JC34WCS.git - Gitblit

			@@ -6,6 +6,7 @@
			using Furion.Logging;
			using IoTClient;
			using NewLife.Reflection;
			using SixLabors.ImageSharp.ColorSpaces;
			using WCS.Application.Entity;
			using WCS.Application.Util;

			@@ -159,8 +160,8 @@
			var (resultTaskStatus, valueTaskStatus) = plcConn.GetDBValue(modPosTaskStatus.PosType, modPosTaskStatus.PlcPos);
			//判断读取任务状态是否成功并且任务状态是1 0:无任务,1:任务完成,2:任务取消,3:任务暂停，4：任务异常 5：任务执行中

			WcsCarTasks carTask2 = null;//null 新任务 not null 路径2任务

			WcsCarTasks carTaskNext = null;//null 新任务 not null 当前小车&&当前任务下一节任务

			if (resultTaskStatus.IsSucceed && valueTaskStatus == 1)
			{
			var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
			@@ -169,104 +170,220 @@
			int valueTaskStr = Convert.ToInt32(valueTask);
			//获取任务信息根据任务号、小车编号
			var carTask = _db.Queryable<WcsCarTasks>().First(m=>m.IsDelete == false && m.Status == TaskStatusEnum.Doing && m.CarTaskNo == valueTaskStr && m.CarNo == modDevice.PlcIdIP);
			if (carTask == null)
			if (carTask != null)
			{
			var modRests = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
			plcConn.SetDBValue(modRests.PosType, modRests.PlcPos, "1");//没有找到任务复位
			return;
			}

			var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
			if (modFinshTask == null)
			{
			break;//没有查询到总任务
			}
			//获取路径2的任务下发
			carTask2 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.PreId.Contains(carTask.Id.ToString())).OrderBy(m=>m.CreateTime).First();

			if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
			{
			carTask.Status = TaskStatusEnum.Complete;
			carTask.UpdateTime = DateTime.Now;
			_db.Updateable(carTask).ExecuteCommand();
			//添加任务明细
			var taskMonitor = new WcsTaskMonitor()
			//var modRests = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
			//plcConn.SetDBValue(modRests.PosType, modRests.PlcPos, "1");//没有找到任务复位

			var modFinshTask = _db.Queryable<WcsTask>().First(s => s.Status == TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.TaskNo == carTask.TaskNo);
			if (modFinshTask == null)
			{
			TaskNo = carTask.TaskNo,
			PlcName = modDevice.Text,
			InteractiveMsg = $"穿梭车反馈任务完成"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			//下发任务日志
			break;//没有查询到总任务
			}
			if (carTask != null && carTask.Status != TaskStatusEnum.Complete)
			{
			carTask.Status = TaskStatusEnum.Complete;
			carTask.UpdateTime = DateTime.Now;
			_db.Updateable(carTask).ExecuteCommand();
			//添加任务明细
			var taskMonitor = new WcsTaskMonitor()
			{
			TaskNo = carTask.TaskNo,
			PlcName = modDevice.Text,
			InteractiveMsg = $"穿梭车反馈任务完成"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			//下发任务日志

			HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
			HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			//获取路径2的任务下发
			carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == carTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status <= TaskStatusEnum.Doing).OrderBy(m => m.CreateTime).First();
			//总任务下没有其他未执行小车的任务变更总任务信息
			if (carTaskNext == null && modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
			{
			modFinshTask.Status = TaskStatusEnum.Complete;
			modFinshTask.FinishDate = DateTime.Now;
			_db.Updateable(modFinshTask).ExecuteCommand();

			//判断任务是否充电任务,下发开始充电命令
			if (modFinshTask.Levels == 888)
			{
			//写入开始充电
			var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "充电命令");
			plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "2");
			}

			//反馈WMS系统任务完成
			//HttpService httpService = new HttpService();
			//var requestMode = new TaskRequestWMS()
			//{
			// TaskNo = modFinshTask.TaskNo,
			// PalletNo = modFinshTask.PalletNo,
			// TaskType = ((int)modFinshTask.TaskType).ToString(),
			// TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			//};
			//var modResponseTask = httpService.RequestTask(requestMode).Result;
			//modFinshTask.IsSuccess = TaskSuccessEnum.Success;
			//_db.Updateable(modFinshTask).ExecuteCommand();
			HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());

			}
			}
			//没有路径2的任务变更总任务信息
			if (carTask2 == null && modFinshTask != null && modFinshTask.Status != TaskStatusEnum.Complete)
			{
			modFinshTask.Status = TaskStatusEnum.Complete;
			modFinshTask.FinishDate = DateTime.Now;
			_db.Updateable(modFinshTask).ExecuteCommand();

			//反馈WMS系统任务完成
			//HttpService httpService = new HttpService();
			//var requestMode = new TaskRequestWMS()
			//{
			// TaskNo = modFinshTask.TaskNo,
			// PalletNo = modFinshTask.PalletNo,
			// TaskType = ((int)modFinshTask.TaskType).ToString(),
			// TaskStatus = ((int)TaskStatusEnum.Complete).ToString()
			//};
			//var modResponseTask = httpService.RequestTask(requestMode).Result;
			//modFinshTask.IsSuccess = TaskSuccessEnum.Success;
			//_db.Updateable(modFinshTask).ExecuteCommand();
			HubUtil.PublicTask(modFinshTask.Adapt<WcsTaskOutput>());

			}

			}

			WcsTask modTask;
			//要下发路径2任务
			if (carTaskNext != null)
			{
			modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.TaskNo == carTaskNext.TaskNo && s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.CarIp == modDevice.PlcIdIP);

			carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
			}
			else
			{
			// 获取任务信息
			modTask = _db.Queryable<WcsTask>().Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar && s.CarIp == modDevice.PlcIdIP).OrderBy(m => m.Levels).OrderBy(m => m.CreateTime).First();
			if (modTask != null)
			{
			carTaskNext = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP && m.Status == TaskStatusEnum.Wait).OrderBy(m => m.CreateTime).First();
			}
			}

			//读取小车位置
			var modStationX = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(X)");
			var (resultx, valuex) = plcConn.GetDBValue(modStationX.PosType, modStationX.PlcPos);
			var modStationY = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Y)");
			var (resulty, valuey) = plcConn.GetDBValue(modStationY.PosType, modStationY.PlcPos);
			var modStationZ = modDevice.listStation.FirstOrDefault(s => s.Text == "四向车位置(Z)");
			var (resultz, valuez) = plcConn.GetDBValue(modStationZ.PosType, modStationZ.PlcPos);


			WcsTask modTask;
			//要下发路径2任务
			if (carTask2 != null)
			var carXYZ = valuex.ToString().PadLeft(2, '0') + valuey.ToString().PadLeft(2, '0') + valuez.ToString().PadLeft(2, '0');
			if (modTask == null)
			{
			modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.TaskNo == carTask2.TaskNo && s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar);

			carTask2= _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP).OrderBy(m => m.CreateTime).First();
			}
			else
			{
			// 获取任务信息
			modTask = _db.Queryable<WcsTask>().Where(s => s.Status <= TaskStatusEnum.Doing && s.Type == PLCTypeEnum.ShuttleCar).OrderBy(m => m.Levels, OrderByType.Asc).OrderBy(m => m.CreateTime).First();
			if (modTask == null)
			//读取小车电量
			var modPosCarDl = modDevice.listStation.FirstOrDefault(s => s.Text == "电池电量");
			var (resultDl, valueDl) = plcConn.GetDBValue(modPosCarDl.PosType, modPosCarDl.PlcPos);
			if (resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl)
			{
			return;
			var endLocateCar = "";
			if (valuez == 1)
			{
			endLocateCar = "210401";
			}
			else if (valuez == 2)
			{
			endLocateCar = "210402"; //011202
			}
			else
			{
			return; // 层数错误
			}
			var getCdTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Levels == 888 && m.EndLocate == endLocateCar && m.Type == PLCTypeEnum.ShuttleCar && m.Status <= TaskStatusEnum.Doing);
			if (getCdTask == null)
			{
			//添加小车充电位置
			WcsTask modCarTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.ShuttleCar,
			StartLocate = carXYZ,
			EndLocate = endLocateCar,
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 888, //充电等级优先任务等级
			Origin = "WCS",
			CarIp = modDevice.PlcIdIP
			};
			_db.Insertable(modCarTask).ExecuteCommand();
			HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
			}

			}
			carTask2 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && m.TaskNo == modTask.TaskNo && m.CarNo == modDevice.PlcIdIP).OrderBy(m => m.CreateTime).First();
			}
			else if(resultDl.IsSucceed && valueDl < (int)FourWayCarDLEnum.Dl2)
			{
			//判断小车是否有空闲时间记录没有：添加有：判断当前时间与记录时间是否满足5分钟满足：添加让小车去充电任务
			var carTime = _db.Queryable<WcsCarTime>().First(m => m.IsDelete == false && m.CarIp == modDevice.PlcIdIP);
			if (carTime == null)
			{
			var carTimeAdd = new WcsCarTime()
			{
			CarIp = modDevice.PlcIdIP,
			CarTime = DateTime.Now
			};
			_db.Insertable(carTimeAdd).ExecuteCommand();
			}
			else
			{
			if (carTime.CarTime == null)
			{
			carTime.CarTime = DateTime.Now;
			carTime.UpdateTime = DateTime.Now;
			_db.Updateable(carTime).ExecuteCommand();
			}
			else
			{
			var date1 = DateTime.Now;
			var data2 = (DateTime)carTime.CarTime;
			TimeSpan interval = date1 - data2;
			if (interval.TotalMinutes >= 5)
			{
			var endLocateCar = "";
			if (valuez == 1)
			{
			endLocateCar = "210401";
			}
			else if (valuez == 2)
			{
			endLocateCar = "210402";
			}
			else
			{
			return; // 层数错误
			}
			var getCdTask = _db.Queryable<WcsTask>().First(m => m.IsDelete == false && m.Levels == 888 && m.EndLocate == endLocateCar && m.Type == PLCTypeEnum.ShuttleCar && m.Status <= TaskStatusEnum.Doing);
			if (getCdTask == null)
			{
			//添加小车充电位置
			WcsTask modCarTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.ShuttleCar,
			StartLocate = carXYZ,
			EndLocate = endLocateCar,
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 888, //充电等级优先任务等级
			Origin = "WCS",
			CarIp = modDevice.PlcIdIP
			};
			_db.Insertable(modCarTask).ExecuteCommand();
			HubUtil.PublicTask(modCarTask.Adapt<WcsTaskOutput>());
			}

			}
			}

			//return;
			if (modTask == null \|\| carTask2 == null)
			{
			//判断小车是否有空闲时间记录没有：添加有：判断当前时间与记录时间是否满足5分钟满足：添加让小车去充电任务

			}
			}


			return;
			}

			if (carTask2.Status == TaskStatusEnum.Doing)
			if (carTaskNext == null)
			{
			return;
			}
			if (carTaskNext.Status == TaskStatusEnum.Doing)
			{
			Thread.Sleep(3000);
			return;
			}

			//判断当前任务是否还有前置任务未完成
			var preStrs = carTask2.PreId.Split(';');
			var preStrs = carTaskNext.PreId.Split(';');
			foreach (var preStr in preStrs)
			{
			if (string.IsNullOrWhiteSpace(preStr))
			@@ -280,6 +397,7 @@
			return;//前置任务未完成
			}
			}

			//先复位
			var modRest = modDevice.listStation.FirstOrDefault(s => s.Text == "复位");
			plcConn.SetDBValue(modRest.PosType, modRest.PlcPos, "1");
			@@ -287,7 +405,15 @@
			List<Result> listResult = new List<Result>();
			//获取小车任务号
			var carTaskNo = FourWayCarUtil.GetTaskNo();


			//判断任务是否充电任务
			if (modTask.Levels == 888)
			{
			//写入充电命令
			var modCd = modDevice.listStation.FirstOrDefault(s => s.Text == "充电命令");
			listResult.Add(plcConn.SetDBValue(modCd.PosType, modCd.PlcPos.ToString(), "1"));
			}

			var modWriteTask = modDevice.listStation.FirstOrDefault(s => s.Text == "写入任务号");
			listResult.Add(plcConn.SetDBValue(modWriteTask.PosType, modWriteTask.PlcPos, carTaskNo.ToString()));

			@@ -301,7 +427,7 @@
			int posStatus = Convert.ToInt32(modNodeStatus.PlcPos);

			//交互路径
			var execuPath = carTask2.ExecutionPath.Split(';');
			var execuPath = carTaskNext.ExecutionPath.Split(';');
			if (Convert.ToInt32(valuex) != Convert.ToInt32(execuPath[0].Substring(0, 2)) \|\| Convert.ToInt32(valuey) != Convert.ToInt32(execuPath[0].Substring(2, 2)) \|\| Convert.ToInt32(valuez) != Convert.ToInt32(execuPath[0].Substring(4, 2)))
			{
			return; //小车位置与路径起始位置不同
			@@ -343,15 +469,22 @@
			var result = plcConn.SetDBValue(modStart.PosType, modStart.PlcPos, "1");
			if (result.IsSucceed)
			{
			carTask2.Status = TaskStatusEnum.Doing;
			carTask2.CarTaskNo = carTaskNo;
			_db.Updateable(carTask2).ExecuteCommand();
			carTaskNext.Status = TaskStatusEnum.Doing;
			carTaskNext.CarTaskNo = carTaskNo;
			_db.Updateable(carTaskNext).ExecuteCommand();
			//清除小车空闲时间
			var carTimeClear = _db.Queryable<WcsCarTime>().First(m=>m.IsDelete == false && m.CarIp == modDevice.PlcIdIP);
			if (carTimeClear!= null)
			{
			carTimeClear.CarTime = null;
			carTimeClear.UpdateTime = DateTime.Now;
			_db.Updateable(carTimeClear).ExecuteCommand();
			}
			var taskMonitor = new WcsTaskMonitor()
			{
			TaskNo = carTask2.TaskNo,
			TaskNo = carTaskNext.TaskNo,
			PlcName = modDevice.Text,
			InteractiveMsg = $"向穿梭车下发任务{carTask2.TaskNo}"
			InteractiveMsg = $"向穿梭车下发任务{carTaskNext.TaskNo}"
			};
			_db.Insertable(taskMonitor).ExecuteCommand();
			//下发任务日志