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1、库位导入代码调整

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2、电梯通信代码调整
This commit is contained in:
yang.lee
2023-12-11 13:52:54 +08:00
parent c8d5847941
commit 0dd220ee4f
14 changed files with 352 additions and 130 deletions
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2
BasicData/Tnb.BasicData.Entities/Entity/BasLocation.cs
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@@ -125,5 +125,5 @@ public partial class BasLocation : BaseEntity<string>
/// <summary>
/// 是否超配(1：不超配 2：超配)
/// </summary>
public string is_overmatch { get; set; }
public string is_overmatch { get; set; } = 1;
}

13
WarehouseMgr/Tnb.WarehouseMgr.Entities/Configs/LocationConfiguration.cs Normal file
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@@ -0,0 +1,13 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Tnb.WarehouseMgr.Entities.Configs
{
public class LocationConfiguration
{
public string TestLocation { get; set; }
}
}

1
WarehouseMgr/Tnb.WarehouseMgr/BaseWareHouseService.cs
View File

@@ -44,6 +44,7 @@ namespace Tnb.WarehouseMgr
};
public OverideVisualDevFunc OverideFuncs { get; } = new OverideVisualDevFunc();
public static SemaphoreSlim s_taskExecuteSemaphore = new(1);
public static SemaphoreSlim s_elevatorStatusSemaphore = new(1);
protected IEventPublisher? EventPublisher { set; get; }

155
WarehouseMgr/Tnb.WarehouseMgr/DeviceProviderService.cs
View File

@@ -1,4 +1,5 @@
using JNPF;
using Aop.Api.Domain;
using JNPF;
using JNPF.Common.Core.Manager;
using JNPF.Common.Enums;
using JNPF.Common.Extension;
@@ -44,6 +45,7 @@ namespace Tnb.WarehouseMgr
private readonly IElevatorControlService _elevatorControlService;
private readonly ElevatorControlConfiguration _eleCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
private readonly ILoggerFactory _loggerFactory;
public static Dictionary<string, int> s_eleLoadedStatusDic = new();
@@ -61,6 +63,13 @@ namespace Tnb.WarehouseMgr
_userManager = userManger;
_elevatorControlService = elevatorControlService;
_ = InitializationTask;
if (s_eleLoadedStatusDic.Count < 1)
{
foreach (var (k, _) in s_elevatorMap)
{
s_eleLoadedStatusDic[k] = 0;
}
}
}
/// <summary>
@@ -68,10 +77,10 @@ namespace Tnb.WarehouseMgr
/// </summary>
/// <returns></returns>
[HttpPost, NonUnify]
public async Task<Result> CreateTaskChain()
public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> CreateTaskChain()
{
Logger.LogInformation("fasdfadsfadsfasdfasdfadsfasdfadsfadsfasdfasdfasdfasdfas");
return await Task.FromResult<Result>(null);
return await Task.FromResult<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result>(null);
}
/// <summary>
@@ -80,12 +89,12 @@ namespace Tnb.WarehouseMgr
/// <param name="input"></param>
/// <returns></returns>
[HttpPost, NonUnify, AllowAnonymous]
public async Task<Result> LoadConfirm(ConfirmInput input)
public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> LoadConfirm(ConfirmInput input)
{
Logger.Information("--------------------------------------------------------");
Logger.Information("取货确认..................");
var whereExp = Expressionable.Create<WmsElevatorH, WmsElevatorD, WmsDistaskH>()
.And((a, b, c) => c.bill_code == input.taskCode)
.And((a, b, c) => a.enabled == 1)
.AndIF(SqlFunc.Contains("DT-R", input.sourceName), (a, b, c) => c.startpoint_code == input.sourceName)
.AndIF(SqlFunc.Contains("DT-C", input.sourceName), (a, b, c) => c.endlocation_code == input.sourceName)
.ToExpression();
@@ -107,17 +116,49 @@ namespace Tnb.WarehouseMgr
}
try
{
Logger.Information($"当前任务Id:{elevator.distask_id}");
Logger.Information($"elevator.device_id={elevator.device_id}");
if (s_elevatorMap.TryGetValue(elevator.device_id, out object? elevatorCode))
{
string devName = elevatorCode?.ToString() ?? _eleCtlCfg.DevName3;
string devName = elevatorCode?.ToString();
Logger.Information($"获取设备:{devName},状态");
var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);
Logger.Information($"电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>()},运行状态:{runStatus.ToEnum<EnumRunStatus>()},Agv状态:{agvStatus.ToEnum<EnumAgvStatus>()},当前楼层：{floorNo}");
{
if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.开门到位保持)
var curFloor = await GetRealFloor(elevator.end_floor);
Logger.Information($"目标楼层：{curFloor},电梯当前楼层:{floorNo}");
Logger.Information($"当前放货设备ID：{elevator.device_id}");
var loadedStatus = s_eleLoadedStatusDic[elevator.device_id] == 1 ? "完成" : "未完成";
Logger.Information($"{devName.Match(@"\d+")}#梯,放货-> {loadedStatus}");
var devId = elevator.device_id;
KeyValuePair<string, int> freeElePair = new();
if (s_eleLoadedStatusDic[elevator.device_id] != 1)
{
var loadedStatusPairs = s_eleLoadedStatusDic.Where(kv => kv.Value == 1).ToList();
var rIdx = Random.Shared.Next(0, loadedStatusPairs.Count);
freeElePair = loadedStatusPairs[rIdx];
if (!freeElePair.Key.IsNullOrWhiteSpace() && s_elevatorMap.TryGetValue(freeElePair.Key, out object? v))
{
devId = freeElePair.Key;
devName = v?.ToString()!;
Logger.Information($"查找到已放货的设备:{devName},设备ID:{freeElePair.Key}");
}
}
if (s_eleLoadedStatusDic[devId] == 1 && curFloor != floorNo)
{
_ = await _elevatorControlService.CallLift(devName, elevator.end_floor, CancellationToken.None);
s_eleLoadedStatusDic[devId] = 0;
}
if (curFloor != floorNo)
{
return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
}
if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.开门到位保持 && floorNo == curFloor) //判断电梯楼层与当前放货在同一楼层在允许放货
{
_ = await _elevatorControlService.SendOpenCloseCmd(devName, 3); //发送电梯前门开门指令
}
@@ -138,7 +179,6 @@ namespace Tnb.WarehouseMgr
throw;
}
return await ToApiResult(HttpStatusCode.OK, "未启用");
Logger.Information("--------------------------------------------------------");
}
/// <summary>
@@ -147,7 +187,7 @@ namespace Tnb.WarehouseMgr
/// <param name="input"></param>
/// <returns></returns>
[HttpPost, NonUnify, AllowAnonymous]
public async Task<Result> UnloadConfirm(ConfirmInput input)//
public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> UnloadConfirm(ConfirmInput input)//
{
Logger.Information("放货确认..................");
Logger.Information($"输入参数:{JsonConvert.SerializeObject(input)}");
@@ -155,10 +195,12 @@ namespace Tnb.WarehouseMgr
{
var whereExp = Expressionable.Create<WmsElevatorH, WmsElevatorD, WmsDistaskH>()
.And((a, b, c) => c.bill_code == input.taskCode)
.And((a, b, c) => a.enabled == 1)
.AndIF(SqlFunc.Contains("DT-R", input.sourceName), (a, b, c) => c.startpoint_code == input.sourceName)
.AndIF(SqlFunc.Contains("DT-C", input.sourceName), (a, b, c) => c.endlocation_code == input.sourceName)
.ToExpression();
//根据Agv传递的参数获取，对应的电梯
WmsElevatorH elevator = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
.LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.endlocation_id)
@@ -171,13 +213,15 @@ namespace Tnb.WarehouseMgr
.FirstAsync();
if (elevator.IsNull())
{
throw new Exception($"根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务");
Logger.Error($"根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务");
}
if (s_elevatorMap.TryGetValue(elevator.device_id, out object? elevatorCode))
{
string devName = elevatorCode?.ToString() ?? _eleCtlCfg.DevName3;
string devName = elevatorCode?.ToString();
var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
Logger.Information($"获取设备:{devName},状态");
await Task.Delay(1000);
(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);//elevator.elevator_code
Logger.Information($"电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>()},运行状态:{runStatus},门状态:{doorStatus},Agv状态:{agvStatus},当前楼层：{floorNo}");
//判断Agv电梯是否进入状态
@@ -188,11 +232,43 @@ namespace Tnb.WarehouseMgr
Logger.Information("目前正常");
var curFloor = await GetRealFloor(elevator.end_floor);
Logger.Information($"当前放货设备ID：{elevator.device_id}");
var loadedStatus = s_eleLoadedStatusDic[elevator.device_id] == 1 ? "完成" : "未完成";
Logger.Information($"{devName.Match(@"\d+")}#梯,放货-> {loadedStatus}");
var devId = elevator.device_id;
KeyValuePair<string, int> freeElePair = new();
if (s_eleLoadedStatusDic[elevator.device_id] != 1)
{
var loadedStatusPairs = s_eleLoadedStatusDic.Where(kv => kv.Value == 1).ToList();
var rIdx = Random.Shared.Next(0, loadedStatusPairs.Count);
freeElePair = loadedStatusPairs[rIdx];
if (!freeElePair.Key.IsNullOrWhiteSpace() && s_elevatorMap.TryGetValue(freeElePair.Key, out object? v))
{
devId = freeElePair.Key;
devName = v?.ToString()!;
Logger.Information($"查找到已放货的设备:{devName},设备ID:{freeElePair.Key}");
}
}
if (s_eleLoadedStatusDic[devId] == 1 && curFloor != floorNo)
{
_ = await _elevatorControlService.CallLift(devName, elevator.end_floor, CancellationToken.None);
s_eleLoadedStatusDic[devId] = 0;
}
if (curFloor != floorNo)
{
return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
}
Logger.Information($"当前楼层：{curFloor}，电梯所在楼层:{floorNo}");
//电梯到达目标楼层后，判断当前电梯门状态是否为开门到位保持状态
if (doorStatus != (int)EnumDoorStatus.开门到位保持)
if (doorStatus != (int)EnumDoorStatus.开门到位保持 && curFloor == floorNo) //判断目标楼层与电梯所在楼层在同一层才可开门放货
{
_ = await _elevatorControlService.SendOpenCloseCmd(devName, 3); //发送电梯前门开门指令
}
if (sysStatus == (int)EnumSysStatus.正常状态 && runStatus == (int)EnumRunStatus.停梯
&& doorStatus == (int)EnumDoorStatus.开门到位保持)
{
@@ -229,7 +305,7 @@ namespace Tnb.WarehouseMgr
/// </summary>
/// <returns></returns>
[HttpPost, NonUnify, AllowAnonymous]
public async Task<Result> TaskChainCallBack(TaskChainCallBackInput input)
public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> TaskChainCallBack(TaskChainCallBackInput input)
{
try
@@ -306,7 +382,7 @@ namespace Tnb.WarehouseMgr
/// <param name="input"></param>
/// <returns></returns>
[HttpPost, NonUnify, AllowAnonymous]
public async Task<Result> TaskCallback(TaskCallBackInput input)
public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> TaskCallback(TaskCallBackInput input)
{
Logger.Information($"任务状态上报->接收参数:{JsonConvert.SerializeObject(input)}");
@@ -316,7 +392,6 @@ namespace Tnb.WarehouseMgr
List<WmsDistaskH> disTasks = await _db.Queryable<WmsDistaskH>().Where(it => it.bill_code.Contains(input.taskCode)).ToListAsync();
if (input.action == "LOAD")
{
Logger.Information("----------Load Begin----------");
TaskExecuteAfterUpInput taskExecuteAfterUpInput = new()
{
@@ -326,27 +401,45 @@ namespace Tnb.WarehouseMgr
Logger.Information($"设备取返回输入参数:{JsonConvert.SerializeObject(taskExecuteAfterUpInput)}");
await _wareHouseService.TaskExecuteAfter(taskExecuteAfterUpInput);
Logger.Information($"Agv取货完成,任务Id:{string.Join(",", disTasks.Select(x => x.id))}");
var disTask = disTasks.Find(x => x.bill_code == input.taskCode);
if (disTask != null && !disTask.startlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase))
{
return await ToApiResult(HttpStatusCode.OK, "成功");
}
//根据Agv传递的参数获取，对应的电梯
WmsElevatorH elevator = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
.Where((a, b) => b.location_id == disTask.startlocation_id)
.Select((a, b) => new WmsElevatorH
{
device_id = a.elevator_id,
}, true)
.FirstAsync();
s_eleLoadedStatusDic[elevator.device_id] = 1;
Logger.Information($"当前取货设备ID：{elevator.device_id}");
//根据disTask StartLocationId 起始库位关联电梯获取设备ID location_code.Continas("")
var devName = s_elevatorMap[elevator.device_id]?.ToString();
Logger.Information($"{devName.Match(@"\d+")}#梯，设备名称：{devName}，开始进入关门流程");
int doorStatus = await _elevatorControlService.GetTagAsync(devName, ElevatorConsts.DoorStatus);
Logger.Information($"设备:{devName},门状态：{doorStatus.ToEnum<EnumDoorStatus>().ToString()}");
if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持
&& !disTask.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase)
)
{
_ = await _elevatorControlService.SendOpenCloseCmd(devName, 4); //向电梯发送前门关门指令
}
WmsElevatorUnexecute elevatorQueueItem = await _db.Queryable<WmsElevatorUnexecute>().FirstAsync(it => disTasks.Select(x => x.id).Contains(it.distask_id) && it.task_status == "执行中");
if (elevatorQueueItem != null)
{
Logger.Information("开始进入关门流程");
var disTask = disTasks.Find(x => x.id == elevatorQueueItem.distask_id);
int doorStatus = await _elevatorControlService.GetTagAsync(elevatorQueueItem.elevator_code, ElevatorConsts.DoorStatus);
if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持
&& !disTask.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase)
)
{
_ = await _elevatorControlService.SendOpenCloseCmd(elevatorQueueItem.elevator_code, 4); //向电梯发送前门关门指令
_ = await _db.Deleteable(elevatorQueueItem).ExecuteCommandAsync();
}
}
Logger.Information("----------Load End----------");
_ = await _db.Deleteable(elevatorQueueItem).ExecuteCommandAsync();
}
}
else if (input.action == "UNLOAD")
{
Logger.Information("----------UnLoad Begin----------");
TaskCompleUpInput taskCompleUpInput = new()
{
@@ -355,12 +448,12 @@ namespace Tnb.WarehouseMgr
Logger.Information($"taskCompleUpInput json parameter:{JsonConvert.SerializeObject(taskCompleUpInput)}");
await _wareHouseService.TaskComplate(taskCompleUpInput);
Logger.Information("----------UnLoad end----------");
}
}
catch (Exception ex)
{
Logger.Error("任务状态上报出现错误", ex);
Logger.Error("任务状态上报错误堆栈信息", ex.StackTrace);
return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
throw;
}
@@ -378,7 +471,7 @@ namespace Tnb.WarehouseMgr
/// <param name="input"></param>
/// <returns></returns>
[HttpPost, NonUnify, AllowAnonymous]
public async Task<Result> ElevatorConfirm(ConfirmInput input)
public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> ElevatorConfirm(ConfirmInput input)
{
try
{
@@ -465,7 +558,7 @@ namespace Tnb.WarehouseMgr
/// <param name="input"></param>
/// <returns></returns>
[HttpPost, NonUnify, AllowAnonymous]
public Task<Result> CTUUnloadConfirm(ConfirmInput input)
public Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> CTUUnloadConfirm(ConfirmInput input)
{
var data = "";
try

206
WarehouseMgr/Tnb.WarehouseMgr/ElevatorControlService.cs
View File

@@ -3,6 +3,8 @@ using System.Dynamic;
using DingTalk.Api.Request;
using JNPF;
using JNPF.Common.Extension;
using JNPF.Common.Manager;
using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
@@ -28,38 +30,63 @@ namespace Tnb.WarehouseMgr
private readonly bool isFrontDoorBit = false; //是否到前门位
private readonly IServiceProvider _sp;
private readonly BackgroundService _backgudSvc;
private readonly ICacheManager _cacheMgr;
public ElevatorControlService(IServiceProvider sp, BackgroundService bgSvc)
public ElevatorControlService(IServiceProvider sp, BackgroundService bgSvc, ICacheManager cacheMgr)
{
_elevatorCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
_sp = sp;
_backgudSvc = bgSvc;
_cacheMgr = cacheMgr;
}
/// <summary>
/// 呼梯测试
/// </summary>
/// <returns></returns>
[HttpPost]
public async Task<dynamic> CallLiftTest(string devName, int floor)
[HttpPost, AllowAnonymous]
public async Task<dynamic> CallLiftTest()
{
bool isSuccefuly = false;
//var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
//(int sysStatus, int runStatus, _, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, tags, CancellationToken.None);
////判断当前楼层是否是放货楼层,如不是则呼叫电梯到当前楼层
//if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯 &&
// agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
//{
// if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持)
// {
// _ = await SendOpenCloseCmd(devName, (int)EnumAgvControl.前门关门);
// }
// dynamic result = await WriteTagAsync(devName, ElevatorConsts.FloorExecute, floor); //呼叫电梯到指定楼层
// if (!string.IsNullOrEmpty(result))
// {
// JObject jo = JObject.Parse(result);_
// isSuccefuly = jo?.Value<string>("Result")?.Equals("Ok", StringComparison.OrdinalIgnoreCase) ?? false;
// }
//}
var value = "";
var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
(int sysStatus, int runStatus, _, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, tags, CancellationToken.None);
//判断当前楼层是否是放货楼层,如不是则呼叫电梯到当前楼层
if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯 &&
agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
try
{
if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持)
var statusMap = await RedisHelper.HGetAllAsync("Elevator3");
foreach (var tag in tags)
{
_ = await SendOpenCloseCmd(devName, (int)EnumAgvControl.前门关门);
}
dynamic result = await WriteTagAsync(devName, ElevatorConsts.FloorExecute, floor); //呼叫电梯到指定楼层
if (!string.IsNullOrEmpty(result))
{
JObject jo = JObject.Parse(result);
isSuccefuly = jo?.Value<string>("Result")?.Equals("Ok", StringComparison.OrdinalIgnoreCase) ?? false;
if (statusMap.ContainsKey(tag))
{
var cacheItem = statusMap[tag];
var jo = JObject.Parse(cacheItem);
var v = jo.Value<int>("V");
}
}
//value = await _cacheMgr.GetAsync("Elevator3");
}
catch (Exception ex)
{
throw;
}
return isSuccefuly;
}
@@ -162,22 +189,25 @@ namespace Tnb.WarehouseMgr
/// <returns></returns>
public async Task<bool> SendOpenCloseCmd(string devName, int value)
{
Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
var flag = false;
/*Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
{
["DevName"] = devName,
["token"] = _elevatorCtlCfg.token,
["TagName"] = "DoorExecute",
["Value"] = value.ToString()
};
};*/
var eleStatusMap = await RedisHelper.HGetAllAsync(devName);
try
{
_ = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
//_ = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
flag = await RedisHelper.HSetAsync(devName, ElevatorConsts.DoorExecute, value);
}
catch (Exception)
{
return false;
}
return true;
return flag;
}
/// <summary>
/// 设置Agv控制请求状态
@@ -206,14 +236,17 @@ namespace Tnb.WarehouseMgr
/// <returns></returns>
public async Task<dynamic> WriteTagAsync(string devName, string tagName, int value)
{
Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
/*Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
{
["DevName"] = devName,
["token"] = _elevatorCtlCfg.token,
["TagName"] = tagName,
["Value"] = value.ToString()
};
return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);*/
return await RedisHelper.HSetAsync(devName, tagName, value);
}
/// <summary>
@@ -225,7 +258,7 @@ namespace Tnb.WarehouseMgr
public async Task<int> GetTagAsync(string devName, string tagName)
{
Dictionary<string, string> dicCommand = new()
/*Dictionary<string, string> dicCommand = new()
{
["DevName"] = devName,
["token"] = _elevatorCtlCfg.token,
@@ -233,7 +266,15 @@ namespace Tnb.WarehouseMgr
};
string result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
JObject jo = JObject.Parse(result);
return jo.Value<int>("V");
return jo.Value<int>("V");*/
var eleStatusMap = await RedisHelper.HGetAllAsync(devName);
if (eleStatusMap.ContainsKey(tagName))
{
JObject jo = JObject.Parse(eleStatusMap[tagName]);
return jo.Value<int>("V");
}
return -1;
}
@@ -289,49 +330,65 @@ namespace Tnb.WarehouseMgr
[HttpPost("GetElevatorStatus")]
public async Task<(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus)> GetElevatorStatus([NotNull] string devName, [FromBody] IEnumerable<string> tags, CancellationToken token)
{
Task<string> GetTag(string tag)
{
var dicCommand = new Dictionary<string, string>
{
["DevName"] = devName,
["token"] = _elevatorCtlCfg.token,
["TagName"] = tag
};
/* async Task<string> GetTag(string tag)
{
var dicCommand = new Dictionary<string, string>
{
["DevName"] = devName,
["token"] = _elevatorCtlCfg.token,
["TagName"] = tag
};
return HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
}
return await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
}
*/
await s_elevatorStatusSemaphore.WaitAsync(token);
var tasks = tags.Select(tag => GetTag(tag));
var results = await Task.WhenAll(tasks.Select(task => task));
Logger.Information($"状态结果:{string.Join(",",results)}");
var jos = results.Select(r => JObject.Parse(r)).ToArray();
var (sysStatus, runStatus, floorNo, doorStatus, agvStatus) = (0, 0, 0, 0, 0);
var propertyMap = new Dictionary<string, Action<int>>()
try
{
{ ElevatorConsts.SysStatus, v => sysStatus = v },
{ ElevatorConsts.RunStatus, v => runStatus = v },
{ ElevatorConsts.FloorNo, v => floorNo = v },
{ ElevatorConsts.DoorStatus, v => doorStatus = v },
{ ElevatorConsts.AGVStatus, v => agvStatus = v },
};
if (jos?.Length > 0)
{
foreach (var jo in jos)
//var tasks = tags.Select(tag => GetTag(tag));
//var results = await Task.WhenAll(tasks.Select(task => task));
var statusMap = await RedisHelper.HGetAllAsync(devName);
List<JObject> jos = new();
foreach (var tag in tags)
{
if (jo == null)
if (statusMap.ContainsKey(tag))
{
continue;
}
string? tagName = jo!.Value<string>("Name");
int value = jo!.Value<int>("V");
if (propertyMap.TryGetValue(tagName!, out var setProperty))
{
setProperty(value);
jos.Add(JObject.Parse(tag));
}
}
var propertyMap = new Dictionary<string, Action<int>>()
{
{ ElevatorConsts.SysStatus, v => sysStatus = v },
{ ElevatorConsts.RunStatus, v => runStatus = v },
{ ElevatorConsts.FloorNo, v => floorNo = v },
{ ElevatorConsts.DoorStatus, v => doorStatus = v },
{ ElevatorConsts.AGVStatus, v => agvStatus = v },
};
if (jos?.Count > 0)
{
foreach (var jo in jos)
{
if (jo == null)
{
continue;
}
string? tagName = jo!.Value<string>("TagName");
int value = jo!.Value<int>("V");
if (propertyMap.TryGetValue(tagName!, out var setProperty))
{
setProperty(value);
}
}
}
}
finally
{
s_elevatorStatusSemaphore.Release();
}
return (sysStatus, runStatus, floorNo, doorStatus, agvStatus);
@@ -400,12 +457,12 @@ namespace Tnb.WarehouseMgr
{
_ = await SendOpenCloseCmd(devName, (int)EnumAgvControl.前门关门);
}
dynamic result = await WriteTagAsync(devName, ElevatorConsts.FloorExecute, floor); //呼叫电梯到指定楼层
if (!string.IsNullOrEmpty(result))
{
JObject jo = JObject.Parse(result);
isSuccefuly = jo?.Value<string>("Result")?.Equals("Ok", StringComparison.OrdinalIgnoreCase) ?? false;
}
isSuccefuly = await WriteTagAsync(devName, ElevatorConsts.FloorExecute, floor); //呼叫电梯到指定楼层
//if (!string.IsNullOrEmpty(result))
//{
// JObject jo = JObject.Parse(result);
// isSuccefuly = jo?.Value<string>("Result")?.Equals("Ok", StringComparison.OrdinalIgnoreCase) ?? false;
//}
}
return isSuccefuly;
}
@@ -418,6 +475,9 @@ namespace Tnb.WarehouseMgr
tasks.Add(WriteTagAsync(devName, ElevatorConsts.AGVControl, input.value));
}
return tasks;
}
public async Task CloseElevatorControl(CloseElevatorInput input)
@@ -426,8 +486,22 @@ namespace Tnb.WarehouseMgr
{
throw new ArgumentNullException(nameof(input.devNames));
}
var tasks = ParallelWriteTagAsync(input);
var writeRes = await Task.WhenAll(tasks);
//var tasks = ParallelWriteTagAsync(input);
List<Dictionary<string, string>> devInfoList = new();
foreach (var dn in input.devNames)
{
var eleStatusMap = await RedisHelper.HGetAllAsync(dn);
if (eleStatusMap?.Count > 0)
{
devInfoList.Add(eleStatusMap);
}
}
foreach (var devMap in devInfoList)
{
devMap[ElevatorConsts.AGVControl] = input.value.ToString();
}
//var writeRes = await Task.WhenAll(tasks);
var timedTaskSvc = _backgudSvc as TimedTaskBackgroundService;
if (timedTaskSvc != null)
{

4
WarehouseMgr/Tnb.WarehouseMgr/LocationDefinitionService.cs
View File

@@ -5,6 +5,8 @@ using JNPF.FriendlyException;
using JNPF.VisualDev;
using JNPF.VisualDev.Entitys.Dto.VisualDev;
using Mapster;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using SqlSugar;
using Tnb.BasicData.Entities;
using Tnb.WarehouseMgr.Entities;
@@ -117,7 +119,7 @@ namespace Tnb.WarehouseMgr
l.org_id = orgId;
l.location_name = l.location_code;
l.is_lock = 0;
l.carrystd_id = carryStdDic[l.carrystd_id]?.ToString()!;
l.carrystd_id = JsonConvert.SerializeObject(new[] { carryStdDic[l.carrystd_id]?.ToString()! });
l.wh_id = whDic[l.wh_id]?.ToString()!;
l.region_id = rgDic[l.region_id]?.ToString();
l.create_id = userId;

18
WarehouseMgr/Tnb.WarehouseMgr/TimedTaskBackgroundService.cs
View File

@@ -46,14 +46,16 @@ namespace Tnb.WarehouseMgr
{
foreach (var devName in s_heartbeatDevNames)
{
Dictionary<string, string> parameter = new()
{
["DevName"] = devName,
["TagName"] = ElevatorConsts.AGVKeepalive,
["Value"] = "123",
["token"] = _elevatorControlConfiguration.token
};
string result = await HttpClientHelper.GetAsync(_elevatorControlConfiguration.WriteTagUrl, pars: parameter);
/* Dictionary<string, string> parameter = new()
{
["DevName"] = devName,
["TagName"] = ElevatorConsts.AGVKeepalive,
["Value"] = "123",
["token"] = _elevatorControlConfiguration.token
};
string result = await HttpClientHelper.GetAsync(_elevatorControlConfiguration.WriteTagUrl, pars: parameter);
*/
var result = await RedisHelper.HSetAsync(devName, ElevatorConsts.AGVKeepalive, "123");
await Console.Out.WriteLineAsync($"{devName.Match(@"\d+")}#梯, 心跳检测结果:{result}");
}
}, stoppingToken, 30);

40
WarehouseMgr/Tnb.WarehouseMgr/WareHouseService.cs
View File

@@ -14,6 +14,7 @@ using Mapster;
using Microsoft.AspNetCore.Mvc;
using Microsoft.CodeAnalysis;
using Newtonsoft.Json;
using NPOI.OpenXmlFormats.Dml;
using SqlSugar;
using Tnb.BasicData.Entities;
using Tnb.Common.Extension;
@@ -252,7 +253,6 @@ namespace Tnb.WarehouseMgr
floor = b.floor
}, true).ToListAsync();
Logger.Information($"可用电梯信息:{string.Join(",", elevatorList.Select(e => e.elevator_code).Distinct())}");
//获取所有未下发的预任务申请
@@ -386,7 +386,6 @@ namespace Tnb.WarehouseMgr
{
elevatorList = elevatorList.FindAll(x => endPointIds.Contains(x.point_id));
Logger.Information($"过滤后的elevatorList：{JsonConvert.SerializeObject(elevatorList)}");
if (elevatorList?.Count > 0)
{
@@ -438,9 +437,18 @@ namespace Tnb.WarehouseMgr
.Select(it => (it.endlocation_code, it.device_id, it.id, it.start_floor)).ToList();
if (endLocCodes?.Count > 0)
{
Logger.Information("呼梯操作");
await CallingLanding(endLocCodes);
if (endLocCodes.Select(x => x.device_id).All(x => !x.IsNullOrWhiteSpace()))
{
Logger.Information("呼梯操作");
_ = CallingLanding(endLocCodes);
}
else
{
Logger.Error("呼梯失败，没有设备ID");
return;
}
}
//执行电梯任务
List<WmsDistaskH>? elevatorTasks = disTasks.Where(it => it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
@@ -449,16 +457,18 @@ namespace Tnb.WarehouseMgr
Logger.Information($"当前电梯任务数:{elevatorTasks?.Count ?? 0}");
foreach (WmsDistaskH? elevatorTask in elevatorTasks)
{
await ExecuteTargetFloorTask(elevatorTask);
_ = ExecuteTargetFloorTask(elevatorTask);
}
}
}
////调用AGV创建任务链接口
//调用AGV创建任务链接口
List<WmsDistaskH> agvTasks = disTasks.Where(it => !it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
if (agvTasks?.Count > 0)
{
Logger.Information($"Agv任务数量：{agvTasks.Count},taskCodes:{string.Join(",", agvTasks.Select(x => x.bill_code).Distinct())}");
await AgvDispatch(agvTasks, agvCts.Token);
_ = AgvDispatch(agvTasks, agvCts.Token);
}
@@ -489,7 +499,6 @@ namespace Tnb.WarehouseMgr
private async Task CallingLanding(List<(string endlocation_code, string device_id, string id, int floorNO)> endLocCodes)
{
Logger.Information($" 开始呼梯操作.............");
Logger.Information($"电梯信息:{JsonConvert.SerializeObject(s_elevatorMap)}");
try
{
foreach ((_, string devId, string disTaskId, int floorNO) in endLocCodes)
@@ -508,8 +517,7 @@ namespace Tnb.WarehouseMgr
(int sysStatus, int runStatus, int curFloorNo, int doorStatus, int agvStatus) eleStatusMulti = (-1, -1, -1, -1, -1);
if (!_elevatorAgvCtlStatusMap.TryGetValue(devId, out int agvCtlStatus) || agvCtlStatus != (int)EnumAgvStatus.AGV运行状态)
{
Logger.Information("获取电梯状态");
Logger.Information($"_elevatorControlService ==null{_elevatorControlService == null}");
Logger.Information("获取电梯AGV运行状态");
var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
do
{
@@ -522,7 +530,7 @@ namespace Tnb.WarehouseMgr
Logger.Information($"任务开始目标楼层为:{floorNO}");
int floorN = await GetRealFloor(floorNO.ParseToInt());
int floorN = await GetRealFloor(floorNO);
//如果电梯在当前楼层则不呼梯
if (floorN == eleStatusMulti.curFloorNo)
{
@@ -586,9 +594,13 @@ namespace Tnb.WarehouseMgr
Logger.Information($"当前:{devName.Match(@"\d+")}#梯");
_ = await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
(int sysStatus, int runStatus, int curFloorNo, int doorStatus, int agvStatus) eleStatusMulti = (-1, -1, -1, -1, -1);
var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
(int sysStatus, int runStatus, int curFloorNo, int doorStatus, int agvStatus) eleStatusMulti = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);
if (eleStatusMulti.agvStatus != (int)EnumAgvStatus.AGV运行状态)
{
_ = await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
}
if (!_elevatorAgvCtlStatusMap.TryGetValue(disTask.id, out int agvCtlStatus) || agvCtlStatus != (int)EnumAgvStatus.AGV运行状态)
{
do
@@ -661,6 +673,7 @@ namespace Tnb.WarehouseMgr
/// <returns></returns>
private async Task AgvDispatch(List<WmsDistaskH> disTasks, CancellationToken token)
{
Logger.Information("Agv任务执行....");
//调用AGV创建任务链接口
try
{
@@ -999,7 +1012,6 @@ namespace Tnb.WarehouseMgr
{
List<WmsRoad> roads = await _db.Queryable<WmsRoad>().Where(it => it.status == 1).ToListAsync();
List<WmsPointH> points = await LocPathCalcAlgorithms(pStartId, pEndId, roads);
Logger.Information($"points:{string.Join(",", points.Select(p => p.point_code))}");
try
{
if (points?.FindAll(x => x.location_code != null && x.location_code.Contains("dt", StringComparison.OrdinalIgnoreCase))?.Count > 0)

10
WarehouseMgr/Tnb.WarehouseMgr/WmsEmptyInstockService.cs
View File

@@ -13,6 +13,7 @@ using JNPF.VisualDev.Entitys;
using JNPF.VisualDev.Interfaces;
using Mapster;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Configuration;
using Newtonsoft.Json;
using NPOI.SS.Formula.PTG;
using SqlSugar;
@@ -43,6 +44,7 @@ namespace Tnb.WarehouseMgr
private readonly IBillRullService _billRullService;
private readonly IUserManager _userManager;
private readonly ChannelWriter<NotifyMessage> _channelWriter;
private readonly IConfiguration _configuration;
public WmsEmptyInstockService(
ISqlSugarRepository<WmsCarryH> repository,
IRunService runService,
@@ -50,7 +52,8 @@ namespace Tnb.WarehouseMgr
IWareHouseService wareHouseService,
IUserManager userManager,
IBillRullService billRullService,
IEventPublisher eventPublisher
IEventPublisher eventPublisher,
IConfiguration configuration
)
{
_db = repository.AsSugarClient();
@@ -59,6 +62,7 @@ namespace Tnb.WarehouseMgr
_wareHouseService = wareHouseService;
_userManager = userManager;
_billRullService = billRullService;
_configuration = configuration;
OverideFuncs.CreateAsync = WmsEmptyIn;
}
@@ -71,7 +75,9 @@ namespace Tnb.WarehouseMgr
//入库取终点
InStockStrategyQuery inStockStrategyInput = new() { warehouse_id = input.data[nameof(InStockStrategyQuery.warehouse_id)].ToString()!, Size = 1 };
List<BasLocation> endLocations = await _wareHouseService.InStockStrategy(inStockStrategyInput);
//test
BasLocation llll = await _db.Queryable<BasLocation>().FirstAsync(it=>it.location_code == _configuration["TestLocation"]);
List<BasLocation> endLocations = new() { llll }; //await _wareHouseService.InStockStrategy(inStockStrategyInput);
WmsPointH? sPoint = null;
WmsPointH? ePoint = null;
if (input.data.ContainsKey(nameof(WmsPointH.location_id)))

22
WarehouseMgr/Tnb.WarehouseMgr/WmsInternalTempTestService.cs
View File

@@ -3,14 +3,19 @@ using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using JNPF;
using JNPF.Common.Core.Manager;
using JNPF.Common.Extension;
using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Configuration;
using NPOI.SS.Formula.Functions;
using Org.BouncyCastle.Crypto;
using SqlSugar;
using Tnb.BasicData.Entities;
using Tnb.Common.Extension;
using Tnb.WarehouseMgr.Entities;
using Tnb.WarehouseMgr.Entities.Configs;
using Tnb.WarehouseMgr.Entities.Consts;
using Tnb.WarehouseMgr.Entities.Entity;
using Tnb.WarehouseMgr.Entities.Enums;
@@ -21,9 +26,11 @@ namespace Tnb.WarehouseMgr
{
private readonly ISqlSugarClient _db;
private readonly IUserManager _userManager;
public WmsInternalTempTestService(ISqlSugarRepository<BasLocation> repo)
private readonly IConfiguration _configuration;
public WmsInternalTempTestService(ISqlSugarRepository<BasLocation> repo, IConfiguration configuration)
{
_db = repo.AsSugarClient();
_configuration = configuration;
}
/// <summary>
/// 修改列
@@ -48,7 +55,7 @@ namespace Tnb.WarehouseMgr
public async Task UpdateStkMinsync()
{
await _db.Ado.BeginTranAsync();
List<WmsStkTemp> list = await _db.Queryable<WmsStkTemp>().InnerJoin<BasMaterial>((a, b) => a.material_code==b.code)
List<WmsStkTemp> list = await _db.Queryable<WmsStkTemp>().InnerJoin<BasMaterial>((a, b) => a.material_code == b.code)
.InnerJoin<BasLocation>((a, b, c) => a.location_code == c.location_code)
.Select((a, b, c) => new WmsStkTemp
{
@@ -57,7 +64,7 @@ namespace Tnb.WarehouseMgr
unit_id = b.unit_id
}, true).ToListAsync();
foreach (var carrycode in list)
foreach (var carrycode in list)
{
//更新载具条码及状态
WmsCarryCode wmsCarryCode = new();
@@ -79,7 +86,7 @@ namespace Tnb.WarehouseMgr
wmsCarryCode.material_specification = carrycode.material_specification;
wmsCarryCode.container_no = carrycode.container_no;
wmsCarryCode.create_time = DateTime.Now;
if (wmsCarryCode.carry_id != null && wmsCarryCode.location_id != null)
{
await _db.Updateable<WmsCarryH>().SetColumns(it => new WmsCarryH { carry_status = ((int)EnumCarryStatus.占用).ToString(), location_id = wmsCarryCode.location_id, location_code = wmsCarryCode.location_code }).Where(it => it.id == wmsCarryCode.carry_id).ExecuteCommandAsync();
@@ -99,5 +106,12 @@ namespace Tnb.WarehouseMgr
await _db.Ado.CommitTranAsync();
}
[AllowAnonymous]
public Task<string> GetConfigItem()
{
var locCfg = _configuration.Build<LocationConfiguration>();
return Task.FromResult(_configuration["TestLocation"]);
}
}
}

4
apihost/Tnb.API.Entry/Configurations/Cache.json
View File

@@ -1,10 +1,10 @@
{
"Cache": {
"CacheType": "RedisCache", //MemoryCache
"ip": "localhost",
"ip": "192.168.11.109",
"port": 6379,
"password": "05jWEoJa8v",
"RedisConnectionString": "{0}:{1},password={2}, poolsize=500,ssl=false,defaultDatabase=7"
"RedisConnectionString": "{0}:{1},password={2}, poolsize=500,ssl=false,defaultDatabase=0"
},
"Redis": {
"ip": "localhost",

2
apihost/Tnb.API.Entry/Configurations/ElevatorControlSettings.json
View File

@@ -6,5 +6,5 @@
"GetTagListUrl": "http://192.168.11.110:9100/Dev/GetTagList",
"GetTagUrl": "http://192.168.11.110:9100/Dev/GetTag",
"WriteTagUrl": "http://192.168.11.110:9100/Dev/writeTag",
"Environment": ""
"Environment": "tianyi"
}

3
apihost/Tnb.API.Entry/Configurations/Location.json Normal file
View File

@@ -0,0 +1,3 @@
{
"TestLocation": "fffdfadfaf"
}

2
apihost/Tnb.API.Entry/Program.cs
View File

@@ -6,6 +6,8 @@ public class WebComponent : IWebComponent
public void Load(WebApplicationBuilder builder, ComponentContext componentContext)
{
builder.Host.UseWindowsService();
builder.Configuration.AddJsonFile("Location.json", optional: true, reloadOnChange: true);
//// 日志过滤
//builder.Logging.AddFilter((provider, category, logLevel) =>
//{