using HH.WCS.JunzhouNongfu.device;
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using HH.WCS.Mobox3.YNJT_BZP.api;
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using HH.WCS.Mobox3.YNJT_BZP.dispatch;
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using HH.WCS.Mobox3.YNJT_BZP.models;
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using HH.WCS.Mobox3.YNJT_BZP.process;
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using HH.WCS.Mobox3.YNJT_BZP.util;
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using HH.WCS.Mobox3.YNJT_BZP.wms;
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using Newtonsoft.Json;
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using Org.BouncyCastle.Asn1.X509;
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using S7.Net;
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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.Net.Sockets;
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using System.Runtime.Remoting.Metadata.W3cXsd2001;
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using System.Threading.Tasks;
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using static HH.WCS.Mobox3.YNJT_BZP.api.AgvController;
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using static HH.WCS.Mobox3.YNJT_BZP.api.ApiModel;
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using static HH.WCS.Mobox3.YNJT_BZP.dispatch.GtDispatch;
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using static HH.WCS.Mobox3.YNJT_BZP.util.Settings;
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namespace HH.WCS.Mobox3.YNJT_BZP.core {
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internal class WCSCore {
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public static void OperateAgvTaskStatus(AgvTaskState model) {
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LogHelper.Info($"AGV任务状态反馈，入参：{JsonConvert.SerializeObject(model)}", "AGV");
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try
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{
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if (string.IsNullOrEmpty(model.No))
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{
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LogHelper.Info("任务号为空", "AGV");
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}
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else
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{
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var TN_Task = WCSHelper.GetTask(model.No);
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if (TN_Task != null)
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{
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var wmsTask = WMSHelper.GetWmsTask(TN_Task.S_OP_CODE);
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if (wmsTask != null && wmsTask.N_B_STATE < 2)
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{
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if (model.State <= 7)
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{
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//有任务号请求
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switch (model.State)
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{
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case 1:
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TN_Task.S_EQ_NO = model.ForkliftNo;
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WCSHelper.Begin(TN_Task);
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break;
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#region MyRegion
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case 3:
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WCSHelper.UpdateStatus(TN_Task, "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");
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TaskProcess.OperateStatus(TN_Task, 4);
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break;
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case 5:
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WCSHelper.UpdateStatus(TN_Task, "开始卸货");
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break;
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case 6:
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TaskProcess.OperateStatus(TN_Task, 6);
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WCSHelper.UpdateStatus(TN_Task, "卸货完成");
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// AGV卸货输送线，触发入库任务
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if (TN_Task.S_END_LOC != wmsTask.S_END_LOC)
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{
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LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV卸货输送线，触发WCS入库任务", "AGV");
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Container container = ContainerHelper.GetCntr(TN_Task.S_CNTR_CODE);
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if (container != null)
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{
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WCSCore.createLastTask(TN_Task.S_END_LOC, wmsTask, 1);
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}
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}
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break;
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#endregion
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case 2:
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WCSHelper.End(TN_Task);
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var cntrItemRels = ContainerHelper.GetCntrItemRel(TN_Task.S_CNTR_CODE);
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if (cntrItemRels.Count > 0)
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{
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LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV任务完成，任务信息回报GT", "AGV");
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string shift = ApiHelper.getShift(DateTime.Now.TimeOfDay);
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string ydate_shiftName = "";
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if (shift == "III")
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{
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ydate_shiftName = DateTime.Now.AddDays(-1).ToString("yy/MM/dd") + "-" + shift;
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}
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else
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{
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ydate_shiftName = DateTime.Now.ToString("yy/MM/dd") + "-" + shift;
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}
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WmsToGtLokasiModel wmsToGtLokasiModel = new WmsToGtLokasiModel()
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{
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ydate_shiftName = ydate_shiftName,
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bc_entried = cntrItemRels[0].S_CG_ID,
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loc_from = TN_Task.S_START_LOC,
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loc_to = TN_Task.S_END_LOC,
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qty = 1,
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lot = 1,
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scantime = TN_Task.T_CREATE.ToString("yyyy-MM-dd HH:mm:ss"),
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pic = model.ForkliftNo
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};
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GtDispatch.agvTaskFeedback(wmsToGtLokasiModel);
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}
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break;
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case 7:
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LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV任务取消", "AGV");
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//判断是否收到过强制取消，有就不做任何处理
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if (!WCSHelper.CheckActionRecordExist(TN_Task.S_CODE, 17))
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{
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TaskProcess.OperateStatus(TN_Task, 7);
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WCSHelper.Cancel(TN_Task);
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}
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break;
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}
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}
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else if (model.State == 1003)
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{
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LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车进入等待位：{TN_Task.S_END_LOC}", "AGV");
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// 卸货前等待
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// 查询当前终点是等待区，则查询入库agv接驳位
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var waitLoc = Settings.getAgvWaitLoc(TN_Task.S_END_LOC);
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if (waitLoc != null)
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{
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if (TN_Task.S_TYPE.Contains("入库"))
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{
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var endLoc = AGVApplyEndLoc(model.No);
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if (endLoc != null)
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{
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LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车变更终点：{endLoc.S_CODE}", "AGV");
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// 通知AGV更改终点
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ChangeParamModel paramModel = new ChangeParamModel()
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{
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task_no = model.No,
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param_no = 0,
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param = $"{model.No};{TN_Task.S_START_LOC};{TN_Task.S_END_LOC};0;400;0;2"
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};
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LogHelper.Info($"通知AGV更改终点，参数:{paramModel}", "AGV");
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/* NDCApi.ChangeOrderParam(paramModel);*/
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}
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}
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}
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}
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else if (model.State == 1004)
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{
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LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车卸货后在接驳位:{TN_Task.S_END_LOC}等待", "AGV");
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// 卸货后等待
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// 查询终点货位是否是入库接驳位
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var agvJBLoc = Settings.getAgvJBLoc(TN_Task.S_END_LOC);
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if (agvJBLoc != null && agvJBLoc.action == 1)
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{
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//是则查询WCS的任务执行情况
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var wcsTask = WCSHelper.GetTaskBySrcNoAndScheduleType(TN_Task.S_OP_CODE, "WCS" , wmsTask.S_TYPE);
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if (wcsTask != null)
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{
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bool existAction = WCSHelper.CheckActionRecordExist(wcsTask.S_CODE, 7);
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if (existAction)
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{
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LogHelper.Info($"下游任务：{wcsTask.S_CODE}取消入库，rfid校验失败，生成新任务到异常区", "AGV");
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//如果WCS反馈7取消任务，则rfid校验失败，生成新任务到异常区，并变更agv任务号、起点、终点
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var mst = WMSHelper.GetWmsTask(TN_Task.S_OP_CODE);
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var endLoc = WMSHelper.getErrorBufferAreaLoc();
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if (endLoc != null)
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{
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LocationHelper.UnLockLoc(mst.S_END_LOC);
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mst.S_END_LOC = endLoc.S_CODE;
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mst.S_END_AREA = endLoc.S_AREA_CODE;
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var newWcsTask = WCSCore.createLastTask(TN_Task.S_END_LOC, mst, 2, "出库异常区任务");
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LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车改道终点：{newWcsTask.S_END_LOC}", "AGV");
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if (newWcsTask != null)
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{
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WCSHelper.End(TN_Task);
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// 通知AGV更改终点
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ChangeParamModel paramModel = new ChangeParamModel()
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{
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task_no = model.No,
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param_no = 0,
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param = $"{model.No};{newWcsTask.S_START_LOC};{newWcsTask.S_END_LOC};0;0;0;1"
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};
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LogHelper.Info($"通知AGV更改终点，参数:{paramModel}", "AGV");
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/*NDCApi.ChangeOrderParam(paramModel);*/
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}
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return;
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}
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else
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{
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LogHelper.Info("异常区没有空货位，无法入库异常区", "AGV");
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}
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}
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existAction = WCSHelper.CheckActionRecordExist(wcsTask.S_CODE, 3);
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if (existAction)
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{
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LogHelper.Info($"任务号：{TN_Task.S_CODE}，RFID检测通过，AGV任务正常完成", "AGV");
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//WCS反馈3已取货，则agv任务正常结束 ，通知AGV完成任务
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ChangeParamModel paramModel = new ChangeParamModel()
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{
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task_no = model.No,
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param_no = 0,
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param = $"{model.No};{TN_Task.S_START_LOC};{TN_Task.S_END_LOC};0;0;0;1"
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};
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LogHelper.Info($"通知AGV完成任务，参数:{paramModel}", "AGV");
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/*NDCApi.ChangeOrderParam(paramModel);*/
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}
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}
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}
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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.No, model.State, model.ForkliftNo, model.ExtData);
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}
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WCSHelper.AddActionRecord(model.No, model.State, model.ForkliftNo, model.ExtData);
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}
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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($"agv回报错误，错误原因：{ex.Message}", "AGV");
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}
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}
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/// <summary>
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/// 创建最后一个任务
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/// </summary>
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/// <param name="startLocCode"></param>
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/// <param name="mst"></param>
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/// <param name="actType">1.入库 2.出库</param>
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/// <returns></returns>
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public static WCSTask createLastTask(string startLocCode , WMSTask mst ,int actType ,string typeName = null)
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{
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LogHelper.Info($"作业号：{mst.S_CODE}，创建下一段任务", "WMS");
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var existTask = WCSHelper.GetTaskByStart(startLocCode);
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if (existTask == null)
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{
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var startLoc = LocationHelper.GetLoc(startLocCode);
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if (startLoc != null)
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{
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string cntrCode = "";
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string scheduleType = "";
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if (actType == 1)
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{
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var locCntrRels = LocationHelper.GetLocCntr(startLocCode);
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if (locCntrRels.Count > 0)
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{
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foreach (var cntr in locCntrRels)
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{
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cntrCode = cntrCode + "," + cntr.S_CNTR_CODE;
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}
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cntrCode = cntrCode.Substring(1, cntrCode.Length - 1);
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}
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scheduleType = "WCS";
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}
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if (actType == 2)
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{
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cntrCode = mst.S_CNTR_CODE;
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scheduleType = "AGV";
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}
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string type = "";
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if (typeName == null)
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{
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type = mst.S_TYPE + "-2";
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}
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else
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{
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type = typeName;
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}
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// 创建一段入库任务
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WCSTask wcsTask = new WCSTask()
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{
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S_OP_NAME = mst.S_OP_DEF_NAME,
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S_OP_CODE = mst.S_CODE,
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S_CODE = WCSHelper.GenerateTaskNo(),
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S_CNTR_CODE = cntrCode,
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S_TYPE = type,
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S_START_LOC = startLoc.S_CODE,
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S_START_AREA = startLoc.S_AREA_CODE,
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S_END_LOC = mst.S_END_LOC,
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S_END_AREA = mst.S_END_AREA,
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S_SCHEDULE_TYPE = scheduleType,
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N_PRIORITY = mst.N_PRIORITY,
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T_START_TIME = DateTime.Now,
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};
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if (WCSHelper.CreateTask(wcsTask))
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{
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// 起点、接驳点、终点加锁
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LocationHelper.LockLoc(wcsTask.S_START_LOC, 2);
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LocationHelper.LockLoc(wcsTask.S_END_LOC, 1);
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WMSHelper.UpdateTaskEnd(mst);
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return wcsTask;
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}
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}
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}
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return null;
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}
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/// <summary>
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/// 任务分发，根据调度类型发给不同的调度系统
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/// </summary>
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internal static void Dispatch() {
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var db = new SqlHelper<object>().GetInstance();
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//查询任务
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//获取所有等待的任务
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var list = WCSHelper.GetWaitingTaskList();
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if (list.Count > 0) {
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foreach (var task in list)
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{
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if (!TaskProcess.Intercept(task))
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{
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//使用自定义任务推送
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TaskProcess.SendTask(task);
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}
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}
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}
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}
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private static readonly object emptyTrayInLock = new object(); // 静态锁对象
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/// <summary>
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/// agv申请终点
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/// </summary>
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/// <param name="taskNo"></param>
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public static Location AGVApplyEndLoc(string taskNo)
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{
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LogHelper.Info($"任务号：{taskNo},AGV等待区申请终点", "AGV");
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var cst = WCSHelper.GetTask(taskNo);
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if (cst != null && cst.N_B_STATE < 3)
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{
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var mst = WMSHelper.GetWmsTask(cst.S_OP_CODE);
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if (mst != null && mst.N_B_STATE < 2 && mst.S_END_LOC == "虚拟货位")
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{
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var container = ContainerHelper.GetCntr(cst.S_CNTR_CODE);
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if (container != null)
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{
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string itemCode = null;
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var cntrItemRels = ContainerHelper.GetCntrItemRel(cst.S_CNTR_CODE);
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if (cntrItemRels.Count > 0)
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{
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// 满料托盘入库
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itemCode = cntrItemRels[0].S_ITEM_CODE;
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var endLoc = WMSHelper.GetInstockEndLoc(container.N_TYPE, null, 1, itemCode);
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if (endLoc != null)
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{
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Location agvLoc = null;
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var locCodes = Settings.getAgvJBLocList( endLoc.N_ROADWAY, 1);
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if (locCodes.Count > 0)
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{
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foreach (var locCode in locCodes)
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{
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agvLoc = LocationHelper.GetLoc(locCode);
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if (agvLoc != null && agvLoc.C_ENABLE == "Y")
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{
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cst.S_END_LOC = agvLoc.S_CODE;
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cst.S_END_AREA = agvLoc.S_AREA_CODE;
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WCSHelper.UpdateTaskEnd(cst);
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mst.S_END_LOC = endLoc.S_CODE;
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mst.S_END_AREA = endLoc.S_AREA_CODE;
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WMSHelper.UpdateTaskEnd(mst);
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LocationHelper.LockLoc(endLoc.S_CODE, 1);
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LogHelper.Info($"任务号：{taskNo},AGV申请的终点：{agvLoc.S_CODE}", "AGV");
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return agvLoc;
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}
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}
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LogHelper.Info($"任务号：{taskNo},入库接驳位货位都已禁用", "AGV");
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}
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else
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{
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LogHelper.Info($"任务号：{taskNo},没有配置立库接驳位", "AGV");
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}
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}
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else
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{
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LogHelper.Info($"任务号：{taskNo},立库没有满足条件的空货位", "AGV");
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}
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}
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else
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{
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// 空托盘回库
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lock (emptyTrayInLock)
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{
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var emptyTrayBuffers = WMSHelper.getEmptyTrayBufferList();
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if (emptyTrayBuffers.Count > 0)
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{
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var emptyTray = emptyTrayBuffers.Where(a => a.TRAY_TYPE == container.N_TYPE).OrderBy(a => a.T_CREATE).FirstOrDefault();
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if (emptyTray != null)
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{
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var endLoc = LocationHelper.GetLoc(emptyTray.END_LOC);
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cst.S_END_LOC = endLoc.S_CODE;
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cst.S_END_AREA = endLoc.S_AREA_CODE;
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WCSHelper.UpdateTaskEnd(cst);
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mst.S_END_LOC = endLoc.S_CODE;
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mst.S_END_AREA = endLoc.S_AREA_CODE;
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WMSHelper.UpdateTaskEnd(mst);
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LocationHelper.LockLoc(endLoc.S_CODE, 1);
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emptyTray.IS_CREATED = "Y";
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WMSHelper.updateEmptyTrayBuffer(emptyTray);
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}
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}
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else
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{
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var endLoc = WMSHelper.GetInstockEndLoc(container.N_TYPE, null, 1);
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if (endLoc != null)
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{
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Location agvLoc = null;
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var locCodes = Settings.getAgvJBLocList(endLoc.N_ROADWAY, 1);
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if (locCodes.Count > 0)
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{
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foreach (var locCode in locCodes)
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{
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agvLoc = LocationHelper.GetLoc(locCode);
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if (agvLoc != null && agvLoc.C_ENABLE == "Y")
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{
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cst.S_END_LOC = agvLoc.S_CODE;
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cst.S_END_AREA = agvLoc.S_AREA_CODE;
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WCSHelper.UpdateTaskEnd(cst);
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mst.S_END_LOC = endLoc.S_CODE;
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mst.S_END_AREA = endLoc.S_AREA_CODE;
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WMSHelper.UpdateTaskEnd(mst);
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LocationHelper.LockLoc(endLoc.S_CODE, 1);
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LogHelper.Info($"任务号：{taskNo},AGV申请的终点：{agvLoc.S_CODE}", "AGV");
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return agvLoc;
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}
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}
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LogHelper.Info($"任务号：{taskNo},入库接驳位货位都已禁用", "AGV");
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}
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else
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{
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LogHelper.Info($"任务号：{taskNo},没有配置立库接驳位", "AGV");
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}
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}
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else
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{
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LogHelper.Info($"任务号：{taskNo},立库没有满足条件的空货位", "AGV");
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}
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}
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}
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}
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}
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else
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{
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LogHelper.Info($"任务号：{taskNo},AGV任务的容器：{cst.S_CNTR_CODE}不存在", "AGV");
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}
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}
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else
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{
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LogHelper.Info($"任务号：{taskNo},AGV任务已申请终点，请勿重复申请", "AGV");
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}
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}
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else
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{
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LogHelper.Info($"任务号：{taskNo},AGV任务已完成或取消", "AGV");
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}
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return null;
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}
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}
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}
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