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 Z.EntityFramework.Plus;
namespace Khd.Core.Wcs.Wcs
{
///
/// 五楼CTU调度
///
public class FiveFloorCTU
{
List ScanPoint { get; set; }//点位信息
private readonly IHost _host;
private readonly Plc.S7.Plc _plc;
private readonly BasePlcpoint LineRFID;
private readonly BasePlcpoint isarrive;
private readonly BasePlcpoint isput;
int FloorNo { get; set; }
string EquipNo = "";
int CTUID = 11;
public FiveFloorCTU(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.First(t => t.plcpointNo.Contains("RFID5001"));
this.isarrive = this.ScanPoint.First(t => t.plcpointNo.Contains("isarrive"));
this.isput = this.ScanPoint.First(t => t.plcpointNo.Contains("isput"));
//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);
}
}
///
/// 启动上件扫描监听
///
public void StartPoint()
{
Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
FlowPointThread.Start();
//Thread FlowCTUInWareThread = new Thread(MonitorInWare);
//FlowCTUInWareThread.Start();
Console.WriteLine(DateTime.Now + ":五楼CTU上件扫描监听启动");
LogManager.Info("五楼CTU上件扫描监听启动");
}
private void MonitorInWare(object? obj)
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService();
while (true)
{
try
{
dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
var rfid = this._plc.Read(LineRFID.plcpointAddress);
var isArrive = this._plc.Read(isarrive.plcpointAddress);
if (rfid != null && isArrive != null && Convert.ToInt32(isArrive) == 1)
{
//根据rfid找到库位
//生成入库任务
var wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.containerCode == rfid.ToString());
BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.equipNo == "FL051");
BaseEquip ctuEquip = StaticData.BaseEquip.First(t => t.objid == 11);
if (wmsBaseLocation != null)
{
var wcsTask = new WcsTask()
{
objid = StaticData.SnowId.NextId(),
startPointId = baseEquip.objid,
startPointNo = baseEquip.agvPositionCode,
currPointId = baseEquip.objid,
currPointNo = baseEquip.agvPositionCode,
nextPointId = ctuEquip.objid,
nextPointNo = ctuEquip.equipNo,
endPointId = wmsBaseLocation.locationId,
endPointNo = wmsBaseLocation.agvPositionCode,
taskType = 1,
taskStatus = 0,
floorNo = 5,
ud1 = "0",//是否是最后一个任务
containerNo = rfid.ToString(),
equipmentNo = baseEquip.equipNo,
createBy = FloorNo + "楼CTU",
createTime = DateTime.Now,
};
dbContext.Add(wcsTask);
dbContext.SaveChanges();
}
}
}
catch
{
}
}
}
public void MonitorInLocatorPoint()
{
List taskType = new() { 1, 3, 5, 7 };
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService();
while (true)
{
try
{
dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
var taskList = dbContext.WcsTask.Where(t => t.nextPointId == CTUID).ToList();
if (taskList.Count == 0)
{
LogManager.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 baseEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
var wcsCmd = new WcsCmd()
{
objid = StaticData.SnowId.NextId(),
cmdStatus = 0,
taskId = item.objid,
useFlag = 1,
cmdType = item.taskType,
containerNo = item.containerNo,
createTime = DateTime.Now,
createBy = FloorNo + "楼CTU",
currPointId = wmsBaseLocation.locationId,
currPointNo = wmsBaseLocation.agvPositionCode,
nextPointId = baseEquip.objid,
nextPointNo = baseEquip.agvPositionCode,
taskCode = null
};
var agvTask = new RequestAGVTaskDto
{
reqCode = StaticData.SnowId.NextId().ToString(),
positionCodePath = new List
{
new()
{
positionCode = wcsCmd.currPointNo,
type = "05"
},
new()
{
positionCode = wcsCmd.nextPointNo,
type = "05"
},
},
ctnrTyp = "1",
taskTyp = "F504"
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(item);
dbContext.WcsCmd.Add(wcsCmd);
dbContext.SaveChanges();
}
}
else if (item.taskType == 29)//入库任务
{
BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
var wcsCmd = new WcsCmd()
{
objid = StaticData.SnowId.NextId(),
cmdStatus = 0,
taskId = item.objid,
useFlag = 1,
cmdType = item.taskType,
containerNo = item.containerNo,
createTime = DateTime.Now,
createBy = FloorNo + "楼CTU",
nextPointId = wmsBaseLocation.locationId,
nextPointNo = wmsBaseLocation.agvPositionCode,
currPointId = baseEquip.objid,
currPointNo = baseEquip.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = StaticData.SnowId.NextId().ToString(),
positionCodePath = new List
{
new()
{
positionCode = wcsCmd.currPointNo,
type = "0"
},
new()
{
positionCode = wcsCmd.nextPointNo,
type = "0"
},
},
ctnrTyp = "1",
taskTyp = "F503"
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(wmsBaseLocation);
dbContext.Update(item);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
}
}
else
{
WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.taskId == item.objid);
if (wcsCmd != null)
{
if (wcsCmd.cmdStatus == 3)
{
var agvTask = new RequestAGVTaskDto
{
reqCode = StaticData.SnowId.NextId().ToString(),
taskCode = wcsCmd.taskCode
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/continueTask", message);
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
wcsCmd.cmdStatus = 4;
dbContext.Update(wcsCmd);
dbContext.SaveChanges();
}
}
else if (wcsCmd.cmdStatus == 5)
{
//任务完成
//如果是入库任务,更新库存信息,并删除任务
if (taskType.Contains(item.taskType))
{
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
.First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
wmsBaseLocation.outstockFlag = "0";
wmsBaseLocation.locationStatus = "1";
dbContext.Update(wmsBaseLocation);
dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
dbContext.SaveChanges();
}
else//如果是出库任务,更新库存信息,下一个任务为提升机
{
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
.First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
if (item.taskType == 29)
{
wmsBaseLocation.outstockFlag = "0";
wmsBaseLocation.locationStatus = "1";
dbContext.Update(wmsBaseLocation);
}
BaseEquip floorLineEquip = StaticData.BaseEquip.First(t => t.equipType == 1 && t.floorNo == 5);
BaseEquip eletorEquip = StaticData.BaseEquip.First(t => t.equipType == 2);
item.nextPointId = floorLineEquip.objid;
item.nextPointNo = floorLineEquip.equipNo;
item.fromFloorNo = 5;
item.floorNo = 1;
item.taskStatus = 6;
dbContext.Update(item);
dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
dbContext.SaveChanges();
}
}
}
}
}
}
catch (Exception ex)
{
LogManager.Error(ex);
}
finally
{
Thread.Sleep(1000);
}
}
}
///
/// 下发任务
///
///
public void SendTask(long? orderId)
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService();
var taskList = dbContext.WcsTask.Where(t => t.orderId == orderId).ToList();
//获取
if (taskList.Count == 0)
return;
//首先判断是否已下发指令
var cmd = dbContext.WcsCmd.Where(t => taskList.Select(t => t.objid).ToList().Contains(t.taskId.GetValueOrDefault())).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 = orderId.ToString();
var json = JsonConvert.SerializeObject(agvtask);
HttpHelper.SendPostMessage(ip, port, url, json);
foreach (var item in taskList)
{
//未下发给agv下发指令
WcsCmd taskCmd = new WcsCmd()
{
taskId = item.objid,
cmdType = item.taskType,
serialNo = item.serialNo,
equipmentNo = item.equipmentNo,
cmdStatus = 1,
createBy = FloorNo + "楼CTU",
createTime = DateTime.Now,
};
dbContext.Add(taskCmd);
dbContext.SaveChanges();
}
}
}
}