新增AGV与堆垛机移库判断及缓存优化

huangxiaoqiang

2025-10-15 b7da1f32d5d9997378b5ac535593a3f6144af46b

 ÏîÄ¿´úÂë/WMS/WIDESEA_WMSServer/WIDESEA_StorageTaskServices/Task/Dt_TaskService.cs

@@ -2,16 +2,20 @@
using log4net.Core;
using Mapster;
using Masuit.Tools;
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using OfficeOpenXml.Table.PivotTable;
using SixLabors.Fonts.Tables.AdvancedTypographic;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Reflection.Metadata;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using WIDESEA_Cache;
using WIDESEA_Common;
using WIDESEA_Core.BaseRepository;
using WIDESEA_Core.Const;
using WIDESEA_Core.Enums;
using WIDESEA_DTO.Location;
using WIDESEA_DTO.WMS;
using WIDESEA_IServices;
@@ -19,6 +23,7 @@
using WIDESEA_Model.Models.Basic;
using WIDESEAWCS_BasicInfoRepository;
using WIDESEAWCS_QuartzJob.Models;
using static System.Collections.Specialized.BitVector32;

namespace WIDESEA_StorageTaskServices;

@@ -169,6 +174,12 @@
        WebResponseContent content = new WebResponseContent();
        try
        {
            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.SourceAddress);
            var Targetlocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == task.TargetAddress);

            UpdateLocationStatus(Sourcelocation, LocationEnum.Free);
            UpdateLocationStatus(Targetlocation, LocationEnum.InStock);

            task.TaskState = (int)TaskAGVCarryStatusEnum.CarryFinish;
            var taskHty = task.Adapt<Dt_Task_Hty>();
            taskHty.FinishTime = DateTime.Now;
@@ -240,7 +251,8 @@


        // éªŒè¯åº“存是否存在
        var stock = await _stockInfoRepository.QueryFirstNavAsync(x => x.PalletCode == task.PalletCode);
        //var stock = await _stockInfoRepository.QueryFirstNavAsync(x => x.PalletCode == task.PalletCode);
        DtStockInfo stock = null;

        if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
        {
@@ -282,11 +294,18 @@

            var location = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            var TargetAddress = await GetEmptyLocation("SC1");

            if (location == null || TargetAddress == null)
            {
                return content.Error("起点未定义或终点区域未找到空闲库位");
            }

            Dt_Task taskNew = new Dt_Task
            {
                Grade = 1,
                Roadway = "SC1",
                TargetAddress = "SC1",
                TargetAddress = TargetAddress.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = station.stationChildCode,
@@ -304,7 +323,7 @@
            };
            var taskDTO = CreateListTaskDTO(taskNew);

            var isResult = await AddInBoundTaskAsync(taskNew, location);
            var isResult = await AddTaskAsync(taskNew, location,TargetAddress);
            if (!isResult)
            {
                _unitOfWorkManage.RollbackTran();
@@ -435,7 +454,11 @@

            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(2);
            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(2, Sourcelocation);
            if (Targetlocation == null || Sourcelocation == null)
            {
                return content.Error("起点未定义或终点区域未找到空闲库位");
            }
            Dt_Task taskNew = new Dt_Task
            {
                Grade = 1,
@@ -543,14 +566,13 @@
    #region è¯·æ±‚跨楼层任务
    public async Task<WebResponseContent> RequestAcrossFloorTaskAsync(RequestTaskDto taskDto)
    {
        LogFactory.GetLog("任务完成").InfoFormat(true, "移库任务完成", $"111111");
        WebResponseContent content = new WebResponseContent();
        try
        {

            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(taskDto.AreaId);
            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(taskDto.AreaId, Sourcelocation);

            if (Targetlocation == null || Sourcelocation == null)
            {
@@ -676,7 +698,7 @@
        {
            var Sourcelocation = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(taskDto.AreaId);
            DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(taskDto.AreaId,Sourcelocation);

            if (Targetlocation == null || Sourcelocation == null)
            {
@@ -695,7 +717,7 @@
                TargetAddress = Targetlocation.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = taskDto.TargetAddress,
                NextAddress = Targetlocation.LocationCode,
                OrderNo = null,
                PalletCode = taskDto.PalletCode,
                SourceAddress = taskDto.Position,
@@ -710,6 +732,9 @@
            };
            var taskDTO = CreateListTaskDTO(taskNew);

            UpdateLocationStatus(Sourcelocation, LocationEnum.InStockDisable);
            UpdateLocationStatus(Targetlocation, LocationEnum.Lock);

            var isResult = await AddTaskAsync(taskNew, Sourcelocation, Targetlocation);
            if (!isResult)
            {
@@ -717,7 +742,8 @@
                return content.Error("新增任务失败");
            }

            return content = await SendWCSTask(taskDTO);
            //return content = await SendWCSTask(taskDTO);
            return content.OK();
        }
        catch (Exception ex)
        {
@@ -751,7 +777,7 @@
                TargetAddress = Targetlocation.LocationCode,
                Dispatchertime = DateTime.Now,
                MaterialNo = "",
                NextAddress = taskDto.TargetAddress,
                NextAddress = Targetlocation.LocationCode,
                OrderNo = null,
                PalletCode = taskDto.PalletCode,
                SourceAddress = taskDto.Position,
@@ -782,6 +808,188 @@
    }
    #endregion

    #region  åˆ¤æ–­æ˜¯å¦éœ€è¦ç§»åº“

    /// <summary>
    /// åˆ¤æ–­å †åž›æœºå‡ºåº“是否需要移库
    /// </summary>
    /// <param name="taskDto"></param>
    /// <returns></returns>
    public async Task<WebResponseContent> StackerIsNeedRelocationAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var task = BaseDal.QueryFirst(x => x.PalletCode == taskDto.PalletCode && x.TaskNum == taskDto.TaskNum);
            if (task == null)
            {
                return content.Error("未找到任务");
            }

            var location = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            if (location == null || location.Depth != 2)
            {
                return content.Error("未找到货位或者该库位不是二深货位");
            }

            var locationLateral = _locationRepository.QueryFirst(x => x.RoadwayNo == location.RoadwayNo && x.Row == 1 && x.Layer == location.Layer && x.Column == location.Column);
            if (locationLateral != null && (locationLateral.LocationStatus == 0 || locationLateral.EnalbeStatus == 1))
            {
                return content.OK(data: _mapper.Map<WMSTaskDTO>(task));
            }
            else if (locationLateral != null && (locationLateral.LocationStatus == 1 || locationLateral.EnalbeStatus == 1))
            {
                return content.Error($"一深位异常锁定暂不可出库");
            }
            else if (locationLateral != null && (locationLateral.LocationStatus == 2 || locationLateral.EnalbeStatus == 1))
            {
                var TargetAddress = await GetEmptyLocation("SC1");

                if (TargetAddress == null)
                {
                    return content.Error($"未找到可分配货位,请查看是否还有空闲可使用货位");
                }

                //todo查询内侧库存信息
                var stock = await _stockInfoRepository.QueryFirstAsync(x => x.LocationCode == locationLateral.LocationCode && x.LocationId == locationLateral.Id);

                Dt_Task taskNew = new Dt_Task
                {
                    Grade = 1,
                    Roadway = "SC1",
                    TargetAddress = TargetAddress.LocationCode,
                    Dispatchertime = DateTime.Now,
                    MaterialNo = "",
                    NextAddress = TargetAddress.LocationCode,
                    OrderNo = null,
                    PalletCode = taskDto.PalletCode+"001",
                    SourceAddress = locationLateral.LocationCode,
                    CurrentAddress = locationLateral.LocationCode,
                    TaskState = (int)TaskRelocationStatusEnum.RelocationNew,
                    TaskType = (int)TaskRelocationTypeEnum.Relocation,
                    TaskNum = BaseDal.GetTaskNo().Result,
                    CreateDate = DateTime.Now,
                    TaskId = 0,
                    Floor = "1F",
                };
                var taskDTO = CreateListTaskDTO(taskNew);

                var isResult = await AddTaskAsync(taskNew, locationLateral, TargetAddress);
                if (!isResult)
                {
                    _unitOfWorkManage.RollbackTran();
                    return content.Error("新增任务失败");
                }
                return content.OK(data: taskDTO);
            }
            else
            {
                return content.Error("货位异常需人工确认才可出库");
            }
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }

    public async Task<WebResponseContent> AGVIsNeedRelocationAsync(RequestTaskDto taskDto)
    {
        WebResponseContent content = new WebResponseContent();
        try
        {
            var task = BaseDal.QueryFirst(x => x.PalletCode == taskDto.PalletCode && x.TaskNum == taskDto.TaskNum);
            if (task == null)
            {
                return content.Error("未找到任务");
            }

            var location = await _locationRepository.QueryFirstAsync(x => x.LocationCode == taskDto.Position);

            if (location == null)
            {
                return content.Error("未找到货位或者该库位不是二深货位");
            }
            List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
            switch (location.AreaId)
            {
                case 2:
                    locationInfos = _locationRepository.QueryData(x => x.Row == location.Row && x.Column > location.Column && x.Remark == location.Remark && x.AreaId == location.AreaId);
                    break;
                case 5:
                case 6:
                    locationInfos = _locationRepository.QueryData(x => x.Row == location.Row && x.Column < location.Column && x.Remark == location.Remark && x.AreaId == location.AreaId);
                    break;
                default:
                    break;
            }

            if (locationInfos.Count == 0)
            {
                return content.OK(data: new List<WMSTaskDTO> { _mapper.Map<WMSTaskDTO>(task) });
            }

            List<WMSTaskDTO> taskDTO = new List<WMSTaskDTO>();

            foreach (var item in locationInfos)
            {
                if (item.LocationStatus == 0 && item.EnalbeStatus == 1)
                {
                    continue;
                }
                else
                {
                    DtLocationInfo Targetlocation = await GetAGVEmptyCacheLocation(item.AreaId, item);

                    if (Targetlocation == null)
                    {
                        return content.Error("起点未定义或终点区域未找到空闲库位");
                    }
                    //todo查询移库库存信息

                    Dt_Task taskNew = new Dt_Task
                    {
                        Grade = item.Column,
                        Roadway = "AGV",
                        TargetAddress = Targetlocation.LocationCode,
                        Dispatchertime = DateTime.Now,
                        MaterialNo = "",
                        NextAddress = Targetlocation.LocationCode,
                        OrderNo = null,
                        PalletCode = _random.Next(0, 10000).ToString(),
                        SourceAddress = item.LocationCode,
                        CurrentAddress = item.LocationCode,
                        TaskState = (int)TaskAGVCarryStatusEnum.CarryNew,
                        TaskType = (int)TaskAGVCarryTypeEnum.CarryReloction,
                        TaskNum = BaseDal.GetTaskNo().Result,
                        CreateDate = DateTime.Now,
                        TaskId = 0,
                        AGVTaskNum = GenerateUniqueId(),
                        Floor = item.Floor,
                        Remark = item.AreaId.ToString(),
                    };
                    taskDTO.Add(CreateTaskDTO(taskNew));

                    var isResult = await AddTaskAsync(taskNew, item, Targetlocation);
                    if (!isResult)
                    {
                        _unitOfWorkManage.RollbackTran();
                        return content.Error("新增任务失败");
                    }

                }
            }
            return content.OK(data: taskDTO);
        }
        catch (Exception ex)
        {
            return content.Error(ex.Message);
        }
    }


    #endregion

    #region èŽ·å–AGV任务号

@@ -799,6 +1007,7 @@
        return $"{timestamp}{randomPart}";
    }
    #endregion


    #endregion å¤–部接口方法

@@ -828,6 +1037,98 @@
    #endregion

    #region å†…部调用方法

    public void UpdateLocationStatus(DtLocationInfo location, LocationEnum locationStatus)
    {
        List<DtLocationInfo> locations = GetGroupLocations(location);

        List<DtLocationInfo> Beforelocation = locations;

        foreach (var item in locations)
        {
            if (locationStatus == LocationEnum.Lock)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.Lock;
                }
                else if (item.LocationStatus == (int)LocationEnum.Free)
                {
                    item.LocationStatus = (int)LocationEnum.FreeDisable;
                }
            }
            else if (locationStatus == LocationEnum.InStock)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.InStock;
                }
                else if (item.LocationStatus == (int)LocationEnum.FreeDisable)
                {
                    item.LocationStatus = (int)LocationEnum.Free;
                }
            }
            else if (locationStatus == LocationEnum.InStockDisable)
            {
                if (item.LocationStatus == (int)LocationEnum.InStock)
                {
                    item.LocationStatus = (int)LocationEnum.InStockDisable;
                }
                else if (item.LocationStatus == (int)LocationEnum.Free)
                {
                    item.LocationStatus = (int)LocationEnum.FreeDisable;
                }
            }
            else if (locationStatus == LocationEnum.Free)
            {
                if (item.LocationCode == location.LocationCode)
                {
                    item.LocationStatus = (int)LocationEnum.Free;
                }
                else if (item.LocationStatus == (int)LocationEnum.FreeDisable || item.LocationStatus == (int)LocationEnum.InStockDisable)
                {
                    item.LocationStatus = (int)LocationEnum.Free;
                }
            }
        }

        _locationRepository.UpdateData(locations);
    }

    public List<DtLocationInfo> GetGroupLocations(DtLocationInfo location)
    {
        List<DtLocationInfo> locationInfos = _locationRepository.QueryData(x => x.AreaId == location.AreaId);
        List<DtLocationInfo> locations = new List<DtLocationInfo>() { location };
        if (location.AreaId == 1)
        {
            if (location.Depth == 2)
            {
                DtLocationInfo? locationInfo = locationInfos.FirstOrDefault(x => x.Depth == 1 && x.Column == location.Column && x.Layer == location.Layer && x.Row == 1);
                if (locationInfo != null)
                {
                    locations.Add(locationInfo);
                }
            }
        }
        else if (location.AreaId == 2)
        {
            var locationLateral = _locationRepository.QueryData(x => x.Row == location.Row && x.Column > location.Column && x.Remark == location.Remark);
            if (locationLateral.Count > 0)
            {
                locations.AddRange(locationLateral);
            }
        }
        else if (location.AreaId == 5 || location.AreaId == 6)
        {
            var locationLateral = _locationRepository.QueryData(x => x.Row == location.Row && x.Column < location.Column && x.Remark == location.Remark);
            if (locationLateral.Count > 0)
            {
                locations.AddRange(locationLateral);
            }
        }
        return locations;

    }

    /// <summary>
    /// åˆ›å»ºä»»åŠ¡DTO
@@ -863,6 +1164,7 @@
            Id = 0,
            TaskType = task.TaskType,
            AGVTaskNum = task.AGVTaskNum,
            Remark= task.Remark
        };
    }

@@ -1084,30 +1386,6 @@
        return isResult && Source && Target;
    }

    private async Task<bool> AddInBoundTaskAsync(Dt_Task task, DtLocationInfo location)
    {
        bool isResult = await BaseDal.AddDataAsync(task) > 0;
        int beforeStatus = location.LocationStatus;

        location.LocationStatus = (int)LocationEnum.InStockDisable;

        LocationChangeRecordDto changeRecordDto = new LocationChangeRecordDto()
        {
            AfterStatus = location.LocationStatus,
            BeforeStatus = beforeStatus,
            TaskNum = task.TaskNum.Value,
            LocationId = location.Id,
            LocationCode = location.LocationCode,
            ChangeType = (int)StatusChangeTypeEnum.AutomaticStorage,

        };

        bool isUpdateChange = _locationStatusChangeRecordRepository.AddStatusChangeRecord(changeRecordDto);
        bool loc = await _locationRepository.UpdateDataAsync(location);

        return isResult && loc;
    }

    /// <summary>
    /// èŽ·å–货位号
    /// </summary>
@@ -1116,19 +1394,34 @@
    {
        try
        {
            List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.RoadwayNo == "SC1" && x.LocationStatus == 0 && x.EnalbeStatus == 1);
            List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.RoadwayNo == "SC1" && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1);
            List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
            var locationInside = locations.Where(x => x.Row == 3).ToList();

            if (locations.Where(x => x.Row == 2).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault() != null)
            if (locations.Where(x => x.Row == 2).OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault() != null)
            {
                return locations.Where(x => x.Row == 2).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
            }
            else if (locations.Where(x => x.Row == 3).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault() != null)
            else if (locationInside.Count > 0)
            {
                return locations.Where(x => x.Row == 3).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
                foreach (var item in locationInside)
                {
                    var locationLateral = _locationRepository.QueryFirst(x => x.Row == 1 && x.Layer == item.Layer && x.Column == item.Column);
                    if (locationLateral.LocationStatus == (int)LocationEnum.Free && locationLateral.EnalbeStatus == 1)
                    {
                        locationInfos.Add(item);
                    }
                }

                return locationInfos.OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
            }
            else if (locations.Where(x => x.Row == 1).OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault() != null)
            {
                return locations.Where(x => x.Row == 1).OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
            }
            else
            {
                return locations.Where(x => x.Row == 1).ToList().OrderBy(x => x.Layer).ThenBy(x => x.Column).FirstOrDefault();
                return null;
            }
        }
        catch (Exception ex)
@@ -1137,7 +1430,7 @@
        }
    }

    public async Task<DtLocationInfo> GetAGVEmptyCacheLocation(int AreaId)
    public async Task<DtLocationInfo> GetAGVEmptyCacheLocation(int AreaId, DtLocationInfo loc)
    {
        try
        {
@@ -1145,14 +1438,14 @@
            switch (AreaId)
            {
                case 2:
                    location = await FromShallowToDeep(AreaId);
                    location = await FromShallowToDeep(AreaId, loc);
                    break;
                    case 3:
                case 3:
                    location = await AGVLIKU(AreaId);
                    break;
                case 5:
                case 6:
                    location = await FromDeepToShallow(AreaId);
                    location = await FromDeepToShallow(AreaId, loc);
                    break;
                default:
                    break;
@@ -1162,7 +1455,7 @@
        }
        catch (Exception ex)
        {
            throw new Exception(ex.Message) ;
            throw new Exception(ex.Message);
        }
    }

@@ -1171,15 +1464,28 @@
    /// </summary>
    /// <param name="AreaId"></param>
    /// <returns></returns>
    public async Task<DtLocationInfo> FromDeepToShallow(int AreaId)
    public async Task<DtLocationInfo> FromDeepToShallow(int AreaId, DtLocationInfo loc)
    {
        try
        {
            List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == 0 && x.EnalbeStatus == 1);
            List<DtLocationInfo> locations = new List<DtLocationInfo>();

            var location = locations.OrderByDescending(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
            locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1 && x.Row != loc.Row);

            return location;
            List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
            foreach (var item in locations)
            {
                var locationLateral = _locationRepository.QueryData(x => x.Row == item.Row && x.Column < item.Column && x.Remark == item.Remark);
                foreach (var lateral in locationLateral)
                {
                    if (lateral.LocationStatus == (int)LocationEnum.Free && lateral.EnalbeStatus == 1)
                    {
                        locationInfos.Add(item);
                    }
                }
            }

            return locationInfos.OrderByDescending(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
        }
        catch (Exception ex)
        {
@@ -1192,13 +1498,32 @@
    /// </summary>
    /// <param name="AreaId"></param>
    /// <returns></returns>
    public async Task<DtLocationInfo> FromShallowToDeep(int AreaId)
    public async Task<DtLocationInfo> FromShallowToDeep(int AreaId, DtLocationInfo loc)
    {
        try
        {
            List<DtLocationInfo> locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == 0 && x.EnalbeStatus == 1);
            var location = locations.OrderBy(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
            return location;
            List<DtLocationInfo> locations = new List<DtLocationInfo>();

            locations = await _locationRepository.QueryDataAsync(x => x.AreaId == AreaId && x.LocationStatus == (int)LocationEnum.Free && x.EnalbeStatus == 1 && x.Row != loc.Row);
           
            if (locations.Count == 0)
            {
                return null;
            }
            List<DtLocationInfo> locationInfos = new List<DtLocationInfo>();
            foreach (var item in locations)
            {
                var locationLateral = _locationRepository.QueryData(x => x.Row == item.Row && x.Column > item.Column && x.Remark == item.Remark);
                foreach (var Lateral in locationLateral)
                {
                    if (Lateral.LocationStatus == (int)LocationEnum.Free && Lateral.EnalbeStatus == 1)
                    {
                        locationInfos.Add(item);
                    }
                }
            }

            return locationInfos.OrderBy(x => x.Column).ThenBy(x => x.Row).FirstOrDefault();
        }
        catch (Exception ex)
        {