111

lss

2 天以前 9ddec4808631025d36d3c5a816d55ef77a29d4c7

 HH.WCS.Mobox3/HH.WCS.Mobox3.JiaTong/process/TaskProcess.cs

@@ -2,17 +2,20 @@
using HH.WCS.JiaTong.core;
using HH.WCS.JiaTong.device;
using HH.WCS.JiaTong.dispatch;
using HH.WCS.JiaTong.LISTA.models;
using HH.WCS.JiaTong.LISTA.process;
using HH.WCS.JiaTong.util;
using HH.WCS.JiaTong.wms;
using Microsoft.Owin.BuilderProperties;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Diagnostics.Eventing.Reader;
using System.IdentityModel.Protocols.WSTrust;
using System.Linq;
using System.Net.NetworkInformation;
using System.Security.Cryptography;
using System.Threading;
using System.Threading.Tasks;
@@ -45,7 +48,7 @@
                else
                {
                    LogHelper.Info($"任务{mst.S_CODE} 托盘为空 ,只解锁货位");
                    LocationHelper.UnlockLoc(mst.S_START_LOC);
                    LocationHelper.UnlockLocDeleteCntrs(mst.S_START_LOC);
                }
            }
            else
@@ -54,7 +57,7 @@

                if (!string.IsNullOrEmpty(mst.S_CNTR_CODE))
                {
                    LogHelper.Info($"任务{mst.S_CODE} 货位{mst.S_END_LOC}卸货完成，起点解绑容器{mst.S_CNTR_CODE}");
                    LogHelper.Info($"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());
                }
                else
@@ -77,18 +80,26 @@
            {
                //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
                //物料到位通知
                if (mst.S_TYPE == "出平库" || mst.S_TYPE == "余料返回")
                {
                    string urlitem = Settings.tableUrls.Find(a => a.id == 5).url;
                    TaskProcess.MESIteminfoback(mst, urlitem);
                }
                if ((mst.S_NOTE == "出库" || mst.S_NOTE == "异常库区入库") && !string.IsNullOrEmpty(mst.S_MES_NO))
                {
                    string urlitem = Settings.tableUrls.Find(a => a.id == 5).url;
                    TaskProcess.MESIteminfoback(mst, urlitem);
                }
                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>
@@ -97,7 +108,7 @@
        /// <param name="model">请求参数</param>
        /// <param name="url">地址</param>
        /// <param name="TN_Task">任务</param>
        internal static void OperateReq(AgvTaskState model, string url, WCSTask TN_Task)
        internal static void OperateReq(AgvTaskState model, string url, WCSTask TN_Task, string name)
        {
            try
            {
@@ -133,7 +144,11 @@
                            }
                            else
                            {
                                ModbusHelper.WriteSingleRegister(40089, EndLoc.N_LAYER, device.address, 1024);
                                int layerValue = 0;
                                if (EndLoc.N_LAYER == 1) layerValue = 1;
                                else if (EndLoc.N_LAYER == 2) layerValue = 3;
                                else if (EndLoc.N_LAYER == 3) layerValue = 5;
                                ModbusHelper.WriteSingleRegister(40089, layerValue, device.address, 1024);
                                ModbusHelper.WriteSingleRegister(40101, 2, device.address, 1024);
                                ModbusHelper.WriteSingleRegister(40003, 2, device.address, 1024);
                                ModbusHelper.WriteSingleRegister(40102, 1, device.address, 1024);
@@ -181,7 +196,7 @@
                            }
                            else
                            {
                                if (OperateReqByPost(url, TN_Task.S_EQ_NO, TN_Task.S_CODE, loc, type, model.state))
                                if (OperateReqByPost(url, TN_Task.S_EQ_NO, TN_Task.S_CODE, loc, type, model.state, name))
                                {
                                    // NDCHelper.ChangeParam(TN_Task.S_CODE.Trim(), 1101, 18);
                                    NDCApi.ChangeOrderParam(TN_Task.S_CODE.Trim(), 6, "1");
@@ -209,13 +224,25 @@
                            if (Device != null)
                            {
                                //写入失败重新写入
                                while (!S7Helper.WriteDpj(Device.address, 1001, 1))
                                if (!S7Helper.WriteDpj(Device.address, 1001, 1))
                                {
                                    Thread.Sleep(1000);
                                    Task.Run(() =>
                                    {
                                        while (!S7Helper.WriteDpj(Device.address, 1001, 1))
                                        {
                                            Thread.Sleep(1000);
                                        }
                                    });
                                }
                                while (!S7Helper.WriteDpj(Device.address, 1002, 0))
                                if (!S7Helper.WriteDpj(Device.address, 1002, 0))
                                {
                                    Thread.Sleep(1000);
                                    Task.Run(() =>
                                    {
                                        while (!S7Helper.WriteDpj(Device.address, 1002, 0))
                                        {
                                            Thread.Sleep(1000);
                                        }
                                    });
                                }
                            }
                            else
@@ -249,9 +276,13 @@
                            }
                            else
                            {
                                int layerValue = 0;
                                if (startloc.N_LAYER == 1) layerValue = 1;
                                else if (startloc.N_LAYER == 2) layerValue = 3;
                                else if (startloc.N_LAYER == 3) layerValue = 5;
                                ModbusHelper.WriteSingleRegister(40101, 2, device.address, 1024);
                                ModbusHelper.WriteSingleRegister(40003, 2, device.address, 1024);
                                ModbusHelper.WriteSingleRegister(40089, startloc.N_LAYER, device.address, 1024);
                                ModbusHelper.WriteSingleRegister(40089, layerValue, device.address, 1024);
                                ModbusHelper.WriteSingleRegister(40102, 1, device.address, 1024);
                            }

@@ -268,7 +299,7 @@
                        }
                        else
                        {
                            if (OperateReqByPost(url, TN_Task.S_EQ_NO, TN_Task.S_CODE, loc, type, model.state))
                            if (OperateReqByPost(url, TN_Task.S_EQ_NO, TN_Task.S_CODE, loc, type, model.state, name))
                            {
                                NDCApi.ChangeOrderParam(TN_Task.S_CODE.Trim(), 6, "1");
                            }
@@ -294,7 +325,11 @@
                                {
                                    LogHelper.Info($"根据任务终点:{mstbyEqno.S_END_LOC},未找到对应货位");
                                }
                                ModbusHelper.WriteSingleRegister(40089, Endloc.N_LAYER, device.address, 1024);
                                int value = 0;
                                if (Endloc.N_LAYER == 1) value = 1;
                                else if (Endloc.N_LAYER == 2) value = 3;
                                else if (Endloc.N_LAYER == 3) value = 5;
                                ModbusHelper.WriteSingleRegister(40089, value, device.address, 1024);
                                ModbusHelper.WriteSingleRegister(40102, 1, device.address, 1024);

                            }
@@ -318,7 +353,6 @@
            }
            catch (Exception ex)
            {

                LogHelper.Info($"OperateReq Error ==》{ex.ToString()}");
            }

@@ -335,7 +369,7 @@
        /// <param name="type"></param>
        /// <param name="taskStatus"></param>
        /// <returns></returns>
        internal static bool OperateReqByPost(string url, string tasknum, string ordernum, string station, int type, int taskStatus)
        internal static bool OperateReqByPost(string url, string tasknum, string ordernum, string station, int type, int taskStatus, string name)
        {
            bool permit = false;
            try
@@ -360,6 +394,7 @@
                    LogHelper.Info($"安全请求失败=>msg:{result.msg}");
                    ApiHelper.AddErrorInfo("安全交互失败", result.msg, "", tasknum);
                }
                ApiHelper.AddInfo(name, "安全请求", date, JsonConvert.SerializeObject(result), "Post", url);
                return permit;
            }
            catch (Exception)
@@ -410,6 +445,7 @@
                    LogHelper.Info($"安全请求失败=>msg:{result.err_msg}");
                    ApiHelper.AddErrorInfo("安全交互失败", result.err_msg, "", no);
                }
                ApiHelper.AddInfo("YCL", "安全请求", date, JsonConvert.SerializeObject(result), "Post", url);
                return permit;
            }
            catch (Exception)
@@ -430,6 +466,14 @@
        {
            var result = true;
            var db = new SqlHelper<object>().GetInstance();
            //根据起点仓库编码判断是否可以推送
            var taskLimit = db.Queryable<TASK_LIMIT>().Where(a => a.S_WH_CODE == mst.S_START_WH && a.OPEN == "1").First();
            if (taskLimit != null)
            {
                Console.WriteLine($"任务：{mst.S_CODE},起点仓库：{mst.S_START_WH}已经禁用推送");
                return false;
            }

            var mstbyEqno = db.Queryable<WCSTask>().Where(a => a.S_EQ_NO == mst.S_EQ_NO).ToList();
            if (mstbyEqno.Count() == 1)
            {
@@ -455,12 +499,16 @@
                else if (mst.S_TYPE == "电梯2")
                {
                    var mst2 = mstbyEqno.Where(a => a.S_TYPE == "电梯1").First();
                    if (mst2.S_B_STATE == "卸货完成" || mst2.S_B_STATE == "完成")
                    if (mst2 == null)
                    {
                        return result;
                    }
                    else
                    {
                        if (mst2.S_B_STATE == "卸货完成" || mst2.S_B_STATE == "完成")
                        {
                            return result;
                        }
                        result = false;
                    }
                }
@@ -523,14 +571,22 @@
        internal static bool SendTask(WCSTask mst)
        {


            var db = new SqlHelper<object>().GetInstance();
            var result = false;
            var start = "0"; var end = "0";
            var taskType = mst.S_TYPE.Trim();
            var list = db.Queryable<Location>().ToList().Count;

            // if (mst.N_B_STATE == 0) {
            if (mst.N_SCHEDULE_TYPE == 1)
            {
                LogHelper.Info($"任务推送数据：{JsonConvert.SerializeObject(mst)}");
                if (string.IsNullOrEmpty(mst.S_START_LOC) || string.IsNullOrEmpty(mst.S_END_LOC))
                {
                    LogHelper.Info($"任务{mst.S_CODE},起点终点有空参数，不推送任务");
                }


                start = LocationHelper.GetAgvSite(mst.S_START_LOC);
                end = LocationHelper.GetAgvSite(mst.S_END_LOC);
                //if (mst.N_START_LAYER > 1)
@@ -582,7 +638,12 @@
                        {
                            LogHelper.Info($"根据任务起点:{mst.S_START_LOC},未找到对应货位");
                        }
                        ModbusHelper.WriteSingleRegister(40089, loc.N_LAYER, device.address, 1024);
                        int value = 0;
                        if (loc.N_LAYER == 1) value = 1;
                        else if (loc.N_LAYER == 2) value = 3;
                        else if (loc.N_LAYER == 3) value = 5;

                        ModbusHelper.WriteSingleRegister(40089, value, device.address, 1024);
                        ModbusHelper.WriteSingleRegister(40102, 1, device.address, 1024);


@@ -623,7 +684,22 @@
            //  }
            return result;
        }

        /// <summary>
        /// 空托等待任务 超时5分组直接推送
        /// </summary>
        /// <param name="mst"></param>
        /// <returns></returns>
        internal static void WaitSend(WCSTask mst)
        {
            // 计算与当前时间的差值
            TimeSpan timeDifference = DateTime.Now - mst.T_CREATE;
            if (timeDifference.TotalMinutes > 5)
            {
                var db = new SqlHelper<WCSTask>().GetInstance();
                mst.S_B_STATE = "等待";
                db.Updateable(mst).UpdateColumns(it => new { it.S_B_STATE }).ExecuteCommand();
            }
        }
        /// <summary>
        /// 任务状态回报
        /// </summary>
@@ -631,7 +707,7 @@
        /// <param name="orderNum">单号</param>
        /// <param name="taskStatus">任务状态</param>
        /// <param name="url">上报接口</param>
        public static void Reportback(string taskNum, string orderNum, int taskStatus, string url)
        public static void Reportback(string taskNum, string orderNum, int taskStatus, string url, string ly)
        {
            LogHelper.Info($"------------开始任务回报-----------");
            try
@@ -661,6 +737,7 @@
                {
                    LogHelper.Info($"任务回报失败=>msg:{result.msg}");
                }
                ApiHelper.AddInfo(ly, "任务状态回报", date, JsonConvert.SerializeObject(result), "Post", url);
            }
            catch (Exception ex)
            {
@@ -714,6 +791,7 @@
                {
                    LogHelper.Info($"任务回报失败=");
                }
                ApiHelper.AddInfo("Wms", "任务状态回报", date, JsonConvert.SerializeObject(result), "Post", url);
            }
            catch (Exception ex)
            {
@@ -759,6 +837,7 @@
                {
                    LogHelper.Info($"任务回报失败=>msg:{result.err_msg}");
                }
                ApiHelper.AddInfo("YCL", "任务状态回报", date, JsonConvert.SerializeObject(result), "Post", url);
            }
            catch (Exception ex)
            {
@@ -783,7 +862,29 @@
                //获取时间戳
                var time = DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
                statusarrive.RequestId = "杭叉AGV" + time;

                string info = "";
                switch (status)
                {
                    case 1:
                        info = "agv已接受原料库下发的任务";
                        break;
                    case 4:
                        info = "agv已取货完成";
                        break;
                    case 6:
                        info = "agv已卸货到指定位置";
                        break;
                    case 2:
                        info = "agv已完成送料任务";
                        break;
                }
                string message = "1";
                if (status == 7) { message = "agv任务已取消"; }
                int flag = 0;
                if (mst.S_NOTE == "粉料")
                {
                    flag = 1;
                }
                //List<StatusArrive> statusArrives = new List<StatusArrive>();
                StatusArrive statusArrive = new StatusArrive();
                statusarrive.UseToken = "iFQ5fExGrLYLXliHYWzs";
@@ -791,7 +892,11 @@
                statusArrive.LocationNum = mst.S_END_LOC;
                statusArrive.Time = DateTime.Now.ToString();
                statusArrive.Status = status.ToString();
           
                statusArrive.Rfid = mst.S_CNTR_CODE;
                statusArrive.Flag = flag;
                statusArrive.Info = info;
                statusArrive.Message = message;

                //statusArrives.Add(statusArrive);
                statusarrive.data = statusArrive;
                //开始回报
@@ -811,6 +916,7 @@
                {
                    LogHelper.Info($"任务回报失败=>msg:{result.imsg}");
                }
                ApiHelper.AddInfo("Mes", "任务状态回报", date, JsonConvert.SerializeObject(result), "Post", url);
            }
            catch (Exception ex)
            {
@@ -842,6 +948,7 @@
                //粉料回库不需要回报
                if (cntritem != null && mst.S_TYPE == "余料返回" && cntritem.S_ITEM_CODE.StartsWith("4X"))
                {
                    LogHelper.Info("粉料回库不需要到位发送物料到位");
                    return;
                }
                //获取时间戳
@@ -857,11 +964,28 @@
                mesItemBackModel.Rfid = mst.S_CNTR_CODE;
                mesItemBackModel.LocationNum = mst.S_END_LOC;
                mesItemBackModel.Result = "1";
                mesItemBackModel.ArricalTime = DateTime.Now.ToString("yyyy-MM-dd");
                mesItemBackModel.ArricalTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff");

                if (cntritem != null)
                {
                    string curBagNum = null;
                    string weightBag = null;
                    string initBagNum = null;
                    if ((int)cntritem.F_QTY > 0)
                    {
                        curBagNum = cntritem.F_QTY.ToString();
                    }
                    if (!string.IsNullOrEmpty(cntritem.F_WEIGHT1) && int.Parse(cntritem.F_WEIGHT1) > 0)
                    {
                        weightBag = cntritem.F_WEIGHT1;
                    }
                    if (!string.IsNullOrEmpty(cntritem.F_QTY1) && int.Parse(cntritem.F_QTY1) > 0)
                    {
                        initBagNum = cntritem.F_QTY1;
                    }
                    list.Add(new MesItemBackInfoModel()
                    {

                        LotNumber = cntritem.S_BATCH_NO,
                        PartNumber = cntritem.S_ITEM_CODE,
                        Subpool = cntritem.Subpool,
@@ -872,7 +996,10 @@
                        Rfid = cntritem.S_CNTR_CODE,
                        Qty = cntritem.F_WEIGHT,
                        PartLevel = cntritem.LEV,
                        WmsLot = cntritem.WmsLot
                        WmsLot = cntritem.WmsLot,
                        WeightBag = weightBag,
                        CurBagNum = curBagNum,
                        InitBagNum = initBagNum
                    });


@@ -898,6 +1025,7 @@
                {
                    LogHelper.Info($"物料到位回报失败=>msg:{result.imsg}");
                }
                ApiHelper.AddInfo("Mes", "物料到位回报", date, JsonConvert.SerializeObject(result), "Post", url);
            }
            catch (Exception ex)
            {