1

dengjunjie

4 天以前 29cd467ba62b2bdf49c6546e78ae3ec809c4a723

 ´úÂë¹ÜÀí/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/PartialTaskService_AGV.cs

@@ -22,17 +22,26 @@
        public WebResponseContent ShelfOutboundCarry(Dt_Task outTask)
        {
            //判断是否为电芯库，辅料库人工处理(立库目标地址转换成AGV站点地址)
            Dt_CachePoint cachePoint = GetCachePointByStartPoint(outTask.TargetAddress);

            Dt_RoadwayInfo dt_RoadwayInfo = _basicService.RoadwayInfoService.Repository.QueryFirst(x => x.OutSCStationCode == outTask.TargetAddress);
            if (dt_RoadwayInfo == null || dt_RoadwayInfo.AreaId == 11) return WebResponseContent.Instance.OK();
            Dt_CachePoint startcachePoint = new Dt_CachePoint();
            Dt_CachePoint cachePoint = GetCachePointByStartPoint(dt_RoadwayInfo.OutStationCode, "", ref startcachePoint);
            if (startcachePoint.EnableStatus == EnableStatusEnum.Disable.ObjToInt()) return WebResponseContent.Instance.OK();
            //if (dt_RoadwayInfo.AreaId == 11)//辅料不用AGV搬运
            //{
            //    startcachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
            //    _basicService.CachePointService.Repository.UpdateData(startcachePoint);
            //    return WebResponseContent.Instance.OK();
            //}
            Dt_Task task = new()
            {
                CurrentAddress = outTask.TargetAddress,
                CurrentAddress = startcachePoint.PointCode,
                Grade = 0,
                NextAddress = cachePoint.PointCode,
                OrderNo = outTask.OrderNo,
                PalletCode = outTask.PalletCode + "-AGV",
                Roadway = "",
                SourceAddress = outTask.TargetAddress,
                SourceAddress = startcachePoint.PointCode,
                TargetAddress = cachePoint.PointCode,
                SourceKey = outTask.TaskId,
                TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
@@ -42,10 +51,80 @@
                Creater = App.User.UserId > 0 ? App.User.UserName : "System",
            };
            cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();
            //startcachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();

            _basicService.CachePointService.Repository.UpdateData(cachePoint);
            //_basicService.CachePointService.Repository.UpdateData(startcachePoint);
            Repository.AddData(task);
            SendAGVTask(task, cachePoint);
            return WebResponseContent.Instance.OK();
        }

        /// <summary>
        /// è´§ä½ç»‘定
        /// </summary>
        /// <param name="qty"></param>
        /// <param name="Point"></param>
        /// <returns></returns>
        public WebResponseContent Bind(string qty, string point)
        {
            try
            {
                if (Repository.QueryFirst(x => x.SourceAddress == point &&
                x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
                x.TargetAddress == point) != null)
                    throw new Exception($"缓存点【{point}】存在AGV任务！");
                Dt_CachePoint? cachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == point);
                if (cachePoint == null) throw new Exception("未找到缓存点!");
                if (cachePoint.Depth == 1)
                {
                    Dt_CachePoint? cachePoint1 = _basicService.CachePointService.Repository.QueryFirst(x => x.AreaId == cachePoint.AreaId && x.Column == cachePoint.Column && cachePoint.Row - x.Row == 1);
                    if (cachePoint1 != null)
                    {
                        if (Repository.QueryFirst(x => x.SourceAddress == cachePoint1.PointCode &&
                x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
                x.TargetAddress == cachePoint1.PointCode) != null)
                            throw new Exception($"内置缓存点【{cachePoint1.PointCode}】存在AGV任务！");
                    }
                }
                //if (cachePoint.AreaId != 4) throw new Exception("当前缓存点区域无绑定权限!");
                cachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
                if (cachePoint.AreaId == 4) cachePoint.Remark = qty;
                cachePoint.Modifier = App.User.UserName;
                _basicService.CachePointService.Repository.UpdateData(cachePoint);
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
        /// <summary>
        /// é‡Šæ”¾ç¼“存点
        /// </summary>
        /// <param name="point"></param>
        /// <returns></returns>
        public WebResponseContent AcrossFloorCallMat(string point)
        {
            try
            {
                if (Repository.QueryFirst(x => x.SourceAddress == point &&
                x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
                x.TargetAddress == point) != null)
                    throw new Exception($"缓存点【{point}】存在AGV任务！");
                Dt_CachePoint? cachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == point);
                if (cachePoint == null) throw new Exception("未找到缓存点!");
                //if (cachePoint.AreaId != 2 && cachePoint.AreaId != 5 && cachePoint.AreaId != 8)
                //    throw new Exception("当前缓存点区域无释放权限!");
                cachePoint.PointStatus = LocationStatusEnum.Free.ObjToInt();
                cachePoint.Modifier = App.User.UserName;
                _basicService.CachePointService.Repository.UpdateData(cachePoint);
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }

        /// <summary>
@@ -53,22 +132,27 @@
        /// </summary>
        /// <param name="endPoint"></param>
        /// <returns></returns>
        public WebResponseContent CallMateriel(string endPoint)
        public WebResponseContent CallMateriel(string endPoint, string startPoint)
        {
            try
            {
                Dt_CachePoint cachePoint = GetCachePointByEndPoint(endPoint);
                if (Repository.QueryFirst(x => x.SourceAddress == endPoint &&
                x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
                x.TargetAddress == endPoint) != null)
                    throw new Exception($"站点【{endPoint}】存在任务！");

                Dt_CachePoint cachePoint = GetCachePointByEndPoint(endPoint, startPoint);

                Dt_Task task = new Dt_Task()
                {
                    CurrentAddress = "D02",// cachePoint.PointCode,
                    CurrentAddress = cachePoint.PointCode,
                    Grade = 0,
                    NextAddress = "C01",//endPoint,
                    NextAddress = endPoint,
                    OrderNo = "",
                    PalletCode = "",//cachePoint.Remark,
                    PalletCode = cachePoint.Remark,
                    Roadway = "",
                    SourceAddress = "D02",//cachePoint.PointCode,
                    TargetAddress = "C01",//endPoint,
                    SourceAddress = cachePoint.PointCode,
                    TargetAddress = endPoint,
                    SourceKey = 0,
                    TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
                    TaskStatus = AGVTaskStatusEnum.Create.ObjToInt(),
@@ -77,18 +161,8 @@
                cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();

                Db.Ado.BeginTran();
                #region MyRegion
                AGVSendTaskModel aGVSendTask = new AGVSendTaskModel
                {
                    task_id = task.TaskNum.ToString(),// BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)).ToString(),
                    src_pos = task.CurrentAddress,// "C01",
                    site_value_type = 1,
                    dst_pos = task.NextAddress,// "E14"
                    src_level=3,
                };
                #endregion
                var response = HttpHelper.Post<WebResponseContent>(AGVurl + "sendTask/", aGVSendTask, "叫料任务下发");
                if (response.Code != 200)
                var response = SendAGVTask(task, cachePoint);
                if (!response.Status)
                {
                    _unitOfWorkManage.RollbackTran();
                    return WebResponseContent.Instance.Error($"{response.Message}");
@@ -111,11 +185,16 @@
        /// </summary>
        /// <param name="startPoint"></param>
        /// <returns></returns>
        public WebResponseContent MaterielCarry(string startPoint)
        public WebResponseContent MaterielCarry(string startPoint, string endPoint)
        {
            try
            {
                Dt_CachePoint cachePoint = GetCachePointByStartPoint(startPoint);
                if (Repository.QueryFirst(x => x.SourceAddress == startPoint &&
                x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
                x.TargetAddress == startPoint) != null)
                    throw new Exception($"站点【{startPoint}】存在任务！");
                Dt_CachePoint startcachePoint = new Dt_CachePoint();
                Dt_CachePoint cachePoint = GetCachePointByStartPoint(startPoint, endPoint, ref startcachePoint);

                Dt_Task task = new()
                {
@@ -134,12 +213,21 @@
                };
                cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();

                Db.Ado.BeginTran();
                var response = SendAGVTask(task, cachePoint);
                if (!response.Status)
                {
                    _unitOfWorkManage.RollbackTran();
                    return WebResponseContent.Instance.Error($"{response.Message}");
                }
                _basicService.CachePointService.Repository.UpdateData(cachePoint);
                Repository.AddData(task);
                Db.Ado.CommitTran();
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                Db.Ado.RollbackTran();
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
@@ -149,24 +237,32 @@
        /// <param name="startPoint"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        private Dt_CachePoint GetCachePointByStartPoint(string startPoint)
        private Dt_CachePoint GetCachePointByStartPoint(string startPoint, string endPoint, ref Dt_CachePoint startcachePoint)
        {
            Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.StartArea == startPoint);
            if (areaRouter == null)
            #region MyRegion
            Dt_CachePoint? StartcachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == startPoint);
            if (StartcachePoint == null) throw new Exception($"未找到缓存点{startPoint}!");
            startcachePoint = StartcachePoint;
            endPoint = "";
            if (!string.IsNullOrEmpty(endPoint))
            {
                throw new Exception("未找到路由信息!");
                Dt_CachePoint? cachePoint1 = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == endPoint);
                if (cachePoint1 == null) throw new Exception($"未找到缓存点{endPoint}!");
                if (Repository.QueryFirst(x => x.SourceAddress == endPoint &&
                x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
                x.TargetAddress == endPoint) != null)
                    throw new Exception($"缓存点【{endPoint}】存在任务！");
                return cachePoint1;
            }
            Dt_AreaInfo areaInfo = _basicService.AreaInfoService.Repository.QueryFirst(x => x.AreaCode == areaRouter.NextArea);
            if (areaInfo == null)
            {
                throw new Exception("未找到下一区域信息!");
            }
            Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.StartArea == StartcachePoint.AreaId.ToString());
            if (areaRouter == null) throw new Exception("未找到路由信息!");

            Dt_CachePoint? cachePoint = _basicService.CachePointService.AssignCachePoint(areaInfo.Id);
            Dt_CachePoint? cachePoint = _basicService.CachePointService.AssignCachePoint(areaRouter.NextArea.ObjToInt());
            if (cachePoint == null)
            {
                throw new Exception("未找到空闲缓存点!");
            }
            #endregion

            return cachePoint;
        }
@@ -176,26 +272,61 @@
        /// <param name="endPoint"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        private Dt_CachePoint GetCachePointByEndPoint(string endPoint)
        private Dt_CachePoint GetCachePointByEndPoint(string endPoint, string startPoint)
        {
            Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.NextArea == endPoint);
            if (areaRouter == null)
            #region MyRegion
            Dt_CachePoint? StartcachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == endPoint);
            if (StartcachePoint == null) throw new Exception($"未找到缓存点{endPoint}!");

            if (!string.IsNullOrEmpty(endPoint))
            {
                throw new Exception("未找到路由信息!");
            }
            Dt_AreaInfo areaInfo = _basicService.AreaInfoService.Repository.QueryFirst(x => x.AreaCode == areaRouter.StartArea);
            if (areaInfo == null)
            {
                throw new Exception("未找到起点缓存区域信息!");
                Dt_CachePoint? cachePoint1 = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == startPoint);
                if (cachePoint1 == null) throw new Exception($"未找到缓存点{startPoint}!");
                if (Repository.QueryFirst(x => x.SourceAddress == startPoint &&
                x.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt() ||
                x.TargetAddress == startPoint) != null)
                    throw new Exception($"缓存点【{startPoint}】存在任务！");
                return cachePoint1;
            }

            Dt_CachePoint? cachePoint = _basicService.CachePointService.GetIbStockCachePoint(areaInfo.Id);
            Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.NextArea == StartcachePoint.AreaId.ToString());
            if (areaRouter == null) throw new Exception("未找到路由信息!");

            Dt_CachePoint? cachePoint = _basicService.CachePointService.GetIbStockCachePoint(areaRouter.StartArea.ObjToInt());
            if (cachePoint == null)
            {
                throw new Exception("未找到有货缓存点!");
            }
            #endregion
            return cachePoint;
        }

        /// <summary>
        /// ä¸‹å‘AGV任务
        /// </summary>
        /// <param name="task"></param>
        public WebResponseContent SendAGVTask(Dt_Task task, Dt_CachePoint? cachePoint = null)
        {
            try
            {
                AGVSendTaskModel aGVSendTask = new AGVSendTaskModel
                {
                    task_id = task.TaskNum.ToString(),
                    src_pos = task.CurrentAddress,
                    site_value_type = 1,
                    dst_pos = task.NextAddress
                };
                if (cachePoint != null && cachePoint.AreaId == 4) aGVSendTask.src_level = cachePoint.Remark.ObjToInt() - 1;
                var response = HttpHelper.Post<WebResponseContent>(AGVurl + "sendTask/", aGVSendTask, "叫料任务下发");
                if (response.Code != 200) throw new Exception(response.Message);
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error("AGV任务下发失败:" + ex.Message);
            }
        }

        /// <summary>
        /// ä»»åŠ¡çŠ¶æ€ä¸ŠæŠ¥
        /// </summary>
@@ -208,6 +339,8 @@
            {
                return new { code = 404, message = "未找到该任务!" };
            }
            if (task.TaskStatus == ((AGVTaskStatusEnum)Enum.Parse(typeof(AGVTaskStatusEnum), model.Task_status)).ObjToInt())
                return new { code = 200, message = "成功" };
            switch ((AGVTaskStatusEnum)Enum.Parse(typeof(AGVTaskStatusEnum), model.Task_status))
            {
                case AGVTaskStatusEnum.Create:
@@ -225,12 +358,16 @@
                        if (startCachePoint != null)
                        {
                            startCachePoint.PointStatus = LocationStatusEnum.Free.ObjToInt();
                            if (startCachePoint.AreaId == 3)//判断是否为模组空栈板区域
                            if (startCachePoint.AreaId == 4)//判断是否为模组空栈板区域
                            {
                                var qty = (startCachePoint.Remark.ObjToInt() - 1);
                                if (qty > 0) startCachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
                                startCachePoint.Remark = qty.ToString();
                            }
                            //else if (startCachePoint.AreaId == 1)
                            //{
                            //    startCachePoint.PointStatus = LocationStatusEnum.PalletLock.ObjToInt();
                            //}
                            _basicService.CachePointService.Repository.UpdateData(startCachePoint);
                        }
                    }
@@ -253,17 +390,25 @@
                        return new { code = 200, message = "成功" };
                    }
                case AGVTaskStatusEnum.Cancel:
                case AGVTaskStatusEnum.Terminate:
                case AGVTaskStatusEnum.Error:
                    {
                        if (task.TaskStatus < AGVTaskStatusEnum.DoneFetch.ObjToInt())
                        {
                            Dt_CachePoint startCachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == task.SourceAddress);
                            startCachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
                            _basicService.CachePointService.Repository.UpdateData(startCachePoint);
                        }
                        task.TaskStatus = AGVTaskStatusEnum.Cancel.ObjToInt();
                        BaseDal.DeleteAndMoveIntoHty(task, OperateType.自动删除);
                        return new { code = 200, message = "成功" };
                    }
                case AGVTaskStatusEnum.Terminate:
                    task.TaskStatus = AGVTaskStatusEnum.Terminate.ObjToInt();
                    break;
                case AGVTaskStatusEnum.Error:
                    task.TaskStatus = AGVTaskStatusEnum.Error.ObjToInt();
                    break;
                //case AGVTaskStatusEnum.Terminate:
                //    task.TaskStatus = AGVTaskStatusEnum.Terminate.ObjToInt();
                //    break;
                //case AGVTaskStatusEnum.Error:
                //    task.TaskStatus = AGVTaskStatusEnum.Error.ObjToInt();
                //    break;
                default:
                    return new { code = 404, message = "未定义任务类型!" };
            }