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using Khd.Core.Domain.Dto.webapi;
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using Khd.Core.Domain.Models;
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using Khd.Core.EntityFramework;
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using Khd.Core.Library.Mapper;
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using Khd.Core.Wcs.Global;
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using Masuit.Tools;
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using Masuit.Tools.Logging;
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using Microsoft.Extensions.DependencyInjection;
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using Microsoft.Extensions.Hosting;
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using Newtonsoft.Json;
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using System;
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using Z.EntityFramework.Plus;
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namespace Khd.Core.Wcs.Wcs
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{
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/// <summary>
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/// 二楼AGV调度
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/// </summary>
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public class SecondFloorAGV
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{
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List<BasePlcpoint> ScanPoint { get; set; }//点位信息
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private readonly IHost _host;
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private readonly Plc.S7.Plc _plc;
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private readonly BasePlcpoint LineRFID;
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private readonly BasePlcpoint LineWcsrun;
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private readonly BasePlcpoint LineSignal;
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private readonly BasePlcpoint LineIsPallet;
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private readonly BasePlcpoint LineSerialNO;
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int FloorNo { get; set; }
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string EquipNo = "";
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int EquipID = 8; //2楼AGV
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List<int> taskInType = new List<int> { 1, 3, 5, 7 };
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List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
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public SecondFloorAGV(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
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{
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this._host = host;
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this._plc = plc;
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FloorNo = floor;
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EquipNo = equipNo;
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this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
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this.LineRFID = this.ScanPoint.First(t => t.plcpointNo.Contains("RFID"));
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this.LineWcsrun = this.ScanPoint.First(t => t.plcpointNo.Contains("wcsrun"));
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this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
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this.LineIsPallet = this.ScanPoint.First(t => t.plcpointNo.Contains("ispallet"));
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this.LineSerialNO = this.ScanPoint.First(t => t.plcpointNo.Contains("serialno"));
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//var IsPallet = this._plc.Read(LineIsPallet.plcpointAddress);
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try
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{
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//默认启动,清理plc的上位机写入点位值
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//this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
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}
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catch (Exception ex)
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{
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Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
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LogManager.Error(ex);
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}
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}
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/// <summary>
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/// 启动上件扫描监听
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/// </summary>
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public void StartPoint()
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{
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Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
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FlowPointThread.Start();
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Console.WriteLine(DateTime.Now + ":二楼AGV上件扫描监听启动成功");
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LogManager.Info("二楼AGV上件扫描监听启动成功");
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}
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public void MonitorInLocatorPoint()
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{
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using var scope = _host.Services.CreateScope();
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using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
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BaseEquip inEquip = StaticData.BaseEquip.First(t => t.objid == 36);
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BaseEquip outEquip = StaticData.BaseEquip.First(t => t.objid == 37);
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BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == 2);
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BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == EquipID);
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while (true)
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{
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try
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{
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dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
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//获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
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var taskList = dbContext.WcsTask
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.Where(t => t.useFlag == 1)
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.Where(t => t.nextPointId == EquipID).OrderBy(t => t.createTime).ToList();
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dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
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foreach (var item in taskList)
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{
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if (taskList.Where(t => t.taskStatus > 0).Where(t => t.objid != item.objid).Any())
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{
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LogManager.Info($"2楼AGV线程：有其他任务正在执行，跳过当前任务{item.objid}");
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continue;
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}
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if (item.taskStatus == 0)//下发任务
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{
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BaseDictionary baseDictionary = StaticData.BaseDictionary.First(t => t.objid == item.taskType);
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if (item.taskType == 50)
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{
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WcsCmd wcsCmd = new WcsCmd()
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{
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objid = StaticData.SnowId.NextId(),
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cmdStatus = 0,
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taskId = item.objid,
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useFlag = 1,
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cmdType = item.taskType,
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containerNo = item.containerNo,
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createTime = DateTime.Now,
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createBy = FloorNo + "楼AGV",
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currPointId = item.currPointId,
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currPointNo = lineEquip.agvPositionCode,
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nextPointId = item.endPointId,
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nextPointNo = inEquip.agvPositionCode,
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};
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var agvTask = new RequestAGVTaskDto
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{
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reqCode = wcsCmd.objid.ToString(),
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positionCodePath = new List<Position>
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{
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new ()
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{
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positionCode=wcsCmd.currPointNo,
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type="00"
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},
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new ()
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{
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positionCode=wcsCmd.nextPointNo,
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type="00"
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}
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},
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taskTyp = baseDictionary.dicValue,
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ctnrTyp = "2",
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};
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string message = JsonConvert.SerializeObject(agvTask);
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string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
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var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
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if (reponseMessage != null && reponseMessage.message == "成功")
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{
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LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
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Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
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wcsCmd.taskCode = reponseMessage.data;
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wcsCmd.cmdStatus = 1;
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item.taskStatus = 1;
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dbContext.Update(item);
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dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
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WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
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dbContext.Add(wcsCmdLog);
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dbContext.Add(wcsCmd);
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dbContext.SaveChanges();
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}
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else
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{
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LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
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}
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}
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else if (item.taskType == 51)
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{
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WcsCmd wcsCmd = new WcsCmd()
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{
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objid = StaticData.SnowId.NextId(),
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cmdStatus = 0,
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taskId = item.objid,
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useFlag = 1,
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cmdType = item.taskType,
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containerNo = item.containerNo,
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createTime = DateTime.Now,
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createBy = FloorNo + "楼AGV",
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currPointId = item.currPointId,
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currPointNo = lineEquip.agvPositionCode,
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nextPointId = item.endPointId,
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nextPointNo = outEquip.agvPositionCode,
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};
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var agvTask = new RequestAGVTaskDto
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{
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reqCode = wcsCmd.objid.ToString(),
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positionCodePath = new List<Position>
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{
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new ()
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{
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positionCode=wcsCmd.currPointNo,
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type="00"
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},
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new ()
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{
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positionCode=wcsCmd.nextPointNo,
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type="00"
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}
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},
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taskTyp = baseDictionary.dicValue,
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ctnrTyp = "2",
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};
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string message = JsonConvert.SerializeObject(agvTask);
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string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
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var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
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if (reponseMessage != null && reponseMessage.message == "成功")
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{
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LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
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Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.startPointNo + "," + item.endPointNo);
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wcsCmd.taskCode = reponseMessage.data;
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wcsCmd.cmdStatus = 1;
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item.taskStatus = 1;
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dbContext.Update(item);
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dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
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WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
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dbContext.Add(wcsCmdLog);
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dbContext.Add(wcsCmd);
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dbContext.SaveChanges();
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}
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else
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{
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LogManager.Info("二楼Agv下发任务失败" + item.taskType + message);
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}
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}
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else if (item.taskType == 52)
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{
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WcsCmd wcsCmd = new WcsCmd()
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{
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objid = StaticData.SnowId.NextId(),
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cmdStatus = 0,
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taskId = item.objid,
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useFlag = 1,
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cmdType = item.taskType,
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containerNo = item.containerNo,
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createTime = DateTime.Now,
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createBy = FloorNo + "楼AGV",
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currPointId = item.currPointId,
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currPointNo = lineEquip.agvPositionCode,
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nextPointId = item.endPointId,
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nextPointNo = lineEquip.agvPositionCode,
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};
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var agvTask = new RequestAGVTaskDto
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{
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reqCode = wcsCmd.objid.ToString(),
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positionCodePath = new List<Position>
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{
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new ()
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{
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positionCode=wcsCmd.currPointNo,
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type="00"
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},
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new ()
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{
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positionCode=wcsCmd.nextPointNo,
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type="00"
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}
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},
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taskTyp = baseDictionary.dicValue,
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ctnrTyp = "2",
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};
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string message = JsonConvert.SerializeObject(agvTask);
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string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
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var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
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if (reponseMessage != null && reponseMessage.message == "成功")
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{
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LogManager.Info("二楼AGV线程继续任务" + item.objid + "," + item.startPointNo + "," + item.endPointNo);
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Console.WriteLine(DateTime.Now + ":二楼AGV线程继续任务" + item.startPointNo + "," + item.endPointNo);
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wcsCmd.taskCode = reponseMessage.data;
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wcsCmd.cmdStatus = 1;
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item.taskStatus = 1;
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dbContext.Update(item);
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dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
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WcsCmdLog wcsCmdLog = CoreMapper.Map<WcsCmdLog>(wcsCmd);
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dbContext.Add(wcsCmdLog);
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dbContext.Add(wcsCmd);
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dbContext.SaveChanges();
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}
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else
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{
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|
|
LogManager.Info("二楼Agv下发任务失败" + item.taskType + message);
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}
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}
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}
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else
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|
|
{
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|
|
WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.taskId == item.objid);
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|
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if (wcsCmd != null)
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|
|
{
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|
|
LogManager.Info("二楼AGV线程完成任务" + item.objid);
|
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|
|
if (wcsCmd.cmdStatus == 3)
|
|
|
|
|
|
{
|
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|
|
|
|
var agvTask = new RequestAGVTaskDto
|
|
|
|
|
|
{
|
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|
|
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
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|
|
taskCode = wcsCmd.taskCode
|
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|
|
|
};
|
|
|
|
|
|
string message = JsonConvert.SerializeObject(agvTask);
|
|
|
|
|
|
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/continueTask", message);
|
|
|
|
|
|
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
|
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
|
|
|
|
{
|
|
|
|
|
|
wcsCmd.cmdStatus = 4;
|
|
|
|
|
|
dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Update(t => new WcsCmd() { cmdStatus = 4 });
|
|
|
|
|
|
dbContext.Update(wcsCmd);
|
|
|
|
|
|
dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 4 });
|
|
|
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 4 });
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (wcsCmd.cmdStatus == 5)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (item.taskType == 50)
|
|
|
|
|
|
{
|
|
|
|
|
|
dbContext.Remove(item);
|
|
|
|
|
|
dbContext.Remove(wcsCmd);
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
|
|
|
|
|
|
dbContext.WcsCmdLog.Where(t => t.taskId == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 6 });
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (item.taskType == 51)
|
|
|
|
|
|
{
|
|
|
|
|
|
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
|
|
|
|
|
|
wmsBaseLocation.locationStatus = "1";
|
|
|
|
|
|
wmsBaseLocation.instockFlag = "0";
|
|
|
|
|
|
wmsBaseLocation.containerCode = item.containerNo;
|
|
|
|
|
|
dbContext.Update(wmsBaseLocation);
|
|
|
|
|
|
dbContext.Remove(item);
|
|
|
|
|
|
dbContext.Remove(wcsCmd);
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
|
|
|
|
|
|
dbContext.WcsCmdLog.Where(t => t.taskId == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 6 });
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (item.taskType == 52)
|
|
|
|
|
|
{
|
|
|
|
|
|
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
|
|
|
|
|
|
wmsBaseLocation.locationStatus = "1";
|
|
|
|
|
|
wmsBaseLocation.instockFlag = "0";
|
|
|
|
|
|
wmsBaseLocation.containerCode = null;
|
|
|
|
|
|
dbContext.Update(wmsBaseLocation);
|
|
|
|
|
|
item.taskStatus = 6;
|
|
|
|
|
|
dbContext.Update(item);
|
|
|
|
|
|
dbContext.Remove(wcsCmd);
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
|
|
|
|
|
|
dbContext.WcsCmdLog.Where(t => t.taskId == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 6 });
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
catch (Exception ex)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogManager.Error(ex);
|
|
|
|
|
|
}
|
|
|
|
|
|
finally
|
|
|
|
|
|
{
|
|
|
|
|
|
Thread.Sleep(1000);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
