JC34WCS.git - Gitblit

			@@ -2,13 +2,19 @@
			using DocumentFormat.OpenXml.Bibliography;
			using DocumentFormat.OpenXml.Drawing;
			using DocumentFormat.OpenXml.Drawing.Charts;
			using Elastic.Clients.Elasticsearch.Snapshot;
			using Furion.Logging;
			using Microsoft.AspNetCore.SignalR;
			using NewLife.Serialization;
			using OfficeOpenXml.FormulaParsing.Excel.Functions.Logical;
			using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
			using OnceMi.AspNetCore.OSS;
			using Qiniu.Storage;
			using System;
			using System.Drawing.Drawing2D;
			using System.Net.NetworkInformation;
			using WCS.Application.Entity;
			using WCS.Application.Util;
			using static SKIT.FlurlHttpClient.Wechat.Api.Models.CgibinExpressIntracityUpdateStoreRequest.Types;
			//using WCS.Application.Util;

			@@ -35,6 +41,7 @@
			private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);
			private static readonly SysCacheService sysCacheService = App.GetRequiredService<SysCacheService>();
			private static readonly SysConfigService _sysConfigService = App.GetService<SysConfigService>();
			private static readonly WcsTaskService _taskService = App.GetService<WcsTaskService>();

			private static List<WcsPlc> listPlc = new List<WcsPlc>();
			private static List<WcsDevice> listPlcDevice = new List<WcsDevice>();
			@@ -45,6 +52,7 @@
			private static CancellationTokenSource cts = new CancellationTokenSource();//取消线程标识

			private static List<ModbusUtil> listModbusUtil = new List<ModbusUtil>();


			public static List<ModbusUtil> modbusUtilConn
			{
			@@ -80,11 +88,12 @@
			boDrumReversal = _sysConfigService.GetConfigValue<bool>("sys_DrumReversal").Result;
			boOutLock = _sysConfigService.GetConfigValue<bool>("sys_BoOutLock").Result;
			boEnterLock = _sysConfigService.GetConfigValue<bool>("sys_BoEnterLock").Result;

			}
			/// <summary>
			/// 初始化PLC连接
			/// </summary>
			public static void Init()
			public static void Init()
			{
			cts.Cancel();
			listPlc = _db.Queryable<WcsPlc>()
			@@ -137,6 +146,7 @@
			StartRead();
			ConnectionStatus();
			StartWatchAlarm();
			AssignTasks();
			//StartWatchPosition();
			}
			}
			@@ -202,15 +212,6 @@
			var (result, value) = modPlcUtil.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);
			if (result.IsSucceed)
			{
			//如果是穿梭车，这里发送心跳
			if (modPlc.Type == PLCTypeEnum.ShuttleCar)
			{
			var modHeart = listPlcPosition.Where(s => s.DeviceId == modDevice.Id && s.Text == "心跳").FirstOrDefault();
			if (modHeart != null)
			{
			modPlcUtil.SetPlcDBValue(modHeart.PosType, modHeart.PlcPos, "1");
			}
			}
			//无流程跳出
			if (Convert.ToInt32(value) == 0)
			continue;
			@@ -258,11 +259,22 @@
			var (result, value) = modbusUtil.GetDBValue(modDevice.PosType, modDevice.PlcPos);
			if (result.IsSucceed)
			{
			//如果是穿梭车，这里发送心跳
			if (modPlc.Type == PLCTypeEnum.ShuttleCar)
			{
			var modHeart = listPlcPosition.Where(s => s.DeviceId == modDevice.Id && s.Text == "心跳").FirstOrDefault();
			if (modHeart != null)
			{
			modbusUtil.SetDBValue(modHeart.PosType, modHeart.PlcPos, "1");
			}
			}

			//无流程跳出
			if (value == 0)
			continue;
			var dto = modDevice.Adapt<WcsDeviceDto>();
			dto.Value = value;
			dto.PlcIdIP = modPlc.IP;
			dto.Type = _modplc.Type;
			dto.modbusUtil = modbusUtil;
			dto.listStation = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList();
			@@ -320,7 +332,7 @@



			Thread.Sleep(1000);
			Thread.Sleep(2000);
			}
			catch (OperationCanceledException)
			{
			@@ -334,6 +346,280 @@
			}, cts.Token);
			}
			}

			/// <summary>
			/// 四向车任务分配
			/// </summary>
			private static void AssignTasks()
			{

			Task.Run(() =>
			{
			while (true)
			{
			//Console.WriteLine("开启四向车任务自分配");
			//取消线程关闭PLC连接
			if (cts.Token.IsCancellationRequested)
			{
			foreach (var modModBusUtil in listModbusUtil)
			{
			if (modModBusUtil != null && modModBusUtil.Connected)
			modModBusUtil.Close();
			}
			break;
			}
			try
			{


			// 获取密集库未执行任务根据创建时间排序
			var waitTask = _db.Queryable<WcsTask>().Where(s => s.IsDelete == false && s.Status == TaskStatusEnum.Wait && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(s => new {s.Levels, s.CreateTime}).First();
			if (waitTask == null)
			{
			continue;
			}
			var starLocate = "";
			var endLocate = "";
			var taskceng = 0;
			//01010101: 01排 01列 01层 01深度-此项目不做判断

			if (waitTask.TaskType == TaskTypeEnum.In )
			{
			//入库任务起始巷道就是四向车取货工位
			if (string.IsNullOrWhiteSpace(waitTask.StartRoadway) \|\| string.IsNullOrWhiteSpace(waitTask.EndLocate))
			{
			continue;
			}

			taskceng = int.Parse(waitTask.StartRoadway.Substring(4, 2));
			starLocate = waitTask.StartRoadway;
			endLocate = waitTask.EndLocate;
			}
			else if (waitTask.TaskType == TaskTypeEnum.Out)
			{
			//出库任务目标巷道就是四向车放货工位
			taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2));
			starLocate = waitTask.StartLocate;
			endLocate = waitTask.EndRoadway;

			#region 添加输送线与任务验证



			var text = "";
			var devStation = "";
			var ip = "";
			var carcon = new carConverModel();
			if (carcon.conveyorBei.Keys.Contains(endLocate))
			{
			text = "输送线北";
			ip = "10.26.254.10";
			devStation = carcon.conveyorBei[endLocate];
			}
			else if (carcon.conveyorNan.Keys.Contains(endLocate))
			{
			text = "输送线南";
			ip = "10.26.254.11";
			devStation = carcon.conveyorNan[endLocate];
			}
			if (text != "")
			{
			//var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == text);
			//var modConn = new PLCUtil(modPlc);
			var modConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == ip);
			var modDevice = PLCTaskAction.plcDevices.First(s => s.StationNum == devStation);
			var (plcResult, palletVal) = modConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);
			if (!plcResult.IsSucceed \|\| Convert.ToInt32(palletVal) != 720)
			{
			continue;//放货工位没有读取成功或不是空闲
			}

			var gongwei = carcon.conveyorRuKu[endLocate];
			//判断任务
			var convarTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.StartLocate == gongwei
			&& m.Type == PLCTypeEnum.ConveyorLine && (m.Status == TaskStatusEnum.Wait \|\| m.Status == TaskStatusEnum.Doing));
			if (convarTask != null)
			{
			continue;//放货工位有任务
			}
			}


			#endregion
			}
			else if (waitTask.TaskType == TaskTypeEnum.Move)
			{
			taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2));
			starLocate = waitTask.StartLocate;
			endLocate = waitTask.EndLocate;
			}
			else
			{
			continue;
			}

			#region 获取当前任务所在层所有空闲小车

			// 获取有任务的小车编号
			var taskCarList = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.Status == TaskStatusEnum.Wait).Select(m => m.CarNo).Distinct().ToList();

			// 获取当前任务所在层所有空闲小车（根据小车任务表是否有任务和小车状态共同判断小车是否空闲)
			var kXCarList = new List<CarInfo>();
			var carErr = false;//小车是否有失联的
			foreach (var modbusUtil in listModbusUtil)
			{
			//如果小车有未执行的任务，跳出
			if (taskCarList.Contains(modbusUtil.PlcIP))
			{
			continue;
			}
			//获取小车的WcsDevice信息
			var listDevice = listPlcDevice.Where(s => s.PlcId == modbusUtil.PlcId && s.DeviceType == DeviceTypeEnum.Business).ToList();
			//循环读设备
			foreach (var modDevice in listDevice)
			{
			var (result, value) = modbusUtil.GetDBValue(modDevice.PosType, modDevice.PlcPos);
			if (result.IsSucceed)
			{
			//获取工位WCSPLCPosition信息
			var plcPosition = listPlcPosition.Where(s => s.DeviceId == modDevice.Id).ToList();
			if (value == 3)
			{
			var modCarDl = plcPosition.FirstOrDefault(s => s.Text == "电池电量");
			var (resultDl, valueDl) = modbusUtil.GetDBValue(modCarDl.PosType, modCarDl.PlcPos);
			if (resultDl.IsSucceed && valueDl> (int)FourWayCarDLEnum.Dl)
			{
			//写入结束充电命令
			var modCdEnd = plcPosition.FirstOrDefault(s => s.Text == "充电命令");
			var resultDl22 = modbusUtil.SetDBValue(modCdEnd.PosType, modCdEnd.PlcPos.ToString(), "3") ;
			carErr = true;
			break; //暂缓分配，防止同层小车关机或失联导致阻挡路径
			}
			}
			var modCarPall = plcPosition.FirstOrDefault(s => s.Text == "托盘检测");
			var (resultPall, valuePall) = modbusUtil.GetDBValue(modCarPall.PosType, modCarPall.PlcPos);
			if (resultPall.IsSucceed && valuePall == 1) //1有托盘 2无托盘
			{
			break; //暂缓分配
			}
			//小车空闲加入集合
			if (value == 1)
			{
			var modStationX = plcPosition.FirstOrDefault(s => s.Text == "四向车位置(X)");
			var (resultx, valuex) = modbusUtil.GetDBValue(modStationX.PosType, modStationX.PlcPos);
			var modStationY = plcPosition.FirstOrDefault(s => s.Text == "四向车位置(Y)");
			var (resulty, valuey) = modbusUtil.GetDBValue(modStationY.PosType, modStationY.PlcPos);
			var modStationZ = plcPosition.FirstOrDefault(s => s.Text == "四向车位置(Z)");
			var (resultz, valuez) = modbusUtil.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);
			//小车当前层
			var carZ = (int)valuez;
			//任务层与小车层相同
			if (taskceng == carZ)
			{
			if (!kXCarList.Any(m => m.CarPlcIp == modbusUtil.PlcIP))
			{
			var carVal = ((int)valuex).ToString().PadLeft(2, '0') + ((int)valuey).ToString().PadLeft(2, '0') + ((int)valuez).ToString().PadLeft(2, '0');
			//小车到取货储位路径
			var d = FourWayCarUtil.GetCarPath(carVal, starLocate);
			kXCarList.Add(new CarInfo()
			{
			CarPlcIp = modbusUtil.PlcIP,
			X = (int)valuex,
			Y = (int)valuey,
			Z = (int)valuez,
			Level = d.Count,
			});
			}
			}
			}
			}
			else
			{
			Console.WriteLine($"读取四向车{modbusUtil.PlcIP}状态失败");
			carErr = true;
			break;//有一个小车读取失败跳出方法，暂缓分配，防止同层小车关机或失联导致阻挡路径
			}
			}
			//有小车失联，不分配任务
			if (carErr)
			{
			kXCarList.Clear();//清楚空车记录
			break;
			}
			}

			#endregion


			// 获取适合执行当前任务的小车生成路径（需考虑小车阻阻挡）
			var assignCar = kXCarList.OrderBy(m => m.Level).FirstOrDefault();
			if (assignCar == null)
			{
			continue;//没有空闲小车
			}

			if (assignCar.Level != 1)
			{
			//判断小车位置是否与任务的起始储位相同,不相同：获取小车到取货储位路径
			var carLocate = assignCar.X.ToString().PadLeft(2, '0')+assignCar.Y.ToString().PadLeft(2, '0')+ assignCar.Z.ToString().PadLeft(2, '0');
			//获取小车去取货储位任务路径
			var data1 = FourWayCarUtil.GetCarPath(carLocate, starLocate);
			var datas1 = FourWayCarUtil.GetCarPathUp(data1, 0);
			if (datas1 == null)
			{
			continue;
			}
			else
			{
			var bl = FourWayCarUtil.AddCarTask(datas1, kXCarList, assignCar, waitTask,0);
			//分配错误，删除分配信息
			if (!bl)
			{
			var carTask = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == waitTask.TaskNo).ToList();
			_db.Deleteable(carTask).ExecuteCommand();
			}
			}
			}
			var typeStr = "1";
			var typeStr2 = 1;
			if (waitTask.Levels == 888 )
			{
			typeStr = "0";//小车任务是充电任务
			typeStr2 = 0;
			}
			//获取小车去放货储位任务路径
			var data2 = FourWayCarUtil.GetCarPath(starLocate, endLocate, typeStr);
			var datas2 = FourWayCarUtil.GetCarPathUp(data2, typeStr2);

			if (datas2 == null)
			{
			continue;
			}
			else
			{
			var bl = FourWayCarUtil.AddCarTask(datas2,kXCarList,assignCar,waitTask,1);
			//分配错误，删除分配信息
			if (!bl)
			{
			waitTask.Status = TaskStatusEnum.Wait;
			_db.Updateable(waitTask).ExecuteCommand();
			var carTask = _db.Queryable<WcsCarTasks>().Where(m=>m.IsDelete == false && m.TaskNo == waitTask.TaskNo).ToList();
			_db.Deleteable(carTask).ExecuteCommand();
			}
			}



			Thread.Sleep(3000);
			}
			catch (Exception ex)
			{
			Log.Error("任务分配发生异常", ex);
			}
			}
			},cts.Token);
			}


			/// <summary>
			/// 连接状态线程
			@@ -692,6 +978,10 @@
			}
			});
			}
			/// <summary>
			/// 修改位置信息
			/// </summary>
			/// <param name="modInfo"></param>
			private static void UpdatePosition(PlcPositionInfo modInfo)
			{
			var modTemp = listPositionInfo.FirstOrDefault(s => s.StationNum == modInfo.StationNum && modInfo.Type == s.Type);