.gitignore
@@ -185,3 +185,6 @@ # Microsoft Fakes FakesAssemblies/ /.vs/HH.WCS.Mobox3.DSZSH/CopilotIndices/17.14.794.21998/ /.vs/HH.WCS.Mobox3.DSZSH/FileContentIndex/ /.vs/HH.WCS.Mobox3.DSZSH/v17/ .vs/HH.WCS.Mobox3.DSZSH/FileContentIndex/8f40c4eb-5494-4624-8837-7798ba225e13.vsidxBinary files differ
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.vs/HH.WCS.Mobox3.DSZSH/FileContentIndex/read.lock
HH.WCS.Mobox3.DSZSH.csproj
@@ -293,6 +293,7 @@ <None Include="packages.config" /> </ItemGroup> <ItemGroup> <Content Include=".gitignore" /> <Content Include="readme.md" /> <EmbeddedResource Include="swagger.js"> <CopyToOutputDirectory>Always</CopyToOutputDirectory> api/ApiModel.cs
@@ -79,7 +79,8 @@ public string ResultMsg { get; set; } } public static ReturnResult NewReturnResult(int code, string message) { public static ReturnResult NewReturnResult(int code, string message, bool log = true) { if (log) { LogHelper.Info(message); } return new ReturnResult { ResultCode = code, ResultMsg = message }; }
@@ -400,10 +400,6 @@ /// AGV 小车号 /// </summary> public string ForkliftNo { set; get; } ///// <summary> ///// AGV 下一个状态 ///// </summary> //public int NextState { set; get; } } public class AgvReportsInfo { @@ -421,15 +417,6 @@ public int NextState { set; get; } = 0; } public class FalseOk { public bool JumpOut { set; get; } = true; } public class InsertCntrItemInfo { public string Cntr { set; get; } public string Item { set; get; } } /// <summary> /// /// </summary> @@ -437,14 +424,4 @@ public List<ReturnResult> ResultList { set; get; } } public class LocCntrCg { public string Note { get; set; } // 仅用于备注 public string LocCode { get; set; } public string LocArea { get; set; } public string CntrCode { get; set; } public string CntrType { get; set; } public string ItemCode { get; set; } public string BatchNo { get; set; } } } 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}"); } } @@ -147,7 +138,7 @@ var isInbound = false; // 入库类型的任务（包括移库类任务） var inboundTasks = new List<string> { ETask.M满托下线入库.Name(), ETask.K空箱入库.Name(), ETask.M满托下线入库.Name(), ETask.K空托入库.Name(), 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)) { @@ -204,7 +195,7 @@ /// <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(); @@ -214,24 +205,18 @@ .Where(l => BZQ.Contains(l.S_AREA_CODE) && l.S_AGV_SITE == model.station_name).First(); if (loc == null) { 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); 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)) { 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); 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); @@ -248,56 +233,40 @@ //} 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 + $"发生了异常：{ex.Message}\n{ex.StackTrace}"); } }
@@ -51,20 +51,6 @@ /// </summary> public int AllowAgvPlacePallet { get; set; } //private int _agvPicking; //private int _agvPlacingPallet; ///// <summary> ///// AGV 正在取货：下线AGV写入1，取货完成后恢复0 ///// </summary> //public int AgvPicking { // get => _agvPicking; // set { // var isOk = ModbusHelper.WriteSingleRegister(10, value, Ip, Port); // _agvPicking = isOk ? value : throw new Exception($"修改 [AGV 正在取货] 为 '{value}' 失败"); // } //} /// <summary> /// AGV 正在取货：下线AGV写入1，取货完成后恢复0 /// </summary> @@ -83,17 +69,6 @@ AgvPicking = value; return true; } ///// <summary> ///// AGV 正在放托盘垛：上线AGV写入1，放托完成后恢复0 ///// </summary> //public int AgvPlacingPallet { // get => _agvPlacingPallet; // set { // var isOk = ModbusHelper.WriteSingleRegister(11, value, Ip, Port); // _agvPlacingPallet = isOk ? value : throw new Exception($"修改 [AGV 正在放托盘垛] 为 '{value}' 失败"); // } //} /// <summary> /// AGV 正在放托盘垛：上线AGV写入1，放托完成后恢复0 @@ -124,8 +99,6 @@ CallPallet = readArray[2]; AllowAgvPlacePallet = readArray[3]; // 可写地址数据 //_agvPicking = readArray[10]; //_agvPlacingPallet = readArray[11]; AgvPicking = readArray[10]; AgvPlacingPallet = readArray[11];
@@ -18,7 +18,7 @@ /// </summary> /// <param name="mst"></param> /// <param name="load"></param> internal static void CacheBitUpdate(TN_Task mst, bool load) { internal static void BufferLocUpdate(TN_Task mst, bool load) { //var trayCarryCount = mst.N_CNTR_COUNT > 0 ? mst.N_CNTR_COUNT : 1; if (load) { Console.WriteLine($"任务{mst.S_CODE} 货位{mst.S_START_LOC}取货完成，起点解绑容器{mst.S_CNTR_CODE}"); @@ -37,12 +37,12 @@ /// 任务取消，缓存位状态更新 /// </summary> /// <param name="mst"></param> internal static void CacheBitCancelUpdate(TN_Task mst) { internal static void BufferLocCancelUpdate(TN_Task mst) { //任务取消，取货完成前的，起点的loadingCount和终点unLoadingCount都清除，取货完成的只处理终点 if (WCSHelper.CheckActionRecordExist(mst.S_CODE, 4)) { //根据客户现场要求，如果取货完成任务失败人工拉到终点，我们就当卸货完成处理；如果是人工拉走到其它区域，我们就解锁终点，删除托盘。 //终点绑定 CacheBitUpdate(mst, false); BufferLocUpdate(mst, false); LocationHelper.UnLockLoc(mst.S_END_LOC); } else { @@ -62,14 +62,14 @@ /// <param name="state"></param> internal static void OperateStatus(TN_Task mst, int state) { if (state == 4) { CacheBitUpdate(mst, true); BufferLocUpdate(mst, true); } if (state == 6)//卸货完成 { CacheBitUpdate(mst, false); BufferLocUpdate(mst, false); } if (state == 7) { CacheBitCancelUpdate(mst); BufferLocCancelUpdate(mst); } }
@@ -80,7 +80,7 @@ } public static void InfoHostToAGV(string taskName, object model) { Info($"AGV任务：" + JsonConvert.SerializeObject(model), "HosttoagvTask"); Info($"AGV任务：{taskName}" + JsonConvert.SerializeObject(model), "HosttoagvTask"); } #endregion
@@ -98,22 +98,6 @@ { site = Location.S_AGV_SITE; } //if (Location.N_CURRENT_NUM == 1) //{ // site = Location.S_AGV_SITE2; //} //if (Location.N_CURRENT_NUM == 2) //{ // site = Location.S_AGV_SITE3; //} //if (Location.N_CURRENT_NUM == 3) //{ // site = Location.S_AGV_SITE4; //} //if (Location.N_CURRENT_NUM == 4) //{ // site = Location.S_AGV_SITE5; //} } } } @@ -180,30 +164,8 @@ location.S_LOCK_STATE = "无"; location.N_LOCK_STATE = 0; //var containerList = new List<TN_Container>(); //foreach (var item in lcrList) { // // 针对容器类型添加的新逻辑 // var cntr = db.Queryable<TN_Container>() // .Where(c => c.S_CODE == item.S_CNTR_CODE).First(); // if (cntr == null) { // LogHelper.Info($"货位解绑时，容器{item.S_CNTR_CODE}没有在容器信息表中查到，这里根据货位容器关系添加"); // containerList.Add(new TN_Container { // S_CODE = item.S_CNTR_CODE, // S_TYPE = item.S_CNTR_TYPE, // }); // } //} using (var tran = db.Ado.UseTran()) { //if (containerList.Count > 0) { // if (db.Insertable<TN_Container>(containerList).ExecuteCommand() <= 0) { // LogHelper.Info($"插入容器信息表失败" + JsonConvert.SerializeObject(containerList)); // tran.RollbackTran(); // return "货位解绑容器失败，" + logs; // } //} if (db.Deleteable<TN_Loc_Container>().Where(it => cntrs.Contains(it.S_CNTR_CODE) && it.S_LOC_CODE == loc).ExecuteCommand() > 0) { LogHelper.Info($"删除货位容器关系表成功，{log}"); @@ -259,20 +221,16 @@ var logs = $"货位：{loc}，容器：{JsonConvert.SerializeObject(cntrs)}"; try { // 删除已经绑定过的容器记录 var lcrList = db.Queryable<TN_Loc_Container>().Where(a => cntrs.Contains(a.S_CNTR_CODE) && a.S_LOC_CODE == loc).ToList(); if (lcrList.Count > 0) { if (lcrList.Count > 0) { cntrs = cntrs.Except(lcrList.Select(a => a.S_CNTR_CODE).ToList()).ToList(); } var bindLocCntList = new List<TN_Loc_Container>(); foreach (var item in cntrs) { foreach (var item in cntrs) { // 针对容器类型添加的新逻辑 var cntr = db.Queryable<TN_Container>() .Where(c => c.S_CODE == item) .First(); var cntr = db.Queryable<TN_Container>().Where(c => c.S_CODE == item).First(); if (cntr == null) { LogHelper.Info($"货位解绑时，容器{item}没有在容器信息表中查到，不记录容器类型"); @@ -287,16 +245,12 @@ using (var tran = db.Ado.UseTran()) { if (db.Insertable<TN_Loc_Container>(bindLocCntList).ExecuteCommand() > 0) { LogHelper.Info($"插入货位容器关系表成功，{log}"); } else { if (db.Insertable<TN_Loc_Container>(bindLocCntList).ExecuteCommand() <= 0) { db.RollbackTran(); LogHelper.Info($"插入货位容器关系表失败，{log}"); return "货位绑定容器失败，" + logs; } LogHelper.Info($"插入货位容器关系表成功，{log}"); var location = db.Queryable<TN_Location>().First(a => a.S_CODE == loc); if (location != null)
