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优化

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master
LAPTOP-NLSJV9RB\91647 2 years ago
parent 0964a4cd66
commit 1bfa89757c
9 changed files with 887 additions and 71 deletions
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22
src/Khd.Core.Domain/Dto/webapi/genAgvSchedulingTask.cs
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@ -52,20 +52,12 @@ namespace Khd.Core.Domain.Dto.webapi
/// <summary>
/// 位置路径：AGV关键路径位置集合，与任务类型中模板配置的位置路径一一对应。待现场地图部署、配置完成后可获取。
/// </summary>
public string positionCodePath { get; set; }
/// <summary>
/// 货架编号，不指定货架可以为空
/// </summary>
public string podCode { get; set; }
public List<Position> positionCodePath { get; set; }
/// <summary>
/// “180”,”0”,”90”,”-90” 分别对应地图的”左”,”右”,”上”,”下” ，不指定方向可以为空
/// </summary>
public string podDir { get; set; }
/// <summary>
/// 货架类型, 传空时表示随机找个货架
/// </summary>
public string podTyp { get; set; }
/// <summary>
/// 物料批次或货架上的物料唯一编码,
/// </summary>
public string materialLot { get; set; }
@ -99,6 +91,18 @@ namespace Khd.Core.Domain.Dto.webapi
public string positionSelStrategy { get; set; }
public string data { get; set; }
}
public class Position
{
/// <summary>
/// 货架编号，不指定货架可以为空
/// </summary>
public string podCode { get; set; }
/// <summary>
/// 货架类型, 传空时表示随机找个货架
/// </summary>
public string podTyp { get; set; }
}
public class ReponseMessage
{

9
src/Khd.Core.Domain/Models/WmsBaseLocation.cs
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@ -27,11 +27,16 @@ namespace Khd.Core.Domain.Models
/// </summary>
[Column("warehouse_id")]
public long warehouseId { get; set; }
/// <summary>
/// agv的点位编码
/// </summary>
[Column("agv_position_code")]
public string agvPositionCode { get; set; }
/// <summary>
/// 库位编码
/// </summary>
[Column("location_code")]
[Column("location_code")]
public string locationCode { get; set; }
/// <summary>

1
src/Khd.Core.Wcs/Khd.Core.Wcs.csproj
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@ -11,6 +11,7 @@
<Compile Remove="update.cs" />
<Compile Remove="Wcs\FlowPoint.cs" />
<Compile Remove="Wcs\OutWarePoint.cs" />
<Compile Remove="Wcs\SecondFloor.cs" />
<Compile Remove="Wcs\UpLine.cs" />
</ItemGroup>

64
src/Khd.Core.Wcs/Wcs/CreateTaskByRecord.cs
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@ -84,7 +84,10 @@ namespace Khd.Core.Wcs.Wcs
{
try
{
CreateTask();
//原料&辅料出库
CreateRawTask();
//成品&半成品出库
CreateProductTask();
}
catch (Exception ex)
{
@ -96,37 +99,6 @@ namespace Khd.Core.Wcs.Wcs
}
}
}
private void CreateTask()
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
try
{
//入库
var rawInstock = dbContext.WmsProductInstock.Where(t => t.taskCode == "1").ToList();
if (rawInstock.Count > 0)
{
foreach (var item in rawInstock)
{
}
}
//原料&辅料出库
CreateMaterialTask();
//成品&半成品出库
CreateProductTask();
}
catch (Exception ex)
{
//LogManager.Info($"错误日志输出 >>> OutWarePoint类 WriteMaterialMessage 方法报错 {ex}");
LogManager.Error(ex);
}
}
/// <summary>
/// 成品出库
/// </summary>
@ -182,28 +154,23 @@ namespace Khd.Core.Wcs.Wcs
dbContext.Add(newTask);
dbContext.SaveChanges();
}
//回写出库记录表
//item.executeStatus = "1";
//item.updateDate = DateTime.Now;
//dbContext.WmsProductOutstock.Update(item);
//dbContext.SaveChanges();
//回写wms记录表
dbContext.WmsProductOutstock.Where(t => t.productOutstockId == item.productOutstockId).Update(t => new WmsProductOutstock()
{
executeStatus = "1",
updateDate = DateTime.Now
});
}
}
public void CreateMaterialTask()
public void CreateRawTask()
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
//原材料库存
var rawStock = dbContext.WmsRawStock.Where(t => t.activeFlag == "0").ToList();
//原材料出库记录
var rawOutStock = dbContext.WmsRawOutstock.Where(t => t.executeStatus == "0").ToList();
foreach (var item in rawOutStock)
{
//自动获取id
@ -223,8 +190,7 @@ namespace Khd.Core.Wcs.Wcs
createTime = DateTime.Now
};
dbContext.Add(stockLock);
//var palletInfo = StaticData.MesBasePalletInfo.Where(t => t.materialId == item.productId).FirstOrDefault() ;
if (true)//辅料
if (item.warehouseId==5)//五楼辅料出库
{
//辅料出库时,需创建订单表数据
orderID = id.NextId();
@ -239,11 +205,6 @@ namespace Khd.Core.Wcs.Wcs
};
dbContext.Add(order);
}
else
{
//半成品
}
var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "O").FirstOrDefault();
WcsTask rawTask = new()
{
@ -264,16 +225,11 @@ namespace Khd.Core.Wcs.Wcs
};
dbContext.Add(rawTask);
//获取最早入库时间
var firstDate = rawStock.Where(t => t.materialId == item.productId && t.warehouseId == item.warehouseId).OrderBy(t => t.createDate).FirstOrDefault();
var rkDate = firstDate.createDate;
//回写出库记录表
//item.executeStatus = "1";
//item.updateDate = DateTime.Now;
//dbContext.WmsProductOutstock.Update(item);
//dbContext.SaveChanges();
//回写wms出库记录表
dbContext.WmsRawOutstock.Where(t => t.rawOutstockId == item.rawOutstockId).Update(t => new WmsProductOutstock()
{
executeStatus = "1",

468
src/Khd.Core.Wcs/Wcs/SecondFloorAGV.cs
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@ -0,0 +1,468 @@
using Khd.Core.Domain.Dto.webapi;
using Khd.Core.Domain.Models;
using Khd.Core.EntityFramework;
using Khd.Core.Wcs.Global;
using Masuit.Tools.Logging;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Z.EntityFramework.Plus;
namespace Khd.Core.Wcs.Wcs
{
/// <summary>
/// 二楼AGV调度
/// </summary>
public class SecondFloorAGV
{
List<BasePlcpoint> ScanPoint { get; set; }//点位信息
private readonly IHost _host;
private readonly Plc.S7.Plc _plc;
BasePlcpoint? LineRFID { get; set; }
BasePlcpoint? LineWcsrun { get; set; }
BasePlcpoint? LineSignal { get; set; }
BasePlcpoint? LineIsPallet { get; set; }
BasePlcpoint? LineSerialNO { get; set; }
BasePlcpoint? LineFeedSeriaNo { get; set; }
Thread FlowPointThread;
int FloorNo { get; set; }
string EquipNo = "";
List<int> taskInType = new List<int> { 1, 3, 5, 7 };
List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
public SecondFloorAGV(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
{
this._host = host;
this._plc = plc;
FloorNo = floor;
EquipNo = equipNo;
this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
//this.LineRFID = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("RFID"));
//this.LineWcsrun = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("wcsrun"));
//this.LineSignal = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("linesignal"));
this.LineIsPallet = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("ispallet"));
//this.LineSerialNO = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("serialno"));
//this.LineFeedSeriaNo = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("feedserialno"));
//var IsPallet = this._plc.Read(LineIsPallet.plcpointAddress);
try
{
//默认启动,清理plc的上位机写入点位值
this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
}
catch (Exception ex)
{
Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
LogManager.Error(ex);
}
}
/// <summary>
/// 启动上件扫描监听
/// </summary>
public void StartPoint()
{
FlowPointThread = new Thread(MonitorInLocatorPoint);
FlowPointThread.Start();
}
public void MonitorInLocatorPoint()
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
List<int> taskInType = new List<int> { 1, 3, 5, 7 };
List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
while (true)
{
try
{
var taskList = GetTask(FloorNo, EquipNo);
if (taskList.Count == 0)
{
LogManager.Info(FloorNo + "楼AGV无任务");
}
foreach (var item in taskList)
{
if (taskInType.Contains(item.taskType.GetValueOrDefault()))//入库
{
var loc = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
//2楼成品
if (item.taskType == 5|| item.taskType==11 )//成品入库||成品移库
{
var stock = dbContext.WmsProductStock.Where(t => t.activeFlag == "1").ToList();
//获取有物料的库位
var locStock = from l in loc
join s in stock on l.locationCode equals s.locationCode
select new
{
LocId = l.locationId,
locCode = l.locationCode,
LocDeep = l.locDeep,
productBatch = s.productBatch
};
//获取空库位
var nullLocList = loc.Where(r => !locStock.Select(t => t.locCode).Contains(r.locationCode) && r.warehouseId == 1).ToList();
var location = nullLocList.OrderBy(t => t.locColumn).FirstOrDefault();
item.currPointId = 8;
item.currPointNo = "AGV01";
item.nextPointId = location.locationId;
item.nextPointNo = location.locationCode;
//dbContext.Update(item);
}
//下发agv出库指令
SendAndUpdateTask(item);
}
else
{
var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
//出库
if (item.taskType == 6)//成品出库
{
//获取库存
var proStock = dbContext.WmsProductStock.Where(t => t.activeFlag == "1" && t.stockType == "3").ToList();
var dic = dbContext.BaseDictionary.Where(t => t.dicKey == "OutStockDate").FirstOrDefault();
var DateRange = Convert.ToInt32(dic.dicValue);
var stockList = from t in proStock.Where(r => r.productId == item.materialId)
join b in locList on t.locationCode equals b.locationCode
into temp
from newStock in temp.DefaultIfEmpty()
select new
{
proID = t.productStockId,
locID = newStock.locationId,
locCode = t.locationCode,
layerNum = newStock.layerNum,
locColumn = newStock.locColumn,
locRow = newStock.locRow,
locDeep = newStock.locDeep,
inStockDate = newStock.createTime,
};
//先查出最早入库时间
var inStockModel = stockList.OrderBy(t => t.inStockDate).FirstOrDefault();
var inStockDate = inStockModel.inStockDate;
//查出符合条件的成品
var outStockList = stockList.Where(t => t.inStockDate >= inStockDate && t.inStockDate <= inStockDate.GetValueOrDefault().AddDays(DateRange)).ToList();
var outModel = outStockList.OrderBy(t => t.locColumn).ThenByDescending(t => t.locDeep).FirstOrDefault();
if (outModel.locDeep == 1)
{
//自动获取id
Jc.SnowId.JcSnowId id = new Jc.SnowId.JcSnowId(1, 1);
var objid = id.NextId();
var isExiStock = stockList.Where(t=>t.locRow==outModel.locRow && t.locColumn==outModel.locColumn && t.locDeep ==2).FirstOrDefault();
if (isExiStock != null)
{
//创建成品移库任务
WcsTask newTask = new()
{
objid = objid,
taskType = 11,
containerNo = "",
taskStatus = 0,
materialId = isExiStock.locID,
qty = 1,
startPointId = isExiStock.locID,
startPointNo = "",
currPointId = isExiStock.locID,
currPointNo = "",
};
dbContext.Add(newTask);
dbContext.SaveChanges();
return;
}
}
//锁定库位
dbContext.WmsBaseLocation.Where(t => t.locationCode == outModel.locCode).Update(t => new WmsBaseLocation()
{
locationStatus = "1",
updateTime = DateTime.Now,
updateBy = "agv出库",
});
//下发agv出库指令
SendAndUpdateTask(item);
}
}
}
}
catch (Exception ex)
{
LogManager.Error(ex);
}
finally
{
Thread.Sleep(1000);
}
}
}
public List<WcsTask> GetTask(int floorNo, string equipNo)
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
List<WcsTask> wcsTask = new List<WcsTask>();
var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
var equip = StaticData.BaseEquip.Where(t => t.floorNo == floorNo && t.equipType == 4).FirstOrDefault();
try
{
//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
var taskList = StaticData.WcsTask.Where(t => t.nextPointId == equip.objid && t.currPointId != equip.objid && (t.taskType==1|| t.taskType == 2|| t.taskType == 5 || t.taskType == 6)).ToList();
if (taskList.Count() == 0)
{ return null; }
wcsTask = taskList;
}
catch (Exception ex)
{
LogManager.Info(floorNo + "楼AGV异常" + ex.Message);
throw;
}
return wcsTask;
}
public void SendAndUpdateTask(WcsTask task)
{
//获取
if (task == null) return;
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
WcsToWms wcsToWms = new WcsToWms();
//首先判断是否已下发指令
var cmd = dbContext.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
//指令表存在说明已下发
if (cmd == null)
{ //获取下发agv指令
string ip = ""; int port = 0; string url = "";
RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
agvtask.reqCode = task.objid.ToString();
//var json = JsonConvert.SerializeObject(agvtask);
//HttpHelper.SendPostMessage(ip, port, url, json);
agvtask.positionCodePath = new List<Position>();
Position p = new Position();
WmsBaseLocation putPos = new WmsBaseLocation(); //放料点
WmsBaseLocation setPos = new WmsBaseLocation(); //取料点
if (task.taskType == 5) //入库
{
setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
}
else
{
setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
}
putPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
p.podCode = setPos.agvPositionCode;
p.podTyp = "";
agvtask.positionCodePath.Add(p);
p.podCode = putPos.agvPositionCode;
p.podTyp = "";
//取料点
agvtask.positionCodePath.Add(p);
agvtask.taskTyp = "";
//给agv创建任务
wcsToWms.genAgvSchedulingTask(agvtask);
//未下发给agv下发指令
WcsCmd taskCmd = new WcsCmd()
{
taskId = task.objid,
cmdType = task.taskType,
serialNo = task.serialNo,
equipmentNo = task.equipmentNo,
cmdStatus = 1,
createBy = FloorNo + "楼AGV",
createTime = DateTime.Now,
};
dbContext.Add(taskCmd);
dbContext.SaveChanges();
}
else
{
//获取接驳位是否有托盘
var IsPallet = this._plc.Read(this.LineIsPallet.plcpointAddress);
if (cmd.sendFlag == 0)
{
if (taskInType.Contains(task.taskType.GetValueOrDefault()))//入库
{
//入库时有托盘继续任务
if (Convert.ToInt32(IsPallet) == 1)
{
continueTaskDto continueTask = new continueTaskDto();
continueTask.taskCode = task.objid.ToString();
wcsToWms.continueTask(continueTask);
//未下发给agv下发指令
WcsCmd taskCmd = new WcsCmd()
{
taskId = task.objid,
sendFlag = 1,
createBy = FloorNo + "楼AGV",
createTime = DateTime.Now,
};
dbContext.Update(taskCmd);
dbContext.SaveChanges();
}
}
else
{
//出库时没有托盘继续任务
if (Convert.ToInt32(IsPallet) == 0)
{
continueTaskDto continueTask = new continueTaskDto();
continueTask.taskCode = task.objid.ToString();
wcsToWms.continueTask(continueTask);
//更新任务
dbContext.WcsCmd.Where(t => t.taskId == task.objid).Update(t => new WcsCmd()
{
sendFlag = 1,
updateTime = DateTime.Now,
updateBy = "agv出库",
});
}
}
}
}
//更新任务表
dbContext.WcsTask.Where(t => t.objid == task.objid).Update(t => new WcsTask()
{
currPointId = task.currPointId,
currPointNo = task.currPointNo,
nextPointId = task.nextPointId,
nextPointNo= task.nextPointNo,
updateTime = DateTime.Now,
updateBy = "agv出库",
}) ;
}
///// <summary>
///// 下发任务
///// </summary>
///// <param name="task"></param>
//public void SendTask1(WcsTask task)
//{
// using var scope = _host.Services.CreateScope();
// using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
// //入库类型
// //List<int> taskInType = new List<int> { 1, 3, 5, 7 };
// //List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
// //获取
// if (task == null) return;
// if (taskInType.Contains(task.taskType.GetValueOrDefault()))//入库
// {
// WcsToWms wcsToWms = new WcsToWms();
// //首先判断是否已下发指令
// var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
// //指令表存在说明已下发
// if (cmd == null)
// { //获取下发agv指令
// string ip = ""; int port = 0; string url = "";
// RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
// agvtask.reqCode = task.serialNo.ToString();
// //var json = JsonConvert.SerializeObject(agvtask);
// //HttpHelper.SendPostMessage(ip, port, url, json);
// wcsToWms.genAgvSchedulingTask(agvtask);
// //未下发给agv下发指令
// WcsCmd taskCmd = new WcsCmd()
// {
// taskId = task.objid,
// cmdType = task.taskType,
// serialNo = task.serialNo,
// equipmentNo = task.equipmentNo,
// cmdStatus = 1,
// createBy = FloorNo + "楼AGV",
// createTime = DateTime.Now,
// };
// dbContext.Add(taskCmd);
// dbContext.SaveChanges();
// }
// else
// {
// var IsPallet = this._plc.Read(this.LineIsPallet.plcpointAddress);
// if (cmd.sendFlag == 0)
// {
// if (Convert.ToInt32(IsPallet) == 1)
// {
// continueTaskDto continueTask = new continueTaskDto();
// continueTask.taskCode = task.objid.ToString();
// wcsToWms.continueTask(continueTask);
// //未下发给agv下发指令
// WcsCmd taskCmd = new WcsCmd()
// {
// taskId = task.objid,
// cmdType = task.taskType,
// serialNo = task.serialNo,
// equipmentNo = task.equipmentNo,
// sendFlag = 1,
// createBy = FloorNo + "楼AGV",
// createTime = DateTime.Now,
// };
// dbContext.Update(taskCmd);
// dbContext.SaveChanges();
// }
// }
// }
// }
// else
// {
// var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
// //出库
// if (task.taskType == 6)//成品出库
// {
// //获取库存
// var proStock = dbContext.WmsProductStock.Where(t => t.activeFlag == "1" && t.stockType == "3" && t.productId == task.materialId).ToList();
// var dic = dbContext.BaseDictionary.Where(t => t.dicKey == "OutStockDate").FirstOrDefault();
// var DateRange = Convert.ToInt32(dic.dicValue);
// var stockList = from t in proStock
// join b in locList on t.locationCode equals b.locationCode
// into temp
// from newStock in temp.DefaultIfEmpty()
// select new
// {
// proID = t.productStockId,
// locID = newStock.locationId,
// locCode = t.locationCode,
// layerNum = newStock.layerNum,
// locColumn = newStock.locColumn,
// locRow = newStock.locRow,
// locDeep = newStock.locDeep,
// inStockDate = newStock.createTime,
// };
// //先查出最早入库时间
// var inStockModel = stockList.OrderBy(t => t.inStockDate).FirstOrDefault();
// var inStockDate = inStockModel.inStockDate;
// //查出符合条件的成品
// var outStockList = stockList.Where(t => t.inStockDate >= inStockDate && t.inStockDate <= inStockDate.GetValueOrDefault().AddDays(DateRange)).ToList();
// var outModel = outStockList.OrderBy(t => t.locColumn).ThenByDescending(t => t.locDeep).FirstOrDefault();
// dbContext.WmsBaseLocation.Where(t => t.locationCode == outModel.locCode).Update(t => new WmsBaseLocation()
// {
// locationStatus = "1",
// updateTime = DateTime.Now,
// updateBy = "agv出库",
// });
// dbContext.WcsTask.Where(t => t.objid == task.objid).Update(t => new WcsTask()
// {
// currPointId = outModel.locID,
// currPointNo = outModel.locCode,
// updateTime = DateTime.Now,
// updateBy = "agv出库",
// });
// //下发agv出库指令
// }
// else if (task.taskType == 2)//原材料出库
// {
// }
// }
//}
}
}

233
src/Khd.Core.Wcs/Wcs/SecondFloorLine.cs
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@ -0,0 +1,233 @@
using Khd.Core.Domain.Dto.webapi;
using Khd.Core.Domain.Models;
using Khd.Core.EntityFramework;
using Khd.Core.Wcs.Global;
using Masuit.Tools.Logging;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Z.EntityFramework.Plus;
namespace Khd.Core.Wcs.Wcs
{
/// <summary>
/// 二楼码垛输送线调度
/// </summary>
public class SecondFloorPoint
{
List<BasePlcpoint> ScanPoint { get; set; }//点位信息
private readonly IHost _host;
private readonly Plc.S7.Plc _plc;
BasePlcpoint? LineRFID { get; set; }
BasePlcpoint? LineWcsrun { get; set; }
BasePlcpoint? LineSignal { get; set; }
BasePlcpoint? LineIsPallet { get; set; }
BasePlcpoint? LineSerialNO { get; set; }
BasePlcpoint? LineFeedSeriaNo { get; set; }
Thread FlowPointThread;
int FloorNo { get; set; }
string EquipNo = "";
public SecondFloorPoint(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
{
this._host = host;
this._plc = plc;
FloorNo = floor;
EquipNo = equipNo;
this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
this.LineRFID = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("RFID"));
this.LineWcsrun = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("wcsrun"));
this.LineSignal = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("linesignal"));
this.LineIsPallet = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("ispallet"));
this.LineSerialNO = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("serialno"));
this.LineFeedSeriaNo = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("feedserialno"));
//var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
try
{
//默认启动,清理plc的上位机写入点位值
this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
}
catch (Exception ex)
{
Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
LogManager.Error(ex);
}
}
/// <summary>
/// 启动上件扫描监听
/// </summary>
public void StartPoint()
{
FlowPointThread = new Thread(MonitorInLocatorPoint);
FlowPointThread.Start();
}
public void MonitorInLocatorPoint()
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
while (true)
{
try
{
//入库任务
var rfid = this._plc.Read(LineRFID.plcpointAddress);
var isSignal = this._plc.Read(LineSignal.plcpointAddress); //到位信号
var isPallet = this._plc.Read(LineIsPallet.plcpointAddress);//是否有托盘
if (rfid != null && isSignal != null && isPallet != null)
{
//正常读到输送线信息 有到位信号,并且有托盘,获取条码信息
if (Convert.ToInt32(isSignal) > 0 && Convert.ToInt32(isPallet) == 1)
{
//获取条码信息
var palletNo = Convert.ToString(rfid);
//获取入库任务
var wcsTask = GetTask(palletNo, FloorNo, EquipNo);
//判断是否为出库任务
if ( wcsTask.taskType == 5)
{
var nextEquip = StaticData.BaseEquip.Where(t=>t.floorNo==FloorNo && t.equipType==4).FirstOrDefault();
//更新任务下一点位为AGV
wcsTask.nextPointId = nextEquip.objid;
wcsTask.nextPointNo = nextEquip.equipNo;
wcsTask.updateTime = DateTime.Now;
wcsTask.updateBy = FloorNo+"楼输送线";
dbContext.Update(wcsTask);
dbContext.SaveChanges();
////入库任务
////下发agv任务
//SendTask(wcsTask);
}
}
}
}
catch (Exception ex)
{
LogManager.Error(ex);
}
finally
{
Thread.Sleep(1000);
}
}
}
//获取输送线上的任务
public WcsTask GetTask(string containerNo, int floorNo, string equipNo)
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
var wcsTask = new WcsTask();
var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
try
{
//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
var task = StaticData.WcsTask.Where(t => t.containerNo == containerNo).FirstOrDefault();
if (task == null)
{
var palletInfo = StaticData.MesBasePalletInfo.Where(t => t.palletInfoCode == containerNo).FirstOrDefault();
//查询该条码绑定的物料信息
var material = StaticData.WmsWarehouseMaterial.Where(t => t.storageId == palletInfo.materialId).FirstOrDefault();
var wareHouse = wareHouseList.Where(t => t.warehouseId == material.warehouseId).FirstOrDefault();
var dic = StaticData.BaseDictionary.Where(t => t.dicKey == "TaskType" && t.ud1 == "I" && t.dicField == wareHouse.warehouseInstockType).FirstOrDefault();
var equip = StaticData.BaseEquip.ToList();
var startEquip = equip.Where(t => t.equipNo == equipNo).FirstOrDefault();
var endPoint = wareHouseList.Where(t => t.warehouseFloor == floorNo).FirstOrDefault();
//var currEquip=
if (palletInfo != null)
{
//自动获取id
Jc.SnowId.JcSnowId id = new Jc.SnowId.JcSnowId(1, 1);
var objid = id.NextId();
WcsTask newTask = new()
{
objid = objid,
taskType = Convert.ToInt32(dic.dicValue),
containerNo = containerNo,
taskStatus = 0,
materialId = material.storageId,
qty = Convert.ToInt32(palletInfo.bindAmount),
startPointId = startEquip.objid,
startPointNo = equipNo,
currPointId = startEquip.objid,
currPointNo = equipNo,
endPointId = endPoint.warehouseId,
endPointNo = endPoint.warehouseCode,
};
dbContext.Add(newTask);
dbContext.SaveChanges();
wcsTask = newTask;
}
else
{
LogManager.Info(floorNo + "楼接驳位,托盘"+ containerNo + "未绑定!" );
}
}
else
{
wcsTask = StaticData.WcsTask.Where(t => t.currPointNo == equipNo).FirstOrDefault();
}
}
catch (Exception ex)
{
LogManager.Info(floorNo + "楼接驳位异常"+ ex.Message);
throw;
}
return wcsTask;
}
/// <summary>
/// 下发任务
/// </summary>
/// <param name="task"></param>
public void SendTask(WcsTask task)
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
//入库类型
List<int> taskInType = new List<int> { 1, 3, 5, 7 };
List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
try
{
//获取
if (task == null) return;
if (taskInType.Contains(task.taskType.GetValueOrDefault()))
{
//首先判断是否已下发指令
var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
//指令表存在说明已下发
if (cmd != null) return;
//获取下发agv指令
string ip = ""; int port = 0; string url = "";
RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
agvtask.reqCode = task.serialNo.ToString();
var json = JsonConvert.SerializeObject(agvtask);
HttpHelper.SendPostMessage(ip, port, url, json);
//未下发给agv下发指令
WcsCmd taskCmd = new WcsCmd()
{
taskId = task.objid,
cmdType = task.taskType,
serialNo = task.serialNo,
equipmentNo = task.equipmentNo,
cmdStatus = 1,
createBy = "",
createTime = DateTime.Now,
};
dbContext.Add(taskCmd);
dbContext.SaveChanges();
}
}
catch (Exception)
{
throw;
}
}
}
}

149
src/Khd.Core.Wcs/Wcs/SecondFloorPoint.cs
Unescape Escape View File

@ -0,0 +1,149 @@
using Khd.Core.Domain.Dto.webapi;
using Khd.Core.Domain.Models;
using Khd.Core.EntityFramework;
using Khd.Core.Wcs.Global;
using Masuit.Tools.Logging;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Z.EntityFramework.Plus;
namespace Khd.Core.Wcs.Wcs
{
/// <summary>
/// 二楼接驳位调度
/// </summary>
public class SecondFloorLine
{
List<BasePlcpoint> ScanPoint { get; set; }//点位信息
private readonly IHost _host;
private readonly Plc.S7.Plc _plc;
BasePlcpoint? LineRFID { get; set; }
BasePlcpoint? LineWcsrun { get; set; }
BasePlcpoint? LineSignal { get; set; }
BasePlcpoint? LineIsPallet { get; set; }
BasePlcpoint? LineSerialNO { get; set; }
BasePlcpoint? LineFeedSeriaNo { get; set; }
Thread FlowPointThread;
int FloorNo { get; set; }
string EquipNo = "";
public SecondFloorLine(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
{
this._host = host;
this._plc = plc;
FloorNo = floor;
EquipNo = equipNo;
this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
this.LineRFID = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("RFID"));
this.LineWcsrun = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("wcsrun"));
this.LineSignal = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("linesignal"));
this.LineIsPallet = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("ispallet"));
this.LineSerialNO = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("serialno"));
this.LineFeedSeriaNo = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("feedserialno"));
//var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
try
{
//默认启动,清理plc的上位机写入点位值
this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
}
catch (Exception ex)
{
Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
LogManager.Error(ex);
}
}
/// <summary>
/// 启动上件扫描监听
/// </summary>
public void StartPoint()
{
FlowPointThread = new Thread(MonitorInLocatorPoint);
FlowPointThread.Start();
}
public void MonitorInLocatorPoint()
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
while (true)
{
try
{
//入库任务
var rfid = this._plc.Read(LineRFID.plcpointAddress);
var isSignal = this._plc.Read(LineSignal.plcpointAddress);
var isPallet = this._plc.Read(LineIsPallet.plcpointAddress);
if (rfid != null && isSignal != null && isPallet != null)
{
//正常读到输送线信息 有到位信号,并且有托盘,获取条码信息
if (Convert.ToInt32(isSignal) > 0 && Convert.ToInt32(isPallet) == 1)
{
//获取条码信息
var palletNo = Convert.ToString(rfid);
//获取入库任务
var wcsTask = GetTask(palletNo, FloorNo, EquipNo);
//判断是否为出库任务
if (wcsTask.taskType == 3)
{
this._plc.Write(LineWcsrun.plcpointAddress, 1);
//更新任务
dbContext.WcsTask.Where(t => t.objid == wcsTask.objid).Update(t => new WcsTask()
{
currPointId = 2,
currPointNo = "F02",
//提升机
nextPointId = 6,
nextPointNo = "T01",
updateTime = DateTime.Now,
updateBy = "二楼接驳位",
});
}
}
}
}
catch (Exception ex)
{
LogManager.Error(ex);
}
finally
{
Thread.Sleep(1000);
}
}
}
//获取输送线上的任务
public WcsTask GetTask(string containerNo, int floorNo, string equipNo)
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
var wcsTask = new WcsTask();
var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
try
{
//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
var task = StaticData.WcsTask.Where(t => t.containerNo == containerNo).FirstOrDefault();
if (task == null)
{
wcsTask = task;
}
else
{
wcsTask = StaticData.WcsTask.Where(t => t.currPointNo == equipNo).FirstOrDefault();
}
}
catch (Exception ex)
{
LogManager.Info(floorNo + "楼接驳位异常" + ex.Message);
throw;
}
return wcsTask;
}
}
}

6
src/Khd.Core.Wcs/Wcs/SecondThirdFloorAGV.cs → src/Khd.Core.Wcs/Wcs/ThirdFloorAGV.cs
Unescape Escape View File

@ -16,9 +16,9 @@ using Z.EntityFramework.Plus;
namespace Khd.Core.Wcs.Wcs
{
/// <summary>
/// 二楼调度
/// 三楼agv调度
/// </summary>
public class SecondThirdFloorAGV
public class ThirdFloorAGV
{
List<BasePlcpoint> ScanPoint { get; set; }//点位信息
private readonly IHost _host;
@ -34,7 +34,7 @@ namespace Khd.Core.Wcs.Wcs
string EquipNo = "";
List<int> taskInType = new List<int> { 1, 3, 5, 7 };
List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
public SecondThirdFloorAGV(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
public ThirdFloorAGV(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
{
this._host = host;
this._plc = plc;

6
src/Khd.Core.Wcs/Wcs/SecondThirdFloorPoint.cs → src/Khd.Core.Wcs/Wcs/ThirdFloorPoint.cs
Unescape Escape View File

@ -15,9 +15,9 @@ using System.Threading.Tasks;
namespace Khd.Core.Wcs.Wcs
{
/// <summary>
/// 二楼调度
/// 三楼接驳位调度
/// </summary>
public class SecondThirdFloorPoint
public class ThirdFloorPoint
{
List<BasePlcpoint> ScanPoint { get; set; }//点位信息
private readonly IHost _host;
@ -31,7 +31,7 @@ namespace Khd.Core.Wcs.Wcs
Thread FlowPointThread;
int FloorNo { get; set; }
string EquipNo = "";
public SecondThirdFloorPoint(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
public ThirdFloorPoint(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
{
this._host = host;
this._plc = plc;
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