using Khd.Core.Domain.Dto.webapi;
using Khd.Core.Domain.Models;
using Khd.Core.EntityFramework;
using Khd.Core.Library.Mapper;
using Khd.Core.Plc;
using Khd.Core.Wcs.Global;
using Masuit.Tools.Logging;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Newtonsoft.Json;
using System.Security.Cryptography;
using Z.EntityFramework.Plus;
namespace Khd.Core.Wcs.Wcs
{
///
/// 五楼接驳位调度
///
public class FiveFloorPoint
{
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 LineWcsrun;
private readonly BasePlcpoint LineSignal;
int FloorNo { get; set; }
string EquipNo = "";
public FiveFloorPoint(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("RFID005"));
this.LineWcsrun = this.ScanPoint.First(t => t.plcpointNo.Contains("wcsrun"));
this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
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()
{
var FlowPointThread = new Thread(MonitorInLocatorPoint);
FlowPointThread.IsBackground = true;
FlowPointThread.Start();
Console.WriteLine(DateTime.Now + ":五楼接驳位调度启动成功");
LogManager.Info("五楼接驳位调度启动成功");
}
public void MonitorInLocatorPoint()
{
List ITypes = 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());
//入库任务
var rfid = this._plc.ReadRFID(LineRFID.plcpointAddress);
var isSignal = this._plc.Read(LineSignal.plcpointAddress);
if (rfid != null && isSignal != 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) == 1)
{
//获取条码信息
var palletNo = Convert.ToString(rfid);
BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.equipType == 1 && t.floorNo == FloorNo);
var wcsTask = dbContext.WcsTask.OrderBy(t => t.createTime)
.FirstOrDefault(t => t.containerNo == palletNo && t.nextPointId == baseEquip.objid);
if (wcsTask != null)
{
if (wcsTask.taskStatus == 5)//入库,提升机任务是完成状态
{
var wmsBaseLocations = dbContext.WmsBaseLocation.Where(t => t.warehouseFloor == FloorNo)
.Where(t => t.activeFlag == "1")
.Where(t => t.delFlag == "0")
.Where(t => t.locationScrapType == "1")
.Where(t => t.instockFlag == "0")
.Where(t => t.outstockFlag == "0")
//.Where(t => t.locationStatus == "1")
//.Where(t => string.IsNullOrEmpty(t.containerCode))
.ToList();
if (wmsBaseLocations.Count > 0)
{
List containerCodes = wmsBaseLocations.Where(t => t.locDeep == 1).Select(t => t.containerCode).ToList();//深库位的托盘
List mesBasePalletInfos = dbContext.MesBasePalletInfo
.Where(t => t.materialId == wcsTask.materialId)
.Where(t => containerCodes.Contains(t.palletInfoCode)).ToList();//深库位的托盘的物料等于当前任务的物料
var bill = from a in mesBasePalletInfos
join b in wmsBaseLocations.Where(t => t.locDeep == 1) on a.palletInfoCode equals b.containerCode
select new { b };//等于当前任务的物料的托盘的库位信息
var outBill = from a in bill
from b in wmsBaseLocations
where a.b.layerNum == b.layerNum
&& b.locDeep == 2
&& a.b.locRow == b.locRow
&& a.b.locColumn == b.locColumn
&& b.locationStatus == "1"
&& b.outstockFlag == "0"
&& b.instockFlag == "0"
&& string.IsNullOrEmpty(b.containerCode)
select new { a.b };//在上面的基础上获取对应托盘的外侧库位的空库位信息
WmsBaseLocation? wmsBaseLocation = null;
wmsBaseLocation ??= outBill.FirstOrDefault()?.b;//先找相同物料的外侧库位
wmsBaseLocation ??= wmsBaseLocations.Where(t => string.IsNullOrEmpty(t.containerCode)).FirstOrDefault(t => t.locDeep == 2);//找不到再找深库位
wmsBaseLocation ??= wmsBaseLocations.Where(t => string.IsNullOrEmpty(t.containerCode)).FirstOrDefault();//找不到再找任意库位
//深浅库位问题？库位入库优先级等
var AgvEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 5);//背负Agv
if (wmsBaseLocations.Count > 0 && wmsBaseLocation != null)
{
wcsTask.taskStatus = 0;//创建状态
wcsTask.updateTime = DateTime.Now;
wcsTask.currPointId = baseEquip.objid;
wcsTask.currPointNo = baseEquip.equipNo;
wcsTask.nextPointId = AgvEquip.objid;
wcsTask.nextPointNo = AgvEquip.equipNo;
wcsTask.endPointId = wmsBaseLocation.locationId;
wcsTask.endPointNo = wmsBaseLocation.locationCode;
if (wmsBaseLocation.warehouseId == 531)
{
wcsTask.taskType = 37;
wcsTask.useFlag = 1;
}
else if (wmsBaseLocation.warehouseId == 511 && wcsTask.fromFloorNo == 4)
{
wcsTask.taskType = 47;//?28?
wcsTask.useFlag = 0;
}
else if (wmsBaseLocation.warehouseId == 511)
{
wcsTask.taskType = 47;
wcsTask.useFlag = 1;
}
else
{
Console.WriteLine($"{DateTime.Now}:5楼接驳位查找入库类型失败");
Thread.Sleep(1000);
continue;
}
wmsBaseLocation.instockFlag = "1";
wmsBaseLocation.locationStatus = "2";
dbContext.Update(wmsBaseLocation);
dbContext.Update(wcsTask);
WcsTaskLog wcsTaskLog = CoreMapper.Map(wcsTask);
dbContext.Add(wcsTaskLog);
dbContext.SaveChanges();
}
else
{
Console.WriteLine(DateTime.Now + ":五楼接驳位调度入库任务,未找到库位");
LogManager.Info("五楼接驳位调度入库任务,未找到库位");
}
}
}
else if (wcsTask.taskStatus == 6) //出库任务,小车任务是完成状态
{
int? floor = 0;
var wmsProductOutstock = dbContext.WmsProductOutstock.FirstOrDefault(t => t.saleOrderId == wcsTask.orderId);
if (wmsProductOutstock != null)
{
var endEquip = StaticData.BaseEquip.FirstOrDefault(t => t.equipNo == wmsProductOutstock.endStationCode);
if (endEquip != null)
{
floor = endEquip.floorNo;
}
}
else
{
var wmsRawOutstock = dbContext.WmsRawOutstock.FirstOrDefault(t => t.orderId == wcsTask.orderId);
if (wmsRawOutstock != null)
{
BaseEquip endEquip = StaticData.BaseEquip.FirstOrDefault(t => t.equipNo == wmsRawOutstock.endStationCode);
if (endEquip != null)
{
floor = endEquip.floorNo;
}
}
}
if (floor == 0)
{
Console.WriteLine($"{DateTime.Now}:5楼接驳位未找到目的地楼层");
LogManager.Info("5楼接驳位未找到目的地楼层");
Thread.Sleep(1000);
continue;
}
BaseEquip nextEquip = StaticData.BaseEquip.First(t => t.equipType == 2);//提升机
wcsTask.nextPointId = nextEquip.objid;
wcsTask.nextPointNo = nextEquip.equipNo;
wcsTask.currPointId = baseEquip.objid;
wcsTask.currPointNo = baseEquip.equipNo;
wcsTask.fromFloorNo = FloorNo;
wcsTask.taskType = 6;//成品出库
wcsTask.floorNo = floor;//出库到一楼
wcsTask.taskStatus = 0;
wcsTask.updateTime = DateTime.Now;
dbContext.Update(wcsTask);
dbContext.WcsTaskLog.Where(t => t.objid == wcsTask.objid)
.Update(t => new WcsTaskLog
{
nextPointId = nextEquip.objid,
nextPointNo = nextEquip.equipNo,
currPointId = baseEquip.objid,
currPointNo = baseEquip.equipNo,
fromFloorNo = FloorNo,
floorNo = floor,
taskStatus = 0,
updateTime = DateTime.Now,
});
dbContext.SaveChanges();
}
}
}
}
}
catch (Exception ex)
{
LogManager.Error(ex);
}
finally
{
Thread.Sleep(1000);
}
}
}
public WcsTask? GetTask(string containerNo, int floorNo, string equipNo)
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService();
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.agvType == "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();
if (palletInfo != null && startEquip != null && material != null && dic != null && endPoint != null)
{
//自动获取id
var objid = StaticData.SnowId.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;
}
///
/// 下发任务
///
///
public void SendTask(WcsTask task)
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService();
//入库类型
List taskInType = new List { 1, 3, 5, 7 };
List taskOutType = new List { 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();
}
else
{
}
}
catch (Exception)
{
throw;
}
}
}
}