JC34WCS.git - Gitblit

			@@ -9,6 +9,7 @@
			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;
			@@ -52,6 +53,7 @@

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


			public static List<ModbusUtil> modbusUtilConn
			{
			get { return listModbusUtil; }
			@@ -86,11 +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>()
			@@ -209,15 +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;
			@@ -338,7 +332,7 @@



			Thread.Sleep(1000);
			Thread.Sleep(2000);
			}
			catch (OperationCanceledException)
			{
			@@ -363,7 +357,7 @@
			{
			while (true)
			{
			Console.WriteLine("开启四向车任务自分配");
			//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)
			{
			@@ -376,16 +370,92 @@
			}
			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 => s.CreateTime).First();
			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
			var taskpai = int.Parse(waitTask.StartLocate.Substring(0, 2));
			var tasklie = int.Parse(waitTask.StartLocate.Substring(2, 2));
			var taskceng = int.Parse(waitTask.StartLocate.Substring(4, 2));

			if (waitTask.TaskType == TaskTypeEnum.In )
			{
			//入库任务起始巷道就是起始工位
			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)
			{
			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

			@@ -412,6 +482,31 @@
			{
			//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);
			//var modCarju = plcPosition.FirstOrDefault(s => s.Text == "举升位置");
			//var (resultju, valueju) = modbusUtil.GetDBValue(modCarju.PosType, modCarju.PlcPos);
			//if (resultPall.IsSucceed && valuePall == 1 && resultPall.IsSucceed && valuePall != 1) //1顶货 2子通道 3主通道
			//{
			// break; //暂缓分配
			//}
			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)
			{
			@@ -430,7 +525,7 @@
			{
			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, waitTask.StartLocate);
			var d = FourWayCarUtil.GetCarPath(carVal, starLocate);
			kXCarList.Add(new CarInfo()
			{
			CarPlcIp = modbusUtil.PlcIP,
			@@ -460,266 +555,65 @@

			#endregion

			#region 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）

			// 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
			}
			var data = new List<CarModel>();
			if (assignCar.Level != 0)

			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, waitTask.StartLocate);
			var datas = FourWayCarUtil.GetCarPathUp(data1, 0);
			data.AddRange(datas);
			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(waitTask.StartLocate, waitTask.EndLocate, "1");
			var datas2 = FourWayCarUtil.GetCarPathUp(data2, 1);
			data.AddRange(datas2);
			if (data == null) { continue; }

			var preId1 = "";//前置任务Id
			var executionPath1 = "";//交互路径
			var executionPath2 = "";//交互路径
			var path = "";//所有路径
			var isOk = "1"; //是否完整路径 1完整 2 两条路径
			for (int i = 0; i < data.Count; i++)
			{
			//路径节点
			var pathXYZ = data[i].X.ToString().PadLeft(2, '0') + data[i].Y.ToString().PadLeft(2, '0') + data[i].Z.ToString().PadLeft(2, '0')+ data[i].NodeCom.ToString();
			path += pathXYZ + ";";

			//获取等待或正在执行的任务中包含当前节点的小车任务
			var taskList = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && (m.Status == TaskStatusEnum.Wait \|\| m.Status == TaskStatusEnum.Doing) && m.Path.Contains(pathXYZ)).Select(m => m.Id).Distinct().ToList();

			foreach (var item in taskList)
			{
			//判断如果是完整路径记录交互路径
			if (isOk == "1")
			{
			//if (i == 0)
			//{
			// return;//第一个节点有和其他任务路径冲突，无法避免
			//}
			var pathXYZQian = data[i - 1].X.ToString().PadLeft(2, '0') + data[i - 1].Y.ToString().PadLeft(2, '0') + data[i - 1].Z.ToString().PadLeft(2, '0') + data[i].NodeCom.ToString();
			if (!executionPath1.Contains(pathXYZQian))
			{
			executionPath1 += pathXYZQian + ";";
			}
			executionPath2 += pathXYZQian + ";";
			}
			//判断添加前置任务Id
			if (!preId1.Contains(item + ""))
			{
			preId1 += item + ";";
			}

			isOk = "2";
			}

			if (data[i].IsSendPlc)
			{
			if (isOk == "1")
			{
			executionPath1 += pathXYZ + ";";
			}
			else
			{
			executionPath2 += pathXYZ + ";";
			}

			}

			var data2 = FourWayCarUtil.GetCarPath(starLocate, endLocate, typeStr);
			var datas2 = FourWayCarUtil.GetCarPathUp(data2, typeStr2);

			if (datas2 == null)
			{
			continue;
			}

			#endregion

			#region 判断是否有空闲小车阻挡路径 3
			var preId3 = "";//前置任务Id
			foreach (var item in kXCarList)
			else
			{
			if (item == assignCar)
			var bl = FourWayCarUtil.AddCarTask(datas2,kXCarList,assignCar,waitTask,1);
			//分配错误，删除分配信息
			if (!bl)
			{
			continue;//排除当前分配任务的小车
			}
			//小车位置
			var carXYZ = item.X.ToString().PadLeft(2, '0') + item.Y.ToString().PadLeft(2, '0') + item.Z.ToString().PadLeft(2, '0') ;
			//分配的任务路径中当前小车是否阻挡
			if (path.Contains(carXYZ))
			{
			//获取等待或正在执行的任务中包含当前节点的小车任务，不会有太多任务，同层有几个小车最多有几个任务
			var taskList3 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && (m.Status == TaskStatusEnum.Wait \|\| m.Status == TaskStatusEnum.Doing)).ToList();

			var str3 = "";//所有已分配或执行的任务全路径之和

			foreach (var item2 in taskList3)
			{
			str3 += item2.Path;
			}
			var endLocate3 = "";
			var executionPath3 = "";
			var path3 = "";
			var datas3 = new List<CarModel>();
			//查找目标位置
			while (endLocate3 == "" \|\| datas3.Count == 0 \|\| datas3 == null)
			{
			endLocate3 = FourWayCarUtil.GetCarEndLocation(carXYZ, str3);
			var data3 = FourWayCarUtil.GetCarPath(carXYZ, endLocate3, "0");
			datas3 = FourWayCarUtil.GetCarPathUp(data3, 0);
			}
			foreach (var itemPath in datas3)
			{
			var pathXYZ = itemPath.X.ToString().PadLeft(2, '0') + itemPath.Y.ToString().PadLeft(2, '0') + itemPath.Z.ToString().PadLeft(2, '0') + itemPath.NodeCom.ToString();

			path3 += pathXYZ + ";";
			if (itemPath.IsSendPlc)
			{
			executionPath3 += pathXYZ + ";";
			}
			}
			WcsTask modTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.ShuttleCar,
			StartLocate = carXYZ,
			EndLocate = endLocate3,
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 2,
			Origin = "WCS"
			};
			_db.Insertable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			//移动小车
			var carTaskYC = new WcsCarTasks()
			{
			TaskNo = modTask.TaskNo,
			PreId = "",
			ExecutionPath = executionPath3,
			Path = path3,
			CarNo = item.CarPlcIp,
			Status = TaskStatusEnum.Wait
			};
			var idLong = _db.Insertable(carTaskYC).ExecuteReturnBigIdentity();
			preId3 += idLong + ";";
			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();
			}
			}

			#endregion

			#region 判断现有任务中最终节点是否在当前分配路径中，如有添加移走小车任务并加入前置任务 4

			//获取等待或正在执行的任务中包含当前节点的小车任务，不会有太多任务，同层有几个小车最多有几个任务
			var taskList4 = _db.Queryable<WcsCarTasks>().Where(m => m.IsDelete == false && (m.Status == TaskStatusEnum.Wait \|\| m.Status == TaskStatusEnum.Doing)).ToList();
			var preId4 = "";//前置任务Id
			var str4 = "";//所有已分配或执行的任务全路径之和

			foreach (var item in taskList4)
			{
			str4 += item.Path;
			}
			//判断现有任务中最终节点是否在当前分配路径中，如有添加移走小车任务并加入前置任务
			foreach (var item in taskList4)
			{
			var lastPathList = item.ExecutionPath.Split(';');
			// a;b;c; 最后一个位是“”，所以lastPathList.Length - 2
			var lastPath = lastPathList[lastPathList.Length - 2];

			//如果此此分配路径包含醉舞中最终节点路径，添加移走小车
			if (path.Contains(lastPath))
			{
			var endLocate = "";
			var executionPath4 = "";
			var path4 = "";
			var datas4 = new List<CarModel>();
			//查找目标位置
			while (endLocate == "" \|\| datas4.Count == 0 \|\| datas4 == null)
			{
			endLocate = FourWayCarUtil.GetCarEndLocation(lastPath, str4);
			var data4 = FourWayCarUtil.GetCarPath(lastPath, endLocate);
			datas4 = FourWayCarUtil.GetCarPathUp(data4, 0);
			}
			foreach (var itemPath in datas4)
			{
			var pathXYZ = itemPath.X.ToString().PadLeft(2, '0') + itemPath.Y.ToString().PadLeft(2, '0') + itemPath.Z.ToString().PadLeft(2, '0') + itemPath.NodeCom.ToString();

			path4 += pathXYZ + ";";
			if (itemPath.IsSendPlc)
			{
			executionPath4 += pathXYZ + ";";
			}
			}
			WcsTask modTask = new WcsTask()
			{
			TaskNo = _taskService.GetTaskCode(),
			TaskType = TaskTypeEnum.Move,
			Type = PLCTypeEnum.ShuttleCar,
			StartLocate = lastPath,
			EndLocate = endLocate,
			PalletNo = "",
			Status = TaskStatusEnum.Wait,
			Levels = 2,
			Origin = "WCS"
			};
			_db.Insertable(modTask).ExecuteCommand();
			HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
			//移动小车
			var carTaskYC = new WcsCarTasks()
			{
			TaskNo = modTask.TaskNo,
			PreId = "",
			ExecutionPath = executionPath4,
			Path = path4,
			CarNo = item.CarNo,
			Status = TaskStatusEnum.Wait
			};
			var idLong = _db.Insertable(carTaskYC).ExecuteReturnBigIdentity();
			preId4 += idLong + ";";
			}
			}

			#endregion

			#region 插入任务数据改变任务状态

			// 插入四向车任务表
			var carTask1 = new WcsCarTasks()
			{
			TaskNo = waitTask.TaskNo,
			PreId = preId1+ preId3+preId4,
			ExecutionPath = executionPath1,
			Path = path,
			CarNo = assignCar.CarPlcIp,
			Status = TaskStatusEnum.Wait
			};
			_db.Insertable(carTask1).ExecuteCommand();
			if (!string.IsNullOrWhiteSpace(executionPath1) && isOk == "2")
			{
			// 插入四向车任务表
			var carTask2 = new WcsCarTasks()
			{
			TaskNo = waitTask.TaskNo,
			PreId = preId1,
			ExecutionPath = executionPath2,
			Path = path,
			CarNo = assignCar.CarPlcIp,
			Status = TaskStatusEnum.Wait
			};
			_db.Insertable(carTask2).ExecuteCommand();
			}
			// 改变总任务表状态
			waitTask.Status = TaskStatusEnum.Doing;
			waitTask.UpdateTime = DateTime.Now;
			_db.Updateable(waitTask).ExecuteCommand();
			HubUtil.PublicTask(waitTask.Adapt<WcsTaskOutput>());

			#endregion


			Thread.Sleep(3000);
			}