using HslCommunication;
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using Microsoft.AspNetCore.Mvc;
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using Newtonsoft.Json;
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using Quartz;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Reflection;
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using System.Text;
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using System.Threading.Tasks;
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using System.Xml.Linq;
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using WIDESEA_Comm;
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using WIDESEA_Comm.LogInfo;
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using WIDESEA_Comm.TaskNo;
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using WIDESEA_Core.BaseProvider;
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using WIDESEA_Core.EFDbContext;
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using WIDESEA_Core.Extensions;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_WCS.IRepositories;
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using WIDESEA_WCS.Jobs;
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using WIDESEA_WCS.Repositories;
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using WIDESEA_WCS.WCSClient;
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using WIDESEA_WMS.IRepositories;
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using WIDESEA_WMS.Repositories;
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using static System.Collections.Specialized.BitVector32;
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namespace WIDESEA_WCS
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{
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/// <summary>
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/// 链条机
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/// </summary>
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[DisallowConcurrentExecution]
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public class PipelineJob : JobBase, IJob
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{
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public Task Execute(IJobExecutionContext context)
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{
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try
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{
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ExecuteJob(context, DoAction);
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}
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catch { }
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return Task.CompletedTask;
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}
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private void DoAction(IJobExecutionContext context)
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{
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var client = context.JobDetail.JobDataMap.Get("JobParams") as PLCClient;
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//自动重连
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if (!client.IsConnected)
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{
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client.Connect();
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return;
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}
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client.WriteByOrder("W_Palpitate", client.ReadByOrder<bool>("R_Palpitate", "心跳"));
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Loadinglevel(client);
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AutoEmptyTray(client);
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StationState(client);
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}
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/// <summary>
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/// 上料区
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/// </summary>
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/// <param name="client"></param>
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private void Loadinglevel(PLCClient client, string number = "上料区")
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{
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try
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{
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VOLContext Context = new VOLContext();
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Idt_plcinfoheadRepository repository = new dt_plcinfoheadRepository(Context);
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Idt_plcinfodetailRepository plcRepository = new dt_plcinfodetailRepository(Context);
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Idt_geometry_dataRepository dataRepository = new dt_geometry_dataRepository(Context);
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Idt_stationinfoRepository stationinfoRepository = new dt_stationinfoRepository(Context);
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var plc = repository.FindFirst(x => x.plcinfo_name == client.PLCName);
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var Gantry_client = PLCClient.Clients.FirstOrDefault(t => t.PLCName == "桁架");
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if (Gantry_client == null) throw new Exception("桁架调度服务未开启！");
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if (!Gantry_client.IsConnected) throw new Exception("与桁架连接超时！");
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var Gantryplc = repository.FindFirst(x => x.plcinfo_name == Gantry_client.PLCName);
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///查找上料区的货位
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var Stations = stationinfoRepository.Find(x => x.area == area_code(number)).OrderBy(x => x.lastUpdateTime);//根据时间先后排序
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//缓存架未启用禁止桁架进入
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//foreach (var station in Stations)
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//{
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// if (!station.enable || station.location_state != LocationStateEnum.Stroge.ToString())
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// Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
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//}
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var Station = Stations?.Where(x => x.enable && x.location_state == LocationStateEnum.Stroge.ToString() && x.quantity > 0).OrderBy(x => x.quantity).FirstOrDefault();
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if (Station != null)
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{
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var SNS = Station.bindSN.Split(",");
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List<string> list = new List<string>();
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foreach (var SN in SNS)
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{
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if (!string.IsNullOrEmpty(SN))
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list.Add(SN);
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}
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//缓存架上车轮数量与SN号数量不一致
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if (list.Count != Station.quantity)
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{
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Station.location_state = LocationStateEnum.Abnormal.ToString();
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Station.remark = "车轮数量与SN号数量不一致";
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stationinfoRepository.Update(Station, true);
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Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
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#region 日志记录
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WriteDBLog.Error("上料区", $"写入桁架信息：\nW_RequestUnload：false\n\n{Station.stationCode}车轮数量与SN号数量不一致", "PCS");
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#endregion
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return;
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//throw new Exception("上料位车轮数量与SN号数量不一致，上料位编号：" + Station.stationCode);
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}
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var details = plcRepository.Find(x => x.plcdetail_iotype == plc.plcinfo_iotyep && x.plcdetail_number == Station.stationCode).ToList();
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var PalletSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_PalletSignal").First(), client);//读取托盘信号:1:有,2无
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var MaterialSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_MaterialSignal").First(), client);//读取货物信号:1:有,2无
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var AreaNr = Gantry_client.ReadByOrder<Int16>("W_AreaNr", number);//读取货位号信息
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if (PalletSignal == 1 && MaterialSignal == 1)
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{
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if (AreaNr == 0)
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{
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var area = Convert.ToInt16(Station.stationCode.Substring(Station.stationCode.Length - 1, 1));
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Gantry_client.WriteByOrder("W_AreaNr", (Int16)area, number);//区域货位号
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Gantry_client.WriteByOrder("W_IndexNr", (Int16)SNS.Length, number);//托盘上的第几个车轮
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Gantry_client.WriteByOrder("W_Storage_Type", (Int16)1, number); //托盘类型1-横放;2-竖放
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Gantry_client.WriteByOrder("W_Wheel_Type", (Int16)Convert.ToInt16(QueryMateriel(Station.stationType) == null ? QueryMateriel1(Station.stationType).TypeId : QueryMateriel(Station.stationType).TypeId), number);//车轮类型
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Gantry_client.WriteByOrder("W_Wheel_id", SNS[SNS.Length - 1], number);//车轮SN号
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Gantry_client.WriteByOrder("W_RequestUnload", true, number);
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#region 日志记录
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WriteDBLog.Success("上料区申请", $"读取托盘光电信号：{PalletSignal}\n读取第一个车轮光电信号：{MaterialSignal}\n\n" +
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$"写入桁架信息：\n区域货位号：{area}\n托盘上的第几个车轮：{SNS.Length}\n托盘类型：{1}\n车轮类型：{(QueryMateriel(Station.stationType).TypeId == null ? QueryMateriel1(Station.stationType).TypeId : QueryMateriel(Station.stationType).TypeId)}" +
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$"\n车轮SN号：{SNS[SNS.Length - 1]}\nW_RequestUnload：true", "PCS");
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#endregion
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}
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}
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else
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{
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Gantry_client.WriteByOrder("W_RequestUnload", false, number);
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}
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var Gantrydetails = plcRepository.Find(x => x.plcdetail_iotype == Gantryplc.plcinfo_iotyep && x.plcdetail_number == number).ToList();
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var Gantry_Out_of_Area = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_Gantry_Out_of_Area").First(), Gantry_client);//桁架是否在区域内
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var QueryDate = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_QueryDate").First(), Gantry_client);//信息查询
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if (QueryDate)
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{
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var Date_Vaild = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_Date_Vaild").First(), Gantry_client);//信息确认
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if (!Date_Vaild)//信息有误，记录日志
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{
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Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
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Station.location_state = LocationStateEnum.Abnormal.ToString();
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Station.remark = $"未查询到SN号：{SNS[SNS.Length - 1]}的订单";
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stationinfoRepository.Update(Station, true);
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//throw new Exception($"未查询到SN号：{SNS[SNS.Length - 1]}的订单，上料位编号：{Station.stationCode}");
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WriteDBLog.Error("上料区信息查询", $"写入桁架信息：\nW_RequestUnload：false\n\n{Station.stationCode}未查询到SN号：{SNS[SNS.Length - 1]}的订单", "PCS");
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return;
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}
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}
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var finished = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "R_Unlod_finished").First(), Gantry_client);//夹取完成
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var updatefinished = (bool)DBExtension.Read(Gantrydetails.Where(x => x.plcdetail_name == "W_Storage_update").First(), Gantry_client);//货位状态更新
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if (!finished && updatefinished)
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Gantry_client.WriteByOrder("W_Storage_update", false, number);//货位状态更新
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if (finished && !updatefinished)
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{
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Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
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Updatemes(SNS[SNS.Length - 1]);
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Station.quantity = Station.quantity - 1;
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Station.bindSN = OperStr(SNS);
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if (Station.quantity <= 0)
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{
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Station.stationType = string.Empty;
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//Station.location_state = LocationStateEnum.Empty.ToString();
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Station.Number = string.Empty;
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Station.heatNumber = string.Empty;
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Station.tray_status = "EmptyTray";
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}
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var count = stationinfoRepository.Update(Station, true);
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if (count < 1)
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{
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WriteDBLog.Error("取料完成", $"上料位信息更新失败！上料位编号：{Station.stationCode}", "PCS");
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//throw new Exception($"上料位信息更新失败！上料位编号：{Station.stationCode}");
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return;
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}
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#region 清空信息
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Gantry_client.WriteByOrder("W_AreaNr", (Int16)0, number);//区域货位号
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Gantry_client.WriteByOrder("W_IndexNr", (Int16)0, number);//托盘上的第几个车轮
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Gantry_client.WriteByOrder("W_Storage_Type", (Int16)0, number); //托盘类型1-横放;2-竖放
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Gantry_client.WriteByOrder("W_Wheel_Type", (Int16)0, number);//车轮类型
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//Gantry_client.WriteByOrder("W_Wheel_id", SNS[SNS.Length - 1], number);//车轮SN号
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#endregion
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Gantry_client.WriteByOrder("W_Storage_update", true, number);//货位状态更新
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#region 日志记录
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WriteDBLog.Success("取料完成", $"写入桁架信息：\n货位状态更新：{true}\nW_RequestUnload：{false}", "PCS");
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#endregion
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PalletSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_PalletSignal").First(), client);//读取托盘信号:1:有,2无
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MaterialSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_MaterialSignal").First(), client);//读取货物信号:1:有,2无
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if (Station.quantity > 0 && (PalletSignal != 1 || MaterialSignal != 1))
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{
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Station.location_state = LocationStateEnum.Abnormal.ToString();
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Station.remark = "车轮数量大于0，光电检测无托盘或无车轮";
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stationinfoRepository.Update(Station, true);
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client.WriteByOrder("W_AlarmSignal", (Int16)2, number);//报警
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WriteDBLog.Error(number + "报警", $"货位编号：{Station.stationCode}；错误信息：{Station.remark}", "PCS");
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}
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else if (Station.quantity < 1 && MaterialSignal == 1)
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{
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Station.location_state = LocationStateEnum.Abnormal.ToString();
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Station.remark = "车轮数量小于0，光电检测有车轮";
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stationinfoRepository.Update(Station, true);
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client.WriteByOrder("W_AlarmSignal", (Int16)2, number);//报警
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WriteDBLog.Error(number + "报警", $"货位编号：{Station.stationCode}；错误信息：{Station.remark}", "PCS");
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}
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}
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}
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else
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Gantry_client.WriteByOrder("W_RequestUnload", false, number);//信号为false桁架停止进入
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}
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catch (Exception ex)
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{
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WriteDBLog.Error("上料区", $"错误信息：{ex.Message}", "PCS");
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//WritePCSLog.LogAdd(requestin.AreaNr.ToString(), respone.success == 1 ? "成功 " : "失败", "WMS", "AGV", json, JsonConvert.SerializeObject(respone), remark, "检测线上料区", ex.Message);
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}
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}
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/// <summary>
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/// 自动取空托
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/// </summary>
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/// <param name="client"></param>
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private void AutoEmptyTray(PLCClient client)
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{
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try
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{
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VOLContext Context = new VOLContext();
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Idt_plcinfoheadRepository repository = new dt_plcinfoheadRepository(Context);
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Idt_plcinfodetailRepository plcRepository = new dt_plcinfodetailRepository(Context);
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Idt_agvtaskRepository agvtaskService = new dt_agvtaskRepository(Context);
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Idt_stationinfoRepository stationinfoRepository = new dt_stationinfoRepository(Context);
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var plc = repository.FindFirst(x => x.plcinfo_name == client.PLCName);
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List<string> stationCodes = new List<string>() { "S01001001", "S01001002", "W01001001", "W01001002", "W01001003" };
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foreach (var stationCode in stationCodes)
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{
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if (agvtaskService.Find(x => x.agv_fromaddress == stationCode || x.agv_toaddress == stationCode).Any())
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continue;
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var details = plcRepository.Find(x => x.plcdetail_iotype == plc.plcinfo_iotyep && x.plcdetail_number == stationCode).ToList();
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var PalletSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_PalletSignal").First(), client);//读取托盘信号:1:有,2无
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var MaterialSignal = (Int16)DBExtension.Read(details.Where(x => x.plcdetail_name == "R_MaterialSignal").First(), client);//读取货物信号:1:有,2无
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var station = stationinfoRepository.Find(x => x.stationCode == stationCode).FirstOrDefault();
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if (PalletSignal == 1 && MaterialSignal == 2 && (station.stationCode.Contains("S0100100") ? station.tray_status == "EmptyTray" : true))
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{
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var area = station.tray_type == "SmallTray" ? "11" : "10";
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var task = agvtaskService.Find(x => (x.agv_toaddress.Contains("W") || x.agv_toaddress.Contains("X")) && x.agv_taskstate == "Queue" /*&& x.agv_tasktype == "TaskType_EmptyPallet" */ && x.agv_Traytype == station.tray_type).OrderByDescending(x => x.agv_grade).ThenBy(x => x.agv_createtime).FirstOrDefault();
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if (task != null)
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{
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task.agv_fromaddress = station.stationCode;
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task.StarQuantity = 0;
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task.agv_taskstate = "Create";
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if (station.stationCode.Contains("S0100100"))
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task.agv_grade = 3;
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agvtaskService.Update(task, true);
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station.location_state = LocationStateEnum.Busy.ToString();
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stationinfoRepository.Update(station, true);
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continue;
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}
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#region 查找库区一空托盘空货位
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var EmptyStation = stationinfoRepository.Find(x => x.area == area && x.quantity < 5 && x.stationCode.Contains("A") && x.location_state != LocationStateEnum.Busy.ToString() && x.enable)
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.OrderBy(x => x.column).ThenByDescending(x => x.line).FirstOrDefault();//查找没有任务的空托盘货位
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if (EmptyStation != null)
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{
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if (stationinfoRepository.Find(x => x.area == EmptyStation.area && x.stationCode.Contains("A") && x.column == EmptyStation.column && x.location_state.Contains("Busy")).Any())
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{
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EmptyStation = stationinfoRepository.Find(x => x.area == area && x.quantity < 5 && x.stationCode.Contains("A") && x.column != EmptyStation.column && x.location_state != LocationStateEnum.Busy.ToString() && x.enable).OrderBy(x => x.column).ThenByDescending(x => x.line).FirstOrDefault();//排除当列存在任务的货位
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}
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if (EmptyStation != null && EmptyStation.line == 2)//如果任务存在第二行,排查第一行是否有货
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{
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if (stationinfoRepository.Find(x => x.area == EmptyStation.area && x.stationCode.Contains("A") && x.column == EmptyStation.column && x.line == 1 && x.location_state != LocationStateEnum.Empty.ToString()).Any()) EmptyStation = null;
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}
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}
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#endregion
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if (EmptyStation == null)
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{
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EmptyStation = stationinfoRepository.Find(x => x.area == area && x.quantity < 5 && x.stationCode.Contains(area == "10" ? "D" : "C") && x.location_state == LocationStateEnum.Busy.ToString() && x.enable).OrderByDescending(x => x.column).FirstOrDefault();//最后一个货位有任务则不能生成入库任务
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if (EmptyStation != null) continue;
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EmptyStation = stationinfoRepository.Find(x => x.area == area && x.quantity < 5 && x.stationCode.Contains(area == "10" ? "D" : "C") && x.location_state == LocationStateEnum.Stroge.ToString() && x.enable).OrderByDescending(x => x.column).FirstOrDefault();//找最外面没堆满5个的货位
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if (EmptyStation == null)
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EmptyStation = stationinfoRepository.Find(x => x.area == area && x.quantity < 5 && x.stationCode.Contains(area == "10" ? "D" : "C") && x.location_state == LocationStateEnum.Empty.ToString() && x.enable).OrderBy(x => x.column).FirstOrDefault();
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}
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if (EmptyStation != null)
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{
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#region 同一个空托位只能同时生成一个空托任务
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if (agvtaskService.Find(x => x.agv_fromaddress == EmptyStation.stationCode || x.agv_toaddress == EmptyStation.stationCode).Any())
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return;
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#endregion
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dt_agvtask agvtask = new dt_agvtask()
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{
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agv_fromaddress = station.stationCode,
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agv_id = Guid.NewGuid(),
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agv_tasknum = IdenxManager.GetTaskNo("KH-", "WMS"),
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agv_grade = station.stationCode.Contains("S0100100") ? 3 : 1,
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agv_createtime = DateTime.Now,
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agv_taskstate = "Create",
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//agv_materielid = station.stationType,
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agv_qty = 1,
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StarQuantity = 0,
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EndQuantity = EmptyStation.quantity,
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agv_tasktype = "TaskType_EmptyPallet",
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agv_toaddress = EmptyStation.stationCode,
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agv_userid = "系统",
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agv_TrayStatus = "EmptyTray",//station.tray_status,
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agv_Traytype = station.tray_type,
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};
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agvtaskService.Add(agvtask, true);
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station.location_state = LocationStateEnum.Busy.ToString();
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stationinfoRepository.Update(station, true);
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EmptyStation.location_state = LocationStateEnum.Busy.ToString();
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stationinfoRepository.Update(EmptyStation, true);
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WriteDBLog.Success("创建自动取空托任务", $"任务编号：{agvtask.agv_tasknum}", "PCS");
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return;
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}
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}
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}
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}
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catch (Exception ex)
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{
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WriteDBLog.Error("创建自动取空托任务", $"错误信息：{ex.Message}", "PCS");
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}
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}
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/// <summary>
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/// 检测光电状态与系统货位状态是否一致
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/// </summary>
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/// <param name="client"></param>
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private void StationState(PLCClient client)
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{
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try
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{
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List<string> names = new List<string>() { "1单元下料区", "2单元下料区", "3单元下料区" };/*, "上料区"*/
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foreach (var name in names)
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{
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VOLContext Context = new VOLContext();
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Idt_stationinfoRepository stationinfoRepository = new dt_stationinfoRepository(Context);
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var Stations = stationinfoRepository.Find(x => x.area == area_code(name) && x.enable && !x.location_state.Contains("Busy") && x.location_state != LocationStateEnum.Abnormal.ToString());
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foreach (var Station in Stations)
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{
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var PalletSignal = client.ReadByOrder<Int16>("R_PalletSignal", Station.stationCode);//读取托盘信号:1:有,2无
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var MaterialSignal = client.ReadByOrder<Int16>("R_MaterialSignal", Station.stationCode);//读取货物信号:1:有,2无
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if (Station.quantity > 0 && (PalletSignal != 1 || MaterialSignal != 1))//系统货位有车轮，光电检测无车轮
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{
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Station.location_state = LocationStateEnum.Abnormal.ToString();
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Station.remark = "车轮数量大于0，光电检测无托盘或无车轮";
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stationinfoRepository.Update(Station, true);
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client.WriteByOrder("W_AlarmSignal", (Int16)2, name);//报警
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WriteDBLog.Error(name + "报警", $"货位编号：{Station.stationCode}；错误信息：{Station.remark}", "PCS");
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continue;
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}
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if (Station.location_state == LocationStateEnum.Stroge.ToString() && PalletSignal != 1)
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{
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Station.location_state = LocationStateEnum.Abnormal.ToString();
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Station.remark = "货位有货，光电检测无托盘";
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stationinfoRepository.Update(Station, true);
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client.WriteByOrder("W_AlarmSignal", (Int16)2, name);//报警
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WriteDBLog.Error(name + "报警", $"货位编号：{Station.stationCode}；错误信息：{Station.remark}", "PCS");
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continue;
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}
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if (Station.location_state == LocationStateEnum.Empty.ToString() && (PalletSignal == 1 || MaterialSignal == 1))//系统货位为空，光电检测有料
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{
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Station.location_state = LocationStateEnum.Abnormal.ToString();
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Station.remark = "货位无货，光电检测有料";
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stationinfoRepository.Update(Station, true);
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client.WriteByOrder("W_AlarmSignal", (Int16)2, name);//报警
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WriteDBLog.Error(name + "报警", $"货位编号：{Station.stationCode}；错误信息：{Station.remark}", "PCS");
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continue;
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}
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//if (Station.quantity < 1 && MaterialSignal == 1)//系统货位无车轮，光电检测有车轮
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//{
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// Station.location_state = LocationStateEnum.Abnormal.ToString();
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// Station.remark = "货位无车轮，光电检测有车轮";
|
// stationinfoRepository.Update(Station, true);
|
// client.WriteByOrder("W_AlarmSignal", (Int16)2, name);//报警
|
// continue;
|
//}
|
}
|
}
|
}
|
catch (Exception ex)
|
{
|
|
//throw;
|
}
|
}
|
public static string area_code(string area_name)
|
{
|
VOLContext Context = new VOLContext();
|
Idt_areainfoRepository areainfoRepository = new dt_areainfoRepository(Context);
|
var areainfo = areainfoRepository.Find(x => x.area_name == area_name).FirstOrDefault();
|
return areainfo.area_code.ToString();
|
}
|
|
private string OperStr(string[] strArrty)
|
{
|
string[] newstr = strArrty.RemoveLast(1);
|
string Newsn = string.Join(",", newstr);
|
|
return Newsn;
|
}
|
public static dt_geometry_data QueryMateriel(string type)
|
{
|
VOLContext Context = new VOLContext();
|
Idt_geometry_dataRepository dataRepository = new dt_geometry_dataRepository(Context);
|
var materielinfo = dataRepository.Find(x => x.Description == type).OrderBy(x => x.TypeId).FirstOrDefault();
|
return materielinfo;
|
}
|
public static dt_geometry_data_detectionline QueryMateriel1(string type)
|
{
|
VOLContext Context = new VOLContext();
|
Idt_geometry_data_detectionlineRepository detectionlineRepository = new dt_geometry_data_detectionlineRepository(Context);
|
var materielinfo1 = detectionlineRepository.Find(x => x.Description == type).OrderBy(x => x.TypeId).FirstOrDefault();
|
return materielinfo1;
|
}
|
public static string QueryMateriel(int typeId)
|
{
|
VOLContext Context = new VOLContext();
|
Idt_geometry_dataRepository dataRepository = new dt_geometry_dataRepository(Context);
|
var materielinfo = dataRepository.FindFirst(x => x.TypeId == typeId);
|
return materielinfo.Description;
|
}
|
/// <summary>
|
/// 更改工单状态
|
/// </summary>
|
/// <param name="SN"></param>
|
public static void Updatemes(string SN)
|
{
|
VOLContext Context = new VOLContext();
|
Idt_mes_detailRepository mes_DetailRepository = new dt_mes_detailRepository(Context);
|
Idt_mes_headRepository mes_HeadRepository = new dt_mes_headRepository(Context);
|
IVV_Mes_WorkinfoRepository workinfoRepository = new VV_Mes_WorkinfoRepository(Context);
|
//var mes_Detail = freeDB.Select<dt_mes_detail>().Where(x => x.SN == SN).First();
|
var Mes_Work = workinfoRepository.Find(x => x.SN == SN && x.processCode == "28").FirstOrDefault();
|
var mes_Detail = mes_DetailRepository.Find(x => x.SN == SN && x.jobID == Mes_Work.jobID).FirstOrDefault();
|
if (mes_Detail != null)
|
{
|
mes_Detail.Status = "上线";
|
mes_Detail.FinishTime = DateTime.Now;
|
//freeDB.DataBase.Update<dt_mes_detail>().SetSource(mes_Detail).UpdateColumns(x => new { x.Status, x.FinishTime }).ExecuteAffrows();
|
mes_DetailRepository.Update(mes_Detail, true);
|
//var mes_Head = freeDB.Select<dt_mes_head>().Where(x => x.jobID == mes_Detail.jobID).First();
|
var mes_Head = mes_HeadRepository.Find(x => x.jobID == mes_Detail.jobID).FirstOrDefault();
|
if (mes_Head != null)
|
{
|
mes_Head.finishNum = mes_Head.finishNum + 1;
|
//freeDB.DataBase.Update<dt_mes_head>().SetSource(mes_Head).UpdateColumns(x => new { x.finishNum }).ExecuteAffrows();
|
mes_HeadRepository.Update(mes_Head, true);
|
}
|
}
|
}
|
}
|
}
|
