修改问题

zwc

2025-01-15 2920728d7908da2ee196f3af8b3d1c635696e9a1

 Wms/WMS.BLL/BllPdaServer/PdaCrServer.cs

@@ -1,4 +1,5 @@
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Security.Policy;
@@ -6,6 +7,7 @@
using System.Threading.Tasks;
using Model.InterFaceModel;
using Model.ModelDto.BllCheckDto;
using Model.ModelDto.LogDto;
using Model.ModelDto.PdaDto;
using Model.ModelDto.SysDto;
using Model.ModelVm;
@@ -904,7 +906,8 @@
            }
            try
            {
                string EndLocat = string.Empty;//目标位置                
                string EndLocat = string.Empty,OrderTy = "";//目标位置
                                               

                var log = Db.Queryable<LogTask>().First(w => w.IsDel == "0" && w.PalletNo == palletNo && (w.Status == "0" || w.Status == "1"));
                if (log != null)
@@ -924,10 +927,14 @@
                        throw new Exception("所选区域信息不存在,请检查!");
                    }
                    EndLocat = GetLocat(areaNo, stockDetail.SkuNo, stockDetail.LotNo, palletNo);
                    OrderTy = "3";//移库
                }
                else
                {
                    EndLocat = ruku;
                    OrderTy = "0";//入库


                }
                var stock = Db.Queryable<DataStock>().First(w => w.IsDel == "0" && w.SkuNo == stockDetail.SkuNo && w.LotNo == stockDetail.LotNo);
                if (stock == null)
@@ -980,7 +987,7 @@
                    IsFinish = 1,//是否可完成
                    Type = "2",//任务类型 0 入库任务 1 出库任务  2 移库任务
                    Status = "0",//任务状态0：等待执行1正在执行2执行完成
                    OrderType = "3",//0 入库单 1 出库单  2 盘点单  3 移库单
                    OrderType = OrderTy,//0 入库单 1 出库单  2 盘点单  3 移库单

                    CreateTime = DateTime.Now
                };
@@ -1009,25 +1016,78 @@

                #region 呼叫小车代码

                var endlono = EndLocat;
                var tasktype = "D00";  //默认为点到点任务
                //根据目的地址库区获取小车任务类型
                switch (storageLocatEnd.AreaNo)
                {
                    case "B13" :
                        tasktype = "D02";  // 叠托任务（目的地址为空托盘收集区）
                        break;
                    case "B15":
                        tasktype = "D01";  // 拆托任务（目的地址为拣货区）
                        break;
                }

                //缓存库位转换     3楼原辅料Y003_001，Y003_002，Y003_003  1楼Y138_001到Y138_021外包缓存区   1楼Y128_001到Y128_015内包缓存区
                if (storageLocatEnd.AreaNo == "B12")
                {
                    switch (EndLocat.ToString().Substring(4, 1))
                    {
                        case "1":
                            endlono = "Y003_00" + EndLocat.ToString().Substring(6, 1);
                            tasktype = "D00";     //点到点任务
                            break;
                        case "2":
                            endlono = "Y138_0" + EndLocat.ToString().Substring(5, 2);
                            tasktype = "F20";    //电梯任务
                            break;
                        case "3":
                            endlono = "Y128_0" + EndLocat.ToString().Substring(5, 2);
                            tasktype = "F20";     //电梯任务
                            break;
                        default:
                            break;
                    }
                }

                //点到点指令集合
                object[] position = new object[2];
                position[0] = new
                {
                    positionCode = stockDetail.LocatNo,
                    type = "00"
                };
                position[1] = new
                {
                    positionCode = endlono,
                    type = "00"
                };

                List<AgvSchedulingTask> agvTaskList = new List<AgvSchedulingTask>();
                Random r = new Random();
                long ran =DateTime.Now.Ticks;

                AgvSchedulingTask agvTask = new AgvSchedulingTask();
                agvTask.ReqCode = taskNo;
                agvTask.TaskTyp = "F01";
                agvTask.WbCode = "";
                agvTask.PositionCodePath = null;
                agvTask.PodCode = "-1";
                agvTask.TaskCode = taskNo;
                agvTask.ReqCode = ran.ToString();
                agvTask.TaskTyp = tasktype;
                agvTask.PositionCodePath = position;
                agvTask.CtnrTyp = "1";
                if (tasktype == "D02")
                {
                    agvTask.CtnrNum = "10";     //叠托任务需要下发空托盘数量
                }

                agvTaskList.Add(agvTask);

                var IsTrue = false;
                while (IsTrue == true)
                {
                
                    // 正式运行程序放开
                    string str = "";
                    var list2 = agvTaskList.Select(m => m.ReqCode).ToList();
                    var jsonData = JsonConvert.SerializeObject(agvTaskList);
                jsonData = jsonData.Substring(1, jsonData.Length - 1);
                jsonData = jsonData.Substring(0, jsonData.Length - 1);
                    string response = "";

                    try
@@ -1043,7 +1103,6 @@
                            //更改任务的发送返回时间//
                            new TaskServer().EditTaskIssueOk(list2, time1, time2);
                            str += "下发成功";
                            IsTrue = true;
                        }
                        if (agvModel.Code == "1")
                        {
@@ -1055,7 +1114,7 @@
                    {
                        throw new Exception(ex.Message);
                    }
                }
               
                #endregion

                //提交事务
@@ -1074,7 +1133,7 @@
        /// <param name="palletNo"></param>
        /// <param name="areaNo"></param>
        /// <param name="userId"></param>
        public List<string> AgvTransport2(string soNo, string palletNo, string areaNo, int userId, string url)
        public List<string> AgvTransport2(string soNo, string palletNo, string areaNo,string ruku, int userId, string url)
        {
            if (string.IsNullOrEmpty(soNo))
            {
@@ -1196,12 +1255,58 @@
                    };
                    Db.Insertable(exTask).ExecuteCommand();

                    var endlono = EndLocat;
                    var tasktype = "D00";

                    //根据目的地址库区获取小车任务类型
                    switch (storageLocatEnd.AreaNo)
                    {
                        case "B13":
                            tasktype = "D02";  // 叠托任务（目的地址为空托盘收集区）
                            break;
                        case "B15":
                            tasktype = "D01";  // 拆托任务（目的地址为拣货区）
                            break;
                    }

                    //缓存库位转换     3楼原辅料Y003_001，Y003_002，Y003_003  1楼Y138_001到Y138_021外包缓存区   1楼Y128_001到Y128_015内包缓存区
                    if (storageLocatEnd.AreaNo == "B12")
                    {
                        switch (EndLocat.ToString().Substring(4, 1))
                        {
                            case "1":
                                endlono = "Y003_00" + EndLocat.ToString().Substring(6, 1);
                                break;
                            case "2":
                                endlono = "Y138_0" + EndLocat.ToString().Substring(5, 2);
                                tasktype = "F20";    //电梯任务
                                break;
                            case "3":
                                endlono = "Y128_0" + EndLocat.ToString().Substring(5, 2);
                                tasktype = "F20";     //电梯任务
                                break;
                            default:
                                break;
                        }
                    }
                    
                    //点到点指令集合
                    object[] position = new object[2];
                    position[0] = new
                    {
                        positionCode = item.LocatNo,
                        type = "00"
                    };
                    position[1] = new
                    {
                        positionCode = endlono,
                        type = "00"
                    };

                    AgvSchedulingTask agvTask = new AgvSchedulingTask();
                    agvTask.ReqCode = taskNo;
                    agvTask.TaskTyp = "F01";
                    agvTask.WbCode = "";
                    agvTask.PositionCodePath = null;
                    agvTask.PodCode = "-1";
                    agvTask.TaskTyp = tasktype;
                    agvTask.PositionCodePath = position;

                    agvTaskList.Add(agvTask);

@@ -1249,6 +1354,8 @@
                    string str = "";
                    var list2 = agvTaskList.Select(m => m.ReqCode).ToList();
                    var jsonData = JsonConvert.SerializeObject(agvTaskList);
                    jsonData = jsonData.Substring(1, jsonData.Length - 1);
                    jsonData = jsonData.Substring(0, jsonData.Length - 1);
                    string response = "";

                    try
@@ -1290,6 +1397,126 @@
                throw new Exception(ex.Message);
            }
        }

        /// <summary>
        /// agv调度任务下发
        /// </summary>
        /// <param name="type">搬运类型</param>
        /// <param name="taskno">任务号</param>
        /// <param name="positionStart">起始地址</param>
        /// <param name="positionEnd">目的地址</param>               2
        /// <param name="url">接口URL</param>
        public OutCommanAgvDto AGVTask(string type, string taskno, string positionStart, string positionEnd ,string url)
        {

            var endlono = positionEnd;
            var tasktype = type;
            var storageLocatEnd = Db.Queryable<SysStorageLocat>().First(w => w.IsDel == "0" && w.LocatNo == endlono && w.Flag == "0" && w.Status == "0");
            if (storageLocatEnd == null)
            {                                                      
                throw new Exception("生成的AGV任务目的地址不正确");
            }
            //根据目的地址库区获取小车任务类型
            switch (storageLocatEnd.AreaNo)
            {
                case "B13":
                    tasktype = "D02";  // 叠托任务（目的地址为空托盘收集区）
                    break;
                case "B15":
                    tasktype = "D01";  // 拆托任务（目的地址为拣货区）
                    break;
            }

            // MES申请备料，备料区库位需要转换     车间备料缓存位名称：3楼原辅料Y003_001-->Y003_003  1楼外包缓存区Y138_001-->Y138_021   1楼内包缓存区Y128_001-->Y128_015
            if (storageLocatEnd.AreaNo == "B12")
            {
                switch (endlono.ToString().Substring(4, 1))
                {
                    case "1":
                        endlono = "Y003_00" + endlono.Substring(6, 1);
                        break;
                    case "2":
                        endlono = "Y138_0" + endlono.Substring(5, 2);
                        tasktype = "F20";    //电梯任务
                        break;
                    case "3":
                        endlono = "Y128_0" + endlono.Substring(5, 2);
                        tasktype = "F20";     //电梯任务
                        break;
                    default:
                        break;
                }
            }
            List<AgvSchedulingTask> agvTaskList = new List<AgvSchedulingTask>();

            object[] position = new object[2];
            position[0] = new
            {
                positionCode = positionStart,
                type = "00"
            };
            position[1] = new
            {
                positionCode = endlono,
                type = "00"
            };

            AgvSchedulingTask agvTask = new AgvSchedulingTask();
            agvTask.ReqCode = taskno;         //agv请求编号，需要随机生成  （最大32位）
            agvTask.TaskCode = taskno;         //任务号
            agvTask.TaskTyp = tasktype;           //搬运类型
            agvTask.PositionCodePath = position;      //起始和目的位集合
            agvTask.CtnrTyp = "1";            //容器类型，值为1
            if (tasktype == "D02")
            {
                agvTask.CtnrNum = "10";     //叠托任务需要下发空托盘数量
            }
            
            agvTaskList.Add(agvTask);

            string str = "";
            var list2 = agvTaskList.Select(m => m.ReqCode).ToList();
            var jsonData = JsonConvert.SerializeObject(agvTaskList);
            jsonData = jsonData.Substring(1, jsonData.Length-1);
            jsonData = jsonData.Substring(0, jsonData.Length - 1);
            var response = HttpHelper.DoPost(url, jsonData, "下发给AGV转运命令", "AGV");
            var agvModel = JsonConvert.DeserializeObject<OutCommanAgvDto>(response);

            return agvModel;
        }

        /// <summary>
        /// agv任务取消
        /// </summary>
        /// <param name="taskno">取消任务编号</param>
        /// <param name="url">接口URL</param>
        public void cancelTask(string taskno,string url)
        {
            try
            {
                AgvCancelTask agvTaskList = new AgvCancelTask();    
                agvTaskList.ReqCode = "006"; //随机生成
                agvTaskList.TaskCode = taskno.ToString();
                //agvTaskList.ReqTime = DateTime.Now.ToString();

               var jsonData = JsonConvert.SerializeObject(agvTaskList);
                var response = HttpHelper.DoPost(url, jsonData, "下发给AGV转运命令", "AGV");
                var agvModel = JsonConvert.DeserializeObject<cancelTaskModel>(response);

                if (agvModel.Code != "0")
                {
                    throw new Exception("下发AGV取消任务失败");
                }

            }
            catch (Exception ex)
            {

                throw ex;
            }

        }

        /// <summary>
        /// 根据区域分配储位
        /// </summary>
@@ -1478,12 +1705,28 @@
                    {
                        {"Authorization",token }
                    };
                    var endlono = EndLocat.LocatNo;
                    //缓存库位转换
                    switch (EndLocat.LocatNo.ToString().Substring(4, 1))
                    {
                        case "1":
                            endlono = "Y003_00" + EndLocat.LocatNo.ToString().Substring(6, 1);
                            break;
                        case "2":
                            endlono = "Y138_0" + EndLocat.LocatNo.ToString().Substring(5, 2);
                            break;
                        case"3":
                            endlono = "Y128_0" + EndLocat.LocatNo.ToString().Substring(5, 2);
                            break;
                        default:
                            break;
                    }             
                    var mescode = Db.Queryable<BllExportNotice>().Where(w => w.SONo == stockDetail.First().SONo).First();
                    var mesData = new RequertBeiliaoModel()
                    {
                        morder_no = mescode.OrderCode,
                        pallet = stockDetail.First().PalletNo,
                        layer_no = EndLocat.LocatNo,
                        layer_no = endlono,
                        items = data
                    };
                    var jsonData = JsonConvert.SerializeObject(mesData);
@@ -1501,7 +1744,7 @@


                //添加操作日志记录
                var k = new OperationCrServer().AddLogOperationCr("PDA模块", "AGV转运", palletNo, "移库", $"PDA呼叫小车对托盘号：{palletNo}发起转运", userId);
                var k = new OperationCrServer().AddLogOperationCr("PDA模块", "人工转运", palletNo, "移库", $"PDA呼叫小车对托盘号：{palletNo}发起转运", userId);
                
                //提交事务
                Db.CommitTran();