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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;
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using Khd.Core.Library.Mapper;
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using Khd.Core.Plc.S7;
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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 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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/// 五楼CTU调度
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/// </summary>
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public class FiveFloorCTU
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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 LoggerUtils _logger = new LoggerUtils();
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private readonly BasePlcpoint LineRFID;
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private readonly BasePlcpoint isarrive;
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private readonly BasePlcpoint isput;
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private readonly BasePlcpoint canReceive;
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private readonly BasePlcpoint ReceiveMaterial;
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private readonly BasePlcpoint CtuLineWaring;
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int FloorNo { get; set; }
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int CTUID = 11;
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public FiveFloorCTU(IHost host, int floor)
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{
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this._host = host;
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FloorNo = floor;
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this.LineRFID = StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID5001");
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this.isarrive = StaticData.BasePlcpointList.First(t => t.plcpointNo == "isarrive");
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this.isput = StaticData.BasePlcpointList.First(t => t.plcpointNo == "isput");
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this.canReceive = StaticData.BasePlcpointList.First(t => t.plcpointNo == "canReceive");
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this.ReceiveMaterial = StaticData.BasePlcpointList.First(t => t.plcpointNo == "ReceiveMaterial");
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this.CtuLineWaring = StaticData.BasePlcpointList.First(t => t.plcpointNo == "CTULineWaring");
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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.IsBackground = true;
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FlowPointThread.Name= "FiveFloorCTU";
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FlowPointThread.Start();
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Thread FlowCTUInWareThread = new Thread(MonitorInWare);
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FlowCTUInWareThread.IsBackground = true;
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FlowCTUInWareThread.Name = "FiveFloorCTULine";
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FlowCTUInWareThread.Start();
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Thread HeartThread = new Thread(HeartLogic);
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HeartThread.Start();
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Console.WriteLine(DateTime.Now + ":五楼CTU上件扫描监听启动");
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_logger.Info("五楼CTU上件扫描监听启动");
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}
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private void HeartLogic(object? obj)
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{
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BasePlcpoint heartPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "CTUHeart");
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bool flag = true;
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while (true)
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{
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try
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{
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flag = !flag;
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StaticData.PlcDic[1].WriteToPoint(heartPoint.plcpointAddress, flag.ToString(), heartPoint.plcpointLength.ToString());
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}
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catch
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{
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try
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{
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StaticData.PlcDic[1] = new Plc.S7.Plc(StaticData.PlcDic[1].CPU, StaticData.PlcDic[1].IP, StaticData.PlcDic[1].Port, StaticData.PlcDic[1].Rack, StaticData.PlcDic[1].Slot);
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StaticData.PlcDic[1].Open();
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}
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catch
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{
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}
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}
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Thread.Sleep(1000);
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}
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}
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private void MonitorInWare(object? obj)
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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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//bool IsStart = false;
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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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var rfid = StaticData.PlcDic[1].ReadRFID(LineRFID.plcpointAddress);
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var isArrive = StaticData.PlcDic[1].Read(isarrive.plcpointAddress);
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var receiveMaterial = StaticData.PlcDic[1].Read(ReceiveMaterial.plcpointAddress);
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var waring = StaticData.PlcDic[1].Read(CtuLineWaring.plcpointAddress);
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if (rfid != null && isArrive != null && receiveMaterial != null && Convert.ToInt32(receiveMaterial) == 1 && Convert.ToInt32(isArrive) == 1)
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{
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if (Convert.ToBoolean(waring))
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{
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StaticData.PlcDic[1].WriteToPoint(CtuLineWaring.plcpointAddress, "false", CtuLineWaring.plcpointLength.ToString());
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}
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rfid = rfid[rfid.IndexOf('C')..];
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WcsTask? task = dbContext.WcsTask.FirstOrDefault(t => t.containerNo == rfid);
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if (task == null)
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{
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//根据rfid找到库位
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//生成入库任务
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var wmsBaseLocation = dbContext.WmsBaseLocation.FirstOrDefault(t => t.containerCode == rfid);
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if (wmsBaseLocation != null)
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{
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BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.equipNo == "FL051");
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BaseEquip ctuEquip = StaticData.BaseEquip.First(t => t.objid == 11);
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if (wmsBaseLocation != null)
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{
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var wcsTask = new WcsTask()
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{
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objid = StaticData.SnowId.NextId(),
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currPointId = baseEquip.objid,
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currPointNo = baseEquip.agvPositionCode,
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nextPointId = ctuEquip.objid,
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nextPointNo = ctuEquip.equipNo,
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endPointId = wmsBaseLocation.locationId,
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endPointNo = wmsBaseLocation.agvPositionCode,
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taskType = 29,
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taskStatus = 0,
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useFlag = 1,
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floorNo = 5,
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containerNo = rfid.ToString(),
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equipmentNo = baseEquip.equipNo,
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createBy = FloorNo + "楼CTU",
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createTime = DateTime.Now,
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};
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wmsBaseLocation.locationStatus = "2";
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wmsBaseLocation.updateTime = DateTime.Now;
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dbContext.Update(wmsBaseLocation);
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dbContext.Add(wcsTask);
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WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
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dbContext.Add(wcsTaskLog);
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dbContext.SaveChanges();
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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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if (task.taskType == 30)
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{
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dbContext.WcsTask.Where(t => t.objid == task.objid).Delete();
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//根据rfid找到库位
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//生成入库任务
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var wmsBaseLocation = dbContext.WmsBaseLocation.FirstOrDefault(t => t.containerCode == rfid);
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if (wmsBaseLocation != null)
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{
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BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.equipNo == "FL051");
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BaseEquip ctuEquip = StaticData.BaseEquip.First(t => t.objid == 11);
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if (wmsBaseLocation != null)
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{
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var wcsTask = new WcsTask()
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{
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objid = StaticData.SnowId.NextId(),
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currPointId = baseEquip.objid,
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currPointNo = baseEquip.agvPositionCode,
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nextPointId = ctuEquip.objid,
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useFlag = 1,
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endPointId = wmsBaseLocation.locationId,
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endPointNo = wmsBaseLocation.agvPositionCode,
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taskType = 29,
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taskStatus = 0,
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floorNo = 5,
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containerNo = rfid.ToString(),
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equipmentNo = baseEquip.equipNo,
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createBy = FloorNo + "楼CTU",
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createTime = DateTime.Now,
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};
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wmsBaseLocation.locationStatus = "2";
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wmsBaseLocation.updateTime = DateTime.Now;
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dbContext.Update(wmsBaseLocation);
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dbContext.Add(wcsTask);
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WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
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dbContext.Add(wcsTaskLog);
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dbContext.SaveChanges();
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}
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}
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}
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else if (task.taskType == 100)
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{
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dbContext.WcsTask.Where(t => t.objid == task.objid).Delete();
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//根据rfid找到库位
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//生成入库任务
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var wmsBaseLocation = dbContext.WmsBaseLocation.FirstOrDefault(t => t.containerCode == rfid);
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if (wmsBaseLocation != null)
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{
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BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.equipNo == "FL051");
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BaseEquip ctuEquip = StaticData.BaseEquip.First(t => t.objid == 11);
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if (wmsBaseLocation != null)
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{
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var wcsTask = new WcsTask()
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{
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objid = StaticData.SnowId.NextId(),
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currPointId = baseEquip.objid,
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currPointNo = baseEquip.agvPositionCode,
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nextPointId = ctuEquip.objid,
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useFlag = 1,
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endPointId = wmsBaseLocation.locationId,
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endPointNo = wmsBaseLocation.agvPositionCode,
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taskType = 29,
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taskStatus = 0,
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floorNo = 5,
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containerNo = rfid.ToString(),
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equipmentNo = baseEquip.equipNo,
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createBy = FloorNo + "楼CTU",
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createTime = DateTime.Now,
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};
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wmsBaseLocation.locationStatus = "2";
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wmsBaseLocation.updateTime = DateTime.Now;
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dbContext.Update(wmsBaseLocation);
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dbContext.Add(wcsTask);
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WcsTaskLog wcsTaskLog = CoreMapper.Map<WcsTaskLog>(wcsTask);
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dbContext.Add(wcsTaskLog);
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dbContext.SaveChanges();
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}
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}
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}
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}
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}
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else if (Convert.ToInt32(receiveMaterial) == 1 && Convert.ToInt32(isArrive) == 1 && string.IsNullOrEmpty(rfid))
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{
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if (!Convert.ToBoolean(waring))
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{
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StaticData.PlcDic[1].WriteToPoint(CtuLineWaring.plcpointAddress, "true", CtuLineWaring.plcpointLength.ToString());
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}
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}
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else if (receiveMaterial != null && Convert.ToInt32(receiveMaterial) == 1)
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{
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//Task.Run(() =>
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//{
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// var receiveMaterial2 = StaticData.PlcDic[1].Read(ReceiveMaterial.plcpointAddress);
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// while (receiveMaterial2 != null && Convert.ToInt32(receiveMaterial2) == 1)
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// {
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// receiveMaterial2 = StaticData.PlcDic[1].Read(ReceiveMaterial.plcpointAddress);
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// lock (SystemData.outStockLock)
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// {
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// WcsOutstockLock wcsOutstockLock = dbContext.WcsOutstockLock.Where(t => t.warehouseId == 512).First();
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// bool haveTask = dbContext.WcsTask.Where(t => t.nextPointId == 11).Any();
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// if (!haveTask && wcsOutstockLock.boxStatus == 1)
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// {
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// wcsOutstockLock.boxStatus = 0;
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// wcsOutstockLock.qty = 0;
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// dbContext.Update(wcsOutstockLock);
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// dbContext.SaveChanges();
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// }
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// }
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// Thread.Sleep(3000);
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// }
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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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if (ex is PlcException)
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{
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try
|
|
|
|
|
|
{
|
|
|
|
|
|
foreach (var item in StaticData.PlcDic)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (item.Value.IP == ex.Message)
|
|
|
|
|
|
{
|
|
|
|
|
|
StaticData.PlcDic[item.Key] = new Plc.S7.Plc(item.Value.CPU, item.Value.IP, item.Value.Port, item.Value.Rack, item.Value.Slot);
|
|
|
|
|
|
StaticData.PlcDic[item.Key].Open();
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
catch
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
_logger.Error(ex.Message + "\n" + ex.StackTrace);
|
|
|
|
|
|
}
|
|
|
|
|
|
Thread.Sleep(1000);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
|
|
/// 预执行任务下发
|
|
|
|
|
|
/// </summary>
|
|
|
|
|
|
//private void CtuWaitLogic()
|
|
|
|
|
|
//{
|
|
|
|
|
|
// BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == CTUID);
|
|
|
|
|
|
// BaseEquip Fl051 = StaticData.BaseEquip.First(t => t.objid == 19);//入库输送线
|
|
|
|
|
|
// while (true)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// try
|
|
|
|
|
|
// {
|
|
|
|
|
|
// while (isWait)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// var waitTask = new
|
|
|
|
|
|
// {
|
|
|
|
|
|
// reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
|
|
|
// positionCode = "CTU_IN",
|
|
|
|
|
|
// nextTask = 1200
|
|
|
|
|
|
// };
|
|
|
|
|
|
// string waitMessage = JsonConvert.SerializeObject(waitTask);
|
|
|
|
|
|
// string waitResult = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genPreScheduleTask", waitMessage);
|
|
|
|
|
|
// var waitReponse = JsonConvert.DeserializeObject<ReponseMessage>(waitResult);
|
|
|
|
|
|
// if (waitReponse != null && waitReponse.code == "0")
|
|
|
|
|
|
// {
|
|
|
|
|
|
// isSendWait = true;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// _logger.Info("CTU下发预执行任务失败:\nwaitTask:" + waitMessage + "\nwaitResult:" + waitResult);
|
|
|
|
|
|
// }
|
|
|
|
|
|
// Thread.Sleep(1000 * 60 * 10);//每10分钟重新下发预执行任务
|
|
|
|
|
|
// }
|
|
|
|
|
|
// isSendWait = false;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// catch (Exception ex)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// _logger.Error(ex.Message + "\n" + ex.StackTrace);
|
|
|
|
|
|
// }
|
|
|
|
|
|
// Thread.Sleep(3000);
|
|
|
|
|
|
// }
|
|
|
|
|
|
//}
|
|
|
|
|
|
|
|
|
|
|
|
private bool CtuWaitLogic()
|
|
|
|
|
|
{
|
|
|
|
|
|
BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == CTUID);
|
|
|
|
|
|
BaseEquip Fl051 = StaticData.BaseEquip.First(t => t.objid == 19);//入库输送线
|
|
|
|
|
|
try
|
|
|
|
|
|
{
|
|
|
|
|
|
var waitTask = new
|
|
|
|
|
|
{
|
|
|
|
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
|
|
|
positionCode = "CTU_IN",
|
|
|
|
|
|
nextTask = 120
|
|
|
|
|
|
};
|
|
|
|
|
|
string waitMessage = JsonConvert.SerializeObject(waitTask);
|
|
|
|
|
|
string waitResult = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genPreScheduleTask", waitMessage);
|
|
|
|
|
|
var waitReponse = JsonConvert.DeserializeObject<ReponseMessage>(waitResult);
|
|
|
|
|
|
if (waitReponse != null && waitReponse.code == "0")
|
|
|
|
|
|
{
|
|
|
|
|
|
return true;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("CTU下发预执行任务失败:\nwaitTask:" + waitMessage + "\nwaitResult:" + waitResult);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
catch (Exception ex)
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Error(ex.Message + "\n" + ex.StackTrace);
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
return false;
|
|
|
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
|
|
|
/// 监控上件扫描点位
|
|
|
|
|
|
/// </summary>
|
|
|
|
|
|
public void MonitorInLocatorPoint()
|
|
|
|
|
|
{
|
|
|
|
|
|
List<int?> taskType = new() { 1, 3, 5, 7 };
|
|
|
|
|
|
using var scope = _host.Services.CreateScope();
|
|
|
|
|
|
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
|
|
|
|
|
|
BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == CTUID);
|
|
|
|
|
|
while (true)
|
|
|
|
|
|
{
|
|
|
|
|
|
try
|
|
|
|
|
|
{
|
|
|
|
|
|
dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
|
|
|
|
|
|
var taskList = dbContext.WcsTask
|
|
|
|
|
|
.Where(t => t.useFlag == 1)
|
|
|
|
|
|
.Where(t => t.nextPointId == CTUID).OrderByDescending(t => t.ud1).ToList();
|
|
|
|
|
|
if (taskList.Count == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info(FloorNo + "楼CTU无任务");
|
|
|
|
|
|
}
|
|
|
|
|
|
foreach (var item in taskList)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (item.taskStatus == 0)//CTU会同时生成多个任务，生成就下发？
|
|
|
|
|
|
{
|
|
|
|
|
|
if (item.taskType == 30)//出库任务
|
|
|
|
|
|
{
|
|
|
|
|
|
BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
|
|
|
|
|
|
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
|
|
|
|
|
|
var agvTask = new RequestAGVTaskDto
|
|
|
|
|
|
{
|
|
|
|
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
|
|
|
positionCodePath = new List<Position>
|
|
|
|
|
|
{
|
|
|
|
|
|
new()
|
|
|
|
|
|
{
|
|
|
|
|
|
positionCode =wmsBaseLocation.agvPositionCode,
|
|
|
|
|
|
type = "05"//05库位
|
|
|
|
|
|
},
|
|
|
|
|
|
new()
|
|
|
|
|
|
{
|
|
|
|
|
|
positionCode = endEquip.agvPositionCode,
|
|
|
|
|
|
type = "00"//设备
|
|
|
|
|
|
},
|
|
|
|
|
|
},
|
|
|
|
|
|
ctnrTyp = "1",
|
|
|
|
|
|
taskTyp = "F504"
|
|
|
|
|
|
};
|
|
|
|
|
|
string message = JsonConvert.SerializeObject(agvTask);
|
|
|
|
|
|
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
|
|
|
|
|
|
var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
|
|
|
if (reponseMessage != null && reponseMessage.code == "0")
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("五楼CTU线程开始任务" + item.objid);
|
|
|
|
|
|
Console.WriteLine(DateTime.Now + ":五楼CTU线程开始任务" + item.currPointNo + "," + item.endPointNo);
|
|
|
|
|
|
item.taskCode = reponseMessage.data;
|
|
|
|
|
|
item.taskStatus = 1;
|
|
|
|
|
|
dbContext.Update(item);
|
|
|
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("CTU下发出库任务失败：" + reponseMessage?.message);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (item.taskType == 29)//入库任务
|
|
|
|
|
|
{
|
|
|
|
|
|
bool haveOut = taskList.Where(t => t.taskType == 30).Where(t => t.taskStatus != 6).Any();
|
|
|
|
|
|
if (!haveOut && CtuWaitLogic())
|
|
|
|
|
|
{
|
|
|
|
|
|
BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
|
|
|
|
|
|
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
|
|
|
|
|
|
var agvTask = new
|
|
|
|
|
|
{
|
|
|
|
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
|
|
|
positionCodePath = new List<Position>
|
|
|
|
|
|
{
|
|
|
|
|
|
new()
|
|
|
|
|
|
{
|
|
|
|
|
|
positionCode = wmsBaseLocation.agvPositionCode,
|
|
|
|
|
|
type = "05"//设备
|
|
|
|
|
|
},
|
|
|
|
|
|
new()
|
|
|
|
|
|
{
|
|
|
|
|
|
positionCode = startEquip.agvPositionCode,
|
|
|
|
|
|
type = "05"//库位
|
|
|
|
|
|
},
|
|
|
|
|
|
},
|
|
|
|
|
|
ctnrTyp = "1",
|
|
|
|
|
|
taskTyp = "F503"
|
|
|
|
|
|
};
|
|
|
|
|
|
string message = JsonConvert.SerializeObject(agvTask);
|
|
|
|
|
|
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
|
|
|
|
|
|
var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
|
|
|
if (reponseMessage != null && reponseMessage.code == "0")
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("五楼CTU线程开始任务" + item.objid);
|
|
|
|
|
|
Console.WriteLine(DateTime.Now + ":五楼CTU线程开始任务" + item.currPointNo + "," + item.endPointNo);
|
|
|
|
|
|
item.taskCode = reponseMessage.data;
|
|
|
|
|
|
item.taskStatus = 1;
|
|
|
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
|
|
|
|
|
|
dbContext.Update(item);
|
|
|
|
|
|
int ctuTaskCount = dbContext.WcsTask.Where(t => t.taskType == 29).Count();
|
|
|
|
|
|
lock (SystemData.outStockLock)
|
|
|
|
|
|
{
|
|
|
|
|
|
WcsOutstockLock wcsOutstockLock = dbContext.WcsOutstockLock.Where(t => t.warehouseId == 512).First();
|
|
|
|
|
|
if (ctuTaskCount >= 6 || wcsOutstockLock.qty == ctuTaskCount)//如果CTU当前任务数量很多，取消预执行任务
|
|
|
|
|
|
{
|
|
|
|
|
|
ExecuteInTask(baseEquip);
|
|
|
|
|
|
wcsOutstockLock.qty = 0;
|
|
|
|
|
|
wcsOutstockLock.boxStatus = 0;
|
|
|
|
|
|
dbContext.Update(wcsOutstockLock);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("CTU下发入库任务失败：" + reponseMessage?.message);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (item.taskType == 100)//盘库
|
|
|
|
|
|
{
|
|
|
|
|
|
BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
|
|
|
|
|
|
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
|
|
|
|
|
|
var agvTask = new RequestAGVTaskDto
|
|
|
|
|
|
{
|
|
|
|
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
|
|
|
positionCodePath = new List<Position>
|
|
|
|
|
|
{
|
|
|
|
|
|
new()
|
|
|
|
|
|
{
|
|
|
|
|
|
positionCode =wmsBaseLocation.agvPositionCode,
|
|
|
|
|
|
type = "05"
|
|
|
|
|
|
},
|
|
|
|
|
|
new()
|
|
|
|
|
|
{
|
|
|
|
|
|
positionCode =endEquip.agvPositionCode,
|
|
|
|
|
|
type = "00"
|
|
|
|
|
|
},
|
|
|
|
|
|
},
|
|
|
|
|
|
ctnrTyp = "1",
|
|
|
|
|
|
taskTyp = "F504"
|
|
|
|
|
|
};
|
|
|
|
|
|
string message = JsonConvert.SerializeObject(agvTask);
|
|
|
|
|
|
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
|
|
|
|
|
|
var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
|
|
|
if (reponseMessage != null && reponseMessage.code == "0")
|
|
|
|
|
|
{
|
|
|
|
|
|
item.taskCode = reponseMessage.data;
|
|
|
|
|
|
item.taskStatus = 1;
|
|
|
|
|
|
dbContext.Update(item);
|
|
|
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("CTU下发出库任务失败：" + reponseMessage?.message);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
{
|
|
|
|
|
|
if (item.taskStatus == 3)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (item.taskType == 30 || item.taskType == 100)
|
|
|
|
|
|
{
|
|
|
|
|
|
var canOut = StaticData.PlcDic[1].Read(isput.plcpointAddress);
|
|
|
|
|
|
if (canOut != null && Convert.ToInt64(canOut) == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
var agvTask = new
|
|
|
|
|
|
{
|
|
|
|
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
|
|
|
taskCode = item.taskCode,
|
|
|
|
|
|
type = 2
|
|
|
|
|
|
};
|
|
|
|
|
|
string message = JsonConvert.SerializeObject(agvTask);
|
|
|
|
|
|
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/boxApplyPass", message);
|
|
|
|
|
|
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
|
|
|
if (reponseMessage != null && reponseMessage.code == "0")
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("五楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
|
|
|
|
|
|
Console.WriteLine(DateTime.Now + ":五楼CTU线程继续任务" + item.currPointId + "," + item.endPointNo);
|
|
|
|
|
|
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 });
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("CTU第一次下发继续任务失败：" + reponseMessage?.message);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
if (item.taskType == 29)
|
|
|
|
|
|
{
|
|
|
|
|
|
var agvTask = new
|
|
|
|
|
|
{
|
|
|
|
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
|
|
|
taskCode = item.taskCode,
|
|
|
|
|
|
type = 1
|
|
|
|
|
|
};
|
|
|
|
|
|
string message = JsonConvert.SerializeObject(agvTask);
|
|
|
|
|
|
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/boxApplyPass", message);
|
|
|
|
|
|
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
|
|
|
|
|
|
if (reponseMessage != null && reponseMessage.code == "0")
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("五楼CTU线程下发任务" + agvTask.ToJsonString() + "\n" + message);
|
|
|
|
|
|
Console.WriteLine(DateTime.Now + ":五楼CTU线程下发任务" + item.currPointId + "," + item.endPointNo);
|
|
|
|
|
|
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
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("CTU第二次下发继续任务失败：" + reponseMessage?.message);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (item.taskStatus == 5)
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("五楼CTU线程完成任务" + item.objid);
|
|
|
|
|
|
Console.WriteLine(DateTime.Now + ":五楼CTU线程完成任务" + item.currPointNo + "," + item.endPointNo);
|
|
|
|
|
|
if (item.taskType == 30)//出库任务
|
|
|
|
|
|
{
|
|
|
|
|
|
WmsRawOutstockDetail? wmsRawOutstockDetail = dbContext.WmsRawOutstockDetail.FirstOrDefault(t => t.taskCode == item.objid.ToString());
|
|
|
|
|
|
if (wmsRawOutstockDetail != null)
|
|
|
|
|
|
{
|
|
|
|
|
|
wmsRawOutstockDetail.executeStatus = "2";
|
|
|
|
|
|
wmsRawOutstockDetail.updateDate = DateTime.Now;
|
|
|
|
|
|
dbContext.Update(wmsRawOutstockDetail);
|
|
|
|
|
|
}
|
|
|
|
|
|
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
|
|
|
|
|
|
.First(t => t.locationId == item.currPointId && t.warehouseFloor == 5);
|
|
|
|
|
|
wmsBaseLocation.locationStatus = "1";
|
|
|
|
|
|
wmsBaseLocation.ContainerStatus = "2";
|
|
|
|
|
|
dbContext.Update(wmsBaseLocation);
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
dbContext.WmsRawOutstockDetail.Where(t => t.locationCode == wmsBaseLocation.locationCode).Update(t => new WmsRawOutstockDetail { executeStatus = "2" });
|
|
|
|
|
|
dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 6 });
|
|
|
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
|
|
|
|
|
|
int wcsTaskCount = dbContext.WcsTask.Where(t => t.taskType == 30 && t.taskStatus != 6).Count();
|
|
|
|
|
|
if (wcsTaskCount == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
StaticData.PlcDic[1].WriteToPoint(this.canReceive.plcpointAddress, "1", this.canReceive.plcpointLength?.ToString());
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (item.taskType == 29)//入库任务
|
|
|
|
|
|
{
|
|
|
|
|
|
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
|
|
|
|
|
|
.First(t => t.locationId == item.endPointId && t.warehouseFloor == 5);
|
|
|
|
|
|
wmsBaseLocation.locationStatus = "1";
|
|
|
|
|
|
wmsBaseLocation.ContainerStatus = "1";
|
|
|
|
|
|
dbContext.Update(wmsBaseLocation);
|
|
|
|
|
|
dbContext.Remove(item);
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
|
|
|
|
|
|
lock (SystemData.outStockLock)
|
|
|
|
|
|
{
|
|
|
|
|
|
WcsOutstockLock wcsOutstockLock = dbContext.WcsOutstockLock.Where(t => t.warehouseId == 512).First();
|
|
|
|
|
|
wcsOutstockLock.qty = 0;
|
|
|
|
|
|
wcsOutstockLock.boxStatus = 0;
|
|
|
|
|
|
dbContext.Update(wcsOutstockLock);
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else if (item.taskType == 100)//出库任务
|
|
|
|
|
|
{
|
|
|
|
|
|
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
|
|
|
|
|
|
.First(t => t.locationId == item.currPointId && t.warehouseFloor == 5);
|
|
|
|
|
|
wmsBaseLocation.locationStatus = "1";
|
|
|
|
|
|
wmsBaseLocation.ContainerStatus = "2";
|
|
|
|
|
|
dbContext.Update(wmsBaseLocation);
|
|
|
|
|
|
dbContext.WcsTask.Where(t => t.objid == item.objid).Update(t => new WcsTask() { taskStatus = 6 });
|
|
|
|
|
|
dbContext.SaveChanges();
|
|
|
|
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
|
|
|
|
|
|
int wcsTaskCount = dbContext.WcsTask.Where(t => (t.taskType == 30 || t.taskType == 100) && t.taskStatus != 6).Count();
|
|
|
|
|
|
if (wcsTaskCount == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
StaticData.PlcDic[1].WriteToPoint(this.canReceive.plcpointAddress, "1", this.canReceive.plcpointLength?.ToString());
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
catch (Exception ex)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (ex is PlcException)
|
|
|
|
|
|
{
|
|
|
|
|
|
try
|
|
|
|
|
|
{
|
|
|
|
|
|
foreach (var item in StaticData.PlcDic)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (item.Value.IP == ex.Message)
|
|
|
|
|
|
{
|
|
|
|
|
|
StaticData.PlcDic[item.Key] = new Plc.S7.Plc(item.Value.CPU, item.Value.IP, item.Value.Port, item.Value.Rack, item.Value.Slot);
|
|
|
|
|
|
StaticData.PlcDic[item.Key].Open();
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
catch
|
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
_logger.Error(ex.Message + "\n" + ex.StackTrace);
|
|
|
|
|
|
}
|
|
|
|
|
|
finally
|
|
|
|
|
|
{
|
|
|
|
|
|
Thread.Sleep(1000);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
|
|
/// 通知CTU取消预执行任务
|
|
|
|
|
|
/// </summary>
|
|
|
|
|
|
/// <param name="baseEquip"></param>
|
|
|
|
|
|
/// <param name="wcsCmd"></param>
|
|
|
|
|
|
private void ExecuteInTask(BaseEquip baseEquip)
|
|
|
|
|
|
{
|
|
|
|
|
|
//while (isWait)
|
|
|
|
|
|
{
|
|
|
|
|
|
var executeTask = new
|
|
|
|
|
|
{
|
|
|
|
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
|
|
|
|
positionCode = "CTU_IN",
|
|
|
|
|
|
nextTask = -1
|
|
|
|
|
|
};
|
|
|
|
|
|
string executeMessage = JsonConvert.SerializeObject(executeTask);
|
|
|
|
|
|
string executeResult = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genPreScheduleTask", executeMessage);
|
|
|
|
|
|
var executeReponse = JsonConvert.DeserializeObject<ReponseMessage>(executeResult);
|
|
|
|
|
|
if (executeReponse != null && executeReponse.code == "0")
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("下发CTU执行入库任务成功");
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
_logger.Info("下发CTU执行入库任务失败");
|
|
|
|
|
|
Console.WriteLine($"{DateTime.Now}:下发CTU执行入库任务失败" + executeReponse?.message);
|
|
|
|
|
|
ExecuteInTask(baseEquip);
|
|
|
|
|
|
Thread.Sleep(1000);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
