JC34WCS.git - Gitblit

			@@ -1,22 +1,8 @@
			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 WCS.Application.Util;

			namespace WCS.Application;

			@@ -42,7 +28,54 @@
			_taskService = taskService;
			}

			// <summary>
			/// <summary>
			/// 测试分配任务路径
			/// </summary>
			/// <param name="models">任务信息</param>
			/// <returns>反馈信息</returns>
			[AllowAnonymous]
			public async Task AddAssignTasks(ResponseTasksModel 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(taskInfo.StartLocate, taskInfo.EndLocate);
			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, 1);
			var path = "";
			var executionPath1 = "";
			foreach (var item in data1)
			{
			//路径节点
			var pathXYZ = item.X.ToString().PadLeft(2, '0') + item.Y.ToString().PadLeft(2, '0') + item.Z.ToString().PadLeft(2, '0') + item.NodeCom.ToString();
			path += pathXYZ + ";";
			if (item.IsSendPlc)
			{
			executionPath1 += pathXYZ + ";";
			}
			}
			// 插入四向车任务表
			var carTask1 = new WcsCarTasks()
			{
			TaskNo = taskInfo.TaskNo,
			PreId = "",
			ExecutionPath = executionPath1,
			Path = path,
			CarNo = "",
			Status = TaskStatusEnum.Wait
			};
			var i = _db.Insertable(carTask1).ExecuteCommand();
			Console.WriteLine(""+i);
			}

			/// WCS接受WMS下发的任务(多
			/// 条任务)
			/// <param name="models">任务信息</param>
			@@ -73,7 +106,7 @@
			//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,
			@@ -85,6 +118,13 @@
			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();
			}

			listTask.Add(taskAdd);
			}
			await _db.Insertable(listTask).ExecuteCommandAsync();
			@@ -115,8 +155,9 @@
			var taskAdd = new WcsTask()
			{
			TaskNo = models.TaskNo,
			TaskType = TaskTypeEnum.Out,
			TaskType = (TaskTypeEnum?)int.Parse(models.TaskType),
			Status = TaskStatusEnum.Wait,
			Type = models.Type,
			Levels = 999,
			Origin = "WMS",
			StartRoadway = models.StartRoadway,
			@@ -125,6 +166,13 @@
			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();
			}

			@@ -377,33 +425,8 @@
			{
			case "end"://任务完成
			{
			PLCService.AGVStatus = false;
			//把成品货物拉到缓存工位后，下一个任务把托盘拉去提升机或者缓存区（优先级低一点）
			if (modTask.EndLocate == AGVStaionEnum.C1.ToString() \|\| modTask.EndLocate == AGVStaionEnum.C2.ToString())
			{
			var strEndLocate = "";
			Enum.TryParse(await _sysConfigService.GetConfigValue<string>("workshop_Trend"), out WorkshopEnum workshop);
			if (workshop == WorkshopEnum.Storage)
			strEndLocate = AGVStaionEnum.A1.ToString();
			else
			strEndLocate = AGVStorageUtil.GetProductInStorage();
			WcsTask modInsertTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.AGV,
			StartLocate = modTask.EndLocate,//缓存区
			EndLocate = strEndLocate,
			PalletNo = modTask.PalletNo,
			Status = TaskStatusEnum.Wait,
			Levels = 6,
			Origin = "WCS"
			};
			await _db.Insertable(modInsertTask).ExecuteCommandAsync();
			HubUtil.PublicTask(modInsertTask.Adapt<WcsTaskOutput>());
			}

			//货品拉到电梯口需要向输送线写入100

			//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");
			@@ -431,52 +454,6 @@
			Log.Error("C口申请入库写入值100失败");
			}
			}
			//放入拆托机后，向拆托机写入完成信号
			if (modTask.EndLocate == AGVStaionEnum.D1.ToString())
			{
			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, "0");
			var modTaskMonitorPLC = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.PlcId,
			PlcName = modDevice.WcsPos,
			Status = TaskStatusEnum.Doing,
			InteractiveMsg = $"向{modDevice.Text}写入完成信号0，结果{res.IsSucceed}",
			};
			_db.Insertable(modTaskMonitorPLC).ExecuteCommand();
			HubUtil.PublicTaskMonitor(modTaskMonitorPLC.Adapt<WcsTaskMonitorOutput>());
			modConn.Close();
			}
			//if (modTask.EndLocate == AGVStaionEnum.B1.ToString() \|\| modTask.EndLocate == AGVStaionEnum.B2.ToString())
			//{
			// var num = modTask.EndLocate.Substring(1, 1);
			// var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Type == PLCTypeEnum.RobotPalletizer && s.WareHouseNo == num);
			// var modConn = new PLCUtil(modPlc);
			// var modDevice = PLCTaskAction.plcDevices.FirstOrDefault(s => s.PlcId == modPlc.Id && s.Level == DeviceLevelEnum.DB);
			// var res = modConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos, "0");
			// var modTaskMonitorPLC = new WcsTaskMonitor()
			// {
			// TaskNo = modTask.TaskNo,
			// PlcId = modDevice.PlcId,
			// PlcName = modDevice.PlcPos,
			// Status = TaskStatusEnum.Doing,
			// InteractiveMsg = $"向{modDevice.Text}写入放托完成信号，结果{res.IsSucceed}",
			// };
			// _db.Insertable(modTaskMonitorPLC).ExecuteCommand();
			// HubUtil.PublicTaskMonitor(modTaskMonitorPLC.Adapt<WcsTaskMonitorOutput>());
			// modConn.Close();
			//}
			if (modTask.EndLocate == AGVStaionEnum.F1.ToString())
			{
			await _sysConfigService.UpdateConfigValue("cache_Materal", true);
			}
			if (modTask.StartLocate == AGVStaionEnum.F1.ToString())
			{
			await _sysConfigService.UpdateConfigValue("cache_Materal", false);
			}
			modTask.Status = TaskStatusEnum.Complete;
			modTask.FinishDate = DateTime.Now;
			await _db.Updateable(modTask).ExecuteCommandAsync();
			@@ -493,6 +470,7 @@
			await _db.Insertable(modTaskMonitor).ExecuteCommandAsync();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			//反馈WMS任务完成
			if (modTask.Origin == "WMS")
			{
			HttpService httpService = new HttpService();
			@@ -503,125 +481,23 @@
			inputs.TaskStatus = "2";
			var modResponseTask = httpService.RequestTask(inputs).Result;
			}
			//托盘进出缓存区需要记录
			if (new[] { "Z", "C" }.Contains(modTask.EndLocate.Substring(0, 1)))
			{
			await _sysConfigService.UpdateConfigValue($"cache_{modTask.EndLocate}", true);
			}
			if (new[] { "Z", "C" }.Contains(modTask.StartLocate.Substring(0, 1)))
			{
			await _sysConfigService.UpdateConfigValue($"cache_{modTask.StartLocate}", false);
			}

			}
			break;
			case "outbin"://走出储位
			{
			//取空托完成后，向拆托机写入完成信号
			if (modTask.StartLocate == AGVStaionEnum.D1.ToString() && (modTask.EndLocate == AGVStaionEnum.B1.ToString() \|\| modTask.EndLocate == AGVStaionEnum.B2.ToString()))
			//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")
			{
			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 modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice.Id && s.Text == "取托信号");
			var res = modConn.SetPlcDBValue(modPos.PosType, modDevice.DbNumber, modPos.PlcPos, "0");
			WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.PlcId,
			PlcName = modPos.PlcPos,
			Status = TaskStatusEnum.Doing,
			InteractiveMsg = $"向{modDevice.Text}写入取托信号0，结果{res.IsSucceed}",
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice.Id && s.Text == "取托完成");
			res = modConn.SetPlcDBValue(modPos.PosType, modDevice.DbNumber, modPos.PlcPos, "1");
			modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.PlcId,
			PlcName = modPos.PlcPos,
			Status = TaskStatusEnum.Doing,
			InteractiveMsg = $"向{modDevice.Text}写入取托完成1，结果{res.IsSucceed}",
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			modConn.Close();
			HttpService httpService = new HttpService();
			var inputs = new TaskRequestWMS();
			inputs.TaskNo = modTask.TaskNo;
			inputs.PalletNo = modTask.PalletNo;
			inputs.TaskType = "2";
			inputs.TaskStatus = "2";
			var modResponseTask = httpService.RequestTaskQh(inputs).Result;
			}
			//todo:去码垛工位取货完成后，需要写PLC信号开启光幕
			if ((modTask.StartLocate == AGVStaionEnum.B1.ToString() \|\| modTask.StartLocate == AGVStaionEnum.B2.ToString())
			&& (modTask.EndLocate == AGVStaionEnum.C1.ToString() \|\| modTask.EndLocate == AGVStaionEnum.C2.ToString()))
			{
			var num = modTask.StartLocate.Substring(1, 1);
			var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Type == PLCTypeEnum.RobotPalletizer && s.WareHouseNo == num);
			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 == "开启光幕");
			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}写入开启光幕1，结果{res.IsSucceed}",
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			//写入光幕0
			Task.Run(() =>
			{
			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 == "开启光幕");
			Thread.Sleep(1000);
			var res = 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>());
			});

			//向码垛机器人写取托完成信号
			modDevice = PLCTaskAction.plcDevices.FirstOrDefault(s => s.PlcId == modPlc.Id && s.Level == DeviceLevelEnum.Station);
			res = modConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos, "0");
			modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.PlcId,
			PlcName = modPos.PlcPos,
			Status = TaskStatusEnum.Doing,
			InteractiveMsg = $"向{modDevice.Text}写入取托完成信号，结果{res.IsSucceed}",
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			modConn.Close();
			}
			//起始工位是提升机取货工位
			if (modTask.StartLocate == AGVStaionEnum.A1.ToString())
			{
			var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Type == PLCTypeEnum.ConveyorLine);
			var modConn = new PLCUtil(modPlc);
			var modDevice = PLCTaskAction.plcDevices.FirstOrDefault(s => s.PlcId == modPlc.Id && s.Text == "C口");
			var modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice.Id && s.Text == "取走确认");
			var res = modConn.SetPlcDBValue(modPos.PosType, modDevice.DbNumber, modPos.PlcPos, "1");
			Log.Information($"向plc{modDevice.PlcId}写入1-取走确认，结果：{res.ToJson()}");
			var modTaskMonitor = new WcsTaskMonitor()
			{
			TaskNo = modTask.TaskNo,
			PlcId = modDevice.PlcId,
			PlcName = modPos.PlcPos,
			Status = TaskStatusEnum.Doing,
			InteractiveMsg = $"向{modDevice.Text}写入取走确认，结果{res.IsSucceed}",
			};
			_db.Insertable(modTaskMonitor).ExecuteCommand();
			HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			}
			break;
			case "apply"://放货申请
			@@ -687,7 +563,7 @@
			HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
			}
			break;
			case "cancel"://任务结束
			case "cancel"://任务取消
			{
			PLCService.AGVStatus = false;
			modTask.IsSuccess = TaskSuccessEnum.Fail;