WMSPrjInstance/HH-0127_YinNiJiaTong.git

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			using HH.WCS.Mobox3.FJJF.models;
			using HH.WCS.Mobox3.FJJT.api;
			using HH.WCS.Mobox3.FJJT.device;
			using HH.WCS.Mobox3.FJJT.dispatch;
			using HH.WCS.Mobox3.FJJT.process;
			using HH.WCS.Mobox3.FJJT.wms;
			using Newtonsoft.Json;
			using System;
			using System.Collections.Generic;
			using System.Linq;
			using System.Web.Http;
			using static HH.WCS.Mobox3.FJJT.api.ApiHelper;
			using static HH.WCS.Mobox3.FJJT.api.ApiModel;
			using HH.WCS.Mobox3.FJJT.util;

			namespace HH.WCS.Mobox3.FJJT.core {
			internal class WCSCore {

			/// <summary>
			/// AGV任务回报
			/// 1.根据回报AGV任务状态，更新货位信息和任务状态
			/// 2.判断WMSTask是否是出库任务，是，如果工装内有物料，则判断物料是否合格，不合格，则生成不合格品入库任务
			/// 3.如果合格，则触发余料/空托回库任务
			/// </summary>
			/// <param name="model"></param>
			public static void OperateAgvTaskStatus(AgvTaskState model) {
			try
			{
			if (string.IsNullOrEmpty(model.No))
			{
			//无任务号请求(交管)
			//DeviceProcess.Traffic(model.ForkliftNo, model.LockNo, model.State==1023);
			}
			else
			{
			var cst = WCSHelper.GetTask(model.No);

			if (cst != null)
			{
			var mst = WMSHelper.GetWmsTask(cst.S_OP_CODE);
			if (mst != null)
			{
			WCSHelper.AddActionRecord(model.No, model.State, model.ForkliftNo, model.ExtData);
			if (model.State <= 7)
			{
			//有任务号请求
			switch (model.State)
			{
			case 1:
			WCSHelper.Begin(cst);
			WMSHelper.updateMesTaskStatus(mst.S_CODE, "2"); // 更新MES任务状态
			break;
			#region MyRegion
			case 3:
			WCSHelper.UpdateStatus(cst, "开始取货");
			var locCntrRels = LocationHelper.GetLocCntr(cst.S_START_LOC);
			if (locCntrRels.Count > 0)
			{
			cst.S_CNTR_CODE = locCntrRels[0].S_CNTR_CODE;
			WCSHelper.UpdateWcsTask(cst);
			}
			break;
			case 4:
			WCSHelper.UpdateStatus(cst, "取货完成");
			LocationHelper.UnLockLoc(cst.S_START_LOC);
			TaskProcess.OperateStatus(cst, 4);
			break;
			case 5:
			WCSHelper.UpdateStatus(cst, "开始卸货");
			break;
			case 6:
			WCSHelper.UpdateStatus(cst, "卸货完成");
			LocationHelper.UnLockLoc(cst.S_END_LOC);
			TaskProcess.OperateStatus(cst, 6);
			break;
			#endregion
			case 2:
			WCSHelper.End(cst);
			break;
			case 7:
			TaskProcess.OperateStatus(cst, 7);
			WCSHelper.Fail(cst);
			break;
			}
			}
			else if (model.State == 1012)
			{
			LogHelper.Info("开始进行RFID扫描", "AGV");
			ContainerHelper.UpdateCntrState(cst.S_CNTR_CODE, 1);
			WMSHelper.addRfidAnomalyRecord(cst.S_CNTR_CODE, 2, cst.S_START_LOC, null);
			// 查询扫描的RFID
			// 发送 00 04 71 02到扫码器，接受返回数据并解析
			/* byte[] bytes = new byte[] { 00, 04, 71, 02 };
			var plc = Settings.carDeviceInfos.Where(a => a.deviceNo == model.ForkliftNo && a.enable == 1).FirstOrDefault();
			TcpServer.TcpServerSend(plc.address, bytes);*/
			}
			else if (model.State == 1002)
			{
			LogHelper.Info("开始获取AGV终点", "AGV");
			// 更新AGV终点
			// 判断容器是否异常，修改1002的终点参数，并将参数6修改为1
			Container container = ContainerHelper.GetCntr(cst.S_CNTR_CODE);
			if (container != null)
			{
			LogHelper.Info($"容器的异常状态为：{container.N_E_STATE}", "AGV");
			string agvEndLoc = null;
			if (container.N_E_STATE == 0)
			{
			agvEndLoc = ApiHelper.AGVApplyDest(model.No, cst.S_START_LOC, cst.S_CNTR_CODE, "1");
			}
			else
			{
			agvEndLoc = ApiHelper.AGVApplyDest(model.No, cst.S_START_LOC, cst.S_CNTR_CODE, "2");
			}

			ChangeParamModel paramModel = new ChangeParamModel()
			{
			task_no = model.No,
			param_no = 0,
			param = $"{model.No};{cst.S_START_LOC};{cst.S_END_LOC};4;512;0;1"
			};
			NDCApi.ChangeOrderParam(paramModel);
			LogHelper.Info($"变更AGV终点：{agvEndLoc}", "AGV");
			}
			else
			{
			WMSHelper.addAlarmRecord("流程异常", "中", $"AGV任务回报,任务容器编码:{cst.S_CNTR_CODE}的容器没有录入到WMS系统", "AGV");
			}
			}
			else
			{
			//安全请求等
			TaskProcess.OperateReq(model.No, model.State, model.ForkliftNo, model.ExtData);
			}

			// AGV任务完成
			if (model.State == 2)
			{
			// 激活预创建任务
			// 场景：1.读码位激活预创建任务 2.空工装出库激活满料下线任务(非直连)
			WCSHelper.ActivatePreCreateTask(mst.S_CODE);

			// 查询是否有未完成的任务
			if (WMSHelper.isFinishTask(mst.S_CODE))
			{
			// 更新作业任务状态
			mst.N_B_STATE = 2;
			mst.T_END_TIME = DateTime.Now;
			WMSHelper.UpdateTaskState(mst);

			// 更新任务中间表状态
			WMSHelper.updateMesTaskStatus(mst.S_CODE, "3");
			}

			// 检测物料是否合格,如不合格，
			// 判断物料是否是环带库物料，是则回环带库，并让环带下发新的物料
			// 非环带库物料，则退出立库，同时下发新的物料出库任务
			if (cst.S_TYPE.Contains("叫料出库任务"))
			{
			var bo = int.TryParse(mst.S_OP_DEF_CODE, out int mesId);
			if (bo)
			{
			var mesTask = WMSHelper.GetLjMesTaskById(mesId);
			var cntrItemRels = ContainerHelper.GetCntrItemRel(cst.S_CNTR_CODE);
			if (cntrItemRels != null && cntrItemRels.Count > 0)
			{
			if (cntrItemRels[0].S_ITEM_STATE == "2")
			{
			mesTask.AWAIT_MSG = "物料检验状态为不合格，重新叫料中";
			WMSHelper.updateLjMesTask(mesTask);

			// 不合格品回库
			ApiHelper.rejectReturnStock(mst, cst);
			}
			else
			{
			// 如果作业名称为成型机叫料出库任务，则触发余料/空托搬运任务
			var sideLocConfig = WMSHelper.getReturnMaterialLocCode(mst.S_END_LOC);
			ApiHelper.returnMaterialOrEmptyTray(sideLocConfig.S_RETURN_LOC_CODE, sideLocConfig.EQP);
			}
			}
			}
			}
			}
			}
			else
			{
			WMSHelper.addAlarmRecord("系统错误", "高", $"AGV任务状态回报，作业号:{cst.S_OP_CODE}，未查询到作业", "AGV");
			}
			}
			else
			{
			WMSHelper.addAlarmRecord("系统错误", "高", $"AGV任务状态回报，任务号:{model.No}，未查询到任务","AGV");
			}
			}
			}
			catch (Exception ex)
			{
			WMSHelper.addAlarmRecord("系统错误","高", $"WMS内部错误：agv任务状态回报错误，错误原因:{ex.Message}","AGV");
			}
			}

			/// <summary>
			/// 任务分发，根据调度类型发给不同的调度系统
			/// </summary>
			internal static void Dispatch() {
			//查询任务
			//获取所有等待的任务
			var list = WCSHelper.GetWaitingTaskList();
			if (list.Count > 0) {
			list.ForEach(task => {

			if (!TaskProcess.Intercept(task)) {
			//使用自定义任务推送
			TaskProcess.SendTask(task);
			}

			});


			}
			}

			/// <summary>
			/// 杭奥堆垛机信号反馈
			/// </summary>
			/// <param name="model"></param>
			internal static void OperateHATaskStatus(HanAo.TaskStateInfoModel model) {
			var wcsTask = WCSHelper.GetTask(model.requestPk);
			if (wcsTask != null) {
			if (model.code == "0") {
			//
			if (wcsTask.S_TYPE == "堆垛机入库") {
			//终点托盘绑定
			if (LocationHelper.BindingLoc(wcsTask.S_END_LOC, new List<string> { wcsTask.S_CNTR_CODE })) {
			//修改托盘状态为可用，增加库存量表，后面分拣出可以计算到


			}
			}
			else if (wcsTask.S_TYPE == "堆垛机出库") {
			//起点托盘解绑
			LocationHelper.UnBindingLoc(wcsTask.S_START_LOC, new List<string> { wcsTask.S_CNTR_CODE });
			}
			//标记任务完成
			//标记作业完成
			wcsTask.N_B_STATE = 3;
			WCSHelper.UpdateStatus(wcsTask);
			var wmsTask = WMSHelper.GetWmsTask(wcsTask.S_OP_CODE);
			if (wmsTask != null) {
			wmsTask.N_B_STATE = 2;
			WMSHelper.UpdateTaskState(wmsTask);
			}
			}
			}
			}
			}
			}