优化AGV调试和出库逻辑，完成部分ERP反馈代码

kazelee

2025-06-16 0b679c8b18e2b598ff27cff2fa9ade2c46bde3be

 core/Monitor.cs

@@ -20,10 +20,15 @@
            public string cntr_code { get; set; }
        }

        public static void CheckInbound() {
            var taskName = TaskName.T托盘_满托下线入库;
        public static void CheckInbound() {                
            var db = new SqlHelper<object>().GetInstance();
            var info = "";

            const string taskName = TaskName.T托盘_满托下线入库;
            const string startAreaName = AreaName.B包装区;
            const string endAreaName = AreaName.M满托货架区;
            const string cntrType = "托盘";

            try {
                // 查产线是否有物料信息
                foreach (var prod in Settings.ProductionLines) {
@@ -53,79 +58,47 @@

                    LogHelper.Info(JsonConvert.SerializeObject(data));

                    var itemCode = data.item_code;
                    var batchNo = data.batch_no;
                    //var itemCode = data.item_code;
                    //var batchNo = data.batch_no;
                    var cntrCode = data.cntr_code;

                    var startLocCode = prod.OffLoc[0]; // 用于测试
                    //var startLocCode = "CX01"; // 用于测试

                    var cgDetail = new TN_CG_Detail {
                        S_ITEM_CODE = itemCode,
                        S_BATCH_NO = batchNo,
                        S_CNTR_CODE = cntrCode,
                    };

                    var needInsertContainer = false;
                    var needUpdateContainer = false;
                    // 查容器信息表是否已经有这个容器
                    var cntr = db.Queryable<TN_Container>()
                        .Where(c => c.S_CODE == cntrCode).First();
                    // 如果找不到该容器，需要添加，并且将容器来源设置为任务名称
                    if (cntr == null) {
                        needInsertContainer = true;
                        LogHelper.Info($"轮询：{taskName}：容器：{cntrCode}，在容器表中没有登记，登记并设置容器来源为：{taskName}");

                        cntr = new TN_Container {
                            S_CODE = cntrCode,
                            S_TYPE = "托盘",
                            S_SPEC = itemCode,
                            S_SOURCE = taskName,
                        };
                    }
                    else {
                        // 如果找到该容器，但容器物料类型与下线物料不符，记录并直接覆盖（待定）
                        if (!string.IsNullOrEmpty(cntr.S_SPEC) && cntr.S_SPEC != itemCode) {
                            needUpdateContainer = true;
                            LogHelper.Info($"轮询：{taskName}：容器表中容器{cntrCode}对应的物料信息：{cntr.S_SPEC}，" +
                                $"与所需要的物料信息{itemCode}不符，直接覆盖结果");

                            cntr.S_SPEC = itemCode;
                            cntr.S_SOURCE = taskName;
                        }
                    }

                    var startLoc = db.Queryable<TN_Location>()
                        .Where(l => l.S_CODE == startLocCode) // 指定：起点货位号
                        .Where(l => l.N_LOCK_STATE == 0 && l.S_LOCK_STATE == "无" && l.C_ENABLE == "Y") // 筛选：未上锁
                        .Where(l => l.N_CURRENT_NUM == 0)
                        .First();
                    .Where(l => l.S_CODE == startLocCode)
                    .Where(l => Settings.AreaMap[startAreaName].Contains(l.S_AREA_CODE))
                    .Where(l => l.N_LOCK_STATE == 0 && l.S_LOCK_STATE == "无" && l.C_ENABLE == "Y")
                    //.Where(l => l.N_CURRENT_NUM == 0) // 绑定前
                    .First();

                    if (startLoc == null) {
                        info = $"起点位置 '{startLocCode}' 不存在或不具备取货要求";
                        info = $"在'{startAreaName}'中没有找到起点货位'{startLocCode}'，或不满足要求：未上锁、当前容器数量=0";
                        LogHelper.Info(info);
                        continue;
                        //return;
                    }

                    var locCntrRelOld = db.Queryable<TN_Loc_Container>()
                        .Where(c => c.S_CNTR_CODE == cntrCode).First();

                    // 绑定货位和容器号
                    var locCntrRel = new TN_Loc_Container {
                        S_LOC_CODE = startLocCode,
                        S_CNTR_CODE = cgDetail.S_CNTR_CODE,
                        S_CNTR_TYPE = "托盘",
                        S_CNTR_CODE = cntrCode,
                        S_CNTR_TYPE = cntrType,
                    };

                    startLoc.N_CURRENT_NUM = 1; // 绑定后

                    var endLoc = db.Queryable<TN_Location>()
                        .Where(a => Settings.AreaMap[AreaName.K空托存放区].Contains(a.S_AREA_CODE))
                        .Where(a => Settings.AreaMap[endAreaName].Contains(a.S_AREA_CODE))
                        .Where(a => a.N_LOCK_STATE == 0 && a.S_LOCK_STATE == "无" && a.C_ENABLE == "Y") // 筛选：未上锁
                        .Where(a => a.N_CURRENT_NUM == 0) // 筛选：空货位
                        .OrderBy(l => l.N_LAYER)
                        .First();

                    if (endLoc == null) {
                        info = "空托入库暂时没有合适的货位可以入库";
                        info = $"在终点货区'{endAreaName}'中，没有找到合适的【终点货位】，需要满足要求：未上锁、当前容器数量=0";
                        LogHelper.Info(info);
                        continue;
                    }

                    var cntId = locCntrRel.S_CNTR_CODE;
@@ -135,28 +108,14 @@
                    LocationHelper.LockEndLoc(ref endLoc); // 终点入库锁

                    using (var tran = db.Ado.UseTran()) {
                        if (needInsertContainer) {
                            if (db.Insertable<TN_Container>(cntr).ExecuteCommand() <= 0) {
                                info = $"插入容器表失败：" + JsonConvert.SerializeObject(cntr);
                        if (locCntrRelOld != null) {
                            if (db.Deleteable<TN_Loc_Container>(locCntrRelOld).ExecuteCommand() <= 0 &&
                                db.Updateable<TN_Location>().SetColumns(l => l.N_CURRENT_NUM == 0).Where(l => l.S_CODE == locCntrRelOld.S_LOC_CODE).ExecuteCommand() <= 0) {
                                tran.RollbackTran();
                                info = $"删除旧货位容器关系表失败：货位编码{locCntrRelOld.S_LOC_CODE}，容器编码{locCntrRelOld.S_CNTR_CODE}";
                                LogHelper.Info(info);
                                continue;
                            }
                        }
                        else if (needUpdateContainer) {
                            if (db.Updateable<TN_Container>(cntr).ExecuteCommand() <= 0) {
                                info = $"更新容器表失败：" + JsonConvert.SerializeObject(cntr);
                                tran.RollbackTran();
                                LogHelper.Info(info);
                                continue;
                            }
                        }

                        if (db.Insertable<TN_CG_Detail>(cgDetail).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"插入容器货品信息表失败：物料编码{cgDetail.S_ITEM_CODE}，容器编码{cgDetail.S_CNTR_CODE}";
                            LogHelper.Info(info);
                            continue;
                        }

                        if (db.Insertable<TN_Loc_Container>(locCntrRel).ExecuteCommand() <= 0) {
@@ -170,7 +129,8 @@
                            it.N_LOCK_STATE,
                            it.S_LOCK_STATE,
                            it.S_LOCK_OP,
                            it.T_MODIFY
                            it.T_MODIFY,
                            it.N_CURRENT_NUM, // 起点货位绑定后，将货位状态更新
                        }).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"生成任务'{taskName}'失败：更新起点货位{startLoc.S_CODE}锁状态失败";
@@ -182,7 +142,7 @@
                            it.N_LOCK_STATE,
                            it.S_LOCK_STATE,
                            it.S_LOCK_OP,
                            it.T_MODIFY
                            it.T_MODIFY,
                        }).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"生成任务'{taskName}'失败：更新终点货位{endLoc.S_CODE}锁状态失败";
@@ -192,13 +152,13 @@

                        if (db.Insertable<TN_Task>(task).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"生成任务'{taskName}'失败，容器号{cntId}，起点{startLoc.S_CODE}，终点货架{endLoc.S_CODE}";
                            info = $"生成任务'{taskName}'失败，任务号={task.S_CODE}，容器号={cntId}，起点={startLoc.S_CODE}，终点={endLoc.S_CODE}";
                            LogHelper.Info(info);
                            continue;
                        }

                        tran.CommitTran();
                        info = $"生成任务'{taskName}'成功，容器号{cntId}，起点{startLoc.S_CODE}，终点货架{endLoc.S_CODE}";
                        info = $"生成任务'{taskName}'成功，任务号={task.S_CODE}，容器号={cntId}，起点={startLoc.S_CODE}，终点={endLoc.S_CODE}";
                        LogHelper.Info(info);
                        continue;
                    }
@@ -215,7 +175,7 @@
            var db = new SqlHelper<object>().GetInstance();
            var info = "";

            var taskName = TaskName.C成品胶出库;
            const string taskName = TaskName.C成品胶出库;

            try {
                var orderList = db.Queryable<TN_Outbound_Order>()
@@ -300,7 +260,9 @@
                    detail.N_B_STATE = 2;

                    var cntId = detail.S_CNTR_CODE;
                    var task = WCSHelper.BuildTask(startLoc, endLoc, cntId, taskName);

                    var erp_no = string.IsNullOrEmpty(detail.S_BS_NO) ? "" : detail.S_BS_NO;
                    var task = WCSHelper.BuildTask(startLoc, endLoc, cntId, taskName, detail.S_OO_NO, erp_no);

                    LocationHelper.LockStartLoc(ref startLoc); // 起点出库锁
                    LocationHelper.LockEndLoc(ref endLoc); // 终点入库锁
@@ -317,10 +279,11 @@
                            it.N_LOCK_STATE,
                            it.S_LOCK_STATE,
                            it.S_LOCK_OP,
                            it.T_MODIFY
                            it.T_MODIFY,
                            it.N_CURRENT_NUM, // 起点货位绑定后，将货位状态更新
                        }).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"轮询：{taskName}：生成任务'{taskName}'失败：更新起点货位{startLoc.S_CODE}锁状态失败";
                            info = $"生成任务'{taskName}'失败：更新起点货位{startLoc.S_CODE}锁状态失败";
                            LogHelper.Info(info);
                            continue;
                        }
@@ -329,26 +292,28 @@
                            it.N_LOCK_STATE,
                            it.S_LOCK_STATE,
                            it.S_LOCK_OP,
                            it.T_MODIFY
                            it.T_MODIFY,
                        }).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"轮询：{taskName}：生成任务'{taskName}'失败：更新终点货位{endLoc.S_CODE}锁状态失败";
                            info = $"生成任务'{taskName}'失败：更新终点货位{endLoc.S_CODE}锁状态失败";
                            LogHelper.Info(info);
                            continue;
                        }

                        if (db.Insertable<TN_Task>(task).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"轮询：{taskName}：生成任务'{taskName}'失败，容器号{cntId}，起点{startLoc.S_CODE}，终点货架{endLoc.S_CODE}";
                            info = $"生成任务'{taskName}'失败，任务号={task.S_CODE}，容器号={cntId}，起点={startLoc.S_CODE}，终点={endLoc.S_CODE}";
                            LogHelper.Info(info);
                            continue;
                        }

                        tran.CommitTran();
                        info = $"轮询：{taskName}：生成任务'{taskName}'成功，容器号{cntId}，起点{startLoc.S_CODE}，终点货架{endLoc.S_CODE}";
                        info = $"生成任务'{taskName}'成功，任务号={task.S_CODE}，容器号={cntId}，起点={startLoc.S_CODE}，终点={endLoc.S_CODE}";
                        LogHelper.Info(info);
                        continue;
                    }

                    
                }


@@ -393,7 +358,7 @@
            var db = new SqlHelper<object>().GetInstance();
            var info = "";

            var taskName = TaskName.C抽检_出库;
            const string taskName = TaskName.C抽检_出库;

            try {
                var orderList = db.Queryable<TN_Spot_Check>()
@@ -412,7 +377,7 @@
                        .Count(d => d.S_OO_NO == order.S_NO && d.N_B_STATE >= 2); // 执行中
                    var allCount = db.Queryable<TN_SpotCheck_Detail>()
                        .Count(d => d.S_OO_NO == order.S_NO);
                    LogHelper.Info($"轮询--{taskName}--统计{taskName}单'{order.S_NO}'任务已下发：{doingCount}/{allCount}");
                    LogHelper.Info($"轮询：{taskName}：统计{taskName}单'{order.S_NO}'任务已下发：{doingCount}/{allCount}");

                    if (doingCount == allCount) {
                        order.N_B_STATE = 2; // 所有任务都已执行
@@ -425,7 +390,7 @@
                        .ToList();

                    if (checkDetailList.Count == 0) {
                        LogHelper.Info($"轮询--{taskName}--仍有任务未执行完成，但当前没有已下发的任务");
                        LogHelper.Info($"轮询：{taskName}：仍有任务未执行完成，但当前没有已下发的任务");
                        continue;
                    }

@@ -441,7 +406,7 @@
                        .First();

                    if (startLoc == null) {
                        LogHelper.Info($"轮询--{taskName}：没有找到合适的起点货位！");
                        LogHelper.Info($"轮询：{taskName}：没有找到合适的起点货位！");
                        continue;
                    }

@@ -451,14 +416,14 @@
                        .Where(a => a.N_CURRENT_NUM == 0).First();

                    if (endLoc == null) {
                        LogHelper.Info($"轮询--{taskName}：没有找到合适的终点货位！");
                        LogHelper.Info($"轮询：{taskName}：没有找到合适的终点货位！");
                        continue;
                    }

                    detail.N_B_STATE = 2;

                    var cntId = detail.S_CNTR_CODE;
                    var task = WCSHelper.BuildTask(startLoc, endLoc, cntId, taskName);
                    var task = WCSHelper.BuildTask(startLoc, endLoc, cntId, taskName, detail.S_OO_NO);

                    LocationHelper.LockStartLoc(ref startLoc); // 起点出库锁
                    LocationHelper.LockEndLoc(ref endLoc); // 终点入库锁
@@ -466,7 +431,7 @@
                    using (var tran = db.Ado.UseTran()) {
                        if (db.Updateable<TN_SpotCheck_Detail>(detail).UpdateColumns(it => it.N_B_STATE).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            LogHelper.Info($"轮询--{taskName}：修改{taskName}单明细表状态为完成--失败！");
                            LogHelper.Info($"轮询：{taskName}：修改{taskName}单明细表状态为完成--失败！");
                            continue;
                        }

@@ -474,7 +439,8 @@
                            it.N_LOCK_STATE,
                            it.S_LOCK_STATE,
                            it.S_LOCK_OP,
                            it.T_MODIFY
                            it.T_MODIFY,
                            it.N_CURRENT_NUM, // 起点货位绑定后，将货位状态更新
                        }).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"生成任务'{taskName}'失败：更新起点货位{startLoc.S_CODE}锁状态失败";
@@ -486,7 +452,7 @@
                            it.N_LOCK_STATE,
                            it.S_LOCK_STATE,
                            it.S_LOCK_OP,
                            it.T_MODIFY
                            it.T_MODIFY,
                        }).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"生成任务'{taskName}'失败：更新终点货位{endLoc.S_CODE}锁状态失败";
@@ -496,13 +462,13 @@

                        if (db.Insertable<TN_Task>(task).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"生成任务'{taskName}'失败，容器号{cntId}，起点{startLoc.S_CODE}，终点货架{endLoc.S_CODE}";
                            info = $"生成任务'{taskName}'失败，任务号={task.S_CODE}，容器号={cntId}，起点={startLoc.S_CODE}，终点={endLoc.S_CODE}";
                            LogHelper.Info(info);
                            continue;
                        }

                        tran.CommitTran();
                        info = $"生成任务'{taskName}'成功，容器号{cntId}，起点{startLoc.S_CODE}，终点货架{endLoc.S_CODE}";
                        info = $"生成任务'{taskName}'成功，任务号={task.S_CODE}，容器号={cntId}，起点={startLoc.S_CODE}，终点={endLoc.S_CODE}";
                        LogHelper.Info(info);
                        continue;
                    }
@@ -513,10 +479,12 @@
            }
        }

        public static void CheckShiftOrder() {
            var taskName = TaskName.Y移库;
        public static void CheckShiftOrder() {                
            var db = new SqlHelper<object>().GetInstance();
            var info = "";

            const string taskName = TaskName.Y移库;

            try {
                var orderList = db.Queryable<TN_Relocation_List>()
                    .Where(c => c.N_B_STATE == 1)
@@ -524,7 +492,7 @@
                    .ToList();

                if (orderList.Count == 0) {
                    LogHelper.Info($"轮询--{taskName}--暂无待执行的{taskName}单");
                    LogHelper.Info($"轮询：{taskName}：暂无待执行的{taskName}单");
                    return;
                }

@@ -534,7 +502,7 @@
                        .Count(d => d.S_OO_NO == order.S_NO && d.N_B_STATE >= 2); // 执行中
                    var allCount = db.Queryable<TN_RelocationList_Detail>()
                        .Count(d => d.S_OO_NO == order.S_NO);
                    LogHelper.Info($"轮询--{taskName}--统计{taskName}单'{order.S_NO}'任务已下发：{doingCount}/{allCount}");
                    LogHelper.Info($"轮询：{taskName}：统计{taskName}单={order.S_NO}任务已下发：{doingCount}/{allCount}");

                    if (doingCount == allCount) {
                        order.N_B_STATE = 2; // 所有任务都已执行
@@ -547,7 +515,7 @@
                        .ToList();

                    if (checkDetailList.Count == 0) {
                        LogHelper.Info($"轮询--{taskName}--仍有任务未执行完成，但当前没有已下发的任务");
                        LogHelper.Info($"轮询：{taskName}：仍有任务未执行完成，但当前没有已下发的任务");
                        continue;
                    }

@@ -565,7 +533,8 @@
                        .First();

                    if (startLoc == null) {
                        LogHelper.Info($"轮询--{taskName}：没有找到合适的起点货位！");
                        info = $"轮询：{taskName}：没有找到容器号={detail.S_CNTR_CODE}的起点货位！需要满足：未上锁、当前容器数量=1";
                        LogHelper.Info(info);
                        continue;
                    }

@@ -575,14 +544,15 @@
                        .Where(a => a.N_CURRENT_NUM == 0).First();

                    if (endLoc == null) {
                        LogHelper.Info($"轮询--{taskName}：没有找到合适的终点货位！");
                        info = $"轮询：{taskName}：没有找到终点货位={detail.S_END_AREA}的终点货位！需要满足：未上锁、当前容器数量=0";
                        LogHelper.Info(info);
                        continue;
                    }

                    detail.N_B_STATE = 2;

                    var cntId = detail.S_CNTR_CODE;
                    var task = WCSHelper.BuildTask(startLoc, endLoc, cntId, taskName);
                    var task = WCSHelper.BuildTask(startLoc, endLoc, cntId, taskName, detail.S_OO_NO);

                    LocationHelper.LockStartLoc(ref startLoc); // 起点出库锁
                    LocationHelper.LockEndLoc(ref endLoc); // 终点入库锁
@@ -590,7 +560,7 @@
                    using (var tran = db.Ado.UseTran()) {
                        if (db.Updateable<TN_RelocationList_Detail>(detail).UpdateColumns(it => it.N_B_STATE).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            LogHelper.Info($"轮询--{taskName}：修改{taskName}单明细表状态为完成--失败！");
                            LogHelper.Info($"轮询：{taskName}：修改{taskName}单明细表状态为完成--失败！");
                            continue;
                        }

@@ -598,7 +568,8 @@
                            it.N_LOCK_STATE,
                            it.S_LOCK_STATE,
                            it.S_LOCK_OP,
                            it.T_MODIFY
                            it.T_MODIFY,
                            it.N_CURRENT_NUM, // 起点货位绑定后，将货位状态更新
                        }).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"生成任务'{taskName}'失败：更新起点货位{startLoc.S_CODE}锁状态失败";
@@ -610,7 +581,7 @@
                            it.N_LOCK_STATE,
                            it.S_LOCK_STATE,
                            it.S_LOCK_OP,
                            it.T_MODIFY
                            it.T_MODIFY,
                        }).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"生成任务'{taskName}'失败：更新终点货位{endLoc.S_CODE}锁状态失败";
@@ -620,13 +591,13 @@

                        if (db.Insertable<TN_Task>(task).ExecuteCommand() <= 0) {
                            tran.RollbackTran();
                            info = $"生成任务'{taskName}'失败，容器号{cntId}，起点{startLoc.S_CODE}，终点货架{endLoc.S_CODE}";
                            info = $"生成任务'{taskName}'失败，任务号={task.S_CODE}，容器号={cntId}，起点={startLoc.S_CODE}，终点={endLoc.S_CODE}";
                            LogHelper.Info(info);
                            continue;
                        }
                        }   

                        tran.CommitTran();
                        info = $"生成任务'{taskName}'成功，容器号{cntId}，起点{startLoc.S_CODE}，终点货架{endLoc.S_CODE}";
                        info = $"生成任务'{taskName}'成功，任务号={task.S_CODE}，容器号={cntId}，起点={startLoc.S_CODE}，终点={endLoc.S_CODE}";
                        LogHelper.Info(info);
                        continue;
                    }