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using Khd.Core.Domain.Dto.webapi;
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using Khd.Core.Domain.Models;
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using Khd.Core.EntityFramework;
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using Khd.Core.Wcs.Global;
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using Masuit.Tools.Logging;
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using Microsoft.Extensions.DependencyInjection;
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using Microsoft.Extensions.Hosting;
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using Newtonsoft.Json;
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using Z.EntityFramework.Plus;
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namespace Khd.Core.Wcs.Wcs
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{
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/// <summary>
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/// 五楼CTU调度
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/// </summary>
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public class FiveFloorCTU
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{
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List<BasePlcpoint> ScanPoint { get; set; }//点位信息
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private readonly IHost _host;
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private readonly Plc.S7.Plc _plc;
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private readonly BasePlcpoint LineRFID;
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private readonly BasePlcpoint isarrive;
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private readonly BasePlcpoint isput;
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int FloorNo { get; set; }
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string EquipNo = "";
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int CTUID = 11;
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public FiveFloorCTU(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
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{
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this._host = host;
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this._plc = plc;
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FloorNo = floor;
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EquipNo = equipNo;
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this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
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this.LineRFID = this.ScanPoint.First(t => t.plcpointNo.Contains("RFID5001"));
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this.isarrive = this.ScanPoint.First(t => t.plcpointNo.Contains("isarrive"));
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this.isput = this.ScanPoint.First(t => t.plcpointNo.Contains("isput"));
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//var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
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try
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{
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//默认启动,清理plc的上位机写入点位值
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//this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
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}
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catch (Exception ex)
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{
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Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
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LogManager.Error(ex);
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}
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}
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/// <summary>
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/// 启动上件扫描监听
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/// </summary>
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public void StartPoint()
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{
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Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
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FlowPointThread.Start();
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//Thread FlowCTUInWareThread = new Thread(MonitorInWare);
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//FlowCTUInWareThread.Start();
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Console.WriteLine(DateTime.Now + ":五楼CTU上件扫描监听启动");
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LogManager.Info("五楼CTU上件扫描监听启动");
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}
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private void MonitorInWare(object? obj)
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{
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using var scope = _host.Services.CreateScope();
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using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
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while (true)
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{
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try
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{
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dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
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var rfid = this._plc.Read(LineRFID.plcpointAddress);
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var isArrive = this._plc.Read(isarrive.plcpointAddress);
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if (rfid != null && isArrive != null && Convert.ToInt32(isArrive) == 1)
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{
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//根据rfid找到库位
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//生成入库任务
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var wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.containerCode == rfid.ToString());
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BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.equipNo == "FL051");
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BaseEquip ctuEquip = StaticData.BaseEquip.First(t => t.objid == 11);
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if (wmsBaseLocation != null)
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{
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var wcsTask = new WcsTask()
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{
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objid = StaticData.SnowId.NextId(),
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startPointId = baseEquip.objid,
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startPointNo = baseEquip.agvPositionCode,
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currPointId = baseEquip.objid,
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currPointNo = baseEquip.agvPositionCode,
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nextPointId = ctuEquip.objid,
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nextPointNo = ctuEquip.equipNo,
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endPointId = wmsBaseLocation.locationId,
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endPointNo = wmsBaseLocation.agvPositionCode,
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taskType = 1,
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taskStatus = 0,
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floorNo = 5,
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ud1 = "0",//是否是最后一个任务
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containerNo = rfid.ToString(),
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equipmentNo = baseEquip.equipNo,
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createBy = FloorNo + "楼CTU",
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createTime = DateTime.Now,
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};
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dbContext.Add(wcsTask);
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dbContext.SaveChanges();
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}
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}
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}
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catch
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{
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}
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}
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}
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public void MonitorInLocatorPoint()
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{
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List<int?> taskType = new() { 1, 3, 5, 7 };
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using var scope = _host.Services.CreateScope();
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using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
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while (true)
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{
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try
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{
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dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
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var taskList = dbContext.WcsTask.Where(t => t.nextPointId == CTUID).ToList();
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if (taskList.Count == 0)
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{
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LogManager.Info(FloorNo + "楼CTU无任务");
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}
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foreach (var item in taskList)
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{
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if (item.taskStatus == 0)//CTU会同时生成多个任务，生成就下发？
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{
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if (item.taskType == 30)//出库任务
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{
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BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
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WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
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var wcsCmd = new WcsCmd()
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{
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objid = StaticData.SnowId.NextId(),
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cmdStatus = 0,
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taskId = item.objid,
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useFlag = 1,
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cmdType = item.taskType,
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containerNo = item.containerNo,
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createTime = DateTime.Now,
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createBy = FloorNo + "楼CTU",
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currPointId = wmsBaseLocation.locationId,
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currPointNo = wmsBaseLocation.agvPositionCode,
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nextPointId = baseEquip.objid,
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nextPointNo = baseEquip.agvPositionCode,
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taskCode = null
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};
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var agvTask = new RequestAGVTaskDto
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{
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reqCode = StaticData.SnowId.NextId().ToString(),
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positionCodePath = new List<Position>
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{
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new()
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{
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positionCode = wcsCmd.currPointNo,
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type = "05"
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},
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new()
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{
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positionCode = wcsCmd.nextPointNo,
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type = "05"
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},
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},
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ctnrTyp = "1",
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taskTyp = "F504"
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};
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string message = JsonConvert.SerializeObject(agvTask);
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string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
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var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
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if (reponseMessage != null && reponseMessage.message == "成功")
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{
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wcsCmd.taskCode = reponseMessage.data;
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wcsCmd.cmdStatus = 1;
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item.taskStatus = 1;
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dbContext.Update(item);
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dbContext.WcsCmd.Add(wcsCmd);
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dbContext.SaveChanges();
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}
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}
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else if (item.taskType == 29)//入库任务
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{
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BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
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WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
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var wcsCmd = new WcsCmd()
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{
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objid = StaticData.SnowId.NextId(),
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cmdStatus = 0,
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taskId = item.objid,
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useFlag = 1,
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cmdType = item.taskType,
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containerNo = item.containerNo,
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createTime = DateTime.Now,
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createBy = FloorNo + "楼CTU",
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nextPointId = wmsBaseLocation.locationId,
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nextPointNo = wmsBaseLocation.agvPositionCode,
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currPointId = baseEquip.objid,
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currPointNo = baseEquip.agvPositionCode,
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};
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var agvTask = new RequestAGVTaskDto
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{
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reqCode = StaticData.SnowId.NextId().ToString(),
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positionCodePath = new List<Position>
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{
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new()
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{
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positionCode = wcsCmd.currPointNo,
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type = "0"
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},
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new()
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{
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positionCode = wcsCmd.nextPointNo,
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type = "0"
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},
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},
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ctnrTyp = "1",
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taskTyp = "F503"
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};
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string message = JsonConvert.SerializeObject(agvTask);
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string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
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var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
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if (reponseMessage != null && reponseMessage.message == "成功")
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{
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wcsCmd.taskCode = reponseMessage.data;
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wcsCmd.cmdStatus = 1;
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item.taskStatus = 1;
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dbContext.Update(wmsBaseLocation);
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dbContext.Update(item);
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dbContext.Add(wcsCmd);
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dbContext.SaveChanges();
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}
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}
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}
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else
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{
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WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.taskId == item.objid);
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if (wcsCmd != null)
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{
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if (wcsCmd.cmdStatus == 3)
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{
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var agvTask = new RequestAGVTaskDto
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{
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reqCode = StaticData.SnowId.NextId().ToString(),
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taskCode = wcsCmd.taskCode
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};
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string message = JsonConvert.SerializeObject(agvTask);
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string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/continueTask", message);
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ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
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if (reponseMessage != null && reponseMessage.message == "成功")
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{
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wcsCmd.cmdStatus = 4;
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dbContext.Update(wcsCmd);
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dbContext.SaveChanges();
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}
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}
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else if (wcsCmd.cmdStatus == 5)
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{
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//任务完成
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//如果是入库任务,更新库存信息,并删除任务
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if (taskType.Contains(item.taskType))
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{
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WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
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.First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
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wmsBaseLocation.outstockFlag = "0";
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wmsBaseLocation.locationStatus = "1";
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dbContext.Update(wmsBaseLocation);
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dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
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dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
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dbContext.SaveChanges();
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}
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else//如果是出库任务,更新库存信息,下一个任务为提升机
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{
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WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
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.First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
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if (item.taskType == 29)
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{
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wmsBaseLocation.outstockFlag = "0";
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wmsBaseLocation.locationStatus = "1";
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dbContext.Update(wmsBaseLocation);
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}
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BaseEquip floorLineEquip = StaticData.BaseEquip.First(t => t.equipType == 1 && t.floorNo == 5);
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BaseEquip eletorEquip = StaticData.BaseEquip.First(t => t.equipType == 2);
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item.nextPointId = floorLineEquip.objid;
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item.nextPointNo = floorLineEquip.equipNo;
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item.fromFloorNo = 5;
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item.floorNo = 1;
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item.taskStatus = 6;
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dbContext.Update(item);
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dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
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dbContext.SaveChanges();
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}
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}
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}
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}
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}
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}
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catch (Exception ex)
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{
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LogManager.Error(ex);
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}
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finally
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{
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Thread.Sleep(1000);
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}
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}
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}
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/// <summary>
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/// 下发任务
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/// </summary>
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/// <param name="task"></param>
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public void SendTask(long? orderId)
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{
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using var scope = _host.Services.CreateScope();
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using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
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var taskList = dbContext.WcsTask.Where(t => t.orderId == orderId).ToList();
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//获取
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if (taskList.Count == 0)
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return;
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//首先判断是否已下发指令
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var cmd = dbContext.WcsCmd.Where(t => taskList.Select(t => t.objid).ToList().Contains(t.taskId.GetValueOrDefault())).FirstOrDefault();
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//指令表存在说明已下发
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if (cmd != null) return;
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//获取下发agv指令
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string ip = ""; int port = 0; string url = "";
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RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
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agvtask.reqCode = orderId.ToString();
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var json = JsonConvert.SerializeObject(agvtask);
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HttpHelper.SendPostMessage(ip, port, url, json);
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foreach (var item in taskList)
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{
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//未下发给agv下发指令
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WcsCmd taskCmd = new WcsCmd()
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{
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taskId = item.objid,
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cmdType = item.taskType,
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serialNo = item.serialNo,
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equipmentNo = item.equipmentNo,
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cmdStatus = 1,
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createBy = FloorNo + "楼CTU",
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createTime = DateTime.Now,
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};
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dbContext.Add(taskCmd);
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dbContext.SaveChanges();
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}
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}
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}
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}
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