链条线库存数"));
|
|
|
int work2LineBusyFlag = workShop2Plc.readInt16ByAddress(StaticData.GetPlcAddress("2#缓存空箱线体状态"));
|
|
|
if (work3EmptyAmount == 0 && totalTaskCount < 3 && suppleTaskCount < 2 && work2LineBusyFlag == 0 && work2EmptyAmount > 0)
|
|
|
{
|
|
|
workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#缓存空箱线体状态"), 1);
|
|
|
WcsTask task = new WcsTask();
|
|
|
task.TaskType = StaticTaskType.SupplySmallPalletTask;
|
|
|
task.CurrPointNo = "2DeliverMetrologyRoomPoint";
|
|
|
task.EndPointNo = "3DeliverSmallGoodsPoint";
|
|
|
task.TaskStatus = 0;
|
|
|
task.CreatedTime = DateTime.Now;
|
|
|
task.CreatedBy = "wcs";
|
|
|
task.TaskName = " 3#车间从2#接驳位补充小托盘任务";
|
|
|
sqlSugarClient.AsTenant().BeginTran();
|
|
|
try
|
|
|
{
|
|
|
int id = sqlSugarClient.Insertable(task).ExecuteReturnIdentity();
|
|
|
WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(task);
|
|
|
wcsTaskLog.Id = id;
|
|
|
sqlSugarClient.Insertable(wcsTaskLog).ExecuteCommand();
|
|
|
sqlSugarClient.AsTenant().CommitTran();
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
sqlSugarClient.AsTenant().RollbackTran();
|
|
|
workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#缓存空箱线体状态"), 0);
|
|
|
_logger.Error($"3#车间从2#接驳位补充小托盘任务生成提交事务异常{ex.Message}");
|
|
|
}
|
|
|
_logger.Agv($"生成{task.TaskName},起点:{task.CurrPointNo},终点:{task.EndPointNo}");
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error($"CreateSecondSuppleSmallPallet:{ex.Message}");
|
|
|
}
|
|
|
}
|
|
|
|
|
|
#region 弃用逻辑
|
|
|
|
|
|
///// <summary>
|
|
|
/////
|
|
|
///// 任务状态3-4处理逻辑：agv取完托盘，给起点复位状态
|
|
|
///// 分不同任务类型，各自根据判断条件处理
|
|
|
///// </summary>
|
|
|
///// <param name="baseEquip"></param>
|
|
|
///// <param name="item"></param>
|
|
|
//private async Task TaskStatus3HandleAsync(WcsTask item)
|
|
|
//{
|
|
|
// try
|
|
|
// {
|
|
|
// sqlSugarClient.AsTenant().BeginTran();
|
|
|
// WcsTaskLog wcsTaskLog = sqlSugarClient.Queryable<WcsTaskLog>().First(t => t.Id == item.Id);
|
|
|
// if (item.TaskType == StaticTaskType.SupplyEmptyPalletTask)
|
|
|
// {
|
|
|
// //不做处理--ok
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.MoveLocationTask)
|
|
|
// {
|
|
|
// // 不做处理--ok
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.TransferMaterialBoxTask)
|
|
|
// {
|
|
|
// //从下料点直接取，清空RFID及机台号，条码等信息--ok
|
|
|
// workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#下料点机台号"), 0);
|
|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#下料点RFID号"), "", 15);
|
|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#下料点条码1"), "", 15);
|
|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#下料点条码2"), "", 15);
|
|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#下料点条码3"), "", 15);
|
|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#下料点条码4"), "", 15);
|
|
|
// //解锁起始库位忙碌状态
|
|
|
// WcsBaseEquip? startEquip = sqlSugarClient.Queryable<WcsBaseEquip>().First(it => it.AgvPositionCode == item.CurrPointNo);
|
|
|
// if (startEquip != null)
|
|
|
// {
|
|
|
// startEquip.EquipStatus = 0;
|
|
|
// sqlSugarClient.Updateable<WcsBaseEquip>(startEquip).ExecuteCommand();
|
|
|
// }
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.SupplySmallPalletTask)
|
|
|
// {
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.TransferMaterialMetrologyRoomBoxTask)
|
|
|
// {
|
|
|
// //从3#接驳位直接取走，清空RFID及机台号，条码等信息
|
|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#接驳位RFID号"), "", 15);
|
|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#接驳位小料箱条码"), "", 15);
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.DeliverTonerTask)
|
|
|
// {
|
|
|
// //色粉箱直接取，无需处理,清空2#接驳位料箱方向信号
|
|
|
// workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#接驳位料箱方向信号"), 0);
|
|
|
// }
|
|
|
|
|
|
// #region 更新任务状态
|
|
|
|
|
|
// //解锁起始库位
|
|
|
// WmsBaseLocation? startLocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(it => it.AgvPositionCode == item.CurrPointNo);
|
|
|
|
|
|
// if (startLocation != null)
|
|
|
// { //起始库位料箱出库，删除RFID条码
|
|
|
// startLocation.ContainerCode = "";
|
|
|
// startLocation.UpdatedTime = DateTime.Now;
|
|
|
// startLocation.LocationStatus = 1;
|
|
|
// sqlSugarClient.Updateable<WmsBaseLocation>(startLocation).ExecuteCommand();
|
|
|
// }
|
|
|
// item.TaskStatus = 4;
|
|
|
// item.UpdatedTime = DateTime.Now;
|
|
|
// sqlSugarClient.Updateable<WcsTask>(item).ExecuteCommand();
|
|
|
// wcsTaskLog.UpdatedTime = DateTime.Now;
|
|
|
// wcsTaskLog.TaskStatus = 4;
|
|
|
// sqlSugarClient.Updateable<WcsTaskLog>(wcsTaskLog).ExecuteCommand();
|
|
|
// sqlSugarClient.AsTenant().CommitTran();
|
|
|
// _logger.Agv($"AGV完成取料任务" + item.CurrPointNo + "," + item.EndPointNo);
|
|
|
|
|
|
// #endregion 更新任务状态
|
|
|
// }
|
|
|
// catch (Exception ex)
|
|
|
// {
|
|
|
// sqlSugarClient.AsTenant().RollbackTran();
|
|
|
// _logger.Error($"执行任务异常{ex.StackTrace}");
|
|
|
// }
|
|
|
//}
|
|
|
|
|
|
///// <summary>
|
|
|
///// 任务状态5-6处理逻辑：agv到达放料等待点，询问能否放料
|
|
|
///// 分不同任务类型，各自根据判断条件处理
|
|
|
///// </summary>
|
|
|
///// <param name="baseEquip"></param>
|
|
|
///// <param name="item"></param>
|
|
|
//private async Task TaskStatus5HandleAsync(WcsTask item)
|
|
|
//{
|
|
|
// try
|
|
|
// {
|
|
|
// if (workShop2Plc == null || !workShop2Plc.IsConnected || workShop3Plc == null || !workShop3Plc.IsConnected)
|
|
|
// {
|
|
|
// return;
|
|
|
// }
|
|
|
|
|
|
// WcsTaskLog wcsTaskLog = sqlSugarClient.Queryable<WcsTaskLog>().First(t => t.Id == item.Id);
|
|
|
// //if (item.TaskType == StaticTaskType.SupplyEmptyPalletTask)
|
|
|
// //{
|
|
|
// // //判断光电信号及线体忙碌状态
|
|
|
// // int signal1 = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#1号光电状态"));
|
|
|
// // int line1Status = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#输送线1系统状态"));
|
|
|
// // if (signal1 == 1 || line1Status == 1)
|
|
|
// // {
|
|
|
// // //接驳位有东西或者线体忙碌，等待
|
|
|
// // return;
|
|
|
// // }
|
|
|
// //}
|
|
|
// if (item.TaskType == StaticTaskType.SupplySmallPalletTask)
|
|
|
// {
|
|
|
// //判断3#接驳位3号光电及输送线2线体忙碌状态，能放的时候还需要锁住线体，防止plc往这送箱
|
|
|
// int signal3 = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#3号光电状态"));
|
|
|
// int line2Status = workShop3Plc.readInt16ByAddress(StaticData.GetPlcAddress("3#输送线2系统状态"));
|
|
|
// if (signal3 == 1 || line2Status == 1)
|
|
|
// {
|
|
|
// //接驳位有东西或者线体忙碌，等待
|
|
|
// return;
|
|
|
// }
|
|
|
// else
|
|
|
// {
|
|
|
// //锁住输送线2，plc禁止出
|
|
|
// workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#输送线2系统状态"), 2);
|
|
|
// }
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.TransferMaterialMetrologyRoomBoxTask)
|
|
|
// {
|
|
|
// //判断2#接驳位PLC光电信号是否为空,不为空等待并预警
|
|
|
// int signal2 = workShop2Plc.readInt16ByAddress(StaticData.GetPlcAddress("2#接驳位光电信号"));
|
|
|
// //todo 还需要判断线体状态
|
|
|
// if (signal2 == 1)
|
|
|
// {
|
|
|
// // 推送预警
|
|
|
// _logger.Agv($"AGV要往2#接驳位放托盘，但是目标库位光电检测有异物");
|
|
|
// //不满足条件的时候，优先放料信号 写1
|
|
|
// workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#优先放料信号"), 1);
|
|
|
// return;
|
|
|
// }
|
|
|
// }
|
|
|
// //else if (item.TaskType == StaticTaskType.TransferMaterialBoxTask)
|
|
|
// //{
|
|
|
// // //判断机台库位是否为空，不为空等待并预警
|
|
|
// // //终点库位
|
|
|
// // WmsBaseLocation endBaseLocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(t => t.AgvPositionCode == item.EndPointNo);
|
|
|
// // bool signal = await ReadSignalByRfidKeyAsync(endBaseLocation.EquipKey!);
|
|
|
// // if (signal)
|
|
|
// // {
|
|
|
// // // todo推送预警，人工前往查看
|
|
|
// // _logger.Agv($"AGV要往目标库位放托盘，但是目标库位{endBaseLocation.LocationCode}光电检测有异物");
|
|
|
// // return;
|
|
|
// // }
|
|
|
// //}
|
|
|
|
|
|
// //else if (item.TaskType == StaticTaskType.DeliverTonerTask)
|
|
|
// //{
|
|
|
// // //色粉存放点色粉直接放，无需处理
|
|
|
// //}
|
|
|
// //else if (item.TaskType == StaticTaskType.MoveLocationTask)
|
|
|
// //{
|
|
|
// // //判断目标机台库位是否为空，不为空等待并预警
|
|
|
// // //终点库位
|
|
|
// // WmsBaseLocation endBaseLocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(t => t.AgvPositionCode == item.EndPointNo);
|
|
|
// // bool signal = await ReadSignalByRfidKeyAsync(endBaseLocation.EquipKey!);
|
|
|
// // if (signal)
|
|
|
// // {
|
|
|
// // // 推送预警，人工前往查看
|
|
|
// // _logger.Agv($"AGV要往目标库位放托盘，但是目标库位{endBaseLocation.LocationCode}光电检测有异物");
|
|
|
// // return;
|
|
|
// // }
|
|
|
// //}
|
|
|
|
|
|
// #region 下发AGV信号放料箱
|
|
|
|
|
|
// //条件过滤，能取托盘或能取料 ，发送agv继续信号
|
|
|
// var agvTask = new RequestAGVTaskDto
|
|
|
// {
|
|
|
// reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
// taskCode = item.TaskCode
|
|
|
// };
|
|
|
// string message = JsonConvert.SerializeObject(agvTask);
|
|
|
// string result = HttpHelper.SendPostMessage(baseEquip.ServerIp, baseEquip.ServerPort, "rcms/services/rest/hikRpcService/continueTask", message);
|
|
|
// ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
// if (reponseMessage != null && reponseMessage.message == "成功")
|
|
|
// {
|
|
|
// sqlSugarClient.AsTenant().BeginTran();
|
|
|
// _logger.Agv($"AGV线程允许取料任务" + item.CurrPointNo + "," + item.EndPointNo);
|
|
|
// item.TaskStatus = 6;
|
|
|
// sqlSugarClient.Updateable<WcsTask>(item).ExecuteCommand();
|
|
|
// wcsTaskLog.UpdatedTime = DateTime.Now;
|
|
|
// wcsTaskLog.TaskStatus = 6;
|
|
|
// sqlSugarClient.Updateable<WcsTaskLog>(wcsTaskLog).ExecuteCommand();
|
|
|
// sqlSugarClient.AsTenant().CommitTran();
|
|
|
// }
|
|
|
|
|
|
// #endregion 下发AGV信号放料箱
|
|
|
// }
|
|
|
// catch (Exception ex)
|
|
|
// {
|
|
|
// sqlSugarClient.AsTenant().RollbackTran();
|
|
|
// _logger.Error($"执行任务异常{ex.StackTrace}");
|
|
|
// }
|
|
|
//}
|
|
|
|
|
|
///// <summary>
|
|
|
///// 任务状态7-8完成逻辑
|
|
|
///// 解锁库位，更新库存等等
|
|
|
///// </summary>
|
|
|
///// <param name="baseEquip"></param>
|
|
|
///// <param name="item"></param>
|
|
|
//private async Task TaskStatus7HandleAsync(WcsTask item)
|
|
|
//{
|
|
|
// try
|
|
|
// {
|
|
|
// if (workShop2Plc == null || !workShop2Plc.IsConnected || workShop3Plc == null || !workShop3Plc.IsConnected)
|
|
|
// {
|
|
|
// return;
|
|
|
// }
|
|
|
|
|
|
// WcsTaskLog wcsTaskLog = sqlSugarClient.Queryable<WcsTaskLog>().First(t => t.Id == item.Id);
|
|
|
// sqlSugarClient.AsTenant().BeginTran();
|
|
|
|
|
|
// if (item.TaskType == StaticTaskType.SupplyEmptyPalletTask)
|
|
|
// {
|
|
|
// //终点库位解锁,通知PLC可以使用--ok
|
|
|
// WcsBaseEquip? endBaseEquip = sqlSugarClient.Queryable<WcsBaseEquip>().First(t => t.AgvPositionCode == item.EndPointNo);
|
|
|
// if (endBaseEquip != null)
|
|
|
// {
|
|
|
// //空闲
|
|
|
// endBaseEquip.EquipStatus = 0;
|
|
|
// }
|
|
|
// sqlSugarClient.Updateable<WcsBaseEquip>(endBaseEquip).ExecuteCommand();
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.TransferMaterialBoxTask)
|
|
|
// {
|
|
|
// //不额外处理 --ok
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.MoveLocationTask)
|
|
|
// {
|
|
|
// //不额外处理 --ok
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.SupplySmallPalletTask)
|
|
|
// {
|
|
|
// //wcs 给空箱入缓存链条线信号1，plc复位 , wcs并解锁输送线状态0
|
|
|
// workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#空箱入缓存链条线"), 1);
|
|
|
// workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#输送线2系统状态"), 0);
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.TransferMaterialMetrologyRoomBoxTask)
|
|
|
// {
|
|
|
// // 料箱放到接驳位，给接驳位料箱方向信号写1，优先放料信号 写0，plc将其运送到计量室。
|
|
|
// workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#优先放料信号"), 0);
|
|
|
// workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#接驳位料箱方向信号"), 1);
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.DeliverTonerTask)
|
|
|
// {
|
|
|
// //todo待确定
|
|
|
// }
|
|
|
|
|
|
// #region 入库校验、库位解锁、任务删除、日志更新
|
|
|
|
|
|
// WmsBaseLocation? endlocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(t => t.AgvPositionCode == item.EndPointNo);
|
|
|
|
|
|
// if (endlocation != null && !string.IsNullOrEmpty(endlocation.EquipKey))
|
|
|
// {
|
|
|
// #region 校验RFID
|
|
|
|
|
|
// string readRfid = await ReadEpcStrByRfidKeyAsync(endlocation.EquipKey!);
|
|
|
// if (string.IsNullOrEmpty(readRfid))
|
|
|
// {
|
|
|
// //todo推送失败预警
|
|
|
// throw new Exception($"机台{endlocation.MachineId},库位:{endlocation.LocationCode}RFID读取失败");
|
|
|
// }
|
|
|
// else if (readRfid != item.PalletInfoCode)
|
|
|
// {
|
|
|
// //todo推送失败预警
|
|
|
// throw new Exception($"机台{endlocation.MachineId},库位:{endlocation.LocationCode}RFID读取结果:{readRfid}与任务记录RFID:{item.PalletInfoCode}不一致！");
|
|
|
// }
|
|
|
|
|
|
// #endregion 校验RFID
|
|
|
|
|
|
// endlocation.LocationStatus = 1;
|
|
|
// endlocation.UpdatedTime = DateTime.Now;
|
|
|
// endlocation.ContainerCode = item.PalletInfoCode;
|
|
|
// sqlSugarClient.Updateable<WmsBaseLocation>(endlocation).ExecuteCommand();
|
|
|
// }
|
|
|
|
|
|
// //更新机台库存信息及在途数
|
|
|
// UpdateWmsMachineInfo(item);
|
|
|
|
|
|
// //更新任务状态
|
|
|
// sqlSugarClient.Deleteable<WcsTask>(item).ExecuteCommand();
|
|
|
// wcsTaskLog.UpdatedTime = DateTime.Now;
|
|
|
// wcsTaskLog.TaskStatus = 8;
|
|
|
// sqlSugarClient.Updateable<WcsTaskLog>(wcsTaskLog).ExecuteCommand();
|
|
|
// sqlSugarClient.AsTenant().CommitTran();
|
|
|
// _logger.Agv($"AGV线程完成 {item.TaskName}," + item.CurrPointNo + "," + item.EndPointNo);
|
|
|
|
|
|
// #endregion 入库校验、库位解锁、任务删除、日志更新
|
|
|
// }
|
|
|
// catch (Exception ex)
|
|
|
// {
|
|
|
// sqlSugarClient.AsTenant().RollbackTran();
|
|
|
// _logger.Error($"执行任务异常{ex.StackTrace}");
|
|
|
// }
|
|
|
//}
|
|
|
|
|
|
///// <summary>
|
|
|
///// 任务完成，更新在途数及库存数
|
|
|
///// </summary>
|
|
|
//private void UpdateWmsMachineInfo(WcsTask wcsTask)
|
|
|
//{
|
|
|
// if (!string.IsNullOrEmpty(wcsTask.PalletInfoCode) && !string.IsNullOrEmpty(wcsTask.MachineCode))
|
|
|
// {
|
|
|
// WmsMachineInfo wmsMachineInfo = sqlSugarClient.Queryable<WmsMachineInfo>().First(t => t.MachineCode == wcsTask.MachineCode);
|
|
|
// int count = sqlSugarClient.Queryable<WmsPalletInfo>().Where(t => t.MachineCode == wcsTask.MachineCode && t.PalletInfoCode == wcsTask.PalletInfoCode).Count();
|
|
|
// if (wmsMachineInfo != null)
|
|
|
// {
|
|
|
// wmsMachineInfo.AmountOnLocation += count;
|
|
|
// wmsMachineInfo.AmountOnWay -= count;
|
|
|
// if (wmsMachineInfo.AmountOnWay < 0) wmsMachineInfo.AmountOnWay = 0;
|
|
|
// wmsMachineInfo.AmountTotal = wmsMachineInfo.AmountOnLocation + wmsMachineInfo.AmountOnWay;
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// sqlSugarClient.Updateable<WmsMachineInfo>(wmsMachineInfo).ExecuteCommand();
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// }
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// }
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//}
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///// <summary>
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///// 暂不使用
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///// 任务状态3-4处理逻辑：agv到达取料等待点，询问能否取料或托盘
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///// 分不同任务类型，各自根据判断条件处理
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///// </summary>
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///// <param name="baseEquip"></param>
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///// <param name="item"></param>
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//private async Task TaskStatus333HandleAsync(WcsTask item)
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//{
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// try
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// {
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// WcsTaskLog wcsTaskLog = sqlSugarClient.Queryable<WcsTaskLog>().First(t => t.Id == item.Id);
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// if (item.TaskType == StaticTaskType.SupplyEmptyPalletTask)
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// {
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// //需要判断箱子是否为空且在1-12机台库位（1-11机台直接取,12机台需核实是否是空箱）
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// WmsBaseLocation wmsBaseLocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(t => t.AgvPositionCode == item.CurrPointNo);
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// if (wmsBaseLocation.MachineId == 12)
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// {
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// //12机台需核实是否是空箱
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// bool signal = await ReadSignalByRfidKeyAsync(wmsBaseLocation.EquipKey!);
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// if (!signal)
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// {
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// //todo: 位置是空的，推送报警----
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// _logger.Agv($"AGV到达12机台库位{wmsBaseLocation.AgvPositionCode}，取空箱但是位置是空的，推送报警");
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// return;
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// }
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// string rfid = await ReadEpcStrByRfidKeyAsync(wmsBaseLocation.EquipKey!);
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// if (string.IsNullOrEmpty(rfid))
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// {
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// //todo: 推送报警----
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// _logger.Agv($"AGV到达12机台库位{wmsBaseLocation.AgvPositionCode}，取空箱但是未读取到RFID，推送报警");
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// return;
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// }
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// // 通过该料箱是否绑定有物料来判断是否为空托盘
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// bool hasMaterial = await sqlSugarClient.Queryable<WmsPalletInfo>().AnyAsync(it => it.PalletInfoCode == rfid);
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// if (hasMaterial)
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// {
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// //todo: 推送报警----
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// _logger.Agv($"AGV到达12机台库位{wmsBaseLocation.AgvPositionCode}，取空箱但是该料箱有物料，推送报警");
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// return;
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// }
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|
// }
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|
|
// }
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// else if (item.TaskType == StaticTaskType.SupplySmallPalletTask)
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|
// {
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|
// }
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// else if (item.TaskType == StaticTaskType.TransferMaterialBoxTask)
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// {
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|
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// //从下料点直接取，清空RFID及机台号，条码等信息
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|
// workShop3Plc.writeInt16ByAddress(StaticData.GetPlcAddress("3#下料点机台号"), 0);
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|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#下料点RFID号"), "", 15);
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|
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// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#下料点条码1"), "", 15);
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|
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// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#下料点条码2"), "", 15);
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|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#下料点条码3"), "", 15);
|
|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#下料点条码4"), "", 15);
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.TransferMaterialMetrologyRoomBoxTask)
|
|
|
// {
|
|
|
// //从3#接驳位直接取走，清空RFID及机台号，条码等信息
|
|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#接驳位RFID号"), "", 15);
|
|
|
// workShop3Plc.writeStringByAddress(StaticData.GetPlcAddress("3#接驳位小料箱条码"), "", 15);
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.DeliverTonerTask)
|
|
|
// {
|
|
|
// //色粉箱直接取，无需处理,清空2#接驳位料箱方向信号
|
|
|
// workShop2Plc.writeInt16ByAddress(StaticData.GetPlcAddress("2#接驳位料箱方向信号"), 0);
|
|
|
// }
|
|
|
// else if (item.TaskType == StaticTaskType.MoveLocationTask)
|
|
|
// {
|
|
|
// // 直接取，无需处理
|
|
|
// }
|
|
|
|
|
|
// #region 下发AGV信号取料箱
|
|
|
|
|
|
// //条件过滤，能取托盘或能取料 ，发送agv继续信号
|
|
|
// var agvTask = new RequestAGVTaskDto
|
|
|
// {
|
|
|
// reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
// taskCode = item.TaskCode
|
|
|
// };
|
|
|
// string message = JsonConvert.SerializeObject(agvTask);
|
|
|
// string result = HttpHelper.SendPostMessage(baseEquip.ServerIp, baseEquip.ServerPort, "rcms/services/rest/hikRpcService/continueTask", message);
|
|
|
// ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
// if (reponseMessage != null && reponseMessage.message == "成功")
|
|
|
// {
|
|
|
// WmsBaseLocation? startLocation = sqlSugarClient.Queryable<WmsBaseLocation>().First(it => it.AgvPositionCode == item.CurrPointNo);
|
|
|
// sqlSugarClient.AsTenant().BeginTran();
|
|
|
// if (startLocation != null)
|
|
|
// { //起始库位料箱出库，删除RFID条码
|
|
|
// startLocation.ContainerCode = "";
|
|
|
// startLocation.UpdatedTime = DateTime.Now;
|
|
|
// startLocation.LocationStatus = 1;
|
|
|
// sqlSugarClient.Updateable<WmsBaseLocation>(startLocation).ExecuteCommand();
|
|
|
// }
|
|
|
// item.TaskStatus = 4;
|
|
|
// sqlSugarClient.Updateable<WcsTask>(item).ExecuteCommand();
|
|
|
// wcsTaskLog.UpdatedTime = DateTime.Now;
|
|
|
// wcsTaskLog.TaskStatus = 4;
|
|
|
// sqlSugarClient.Updateable<WcsTaskLog>(wcsTaskLog).ExecuteCommand();
|
|
|
// sqlSugarClient.AsTenant().CommitTran();
|
|
|
// _logger.Agv($"AGV允许取料任务" + item.CurrPointNo + "," + item.EndPointNo);
|
|
|
// }
|
|
|
|
|
|
// #endregion 下发AGV信号取料箱
|
|
|
// }
|
|
|
// catch (Exception ex)
|
|
|
// {
|
|
|
// sqlSugarClient.AsTenant().RollbackTran();
|
|
|
// _logger.Error($"执行任务异常{ex.StackTrace}");
|
|
|
// }
|
|
|
//}
|
|
|
|
|
|
#endregion 弃用逻辑
|
|
|
}
|
|
|
} |