WMSPrjInstance/HH-0127_YinNiJiaTong.git

			@@ -17,10 +17,12 @@
			using static HH.WCS.Mobox3.YNJT_BZP.api.AgvController;
			using static HH.WCS.Mobox3.YNJT_BZP.api.ApiModel;
			using static HH.WCS.Mobox3.YNJT_BZP.dispatch.GtDispatch;
			using static HH.WCS.Mobox3.YNJT_BZP.util.Settings;

			namespace HH.WCS.Mobox3.YNJT_BZP.core {
			internal class WCSCore {
			public static void OperateAgvTaskStatus(AgvTaskState model) {
			LogHelper.Info($"AGV任务状态反馈，入参：{JsonConvert.SerializeObject(model)}", "AGV");
			try
			{
			if (string.IsNullOrEmpty(model.No))
			@@ -32,16 +34,16 @@
			var TN_Task = WCSHelper.GetTask(model.No);
			if (TN_Task != null)
			{
			bool isExist = WCSHelper.CheckActionRecordExist(TN_Task.S_CODE, model.State);
			if (!isExist)
			var wmsTask = WMSHelper.GetWmsTask(TN_Task.S_OP_CODE);
			if (wmsTask != null && wmsTask.N_B_STATE < 2)
			{
			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:
			TN_Task.S_EQ_NO = model.ForkliftNo;
			WCSHelper.Begin(TN_Task);
			break;
			#region MyRegion
			@@ -58,21 +60,33 @@
			case 6:
			TaskProcess.OperateStatus(TN_Task, 6);
			WCSHelper.UpdateStatus(TN_Task, "卸货完成");

			// AGV卸货输送线，触发入库任务
			if (TN_Task.S_END_LOC != wmsTask.S_END_LOC)
			{
			LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV卸货输送线，触发WCS入库任务", "AGV");
			Container container = ContainerHelper.GetCntr(TN_Task.S_CNTR_CODE);
			if (container != null)
			{
			WCSCore.createLastTask(TN_Task.S_END_LOC, wmsTask, 1);
			}
			}
			break;
			#endregion
			case 2:
			WCSHelper.End(TN_Task);

			var cntrItemRels = ContainerHelper.GetCntrItemRel(TN_Task.S_CNTR_CODE);
			if (cntrItemRels.Count > 0)
			if (cntrItemRels.Count > 0)
			{
			LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV任务完成，任务信息回报GT", "AGV");
			string shift = ApiHelper.getShift(DateTime.Now.TimeOfDay);
			string ydate_shiftName = "";
			if (shift == "III")
			{
			ydate_shiftName = DateTime.Now.AddDays(-1).ToString("yy/MM/dd") + "-" + shift;
			}
			else
			else
			{
			ydate_shiftName = DateTime.Now.ToString("yy/MM/dd") + "-" + shift;
			}
			@@ -91,6 +105,7 @@
			}
			break;
			case 7:
			LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV任务取消", "AGV");
			//判断是否收到过强制取消，有就不做任何处理
			if (!WCSHelper.CheckActionRecordExist(TN_Task.S_CODE, 17))
			{
			@@ -100,16 +115,106 @@
			break;
			}
			}
			else if (model.State == 2001)
			else if (model.State == 1003)
			{
			//申请新终点
			string endLoc = AGVApplyEndLoc(model.No);
			LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车进入等待位：{TN_Task.S_END_LOC}", "AGV");
			// 卸货前等待
			// 查询当前终点是等待区，则查询入库agv接驳位
			var waitLoc = Settings.getAgvWaitLoc(TN_Task.S_END_LOC);
			if (waitLoc != null)
			{
			if (TN_Task.S_TYPE.Contains("入库"))
			{
			var endLoc = AGVApplyEndLoc(model.No);
			if (endLoc != null)
			{
			LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车变更终点：{endLoc.S_CODE}", "AGV");
			// 通知AGV更改终点
			ChangeParamModel paramModel = new ChangeParamModel()
			{
			task_no = model.No,
			param_no = 0,
			param = $"{model.No};{TN_Task.S_START_LOC};{TN_Task.S_END_LOC};0;400;0;2"
			};
			LogHelper.Info($"通知AGV更改终点，参数:{paramModel}", "AGV");
			/* NDCApi.ChangeOrderParam(paramModel);*/
			}
			}
			}
			}
			else if (model.State == 1004)
			{
			LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车卸货后在接驳位:{TN_Task.S_END_LOC}等待", "AGV");
			// 卸货后等待
			// 查询终点货位是否是入库接驳位
			var agvJBLoc = Settings.getAgvJBLoc(TN_Task.S_END_LOC);
			if (agvJBLoc != null && agvJBLoc.action == 1)
			{
			//是则查询WCS的任务执行情况
			var wcsTask = WCSHelper.GetTaskBySrcNoAndScheduleType(TN_Task.S_OP_CODE, "WCS" , wmsTask.S_TYPE);
			if (wcsTask != null)
			{
			bool existAction = WCSHelper.CheckActionRecordExist(wcsTask.S_CODE, 7);
			if (existAction)
			{
			LogHelper.Info($"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");
			//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
			var mst = WMSHelper.GetWmsTask(TN_Task.S_OP_CODE);
			var endLoc = WMSHelper.getErrorBufferAreaLoc();
			if (endLoc != null)
			{
			LocationHelper.UnLockLoc(mst.S_END_LOC);
			mst.S_END_LOC = endLoc.S_CODE;
			mst.S_END_AREA = endLoc.S_AREA_CODE;

			var newWcsTask = WCSCore.createLastTask(TN_Task.S_END_LOC, mst, 2, "出库异常区任务");
			LogHelper.Info($"任务号：{TN_Task.S_CODE}，AGV小车改道终点：{newWcsTask.S_END_LOC}", "AGV");
			if (newWcsTask != null)
			{
			WCSHelper.End(TN_Task);

			// 通知AGV更改终点
			ChangeParamModel paramModel = new ChangeParamModel()
			{
			task_no = model.No,
			param_no = 0,
			param = $"{model.No};{newWcsTask.S_START_LOC};{newWcsTask.S_END_LOC};0;0;0;1"
			};
			LogHelper.Info($"通知AGV更改终点，参数:{paramModel}", "AGV");
			/NDCApi.ChangeOrderParam(paramModel);/
			}
			return;
			}
			else
			{
			LogHelper.Info("异常区没有空货位，无法入库异常区", "AGV");
			}
			}

			existAction = WCSHelper.CheckActionRecordExist(wcsTask.S_CODE, 3);
			if (existAction)
			{
			LogHelper.Info($"任务号：{TN_Task.S_CODE}，RFID检测通过，AGV任务正常完成", "AGV");
			//WCS反馈3已取货，则agv任务正常结束，通知AGV完成任务
			ChangeParamModel paramModel = new ChangeParamModel()
			{
			task_no = model.No,
			param_no = 0,
			param = $"{model.No};{TN_Task.S_START_LOC};{TN_Task.S_END_LOC};0;0;0;1"
			};
			LogHelper.Info($"通知AGV完成任务，参数:{paramModel}", "AGV");
			/NDCApi.ChangeOrderParam(paramModel);/
			}
			}
			}
			}
			else
			{
			//安全请求等
			TaskProcess.OperateReq(model.No, model.State, model.ForkliftNo, model.ExtData);
			}

			WCSHelper.AddActionRecord(model.No, model.State, model.ForkliftNo, model.ExtData);
			}
			}
			}
			@@ -127,62 +232,75 @@
			/// <param name="mst"></param>
			/// <param name="actType">1.入库 2.出库</param>
			/// <returns></returns>
			public static bool createLastTask(string startLocCode , WMSTask mst ,int actType)
			public static WCSTask createLastTask(string startLocCode , WMSTask mst ,int actType ,string typeName = null)
			{
			LogHelper.Info("创建下一段任务", "WMS");
			var startLoc = LocationHelper.GetLoc(startLocCode);
			if (startLoc != null)
			LogHelper.Info($"作业号：{mst.S_CODE}，创建下一段任务", "WMS");
			var existTask = WCSHelper.GetTaskByStart(startLocCode);
			if (existTask == null)
			{
			string cntrCode = "";
			string scheduleType = "";
			if (actType == 1)
			var startLoc = LocationHelper.GetLoc(startLocCode);
			if (startLoc != null)
			{
			var locCntrRels = LocationHelper.GetLocCntr(startLocCode);
			if (locCntrRels.Count > 0)
			string cntrCode = "";
			string scheduleType = "";
			if (actType == 1)
			{
			foreach (var cntr in locCntrRels)
			var locCntrRels = LocationHelper.GetLocCntr(startLocCode);
			if (locCntrRels.Count > 0)
			{
			cntrCode = cntrCode + ","+ cntr.S_CNTR_CODE;
			foreach (var cntr in locCntrRels)
			{
			cntrCode = cntrCode + "," + cntr.S_CNTR_CODE;
			}
			cntrCode = cntrCode.Substring(1, cntrCode.Length - 1);
			}
			cntrCode = cntrCode.Substring(1, cntrCode.Length-1);
			scheduleType = "WCS";
			}
			scheduleType = "WCS";
			}

			if (actType == 2)
			{
			cntrCode = mst.S_CNTR_CODE;
			scheduleType = "AGV";
			}
			if (actType == 2)
			{
			cntrCode = mst.S_CNTR_CODE;
			scheduleType = "AGV";
			}
			string type = "";
			if (typeName == null)
			{
			type = mst.S_TYPE + "-2";
			}
			else
			{
			type = typeName;
			}

			// 创建一段入库任务
			WCSTask wcsTask = new WCSTask()
			{
			S_OP_NAME = mst.S_OP_DEF_NAME,
			S_OP_CODE = mst.S_CODE,
			S_CODE = WCSHelper.GenerateTaskNo(),
			S_CNTR_CODE = cntrCode,
			S_TYPE = mst.S_TYPE + "-2",
			S_START_LOC = startLoc.S_CODE,
			S_START_AREA = startLoc.S_AREA_CODE,
			S_END_LOC = mst.S_END_LOC,
			S_END_AREA = mst.S_END_AREA,
			S_SCHEDULE_TYPE = scheduleType,
			N_PRIORITY = mst.N_PRIORITY,
			T_START_TIME = DateTime.Now,
			};
			// 创建一段入库任务
			WCSTask wcsTask = new WCSTask()
			{
			S_OP_NAME = mst.S_OP_DEF_NAME,
			S_OP_CODE = mst.S_CODE,
			S_CODE = WCSHelper.GenerateTaskNo(),
			S_CNTR_CODE = cntrCode,
			S_TYPE = type,
			S_START_LOC = startLoc.S_CODE,
			S_START_AREA = startLoc.S_AREA_CODE,
			S_END_LOC = mst.S_END_LOC,
			S_END_AREA = mst.S_END_AREA,
			S_SCHEDULE_TYPE = scheduleType,
			N_PRIORITY = mst.N_PRIORITY,
			T_START_TIME = DateTime.Now,
			};

			if (WCSHelper.CreateTask(wcsTask))
			{
			// 起点、接驳点、终点加锁
			LocationHelper.LockLoc(wcsTask.S_START_LOC, 2);
			LocationHelper.LockLoc(wcsTask.S_END_LOC, 1);
			if (WCSHelper.CreateTask(wcsTask))
			{
			// 起点、接驳点、终点加锁
			LocationHelper.LockLoc(wcsTask.S_START_LOC, 2);
			LocationHelper.LockLoc(wcsTask.S_END_LOC, 1);

			WMSHelper.UpdateTaskEnd(mst);
			return true;
			WMSHelper.UpdateTaskEnd(mst);
			return wcsTask;
			}
			}
			}
			return false;
			return null;
			}

			/// <summary>
			@@ -205,108 +323,150 @@
			}
			}


			private static readonly object emptyTrayInLock = new object(); // 静态锁对象

			/// <summary>
			/// agv申请终点
			/// </summary>
			/// <param name="taskNo"></param>
			public static string AGVApplyEndLoc(string taskNo)
			public static Location AGVApplyEndLoc(string taskNo)
			{
			LogHelper.Info("【agv申请终点】", "AGV");
			string endLocCode = null;
			LogHelper.Info($"任务号：{taskNo},AGV等待区申请终点", "AGV");
			var cst = WCSHelper.GetTask(taskNo);
			if (cst != null && cst.N_B_STATE < 3)
			if (cst != null && cst.N_B_STATE < 3)
			{
			var mst = WMSHelper.GetWmsTask(cst.S_OP_CODE);
			if (mst != null && mst.N_B_STATE < 2 && mst.S_END_LOC == "虚拟货位")
			if (mst != null && mst.N_B_STATE < 2 && mst.S_END_LOC == "虚拟货位")
			{
			var container = ContainerHelper.GetCntr(cst.S_CNTR_CODE);
			if (container != null)
			if (container != null)
			{
			var endLoc = WMSHelper.GetInstockEndLoc(container.N_TYPE);
			if (endLoc != null)
			string itemCode = null;
			var cntrItemRels = ContainerHelper.GetCntrItemRel(cst.S_CNTR_CODE);
			if (cntrItemRels.Count > 0)
			{
			Location agvLoc = null;
			var locCodes = Settings.getAgvJBLocList(1, endLoc.N_ROADWAY, 1);
			if (locCodes.Count > 0)
			// 满料托盘入库
			itemCode = cntrItemRels[0].S_ITEM_CODE;
			var endLoc = WMSHelper.GetInstockEndLoc(container.N_TYPE, null, 1, itemCode);
			if (endLoc != null)
			{
			agvLoc = LocationHelper.GetLoc(locCodes[0]);
			}

			if (agvLoc != null && agvLoc.C_ENABLE == "Y")
			{
			var wcsTask = WCSHelper.GetTaskByStartAndEnd(agvLoc.S_CODE);
			if (wcsTask == null && agvLoc.N_LOCK_STATE == 0)
			Location agvLoc = null;
			var locCodes = Settings.getAgvJBLocList( endLoc.N_ROADWAY, 1);
			if (locCodes.Count > 0)
			{
			// 胎圈入库，下发母拖出库任务 \ 帘布、内衬入库，下发托盘回库任务
			if (mst.S_TYPE.Contains("入库"))
			foreach (var locCode in locCodes)
			{
			if (agvLoc.N_CURRENT_NUM == 1)
			agvLoc = LocationHelper.GetLoc(locCode);
			if (agvLoc != null && agvLoc.C_ENABLE == "Y")
			{
			var locCntrRels = LocationHelper.GetLocCntr(agvLoc.S_CODE);
			if (locCntrRels.Count > 0)
			{
			var container1 = ContainerHelper.GetCntr(locCntrRels[0].S_CNTR_CODE);
			if (container1.N_TYPE == 0)
			{
			if (container.N_TYPE == 4 \|\| container.N_TYPE == 5)
			{
			ApiHelper.baseTrayInStockAgv(agvLoc.S_CODE, mst.S_CODE);
			}
			}
			else
			{
			LogHelper.Info($"接驳位:{agvLoc.S_CODE},存在非母拖容器", "AGV");
			}
			}
			else
			{
			LogHelper.Info($"接驳位:{agvLoc.S_CODE}的当前数量与容器数量不匹配", "AGV");
			}
			}
			else if (agvLoc.N_CURRENT_NUM == 0)
			{
			if (container.N_TYPE == 6)
			{
			ApiHelper.baseTrayOutStockAgv(agvLoc.S_CODE, mst.S_CODE);
			}
			}
			else
			{
			return endLocCode;
			cst.S_END_LOC = agvLoc.S_CODE;
			cst.S_END_AREA = agvLoc.S_AREA_CODE;
			WCSHelper.UpdateTaskEnd(cst);

			mst.S_END_LOC = endLoc.S_CODE;
			mst.S_END_AREA = endLoc.S_AREA_CODE;
			WMSHelper.UpdateTaskEnd(mst);
			LocationHelper.LockLoc(endLoc.S_CODE, 1);

			LogHelper.Info($"任务号：{taskNo},AGV申请的终点：{agvLoc.S_CODE}", "AGV");
			return agvLoc;
			}
			}
			cst.S_END_LOC = agvLoc.S_CODE;
			cst.S_END_AREA = agvLoc.S_AREA_CODE;
			WCSHelper.UpdateTaskEnd(cst);

			mst.S_END_LOC = endLoc.S_CODE;
			mst.S_END_AREA = endLoc.S_AREA_CODE;
			WMSHelper.UpdateTaskEnd(mst);

			LocationHelper.LockLoc(agvLoc.S_CODE, 1);
			LocationHelper.LockLoc(endLoc.S_CODE, 1);
			endLocCode = agvLoc.S_CODE;
			LogHelper.Info($"任务号：{taskNo},入库接驳位货位都已禁用", "AGV");
			}
			else
			else
			{
			LogHelper.Info("接驳位当前有任务未完成，请稍等", "AGV");
			LogHelper.Info($"任务号：{taskNo},没有配置立库接驳位", "AGV");
			}
			}
			else
			{
			LogHelper.Info("没有可用的入库接驳位", "AGV");
			LogHelper.Info($"任务号：{taskNo},立库没有满足条件的空货位", "AGV");
			}
			}
			else
			{
			LogHelper.Info("没有空余的货位", "AGV");
			// 空托盘回库
			lock (emptyTrayInLock)
			{
			var emptyTrayBuffers = WMSHelper.getEmptyTrayBufferList();
			if (emptyTrayBuffers.Count > 0)
			{
			var emptyTray = emptyTrayBuffers.Where(a => a.TRAY_TYPE == container.N_TYPE).OrderBy(a => a.T_CREATE).FirstOrDefault();
			if (emptyTray != null)
			{
			var endLoc = LocationHelper.GetLoc(emptyTray.END_LOC);
			cst.S_END_LOC = endLoc.S_CODE;
			cst.S_END_AREA = endLoc.S_AREA_CODE;
			WCSHelper.UpdateTaskEnd(cst);

			mst.S_END_LOC = endLoc.S_CODE;
			mst.S_END_AREA = endLoc.S_AREA_CODE;
			WMSHelper.UpdateTaskEnd(mst);
			LocationHelper.LockLoc(endLoc.S_CODE, 1);

			emptyTray.IS_CREATED = "Y";
			WMSHelper.updateEmptyTrayBuffer(emptyTray);
			}
			}
			else
			{
			var endLoc = WMSHelper.GetInstockEndLoc(container.N_TYPE, null, 1);
			if (endLoc != null)
			{
			Location agvLoc = null;
			var locCodes = Settings.getAgvJBLocList(endLoc.N_ROADWAY, 1);
			if (locCodes.Count > 0)
			{
			foreach (var locCode in locCodes)
			{
			agvLoc = LocationHelper.GetLoc(locCode);
			if (agvLoc != null && agvLoc.C_ENABLE == "Y")
			{
			cst.S_END_LOC = agvLoc.S_CODE;
			cst.S_END_AREA = agvLoc.S_AREA_CODE;
			WCSHelper.UpdateTaskEnd(cst);

			mst.S_END_LOC = endLoc.S_CODE;
			mst.S_END_AREA = endLoc.S_AREA_CODE;
			WMSHelper.UpdateTaskEnd(mst);
			LocationHelper.LockLoc(endLoc.S_CODE, 1);

			LogHelper.Info($"任务号：{taskNo},AGV申请的终点：{agvLoc.S_CODE}", "AGV");
			return agvLoc;
			}
			}

			LogHelper.Info($"任务号：{taskNo},入库接驳位货位都已禁用", "AGV");
			}
			else
			{
			LogHelper.Info($"任务号：{taskNo},没有配置立库接驳位", "AGV");
			}
			}
			else
			{
			LogHelper.Info($"任务号：{taskNo},立库没有满足条件的空货位", "AGV");
			}
			}
			}
			}
			}
			else
			{
			LogHelper.Info($"任务号：{taskNo},AGV任务的容器：{cst.S_CNTR_CODE}不存在", "AGV");
			}
			}
			else
			{
			LogHelper.Info($"任务号：{taskNo},AGV任务已申请终点，请勿重复申请", "AGV");
			}
			}
			return endLocCode;
			else
			{
			LogHelper.Info($"任务号：{taskNo},AGV任务已完成或取消", "AGV");
			}
			return null;
			}

			}