JC34WCS.git - Gitblit

			@@ -1,24 +1,9 @@
			using DocumentFormat.OpenXml.Presentation;
			using Elastic.Clients.Elasticsearch;
			using Admin.NET.Core.Service;
			using Furion.DatabaseAccessor;
			using Furion.Logging;
			using NewLife.Serialization;
			using Newtonsoft.Json;
			using System;
			using System.Diagnostics.CodeAnalysis;
			using System.Linq;
			using System.Text;
			using WCS.Application.Entity;
			using Microsoft.AspNetCore.Mvc;
			using Admin.NET.Core.Service;
			using DocumentFormat.OpenXml.Bibliography;
			using AngleSharp.Common;
			using AngleSharp.Text;
			using Newtonsoft.Json.Linq;
			using SqlSugar;
			using NewLife.Reflection;
			using static SKIT.FlurlHttpClient.Wechat.Api.Models.CustomServiceKfSessionGetWaitCaseResponse.Types;
			using WCS.Application.Util;
			using static SKIT.FlurlHttpClient.Wechat.Api.Models.ComponentTCBBatchCreateContainerServiceVersionRequest.Types;

			namespace WCS.Application;

			@@ -50,24 +35,29 @@
			/// <param name="models">任务信息</param>
			/// <returns>反馈信息</returns>
			[AllowAnonymous]
			public async Task AddAssignTasks(ResponseTasksModel models)
			public async Task<ResponseAgvDto> AddAssignTasks(AgvTaskSend models)
			{
			// 验证任务是否已存在
			var taskInfo = await _db.Queryable<WcsTask>().FirstAsync(w => w.TaskNo == models.TaskNo);
			if (taskInfo == null)
			{
			throw Oops.Bah("任务:" + models.TaskNo + ";不存在!");
			}
			var data1 = FourWayCarUtil.GetCarPath("090501", "080501","0");
			if (data1 == null) //\|\| data1.Count == 0
			{
			throw Oops.Bah("分配路径不存在!");
			}

			// 根据任务状态补充起始结束节点状态
			var data2 = FourWayCarUtil.GetCarPathUp(data1, 0);
			var path = "";
			var executionPath1 = "";
			var response = await new HttpService().GenAgvSendTask(models);
			//var response2 = await new HttpService().GenAgvContinueTask("Tk20250503000001");
			//var response3 = await new HttpService().GenAgvUnbind("models", "B010101");
			return response;
			// 验证任务是否已存在
			//var taskInfo = await _db.Queryable<WcsTask>().FirstAsync(w => w.TaskNo == models.TaskNo);
			//if (taskInfo == null)
			//{
			// throw Oops.Bah("任务:" + models.TaskNo + ";不存在!");
			//}
			//var data1 = FourWayCarUtil.GetCarPath("091501", "091601","0");
			//if (data1 == null) //\|\| data1.Count == 0
			//{
			// throw Oops.Bah("分配路径不存在!");
			//}

			//// 根据任务状态补充起始结束节点状态
			//var data2 = FourWayCarUtil.GetCarPathUp(data1, 0);
			//var path = "";
			//var executionPath1 = "";
			//foreach (var item in data1)
			//{
			// //路径节点
			@@ -109,7 +99,8 @@
			throw Oops.Bah("任务已存在!");
			}
			var listTask = new List<WcsTask>();
			foreach (var models in modelList)
			var list = modelList.OrderBy(m => m.Order).ThenBy(m => m.TaskNo).ToList();
			foreach (var models in list)
			{
			if (models.TaskType == "0")
			{
			@@ -122,21 +113,32 @@
			//新增任务
			var taskAdd = new WcsTask()
			{
			TaskNo = models.TaskNo,
			TaskNo = models.TaskNo,
			TaskType = (TaskTypeEnum)Convert.ToInt32(models.TaskType),
			Type = models.Type,
			Status = TaskStatusEnum.Wait,
			Levels = 999,
			Origin = "WMS",
			SkuNo = models.SkuNo,
			SkuName=models.SkuName,
			LotNo=models.LotNo,
			StartRoadway = models.StartRoadway,
			StartLocate = models.StartLocate,
			EndLocate = models.EndLocate,
			EndRoadway = models.EndRoadway,
			PalletNo = models.PalletNo,
			CreateTime = DateTime.Now
			};
			listTask.Add(taskAdd);

			// 若非AGV任务增加任务ID
			if (models.Type != PLCTypeEnum.AGV)
			{
			taskAdd.TaskId = FourWayCarUtil.GetTaskId();
			}

			await _db.Insertable(taskAdd).ExecuteCommandAsync();
			}
			await _db.Insertable(listTask).ExecuteCommandAsync();

			}
			/// <summary>
			/// WCS接受WMS下发的任务(单条任务)
			@@ -169,12 +171,22 @@
			Type = models.Type,
			Levels = 999,
			Origin = "WMS",
			SkuNo = models.SkuNo,
			SkuName = models.SkuName,
			LotNo = models.LotNo,
			StartRoadway = models.StartRoadway,
			StartLocate = models.StartLocate,
			EndLocate = models.EndLocate,
			EndRoadway = models.EndRoadway,
			PalletNo = models.PalletNo,
			};

			// 若非AGV任务增加任务ID
			if (models.Type != PLCTypeEnum.AGV)
			{
			taskAdd.TaskId = FourWayCarUtil.GetTaskId();
			}

			await _db.Insertable(taskAdd).ExecuteCommandAsync();
			}

			@@ -409,53 +421,29 @@
			[UnitOfWork]
			public async Task<dynamic> agvCallback(AGVCallBackInput input)
			{
			Log.Information("AGV反馈任务" + input.ToJson());
			AGVCallBackResponse result = new AGVCallBackResponse()
			{
			ReqCode = input.ReqCode,
			Message = "成功",
			Code = "0"
			};
			if (input.TaskCode.Substring(0, 3) != "WCS" && input.TaskCode.Substring(0, 2) != "TK")
			if (input.robotTaskCode.Substring(0, 3) != "WCS" && input.robotTaskCode.Substring(0, 2) != "TK")
			{
			result.Message = "反馈的任务不是WCS的任务";
			result.Code = "1";
			return result;
			}
			PLCUtil modUtil = null;
			try
			{
			var modTask = await _db.Queryable<WcsTask>().FirstAsync(s => s.TaskNo == input.TaskCode);
			var modTask = await _db.Queryable<WcsTask>().FirstAsync(s => s.TaskNo == input.robotTaskCode);
			if (modTask != null)
			{
			switch (input.Method)
			switch (input.Extra.Values.Method)
			{
			case "end"://任务完成
			{

			//货品拉到密集库入库口需要向输送线写入值
			if (modTask.EndLocate == AGVStaionEnum.A1.ToString())
			{
			var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == "输送线");
			var modConn = new PLCUtil(modPlc);
			var modDevice = PLCTaskAction.plcDevices.First(s => s.Text == "C口");
			var modStation = PLCTaskAction.plcPositions.First(s => s.Text == "C口申请入库");
			var plcResult = modConn.SetPlcDBValue(modStation.PosType, modDevice.DbNumber, modStation.PlcPos, "100");
			if (plcResult.IsSucceed)
			{
			WcsTaskMonitor modTaskMonitorPLC = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.PlcId,
			PlcName = modStation.PlcPos,
			StartLocat = modTask.StartLocate,
			EndLocat = modTask.EndLocate,
			Status = TaskStatusEnum.Doing,
			InteractiveMsg = $"向{modStation.Text}写入指令100，结果{plcResult.IsSucceed}",
			};
			_db.Insertable(modTaskMonitorPLC).ExecuteCommand();
			HubUtil.PublicTaskMonitor(modTaskMonitorPLC.Adapt<WcsTaskMonitorOutput>());
			}
			else
			{
			Log.Error("C口申请入库写入值100失败");
			}
			}
			modTask.Status = TaskStatusEnum.Complete;
			modTask.FinishDate = DateTime.Now;
			await _db.Updateable(modTask).ExecuteCommandAsync();
			@@ -479,7 +467,7 @@
			var inputs = new TaskRequestWMS();
			inputs.TaskNo = modTask.TaskNo;
			inputs.PalletNo = modTask.PalletNo;
			inputs.TaskType = "2";
			inputs.TaskType = ((int)modTask.TaskType).ToString();
			inputs.TaskStatus = "2";
			var modResponseTask = httpService.RequestTask(inputs).Result;
			}
			@@ -488,6 +476,17 @@
			break;
			case "outbin"://走出储位
			{
			WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			//PlcId = modDevice.PlcId,
			PlcName = "AGV",
			StartLocat = modTask.StartLocate,
			EndLocat = modTask.EndLocate,
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"AGV小车反馈任务取货完成，走出储位",
			};
			await _db.Insertable(modTaskMonitor).ExecuteCommandAsync();
			//反馈WMS任务取货完成、WMS判断是平库储位就更新储位状态
			if (modTask.Origin == "WMS")
			{
			@@ -495,74 +494,67 @@
			var inputs = new TaskRequestWMS();
			inputs.TaskNo = modTask.TaskNo;
			inputs.PalletNo = modTask.PalletNo;
			inputs.TaskType = "2";
			inputs.TaskType = ((int)modTask.TaskType).ToString();
			inputs.TaskStatus = "2";
			var modResponseTask = httpService.RequestTaskQh(inputs).Result;
			}

			}
			break;
			case "apply"://放货申请
			case "release"://放货申请
			{
			//todo:去码垛工位取货，需要写PLC信号关闭光幕
			if ((modTask.StartLocate == AGVStaionEnum.B1.ToString() \|\| modTask.StartLocate == AGVStaionEnum.B2.ToString())
			&& (modTask.EndLocate == AGVStaionEnum.C1.ToString() \|\| modTask.EndLocate == AGVStaionEnum.C2.ToString()))
			if (modTask.EndLocate != "B040101")//9号工位地址
			{
			var no = modTask.StartLocate.Substring(1, 1);
			var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Type == PLCTypeEnum.RobotPalletizer && s.WareHouseNo == no);
			var modConn = new PLCUtil(modPlc);
			var modDevice = PLCTaskAction.plcDevices.FirstOrDefault(s => s.PlcId == modPlc.Id && s.Level == DeviceLevelEnum.DB);
			var modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice.Id && s.Text == "关闭光幕");
			var res = modConn.SetPlcDBValue(modPos.PosType, modDevice.DbNumber, modPos.PlcPos, "1");
			var modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.PlcId,
			PlcName = modPos.PlcPos,
			Status = TaskStatusEnum.Doing,
			InteractiveMsg = $"向{modDevice.Text}写入关闭光幕1，结果{res.IsSucceed}",
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			Task.Run(() =>
			{
			Thread.Sleep(1000);
			modConn.SetPlcDBValue(modPos.PosType, modDevice.DbNumber, modPos.PlcPos, "0");
			var modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.PlcId,
			PlcName = modPos.PlcPos,
			Status = TaskStatusEnum.Doing,
			InteractiveMsg = $"向{modDevice.Text}写入开启光幕0，结果{res.IsSucceed}",
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			});
			modConn.Close();
			result.Code = "1";
			result.Message = "找不到该任务";
			return result;
			}
			//modTask.Status = TaskStatusEnum.Complete;
			modTask.IsComple = "1";
			await _db.Updateable(modTask).ExecuteCommandAsync();
			WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			//PlcId = modDevice.PlcId,
			PlcName = "AGV",
			StartLocat = modTask.StartLocate,
			EndLocat = modTask.EndLocate,
			Status = TaskStatusEnum.Complete,
			InteractiveMsg = $"AGV小车反馈任务到达9工位",
			};
			await _db.Insertable(modTaskMonitor).ExecuteCommandAsync();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			if (modTask.Origin == "WMS")
			{
			HttpService httpService = new HttpService();
			var inputs = new TaskRequestWMS();
			inputs.TaskNo = modTask.TaskNo;
			inputs.PalletNo = modTask.PalletNo;
			inputs.TaskType = ((int)modTask.TaskType).ToString();
			inputs.TaskStatus = "2";
			var modResponseTask = httpService.RequestTaskQh(inputs).Result;
			}
			}
			break;
			case "start"://任务开始
			case "notifyFullSite":
			{
			//开始向拆托机放入托盘任务
			if (modTask.EndLocate == AGVStaionEnum.D1.ToString())
			var palletNo = input.Extra.Values.carrierCode;
			var count = input.Extra.Values.pileCount;
			if (string.IsNullOrWhiteSpace(palletNo) \|\| count <= 0)
			{
			var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Type == PLCTypeEnum.PalletMachine);
			var modConn = new PLCUtil(modPlc);
			var modDevice = PLCTaskAction.plcDevices.FirstOrDefault(s => s.Text == "拆托机");
			var res = modConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "1");
			modConn.Close();
			throw new Exception("参数：托盘号/数量验证失败");
			}
			//向WMS申请空托入库
			HttpService httpService = new HttpService();
			var inputs = new NullPallInRequest();

			inputs.PalletNo = palletNo;
			inputs.PallNum = count;
			inputs.Locate = "B100101";//叠托盘机位置
			inputs.HouseNo = "W02";
			var modResponseTask = httpService.RequestLiKuPallet(inputs);

			var taskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcName = input.Method,
			InteractiveMsg = $"AGV小车反馈任务开始"
			};
			await _db.Insertable(taskMonitor).ExecuteCommandAsync();
			HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			break;
			case "cancel"://任务取消
			@@ -611,11 +603,10 @@
			modUtil?.Close();
			}


			Log.Information("AGV反馈任务返回" + result.ToJson());
			return result;
			}



			/// <summary>
			/// 获取原材料仓状态
			/// </summary>
			@@ -675,35 +666,35 @@
			/// </summary>
			/// <param name="input"></param>
			/// <returns></returns>
			[HttpPost]
			[UnitOfWork]
			public async Task ProductStorage(RequestStorage input)
			{
			var intProduct = AGVStorageUtil.ProductCount();
			var intTask = await _db.Queryable<WcsTask>().Where(s => s.TaskType == TaskTypeEnum.Move
			&& s.Type == PLCTypeEnum.AGV && s.Status <= TaskStatusEnum.Doing
			&& s.StartLocate.StartsWith("Z") && s.EndLocate == AGVStaionEnum.A1.ToString()).CountAsync();
			if (input.Qty > intProduct)
			throw Oops.Bah($"输入数量大于可出数量{intProduct}");
			var listTask = new List<WcsTask>();
			var TaskNo = GetTaskCode("WCS");
			for (int i = 0; i < input.Qty; i++)
			{
			listTask.Add(new WcsTask()
			{
			TaskNo = "WCS" + DateTime.Now.ToString("yyyyMMdd") + (TaskNo++).ToString().PadLeft(4, '0'),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.AGV,
			StartLocate = AGVStaionEnum.Z11.ToString(),
			EndLocate = AGVStaionEnum.A1.ToString(),
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 10,
			Origin = "PDA"
			});
			}
			await _db.Insertable(listTask).ExecuteCommandAsync();
			}
			//[HttpPost]
			//[UnitOfWork]
			//public async Task ProductStorage(RequestStorage input)
			//{
			// var intProduct = AGVStorageUtil.ProductCount();
			// var intTask = await _db.Queryable<WcsTask>().Where(s => s.TaskType == TaskTypeEnum.Move
			// && s.Type == PLCTypeEnum.AGV && s.Status <= TaskStatusEnum.Doing
			// && s.StartLocate.StartsWith("Z") && s.EndLocate == AGVStaionEnum.A1.ToString()).CountAsync();
			// if (input.Qty > intProduct)
			// throw Oops.Bah($"输入数量大于可出数量{intProduct}");
			// var listTask = new List<WcsTask>();
			// var TaskNo = GetTaskCode("WCS");
			// for (int i = 0; i < input.Qty; i++)
			// {
			// listTask.Add(new WcsTask()
			// {
			// TaskNo = "WCS" + DateTime.Now.ToString("yyyyMMdd") + (TaskNo++).ToString().PadLeft(4, '0'),
			// TaskType = TaskTypeEnum.Move,
			// Type = PLCTypeEnum.AGV,
			// StartLocate = AGVStaionEnum.Z11.ToString(),
			// EndLocate = AGVStaionEnum.A1.ToString(),
			// PalletNo = "",
			// Status = TaskStatusEnum.Wait,
			// Levels = 10,
			// Origin = "PDA"
			// });
			// }
			// await _db.Insertable(listTask).ExecuteCommandAsync();
			//}
			/// <summary>
			/// 自动生成任务号
			/// </summary>