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Merge remote-tracking branch 'origin/dev' into dev

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This commit is contained in:
周科达
2023-10-13 16:07:15 +08:00
parent ba6a950b31 9597c9b3e5
commit 2cfb43a0f0
7 changed files with 151 additions and 100 deletions
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16
WarehouseMgr/Tnb.WarehouseMgr.Entities/Entity/WmsElevatorH.part.cs Normal file
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@@ -0,0 +1,16 @@
using System.Security.Principal;
using JNPF.Common.Contracts;
using JNPF.Common.Security;
using SqlSugar;
namespace Tnb.WarehouseMgr.Entities;
/// <summary>
/// WMS电梯设定主表
/// </summary>
public partial class WmsElevatorH
{
[SugarColumn(IsIgnore = true)]
public int end_floor { get; set; }
}

13
WarehouseMgr/Tnb.WarehouseMgr/AgvHeartbeatMonitorService.cs
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@@ -37,8 +37,17 @@ namespace Tnb.WarehouseMgr
{
while (!stoppingToken.IsCancellationRequested)
{
await HttpClientHelper.GetAsync(_elevatorControlConfiguration.WriteTagUrl, parameter);
await Task.Delay(TimeSpan.FromMinutes(1));
try
{
var result = await HttpClientHelper.GetAsync(_elevatorControlConfiguration.WriteTagUrl, pars: parameter);
await Console.Out.WriteLineAsync($"心跳检测结果:{result}");
await Task.Delay(TimeSpan.FromSeconds(5));
}
catch (Exception ex)
{
throw;
}
}
});

46
WarehouseMgr/Tnb.WarehouseMgr/DeviceProviderService.cs
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@@ -83,6 +83,8 @@ namespace Tnb.WarehouseMgr
[HttpPost, NonUnify, AllowAnonymous]
public async Task<Result> LoadConfirm(ConfirmInput input)
{
Log.Information("取货确认..................");
try
{
var elevator = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
@@ -124,35 +126,51 @@ namespace Tnb.WarehouseMgr
/// <param name="input"></param>
/// <returns></returns>
[HttpPost, NonUnify, AllowAnonymous]
public async Task<Result> UnloadConfirm(ConfirmInput input)
public async Task<Result> UnloadConfirm(ConfirmInput input)//
{
Log.Information("放货确认..................");
try
{
//根据Agv传递的参数获取，对应的电梯
var elevator = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
.LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.startlocation_id)
.LeftJoin<WmsPointH>((a, b, c, d) => c.startlocation_id == d.location_id)
.Where((a, b, c, d) => d.point_code == input.sourceName && c.bill_code == input.taskCode)
.LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.endlocation_id)
.LeftJoin<WmsPointH>((a, b, c, d) => c.endlocation_id == d.location_id)
.Where((a, b, c, d) => d.point_code == input.targetName && c.bill_code == input.taskCode)
.Select((a, b, c, d) => new WmsElevatorH { end_floor = SqlFunc.ToInt32(c.end_floor) }, true)
.FirstAsync();
(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(elevator.elevator_code, CancellationToken.None);
Log.Information($"电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>().ToString()},运行状态:{runStatus.ToEnum<EnumRunStatus>().ToString()},Agv状态:{agvStatus.ToEnum<EnumAgvStatus>().ToString()},当前楼层：{floorNo}");
(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus("Elevator1", CancellationToken.None);//elevator.elevator_code
Log.Information($"电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>().ToString()},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
if (agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
if (agvStatus != (int)EnumAgvStatus.AGV运行状态)
{
await _elevatorControlService.WriteTagAsync(elevator.elevator_code, ElevatorConsts.AGVControl, 1);
await _elevatorControlService.WriteTagAsync("Elevator1", ElevatorConsts.AGVControl, 1);
}
Log.Information("目前正常");
//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.ToEnum<EnumDoorStatus>() != EnumDoorStatus.开门到位保持)
if (doorStatus != (int)EnumDoorStatus.开门到位保持)
{
await _elevatorControlService.SendOpenCloseCmd(elevator.elevator_code, 3); //发送电梯前门开门指令
await _elevatorControlService.SendOpenCloseCmd("Elevator1", 3); //发送电梯前门开门指令
}
if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯
&& doorStatus.ToEnum<EnumDoorStatus>() == EnumDoorStatus.开门到位保持 && floorNo == 4)
Log.Information("fadsfadsfadsfadsfdsa");
if (sysStatus == (int)EnumSysStatus.正常状态 && runStatus == (int)EnumRunStatus.停梯
&& doorStatus == (int)EnumDoorStatus.开门到位保持)
{
elevator.current_floor = floorNo;
await _db.Updateable(elevator).UpdateColumns(it => it.current_floor).ExecuteCommandAsync();
Log.Information("进入开门状态,马上要成功了");
try
{
elevator.current_floor = elevator.end_floor;
await _db.Updateable(elevator).UpdateColumns(it => it.current_floor).ExecuteCommandAsync();
}
catch (Exception ex)
{
Log.Error("更新延迟队列异常",ex);
throw;
}
return await ToApiResult(HttpStatusCode.OK, "成功");
}
return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");

80
WarehouseMgr/Tnb.WarehouseMgr/ElevatorControlService.cs
View File

@@ -40,64 +40,30 @@ namespace Tnb.WarehouseMgr
}
/// <summary>
/// 一楼电梯操作流程
/// 呼梯测试
/// </summary>
/// <returns></returns>
[HttpPost]
public async Task<dynamic> FirstFloorElevatorFlow(string value)
public async Task<dynamic> CallLiftTest(string devName, int floor)
{
//CancellationTokenSource cts = new CancellationTokenSource();//扩展用
////如果不是1楼,判断电梯状态，如果电梯是空闲的向电梯发送一个到一楼的指令
//var wirteRes = await SetAgvControlStatus(1);
//JObject jo = JObject.Parse(wirteRes);
//var propName = "IsStarted";
//if (!_fetchStartedStausValue.TryGetValue(propName, out var func))
//{
// var isStartedProp = _agvHeartbeatMonitor.GetType().GetProperty(propName);
// var paramExp = Expression.Parameter(typeof(BackgroundService), "_agvHeartbeatMonitor");
// var propExp = Expression.Property(Expression.ConvertChecked(paramExp, isStartedProp.DeclaringType), isStartedProp);
// var body = Expression.Lambda<System.Func<BackgroundService, Boolean>>(propExp, paramExp);
// func = body.Compile();
// _fetchStartedStausValue[propName] = func;
//}
//var isStarted = func(_agvHeartbeatMonitor);
//if (!isStarted)
//{
// _agvHeartbeatMonitor.StartAsync(cts.Token);
//}
////获取电梯状态
//(int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
//do
//{
// //multi = await GetElevatorStatus(CancellationToken.None);
// await Task.Delay(2000);
//} while (multi.sysStatus != 3 && multi.runStatus != 0);
//if (multi.sysStatus == 3 && multi.runStatus == 0 && multi.floorNo != 1)
//{
// await WriteTagAsync("FloorExecute", 1);
// if (true) //此处为Agv到一楼开门位，通知操作目前默认为true
// {
// //向电梯发送前门开门指令
// await SendOpenCloseCmd(3);
// //获取门状态 是否为 开门到位保持
// var doorStatus = await GetTagAsync("DoorStatus");
// if (doorStatus == 3)
// {
// //通知Agv进入电梯，放货,默认为true
// if (true)
// {
// //向电梯发送关门指令
// await SendOpenCloseCmd(4);
// }
// }
// }
//}
return Task.FromResult(0);
var isSuccefuly = false;
(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, 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);
}
var 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;
}
}
return isSuccefuly;
}
/// <summary>
/// 三楼电梯操作流程
@@ -327,17 +293,17 @@ namespace Tnb.WarehouseMgr
(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, 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 && floorNo != 4)
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);
}
var result = await WriteTagAsync(devName, ElevatorConsts.FloorExecute, floor); //呼叫电梯到4楼
var 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 = jo?.Value<string>("Result")?.Equals("Ok", StringComparison.OrdinalIgnoreCase) ?? false;
}
}
return isSuccefuly;

53
WarehouseMgr/Tnb.WarehouseMgr/TimedTaskBackgroundService.cs
View File

@@ -26,8 +26,11 @@ using Microsoft.Extensions.Options;
using Natasha.CSharp;
using NetTaste;
using Tnb.Common.Extension;
using Tnb.Common.Utils;
using Tnb.WarehouseMgr.Entities.Attributes;
using Tnb.WarehouseMgr.Entities.Configs;
using Tnb.WarehouseMgr.Entities.Dto.Inputs;
using Tnb.WarehouseMgr.Entities.Dto.Outputs;
using Tnb.WarehouseMgr.Entities.Enums;
using Tnb.WarehouseMgr.Entities.Exceptions;
using Tnb.WarehouseMgr.Interfaces;
@@ -85,14 +88,26 @@ namespace Tnb.WarehouseMgr
{
_eventPublisher = App.GetRequiredService<IEventPublisher>();
var whSvc = App.GetRequiredService<IWareHouseService>();
TimedTask(token => whSvc.GenTaskExecute(token), stoppingToken, 3);
TimedTask(token => whSvc.GenTaskExecute(token), stoppingToken, 1);
//齐套出库
var kittingOutService = App.GetRequiredService<IWmskittingOutService>();
TimedTask(token => kittingOutService.KittingOutByAdd(token), stoppingToken, 3);
TimedTask(token => kittingOutService.KittingOutByIsToBeShipped(token), stoppingToken, 3);
//var kittingOutService = App.GetRequiredService<IWmskittingOutService>();
//TimedTask(token => kittingOutService.KittingOutByAdd(token), stoppingToken, 1);
//TimedTask(token => kittingOutService.KittingOutByIsToBeShipped(token), stoppingToken, 1);
//齐套分拣
var setSortingService = App.GetRequiredService<IWmsSetSortingService>();
TimedTask(token => setSortingService.PackSortingByAdd(token), stoppingToken, 3);
//var setSortingService = App.GetRequiredService<IWmsSetSortingService>();
//TimedTask(token => setSortingService.PackSortingByAdd(token), stoppingToken, 1);
var _elevatorControlConfiguration = App.Configuration.Build<ElevatorControlConfiguration>();
TimedTask(async token =>
{
var parameter = new Dictionary<string, string>();
parameter["DevName"] = _elevatorControlConfiguration.DevName;
parameter["TagName"] = "AGVKeepalive";
parameter["Value"] = "123";
parameter["token"] = _elevatorControlConfiguration.token;
var result = await HttpClientHelper.GetAsync(_elevatorControlConfiguration.WriteTagUrl, pars: parameter);
await Console.Out.WriteLineAsync($"心跳检测结果:{result}");
},stoppingToken,30,TimeSpanUnit.Seconds);
//最低库存检查
var transferSignService = App.GetRequiredService<IWmsPDATransferSignService>();
TimedTask(token => transferSignService.IsMinStorage(token), stoppingToken, 30, TimeSpanUnit.Minutes);
@@ -115,19 +130,19 @@ namespace Tnb.WarehouseMgr
{
if (ex is TimedTaskException timedTaskEx and not null)
{
await _eventPublisher.PublishAsync(new LogEventSource("Log:CreateExLog", timedTaskEx.options!, new SysLogEntity
{
Id = SnowflakeIdHelper.NextId(),
Category = 4,
UserId = timedTaskEx.UserId,
UserName = timedTaskEx.UserName,
IPAddress = NetHelper.Ip,
RequestURL = timedTaskEx.RequestURL,
RequestMethod = timedTaskEx.RequestMethod,
Json = timedTaskEx + "\n" + timedTaskEx.InnerException?.StackTrace + "\n" + timedTaskEx?.TargetSite?.GetParameters().ToString(),
//PlatForm = string.Format("{0}-{1}", userAgent.OS.ToString(), userAgent.RawValue),
CreatorTime = DateTime.Now
}));
//await _eventPublisher.PublishAsync(new LogEventSource("Log:CreateExLog", timedTaskEx.options!, new SysLogEntity
//{
// Id = SnowflakeIdHelper.NextId(),
// Category = 4,
// UserId = timedTaskEx.UserId,
// UserName = timedTaskEx.UserName,
// IPAddress = NetHelper.Ip,
// RequestURL = timedTaskEx.RequestURL,
// RequestMethod = timedTaskEx.RequestMethod,
// Json = timedTaskEx + "\n" + timedTaskEx.InnerException?.StackTrace + "\n" + timedTaskEx?.TargetSite?.GetParameters().ToString(),
// //PlatForm = string.Format("{0}-{1}", userAgent.OS.ToString(), userAgent.RawValue),
// CreatorTime = DateTime.Now
//}));
}
});
await TaskDelay(timeType, interval);

41
WarehouseMgr/Tnb.WarehouseMgr/WareHouseService.cs
View File

@@ -342,15 +342,21 @@ namespace Tnb.WarehouseMgr
//呼梯操作
//获取目标库位为电梯库位的任务
var endLocCodes = disTasks.Select(it => (it.endlocation_code, it.device_id, it.id, it.start_floor)).Where(it => it.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase)).ToList();
var endLocCodes = disTasks
.Where(it => it.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase) &&
!it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)
).Select(it => (it.endlocation_code, it.device_id, it.id, it.start_floor)).ToList();
if (endLocCodes?.Count > 0)
{
await CallingLanding(endLocCodes);
}
//执行电梯任务
var elevatorTasks = disTasks.Where(it => it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
Log.Information($"当前电梯任务数:{elevatorTasks?.Count ?? 0}");
Log.Information("准备执行电梯任务");
if (elevatorTasks?.Count > 0)
{
Log.Information("执行电梯任务");
foreach (var elevatorTask in elevatorTasks)
{
await ExecuteTargetFloorTask(elevatorTask);
@@ -358,7 +364,11 @@ namespace Tnb.WarehouseMgr
}
////调用AGV创建任务链接口
await AgvDispatch(disTasks, agvCts.Token);
var agvTasks = disTasks.Where(it => !it.area_code.Contains("ELE", StringComparison.OrdinalIgnoreCase)).ToList();
if (agvTasks?.Count > 0)
{
await AgvDispatch(agvTasks, agvCts.Token);
}
}
}
@@ -384,6 +394,7 @@ namespace Tnb.WarehouseMgr
/// <returns></returns>
private async Task CallingLanding(List<(string endlocation_code, string device_id, string id, string floorNO)> endLocCodes)
{
Log.Information($"开始呼梯操作.............");
try
{
var item = endLocCodes.FirstOrDefault();
@@ -391,6 +402,8 @@ namespace Tnb.WarehouseMgr
var devName = _eleCtlCfg.DevName;
{
var agvStatus = await _elevatorControlService.GetTagAsync(devName, ElevatorConsts.AGVControl);
Log.Information($"当前Agv状态:{agvStatus.ToEnum<EnumAgvStatus>().ToString()}");
//判断当前设备是否为运行状态，不是则进入Agv电梯控制状态
if (agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
{
@@ -398,9 +411,16 @@ namespace Tnb.WarehouseMgr
}
}
{
(int sysStatus, int runStatus, int curFloorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, CancellationToken.None);
foreach (var (_, devId, disTaskId, floorNO) in endLocCodes)
{
Log.Information($"任务开始目标楼层为:{floorNO}");
var floorN = await GetRealFloor(floorNO.ParseToInt());
Log.Information($"实际目标楼层为:{floorN}");
WmsElevatorUnexecute elevatorQueueItem = new()
{
distask_id = disTaskId,
@@ -412,11 +432,14 @@ namespace Tnb.WarehouseMgr
create_time = DateTime.Now
};
var elevatorQueue = await _db.Queryable<WmsElevatorUnexecute>().Where(it => it.elevator_id == devId && it.task_status == "执行中").ToListAsync();
if ((elevatorQueue.IsNull() || elevatorQueue.Count < 1))
if ((elevatorQueue.IsNull() || elevatorQueue.Count < 1) && floorNO.ParseToInt() != curFloorNo)
{
elevatorQueueItem.task_status = "执行中";
await _elevatorControlService.CallLift(devName, floorNO.ParseToInt(), CancellationToken.None);
elevatorQueueItem.task_status = "执行中";
var callLiftRes = await _elevatorControlService.CallLift(devName, floorN, CancellationToken.None);
string successful = "成功", fail = "失败";
var callLiftResult = callLiftRes ? successful : fail;
Log.Information($"呼梯结果:{callLiftResult}");
}
//如果当前电梯有任务在做，将当前呼梯任务放入待执行队列
@@ -461,21 +484,25 @@ namespace Tnb.WarehouseMgr
private async Task ExecuteTargetFloorTask(WmsDistaskH disTask)
{
//收到放货确认通知，向电梯发送到3楼的指令
Log.Information($"开始执行电梯任务，任务ID:{disTask.id}");
try
{
var elevatorQueueItem = await _db.Queryable<WmsElevatorUnexecute>().FirstAsync(it => disTask.id == it.distask_id && it.task_status == "执行中");
var elevatorQueueItem = await _db.Queryable<WmsElevatorUnexecute>().FirstAsync(it => it.task_status == "执行中");
if (elevatorQueueItem != null)
{
//var disTask = disTasks.Find(x => x.id == elevatorQueueItem.distask_id);
//if (disTask?.status == WmsWareHouseConst.TASK_BILL_STATUS_COMPLE_ID)
{
var doorStatus = -1;
await _elevatorControlService.SendOpenCloseCmd(elevatorQueueItem.elevator_code, 4); //向电梯发送前门关门指令
var closeDoorRes = await _elevatorControlService.SendOpenCloseCmd(elevatorQueueItem.elevator_code, 4); //向电梯发送前门关门指令
Log.Information($"关门结果:{closeDoorRes}");
do
{
doorStatus = await _elevatorControlService.GetTagAsync(elevatorQueueItem.elevator_code, ElevatorConsts.DoorStatus);
} while (doorStatus != 4);
var floor = await GetRealFloor(disTask.end_floor.ParseToInt());
Log.Information($"目标楼层:{floor}");
Log.Information($"当前门状态:{doorStatus}");
//发送到目标楼的指令
var reuslt = await _elevatorControlService.WriteTagAsync(elevatorQueueItem.elevator_code, ElevatorConsts.FloorExecute, floor);
//电梯任务手动执行任务状态上报

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

@@ -66,7 +66,7 @@ public class Startup : AppStartup
services.AddTaskMessageNotify();
//定时任务
//services.AddHostedService<TimedTaskBackgroundService>();
services.AddHostedService<TimedTaskBackgroundService>();
//Agv心跳监听服务
//services.AddHostedService<AgvHeartbeatMonitorService>();