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1、任务执行新增，更具目标库位判断是否为电梯库位进行呼梯操作

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2、放货确认接口新增代码逻辑
This commit is contained in:
alex
2023-09-27 17:58:13 +08:00
parent c34762b0b3
commit 471d614cf2
12 changed files with 489 additions and 166 deletions
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60
WarehouseMgr/Tnb.WarehouseMgr.Entities/Consts/ElevatorConsts.cs Normal file
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@@ -0,0 +1,60 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Tnb.WarehouseMgr.Entities.Consts
{
public class ElevatorConsts
{
/// <summary>
/// 系统状态
/// </summary>
public const string SysStatus = "SysStatus";
/// <summary>
/// 运行状态
/// </summary>
public const string RunStatus = "RunStatus";
/// <summary>
/// 门状态
/// </summary>
public const string DoorStatus = "DoorStatus";
/// <summary>
/// 门状态
/// </summary>
public const string FloorNo = "FloorNo";
/// <summary>
/// 载重信息
/// </summary>
public const string LoadInfor = "LoadInfor";
/// <summary>
/// 故障码
/// </summary>
public const string ErrCode = "ErrCode";
/// <summary>
/// 门触发
/// </summary>
public const string DoorExecute = "DoorExecute";
/// <summary>
/// 通讯状态
/// </summary>
public const string CommStatus = "CommStatus";
/// <summary>
/// 楼层触发
/// </summary>
public const string FloorExecute = "FloorExecute";
/// <summary>
/// AGV控制
/// </summary>
public const string AGVControl = "AGVControl";
/// <summary>
/// AGV状态
/// </summary>
public const string AGVStatus = "AGVStatus";
/// <summary>
/// AGV心跳
/// </summary>
public const string AGVKeepalive = "AGVKeepalive";
}
}

11
WarehouseMgr/Tnb.WarehouseMgr.Entities/Entity/WmsElevatorH.cs
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@@ -1,4 +1,5 @@
using JNPF.Common.Contracts;
using System.Security.Principal;
using JNPF.Common.Contracts;
using JNPF.Common.Security;
using SqlSugar;
@@ -88,5 +89,13 @@ public partial class WmsElevatorH : BaseEntity<string>
/// 时间戳(用于并发控制)
/// </summary>
public DateTime? timestamp { get; set; }
/// <summary>
/// 门状态
/// </summary>
public int door_status { get; set; }
/// <summary>
/// 当前电梯所在楼层
/// </summary>
public int current_floor { get; set; }
}

47
WarehouseMgr/Tnb.WarehouseMgr.Entities/Entity/WmsElevatorUnexecute.cs Normal file
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@@ -0,0 +1,47 @@
using JNPF.Common.Contracts;
using JNPF.Common.Security;
using SqlSugar;
namespace Tnb.WarehouseMgr.Entities;
/// <summary>
///
/// </summary>
[SugarTable("wms_elevator_unexecute")]
public partial class WmsElevatorUnexecute : BaseEntity<string>
{
public WmsElevatorUnexecute()
{
id = SnowflakeIdHelper.NextId();
}
/// <summary>
/// 电梯Id
/// </summary>
public string? elevator_id { get; set; }
/// <summary>
/// 电梯编号
/// </summary>
public string? elevator_code { get; set; }
/// <summary>
/// 目标楼层
/// </summary>
public int? floor { get; set; }
/// <summary>
/// 任务状态
/// </summary>
public string? task_status { get; set; }
/// <summary>
/// 创建人
/// </summary>
public string? create_id { get; set; }
/// <summary>
/// 创建时间
/// </summary>
public DateTime? create_time { get; set; }
}

16
WarehouseMgr/Tnb.WarehouseMgr.Entities/Enums/EnumAgvControl.cs Normal file
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@@ -0,0 +1,16 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Tnb.WarehouseMgr.Entities.Enums
{
public enum EnumAgvControl
{
前门开门 = 3,
前门关门 = 4,
后门开门 = 5,
后门关门 = 6,
}
}

16
WarehouseMgr/Tnb.WarehouseMgr.Entities/Enums/EnumAgvStatus.cs Normal file
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@@ -0,0 +1,16 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Tnb.WarehouseMgr.Entities.Enums
{
public enum EnumAgvStatus
{
正常状态 = 0,
等待进入AGV状态 = 1,
AGV运行状态 = 2,
}
}

18
WarehouseMgr/Tnb.WarehouseMgr.Entities/Enums/EnumDoorStatus.cs Normal file
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@@ -0,0 +1,18 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Tnb.WarehouseMgr.Entities.Enums
{
public enum EnumDoorStatus
{
未知状态 = 0,
开门过程 = 1,
开门到位保持 = 2,
关门过程 = 3,
关门到位保持 = 4,
}
}

18
WarehouseMgr/Tnb.WarehouseMgr.Entities/Enums/EnumRunStatus.cs Normal file
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@@ -0,0 +1,18 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Tnb.WarehouseMgr.Entities.Enums
{
/// <summary>
/// 电梯运行状态
/// </summary>
public enum EnumRunStatus
{
停梯 = 0,
上运行 = 2,
下运行 = 2,
}
}

20
WarehouseMgr/Tnb.WarehouseMgr.Entities/Enums/EnumSysStatus.cs Normal file
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@@ -0,0 +1,20 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Tnb.WarehouseMgr.Entities.Enums
{
/// <summary>
/// 电梯系统状态枚举
/// </summary>
public enum EnumSysStatus
{
故障状态 = 0,
消防状态 = 1,
其他非服务状态 = 2,
正常状态 = 3,
地震状态 = 4
}
}

51
WarehouseMgr/Tnb.WarehouseMgr.Interfaces/IElevatorControlService.cs Normal file
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@@ -0,0 +1,51 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Tnb.WarehouseMgr.Interfaces
{
/// <summary>
/// 电梯控制服务接口
/// </summary>
public interface IElevatorControlService
{
/// <summary>
/// 向指定的标签属性写入值
/// </summary>
/// <param name="tagName">标签名称</param>
/// <param name="value">标签值</param>
/// <returns></returns>
Task<dynamic> WriteTagAsync(string devName, string tagName, int value);
/// <summary>
/// 根据标签名称获取标签单个属性值
/// </summary>
/// <param name="tagName"></param>
/// <returns></returns>
Task<int> GetTagAsync(string devName, string tagName);
/// <summary>
/// 获取电梯状态
/// </summary>
/// <param name="token">取消标志</param>
/// <returns></returns>
Task<(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus)> GetElevatorStatus(string devName, CancellationToken token);
/// <summary>
/// 检查Agv状态
/// </summary>
/// <param name="token"></param>
/// <returns></returns>
Task<bool> CheckAgvStatus(string devName, CancellationToken cancellationToken);
/// <summary>
/// 向系统发送开关门指令
/// </summary>
/// <param name="value">
/// 3前门开门
/// 4前门关门
/// 5后门开门
/// 6后门关门
/// </param>
/// <returns></returns>
Task<bool> SendOpenCloseCmd(string devName,int value);
}
}

45
WarehouseMgr/Tnb.WarehouseMgr/DeviceProviderService.cs
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@@ -16,6 +16,7 @@ using JNPF.FriendlyException;
using JNPF.Logging;
using JNPF.Systems.Entitys.System;
using JNPF.Systems.Interfaces.System;
using JNPF.WorkFlow.Entitys.Dto.FlowLaunch;
using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Mvc;
using Newtonsoft.Json;
@@ -24,10 +25,12 @@ using Senparc.NeuChar.ApiHandlers;
using SqlSugar;
using Tnb.EquipMgr.Entities;
using Tnb.WarehouseMgr.Entities;
using Tnb.WarehouseMgr.Entities.Consts;
using Tnb.WarehouseMgr.Entities.Dto;
using Tnb.WarehouseMgr.Entities.Dto.Inputs;
using Tnb.WarehouseMgr.Entities.Dto.Outputs;
using Tnb.WarehouseMgr.Entities.Entity;
using Tnb.WarehouseMgr.Entities.Enums;
using Tnb.WarehouseMgr.Interfaces;
namespace Tnb.WarehouseMgr
@@ -43,12 +46,14 @@ namespace Tnb.WarehouseMgr
private readonly ICacheManager _cacheManager;
private readonly IEventPublisher _eventPublisher;
private readonly IUserManager _userManager;
private readonly IElevatorControlService _elevatorControlService;
public DeviceProviderService(ISqlSugarRepository<WmsInstockH> repository, IWareHouseService wareHouseService,
ICacheManager cacheManager,
IEventPublisher eventPublisher,
IUserManager userManger
IUserManager userManger,
IElevatorControlService elevatorControlService
)
{
_db = repository.AsSugarClient();
@@ -56,6 +61,7 @@ namespace Tnb.WarehouseMgr
_cacheManager = cacheManager;
_eventPublisher = eventPublisher;
_userManager = userManger;
_elevatorControlService = elevatorControlService;
}
/// <summary>
@@ -78,10 +84,10 @@ namespace Tnb.WarehouseMgr
{
try
{
var eles = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
.LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.startlocation_id)
.Where((a, b, c) => c.startlocation_code == input.sourceName && c.bill_code == input.taskCode)
.ToListAsync();
//var eles = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
// .LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.startlocation_id)
// .Where((a, b, c) => c.startlocation_code == input.sourceName && c.bill_code == input.taskCode)
// .ToListAsync();
}
catch (Exception)
{
@@ -101,17 +107,38 @@ namespace Tnb.WarehouseMgr
{
try
{
var eles = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
//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.endlocation_id)
.Where((a, b, c) => c.endlocation_code == input.targetName && c.bill_code == input.taskCode)
.ToListAsync();
.OrderBy(a => a.elevator_code)
.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}");
//判断Agv电梯是否进入状态
if (agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
{
await _elevatorControlService.WriteTagAsync(elevator.elevator_code, ElevatorConsts.AGVControl, 1);
}
//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 (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)
{
elevator.current_floor = floorNo;
await _db.Updateable(elevator).UpdateColumns(it => it.current_floor).ExecuteCommandAsync();
return await ToApiResult(HttpStatusCode.OK, "成功");
}
return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
}
catch (Exception)
{
return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
throw;
}
return await ToApiResult(HttpStatusCode.OK, "未启用");
}
/// <summary>

303
WarehouseMgr/Tnb.WarehouseMgr/ElevatorControlService.cs
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@@ -6,6 +6,7 @@ using System.Linq.Expressions;
using System.Text;
using System.Threading.Tasks;
using JNPF;
using JNPF.Common.Extension;
using JNPF.DependencyInjection;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Configuration;
@@ -15,13 +16,16 @@ using Newtonsoft.Json.Linq;
using Tnb.Common.Extension;
using Tnb.Common.Utils;
using Tnb.WarehouseMgr.Entities.Configs;
using Tnb.WarehouseMgr.Entities.Consts;
using Tnb.WarehouseMgr.Entities.Enums;
using Tnb.WarehouseMgr.Interfaces;
namespace Tnb.WarehouseMgr
{
/// <summary>
/// 电梯控制业务服务类
/// </summary>
public class ElevatorControlService : BaseWareHouseService
public class ElevatorControlService : BaseWareHouseService, IElevatorControlService
{
private readonly ElevatorControlConfiguration _elevatorCtlCfg = new();
private readonly BackgroundService _agvHeartbeatMonitor;
@@ -41,53 +45,57 @@ namespace Tnb.WarehouseMgr
[HttpPost]
public async Task<dynamic> FirstFloorElevatorFlow(string value)
{
CancellationTokenSource cts = new CancellationTokenSource();//扩展用
//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)
{
//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(0);
JObject jo = JObject.Parse(wirteRes);
//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);
//}
if (true) //此处为Agv到一楼开门位，通知操作目前默认为true
{
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);
}
//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);
}
}
////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);
}
/// <summary>
@@ -97,78 +105,59 @@ namespace Tnb.WarehouseMgr
[HttpPost]
public async Task<dynamic> ThreeFloorElevatorFlow()
{
//test by close door
_agvHeartbeatMonitor.StartAsync(CancellationToken.None);
//await SendOpenCloseCmd(4);
//await SetAgvControlStatus(1);
//监听电梯门是否为关闭的状态
var dataStatus = 0;
do
{
dataStatus = await GetTagAsync("DoorStatus");
} while (dataStatus != 4);
if (dataStatus == 4)
{
//根据状态确认关闭后，向电梯发送指令从1~3楼 //FloorExecute 楼层触发
await WriteTagAsync("FloorExecute", 48);
//获取电梯到达3楼的到位信号
(_, int runStatus, int floorNo) = (-1, -1, -1);
do
{
var multi = await GetElevatorStatus(CancellationToken.None);
runStatus = multi.sysStatus; floorNo = multi.floorNo;
} while (runStatus != 0 && floorNo != 3);
// 控制电梯到达指定楼层默认开门的行为，改为默认不开门 条件：Agv 到达3楼开门位时，为true
if (true)//3楼Agv到达开门位后，向电梯发送开门指令, 默认true 当前
{
//var dataStatus = 0;
//do
//{
// dataStatus = await GetTagAsync("DoorStatus");
//} while (dataStatus != 4);
//if (dataStatus == 4)
//{
// //根据状态确认关闭后，向电梯发送指令从1~3楼 //FloorExecute 楼层触发
// await WriteTagAsync("FloorExecute", 1);
// //获取电梯到达3楼的到位信号
// (_, int runStatus, int floorNo) = (-1, -1, -1);
// do
// {
// var multi = await GetElevatorStatus(CancellationToken.None);
// runStatus = multi.sysStatus; floorNo = multi.floorNo;
// } while (runStatus != 0 && floorNo != 3);
// // 控制电梯到达指定楼层默认开门的行为，改为默认不开门 条件：Agv 到达3楼开门位时，为true
// if (true)//3楼Agv到达开门位后，向电梯发送开门指令, 默认true 当前
// {
//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) //开门到位保持状态
{
//通知Agv进入电梯，取货
//向电梯发送关门指令
await SendOpenCloseCmd(4);
doorStatus = await GetTagAsync("DoorStatus");
if (doorStatus == 4) //门状态，为关门到位保持
{
//解锁，Agv状态，将其至为
var agvStatus = await GetTagAsync("AGVStatus");
if (agvStatus != 2)
{
await SetAgvControlStatus(0);
}
}
}
}
}
// //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) //开门到位保持状态
// {
// //通知Agv进入电梯，取货
// //向电梯发送关门指令
// await SendOpenCloseCmd(4);
// doorStatus = await GetTagAsync("DoorStatus");
// if (doorStatus == 4) //门状态，为关门到位保持
// {
// //解锁，Agv状态，将其至为
// var agvStatus = await GetTagAsync("AGVStatus");
// if (agvStatus != 2)
// {
// await SetAgvControlStatus(0);
// }
// }
// }
// }
//}
return Task.FromResult(0);
}
/// <summary>
/// x2server测试
/// </summary>
/// <returns></returns>
[HttpGet]
public async Task<dynamic> X2ServerTest()
{
//var r = new Random();
int currentValue = 0;
while (true)
{
var readRes = await GetElevatorStatus(CancellationToken.None);
await Console.Out.WriteLineAsync($"接收结果：{readRes}");
currentValue = 1 - currentValue; // 切换为0或1
dynamic obj = new ExpandoObject();
obj.TagName = "AGVControl";
obj.Value = currentValue;
var parameter = await SetParameter(obj);
var wirteRes = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: parameter);
await Console.Out.WriteLineAsync($"写入结果：{wirteRes}");
await Task.Delay(1000);
}
}
private Task<object> SetRequestParameter(string tagName, object value)
{
@@ -206,14 +195,23 @@ namespace Tnb.WarehouseMgr
/// </summary>
/// <param name="value">开关门指令</param>
/// <returns></returns>
private async Task SendOpenCloseCmd(int value)
public async Task<bool> SendOpenCloseCmd(string devName, int value)
{
var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
dicCommand["DevName"] = _elevatorCtlCfg.DevName;
dicCommand["DevName"] = devName;
dicCommand["token"] = _elevatorCtlCfg.token;
dicCommand["TagName"] = "DoorExecute";
dicCommand["Value"] = value.ToString();
await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
if (result.IsNotEmptyOrNull())
{
JObject jo = JObject.Parse(result);
if (jo != null)
{
return jo.Value<string>("Result").Equals("Ok", StringComparison.OrdinalIgnoreCase);
}
}
return false;
}
/// <summary>
/// 设置Agv控制请求状态
@@ -225,9 +223,9 @@ namespace Tnb.WarehouseMgr
{
var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
dicCommand["DevName"] = _elevatorCtlCfg.DevName;
dicCommand["token"] = _elevatorCtlCfg.token;
dicCommand["TagName"] = "AGVControl";
dicCommand["Value"] = value.ToString();
dicCommand["token"] = _elevatorCtlCfg.token;
return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
}
@@ -237,10 +235,10 @@ namespace Tnb.WarehouseMgr
/// <param name="tagName"></param>
/// <param name="value"></param>
/// <returns></returns>
private async Task<dynamic> WriteTagAsync(string tagName, int value)
public async Task<dynamic> WriteTagAsync(string devName, string tagName, int value)
{
var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
dicCommand["DevName"] = _elevatorCtlCfg.DevName;
dicCommand["DevName"] = devName;
dicCommand["token"] = _elevatorCtlCfg.token;
dicCommand["TagName"] = tagName;
dicCommand["Value"] = value.ToString();
@@ -253,10 +251,10 @@ namespace Tnb.WarehouseMgr
/// <param name="tagName"></param>
/// <returns></returns>
private async Task<int> GetTagAsync(string tagName)
public async Task<int> GetTagAsync(string devName, string tagName)
{
var dicCommand = new Dictionary<string, string>();
dicCommand["DevName"] = _elevatorCtlCfg.DevName;
dicCommand["DevName"] = devName;
dicCommand["token"] = _elevatorCtlCfg.token;
dicCommand["TagName"] = tagName;
var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
@@ -264,47 +262,17 @@ namespace Tnb.WarehouseMgr
return jo.Value<int>("V");
}
/// <summary>
/// 获取Agv状态 0：正常状态 1：等待进入 AGV 状态 2： AGV 运行状态
/// </summary>
/// <returns></returns>
//private async Task<int> GetAgvStatus()
//{
// var dicCommand = new Dictionary<string, string>();
// dicCommand["DevName"] = _elevatorCtlCfg.DevName;
// dicCommand["token"] = _elevatorCtlCfg.token;
// dicCommand["TagName"] = "AGVStatus";
// var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
// JObject jo = JObject.Parse(result);
// return jo.Value<int>("V");
//}
/// <summary>
/// 获取门状态
/// </summary>
/// <returns></returns>
//private async Task<int> GetDoorStatus()
//{
// var doorStatusParam = new Dictionary<string, string>();
// doorStatusParam["DevName"] = _elevatorCtlCfg.DevName;
// doorStatusParam["token"] = _elevatorCtlCfg.token;
// doorStatusParam["TagName"] = "DoorStatus";
// var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: doorStatusParam);
// JObject jo = JObject.Parse(result);
// return jo.Value<int>("V");
//}
/// <summary>
/// 获取电梯状态
/// </summary>
/// <param name="token"></param>
/// <returns></returns>
private async Task<(int sysStatus, int runStatus, int floorNo)> GetElevatorStatus(CancellationToken token)
public async Task<(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus)> GetElevatorStatus(string devName, CancellationToken token)
{
(int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) multi = (-1, -1, -1, -1, -1);
var pars = new Dictionary<string, string>();
pars["DevName"] = _elevatorCtlCfg.DevName;
pars["DevName"] = devName;
pars["Pos"] = "1";
pars["Count"] = "4";
pars["token"] = _elevatorCtlCfg.token;
@@ -318,11 +286,38 @@ namespace Tnb.WarehouseMgr
&& objs[1].Value<string>("Name").Equals("RunStatus")
&& objs[3].Value<string>("Name").Equals("FloorNo"))
{
multi = ((objs[0].Value<int>("V")), objs[1].Value<int>("V"), objs[2].Value<int>("V"));
multi = (objs[0].Value<int>("V"), objs[1].Value<int>("V"), objs[3].Value<int>("V"), objs[2].Value<int>("V"), objs[10].Value<int>("V"));
}
}
return multi;
}
/// <summary>
/// 检查Agv状态
/// </summary>
/// <param name="cancellationToken"></param>
/// <returns></returns>
public async Task<bool> CheckAgvStatus(string devName, CancellationToken cancellationToken)
{
var isInAgvStatus = false;
var agvStatus = await GetTagAsync(devName, ElevatorConsts.AGVStatus);
if (agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
{
var result = await WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
JObject jo = JObject.Parse(result);
if (jo != null && jo.Value<string>("Result").Equals("Ok", StringComparison.OrdinalIgnoreCase))
{
isInAgvStatus = true;
}
}
return isInAgvStatus;
}
}
public class ElevatorData
{
public string name { get; set; }
public string value { get; set; }
}
}

50
WarehouseMgr/Tnb.WarehouseMgr/WareHouseService.cs
View File

@@ -65,14 +65,19 @@ namespace Tnb.WarehouseMgr
private readonly IBillRullService _billRullService;
private readonly IUserManager _userManager;
private readonly ICacheManager _cacheManager;
private readonly IElevatorControlService _elevatorControlService;
private static Dictionary<string, object> _elevatorMap = new Dictionary<string, object>();
public WareHouseService(ISqlSugarRepository<WmsInstockH> repository, IDictionaryDataService dictionaryDataService, IBillRullService billRullService, IUserManager userManager, ICacheManager cacheManager)
public WareHouseService(ISqlSugarRepository<WmsInstockH> repository, IDictionaryDataService dictionaryDataService,
IBillRullService billRullService, IUserManager userManager, ICacheManager cacheManager, IElevatorControlService elevatorControlService)
{
_db = repository.AsSugarClient();
_dictionaryDataService = dictionaryDataService;
_billRullService = billRullService;
_userManager = userManager;
_cacheManager = cacheManager;
_elevatorControlService = elevatorControlService;
}
@@ -232,6 +237,11 @@ namespace Tnb.WarehouseMgr
Stopwatch sw = Stopwatch.StartNew();
CancellationTokenSource agvCts = new();
if (_elevatorMap.Count < 1)
{
_elevatorMap = await _db.Queryable<WmsElevatorH>().ToDictionaryAsync(x => x.elevator_id, x => x.elevator_code);
}
var db = _db.CopyNew();
try
{
@@ -369,6 +379,42 @@ namespace Tnb.WarehouseMgr
var respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, agvCts.Token);
Log.Information($"调用Agv接口响应结果:{respBody}");
}
//呼梯操作
var endLocCodes = disTasks.Select(it => (it.endlocation_code, it.device_id)).Where(it => it.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase)).ToList();
if (endLocCodes?.Count > 0)
{
foreach (var (_, devId) in endLocCodes)
{
var elevatorQueue = await _db.Queryable<WmsElevatorUnexecute>().Where(it => it.elevator_id == devId).ToListAsync();
if (_elevatorMap.ContainsKey(devId) && elevatorQueue?.Count < 1)
{
var devName = _elevatorMap[devId].ToString();
(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.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)
{
if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持)
{
await _elevatorControlService.SendOpenCloseCmd(devName, (int)EnumAgvControl.前门关门);
}
await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.FloorExecute, 5); //呼叫电梯到4楼
//将当前呼梯任务放入待执行队列
WmsElevatorUnexecute elevatorQueueItem = new()
{
elevator_id = devId,
elevator_code = _elevatorMap[devId].ToString(),
floor = 4,
create_id = _userManager.UserId,
create_time = DateTime.Now
};
await _db.Storageable(elevatorQueueItem).ExecuteCommandAsync();
}
}
}
}
}
}
catch (Exception ex) when (ex is HttpRequestException hReqEx)
@@ -582,7 +628,7 @@ namespace Tnb.WarehouseMgr
{
//如果预任务出现起终库位相同，则删除对应预任务
//modifiy by ly on 20230922 将当前预任务操作者设为四场管理员
preTasks.ForEach(pt =>
preTasks.ForEach(pt =>
{
pt.org_id = WmsWareHouseConst.AdministratorOrgId;
pt.create_id = WmsWareHouseConst.AdministratorUserId;