using Khd.Core.Domain.Dto.webapi;
using Khd.Core.Domain.Models;
using Khd.Core.EntityFramework;
using Khd.Core.Library.Mapper;
using Khd.Core.Wcs.Global;
using Masuit.Tools;
using Masuit.Tools.Logging;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Newtonsoft.Json;
using Z.EntityFramework.Plus;
namespace Khd.Core.Wcs.Wcs
{
///
/// 二楼AGV调度
///
public class SecondFloorAGV
{
private readonly IHost _host;
int FloorNo { get; set; }
int EquipID = 8; //2楼AGV
public SecondFloorAGV(IHost host, Plc.S7.Plc plc, int floor)
{
this._host = host;
FloorNo = floor;
}
///
/// 启动上件扫描监听
///
public void StartPoint()
{
Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
FlowPointThread.Start();
Console.WriteLine(DateTime.Now + ":二楼AGV上件扫描监听启动成功");
LogManager.Info("二楼AGV上件扫描监听启动成功");
}
public void MonitorInLocatorPoint()
{
using var scope = _host.Services.CreateScope();
using var dbContext = scope.ServiceProvider.GetRequiredService();
BaseEquip inEquip = StaticData.BaseEquip.First(t => t.objid == 36);
BaseEquip outEquip = StaticData.BaseEquip.First(t => t.objid == 37);
BaseEquip lineEquip = StaticData.BaseEquip.First(t => t.objid == 2);
BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == EquipID);
BaseEquip wasteEquip = StaticData.BaseEquip.First(t => t.objid == 38);
while (true)
{
try
{
dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
//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 = dbContext.WcsTask
.Where(t => t.useFlag == 1)
.Where(t => t.nextPointId == EquipID).OrderBy(t => t.createTime).ToList();
foreach (var item in taskList)
{
if (item.taskStatus == 0)//下发任务
{
BaseDictionary baseDictionary = StaticData.BaseDictionary.First(t => t.objid == item.taskType);
if (item.taskType == 51)//输送线-小包入口
{
WcsCmd 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AGV",
currPointId = item.currPointId,
currPointNo = lineEquip.agvPositionCode,
nextPointId = item.endPointId,
nextPointNo = inEquip.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = wcsCmd.objid.ToString(),
positionCodePath = new List
{
new ()
{
positionCode=wcsCmd.currPointNo,
type="00"
},
new ()
{
positionCode=wcsCmd.nextPointNo,
type="00"
}
},
taskTyp = baseDictionary.dicValue,
ctnrTyp = "2",
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(item);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
WcsCmdLog wcsCmdLog = CoreMapper.Map(wcsCmd);
dbContext.Add(wcsCmdLog);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
else
{
LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
}
}
else if (item.taskType == 56)//废料工位-库位
{
var endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
WcsCmd 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AGV",
currPointId = item.currPointId,
currPointNo = wasteEquip.agvPositionCode,
nextPointId = item.endPointId,
nextPointNo = endEquip.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = wcsCmd.objid.ToString(),
positionCodePath = new List
{
new ()
{
positionCode=wcsCmd.currPointNo,
type="00"
},
new ()
{
positionCode=wcsCmd.nextPointNo,
type="00"
}
},
taskTyp = baseDictionary.dicValue,
ctnrTyp = "2",
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(item);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
WcsCmdLog wcsCmdLog = CoreMapper.Map(wcsCmd);
dbContext.Add(wcsCmdLog);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
else
{
LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
}
}
else if (item.taskType == 49)//小包出口-库位
{
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
BaseEquip startEquip = dbContext.BaseEquip.First(t=>t.objid==item.currPointId);
WcsCmd 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AGV",
currPointId = startEquip.objid,
currPointNo = startEquip.agvPositionCode,
nextPointId = item.endPointId,
nextPointNo = wmsBaseLocation.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = wcsCmd.objid.ToString(),
positionCodePath = new List
{
new ()
{
positionCode=wcsCmd.currPointNo,
type="00"
},
new ()
{
positionCode=wcsCmd.nextPointNo,
type="00"
}
},
taskTyp = baseDictionary.dicValue,
ctnrTyp = "2",
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(item);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
WcsCmdLog wcsCmdLog = CoreMapper.Map(wcsCmd);
dbContext.Add(wcsCmdLog);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
else
{
LogManager.Info("二楼Agv下发任务失败" + item.taskType + message);
}
}
else if (item.taskType == 57)//周转位-小包入口
{
var startPoint = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
WcsCmd 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AGV",
currPointId = item.currPointId,
currPointNo = startPoint.agvPositionCode,
nextPointId = item.endPointId,
nextPointNo = lineEquip.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = wcsCmd.objid.ToString(),
positionCodePath = new List
{
new ()
{
positionCode=wcsCmd.currPointNo,
type="00"
},
new ()
{
positionCode=wcsCmd.nextPointNo,
type="00"
}
},
taskTyp = baseDictionary.dicValue,
ctnrTyp = "2",
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(item);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
WcsCmdLog wcsCmdLog = CoreMapper.Map(wcsCmd);
dbContext.Add(wcsCmdLog);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
else
{
LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
}
}
else if (item.taskType == 50)//库位-提升机
{
var startPoint = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
lineEquip = dbContext.BaseEquip.First(t => t.objid == 2);
if (lineEquip.equipStatus == 0)
{
WcsCmd 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AGV",
currPointId = item.currPointId,
currPointNo = startPoint.agvPositionCode,
nextPointId = lineEquip.objid,
nextPointNo = lineEquip.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = wcsCmd.objid.ToString(),
positionCodePath = new List
{
new ()
{
positionCode=wcsCmd.currPointNo,
type="00"
},
new ()
{
positionCode=wcsCmd.nextPointNo,
type="00"
}
},
taskTyp = baseDictionary.dicValue,
ctnrTyp = "2",
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
LogManager.Info("二楼AGV线程下发任务" + wcsCmd.ToJsonString() + "\n" + message);
Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
lineEquip.equipStatus = 1;
dbContext.Update(lineEquip);
dbContext.Update(item);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
WcsCmdLog wcsCmdLog = CoreMapper.Map(wcsCmd);
dbContext.Add(wcsCmdLog);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
else
{
LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
}
}
}
else if (item.taskType == 55)//2F移库
{
WmsBaseLocation fromWmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.currPointId);
WmsBaseLocation toWmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
WcsCmd 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AGV",
currPointId = item.currPointId,
currPointNo = fromWmsBaseLocation.agvPositionCode,
nextPointId = item.endPointId,
nextPointNo = toWmsBaseLocation.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = wcsCmd.objid.ToString(),
positionCodePath = new List
{
new()
{
positionCode = wcsCmd.currPointNo,
type = "00"
},
new()
{
positionCode = wcsCmd.nextPointNo,
type = "00"
}
},
taskTyp = baseDictionary.dicValue,
ctnrTyp = "2",
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(item);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
WcsCmdLog wcsCmdLog = CoreMapper.Map(wcsCmd);
dbContext.Add(wcsCmdLog);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
else
{
LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
}
}
else if (item.taskType == 53)//提升机-废料工位
{
WcsCmd 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AGV",
currPointId = item.currPointId,
currPointNo = lineEquip.agvPositionCode,
nextPointId = item.endPointId,
nextPointNo = wasteEquip.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = wcsCmd.objid.ToString(),
positionCodePath = new List
{
new ()
{
positionCode=wcsCmd.currPointNo,
type="00"
},
new ()
{
positionCode=wcsCmd.nextPointNo,
type="00"
}
},
taskTyp = baseDictionary.dicValue,
ctnrTyp = "2",
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(item);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
WcsCmdLog wcsCmdLog = CoreMapper.Map(wcsCmd);
dbContext.Add(wcsCmdLog);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
else
{
LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
}
}
else if (item.taskType == 54)//周转位-废料工位
{
var wasteEquipLocation = StaticData.BaseEquip.FirstOrDefault(t => t.objid == item.currPointId);
if (wasteEquipLocation != null)
{
WcsCmd 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AGV",
currPointId = item.currPointId,
currPointNo = wasteEquipLocation.agvPositionCode,
nextPointId = item.endPointId,
nextPointNo = wasteEquip.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = wcsCmd.objid.ToString(),
positionCodePath = new List
{
new ()
{
positionCode=wcsCmd.currPointNo,
type="00"
},
new ()
{
positionCode=wcsCmd.nextPointNo,
type="00"
}
},
taskTyp = baseDictionary.dicValue,
ctnrTyp = "2",
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(item);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
WcsCmdLog wcsCmdLog = CoreMapper.Map(wcsCmd);
dbContext.Add(wcsCmdLog);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
else
{
LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
}
}
}
else if (item.taskType == 58)//提升机到周转位
{
var endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
WcsCmd 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AGV",
currPointId = item.currPointId,
currPointNo = lineEquip.agvPositionCode,
nextPointId = item.endPointId,
nextPointNo = endEquip.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = wcsCmd.objid.ToString(),
positionCodePath = new List
{
new ()
{
positionCode=wcsCmd.currPointNo,
type="00"
},
new ()
{
positionCode=wcsCmd.nextPointNo,
type="00"
}
},
taskTyp = baseDictionary.dicValue,
ctnrTyp = "2",
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(item);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
WcsCmdLog wcsCmdLog = CoreMapper.Map(wcsCmd);
dbContext.Add(wcsCmdLog);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
else
{
LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
}
}
else if (item.taskType == 59)//周转位-小包入口
{
BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
WcsCmd 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AGV",
currPointId = item.currPointId,
currPointNo = startEquip.agvPositionCode,
nextPointId = item.endPointId,
nextPointNo = endEquip.agvPositionCode,
};
var agvTask = new RequestAGVTaskDto
{
reqCode = wcsCmd.objid.ToString(),
positionCodePath = new List
{
new ()
{
positionCode=wcsCmd.currPointNo,
type="00"
},
new ()
{
positionCode=wcsCmd.nextPointNo,
type="00"
}
},
taskTyp = baseDictionary.dicValue,
ctnrTyp = "2",
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
var reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
LogManager.Info("二楼AGV线程下发任务" + agvTask.ToJsonString() + "\n" + message);
Console.WriteLine(DateTime.Now + ":二楼AGV线程下发任务" + item.currPointId + "," + item.endPointNo);
wcsCmd.taskCode = reponseMessage.data;
wcsCmd.cmdStatus = 1;
item.taskStatus = 1;
dbContext.Update(item);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 1 });
WcsCmdLog wcsCmdLog = CoreMapper.Map(wcsCmd);
dbContext.Add(wcsCmdLog);
dbContext.Add(wcsCmd);
dbContext.SaveChanges();
}
else
{
LogManager.Info("五楼Agv下发任务失败" + item.taskType + message);
}
}
}
else
{
WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.taskId == item.objid);
if (wcsCmd != null)
{
LogManager.Info("二楼AGV线程完成任务" + item.objid);
if (wcsCmd.cmdStatus == 3)
{
if (wcsCmd.currPointId == lineEquip.objid)
{
var lineSignal02 = StaticData.PlcDic[0].Read(StaticData.BasePlcpointList.First(t => t.plcpointNo == "linesignal02").plcpointAddress);
var rfid = StaticData.PlcDic[0].ReadRFID(StaticData.BasePlcpointList.First(t => t.plcpointNo == "RFID002").plcpointAddress);
if (lineSignal02 != null && rfid != null && rfid == item.containerNo && lineSignal02.ToString() == "1")
{
var agvTask = new RequestAGVTaskDto
{
reqCode = StaticData.SnowId.NextId().ToString(),
taskCode = wcsCmd.taskCode
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/continueTask", message);
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject(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.currPointId == wasteEquip.objid)
{
if (true)
{
var agvTask = new RequestAGVTaskDto
{
reqCode = StaticData.SnowId.NextId().ToString(),
taskCode = wcsCmd.taskCode
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/continueTask", message);
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject(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.currPointId == outEquip.objid)
{
if (true)
{
var agvTask = new RequestAGVTaskDto
{
reqCode = StaticData.SnowId.NextId().ToString(),
taskCode = wcsCmd.taskCode
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/continueTask", message);
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject(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
{
var agvTask = new RequestAGVTaskDto
{
reqCode = StaticData.SnowId.NextId().ToString(),
taskCode = wcsCmd.taskCode
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/continueTask", message);
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
wcsCmd.cmdStatus = 4;
item.taskStatus = 4;
dbContext.Update(wcsCmd);
dbContext.Update(item);
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 == 51)
{
if (true)
{
var agvTask = new RequestAGVTaskDto
{
reqCode = StaticData.SnowId.NextId().ToString(),
taskCode = wcsCmd.taskCode
};
string message = JsonConvert.SerializeObject(agvTask);
string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms/services/rest/hikRpcService/continueTask", message);
ReponseMessage? reponseMessage = JsonConvert.DeserializeObject(result);
if (reponseMessage != null && reponseMessage.message == "成功")
{
wcsCmd.cmdStatus = 6;
item.taskStatus = 6;
dbContext.Update(item);
dbContext.Update(wcsCmd);
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 });
dbContext.SaveChanges();
}
}
}
}
else if (item.taskStatus == 7)
{
if (item.currPointId == 2)
{
lineEquip = dbContext.BaseEquip.First(t => t.objid == 2);
lineEquip.equipStatus = 0;
dbContext.Update(lineEquip);
}
if (item.taskType == 49)
{
//WmsProductInstock? wmsProductInstock = dbContext.WmsProductInstock.FirstOrDefault(t => t.productInstockId == item.orderId);
//if (wmsProductInstock != null)
//{
// WmsProductInstockDetail? wmsProductInstockDetail = dbContext.WmsProductInstockDetail.FirstOrDefault(t => t.productInstockId == wmsProductInstock.productInstockId);
// if (wmsProductInstockDetail != null)
// {
MesBasePalletInfo? mesBasePalletInfo = dbContext.MesBasePalletInfo.FirstOrDefault(t => t.palletInfoCode == item.containerNo);
if (mesBasePalletInfo != null)
{
MesBaseBarcodeInfo? mesBaseBarcodeInfo = dbContext.MesBaseBarcodeInfo.FirstOrDefault(t => t.palletInfoCode == item.containerNo);
if (mesBaseBarcodeInfo != null)
{
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
wmsBaseLocation.instockFlag = "0";
wmsBaseLocation.locationStatus = "1";
wmsBaseLocation.containerCode = item.containerNo;
WmsProductStock wmsProductStock = new WmsProductStock()
{
productId = mesBasePalletInfo.materialId,
activeFlag = "1",
frozenAmount = 0,
createBy = "WCS",
createDate = DateTime.Now,
updateBy = "WCS",
updateDate = DateTime.Now,
instockDate = DateTime.Now,
locationCode = wmsBaseLocation.locationCode,
occupyAmount = 0,
totalAmount = 1,
palletInfoCode = item.containerNo,
planCode = mesBaseBarcodeInfo.planCode,
planDetailCode = mesBaseBarcodeInfo.planDetailCode,
productBatch = mesBasePalletInfo.materialBarcode,
saleorderCode = mesBaseBarcodeInfo.saleorderCode,
productStockId = StaticData.SnowId.NextId(),
saleOrderId = mesBaseBarcodeInfo.saleOrderId,
stockType = "3",
qualityStatus = "0",
warehouseFloor = 2,
warehouseId = wmsBaseLocation.warehouseId
};
//wmsProductInstockDetail.executeStatus = "2";
//wmsProductInstock.endTime = DateTime.Now;
//wmsProductInstock.executeStatus = "2";
//dbContext.Update(wmsProductInstockDetail);
dbContext.Add(wmsProductStock);
dbContext.Update(wmsBaseLocation);
//dbContext.Update(wmsProductInstock);
dbContext.Remove(item);
dbContext.Remove(wcsCmd);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
dbContext.SaveChanges();
}
// }
//}
}
}
else if (item.taskType == 50)
{
WmsProductOutstock? wmsProductOutstock = dbContext.WmsProductOutstock.FirstOrDefault(t => t.productOutstockId == item.orderId);
if (wmsProductOutstock != null)
{
WmsProductOutstockDetail? wmsProductOutstockDetail = dbContext.WmsProductOutstockDetail.FirstOrDefault(t => t.productOutstockId == wmsProductOutstock.productOutstockId);
if (wmsProductOutstockDetail != null)
{
var wmsBaseLocation = dbContext.WmsBaseLocation.Where(t => t.locationId == item.currPointId).First();
WmsProductStock wmsProductStock = dbContext.WmsProductStock.First(t => t.locationCode == wmsBaseLocation.locationCode);
if (wmsProductOutstock.applyQty <= wmsProductOutstock.outstockQty)
{
wmsProductOutstock.endTime = DateTime.Now;
wmsProductOutstock.executeStatus = "2";
}
wmsProductOutstockDetail.executeStatus = "2";
wmsBaseLocation.locationStatus = "1";
wmsBaseLocation.outstockFlag = "0";
wmsBaseLocation.containerCode = null;
item.nextPointId = 2;
item.taskStatus = 8;
dbContext.Remove(wmsProductStock);
dbContext.Update(wmsBaseLocation);
dbContext.Update(wmsProductOutstockDetail);
dbContext.Update(wmsProductOutstock);
dbContext.Update(item);
dbContext.Remove(wcsCmd);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
dbContext.SaveChanges();
}
}
}
else if (item.taskType == 58)
{
BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
endEquip.equipStatus = 1;
endEquip.emptyCount = item.qty;
dbContext.Update(endEquip);
dbContext.Remove(item);
dbContext.Remove(wcsCmd);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
dbContext.SaveChanges();
}
else if (item.taskType == 53)
{
BaseEquip startEquip = dbContext.BaseEquip.First(t => t.objid == item.currPointId);
startEquip.equipStatus = 0;
BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
endEquip.equipStatus = 1;
endEquip.emptyCount = 1;
endEquip.containerNo = item.containerNo;
dbContext.Update(endEquip);
dbContext.Update(startEquip);
dbContext.Remove(item);
dbContext.Remove(wcsCmd);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
dbContext.SaveChanges();
}
else if (item.taskType == 51)
{
BaseEquip startEquip = dbContext.BaseEquip.First(t => t.objid == item.currPointId);
startEquip.equipStatus = 0;
dbContext.Update(startEquip);
dbContext.Remove(item);
dbContext.Remove(wcsCmd);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
dbContext.SaveChanges();
}
else if (item.taskType == 54)
{
BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
startEquip.equipStatus = 0;
startEquip.emptyCount = 0;
startEquip.containerNo = null;
BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
endEquip.equipStatus = 1;
endEquip.emptyCount = 1;
endEquip.containerNo = item.containerNo;
dbContext.Update(startEquip);
dbContext.Update(endEquip);
dbContext.Remove(item);
dbContext.Remove(wcsCmd);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
dbContext.SaveChanges();
}
else if (item.taskType == 55)
{
using var transaction = dbContext.Database.BeginTransaction();
try
{
var wmsRawStock = dbContext.WmsRawStock.Where(t => t.locationCode == item.endPointNo).FirstOrDefault();
if (wmsRawStock != null)
{
wmsRawStock.locationCode = item.endPointNo;
dbContext.Update(wmsRawStock);
}
else
{
var wmsProductStock = dbContext.WmsProductStock.FirstOrDefault(t => t.locationCode == item.currPointNo);
if (wmsProductStock != null)
{
wmsProductStock.locationCode = item.currPointNo;
dbContext.Update(wmsProductStock);
}
}
dbContext.WmsBaseLocation.Where(t => t.locationId == item.currPointId).Update(t => new WmsBaseLocation
{
outstockFlag = "0",
locationStatus = "1",
containerCode = null,
updateTime = DateTime.Now
});
dbContext.WmsBaseLocation.Where(t => t.locationId == item.endPointId).Update(t => new WmsBaseLocation
{
instockFlag = "0",
locationStatus = "1",
containerCode = item.containerNo,
updateTime = DateTime.Now
});
dbContext.Remove(item);
dbContext.Remove(wcsCmd);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
transaction.Commit();
dbContext.SaveChanges();
}
catch (Exception ex)
{
transaction.Rollback();
LogManager.Error(ex);
}
}
else if (item.taskType == 56)
{
wasteEquip.emptyCount = 0;
wasteEquip.equipStatus = 0;
BaseEquip endEquip = dbContext.BaseEquip.First(t => t.objid == item.endPointId);
endEquip.emptyCount = 1;
endEquip.equipStatus = 2;
endEquip.containerNo = item.containerNo;
dbContext.Remove(item);
dbContext.Update(wasteEquip);
dbContext.Remove(wcsCmd);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
dbContext.SaveChanges();
}
else if (item.taskType == 57)
{
BaseEquip emptyEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
emptyEquip.emptyCount = 0;
emptyEquip.equipStatus = 0;
emptyEquip.containerNo = null;
item.taskStatus = 8;
dbContext.Update(item);
dbContext.Update(emptyEquip);
dbContext.Remove(wcsCmd);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 6 });
dbContext.SaveChanges();
}
else if (item.taskType == 59)
{
BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
startEquip.equipStatus = 0;
startEquip.emptyCount = 0;
startEquip.containerNo = null;
dbContext.Update(startEquip);
dbContext.Remove(item);
dbContext.Remove(wcsCmd);
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
dbContext.WcsCmdLog.Where(t => t.objid == item.objid).Update(t => new WcsCmdLog() { cmdStatus = 8 });
dbContext.SaveChanges();
}
}
}
}
break;
}
}
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
{
}
}
LogManager.Error(ex);
}
finally
{
Thread.Sleep(1000);
}
}
}
}
}