using HH.WCS.Mobox3.YNJT_BZP.core;
|
using HH.WCS.Mobox3.YNJT_BZP.dispatch;
|
using HH.WCS.Mobox3.YNJT_BZP.util;
|
using HH.WCS.Mobox3.YNJT_BZP.wms;
|
using HH.WCS.Mobox3.YNJT_BZP.api;
|
using Newtonsoft.Json;
|
using NLog.Fluent;
|
using SqlSugar;
|
using System;
|
using System.Collections.Generic;
|
using System.Linq;
|
using System.Reflection;
|
using System.Security.Cryptography;
|
|
namespace HH.WCS.Mobox3.YNJT_BZP.process {
|
internal class TaskProcess {
|
#region 任务相关
|
//--------------------------------------------------任务相关--------------------------------------------------
|
/// <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(WCSTask mst, bool load) {
|
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，起点解绑容器{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(WCSTask 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 (WCSHelper.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
|
if (!WCSHelper.CheckActionRecordExist(mst.S_CODE, 5)) {
|
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);
|
//货位容器解绑
|
LocationHelper.UnBindingLoc(mst.S_START_LOC, new List<string> { mst.S_CNTR_CODE });
|
|
}
|
|
}
|
|
/// <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) {
|
var cst = WCSHelper.GetTask(no);
|
var endLoc = LocationHelper.GetLoc(cst.S_END_LOC);
|
if (state == 1101) {
|
//请求取货，
|
|
}
|
if (state == 1102) {
|
//请求卸货，
|
bool isCan = false;
|
|
|
if (endLoc != null)
|
{
|
// 1.查看终点货位放货条件是否满足
|
var waitLoc = Settings.getAgvWaitLoc(endLoc.S_CODE);
|
if (waitLoc != null)
|
{
|
//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);
|
}
|
else
|
{
|
var container = ContainerHelper.GetCntr(cst.S_CNTR_CODE);
|
if (container != null && container.N_TYPE == 6)
|
{
|
isCan = false;
|
var locCntrs = LocationHelper.GetLocCntr(endLoc.S_CODE);
|
if (endLoc.N_CURRENT_NUM == 1 && locCntrs.Count > 0)
|
{
|
var container1 = ContainerHelper.GetCntr(locCntrs[0].S_CNTR_CODE);
|
if (container1.N_TYPE == 0)
|
{
|
isCan = true;
|
}
|
}
|
if (!isCan)
|
{
|
LogHelper.Info("胎圈请求放货失败，母拖没有到位", "AGV");
|
}
|
}
|
}
|
|
// 2.查询输送线 是否允许放货
|
|
}
|
|
if (isCan)
|
{
|
//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)
|
{
|
// 取货完成请求离开
|
// 安全退出
|
// 胎圈出库，下发母拖回库任务
|
var locCntrRels = LocationHelper.GetLocCntrRel(cst.S_START_LOC);
|
if (locCntrRels.Count > 0)
|
{
|
var container = ContainerHelper.GetCntr(locCntrRels[0].S_CNTR_CODE);
|
if (container != null && container.N_TYPE == 0)
|
{
|
ApiHelper.baseTrayInStockAgv(cst.S_START_LOC, cst.S_OP_CODE);
|
}
|
}
|
}
|
if (state == 1104)
|
{
|
// 放货完成请求离开
|
|
}
|
}
|
|
/// <summary>
|
/// 任务拦截
|
/// </summary>
|
/// <param name="task"></param>
|
/// <returns></returns>
|
internal static bool Intercept(WCSTask mst) {
|
var result = false;
|
//出库任务是批量生成的，初始终点我们先给一个虚拟点，不推送。有单独的现场去判断出库缓存区光电，空了再给出库任务分配终点
|
if (mst.S_END_LOC == "出库虚拟点") {
|
result = true;
|
}
|
return result;
|
}
|
|
/// <summary>
|
/// 任务状态更新处理
|
/// </summary>
|
/// <param name="mst"></param>
|
/// <param name="state"></param>
|
internal static void OperateStatus(WCSTask mst, int state) {
|
if (state == 4) {
|
CacheBitUpdate(mst, true);
|
}
|
if (state == 6)//卸货完成
|
{
|
CacheBitUpdate(mst, false);
|
}
|
if (state == 7) {
|
CacheBitCancelUpdate(mst);
|
}
|
}
|
|
private static object locLocker = new object();
|
|
|
|
/// <summary>
|
/// 推送任务（此项目都是ndc系统）
|
/// </summary>
|
/// <param name="mst"></param>
|
internal static bool SendTask(WCSTask mst) {
|
var result = false;
|
if (mst.N_B_STATE == 0) {
|
var startLoc = LocationHelper.GetLocation(mst.S_START_LOC);
|
var endLoc = LocationHelper.GetLocation(mst.S_END_LOC);
|
|
if (mst.S_SCHEDULE_TYPE == "AGV")
|
{
|
AddOrderNewModel model = new AddOrderNewModel()
|
{
|
ts_no = 1,
|
pri = 1,
|
task_no = mst.S_CODE
|
};
|
List<Param> paramList = new List<Param>();
|
var dic = new Dictionary<string, string>();
|
dic.Add("From", startLoc.S_CODE);
|
dic.Add("To", endLoc.S_CODE);
|
|
foreach (var item in dic)
|
{
|
Param param = new Param
|
{
|
name = item.Key,
|
value = item.Value,
|
};
|
paramList.Add(param);
|
}
|
model.paramList = paramList;
|
var res = NDCApi.AddOrderNew(model);
|
if (res != null && res.err_code == 0 || true)
|
{
|
//推送成功，修改任务优先级
|
mst.N_B_STATE = 1;
|
WCSHelper.UpdateStatus(mst);
|
result = true;
|
}
|
}
|
else if (mst.S_SCHEDULE_TYPE == "WCS")
|
{
|
|
if (true)
|
{
|
//推送成功，修改任务优先级
|
mst.N_B_STATE = 1;
|
WCSHelper.UpdateStatus(mst);
|
result = true;
|
}
|
}
|
}
|
return result;
|
}
|
|
private static List<FreeLineInfo> freeLineInfos = new List<FreeLineInfo>();
|
internal static freeLineBit GetFreeLineBit(string area, int row, int col) {
|
if (freeLineInfos.Count == 0) {
|
freeLineInfos = LocationHelper.GetAllFreeLineInfo();
|
}
|
var res = freeLineInfos.Where(a => a.S_AREA_CODE == area && a.N_ROW == row && col >= a.START_COL && col <= a.END_COL).FirstOrDefault();
|
if (res != null) {
|
return new freeLineBit { area = area, row = row, minCol = res.START_COL, maxCol = res.END_COL, bit1 = res.FIRST_POINT, bit2 = res.SECOND_POINT };
|
}
|
return null;
|
}
|
|
public class freeLineBit {
|
public string area { get; set; }
|
public int row { get; set; }
|
public int minCol { get; set; }
|
public int maxCol { get; set; }
|
public int bit1 { get; set; }
|
public int bit2 { get; set; }
|
}
|
|
#endregion
|
|
|
|
}
|
}
|
