using HH.WCS.Mobox3.DoubleCoin.device;
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using HH.WCS.Mobox3.DoubleCoin.dispatch;
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using HH.WCS.Mobox3.DoubleCoin.process;
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using HH.WCS.Mobox3.DoubleCoin.util;
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using HH.WCS.Mobox3.DoubleCoin.wms;
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using Newtonsoft.Json;
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using SqlSugar;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Threading.Tasks;
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using static HH.WCS.Mobox3.DoubleCoin.api.ApiModel;
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namespace HH.WCS.Mobox3.DoubleCoin.core
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{
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internal class WCSCore
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{
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public static ReturnResult OperateAgvTaskStatus(AgvTaskState model)
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{
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var result = new ReturnResult();
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try
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{
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if (model.state == 1023 || model.state == 1025)
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{
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//无任务号请求(交管，交通管理-开门关门，无任务号)
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if(!DeviceProcess.OpenOrCloseDoor(model.lock_no, model.state))
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{
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result.ResultCode = 2;
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result.ResultMsg = $"TCP通讯写入失败，安全门编号{model.lock_no}，状态{model.state}";
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LogHelper.Info(result.ResultMsg, "API");
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return result;
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}
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}
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else if (model.state == 1012)
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{
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Task task5 = Task.Run(() =>
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{
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PostScanCode(model.task_no, model.forklift_no);//反馈扫码结果
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});
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}
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else if (model.state == 1004)//称重货位起点终点更改（余料回库和拆盘回库）
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{
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Task task6 = Task.Run(() =>
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{
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UpdateStartEnd(model.forklift_no);
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});
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}
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else if (model.state == 1103)
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{
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Task task7 = Task.Run(() =>
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{
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CheckWeightDevice(model.forklift_no);
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});
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}
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else
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{
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var TN_Task = WCSHelper.GetTask(model.task_no);//根据当前model编号查询任务
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if (TN_Task != null)
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{
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if (model.state <= 8)
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{
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//有任务状态请求
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switch (model.state)
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{
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case 1:
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WCSHelper.Begin(TN_Task, model.forklift_no);//已推送的任务的状态改成执行
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Task task4 = Task.Run(() =>
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{
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OpenScanCode(model.task_no, model.forklift_no);//开启扫码
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});
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break;
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case 3:
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WCSHelper.UpdateStatus(TN_Task, "开始取货");//任务状态改成开始取货
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break;
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case 4:
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WCSHelper.UpdateStatus(TN_Task, "取货完成");//任务状态改成取货完成
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TaskProcess.OperateStatus(TN_Task, 4);//起点容器货位解绑,解锁起点
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Task task3 = Task.Run(() =>
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{
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EmptyInStackArea(TN_Task);
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});
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Task task1 = Task.Run(() =>
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{
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returnS7Ok(TN_Task);
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});
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break;
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case 5:
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WCSHelper.UpdateStatus(TN_Task, "开始卸货");//任务状态改成开始卸货
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break;
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case 6:
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WCSHelper.UpdateStatus(TN_Task, "卸货完成");//任务状态改成卸货完成
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TaskProcess.OperateStatus(TN_Task, 6);//终点容器货位绑定,解锁终点
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Task task2 = Task.Run(() =>
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{
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if (TN_Task.S_TYPE == "空托出库入线")
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{
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var ip = Settings.ProductionLines.FirstOrDefault(a => a.PointIn == TN_Task.S_END_LOC).ProductionLine_IP;
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if (!Settings.S7TestMoni)
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{
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S7Helper.WriteBytes(ip, 10, 2, new byte[] { 0, 11, 1 });
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}
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}
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});
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Task task29 = Task.Run(() =>
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{
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if (TN_Task.S_TYPE == "余料下线入库")
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{
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SpecHelper.UpdateSurplusDetail(TN_Task.S_CODE);
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}
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});
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Task task30 = Task.Run(() =>
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{
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if (TN_Task.S_TYPE.Contains("回炉"))
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{
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SpecHelper.UpdateRemeltDetail(TN_Task.S_CODE);
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}
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});
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Task task31 = Task.Run(() =>
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{
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if (TN_Task.S_TYPE == "满托出库上线")
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{
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SpecHelper.UpdateComponentDetail(TN_Task.S_CODE);
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}
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});
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Task task12 = Task.Run(() =>
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{
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if (TN_Task.S_TYPE == "PDA满托下线入库" || TN_Task.S_TYPE == "PLC满托下线入库")
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{
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SpecHelper.UpdateComponentDetail(TN_Task.S_CODE);
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}
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});
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Task task19 = Task.Run(() =>
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{
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if (TN_Task.S_END_AREA == Settings.Areas[2])
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{
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SpecHelper.UpdateInventoryM_RuKu(TN_Task.S_CNTR_CODE);
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}
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});
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break;
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case 2:
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WCSHelper.End(TN_Task);//任务状态改成结束
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break;
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case 7:
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Task task10 = Task.Run(() =>
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{
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if (TN_Task.S_TYPE == "满托下线入库")
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{
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TaskProcess.OperateStatus(TN_Task, 7);//异常处理
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}
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else if(TN_Task.S_TYPE == "满托出库上线")
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{
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WCSHelper.Fail(TN_Task);//任务状态改成错误
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LocationHelper.UnLockLoc(TN_Task.S_END_LOC);
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if (!WCSHelper.CheckActionRecordExist(TN_Task.S_CODE, 4))
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{
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LocationHelper.UnLockLoc(TN_Task.S_START_LOC);
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}
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}
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});
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break;
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case 8:
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Task task11 = Task.Run(() =>
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{
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if (TN_Task.S_TYPE == "满托下线入库")
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{
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var res = NDCApi.CancelOrder(TN_Task.S_CODE);
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if (res != null && (res.err_code ==50002 || res.err_code == 0))
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{
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TaskProcess.OperateStatus(TN_Task, 7);//异常处理
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}
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else
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{
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LogHelper.Info($"异常和取消操作 请求结果失败{res}");
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}
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}
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else
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{
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var res = NDCApi.CancelOrder(TN_Task.S_CODE);
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if (res != null && (res.err_code == 50002 || res.err_code == 0))
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{
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WCSHelper.Fail(TN_Task);//任务状态改成错误
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LocationHelper.UnLockLoc(TN_Task.S_END_LOC);
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if (!WCSHelper.CheckActionRecordExist(TN_Task.S_CODE, 4))
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{
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LocationHelper.UnLockLoc(TN_Task.S_START_LOC);
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}
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}
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else
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{
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LogHelper.Info($"异常和取消操作 请求结果失败{res}");
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}
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}
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});
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break;
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}
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WCSHelper.AddActionRecord(model.task_no, model.state, model.forklift_no, model.ext_data);
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//调用第三方接口（如果有）TaskProcess.ReportStatus，添加任务动作关系表
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}
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else
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{
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//安全请求等
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TaskProcess.OperateReq(model.task_no, model.state, model.forklift_no, model.ext_data);
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}
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}
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else
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{
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result.ResultCode = 1;
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result.ResultMsg = $"根据Model.No未找到对应的任务，{model.task_no}";
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LogHelper.Info(result.ResultMsg,"API");
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return result;
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}
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}
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result.ResultCode = 0;
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result.ResultMsg = "success";
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LogHelper.Info(result.ResultMsg, "API");
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return result;
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}
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catch(Exception ex)
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{
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result.ResultCode = -1;
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result.ResultMsg = $"发生了异常：+{ex.Message}";
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LogHelper.Info(result.ResultMsg, "Error");
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return result;
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}
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}
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/// <summary>
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/// 校验称重设备
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/// </summary>
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/// <param name="forklift_no"></param>
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private static void CheckWeightDevice(string forklift_no)
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{
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try
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{
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var db = new SqlHelper<object>().GetInstance();
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var task = db.Queryable<TN_Task>().First(a => a.S_EQ_NO == forklift_no && a.N_B_STATE == 2);
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if (task == null)
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{
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LogHelper.Info($"未找到任务号信息，对应车号：{forklift_no}");
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return;
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}
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var device = Settings.WeightDevices[0];
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if (device == null)
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{
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LogHelper.Info($"未在配置文件里找到称重设备信息");
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return;
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}
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var readRes = S7Helper.ReadBytes(device.WeightDevice_IP, 20, 6, 2);
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LogHelper.Info($"称重设备DB20第6位2Byte，读取结果：{BitConverter.ToString(readRes)}");
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if (readRes.Length==2 && readRes[1] == 1)
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{
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var res2 = NDCApi.ChangeOrderParam(task.S_CODE, 6, "1");//添加新命令
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if (res2.err_code != 0)//添加新命令
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{
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LogHelper.Info($"更改参数命令失败，参数6改成1");
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return;
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}
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else
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{
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LogHelper.Info($"更改参数命令成功，参数6改成1");
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}
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}
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else
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{
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LogHelper.Info($"称重设备读取结果不为1，无法参数6改成1：{BitConverter.ToString(readRes)}");
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}
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}
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catch(Exception ex)
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{
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LogHelper.Info($"发生了异常:{ex.Message}");
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}
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}
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private async static void UpdateStartEnd(string forklift_no)
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{
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try
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{
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var db = new SqlHelper<object>().GetInstance();
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var task = db.Queryable<TN_Task>().First(a => a.S_EQ_NO == forklift_no && a.N_B_STATE ==2);
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if (task == null)
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{
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LogHelper.Info($"未找到任务号信息，对应车号：{forklift_no}");
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return;
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}
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var startLoc = db.Queryable<TN_Location>().First(a => a.S_CODE == Settings.WeightDevices[0].Point);
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if (startLoc == null)
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{
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LogHelper.Info($"未找到任务号的起点信息，对应任务号：{task.S_CODE}");
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return;
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}
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var device = Settings.WeightDevices[0];
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if (device == null)
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{
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LogHelper.Info($"未在配置文件里找到称重设备信息");
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return;
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}
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if( S7Helper.WriteBytes(device.WeightDevice_IP, 10, 4, new byte[] { 0x01 }))
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{
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LogHelper.Info($"称重设备DB10写入偏移量4为1成功");
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await Task.Delay(500); // 延迟 0.5 秒，让它称重
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var normal = S7Helper.ReadBytes(device.WeightDevice_IP, 20, 9, 1);
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if (normal.Length == 1 && normal[0] != 1 && normal[0] != 0)
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{
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LogHelper.Info($"称重设备DB20读取9，结果是：{normal[0]}，结果不为1或0，视为设备异常");
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return;
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}
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var readRes = S7Helper.ReadBytes(device.WeightDevice_IP, 20, 26, 2);
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LogHelper.Info($"称重设备读取结果DB20读取26位2位：{BitConverter.ToString(readRes)}");
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if (readRes.Length == 2)
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{
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var cginfo = db.Queryable<TN_CG_Detail>().First(a => a.S_CNTR_CODE == task.S_CNTR_CODE);
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if (cginfo == null)
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{
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LogHelper.Info($"未找到容器货品信息，该容器{task.S_CNTR_CODE}");
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return;
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}
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var targetQty = BitConverter.ToInt16(readRes, 0);
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if (targetQty <= 0)
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{
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LogHelper.Info($"称重小于等于0，称重{targetQty}");
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return;
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}
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var endloc = db.Queryable<TN_Location>().First(a => a.S_AREA_CODE == (cginfo.N_ITEM_STATE == 2 ? Settings.Areas[8] : Settings.Areas[1]) && a.N_LOCK_STATE == 0 && a.S_LOCK_STATE == "无" && a.N_CURRENT_NUM == 0);
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using (var trans = db.Ado.UseTran())
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{
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if (cginfo.S_Separate_ID != null && cginfo.S_Separate_ID.Length > 0)
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{
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var target = db.Queryable<TN_CG_Detail>().First(a => a.S_Separate_ID == cginfo.S_Separate_ID && a.S_CNTR_CODE != cginfo.S_CNTR_CODE);
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if (target.N_ITEM_STATE == 2)
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{
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target.F_QTY = cginfo.F_QTY - targetQty;
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if(db.Updateable<TN_CG_Detail>(target).UpdateColumns(it => new { it.F_QTY }).ExecuteCommand() <= 0)
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{
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LogHelper.Info($"更新被拆的新容器的物料重量失败，任务号：{task.S_CODE}，起点{task.S_START_LOC}，终点{task.S_END_LOC}");
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trans.RollbackTran();
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return;
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}
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}
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}
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cginfo.F_QTY = targetQty;
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if(db.Updateable<TN_CG_Detail>(cginfo).UpdateColumns(it => new { it.F_QTY }).ExecuteCommand() <= 0)
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{
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LogHelper.Info($"更新当前容器的物料重量失败，任务号：{task.S_CODE}，起点{task.S_START_LOC}，终点{task.S_END_LOC}");
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trans.RollbackTran();
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return;
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}
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Task task31 = Task.Run(() =>
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{
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if (task.S_TYPE == "余料下线入库")
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{
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SpecHelper.UpdateSurplusDetail(task.S_CODE, targetQty);
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}
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});
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task.S_START_LOC = startLoc.S_CODE;
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task.S_START_AREA = startLoc.S_AREA_CODE;
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task.S_END_LOC = endloc.S_CODE;
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task.S_END_AREA = endloc.S_AREA_CODE;
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if (db.Updateable<TN_Task>(task).UpdateColumns(it => new { it.S_START_LOC, it.S_END_LOC, it.S_START_AREA, it.S_END_AREA }).ExecuteCommand() > 0)
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{
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LogHelper.Info($"起点终点参数更新成功，任务号：{task.S_CODE}，起点{task.S_START_LOC}，终点{task.S_END_LOC}");
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}
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else
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{
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LogHelper.Info($"起点终点参数更新失败，任务号：{task.S_CODE}，起点{task.S_START_LOC}，终点{task.S_END_LOC}");
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trans.RollbackTran();
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return;
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}
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var res2 = NDCApi.ChangeOrderParam(task.S_CODE, 1, startLoc.S_AGV_SITE);
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if (res2 == null || res2.err_code != 0)//起点
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{
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LogHelper.Info($"更改参数命令失败，参数1改成起点{startLoc.S_AGV_SITE}");
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trans.RollbackTran();
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return;
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}
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else
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{
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LogHelper.Info($"更改参数命令成功，参数1改成起点{startLoc.S_AGV_SITE}");
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}
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res2 = NDCApi.ChangeOrderParam(task.S_CODE, 2, endloc.S_AGV_SITE);//终点变起点
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if (res2 == null || res2.err_code != 0)//终点变起点
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{
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LogHelper.Info($"更改参数命令失败，参数2改成终点{ endloc.S_AGV_SITE}");
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trans.RollbackTran();
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return;
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}
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else
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{
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LogHelper.Info($"更改参数命令成功，参数2改成终点{endloc.S_AGV_SITE}");
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}
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res2 = NDCApi.ChangeOrderParam(task.S_CODE, 6, "2");//添加新命令
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if (res2.err_code != 0)//添加新命令
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{
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LogHelper.Info($"更改参数命令失败，参数6改成2");
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trans.RollbackTran();
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return;
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}
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else
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{
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LogHelper.Info($"更改参数命令成功，参数6改成2");
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}
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res2 = NDCApi.ChangeOrderParam(task.S_CODE, 6, "1");//添加新命令
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if (res2.err_code != 0)//添加新命令
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{
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LogHelper.Info($"更改参数命令失败，参数6改成1");
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trans.RollbackTran();
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return;
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}
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else
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{
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LogHelper.Info($"更改参数命令成功，参数6改成1");
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}
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trans.CommitTran();
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return;
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}
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}
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else
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{
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LogHelper.Info($"称重设备读取结果，不等于2个Byte");
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}
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}
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else
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{
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LogHelper.Info($"称重设备DB10写入偏移量4为1失败");
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}
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}
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catch(Exception ex)
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{
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LogHelper.Info($"发生了异常:{ex.Message}");
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}
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}
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/// <summary>
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/// 反馈扫码结果
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/// </summary>
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/// <param name="task_no"></param>
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/// <param name="forklift_no"></param>
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private static void PostScanCode(string task_no, string forklift_no)
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{
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try
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{
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var dic = new List<param>();
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var agv = Settings.AgvScanDevices.FirstOrDefault(a => a.AgvCode == forklift_no);
|
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if (agv == null)
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{
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LogHelper.Info($"在配置表中未找到该AGV：{forklift_no}的信息");
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return;
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}
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if (!TcpServer.saoMa.ContainsKey(agv.ScanAddress))
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{
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TcpServer.saoMa.Add(agv.ScanAddress,3);
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}
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var res = NDCApi.ChangeOrderParam(task_no, 6, TcpServer.saoMa[agv.ScanAddress].ToString());//添加新命令
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if (res != null && (res.err_code == 0 || res.err_code == 50009))
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{
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//推送成功
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LogHelper.Info($"NDC反馈扫码结果成功，扫码结果：{TcpServer.saoMa[agv.ScanAddress].ToString()}");
|
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}
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else
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{
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LogHelper.Info($"NDC反馈扫码结果失败，扫码结果：{TcpServer.saoMa[agv.ScanAddress].ToString()}");
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}
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TcpServer.saoMa[agv.ScanAddress] = 3;
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TcpServer.isCheck[agv.ScanAddress] = false;
|
}
|
catch (Exception ex)
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{
|
LogHelper.Info($"发生了异常:{ex.Message}");
|
}
|
}
|
|
/// <summary>
|
/// 任务分发，根据调度类型发给不同的调度系统
|
/// </summary>
|
internal static void Dispatch()
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{
|
//查询任务
|
//获取所有等待的任务
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var list = WCSHelper.GetWaitingTaskList();
|
LogHelper.Info("等待任务信息" + JsonConvert.SerializeObject(list), "API");
|
if (list.Count > 0)
|
{
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list.ForEach(task =>
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{
|
//使用自定义任务推送
|
TaskProcess.SendTask(task);//调度NDC或杭奥或国自设备
|
//TaskProcess.SendGZTask(task);///调度国自设备
|
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});
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}
|
else
|
{
|
LogHelper.Info("暂无任务");
|
}
|
}
|
|
/// <summary>
|
/// 回复S7取货完成关闭信号
|
/// </summary>
|
/// <param name="tN_Task"></param>
|
public static void returnS7Ok(TN_Task tN_Task)
|
{
|
if (tN_Task.S_TYPE == "满托下线入库")
|
{
|
var ProductionLine = Settings.ProductionLines.FirstOrDefault(a => a.PointOut == tN_Task.S_START_LOC);
|
try
|
{
|
if (ProductionLine ==null)
|
{
|
LogHelper.Info($"产线出口{tN_Task.S_START_LOC}，配置文件未找到对应的PointOut值");
|
return;
|
}
|
if (!Settings.S7TestMoni)
|
{
|
if (S7Helper.WriteBytes(ProductionLine.ProductionLine_IP, 10, 2, new byte[] { 0, 21, 1 }))
|
{
|
LogHelper.Info($"产线{ProductionLine.ProductionLine_IP}写入DB10的偏移2为0, 21, 1， 取货完成，成功");
|
}
|
else
|
{
|
LogHelper.Info($"产线{ProductionLine.ProductionLine_IP}写入DB10的偏移2为0, 21, 1， 取货完成，失败");
|
}
|
}
|
}
|
catch (Exception ex)
|
{
|
LogHelper.Info($"与产线{ProductionLine.ProductionLine_IP}的S7 TCP通讯失败，发生了异常：{ex.Message}", "Error");
|
}
|
}
|
}
|
|
/// <summary>
|
/// 空托下线堆叠
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/// </summary>
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/// <param name="tN_Task"></param>
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public static void EmptyInStackArea(TN_Task tN_Task)
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{
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if (tN_Task.S_TYPE == "满托出库上线")
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{
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var result = new SimpleResult();
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var db = new SqlHelper<object>().GetInstance();
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try
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{
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var startLocLists =
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db.Queryable<TN_Location>().Where(a => a.S_AREA_CODE == Settings.Areas[6] && a.N_CURRENT_NUM >0 && a.N_LOCK_STATE==0 && a.S_LOCK_STATE == "无").ToList();
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if (startLocLists.Count == 0)
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{
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LogHelper.Info($"人工托盘区暂无已绑定的空托，需要满足：货位数量大于0，未锁定的，属于库区{Settings.Areas[6]}的货位");
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return;
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}
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foreach (var item in startLocLists)
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{
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//查询符合的未锁定已启用指定货区的当前数量合计后最接近容量的货位，终点
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var endLoc = db.Queryable<TN_Location>().
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Where(a => a.N_CURRENT_NUM + item.N_CURRENT_NUM <= a.N_CAPACITY && a.S_AREA_CODE == Settings.Areas[3] && a.N_LOCK_STATE == 0 && a.S_LOCK_STATE == "无" && a.C_ENABLE == "Y").
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OrderBy(a => a.N_CURRENT_NUM + item.N_CURRENT_NUM - a.N_CAPACITY, OrderByType.Desc).First();
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if (endLoc == null)
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{
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LogHelper.Info($"未找到合适的终点，需要满足：属于{Settings.Areas[3]}的未锁定的容量充足的货位");
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continue;
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}
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var locCnt = db.Queryable<TN_Loc_Container>().First(a=>a.S_LOC_CODE == item.S_CODE);
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if (locCnt == null)
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{
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LogHelper.Info($"货位{item.S_CODE}未绑定容器");
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continue;
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}
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//创建空托下线堆叠任务
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if (WCSHelper.CreateTask(item.S_CODE, endLoc.S_CODE, "空托下线堆叠", 3, locCnt.S_CNTR_CODE))//创建搬送任务，起点终点容器
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{
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LocationHelper.LockLoc(item.S_CODE, 2);//起点出库锁，
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LocationHelper.LockLoc(endLoc.S_CODE, 1);//终点入库锁
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LogHelper.Info($"生成空托下线堆叠任务成功，容器号{locCnt.S_CNTR_CODE}，起点{item.S_CODE}，终点{endLoc.S_CODE}");
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}
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else
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{
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LogHelper.Info($"生成空托下线堆叠任务失败，容器号{locCnt.S_CNTR_CODE}，起点{item.S_CODE}，终点{endLoc.S_CODE}");
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continue;
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}
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}
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}
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catch (Exception ex)
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{
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LogHelper.Info($"发生了异常：{ex.Message}", "Error");
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}
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}
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}
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/// <summary>
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/// 开启/关闭/读卡器扫码
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/// </summary>
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/// <returns></returns>
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public static void OpenScanCode(string taskNo, string forklift_no)
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{
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try
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{
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var dic = new List<param>();
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var agv = Settings.AgvScanDevices.FirstOrDefault(a=>a.AgvCode == forklift_no);
|
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if (agv == null)
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{
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LogHelper.Info($"在配置表中未找到该AGV：{forklift_no}的信息");
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return;
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}
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if (!TcpServer.isCheck.ContainsKey(agv.ScanAddress))
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{
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TcpServer.isCheck.Add(agv.ScanAddress, false);
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}
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string code = "";
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if (Settings.IsOpenScanCode)
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{
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code = "4";
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TcpServer.isCheck[agv.ScanAddress] = true;
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}
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else
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{
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code = "0";
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TcpServer.isCheck[agv.ScanAddress] = false;
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}
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var res = NDCApi.ChangeOrderParam(taskNo,3, code);//添加新命令
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if (res != null && (res.err_code == 0 || res.err_code == 50009))
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{
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//推送成功
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LogHelper.Info($"NDC推送读卡器扫码参数变更成功，读卡器扫码是否开启：{Settings.IsOpenScanCode}");
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}
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else
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{
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LogHelper.Info($"NDC推送读卡器扫码参数变更失败，读卡器扫码是否开启：{Settings.IsOpenScanCode}");
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}
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}
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catch(Exception ex)
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{
|
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}
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}
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}
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}
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