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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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155
WarehouseMgr/Tnb.WarehouseMgr/DeviceProviderService.cs
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@@ -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