using System;
|
using System.Collections.Generic;
|
using System.Linq;
|
|
using HH.WCS.Mobox3.DSZSH.Dispatch;
|
using HH.WCS.Mobox3.DSZSH.Helpers;
|
using HH.WCS.Mobox3.DSZSH.Models;
|
using HH.WCS.Mobox3.DSZSH.Helper;
|
|
using Newtonsoft.Json;
|
|
using SqlSugar;
|
|
using static HH.WCS.Mobox3.DSZSH.Dtos.Response.MoboxResponse;
|
using static HH.WCS.Mobox3.DSZSH.Helpers.ResultHelper;
|
|
namespace HH.WCS.Mobox3.DSZSH.Helpers.Model {
|
/// <summary>
|
/// 任务帮助类
|
/// </summary>
|
public class TaskHelper {
|
/// <summary>
|
/// 生成任务号
|
/// </summary>
|
/// <returns></returns>
|
private static string GenerateTaskNo() {
|
var id = SysHelper.GetSerialNumber("任务号", "TN");
|
var date = DateTime.Now.ToString("yyMMdd");
|
return $"TN{date}{id.ToString().PadLeft(4, '0')}";
|
}
|
|
/// <summary>
|
/// 创建搬运任务，返回任务是否创建成功
|
/// </summary>
|
/// <remarks>
|
/// 不会检查参数合法性，使用前请确保货位号和容器号存在
|
/// </remarks>
|
/// <param name="from">起点货位号</param>
|
/// <param name="cnt">容器号</param>
|
/// <param name="to">终点货位号</param>
|
/// <param name="type">任务类型/名称</param>
|
/// <param name="pri">优先级</param>
|
/// <returns></returns>
|
public static bool CreateTask(string from, string cnt, string to, string type, int pri = 3) {
|
var startLoc = LocationHelper.GetLocation(from);
|
var endLoc = LocationHelper.GetLocation(to);
|
|
TN_Task TN_Task = new TN_Task() {
|
S_CODE = GenerateTaskNo(),
|
S_START_AREA = startLoc?.S_AREA_CODE ?? "", // 如果为null返回空字符串
|
S_END_AREA = endLoc?.S_AREA_CODE ?? "", // 如果为null返回空字符串
|
S_START_LOC = from,
|
S_END_LOC = to,
|
S_TYPE = type,
|
N_PRIORITY = pri,
|
N_SCHEDULE_TYPE = 1,
|
N_B_STATE = 0,
|
S_CNTR_CODE = cnt,
|
};
|
|
var db = DbHelper.GetDbClient();
|
var log = JsonConvert.SerializeObject(TN_Task);
|
try {
|
// 内部不使用事务（只涉及单个插入操作），由外部声明事务
|
var res = db.Insertable(TN_Task).ExecuteCommand() > 0;
|
if (res) {
|
LogHelper.Info($"插入任务成功：{log}");
|
}
|
else {
|
LogHelper.Info($"插入任务失败：{log}");
|
}
|
return res;
|
}
|
catch (Exception ex) {
|
LogHelper.InfoEx(ex);
|
return false;
|
}
|
}
|
|
/// <summary>
|
/// 创建任务，并将 是否创建成功 的信息通过 <see cref="LogHelper.Info(string, string)"/> 打印日志
|
/// </summary>
|
/// <param name="from">起点货位号</param>
|
/// <param name="cnt">容器号</param>
|
/// <param name="to">终点货位号</param>
|
/// <param name="type">任务类型/名称</param>
|
/// <param name="pri">优先级</param>
|
/// <returns>创建任务是否成功</returns>
|
public static bool LogCreateTask(string from, string cnt, string to, string type, int pri = 3) {
|
var db = DbHelper.GetDbClient();
|
using (var tran = db.Ado.UseTran()) {
|
if (TaskHelper.CreateTask(from, cnt, to, type, pri)) {
|
LocationHelper.LockLoc(from, 2); // 起点出库锁，
|
LocationHelper.LockLoc(to, 1); // 终点入库锁
|
tran.CommitTran();
|
LogHelper.Info($"生成 '{type}' 成功，容器号 '{cnt}'，起点 '{from}'，终点 '{to}'");
|
return true;
|
}
|
else {
|
tran.RollbackTran();
|
LogHelper.Info($"生成 '{type}' 失败，容器号 '{cnt}'，起点 '{from}'，终点 '{to}'");
|
return false;
|
}
|
}
|
}
|
|
/// <summary>
|
/// 创建任务，使用 <see cref="SimpleResult"/> 返回结果
|
/// </summary>
|
/// <param name="from">起点货位号</param>
|
/// <param name="cnt">容器号</param>
|
/// <param name="to">终点货位号</param>
|
/// <param name="type">任务类型/名称</param>
|
/// <param name="pri">优先级（默认为 3）</param>
|
/// <param name="failCode">创建失败时返回的 result code</param>
|
/// <returns></returns>
|
public static SimpleResult SimpleCreateTask(string from, string cnt, string to, string type, int pri = 3, int failCode = 5) {
|
var db = DbHelper.GetDbClient();
|
using (var tran = db.Ado.UseTran()) {
|
if (TaskHelper.CreateTask(from, cnt, to, type, pri)) {
|
LocationHelper.LockLoc(from, 2); // 起点出库锁，
|
LocationHelper.LockLoc(to, 1); // 终点入库锁
|
return BuildSimpleResult(0, $"生成 '{type}' 成功，容器号 '{cnt}'，起点 '{from}'，终点 '{to}'");
|
}
|
else {
|
return BuildSimpleResult(failCode, $"生成 '{type}' 失败，容器号 '{cnt}'，起点 '{from}'，终点 '{to}'");
|
}
|
}
|
}
|
|
//public static SimpleResult SimpleService(string taskName) {
|
// var db = DbHelper.GetDbClient();
|
|
// try {
|
|
|
// }
|
// catch (Exception) {
|
|
// throw;
|
// }
|
//}
|
|
/// <summary>
|
/// 取货卸货完成，缓存位状态更新
|
/// </summary>
|
/// <param name="mst"></param>
|
/// <param name="load"></param>
|
internal static void CacheBitUpdate(TN_Task mst, bool load) {
|
var trayCarryCount = mst.N_CNTR_COUNT > 0 ? mst.N_CNTR_COUNT : 1;
|
if (load) {
|
Console.WriteLine($"任务{mst.S_CODE} 货位{mst.S_START_LOC}取货完成，起点解绑容器{mst.S_CNTR_CODE}");
|
LogHelper.Info($"任务{mst.S_CODE} 货位{mst.S_START_LOC}取货完成，起点解绑容器{mst.S_CNTR_CODE}");
|
LocationHelper.UnBindingLoc(mst.S_START_LOC, mst.S_CNTR_CODE.Split(',').ToList());
|
}
|
else {
|
Console.WriteLine($"任务{mst.S_CODE} 货位{mst.S_END_LOC}卸货完成，终点绑定容器{mst.S_CNTR_CODE}");
|
LogHelper.Info($"任务{mst.S_CODE} 货位{mst.S_END_LOC}卸货完成，终点绑定容器{mst.S_CNTR_CODE}");
|
LocationHelper.BindingLoc(mst.S_END_LOC, mst.S_CNTR_CODE.Split(',').ToList());
|
}
|
}
|
|
/// <summary>
|
/// 任务取消，缓存位状态更新
|
/// </summary>
|
/// <param name="mst"></param>
|
internal static void CacheBitCancelUpdate(TN_Task mst) {
|
//任务取消，取货完成前的，起点的loadingCount和终点unLoadingCount都清除，取货完成的只处理终点
|
if (CheckActionRecordExist(mst.S_CODE, 4)) {
|
//根据客户现场要求，如果取货完成任务失败人工拉到终点，我们就当卸货完成处理；如果是人工拉走到其它区域，我们就解锁终点，删除托盘。
|
//终点绑定
|
CacheBitUpdate(mst, false);
|
LocationHelper.UnLockLoc(mst.S_END_LOC);
|
}
|
else {
|
|
//起点终点解锁
|
LocationHelper.UnLockLoc(mst.S_START_LOC);
|
LocationHelper.UnLockLoc(mst.S_END_LOC);
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
/// 任务状态更新处理
|
/// </summary>
|
/// <param name="mst"></param>
|
/// <param name="state"></param>
|
internal static void OperateStatus(TN_Task mst, int state) {
|
if (state == 4)
|
{
|
CacheBitUpdate(mst, true);
|
}
|
if (state == 6)//卸货完成
|
{
|
CacheBitUpdate(mst, false);
|
}
|
if (state == 7) {
|
CacheBitCancelUpdate(mst);
|
}
|
}
|
|
/// <summary>
|
/// 安全请求
|
/// </summary>
|
/// <param name="no"></param>
|
/// <param name="state"></param>
|
/// <param name="forkliftNo"></param>
|
/// <param name="extData"></param>
|
internal static void OperateReq(string no, int state, string forkliftNo, string extData = "")
|
{
|
if (state == 1101)
|
{
|
//请求取货，
|
|
}
|
if (state == 1102)
|
{
|
//请求卸货，
|
//根据终点判断，是cb02的入口，判断内存中状态（要状态时间），允许卸货，通知agv改参数
|
var dic = new Dictionary<string, string>();
|
//< Req >< Order No = 'TN2302020002' ParamNo = '18' Param1 = '12' /></ Req >
|
dic.Add("No", no);
|
dic.Add("ParamNo", "8");
|
dic.Add("Param1", "1");
|
NDC.ChangeOrder(dic);
|
//改完参数车子就会自己卸货
|
}
|
if (state == 1103)
|
{
|
//大铁框叉走以后通知，我们要通知输送线
|
}
|
}
|
|
private static object locLocker = new object();
|
|
|
/// <summary>
|
/// 推送任务
|
/// </summary>
|
/// <param name="mst"></param>
|
internal static bool SendTask(TN_Task mst)
|
{
|
var result = false;
|
var start = "0"; var end = "0";
|
var taskType = mst.S_TYPE.Trim();
|
if (mst.N_B_STATE == 0) {
|
if (mst.N_SCHEDULE_TYPE == 1)//通过NDC，hosttoagv调度设备
|
{
|
start = LocationHelper.GetAgvSite(mst.S_START_LOC);
|
end = LocationHelper.GetAgvSite(mst.S_END_LOC);
|
|
if (mst.S_TYPE == "空托下线堆叠")
|
{
|
end = LocationHelper.GetAgvSite(mst.S_END_LOC,true);
|
}
|
|
LogHelper.Info($"NDC推送任务 {mst.S_CODE};" + "start=" + start + "end= " + end);
|
var startLoc = LocationHelper.GetLoc(mst.S_START_LOC);
|
var endLoc = LocationHelper.GetLoc(mst.S_END_LOC);
|
var dic = new List<param>();
|
dic.Add(new param() { name = "IKey", value = "IKey" });
|
dic.Add(new param() { name = "From", value = start.ToString() });
|
dic.Add(new param() { name = "To", value = end.ToString() });
|
dic.Add(new param() { name = "FUNC", value = startLoc.N_LAYER.ToString() });
|
|
dic.Add(new param() { name = "Ctype", value = "0" });
|
|
|
if (mst.S_TYPE == "余料下线入库" || mst.S_TYPE == "人工拆盘入库")
|
{
|
dic.Add(new param() { name = "DATA", value = "1024" });
|
}
|
else
|
{
|
dic.Add(new param() { name = "DATA", value = "0" });
|
}
|
|
var res = NDCApi.AddOrderNew(1, 1, mst.S_CODE, dic);//添加新命令
|
if (res != null && (res.err_code == 0 || res.err_code == 50009))
|
{
|
//推送成功，修改任务优先级
|
mst.N_B_STATE = 1;
|
mst.S_B_STATE = TN_Task.GetStateStr(1);
|
UpdateStatus(mst);//更新任务状态
|
result = true;
|
LogHelper.Info($"NDC推送任务成功 {mst.S_CODE}start= {mst.S_START_LOC} + end = {mst.S_END_LOC}");
|
}
|
else
|
{
|
LogHelper.Info($"NDC推送任务失败 {mst.S_CODE};Res:" + JsonConvert.SerializeObject(res));
|
}
|
}
|
else if (mst.N_SCHEDULE_TYPE == 5)//通过杭奥调度设备
|
{
|
//调第三方接口
|
var model = new HanAo.TaskInfoModel
|
{
|
requestPk = mst.S_CODE,
|
frmPos = mst.S_START_LOC,
|
toPos = mst.S_END_LOC,
|
trkType = mst.S_OP_NAME == "入库" ? "1" : "2",
|
contNo = mst.S_CNTR_CODE
|
};
|
if (HanAo.CreateOrder(model)) {
|
mst.N_B_STATE = 1;
|
UpdateStatus(mst);
|
LogHelper.Info($"杭奥推送任务成功 {mst.S_CODE};" + "start=" + model.frmPos + "end= " + model.toPos);
|
}
|
else
|
{
|
LogHelper.Info($"杭奥推送任务失败 {mst.S_CODE};" + JsonConvert.SerializeObject(model));
|
}
|
}
|
else if (mst.N_SCHEDULE_TYPE == 3) //通过国自调度设备
|
{
|
var code = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, JsonConvert.SerializeObject(new { src = mst.S_START_LOC, dst = mst.S_END_LOC }), "p2p");
|
if (code > 0) {
|
//更新任务状态
|
mst.N_B_STATE = 1;
|
mst.S_EQ_TASK_CODE = code.ToString();
|
UpdateStatus(mst);
|
UpdateEQNo(mst);
|
LogHelper.Info($"国自推送任务成功 {mst.S_CODE};" + "start=" + mst.S_START_LOC + "end= " + mst.S_END_LOC);
|
}
|
else
|
{
|
LogHelper.Info($"国自推送任务失败 {mst.S_CODE};" + JsonConvert.SerializeObject(mst));
|
}
|
}
|
|
}
|
return result;
|
}
|
|
|
internal static bool UpdateStatus(TN_Task task, string status) {
|
var res = false;
|
var db = DbHelper.GetDbClient();
|
task.S_B_STATE = status;
|
res = db.Updateable(task).UpdateColumns(it => new { it.S_B_STATE }).ExecuteCommand() > 0;
|
return res;
|
}
|
internal static bool UpdateStatus(TN_Task task) {
|
var res = false;
|
var db = DbHelper.GetDbClient();
|
task.S_B_STATE = TN_Task.GetStateStr(task.N_B_STATE);
|
task.T_MODIFY = DateTime.Now;
|
db.Updateable(task).UpdateColumns(it => new { it.N_B_STATE, it.S_B_STATE, it.T_MODIFY }).ExecuteCommand();
|
return res;
|
}
|
|
internal static bool UpdateEQNo(TN_Task task) {
|
var res = false;
|
var db = DbHelper.GetDbClient();
|
task.T_MODIFY = DateTime.Now;
|
db.Updateable(task).UpdateColumns(it => new { it.S_EQ_TASK_CODE, it.T_MODIFY }).ExecuteCommand();
|
return res;
|
}
|
|
internal static TN_Task GetTask(string no) {
|
var db = DbHelper.GetDbClient();
|
var task = db.Queryable<TN_Task>().Where(a => a.S_CODE == no).First();
|
return task;
|
}
|
|
public static bool CreateTask(List<CreateTasks> modes) {
|
if (modes != null && modes.Count > 0) {
|
List<TN_Task> tN_Tasks = new List<TN_Task>();
|
|
foreach (var item in modes) {
|
|
var fromLoc = LocationHelper.GetLocation(item.from);
|
var endLoc = LocationHelper.GetLocation(item.to);
|
|
tN_Tasks.Add(new TN_Task() {
|
S_CODE = GenerateTaskNo(),
|
S_START_AREA = fromLoc.S_AREA_CODE,
|
S_END_AREA = endLoc.S_AREA_CODE,
|
S_START_LOC = item.from,
|
S_END_LOC = item.to,
|
S_TYPE = item.taskType,
|
N_PRIORITY = item.pri,
|
N_SCHEDULE_TYPE = 1,
|
N_B_STATE = 0,
|
S_CNTR_CODE = item.cntrInfo,
|
});
|
}
|
var log = JsonConvert.SerializeObject(tN_Tasks);
|
var db = DbHelper.GetDbClient();
|
var res = db.Insertable<TN_Task>(tN_Tasks).ExecuteCommand() > 0;
|
if (res) {
|
LogHelper.Info($"插入任务成功，{log}");
|
}
|
else {
|
LogHelper.Info($"插入任务失败，{log}");
|
}
|
return res;
|
}
|
|
return false;
|
}
|
|
|
internal static bool CheckActionRecordExist(string no, int code) {
|
var db = DbHelper.GetDbClient();
|
return db.Queryable<TN_Task_Action>().Count(a => a.S_TASK_CODE == no && a.N_ACTION_CODE == code) > 0;
|
}
|
|
internal static void Begin(TN_Task task, string forklift_no) {
|
var db = DbHelper.GetDbClient();
|
if (task != null) {
|
if (task.N_B_STATE == 1) {
|
task.N_B_STATE = 2;
|
task.S_B_STATE = TN_Task.GetStateStr(task.N_B_STATE);
|
task.T_START_TIME = System.DateTime.Now;
|
task.S_EQ_NO = forklift_no;
|
db.Updateable(task).UpdateColumns(it => new { it.N_B_STATE, it.S_B_STATE, it.T_START_TIME, it.S_EQ_NO }).ExecuteCommand();
|
}
|
|
}
|
}
|
|
internal static void End(TN_Task task) {
|
var db = DbHelper.GetDbClient();
|
if (task != null) {
|
task.N_B_STATE = 3;
|
task.S_B_STATE = TN_Task.GetStateStr(task.N_B_STATE);
|
task.T_END_TIME = DateTime.Now;
|
db.Updateable(task).UpdateColumns(it => new { it.N_B_STATE, it.S_B_STATE, it.T_END_TIME }).ExecuteCommand();
|
}
|
}
|
|
internal static void Fail(TN_Task task) {
|
var db = DbHelper.GetDbClient();
|
if (task != null) {
|
//判断有没有取货完成，没有就变成失败。有取货完成默认完成了（跟据项目而定，有些项目人工拉走了也没有放到终点）。
|
task.N_B_STATE = 4;
|
task.S_B_STATE = TN_Task.GetStateStr(task.N_B_STATE);
|
db.Updateable(task).UpdateColumns(it => new { it.N_B_STATE, it.S_B_STATE }).ExecuteCommand();
|
}
|
}
|
|
internal static bool AddActionRecord(string no, int state, string forkliftNo, string extData) {
|
var db = DbHelper.GetDbClient();
|
var action = new TN_Task_Action() {
|
N_ACTION_CODE = state,
|
S_TASK_CODE = no,
|
S_EQ_CODE = forkliftNo,
|
S_EQ_TYPE = "agv",
|
S_DATA = extData
|
};
|
return db.Insertable(action).ExecuteCommand() > 0;
|
}
|
|
internal static List<TN_Task> GetWaitingTaskList() {
|
var db = DbHelper.GetDbClient();
|
return db.Queryable<TN_Task>().Where(a => a.N_B_STATE == 0 && (a.S_B_STATE == "等待" || a.S_B_STATE == "待推送")).ToList();
|
}
|
}
|
|
public class CreateTasks {
|
public string from { set; get; }
|
public string to { set; get; }
|
public string taskType { set; get; }
|
public int pri { set; get; }
|
public string cntrInfo { set; get; }
|
}
|
}
|
