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二楼下升降机机械手边调度逻辑

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This commit is contained in:
马健
2024-05-06 10:49:25 +08:00
parent 18ff3b29ed
commit 87d8da928a
7 changed files with 693 additions and 155 deletions
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17
WarehouseMgr/Tnb.WarehouseMgr.Entities/Dto/Inputs/CarryBindFloor2UpDownMachineInput.cs Normal file
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@@ -0,0 +1,17 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Tnb.WarehouseMgr.Entities.Dto.Inputs
{
public class CarryBindFloor2UpDownMachineInput
{
public string? carry_id { get; set; }
public string? carry_code { get; set; }
public string? carrystd_id { get; set; }
public string? membercarry_id { get; set; }
public string? membercarry_code { get; set; }
}
}

2
WarehouseMgr/Tnb.WarehouseMgr.Entities/Dto/Inputs/CarryMaterialBindInput.cs
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@@ -20,6 +20,6 @@ namespace Tnb.WarehouseMgr.Entities.Dto.Inputs
public string? codeqty { get; set; }
public int is_out { get; set; }
public string? unit_id { get; set; }
}
}

2
WarehouseMgr/Tnb.WarehouseMgr.Entities/Entity/WmsCarrybindH.cs
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@@ -37,7 +37,7 @@ public partial class WmsCarrybindH : BaseEntity<string>
/// <summary>
/// 载具名称
/// </summary>
public string carry_name { get; set; } = string.Empty;
//public string carry_name { get; set; } = string.Empty;
/// <summary>
/// dataType

4
WarehouseMgr/Tnb.WarehouseMgr.Interfaces/IWmsCarryBindService.cs
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@@ -1,4 +1,5 @@
using JNPF.Common.Dtos.VisualDev;
using Tnb.WarehouseMgr.Entities.Dto.Inputs;
namespace Tnb.WarehouseMgr.Interfaces
{
@@ -8,5 +9,8 @@ namespace Tnb.WarehouseMgr.Interfaces
public interface IWmsCarryBindService
{
Task<dynamic> CarryBind(VisualDevModelDataCrInput input);
Task<dynamic> CarryBindFloor2UpDownMachine(CarryBindFloor2UpDownMachineInput input);
Task<dynamic> CarryUnbindFloor2UpDownMachine(CarryBindFloor2UpDownMachineInput input);
}
}

128
WarehouseMgr/Tnb.WarehouseMgr/WareHouseService.cs
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@@ -440,6 +440,12 @@ namespace Tnb.WarehouseMgr
/// <returns></returns>
public async Task<bool> Floor2MechanicalComplete(WmsDistaskH disTask, string action)
{
List<string> rackAreaPoints = new List<string>();
// 二楼料架区点位
rackAreaPoints.Add("AS01");
rackAreaPoints.Add("AS02");
rackAreaPoints.Add("AX01");
rackAreaPoints.Add("AX02");
if (disTask.area_code == "E")
{
Logger.Information($"【二楼机械臂Floor2MechanicalComplete】收到到货完成信号 传入参数: {disTask.bill_code} {action}");
@@ -447,53 +453,80 @@ namespace Tnb.WarehouseMgr
if (action == "UNLOAD")
{
ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>().Where(r => r.point_code == disTask.endpoint_code);
if (WmsMechanicalArmHs.Count() == 0)
// 去料架区放货
if (rackAreaPoints.Contains(disTask.endlocation_code))
{
Logger.Information($"【二楼机械臂Floor2MechanicalComplete】 任务执行终点{disTask.endpoint_code} 与料架区的点位不匹配");
return false;
}
WmsMechanicalArmH target = WmsMechanicalArmHs.First();
ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>().Where(r => r.point_code == disTask.endpoint_code);
if (WmsMechanicalArmHs.Count() == 0)
{
Logger.Information($"【二楼机械臂Floor2MechanicalComplete】 任务执行终点{disTask.endpoint_code} 与料架区的点位不匹配");
return false;
}
WmsMechanicalArmH target = WmsMechanicalArmHs.First();
// 回写料架和AGV确认
await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
// 回写料架和AGV确认
await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
{
agvconfirm = 1,
rackid = disTask.carry_id,
rackcode = disTask.carry_code
}).Where(r => r.id == target.id).ExecuteCommandAsync();
Logger.Information($"【二楼机械臂Floor2MechanicalComplete】{disTask.bill_code} AGV已到货");
}
else // 去暂存仓放货
{
agvconfirm = 1,
rackid = disTask.carry_id,
rackcode = disTask.carry_code
}).Where(r => r.id == target.id).ExecuteCommandAsync();
Logger.Information($"【二楼机械臂Floor2MechanicalComplete】{disTask.bill_code} AGV已到货");
// 回写料架料箱绑定表的库位
ISugarQueryable<WmsCarrybindH> wmsCarryHs = db.Queryable<WmsCarrybindH>().Where(r => r.carry_code == disTask.carry_code);
var wmsCarryHList = wmsCarryHs.ToList();
wmsCarryHList.ForEach(r =>
{
r.location_id = disTask.endlocation_id;
r.location_code = disTask.endlocation_code;
r.source_id = disTask.id;
r.source_code = disTask.bill_code;
});
await db.Updateable(wmsCarryHList).ExecuteCommandAsync();
}
}
else
{
ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>().Where(r => r.point_code == disTask.startpoint_code);
if (WmsMechanicalArmHs.Count() == 0)
// 去暂存仓取货
if (rackAreaPoints.Contains(disTask.endlocation_code))
{
Logger.Information($"【二楼机械臂Floor2MechanicalComplete】 任务执行起点{disTask.endpoint_code} 与料架区的点位不匹配");
return false;
Logger.Information($"【二楼机械臂Floor2MechanicalComplete】{disTask.bill_code} AGV在暂存仓取货完成");
}
WmsMechanicalArmH target = WmsMechanicalArmHs.First();
//回写出库单状态
await db.Updateable<WmsEmptyOutstockH>().SetColumns(r=>new WmsEmptyOutstockH
else // 去料架区取货
{
bindrackcomplete = WmsWareHouseConst.BILLSTATUS_COMPLETE_ID
}).Where(r => r.bill_code == target.outbill).ExecuteCommandAsync();
ISugarQueryable<WmsMechanicalArmH> WmsMechanicalArmHs = db.Queryable<WmsMechanicalArmH>().Where(r => r.point_code == disTask.startpoint_code);
if (WmsMechanicalArmHs.Count() == 0)
{
Logger.Information($"【二楼机械臂Floor2MechanicalComplete】 任务执行起点{disTask.endpoint_code} 与料架区的点位不匹配");
return false;
}
WmsMechanicalArmH target = WmsMechanicalArmHs.First();
// 重置料架区
await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
{
stackingcount = 0,
barcodes = "",
outbill = "",
maxnum = 0,
iscreatepretask = 0,
rackcode = "",
rackid = "",
agvconfirm = 0,
mechanicalconfirm = 0
}).Where(r => r.id == target.id).ExecuteCommandAsync();
Logger.Information($"【二楼机械臂Floor2MechanicalComplete】{disTask.bill_code} AGV已到货");
//回写出库单状态
await db.Updateable<WmsEmptyOutstockH>().SetColumns(r => new WmsEmptyOutstockH
{
bindrackcomplete = WmsWareHouseConst.BILLSTATUS_COMPLETE_ID
}).Where(r => r.bill_code == target.outbill).ExecuteCommandAsync();
// 重置料架区
await db.Updateable<WmsMechanicalArmH>().SetColumns(r => new WmsMechanicalArmH
{
stackingcount = 0,
barcodes = "",
outbill = "",
maxnum = 0,
iscreatepretask = 0,
rackcode = "",
rackid = "",
agvconfirm = 0,
mechanicalconfirm = 0
}).Where(r => r.id == target.id).ExecuteCommandAsync();
Logger.Information($"【二楼机械臂Floor2MechanicalComplete】{disTask.bill_code} AGV在料架区取货完成");
}
}
}
return true;
@@ -547,9 +580,9 @@ namespace Tnb.WarehouseMgr
var normalPreTasks = preTasks.Where(it => it.area_code != "B" && !agvElevatorTasks.Concat(elePreTasks).Select(x => x.endlocation_code).Contains(it.endlocation_code)).ToList();
Logger.Information("【GenTaskExecute】 电梯预任务elePreTasks:" + JsonConvert.SerializeObject(elePreTasks));
Logger.Information("【GenTaskExecute】 AGV/CTU/KIVA预任务normalPreTasks:" + JsonConvert.SerializeObject(normalPreTasks));
Logger.Information("【GenTaskExecute】 AGV电梯预任务agvElevatorTasks:" + JsonConvert.SerializeObject(agvElevatorTasks));
//Logger.Information("【GenTaskExecute】 电梯预任务elePreTasks:" + JsonConvert.SerializeObject(elePreTasks));
//Logger.Information("【GenTaskExecute】 AGV/CTU/KIVA预任务normalPreTasks:" + JsonConvert.SerializeObject(normalPreTasks));
//Logger.Information("【GenTaskExecute】 AGV电梯预任务agvElevatorTasks:" + JsonConvert.SerializeObject(agvElevatorTasks));
/* IEnumerable<WmsPretaskH?> firstEleGrp = agvElevatorTasks.GroupBy(g => g.endlocation_code).Select(t => t.OrderBy(o => o.bill_code).FirstOrDefault());
agvElevatorTasks = firstEleGrp?.ToList() ?? Enumerable.Empty<WmsPretaskH>().ToList()!;
@@ -845,8 +878,8 @@ namespace Tnb.WarehouseMgr
var InTasks = CTUTasks.Where(a => a.task_type == WmsWareHouseConst.WMS_PRETASK_INSTOCK_TYPE_ID).ToList();
var OutTasks = CTUTasks.Where(a => a.task_type == WmsWareHouseConst.WMS_PRETASK_OUTSTOCK_TYPE_ID).ToList();
Logger.Information($@"【CTUTaskExecute】 获取任务InTasks: {JsonConvert.SerializeObject(InTasks)}");
Logger.Information($@"【CTUTaskExecute】 获取任务OutTasks: {JsonConvert.SerializeObject(OutTasks)}");
//Logger.Information($@"【CTUTaskExecute】 获取任务InTasks: {JsonConvert.SerializeObject(InTasks)}");
//Logger.Information($@"【CTUTaskExecute】 获取任务OutTasks: {JsonConvert.SerializeObject(OutTasks)}");
var OriginDistaskHs = await db.Queryable<WmsDistaskH>()
.InnerJoin<WmsAreaH>((a, b) => a.area_id == b.id)
@@ -855,7 +888,7 @@ namespace Tnb.WarehouseMgr
.ToListAsync();
Logger.Information($@"【CTUTaskExecute】 OriginDistaskHs: {JsonConvert.SerializeObject(OriginDistaskHs)}");
//Logger.Information($@"【CTUTaskExecute】 OriginDistaskHs: {JsonConvert.SerializeObject(OriginDistaskHs)}");
List<WmsDistaskH> DistaskHs = new List<WmsDistaskH>();
@@ -992,7 +1025,7 @@ namespace Tnb.WarehouseMgr
var time = int.Parse(db.Queryable<BasFactoryConfig>().Where(P => P.key == "getinterval").First().value);
timer = new Timer(TimerExec, null, TimeSpan.FromMinutes(time), TimeSpan.FromMinutes(time));
}
Logger.Information($@"【CTUTaskExecute】 可执行的CTU任务inCtuExec: {JsonConvert.SerializeObject(inCtuExec)}");
//Logger.Information($@"【CTUTaskExecute】 可执行的CTU任务inCtuExec: {JsonConvert.SerializeObject(inCtuExec)}");
if (inCtuExec.Count > 0)
{
Logger.Information($"开始执行CTU入库任务: {JsonConvert.SerializeObject(inCtuExec)}");
@@ -1004,7 +1037,7 @@ namespace Tnb.WarehouseMgr
await CallingCTU(inCtuExec, Ctu.Token, 1);
Ctu.Dispose();
}
Logger.Information($@"【CTUTaskExecute】 可执行的CTU任务outCtuExec: {JsonConvert.SerializeObject(outCtuExec)}");
//Logger.Information($@"【CTUTaskExecute】 可执行的CTU任务outCtuExec: {JsonConvert.SerializeObject(outCtuExec)}");
if (outCtuExec.Count > 0)
{
Logger.Information($"开始执行CTU出库任务: {JsonConvert.SerializeObject(outCtuExec)}");
@@ -1121,7 +1154,7 @@ namespace Tnb.WarehouseMgr
reqBody.taskChainPriority = 0;
reqBody.taskList = v;
reqBody.inOut = type;
Logger.Information($"【CallingCTU】 CTU任务下发 开始请求联核/task-chain/create接口 请求地址:{url} 请求参数:{reqBody} type：{(type == 0 ? "CTU出库" : "CTU入库")}");
Logger.Information($"【CallingCTU】 CTU任务下发 开始请求联核/task-chain/create接口 请求地址:{url} 请求参数:{JsonConvert.SerializeObject(reqBody)} type：{(type == 0 ? "CTU出库" : "CTU入库")}");
dynamic respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, token);
Logger.Information($"【CallingCTU】 CTU任务下发 接收到联核/task-chain/create接口信息:{respBody}");
}
@@ -1327,6 +1360,7 @@ namespace Tnb.WarehouseMgr
{
Logger.Information("【AgvDispatch】 Agv任务执行....");
List<string> kiva = new List<string>();
// 一楼中储仓
kiva.Add("ZSSSXCTU02");
kiva.Add("ZSSSXCTU01");
//调用AGV创建任务链接口
@@ -1363,7 +1397,7 @@ namespace Tnb.WarehouseMgr
reqBody.taskChainPriority = 0;
reqBody.taskList = v;
reqBody.floor = dis.end_floor;
Logger.Information($"【AgvDispatch】 Agv任务执行 开始请求联核/task-chain/create接口 请求地址:{url} 请求参数:{reqBody} ");
Logger.Information($"【AgvDispatch】 Agv任务执行 开始请求联核/task-chain/create接口 请求地址:{url} 请求参数:{JsonConvert.SerializeObject(reqBody)} ");
dynamic respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, token);
Logger.Information($"【AgvDispatch】 Agv任务执行 接收到联核/task-chain/create接口信息:{respBody}");
}

100
WarehouseMgr/Tnb.WarehouseMgr/WmsCarryBindService.cs
View File

@@ -128,7 +128,7 @@ namespace Tnb.WarehouseMgr
}
await _db.Ado.CommitTranAsync();
}
catch (Exception)
catch (Exception ex)
{
await _db.Ado.RollbackTranAsync();
throw;
@@ -170,8 +170,104 @@ namespace Tnb.WarehouseMgr
}
}
/// <summary>
/// 二楼机械手
/// </summary>
/// <param name="input"></param>
/// <returns></returns>
/// <exception cref="ArgumentNullException"></exception>
/// <exception cref="AppFriendlyException"></exception>
[NonAction]
public async Task<dynamic> CarryBindFloor2UpDownMachine(CarryBindFloor2UpDownMachineInput input)
{
bool isOk = false;
try
{
if (input == null)
{
throw new ArgumentNullException(nameof(input));
}
WmsCarryH? carry = await _db.Queryable<WmsCarryH>().SingleAsync(it => it.id == input.carry_id);
WmsCarryH? subCarry = await _db.Queryable<WmsCarryH>().SingleAsync(it => it.id == input.membercarry_id);
if (carry != null && subCarry != null)
{
WmsCarrybindH wmsCarrybindH = new()
{
carry_id = input.carry_id,
carry_code = input.carry_code,
membercarry_id = input.membercarry_id,
membercarry_code = input.membercarry_code,
loc = 1,
type = 0,
create_time = DateTime.Now
};
int row = await _db.Insertable(wmsCarrybindH).ExecuteCommandAsync();
isOk = row > 0;
if (!isOk)
{
throw Oops.Oh(ErrorCode.COM1001);
}
}
else
{
if (carry == null || subCarry == null)
{
throw new AppFriendlyException("没有可用的主载具", 500);
}
}
}
catch (Exception ex)
{
}
return Task.FromResult(true);
}
/// <summary>
/// 二楼机械手解绑定
/// </summary>
/// <param name="input"></param>
/// <returns></returns>
/// <exception cref="ArgumentNullException"></exception>
/// <exception cref="AppFriendlyException"></exception>
[NonAction]
public async Task<dynamic> CarryUnbindFloor2UpDownMachine(CarryBindFloor2UpDownMachineInput input)
{
bool isOk = false;
try
{
if (input == null)
{
throw new ArgumentNullException(nameof(input));
}
WmsCarryH? carry = await _db.Queryable<WmsCarryH>().SingleAsync(it => it.id == input.carry_id);
WmsCarryH? subCarry = await _db.Queryable<WmsCarryH>().SingleAsync(it => it.id == input.membercarry_id);
if (carry != null && subCarry != null)
{
int row = await _db.Deleteable<WmsCarrybindH>().Where(r => r.carry_id == input.carry_id && r.membercarry_id == input.membercarry_id).ExecuteCommandAsync();
isOk = row > 0;
if (!isOk)
{
throw Oops.Oh(ErrorCode.COM1001);
}
}
else
{
if (carry == null || subCarry == null)
{
throw new AppFriendlyException("没有可用的主载具", 500);
}
}
}
catch (Exception ex)
{
}
return Task.FromResult(true);
}
/* public override async Task ModifyAsync(WareHouseUpInput input)
{
if (input == null) throw new ArgumentNullException(nameof(input));