优化AGV任务部分日志、货位绑定内部方法

kazelee

3 天以前 1b6bf29ff7daa1987de65940af52f452cabd6881

 core/WCSCore.cs

@@ -22,29 +22,20 @@
namespace HH.WCS.Mobox3.DSZSH.core {
    public class WCSCore {
        public static ReturnResult OperateAgvTaskStatus(AgvTaskState model) {
            var result = new ReturnResult();
            const string preLog = "AGV：任务状态回报：";
            try {
                if (model.state > 0) {
                    // AGV 执行任务的逻辑处理
                    if (!AgvTaskProcessOk(model)) {
                        // 执行不OK，说明没有找到任务
                        result.ResultCode = 1;
                        result.ResultMsg = $"根据Model.No未找到对应的任务，{model.task_no}";
                        LogHelper.Info(result.ResultMsg, "API");
                        return result;
                        return NewReturnResult(1, preLog + $"根据任务号'{model.task_no}'未找到对应的任务！");
                    }
                }

                result.ResultCode = 0;
                result.ResultMsg = "success";
                LogHelper.Info(result.ResultMsg, "API");
                return result;
                return NewReturnResult(0, "success"); // 不返回详细成功日志，避免NDC以msg=success作为成功判定（参考国自）
            }
            catch (Exception ex) {
                result.ResultCode = -1;
                result.ResultMsg = $"发生了异常：{ex.Message}";
                LogHelper.Info(result.ResultMsg, "Error");
                return result;
                return NewReturnResult(-1, $"发生了异常：{ex.Message}\n{ex.StackTrace}");
            }

        }
@@ -76,7 +67,7 @@
                    WCSHelper.UpdateStatus(TN_Task, "取货完成"); // 任务状态改成取货完成
                    TaskProcess.OperateStatus(TN_Task, 4); // 起点容器货位解绑,解锁起点

                    if (TN_Task.S_TYPE == TaskName.C成品胶出库) {
                    if (TN_Task.S_TYPE == ETask.C成品胶出库.Name()) {
                        var nextOutboundTask = Task.Run(() => {
                            UpdateOutboundTaskState(3);
                        });
@@ -128,8 +119,8 @@
                var cgDetail = new TN_CG_Detail(); // 如果没有信息，默认就是空值，可以直接填入，不需要判断
                
                //var emptyTask = false; // 空托/空箱任务
                if (task.S_TYPE != TaskName.H好运箱_空箱上线 && task.S_TYPE != TaskName.H好运箱_空箱入库 &&
                    task.S_TYPE != TaskName.T托盘_空托上线 && task.S_TYPE != TaskName.T托盘_空托入库) {
                if (task.S_TYPE != ETask.K空托上线出库.Name() && task.S_TYPE != ETask.K空托入库.Name() &&
                    task.S_TYPE != ETask.K空箱上线出库.Name() && task.S_TYPE != ETask.K空箱入库.Name()) {
                    // 非空托/空箱任务（空托/空箱任务无法在CGDetail查到物料信息）
                    //emptyTask= true;
                    cgDetail = db.Queryable<TN_CG_Detail>()
@@ -147,8 +138,8 @@

                var isInbound = false; // 入库类型的任务（包括移库类任务）
                var inboundTasks = new List<string> {
                    TaskName.H好运箱_满箱下线入库, TaskName.H好运箱_空箱入库, TaskName.T托盘_满托下线入库, TaskName.T托盘_空托入库,
                    TaskName.C抽检_合格回库, TaskName.C抽检_不合格移库, TaskName.Y移库
                    ETask.M满托下线入库.Name(), ETask.M满箱下线入库.Name(), ETask.K空托入库.Name(), ETask.K空箱入库.Name(),
                    ETask.C抽检合格回库.Name(), ETask.C抽检不合格移库.Name(), ETask.Y移库.Name()
                };
                if (inboundTasks.Contains(task.S_TYPE)) {
                    isInbound= true;
@@ -204,28 +195,28 @@
        /// <returns></returns>
        public static ReturnResult SafetyInteraction(SafetyInteractionInfo model) {
            var db = new SqlHelper<object>().GetInstance();
            var info = "";
            const string preLog = "AGV：产线安全交互：";

            try {
                ModbusHelper.Relink();

                //var loc = db.Queryable<TN_Location>()
                //    .Where(l => l.S_AGV_SITE == model.station_name && Settings.AreaMap[AreaName.包装区].Contains(l.S_AREA_CODE))
                //    .First();
                var BZQ = Settings.GetTaskInfo(ETask.M满托下线入库).StartAreas;
                var loc = db.Queryable<TN_Location>()
                    .Where(l => BZQ.Contains(l.S_AREA_CODE) && l.S_AGV_SITE == model.station_name).First();

                if (!Settings.AgvSite_ProdLineCodeMap.TryGetValue(model.station_name, out int prodIndex)) {
                    info = $"AGV 站点{model.station_name}不是合法的产线接驳位站点";
                    LogHelper.Info(info);
                    return NewReturnResult(1, info);
                if (loc == null) {
                    return NewReturnResult(1, preLog + $"AGV 站点{model.station_name}不是合法的产线接驳位站点");
                }

                if (!Settings.LocProdIdMap.TryGetValue(loc.S_CODE, out var prodIndex)) {
                    return NewReturnResult(1, preLog + $"AGV 站点{model.station_name}不是合法的产线接驳位站点");
                }

                var prodLineInfo = Settings.ProductionLines[prodIndex];

                var prodLineDevice = new ProductionLineDevice(prodLineInfo);
                if (!prodLineDevice.LoadDeviceStateOk()) {
                    info = "与产线设备通讯失败";
                    LogHelper.Info(info);
                    return NewReturnResult(2, info);
                    return NewReturnResult(2, preLog + "与产线设备通讯失败");
                }

                //var tn_task = db.Queryable<TN_Task>().First(a => a.S_CODE == model.task_no);
@@ -242,61 +233,45 @@
                //}

                if (prodLineDevice.SystemState != 1) {
                    info = $"当前产线无法与AGV联动：状态{prodLineDevice.SystemState}";
                    LogHelper.Info(info);
                    return NewReturnResult(3, info);
                    return NewReturnResult(3, preLog + $"当前产线无法与AGV联动：状态{prodLineDevice.SystemState}");
                }

                if (model.apply_code == "5") { // 请求取货
                // 请求取货
                if (model.apply_code == "5") {
                    if (prodLineDevice.FullOffline != 1) {
                        info = $"当前输送线满料下线信号不为1，无法取货";
                        LogHelper.Info(info);
                        return NewReturnResult(4, info);
                        return NewReturnResult(4, preLog + $"当前输送线满料下线信号不为1，无法取货");
                    }
                    
                    if (!prodLineDevice.SetAgvPicking(1)) {
                        info = $"向输送线写入允许取货信号失败";
                        LogHelper.Info(info);
                        return NewReturnResult(5, info);
                        return NewReturnResult(5, preLog + $"向输送线写入允许取货信号失败");
                    }
                    
                    info = $"向输送线写入允许取货信号成功";
                    LogHelper.Info(info);
                    return NewReturnResult(0, info);
                    return NewReturnResult(0, preLog + $"向输送线写入允许取货信号成功");
                }
                else if (model.apply_code == "1") { // 请求卸货
                // 请求卸货
                else if (model.apply_code == "1") {
                    if (prodLineDevice.AllowAgvPlacePallet != 1) {
                        info = $"当前输送线允许放托盘信号不为1，无法放货";
                        LogHelper.Info(info);
                        return NewReturnResult(6, info);
                        return NewReturnResult(6, preLog + $"当前输送线允许放托盘信号不为1，无法放货");
                    }

                    if (!prodLineDevice.SetAgvPlacingPallet(1)) {
                        info = $"向输送线写入允许放货信号失败";
                        LogHelper.Info(info);
                        return NewReturnResult(7, info);
                        return NewReturnResult(7, preLog + $"向输送线写入允许放货信号失败");
                    }

                    info = $"向输送线写入允许放货信号成功";
                    LogHelper.Info(info);
                    return NewReturnResult(0, info);
                    return NewReturnResult(0, preLog + $"向输送线写入允许放货信号成功");
                }
                else {
                    info = $"当前AGV请求码不为 5取货 或 1卸货";
                    LogHelper.Info(info);
                    return NewReturnResult(8, info);
                    return NewReturnResult(8, preLog + $"当前AGV请求码不为 5取货 或 1卸货");
                }

            }
            catch (Exception ex) {
                info = $"发生了异常：{ex.Message}";
                LogHelper.InfoEx(ex);
                return NewReturnResult(1, info);
                return NewReturnResult(1, preLog + $"发生了异常：{ex.Message}\n{ex.StackTrace}");
            }
        }

        public static void UpdateOutboundTaskState(int spotStateCode) {
            var taskName = TaskName.C成品胶出库;
            var taskName = ETask.C成品胶出库.Name();
            var db = new SqlHelper<object>().GetInstance();

            var detail = db.Queryable<TN_Outbound_Detail>()
@@ -419,7 +394,7 @@
                model.hwzt = "已出库";

                var jsonInfo = JsonConvert.SerializeObject(model);
                var result = httpH.WebPost(Settings.ErpApiUrl + "PickUpReturn", jsonInfo);
                var result = httpH.WebPost(Settings.ErpApiUrl + Settings.ErpRoute.PickUpReturn, jsonInfo);

                LogHelper.InfoApi($"取货完成反馈ERP接口，结果={result}，调用参数：", model);

@@ -458,7 +433,7 @@
        // TCP 非轮询方式 模拟产线下线的尝试

        public static void StartServer() {
            var ListenPort = 6000;
            var ListenPort = Settings.TcpServerPort;
            TcpListener listener = new TcpListener(IPAddress.Any, ListenPort);
            listener.Start();
            Console.WriteLine($"后台服务已启动，监听端口 {ListenPort}...");
@@ -524,21 +499,22 @@
            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;
            var taskInfo = Settings.GetTaskInfo(ETask.M满托下线入库);
            var taskName = taskInfo.TaskName;
            var startAreas = taskInfo.StartAreas;
            var endAreas = taskInfo.EndAreas;
            const string cntrType = "托盘";

            try {
                var startLoc = db.Queryable<TN_Location>()
                .Where(l => l.S_CODE == startLocCode)
                .Where(l => Settings.AreaMap[startAreaName].Contains(l.S_AREA_CODE))
                .Where(l => startAreas.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 = $"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";
                    info = $"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);
                    return new Result<bool>(false, info);
                }
@@ -556,14 +532,14 @@
                startLoc.N_CURRENT_NUM = 1; // 绑定后

                var endLoc = db.Queryable<TN_Location>()
                    .Where(a => Settings.AreaMap[endAreaName].Contains(a.S_AREA_CODE))
                    .Where(a => endAreas.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 = $"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";
                    info = $"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);
                    return new Result<bool>(false, info);
                }
@@ -571,8 +547,8 @@
                var cntId = locCntrRel.S_CNTR_CODE;
                var task = WCSHelper.BuildTask(startLoc, endLoc, cntId, taskName);

                LocationHelper.LockStartLoc(ref startLoc); // 起点出库锁
                LocationHelper.LockEndLoc(ref endLoc); // 终点入库锁
                WCSHelper.LockStartLoc(ref startLoc); // 起点出库锁
                WCSHelper.LockEndLoc(ref endLoc); // 终点入库锁

                using (var tran = db.Ado.UseTran()) {
                    if (locCntrRelOld != null) {
@@ -631,11 +607,15 @@
                }
            }
            catch (Exception ex) {
                LogHelper.InfoEx(ex);
                return new Result<bool>(false, ex.Message);
                return NewResult(false, ex.Message);
            }
        }

        private static Result<bool> NewResult(bool res, string msg, bool log = true) {
            if (log) { LogHelper.Info(msg); }
            return new Result<bool>(res, msg);
        }

    }

    public class ProductCompletedMessage {