From 6c8b4c256053c61e848c3f9dd494feebf6ef0cea Mon Sep 17 00:00:00 2001
From: huangxiaoqiang <1247017146@qq.com>
Date: 星期三, 21 五月 2025 14:25:50 +0800
Subject: [PATCH] 1
---
项目代码/WMS/WIDESEA_WMSServer/WIDESEA_StorageSocketServices/SocketClientService.cs | 259 ++++++++++++++++++++++++++++++++-------------------
1 files changed, 162 insertions(+), 97 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WMS/WIDESEA_WMSServer/WIDESEA_StorageSocketServices/SocketClientService.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WMS/WIDESEA_WMSServer/WIDESEA_StorageSocketServices/SocketClientService.cs"
index 898832d..8caa053 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WMS/WIDESEA_WMSServer/WIDESEA_StorageSocketServices/SocketClientService.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WMS/WIDESEA_WMSServer/WIDESEA_StorageSocketServices/SocketClientService.cs"
@@ -1,35 +1,24 @@
锘縰sing LogLibrary.Log;
using Microsoft.Extensions.Configuration;
-using Microsoft.Extensions.Hosting;
using Microsoft.Extensions.Logging;
-using MimeKit;
using Newtonsoft.Json;
-using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
-using Org.BouncyCastle.Tls;
-using System;
using System.Net;
using System.Net.Sockets;
using System.Reflection;
using System.Text;
using WIDESEA_Common;
using WIDESEA_Core;
-using WIDESEA_Core.BaseServices;
using WIDESEA_Core.Enums;
using WIDESEA_Core.Helper;
-using WIDESEA_Core.Middlewares;
using WIDESEA_DTO.AGV;
using WIDESEA_DTO;
-using WIDESEA_IServices;
using WIDESEA_IStorageBasicRepository;
using WIDESEA_IStorageSocketServices;
using WIDESEA_IStorageTaskRepository;
-using WIDESEA_IStorageTaskServices;
using WIDESEA_Model.Models.AGV;
using WIDESEA_Model.Models;
using WIDESEAWCS_BasicInfoRepository;
-//using static MailKit.Telemetry;
using WIDESEAWCS_Model.Models;
-using static Microsoft.EntityFrameworkCore.DbLoggerCategory.Database;
using WIDESEA_Core.BaseRepository;
using AutoMapper;
using Mapster;
@@ -55,11 +44,10 @@
private readonly ILocationInfoRepository _locationRepository;
- public SocketClientService(/*IDt_TaskService taskService*/IDt_TaskRepository TaskRepository, IDt_StationManagerRepository stationManagerRepository, ILogger<SocketClientService> logger)
+ public SocketClientService(IDt_TaskRepository TaskRepository, IDt_StationManagerRepository stationManagerRepository, ILogger<SocketClientService> logger)
{
- //_taskService = taskService;
- BaseDal= TaskRepository;
- _stationManagerRepository= stationManagerRepository;
+ BaseDal = TaskRepository;
+ _stationManagerRepository = stationManagerRepository;
_logger = logger;
}
@@ -153,7 +141,7 @@
}
else
{
- LogFactory.GetLog("Socket鎺ユ敹鏁版嵁").Error(true, "鏃犳晥鎶ユ枃鏍煎紡");
+ LogFactory.GetLog("Socket鎺ユ敹鏁版嵁").Error(true, $"鏃犳晥鎶ユ枃鏍煎紡:{JsonConvert.SerializeObject(Y)}");
}
}
catch
@@ -172,13 +160,13 @@
ReceiveCommandResponse(x);
break;
case "906":
- AGVJobStartOrEndResponse(x.Substring(21, 1),x.Substring(22,1));
+ AGVJobStartOrEndResponse(x.Substring(21, 1), x.Substring(22, 1));
break;
case "902":
DataReportResponse(x.Substring(21, 1));
break;
case "935":
- DeviceStationStatusInvite();
+ DeviceStationStatusInvite(x.Substring(15, 5));
break;
case "103":
HOSTOutBoundTask(x);
@@ -240,7 +228,7 @@
public void clientSend(byte[] buffer)
{
var Y = Encoding.UTF8.GetString(buffer);
- LogFactory.GetLog("Socket鍙戦�佹暟鎹�").Error(true, Y);
+ LogFactory.GetLog("Socket鍙戦�佹暟鎹�").Info(true, Y);
socket.Send(buffer);
}
@@ -249,7 +237,7 @@
int sum = 0;
try
{
- for (int i = 0; i < x.Length-2; i++)
+ for (int i = 0; i < x.Length - 2; i++)
{
sum += x[i];
}
@@ -285,7 +273,7 @@
/// <summary>
/// 璁惧缂栧彿
/// </summary>
- public const string DeviceID = "0000000001";
+ public const string DeviceID = "0013130010";
/// <summary>
/// 鍙戦�佷笉闇�瑕佸洖澶�
/// </summary>
@@ -348,7 +336,7 @@
{
try
{
- string str = SendandReply + "101" + BaseDal.GetSeqNo().Result.ToString() + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) + "1" + GetFieldsAsString(inStation);
+ string str = SendandReply + "101" + BaseDal.GetSeqNo().Result.ToString("D5") + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) + "1" + GetFieldsAsString(inStation);
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -366,7 +354,7 @@
{
try
{
- string str = SendandReply + "925" + BaseDal.GetSeqNo().Result.ToString();
+ string str = SendandReply + "925" + BaseDal.GetSeqNo().Result.ToString("D5");
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -384,7 +372,7 @@
{
try
{
- string str = SendNotReply + "915" + BaseDal.GetSeqNo().Result.ToString() + Command;
+ string str = SendNotReply + "915" + BaseDal.GetSeqNo().Result.ToString("D5") + Command;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -403,7 +391,7 @@
{
try
{
- string str = SendNotReply + "913" + BaseDal.GetSeqNo().Result.ToString() + Status;
+ string str = SendNotReply + "913" + BaseDal.GetSeqNo().Result.ToString("D5") + Status;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -422,7 +410,7 @@
{
try
{
- string str = SendNotReply + "917" + BaseDal.GetSeqNo().Result.ToString() + Status;
+ string str = SendNotReply + "917" + BaseDal.GetSeqNo().Result.ToString("D5") + Status;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -444,7 +432,7 @@
{
try
{
- string str = SendandReply + "905" + BaseDal.GetSeqNo().Result.ToString() + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
+ string str = SendandReply + "905" + BaseDal.GetSeqNo().Result.ToString("D5") + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -467,7 +455,7 @@
{
try
{
- string str = SendNotReply + "907" + BaseDal.GetSeqNo().Result.ToString() + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
+ string str = SendNotReply + "907" + BaseDal.GetSeqNo().Result.ToString("D5") + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -489,7 +477,7 @@
{
try
{
- string str = SendandReply + "901" + BaseDal.GetSeqNo().Result.ToString() + "0" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
+ string str = SendandReply + "901" + BaseDal.GetSeqNo().Result.ToString("D5") + "0" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -507,11 +495,14 @@
/// <param name="TaskType">浠诲姟绫诲瀷 I鍏ュ簱銆丱鍑哄簱銆丼绔欏彴鍒扮珯鍙般�丷绉诲簱</param>
/// <param name="PallteCode">鎵樼洏鍙�</param>
/// <returns></returns>
- public void DeviceStationStatusReport(HOSTAGVStatus Agvstatus, List<OutStationStatus> outStations, List<InStationStatus> inStation)
+ public void DeviceStationStatusReport(HOSTAGVStatus Agvstatus, List<OutStationStatus> outStations, List<InStationStatus> inStation, string sGetSeqNo)
{
try
{
- string str = SendNotReply + "936" + BaseDal.GetSeqNo().Result.ToString() + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) + GetListStringInStation(inStation);
+ var agvstatus = GetFieldsAsString(Agvstatus);
+ var outstation = GetListStringOutStation(outStations);
+ var instation = GetListStringInStation(inStation);
+ string str = SendNotReply + "936" + sGetSeqNo + agvstatus + outstation + OutStationSpare2 + "2" + instation;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -532,7 +523,7 @@
{
try
{
- string str = SendandReply + "105" + BaseDal.GetSeqNo().Result.ToString() + "R" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
+ string str = SendandReply + "105" + BaseDal.GetSeqNo().Result.ToString("D5") + "R" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -552,7 +543,7 @@
{
try
{
- string str = SendNotReply + "985" + BaseDal.GetSeqNo().Result.ToString() + Trouble + Level + Location;
+ string str = SendNotReply + "985" + BaseDal.GetSeqNo().Result.ToString("D5") + Trouble + Level + Location;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -571,7 +562,7 @@
{
try
{
- string str = SendNotReply + "104" + BaseDal.GetSeqNo().Result.ToString() + Statues;
+ string str = SendNotReply + "104" + BaseDal.GetSeqNo().Result.ToString("D5") + Statues;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -592,7 +583,7 @@
{
try
{
- string str = SendandReply + "107" + BaseDal.GetSeqNo().Result.ToString() + "1" + JobOrderID + priority + FormLocation + ToLocation + "O" + TrayCnt + PallteCode;
+ string str = SendandReply + "107" + BaseDal.GetSeqNo().Result.ToString("D5") + "1" + JobOrderID + priority + FormLocation + ToLocation + "O" + TrayCnt + PallteCode;
clientSend(MakeStringToByteMsg(str));
}
catch (Exception ex)
@@ -608,7 +599,8 @@
/// <param name="AgvStatus"></param>
public void DeviceStatusReportResponse(HOSTAGVStatus AgvStatus, string X, string Y)
{
- string str = SendNotReply + "910" + BaseDal.GetSeqNo().Result.ToString() + "1" + GetFieldsAsString(AgvStatus) + X + Y;
+ string str = SendNotReply + "910" + BaseDal.GetSeqNo().Result.ToString("D5") + GetFieldsAsString(AgvStatus) + X + Y;
+ clientSend(MakeStringToByteMsg(str));
}
#endregion
@@ -626,12 +618,24 @@
{
//OK
case "0":
- //UpdateTaskLocation(parseMessage);
- InsertWMSTask(parseMessage);
- Thread.Sleep(500);
- //915
- JobReady("0");
- break;
+ var location = _locationRepository.QueryFirst(x => x.LocationCode == parseMessage.body.ToLocation);
+ if (location == null)
+ {
+ return;
+ }
+ if (location.LocationStatus == (int)LocationEnum.Free)
+ {
+ InsertWMSTask(parseMessage);
+ Thread.Sleep(500);
+ //915
+ JobReady("0");
+ return;
+ }
+ else
+ {
+ //todo璐т綅鏈夎揣閲嶅鍏ュ簱
+ return;
+ }
//NG
case "1":
break;
@@ -696,7 +700,7 @@
{
JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
}
- CompleteInboundTask(task);
+ CompleteInboundTask(task);
break;
case (int)TaskOutboundTypeEnum.Outbound:
//鍑哄簱
@@ -742,15 +746,29 @@
{
//OK
case "0":
- var task = InsertWMSTask(parseMessage);
- BaseDal.AddData(task);
- InsertAGVTask(task);
- Thread.Sleep(500);
- //915
- JobReady("0");
- Thread.Sleep(500);
- //104
- DeviceReceiveJobResponse("0");
+ var location = _locationRepository.QueryFirst(x => x.LocationCode == parseMessage.body.ToLocation);
+ if (location == null)
+ {
+ return;
+ }
+ if (location.LocationStatus == (int)LocationEnum.InStock)
+ {
+ var task = InsertWMSTask(parseMessage);
+ BaseDal.AddData(task);
+ InsertAGVTask(task);
+ Thread.Sleep(500);
+ //915
+ JobReady("0");
+ Thread.Sleep(500);
+ //104
+ DeviceReceiveJobResponse("0");
+ }
+ else
+ {
+ //todo璐т綅鏃犺揣绌哄嚭搴�
+ return;
+ }
+
break;
default:
break;
@@ -767,44 +785,47 @@
/// HOST璁惧鐘舵�佽幏鍙� 宸ュ簭935
/// </summary>
/// <param name="message"></param>
- public void DeviceStationStatusInvite()
+ public void DeviceStationStatusInvite(string sSeqNo)
{
try
{
//鍥炲936
- List<Dt_StationManager> Instation = _stationManagerRepository.QueryData(x => x.stationType == 1).ToList();
- List<Dt_StationManager> Outstation = _stationManagerRepository.QueryData(x => x.stationType == 2).ToList();
List<OutStationStatus> outStationStatus = new List<OutStationStatus>();
List<InStationStatus> inStationStatus = new List<InStationStatus>();
- foreach (var item in Instation)
+ StationStatus stationIn = GetStationStatus("B002");
+
+ inStationStatus.Add(new InStationStatus()
{
- inStationStatus.Add(new InStationStatus()
- {
- StationName = item.stationName,
- StationEnable = item.stationStatus,
- IsDistributionTask = item.stationHasTask,
- PallteCode = "0000000000",
- });
- }
- foreach (var item in Outstation)
+ StationName = "02",
+ StationEnable = stationIn.WorkstationO == "1" ? "0" : "1",
+ IsDistributionTask = "0",
+ PallteCode = "0000000000",
+ });
+ inStationStatus.Add(new InStationStatus()
{
- StationStatus station = GetStationStatus(item.stationName);
- var taskStation = BaseDal.QueryFirst(x => x.SourceAddress == item.stationName || x.TargetAddress == item.stationName);
- outStationStatus.Add(new OutStationStatus()
- {
- StationName = item.stationName,
- StationEnable = station.StationEnable == "1" ? "0" : "1",
- IsDistributionTask = taskStation == null ? "0" : "1",
- Spare1 = "00"
- });
- //outStationStatus.Add(new OutStationStatus()
- //{
- // StationName = item.stationName,
- // StationEnable = item.stationStatus,
- // IsDistributionTask = item.stationHasTask,
- // Spare1 = "00"
- //});
- }
+ StationName = "01",
+ StationEnable = stationIn.WorkstationT == "1" ? "0" : "1",
+ IsDistributionTask = "0",
+ PallteCode = "0000000000",
+ });
+
+ StationStatus stationOut = GetStationStatus("B001");
+ var taskOutStationO = BaseDal.QueryFirst(x => x.SourceAddress == "B001::1" || x.TargetAddress == "B001::1");
+ var taskOutStationT = BaseDal.QueryFirst(x => x.SourceAddress == "B001::2" || x.TargetAddress == "B001::2");
+ outStationStatus.Add(new OutStationStatus()
+ {
+ StationName = "04",
+ StationEnable = stationOut.WorkstationO == "1" ? "0" : "1",
+ IsDistributionTask = taskOutStationO == null ? "0" : "1",
+ Spare1 = "00"
+ });
+ outStationStatus.Add(new OutStationStatus()
+ {
+ StationName = "03",
+ StationEnable = stationOut.WorkstationT == "1" ? "0" : "1",
+ IsDistributionTask = taskOutStationT == null ? "0" : "1",
+ Spare1 = "00"
+ });
AGVStatusRespone status = GetAGVStatus();
HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
{
@@ -812,7 +833,7 @@
AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",
Ready = status.AutoStatus == "MaintenanceMode" ? "0" : "1",
};
- DeviceStationStatusReport(AgvStatus, outStationStatus, inStationStatus);
+ DeviceStationStatusReport(AgvStatus, outStationStatus, inStationStatus, sSeqNo);
}
catch (Exception)
{
@@ -875,13 +896,16 @@
/// </summary>
public void DeviceStatusReportRequest()
{
+ AGVStatusRespone status = GetAGVStatus();
+
HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
{
- RuntimeStatus = "R",
- AutoStatus = "1",
- Ready = "1"
+ RuntimeStatus = CapitalizeFirstLetter(status.RuntimeStatus),
+ AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",
+ Ready = status.AutoStatus == "MaintenanceMode" ? "0" : "1",
};
string axis = "000000";
+
DeviceStatusReportResponse(AgvStatus, axis, axis);
}
#endregion
@@ -899,7 +923,6 @@
{
byte[] byt = Encoding.UTF8.GetBytes(Message); // 浣跨敤 UTF-8 閬垮厤缂栫爜闂
- LogFactory.GetLog("璇锋眰鎵樼洏浠诲姟").Error(true, BitConverter.ToString(byt));
string checksum = GetCheckSum(byt);
string str = Message + checksum;
@@ -921,6 +944,8 @@
// 澶嶅埗鍘熷鏁扮粍鐨勬墍鏈夋暟鎹埌鏂版暟缁勭殑涓棿閮ㄥ垎
Array.Copy(buffer, 0, newArray, 1, buffer.Length);
+ //var parseMessage = GetParse(str);
+ LogFactory.GetLog("Socket鍙戦�佹姤鏂�").Info(true, str);
return newArray;
}
catch (Exception ex)
@@ -928,17 +953,13 @@
throw new Exception(ex.Message);
}
}
- //public bool IsOnline()
- //{
-
- //}
public string GetListStringOutStation(List<OutStationStatus> outStationStatus)
{
return string.Join("", outStationStatus.Select(status => $"{status.StationName}{status.StationEnable}{status.IsDistributionTask}{status.Spare1}"));
}
public string GetListStringInStation(List<InStationStatus> inStationStatus)
{
- return string.Join("", inStationStatus.Select(status => $"{status.StationName}{status.StationEnable}{status.IsDistributionTask}{status.Spare1}"));
+ return string.Join("", inStationStatus.Select(status => $"{status.StationName}{status.StationEnable}{status.IsDistributionTask}{status.IsHasPallte}{status.Spare1}{status.StationPallteCount}{status.PallteCode}{status.Spare2}"));
}
/// <summary>
/// 灏嗗璞″�煎嚟鎷兼帴
@@ -1032,6 +1053,8 @@
}
else
{
+
+
Console.WriteLine("鏍￠獙澶辫触锛�");
return null;
}
@@ -1113,12 +1136,32 @@
/// <returns></returns>
private int InsertAGVTask(Dt_Task task)
{
+ string SourceAddress = string.Empty;
+ string TargetAddress = string.Empty;
+ if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
+ {
+ TargetAddress = InsertHyphenEveryTwoChars(task.TargetAddress);
+ }
+ else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
+ {
+ SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
+ }
+ else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
+ {
+ TargetAddress = InsertHyphenEveryTwoChars(task.TargetAddress);
+ SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
+ }
+ else if (task.TaskType == (int)TaskStationTypeEnum.StationToStation)
+ {
+ TargetAddress = task.TargetAddress;
+ SourceAddress = task.SourceAddress;
+ }
task_call task_Call = new task_call()
{
d_task_type = task.TaskType == (int)TaskTypeEnum.Inbound ? 1 : 2,
d_floor = 1,
- d_involed1 = task.SourceAddress,
- d_involed2 = task.TargetAddress,
+ d_involed1 = SourceAddress,
+ d_involed2 = TargetAddress,
d_involed5 = task.TaskNum,
};
@@ -1148,7 +1191,7 @@
}
public AGVStatusRespone GetAGVStatus()
{
- string urlnew = url + "/ilns/AGV/getAgvState";
+ string urlnew = url + "/ilns/AGV/getState";
var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { getStatus = "1" }.ToJson())).Result;
return JsonConvert.DeserializeObject<AGVStatusRespone>(result.ToString());
@@ -1156,8 +1199,8 @@
public StationStatus GetStationStatus(string stationName)
{
- string urlnew = url + "/ilns/strl/getStat";
- var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { strlName = stationName }.ToJson())).Result;
+ string urlnew = url + "/ilns/ctrl/getState";
+ var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { ctrlName = "B001" }.ToJson())).Result;
return JsonConvert.DeserializeObject<StationStatus>(result.ToString());
}
public string CapitalizeFirstLetter(string s)
@@ -1170,7 +1213,29 @@
char firstChar = s[0];
return char.ToUpper(firstChar).ToString();
}
+ public string InsertHyphenEveryTwoChars(string input)
+ {
+ if (string.IsNullOrEmpty(input))
+ {
+ return input;
+ }
+ StringBuilder result = new StringBuilder();
+
+ for (int i = 0; i < input.Length; i += 2)
+ {
+ // 娣诲姞涓や釜瀛楃
+ result.Append(input.Substring(i, 2));
+
+ // 濡傛灉涓嶆槸鏈�鍚庝袱涓瓧绗︼紝娣诲姞涓�涓繛瀛楃
+ if (i + 2 < input.Length)
+ {
+ result.Append('-');
+ }
+ }
+
+ return result.ToString();
+ }
#region 澶栭儴鎺ュ彛鏂规硶
public WebResponseContent CompleteInboundTask(Dt_Task task)
--
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