You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
865 lines
58 KiB
C#
865 lines
58 KiB
C#
using Khd.Core.Domain.Dto.TaskType;
|
|
using Khd.Core.Domain.Dto.webapi;
|
|
using Khd.Core.Domain.Models;
|
|
using Khd.Core.EntityFramework;
|
|
using Khd.Core.Library;
|
|
using Khd.Core.Plc.S7;
|
|
using Khd.Core.Wcs.Global;
|
|
using Masuit.Tools;
|
|
using Microsoft.Extensions.DependencyInjection;
|
|
using Microsoft.Extensions.Hosting;
|
|
using Newtonsoft.Json;
|
|
using Z.EntityFramework.Plus;
|
|
|
|
namespace Khd.Core.Wcs.Wcs
|
|
{
|
|
/// <summary>
|
|
/// 二楼AGV调度
|
|
/// </summary>
|
|
public class SecondFloorAGV
|
|
{
|
|
private readonly IHost _host;
|
|
private readonly LoggerUtils _logger = new LoggerUtils();
|
|
int FloorNo { get; set; }
|
|
int EquipID = 8; //2楼AGV
|
|
|
|
public SecondFloorAGV(IHost host, int floor)
|
|
{
|
|
this._host = host;
|
|
FloorNo = floor;
|
|
|
|
}
|
|
/// <summary>
|
|
/// 启动上件扫描监听
|
|
/// </summary>
|
|
public void StartPoint()
|
|
{
|
|
|
|
Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
|
|
FlowPointThread.IsBackground = true;
|
|
FlowPointThread.Name = "SecondFloorAGV";
|
|
FlowPointThread.Start();
|
|
Console.WriteLine(DateTime.Now + ":二楼AGV上件扫描监听启动成功");
|
|
_logger.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<DefaultDbContext>();
|
|
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.IsDelete == 0 || t.IsDelete == null)
|
|
.Where(t => t.nextPointId == EquipID).OrderBy(t => t.createTime).ToList();
|
|
foreach (var item in taskList)
|
|
{
|
|
item.updateTime = DateTime.Now;
|
|
if (item.taskStatus == 0)//下发任务
|
|
{
|
|
BaseDictionary baseDictionary = StaticData.BaseDictionary.First(t => t.objid == item.taskType);
|
|
if (item.taskType == StaticTaskType.SecondLineToSmallPackage)//输送线-小包入口
|
|
{
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
positionCodePath = new List<Position>
|
|
{
|
|
new ()
|
|
{
|
|
positionCode= lineEquip.agvPositionCode,
|
|
type="00"
|
|
},
|
|
new ()
|
|
{
|
|
positionCode=inEquip.agvPositionCode,
|
|
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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
_logger.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.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("五楼Agv下发任务失败" + item.taskType + result);
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondWasteToTransit)//废料工位-库位
|
|
{
|
|
var endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
positionCodePath = new List<Position>
|
|
{
|
|
new ()
|
|
{
|
|
positionCode=wasteEquip.agvPositionCode,
|
|
type="00"
|
|
},
|
|
new ()
|
|
{
|
|
positionCode= endEquip.agvPositionCode,
|
|
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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
_logger.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.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("五楼Agv下发任务失败" + item.taskType + result);
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondSmallPackageToStorage)//小包出口-库位
|
|
{
|
|
BaseEquip startEquip = dbContext.BaseEquip.First(t => t.objid == item.currPointId);
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
positionCodePath = new List<Position>
|
|
{
|
|
new ()
|
|
{
|
|
positionCode=startEquip.agvPositionCode,
|
|
type="00"
|
|
},
|
|
new ()
|
|
{
|
|
positionCode=item.endPointNo,
|
|
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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
_logger.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.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("二楼Agv下发任务失败" + item.taskType + result);
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondTransitToLift)//周转位-提升机
|
|
{
|
|
var startPoint = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
positionCodePath = new List<Position>
|
|
{
|
|
new ()
|
|
{
|
|
positionCode=startPoint.agvPositionCode,
|
|
type="00"
|
|
},
|
|
new ()
|
|
{
|
|
positionCode=lineEquip.agvPositionCode,
|
|
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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
_logger.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.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("五楼Agv下发任务失败" + item.taskType + result);
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondStorageToLift)//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)
|
|
{
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
positionCodePath = new List<Position>
|
|
{
|
|
new ()
|
|
{
|
|
positionCode=startPoint.agvPositionCode,
|
|
type="00"
|
|
},
|
|
new ()
|
|
{
|
|
positionCode= lineEquip.agvPositionCode,
|
|
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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
_logger.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.currPointNo + "," + item.endPointNo);
|
|
item.taskCode = reponseMessage.data;
|
|
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 });
|
|
dbContext.SaveChanges();
|
|
}
|
|
else
|
|
{
|
|
_logger.Info("五楼Agv下发任务失败" + item.taskType + result);
|
|
}
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondRemove)//2F移库
|
|
{
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
positionCodePath = new List<Position>
|
|
{
|
|
new()
|
|
{
|
|
positionCode = item.currPointNo,
|
|
type = "00"
|
|
},
|
|
new()
|
|
{
|
|
positionCode = item.endPointNo,
|
|
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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
_logger.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.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("五楼Agv下发任务失败" + item.taskType + result);
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondLiftToWaste)//提升机-废料工位
|
|
{
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
positionCodePath = new List<Position>
|
|
{
|
|
new ()
|
|
{
|
|
positionCode=lineEquip.agvPositionCode,
|
|
type="00"
|
|
},
|
|
new ()
|
|
{
|
|
positionCode=wasteEquip.agvPositionCode,
|
|
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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
_logger.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.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("五楼Agv下发任务失败" + item.taskType + result);
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondTransitToWaste)//周转位-废料工位
|
|
{
|
|
var wasteEquipLocation = StaticData.BaseEquip.FirstOrDefault(t => t.objid == item.currPointId);
|
|
if (wasteEquipLocation != null)
|
|
{
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
positionCodePath = new List<Position>
|
|
{
|
|
new ()
|
|
{
|
|
positionCode=wasteEquipLocation.agvPositionCode,
|
|
type="00"
|
|
},
|
|
new ()
|
|
{
|
|
positionCode=wasteEquip.agvPositionCode,
|
|
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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
_logger.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.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("五楼Agv下发任务失败" + item.taskType + result);
|
|
}
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondLiftToTransit)//提升机到周转位
|
|
{
|
|
var endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
positionCodePath = new List<Position>
|
|
{
|
|
new ()
|
|
{
|
|
positionCode=lineEquip.agvPositionCode,
|
|
type="00"
|
|
},
|
|
new ()
|
|
{
|
|
positionCode=endEquip.agvPositionCode,
|
|
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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
_logger.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.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("五楼Agv下发任务失败" + item.taskType + result);
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondTransitToSmallPackage)//周转位-小包入口
|
|
{
|
|
BaseEquip startEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
|
|
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
positionCodePath = new List<Position>
|
|
{
|
|
new ()
|
|
{
|
|
positionCode=startEquip.agvPositionCode,
|
|
type="00"
|
|
},
|
|
new ()
|
|
{
|
|
positionCode=inEquip.agvPositionCode,
|
|
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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
_logger.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.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("五楼Agv下发任务失败" + item.taskType + result);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (item.taskStatus == 3)
|
|
{
|
|
_logger.Info("二楼AGV线程继续任务" + item.objid);
|
|
if (item.currPointId == lineEquip.objid)
|
|
{
|
|
var lineSignal02 = StaticData.PlcDic[0].Read(StaticData.BasePlcpointList.First(t => t.plcpointNo == "linesignal02").plcpointAddress);
|
|
if (lineSignal02 != null && lineSignal02.ToString() == "1")
|
|
{
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
taskCode = item.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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
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 if (item.currPointId == wasteEquip.objid)
|
|
{
|
|
if (true)
|
|
{
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
taskCode = item.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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
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 if (item.currPointId == outEquip.objid)
|
|
{
|
|
if (true)
|
|
{
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
taskCode = item.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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
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
|
|
{
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
taskCode = item.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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
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 if (item.taskStatus == 5)
|
|
{
|
|
if (item.taskType == StaticTaskType.SecondLineToSmallPackage)
|
|
{
|
|
var agvPutPoint = StaticData.BasePlcpointList.First(t => t.id == 54);
|
|
var agvPutValue = StaticData.PlcDic[2].Read(agvPutPoint.plcpointAddress);//小包入口叫料
|
|
if (agvPutValue !=null && Convert.ToInt32(agvPutValue) == 0)
|
|
{
|
|
var agvTask = new RequestAGVTaskDto
|
|
{
|
|
reqCode = StaticData.SnowId.NextId().ToString(),
|
|
taskCode = item.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<ReponseMessage>(result);
|
|
if (reponseMessage != null && reponseMessage.message == "成功")
|
|
{
|
|
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 });
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
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 == StaticTaskType.SecondSmallPackageToStorage)
|
|
{
|
|
|
|
//取托盘确认信号DB4.DBX310.1写true
|
|
BasePlcpoint SecondOutGetOverPoint = StaticData.BasePlcpointList.First(t => t.id == 71);
|
|
StaticData.PlcDic[2].WriteToPoint(SecondOutGetOverPoint.plcpointAddress, true, SecondOutGetOverPoint.plcpointLength.ToString());
|
|
// 清空小包出口RFID
|
|
BasePlcpoint RFID2001Point = StaticData.BasePlcpointList.First(t => t.id == 52);
|
|
StaticData.PlcDic[2].WriteRFID(RFID2001Point.plcpointAddress,"", 12);//小包出口的RFID
|
|
|
|
//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.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);
|
|
SystemData.UnLockOutLocation(wmsBaseLocation, dbContext);
|
|
//dbContext.Update(wmsProductInstock);
|
|
dbContext.Remove(item);
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
|
|
dbContext.SaveChanges();
|
|
_logger.Info("二楼AGV线程完成任务" + item.objid);
|
|
}
|
|
// }
|
|
//}
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondStorageToLift)//成品出库
|
|
{
|
|
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);
|
|
wmsProductOutstock.outstockQty++;
|
|
if (wmsProductOutstock.applyQty <= wmsProductOutstock.outstockQty)
|
|
{
|
|
wmsProductOutstock.endTime = DateTime.Now;
|
|
wmsProductOutstock.executeStatus = "2";
|
|
}
|
|
wmsProductOutstockDetail.executeStatus = "2";
|
|
wmsProductOutstockDetail.endTime = DateTime.Now;
|
|
wmsBaseLocation.locationStatus = "1";
|
|
wmsBaseLocation.containerCode = null;
|
|
item.nextPointId = 2;
|
|
item.taskStatus = 8;
|
|
SystemData.UnLockOutLocation(wmsBaseLocation, dbContext);
|
|
dbContext.Remove(wmsProductStock);
|
|
dbContext.Update(wmsBaseLocation);
|
|
dbContext.Update(wmsProductOutstockDetail);
|
|
dbContext.Update(wmsProductOutstock);
|
|
dbContext.Update(item);
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
|
|
dbContext.SaveChanges();
|
|
_logger.Info("二楼AGV线程完成任务" + item.objid);
|
|
}
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondLiftToTransit)//空托盘入周转位
|
|
{
|
|
BaseEquip endEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
|
|
endEquip.equipStatus = 1;
|
|
endEquip.emptyCount = item.qty;
|
|
dbContext.Update(endEquip);
|
|
dbContext.Remove(item);
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
|
|
dbContext.SaveChanges();
|
|
_logger.Info("二楼AGV线程完成任务" + item.objid);
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondLiftToWaste)//提升机到废料口
|
|
{
|
|
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.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
|
|
dbContext.SaveChanges();
|
|
_logger.Info("二楼AGV线程完成任务" + item.objid);
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondLineToSmallPackage)//输送线到小包入口
|
|
{
|
|
// 小包入口放料完成确认信号
|
|
//放托盘确认信号DB4.DBX310.0写true
|
|
BasePlcpoint SecondInPutOverPoint = StaticData.BasePlcpointList.First(t => t.id == 72);
|
|
StaticData.PlcDic[2].WriteToPoint(SecondInPutOverPoint.plcpointAddress, true, SecondInPutOverPoint.plcpointLength.ToString());
|
|
|
|
|
|
BaseEquip startEquip = dbContext.BaseEquip.First(t => t.objid == item.currPointId);
|
|
startEquip.equipStatus = 0;
|
|
dbContext.Update(startEquip);
|
|
dbContext.Remove(item);
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
|
|
dbContext.SaveChanges();
|
|
_logger.Info("二楼AGV线程完成任务" + item.objid);
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondTransitToWaste)//周转位到废料口
|
|
{
|
|
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.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
|
|
dbContext.SaveChanges();
|
|
_logger.Info("二楼AGV线程完成任务" + item.objid);
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondRemove)//移库
|
|
{
|
|
using var transaction = dbContext.Database.BeginTransaction();
|
|
try
|
|
{
|
|
var wmsProductStock = dbContext.WmsProductStock.FirstOrDefault(t => t.locationCode == item.currPointNo);
|
|
WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.Where(t => t.locationId == item.currPointId).First();
|
|
WmsBaseLocation toLocation = dbContext.WmsBaseLocation.Where(t => t.locationId == item.endPointId).First();
|
|
SystemData.UnLockOutLocation(wmsBaseLocation, dbContext);
|
|
SystemData.UnLockOutLocation(toLocation, dbContext);
|
|
if (wmsProductStock != null)
|
|
{
|
|
wmsProductStock.locationCode = item.endPointNo;
|
|
dbContext.Update(wmsProductStock);
|
|
}
|
|
dbContext.WmsBaseLocation.Where(t => t.locationId == item.currPointId).Update(t => new WmsBaseLocation
|
|
{
|
|
locationStatus = "1",
|
|
containerCode = null,
|
|
updateTime = DateTime.Now
|
|
});
|
|
dbContext.WmsBaseLocation.Where(t => t.locationId == item.endPointId).Update(t => new WmsBaseLocation
|
|
{
|
|
locationStatus = "1",
|
|
containerCode = item.endPointNo,
|
|
updateTime = DateTime.Now
|
|
});
|
|
dbContext.Remove(item);
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
|
|
transaction.Commit();
|
|
dbContext.SaveChanges();
|
|
_logger.Info("二楼AGV线程完成任务" + item.objid);
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
try
|
|
{
|
|
transaction.Rollback();
|
|
}
|
|
catch
|
|
{
|
|
|
|
}
|
|
_logger.Error(ex.Message + "\n" + ex.StackTrace);
|
|
}
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondWasteToTransit)//废料区到周转区
|
|
{
|
|
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.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
|
|
dbContext.SaveChanges();
|
|
_logger.Info("二楼AGV线程完成任务" + item.objid);
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondTransitToLift)//周转位-提升机
|
|
{
|
|
BaseEquip emptyEquip = StaticData.BaseEquip.First(t => t.objid == item.currPointId);
|
|
emptyEquip.emptyCount = 0;
|
|
emptyEquip.equipStatus = 0;
|
|
emptyEquip.containerNo = null;
|
|
item.nextPointId = 2;
|
|
item.taskStatus = 8;
|
|
dbContext.Update(item);
|
|
dbContext.Update(emptyEquip);
|
|
dbContext.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 6 });
|
|
dbContext.SaveChanges();
|
|
_logger.Info("二楼AGV线程完成任务" + item.objid);
|
|
}
|
|
else if (item.taskType == StaticTaskType.SecondTransitToSmallPackage)//周转区-小包入口
|
|
{
|
|
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.WcsTaskLog.Where(t => t.objid == item.objid).Update(t => new WcsTaskLog() { taskStatus = 8 });
|
|
dbContext.SaveChanges();
|
|
_logger.Info("二楼AGV线程完成任务" + item.objid);
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
if (ex is PlcException)
|
|
{
|
|
|
|
}
|
|
else
|
|
{
|
|
_logger.Error(ex.Message + "\n" + ex.StackTrace);
|
|
}
|
|
}
|
|
finally
|
|
{
|
|
Thread.Sleep(1000);
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|