WMSPrjInstance/HH-0127_YinNiJiaTong.git

			@@ -17,6 +17,7 @@
			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 {
			@@ -36,7 +37,6 @@
			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
			@@ -123,17 +123,23 @@
			var waitLoc = Settings.getAgvWaitLoc(TN_Task.S_END_LOC);
			if (waitLoc != null)
			{
			var endLoc = AGVApplyEndLoc(model.No);
			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()
			if (TN_Task.S_TYPE.Contains("入库"))
			{
			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);*/
			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)
			@@ -142,10 +148,10 @@
			// 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.type == 1 && agvJBLoc.action == 1)
			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");
			var wcsTask = WCSHelper.GetTaskBySrcNoAndScheduleType(TN_Task.S_OP_CODE, "WCS" , wmsTask.S_TYPE);
			if (wcsTask != null)
			{
			bool existAction = WCSHelper.CheckActionRecordExist(wcsTask.S_CODE, 7);
			@@ -161,7 +167,7 @@
			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, "入库异常区任务");
			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)
			{
			@@ -207,6 +213,8 @@
			//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);
			}
			}
			}
			@@ -315,7 +323,7 @@
			}
			}


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

			/// <summary>
			/// agv申请终点
			@@ -333,23 +341,63 @@
			var container = ContainerHelper.GetCntr(cst.S_CNTR_CODE);
			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)
			{
			foreach (var locCode in locCodes)
			Location agvLoc = null;
			var locCodes = Settings.getAgvJBLocList( endLoc.N_ROADWAY, 1);
			if (locCodes.Count > 0)
			{
			agvLoc = LocationHelper.GetLoc(locCode);
			if (agvLoc != null && agvLoc.C_ENABLE == "Y")
			foreach (var locCode in locCodes)
			{
			LogHelper.Info($"检测AGV接驳位:{locCode}设备是否可用", "AGV");
			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);

			cst.S_END_LOC = agvLoc.S_CODE;
			cst.S_END_AREA = agvLoc.S_AREA_CODE;
			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
			{
			// 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;
			@@ -357,21 +405,51 @@
			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;
			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);

			LogHelper.Info($"任务号：{taskNo},入库接驳位货位都已禁用", "AGV");
			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},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