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using AUCMA.STORE.Business.Implements;
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using AUCMA.STORE.Business.Interface;
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using AUCMA.STORE.Common;
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using AUCMA.STORE.Entity.DAO;
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using AUCMA.STORE.Entity.DTO;
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using AUCMA.STORE.Entity.Enums;
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using AUCMA.STORE.SqlSugar;
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using AUCMA.STORE.SqlSugar.serviceImpl;
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using AutoMapper;
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using HslCommunication.Core;
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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.Linq.Expressions;
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using System.Text;
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using System.Threading.Tasks;
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#region << 版 本 注 释 >>
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/*--------------------------------------------------------------------
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* 版权所有 (c) 2024 WenJY 保留所有权利。
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* CLR版本：4.0.30319.42000
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* 机器名称：T14-GEN3-7895
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* 命名空间：AUCMA.STORE.Business
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* 唯一标识：ff279f65-fbfa-4688-8560-d0bf2051cd85
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*
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* 创建者：WenJY
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* 电子邮箱：
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* 创建时间：2024-12-22 14:41:08
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* 版本：V1.0.0
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* 描述：
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*
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*--------------------------------------------------------------------
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* 修改人：
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* 时间：
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* 修改说明：
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*
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* 版本：V1.0.0
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*--------------------------------------------------------------------*/
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#endregion << 版 本 注 释 >>
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namespace AUCMA.STORE.Business
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{
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public class TaskHandleBusiness
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{
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private List<BaseDeviceInfo> m_DeviceInfoList = new List<BaseDeviceInfo>();
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private PLCAddressTypeDTO[] ReadOnePilerPlcAddress = new PLCAddressTypeDTO[20];
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private PLCAddressTypeDTO[] ReadRGVPlcAddress = new PLCAddressTypeDTO[8];
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private PLCAddressTypeDTO[] WriteRGVPlcAddress = new PLCAddressTypeDTO[7];
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private IBaseTaskQueueBusiness baseTaskQueueBusiness = new BaseTaskQueueBusiness();
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private OutStoreBusinessImpl outStoreBusiness = new OutStoreBusinessImpl();
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private IByteTransform byteTransform = new RegularByteTransform();
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public delegate void TaskInfoInvoke(int TaskNo, TaskType taskType, LocationArea locationArea, string locationCode);
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public event TaskInfoInvoke TaskInfoRefreshEvent;
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private static TaskHandleBusiness _singleton;
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private static readonly object _object = new object();
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private TaskHandleBusiness()
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{
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}
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public static TaskHandleBusiness GetInstance()
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{
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if (_singleton == null)
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{
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lock (_object)
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{
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if (_singleton == null)
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{
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_singleton = new TaskHandleBusiness();
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}
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}
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}
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return _singleton;
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}
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/// <summary>
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/// 初始化
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/// </summary>
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/// <param name="deviceInfos"></param>
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/// <param name="_ReadOnePilerPlcAddress"></param>
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/// <param name="_ReadRGVPlcAddress"></param>
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/// <param name="_WriteRGVPlcAddress"></param>
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public void Init(List<BaseDeviceInfo> deviceInfos, PLCAddressTypeDTO[] _ReadOnePilerPlcAddress,
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PLCAddressTypeDTO[] _ReadRGVPlcAddress, PLCAddressTypeDTO[] _WriteRGVPlcAddress)
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{
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m_DeviceInfoList = deviceInfos;
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ReadOnePilerPlcAddress = _ReadOnePilerPlcAddress;
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ReadRGVPlcAddress = _ReadRGVPlcAddress;
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WriteRGVPlcAddress = _WriteRGVPlcAddress;
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Task.Run(() =>
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{
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while (true)
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{
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LeftPilerTaskHandle();
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Task.Delay(5000).Wait();
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}
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});
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Task.Run(() =>
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{
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while (true)
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{
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RightPilerTaskHandle();
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Task.Delay(5000).Wait();
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}
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});
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}
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/// <summary>
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/// 左库出入库逻辑处理
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/// </summary>
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private void LeftPilerTaskHandle()
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{
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try
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{
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BaseDeviceInfo item = m_DeviceInfoList.Where(x => x.m_iDeviceId == 1002).FirstOrDefault();
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BaseDeviceInfo rgvDeviceInfo = m_DeviceInfoList.Where(x => x.m_iDeviceId == 1001).FirstOrDefault();
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int PilerState = item.m_IDeviceAdapter.ReadInt16ByAddress(ReadOnePilerPlcAddress[2].PLCAddress);
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int iReadIsReadySignal = item.m_IDeviceAdapter.ReadInt16ByAddress(ReadOnePilerPlcAddress[8].PLCAddress);
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if (PilerState == 0 && iReadIsReadySignal == 2)
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{
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LogHelper.LeftPilerlog($"左库==>{item.m_iDeviceId}堆垛机:{item.m_plcName};{ReadOnePilerPlcAddress[2].PLCAddress}:{PilerState};{ReadOnePilerPlcAddress[8].PLCAddress}:{iReadIsReadySignal};当前空闲并且准备就绪可以下发任务");
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int iReadOutForkSignal = rgvDeviceInfo.m_IDeviceAdapter.ReadInt16ByAddress(ReadRGVPlcAddress[2].PLCAddress);
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if (iReadOutForkSignal != 1)
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{
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LogHelper.LeftPilerlog($"左库==>出库口状态:{iReadOutForkSignal};出库皮带空闲可以出库");
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//出库
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byte[] outStoreBuffer = GetOutStoreTask(item.m_iDeviceId, out string outStoreTaskCode, out BaseTaskQueue baseTaskQueue,LocationArea.Location_Left);
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if (outStoreBuffer != null)
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{
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SendBufferToLeftPiler(item, rgvDeviceInfo, outStoreBuffer, outStoreTaskCode, true);
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UpdateLocationStatus("A", LocationArea.Location_Left, $"{baseTaskQueue.pilerClaimGoodsRows}-{baseTaskQueue.pilerClaimGoodsLine}-{baseTaskQueue.pilerClaimGoodsTier}", LocationStatus.UnUsed);
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TaskInfoRefreshEvent?.Invoke(Convert.ToInt32(outStoreTaskCode), TaskType.OutStore, LocationArea.Location_Left, $"{baseTaskQueue.pilerClaimGoodsRows}-{baseTaskQueue.pilerClaimGoodsLine}-{baseTaskQueue.pilerClaimGoodsTier}");
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return;
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}
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else
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{
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LogHelper.LeftPilerlog($"左库==>当前没有可执行的出库任务");
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}
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}
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else
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{
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LogHelper.LeftPilerlog($"左库==>出库口状态:{iReadOutForkSignal};出库皮带占用不具备出库条件");
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}
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var inStoreBuffer = GetInStoreTaskInfo(item.m_iDeviceId, out string inStoreTaskCode,out BaseTaskQueue taskQueue);
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if(inStoreBuffer != null)
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{
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LogHelper.LeftPilerlog($"左库==>存在入库任务，进行入库操作,任务号：{inStoreTaskCode}");
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SendBufferToLeftPiler(item, rgvDeviceInfo, inStoreBuffer, inStoreTaskCode, false);
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UpdateLocationStatus("A", LocationArea.Location_Left, $"{taskQueue.pilerUnloadRows}-{taskQueue.pilerUnloadLine}-{taskQueue.pilerUnloadTier}", LocationStatus.InUse);
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TaskInfoRefreshEvent?.Invoke(Convert.ToInt32(inStoreTaskCode), TaskType.InStore, LocationArea.Location_Left, $"{taskQueue.pilerUnloadRows}-{taskQueue.pilerUnloadLine}-{taskQueue.pilerUnloadTier}");
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}
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}
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else
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{
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LogHelper.LeftPilerlog($"左库==>{item.m_iDeviceId}堆垛机:{item.m_plcName};{ReadOnePilerPlcAddress[2].PLCAddress}:{PilerState};{ReadOnePilerPlcAddress[8].PLCAddress}:{iReadIsReadySignal};当前状态不满足无法下发任务");
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}
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}
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catch (Exception ex)
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{
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LogHelper.LeftPilerlog($"左库出入库逻辑处理异常:{ex.Message}");
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}
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}
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/// <summary>
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/// 右库出入库逻辑处理
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/// </summary>
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private void RightPilerTaskHandle()
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{
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try
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{
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BaseDeviceInfo item = m_DeviceInfoList.Where(x => x.m_iDeviceId == 1003).FirstOrDefault();
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BaseDeviceInfo rgvDeviceInfo = m_DeviceInfoList.Where(x => x.m_iDeviceId == 1001).FirstOrDefault();
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int PilerState = item.m_IDeviceAdapter.ReadInt16ByAddress(ReadOnePilerPlcAddress[2].PLCAddress);
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int iReadIsReadySignal = item.m_IDeviceAdapter.ReadInt16ByAddress(ReadOnePilerPlcAddress[8].PLCAddress);
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if (PilerState == 0 && iReadIsReadySignal == 2)
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{
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LogHelper.RightPilerlog($"右库==>{item.m_iDeviceId}堆垛机:{item.m_plcName};{ReadOnePilerPlcAddress[2].PLCAddress}:{PilerState};{ReadOnePilerPlcAddress[8].PLCAddress}:{iReadIsReadySignal};当前空闲并且准备就绪可以下发任务");
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int iReadOutForkSignal = rgvDeviceInfo.m_IDeviceAdapter.ReadInt16ByAddress(ReadRGVPlcAddress[3].PLCAddress);
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if (iReadOutForkSignal != 1)
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{
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LogHelper.RightPilerlog($"右库==>出库口状态:{iReadOutForkSignal};出库皮带空闲可以出库");
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byte[] outStoreBuffer = GetOutStoreTask(item.m_iDeviceId, out string outStoreTaskCode, out BaseTaskQueue baseTaskQueue, LocationArea.Location_Right);
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if (outStoreBuffer != null)
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{
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SendBufferToRightPiler(item, rgvDeviceInfo, outStoreBuffer, outStoreTaskCode, true);
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UpdateLocationStatus("A", LocationArea.Location_Right, $"{baseTaskQueue.pilerClaimGoodsRows}-{baseTaskQueue.pilerClaimGoodsLine}-{baseTaskQueue.pilerClaimGoodsTier}", LocationStatus.UnUsed);
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TaskInfoRefreshEvent?.Invoke(Convert.ToInt32(outStoreTaskCode), TaskType.OutStore, LocationArea.Location_Right, $"{baseTaskQueue.pilerClaimGoodsRows}-{baseTaskQueue.pilerClaimGoodsLine}-{baseTaskQueue.pilerClaimGoodsTier}");
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return;
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}
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else
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{
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LogHelper.RightPilerlog($"右库==>当前没有可执行的出库任务");
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}
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}
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else
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{
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LogHelper.RightPilerlog($"右库==>出库口状态:{iReadOutForkSignal};出库皮带占用不具备出库条件");
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}
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var inStoreBuffer = GetInStoreTaskInfo(item.m_iDeviceId, out string inStoreTaskCode,out BaseTaskQueue taskQueue);
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if(inStoreBuffer != null)
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{
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LogHelper.LeftPilerlog($"右库==>存在入库任务，进行入库操作,任务号：{inStoreTaskCode}");
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SendBufferToRightPiler(item, rgvDeviceInfo, inStoreBuffer, inStoreTaskCode, false);
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UpdateLocationStatus("A", LocationArea.Location_Right, $"{taskQueue.pilerUnloadRows}-{taskQueue.pilerUnloadLine}-{taskQueue.pilerUnloadTier}", LocationStatus.InUse);
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TaskInfoRefreshEvent?.Invoke(Convert.ToInt32(inStoreTaskCode), TaskType.InStore, LocationArea.Location_Right, $"{taskQueue.pilerUnloadRows}-{taskQueue.pilerUnloadLine}-{taskQueue.pilerUnloadTier}");
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}
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}
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else
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{
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LogHelper.RightPilerlog($"右库==>{item.m_iDeviceId}堆垛机:{item.m_plcName};{ReadOnePilerPlcAddress[2].PLCAddress}:{PilerState};{ReadOnePilerPlcAddress[8].PLCAddress}:{iReadIsReadySignal};当前状态不满足无法下发任务");
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}
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}
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catch (Exception ex)
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{
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LogHelper.RightPilerlog($"右库出入库逻辑处理异常:{ex.Message}");
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}
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}
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/// <summary>
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/// 发送左库堆垛机任务
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/// </summary>
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/// <param name="item"></param>
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/// <param name="rgvDeviceInfo"></param>
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/// <param name="buffer"></param>
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/// <param name="taskCode"></param>
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/// <param name="isOut"></param>
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private void SendBufferToLeftPiler(BaseDeviceInfo item, BaseDeviceInfo rgvDeviceInfo, byte[] buffer, string taskCode, bool isOut = true)
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{
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try
|
|
|
|
|
|
{
|
|
|
|
|
|
bool isSend = false;
|
|
|
|
|
|
|
|
|
|
|
|
do
|
|
|
|
|
|
{
|
|
|
|
|
|
if (item.m_IDeviceAdapter.WriteByteByAddress("DB11.0", buffer))
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.LeftPilerlog($"左库==>任务:{taskCode};写入PLC成功");
|
|
|
|
|
|
//读取堆垛机任务号
|
|
|
|
|
|
|
|
|
|
|
|
bool isSuc = true;
|
|
|
|
|
|
do
|
|
|
|
|
|
{
|
|
|
|
|
|
var pilerTaskCode = item.m_IDeviceAdapter.ReadInt32ByAddress(ReadOnePilerPlcAddress[0].PLCAddress).ToString();
|
|
|
|
|
|
LogHelper.LeftPilerlog($"左库==>堆垛机当前任务号:{pilerTaskCode};上位机下发任务号:{taskCode}");
|
|
|
|
|
|
if (pilerTaskCode == taskCode)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.LeftPilerlog($"左库==>堆垛机当前任务号:{pilerTaskCode};与下发任务号:{taskCode};一致");
|
|
|
|
|
|
if (isOut)
|
|
|
|
|
|
{
|
|
|
|
|
|
bool isRgvSend = rgvDeviceInfo.m_IDeviceAdapter.WriteInt16ByAddress(WriteRGVPlcAddress[5].PLCAddress, "1");
|
|
|
|
|
|
if (isRgvSend)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.LeftPilerlog($"左库==>RGV任务下发成功;{WriteRGVPlcAddress[5].PLCAddress}:1");
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.LeftPilerlog($"左库==>RGV任务下发失败;");
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
isSuc = false;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.LeftPilerlog($"左库==>堆垛机当前任务号:{pilerTaskCode};与下发任务号:{taskCode};不一致");
|
|
|
|
|
|
Task.Delay(1000).Wait();
|
|
|
|
|
|
}
|
|
|
|
|
|
} while (isSuc);
|
|
|
|
|
|
|
|
|
|
|
|
isSend = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.LeftPilerlog($"左库==>任务:{taskCode};写入PLC失败");
|
|
|
|
|
|
}
|
|
|
|
|
|
} while (!isSend);
|
|
|
|
|
|
}
|
|
|
|
|
|
catch (Exception ex)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.LeftPilerlog($"左库==>任务下发至堆垛机逻辑处理异常:{ex.Message}");
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
|
|
/// 发送右库堆垛机任务
|
|
|
|
|
|
/// </summary>
|
|
|
|
|
|
/// <param name="item"></param>
|
|
|
|
|
|
/// <param name="rgvDeviceInfo"></param>
|
|
|
|
|
|
/// <param name="buffer"></param>
|
|
|
|
|
|
/// <param name="taskCode"></param>
|
|
|
|
|
|
/// <param name="isOut"></param>
|
|
|
|
|
|
private void SendBufferToRightPiler(BaseDeviceInfo item,BaseDeviceInfo rgvDeviceInfo, byte[] buffer,string taskCode,bool isOut = true)
|
|
|
|
|
|
{
|
|
|
|
|
|
try
|
|
|
|
|
|
{
|
|
|
|
|
|
bool isSend = false;
|
|
|
|
|
|
do
|
|
|
|
|
|
{
|
|
|
|
|
|
if (item.m_IDeviceAdapter.WriteByteByAddress("DB11.0", buffer))
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.RightPilerlog($"右库==>任务:{taskCode};写入PLC成功");
|
|
|
|
|
|
//读取堆垛机任务号
|
|
|
|
|
|
|
|
|
|
|
|
bool isSuc = true;
|
|
|
|
|
|
do
|
|
|
|
|
|
{
|
|
|
|
|
|
var pilerTaskCode = item.m_IDeviceAdapter.ReadInt32ByAddress(ReadOnePilerPlcAddress[0].PLCAddress).ToString();
|
|
|
|
|
|
LogHelper.RightPilerlog($"右库==>堆垛机当前任务号:{pilerTaskCode};上位机下发任务号:{taskCode}");
|
|
|
|
|
|
if (pilerTaskCode == taskCode)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.RightPilerlog($"右库==>堆垛机当前任务号:{pilerTaskCode};与下发任务号:{taskCode};一致");
|
|
|
|
|
|
if (isOut)
|
|
|
|
|
|
{
|
|
|
|
|
|
bool isRgvSend = rgvDeviceInfo.m_IDeviceAdapter.WriteInt16ByAddress(WriteRGVPlcAddress[5].PLCAddress, "2");
|
|
|
|
|
|
if (isRgvSend)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.RightPilerlog($"右库==>RGV任务下发成功;{WriteRGVPlcAddress[5].PLCAddress}:2");
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.RightPilerlog($"右库==>RGV任务下发失败;");
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
isSuc = false;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.RightPilerlog($"右库==>堆垛机当前任务号:{pilerTaskCode};与下发任务号:{taskCode};不一致");
|
|
|
|
|
|
Task.Delay(1000).Wait();
|
|
|
|
|
|
}
|
|
|
|
|
|
} while (isSuc);
|
|
|
|
|
|
|
|
|
|
|
|
isSend = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.RightPilerlog($"右库==>任务:{taskCode};写入PLC失败");
|
|
|
|
|
|
}
|
|
|
|
|
|
} while (!isSend);
|
|
|
|
|
|
}catch(Exception ex)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.RightPilerlog($"右库==>任务下发至堆垛机逻辑处理异常:{ex.Message}");
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
|
|
/// 获取出库任务
|
|
|
|
|
|
/// </summary>
|
|
|
|
|
|
/// <param name="deviceId"></param>
|
|
|
|
|
|
/// <param name="taskCode"></param>
|
|
|
|
|
|
/// <returns></returns>
|
|
|
|
|
|
private byte[] GetOutStoreTask(int deviceId,out string taskCode,out BaseTaskQueue taskQueue,LocationArea locationArea)
|
|
|
|
|
|
{
|
|
|
|
|
|
lock (string.Empty)
|
|
|
|
|
|
{
|
|
|
|
|
|
taskCode = string.Empty;
|
|
|
|
|
|
taskQueue = null;
|
|
|
|
|
|
try
|
|
|
|
|
|
{
|
|
|
|
|
|
BaseTaskQueue baseTaskQueue = baseTaskQueueBusiness.GetTaskQueue(locationArea, TaskType.OutStore, OperationType.ManualOperation).Result;
|
|
|
|
|
|
|
|
|
|
|
|
if (baseTaskQueue == null)
|
|
|
|
|
|
{
|
|
|
|
|
|
baseTaskQueue = baseTaskQueueBusiness.GetTaskQueue(locationArea, TaskType.OutStore, OperationType.Automatic).Result;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (baseTaskQueue == null)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.Pilerlog($"当前不存在出库任务");
|
|
|
|
|
|
return null;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
LogHelper.Pilerlog($"获取出库任务，获取到出库任务：{baseTaskQueue.pilerTaskCode};任务信息：{JsonChange.ModeToJson(baseTaskQueue)}");
|
|
|
|
|
|
//LocationArea locationArea = LocationArea.Location_Left;
|
|
|
|
|
|
//if (deviceId != 1)
|
|
|
|
|
|
//{
|
|
|
|
|
|
// locationArea = LocationArea.Location_Right;
|
|
|
|
|
|
//}
|
|
|
|
|
|
|
|
|
|
|
|
Expression<Func<BaseLocationInfo, bool>> exp = s1 => true;
|
|
|
|
|
|
|
|
|
|
|
|
if(baseTaskQueue.operationType == OperationType.Automatic)
|
|
|
|
|
|
{
|
|
|
|
|
|
exp = exp.And(s1 => s1.materialType == baseTaskQueue.materialCode
|
|
|
|
|
|
&& s1.locationStatus == LocationStatus.InUse
|
|
|
|
|
|
&& s1.deleteFlag == Entity.Enums.DeleteFlag.No
|
|
|
|
|
|
&& s1.locationArea == locationArea
|
|
|
|
|
|
&& s1.storeCode == ConfigHelper.GetConfig("storeCode"));
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
exp = exp.And(s1 => s1.locationArea == baseTaskQueue.locationArea
|
|
|
|
|
|
&& s1.storeCode == baseTaskQueue.storeCode
|
|
|
|
|
|
&& s1.locationLine == baseTaskQueue.pilerClaimGoodsLine
|
|
|
|
|
|
&& s1.locationRow == baseTaskQueue.pilerClaimGoodsRows
|
|
|
|
|
|
&& s1.locationTier == baseTaskQueue.pilerClaimGoodsTier);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
List<BaseLocationInfo> locationInfos = new BaseServices<BaseLocationInfo>().Query(exp).Result;
|
|
|
|
|
|
|
|
|
|
|
|
var locationInfo = outStoreBusiness.FiltrateBestlocation(locationInfos);
|
|
|
|
|
|
|
|
|
|
|
|
if (locationInfo == null)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.Pilerlog($"出库任务：{baseTaskQueue.pilerTaskCode}未匹配到库位");
|
|
|
|
|
|
return null;
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
_ = baseTaskQueueBusiness.DeleteTaskQueue(baseTaskQueue);
|
|
|
|
|
|
|
|
|
|
|
|
LogHelper.Pilerlog("移除出库任务队列信息：" + baseTaskQueue.pilerTaskCode);
|
|
|
|
|
|
|
|
|
|
|
|
TaskInfoRefreshEvent?.Invoke(Convert.ToInt32(baseTaskQueue.pilerTaskCode), TaskType.OutStore, locationArea, locationInfo.locationCode);
|
|
|
|
|
|
|
|
|
|
|
|
LogHelper.Pilerlog($"出库任务：{baseTaskQueue.pilerTaskCode}匹配的出库库位为:{JsonChange.ModeToJson(locationInfo)}");
|
|
|
|
|
|
|
|
|
|
|
|
Mapper.Initialize(cret => cret.CreateMap<BaseTaskQueue, TaskDTO>());
|
|
|
|
|
|
TaskDTO task = Mapper.Map<TaskDTO>(baseTaskQueue);
|
|
|
|
|
|
|
|
|
|
|
|
task.locationCode = locationInfo.locationCode;
|
|
|
|
|
|
task.row = locationInfo.locationRow;
|
|
|
|
|
|
task.line = locationInfo.locationLine;
|
|
|
|
|
|
task.tier = locationInfo.locationTier;
|
|
|
|
|
|
task.plcCode = deviceId;
|
|
|
|
|
|
task.pilerClaimGoodsRows = locationInfo.locationRow;
|
|
|
|
|
|
task.pilerClaimGoodsLine = locationInfo.locationLine;
|
|
|
|
|
|
task.pilerClaimGoodsTier = locationInfo.locationTier;
|
|
|
|
|
|
if (locationInfo.locationArea == LocationArea.Location_Left)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (ConfigHelper.GetConfig("storeCode") == "A") task.pilerUnloadRows = 2;
|
|
|
|
|
|
if (ConfigHelper.GetConfig("storeCode") == "B") task.pilerUnloadRows = 1;
|
|
|
|
|
|
}
|
|
|
|
|
|
if (locationInfo.locationArea == LocationArea.Location_Right)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (ConfigHelper.GetConfig("storeCode") == "A") task.pilerUnloadRows = 1;
|
|
|
|
|
|
if (ConfigHelper.GetConfig("storeCode") == "B") task.pilerUnloadRows = 2;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
Mapper.Initialize(cret => cret.CreateMap<TaskDTO, BaseTaskQueue>());
|
|
|
|
|
|
baseTaskQueue = Mapper.Map<BaseTaskQueue>(task);
|
|
|
|
|
|
|
|
|
|
|
|
Mapper.Initialize(cret => cret.CreateMap<BaseTaskQueue, PlcDirectiveDTO>());
|
|
|
|
|
|
PlcDirectiveDTO taskDTO = Mapper.Map<PlcDirectiveDTO>(baseTaskQueue);
|
|
|
|
|
|
|
|
|
|
|
|
//读取到线体信号反馈
|
|
|
|
|
|
#region 将出库任务转换成字节发送
|
|
|
|
|
|
byte[] buffer = new byte[42];
|
|
|
|
|
|
taskDTO.inStorePlatformCode = 0;
|
|
|
|
|
|
taskDTO.claimGoods = 0;
|
|
|
|
|
|
taskDTO.unload = 0;
|
|
|
|
|
|
taskDTO.outStorePlatformCode = 0;
|
|
|
|
|
|
taskDTO.goodsSize = 0;
|
|
|
|
|
|
taskDTO.goodsHeight = 0;
|
|
|
|
|
|
taskDTO.goodsWeight = 0;
|
|
|
|
|
|
taskDTO.trayCode = 0;
|
|
|
|
|
|
taskDTO.takePutTheCar = 0;
|
|
|
|
|
|
taskDTO.verify = 0;
|
|
|
|
|
|
taskDTO.exitFork = 1;
|
|
|
|
|
|
byte[] taskNo = StringChange.intToBytesBig(taskDTO.pilerTaskCode);
|
|
|
|
|
|
taskNo.CopyTo(buffer, 0);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerTaskType).CopyTo(buffer, 4);
|
|
|
|
|
|
Array.Reverse(buffer, 4, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.inStorePlatformCode).CopyTo(buffer, 6);
|
|
|
|
|
|
Array.Reverse(buffer, 6, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.claimGoods).CopyTo(buffer, 8);
|
|
|
|
|
|
Array.Reverse(buffer, 8, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.unload).CopyTo(buffer, 10);
|
|
|
|
|
|
Array.Reverse(buffer, 10, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.outStorePlatformCode).CopyTo(buffer, 12);
|
|
|
|
|
|
Array.Reverse(buffer, 12, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerClaimGoodsRows).CopyTo(buffer, 14);
|
|
|
|
|
|
Array.Reverse(buffer, 14, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerClaimGoodsLine).CopyTo(buffer, 16);
|
|
|
|
|
|
Array.Reverse(buffer, 16, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerClaimGoodsTier).CopyTo(buffer, 18);
|
|
|
|
|
|
Array.Reverse(buffer, 18, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerUnloadRows).CopyTo(buffer, 20);
|
|
|
|
|
|
Array.Reverse(buffer, 20, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerUnloadLine).CopyTo(buffer, 22);
|
|
|
|
|
|
Array.Reverse(buffer, 22, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerUnloadTier).CopyTo(buffer, 24);
|
|
|
|
|
|
Array.Reverse(buffer, 24, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.goodsSize).CopyTo(buffer, 26);
|
|
|
|
|
|
Array.Reverse(buffer, 26, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.goodsHeight).CopyTo(buffer, 28);
|
|
|
|
|
|
Array.Reverse(buffer, 28, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.goodsWeight).CopyTo(buffer, 30);
|
|
|
|
|
|
Array.Reverse(buffer, 30, 2);
|
|
|
|
|
|
byteTransform.TransByte((int)taskDTO.trayCode).CopyTo(buffer, 32);
|
|
|
|
|
|
Array.Reverse(buffer, 32, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.takePutTheCar).CopyTo(buffer, 36);
|
|
|
|
|
|
Array.Reverse(buffer, 36, 2);
|
|
|
|
|
|
byteTransform.TransByte((byte)taskDTO.verify).CopyTo(buffer, 38);
|
|
|
|
|
|
Array.Reverse(buffer, 38, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.exitFork).CopyTo(buffer, 40);
|
|
|
|
|
|
Array.Reverse(buffer, 40, 2);
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
taskCode = taskDTO.pilerTaskCode.ToString();
|
|
|
|
|
|
taskQueue = baseTaskQueue;
|
|
|
|
|
|
TaskInfoRefreshEvent?.Invoke(Convert.ToInt32(baseTaskQueue.pilerTaskCode), TaskType.OutStore, locationArea, locationInfo.locationCode);
|
|
|
|
|
|
UpdateLocationStatus("A", locationArea, locationInfo.locationCode, LocationStatus.Occupy);
|
|
|
|
|
|
return buffer;
|
|
|
|
|
|
}
|
|
|
|
|
|
catch (Exception ex)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.Pilerlog($"获取出库任务逻辑执行异常:{ex.Message}");
|
|
|
|
|
|
return null;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
private byte[] GetInStoreTaskInfo(int deviceId, out string taskCode, out BaseTaskQueue taskQueue)
|
|
|
|
|
|
{
|
|
|
|
|
|
lock (string.Empty)
|
|
|
|
|
|
{
|
|
|
|
|
|
taskCode = string.Empty;
|
|
|
|
|
|
taskQueue = null;
|
|
|
|
|
|
try
|
|
|
|
|
|
{
|
|
|
|
|
|
LocationArea locationArea = LocationArea.Location_Left;
|
|
|
|
|
|
if(deviceId != 1002)
|
|
|
|
|
|
{
|
|
|
|
|
|
locationArea = LocationArea.Location_Right;
|
|
|
|
|
|
}
|
|
|
|
|
|
BaseTaskQueue baseTaskQueue = baseTaskQueueBusiness.GetTaskQueue(locationArea, TaskType.InStore, OperationType.ManualOperation).Result;
|
|
|
|
|
|
if (baseTaskQueue == null)
|
|
|
|
|
|
{
|
|
|
|
|
|
baseTaskQueue = baseTaskQueueBusiness.GetTaskQueue(locationArea, TaskType.InStore, OperationType.Automatic).Result;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (baseTaskQueue != null)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.Pilerlog($"入库任务：{baseTaskQueue.pilerTaskCode};内容:{JsonChange.ModeToJson(baseTaskQueue)}");
|
|
|
|
|
|
|
|
|
|
|
|
Mapper.Initialize(cret => cret.CreateMap<BaseTaskQueue, PlcDirectiveDTO>());
|
|
|
|
|
|
PlcDirectiveDTO taskDTO = Mapper.Map<PlcDirectiveDTO>(baseTaskQueue);
|
|
|
|
|
|
|
|
|
|
|
|
LogHelper.Pilerlog($"入库任务：{baseTaskQueue.pilerTaskCode};映射为PlcDirectiveDTO");
|
|
|
|
|
|
|
|
|
|
|
|
#region 将入库任务转换成字节发送
|
|
|
|
|
|
byte[] buffer = new byte[42];
|
|
|
|
|
|
taskDTO.inStorePlatformCode = 0;
|
|
|
|
|
|
taskDTO.claimGoods = 0;
|
|
|
|
|
|
taskDTO.unload = 0;
|
|
|
|
|
|
taskDTO.outStorePlatformCode = 0;
|
|
|
|
|
|
taskDTO.goodsSize = 0;
|
|
|
|
|
|
taskDTO.goodsHeight = 0;
|
|
|
|
|
|
taskDTO.goodsWeight = 0;
|
|
|
|
|
|
taskDTO.trayCode = 0;
|
|
|
|
|
|
taskDTO.takePutTheCar = 0;
|
|
|
|
|
|
taskDTO.verify = 0;
|
|
|
|
|
|
taskDTO.exitFork = 1;
|
|
|
|
|
|
byte[] taskNo = StringChange.intToBytesBig(taskDTO.pilerTaskCode);
|
|
|
|
|
|
taskNo.CopyTo(buffer, 0);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerTaskType).CopyTo(buffer, 4);
|
|
|
|
|
|
Array.Reverse(buffer, 4, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.inStorePlatformCode).CopyTo(buffer, 6);
|
|
|
|
|
|
Array.Reverse(buffer, 6, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.claimGoods).CopyTo(buffer, 8);
|
|
|
|
|
|
Array.Reverse(buffer, 8, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.unload).CopyTo(buffer, 10);
|
|
|
|
|
|
Array.Reverse(buffer, 10, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.outStorePlatformCode).CopyTo(buffer, 12);
|
|
|
|
|
|
Array.Reverse(buffer, 12, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerClaimGoodsRows).CopyTo(buffer, 14);
|
|
|
|
|
|
Array.Reverse(buffer, 14, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerClaimGoodsLine).CopyTo(buffer, 16);
|
|
|
|
|
|
Array.Reverse(buffer, 16, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerClaimGoodsTier).CopyTo(buffer, 18);
|
|
|
|
|
|
Array.Reverse(buffer, 18, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerUnloadRows).CopyTo(buffer, 20);
|
|
|
|
|
|
Array.Reverse(buffer, 20, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerUnloadLine).CopyTo(buffer, 22);
|
|
|
|
|
|
Array.Reverse(buffer, 22, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.pilerUnloadTier).CopyTo(buffer, 24);
|
|
|
|
|
|
Array.Reverse(buffer, 24, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.goodsSize).CopyTo(buffer, 26);
|
|
|
|
|
|
Array.Reverse(buffer, 26, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.goodsHeight).CopyTo(buffer, 28);
|
|
|
|
|
|
Array.Reverse(buffer, 28, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.goodsWeight).CopyTo(buffer, 30);
|
|
|
|
|
|
Array.Reverse(buffer, 30, 2);
|
|
|
|
|
|
byteTransform.TransByte((int)taskDTO.trayCode).CopyTo(buffer, 32);
|
|
|
|
|
|
Array.Reverse(buffer, 32, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.takePutTheCar).CopyTo(buffer, 36);
|
|
|
|
|
|
Array.Reverse(buffer, 36, 2);
|
|
|
|
|
|
byteTransform.TransByte((byte)taskDTO.verify).CopyTo(buffer, 38);
|
|
|
|
|
|
Array.Reverse(buffer, 38, 2);
|
|
|
|
|
|
byteTransform.TransByte((short)taskDTO.exitFork).CopyTo(buffer, 40);
|
|
|
|
|
|
Array.Reverse(buffer, 40, 2);
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
taskCode = taskDTO.pilerTaskCode.ToString();
|
|
|
|
|
|
taskQueue = baseTaskQueue;
|
|
|
|
|
|
TaskInfoRefreshEvent?.Invoke(Convert.ToInt32(baseTaskQueue.pilerTaskCode), TaskType.InStore, locationArea, $"{taskQueue.pilerUnloadRows} - {taskQueue.pilerUnloadLine} - {taskQueue.pilerUnloadTier}");
|
|
|
|
|
|
|
|
|
|
|
|
bool res = baseTaskQueueBusiness.DeleteTaskQueue(baseTaskQueue).Result;
|
|
|
|
|
|
|
|
|
|
|
|
LogHelper.Pilerlog($"入库任务：{baseTaskQueue.pilerTaskCode};移除");
|
|
|
|
|
|
|
|
|
|
|
|
UpdateLocationStatus("A", locationArea, $"{taskQueue.pilerUnloadRows}-{taskQueue.pilerUnloadLine}-{taskQueue.pilerUnloadTier}", LocationStatus.Occupy);
|
|
|
|
|
|
return buffer;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.Pilerlog($"入库任务为空");
|
|
|
|
|
|
return null;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
catch (Exception ex)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.Pilerlog($"获取入库任务逻辑处理异常:{ex.Message}");
|
|
|
|
|
|
LogHelper.Error($"获取入库任务逻辑处理异常:{ex.Message}",ex);
|
|
|
|
|
|
return null;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
private IBaseServices<BaseLocationInfo> locationInfoService = new BaseServices<BaseLocationInfo>();
|
|
|
|
|
|
private void UpdateLocationStatus(string StoreCode,LocationArea locationArea,string locationCode, LocationStatus locationStatus)
|
|
|
|
|
|
{
|
|
|
|
|
|
try
|
|
|
|
|
|
{
|
|
|
|
|
|
var locationInfos = locationInfoService.Query(x => x.storeCode == StoreCode && x.locationArea == locationArea && x.locationCode == locationCode).Result;
|
|
|
|
|
|
|
|
|
|
|
|
if (locationInfos != null)
|
|
|
|
|
|
{
|
|
|
|
|
|
BaseLocationInfo locationInfo = locationInfos.FirstOrDefault();
|
|
|
|
|
|
locationInfo.locationStatus = locationStatus;
|
|
|
|
|
|
var isRes = locationInfoService.Update(locationInfo).Result;
|
|
|
|
|
|
LogHelper.Pilerlog($"库位：{locationInfo.locationCode};状态:{locationStatus};更新{(isRes ? "成功" : "失败")}");
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
catch (Exception ex)
|
|
|
|
|
|
{
|
|
|
|
|
|
LogHelper.Pilerlog($"库位信息更新异常:{ex.Message}");
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
