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This commit is contained in:
alex
2023-10-08 13:48:48 +08:00
parent 4384fa35eb
commit fd511171f4
6 changed files with 119 additions and 104 deletions
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2
WarehouseMgr/Tnb.WarehouseMgr.Interfaces/IWareHouseService.cs
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@@ -71,6 +71,6 @@ namespace Tnb.WarehouseMgr.Interfaces
/// /// <param name="input"></param>
/// <returns></returns>
Task TaskExecuteAfter(TaskExecuteAfterUpInput input);
Func<string,Task> AddUnExecuteTask { get; set; }
}
}

2
WarehouseMgr/Tnb.WarehouseMgr/BaseWareHouseService.cs
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@@ -54,6 +54,8 @@ namespace Tnb.WarehouseMgr
private static Dictionary<string, IWHStorageService> _storeMap = new(StringComparer.OrdinalIgnoreCase);
public OverideVisualDevFunc OverideFuncs { get; } = new OverideVisualDevFunc();
private readonly ChannelWriter<NotifyMessage> _channelWriter;
public BaseWareHouseService(ChannelWriter<NotifyMessage>? channelWriter = default)
{

8
WarehouseMgr/Tnb.WarehouseMgr/DeviceProviderService.cs
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@@ -254,6 +254,11 @@ namespace Tnb.WarehouseMgr
{
await _elevatorControlService.SendOpenCloseCmd(elevatorQueueItem.elevator_code, 4); //向电梯发送前门关门指令
await _db.Deleteable(elevatorQueueItem).ExecuteCommandAsync();
elevatorQueueItem = await _db.Queryable<WmsElevatorUnexecute>().FirstAsync(it => disTasks.Select(x => x.id).Contains(it.distask_id) && it.task_status == "待执行");
if (!elevatorQueueItem?.elevator_code.IsNullOrEmpty() ?? false)
{
await (_wareHouseService.AddUnExecuteTask?.Invoke(elevatorQueueItem?.elevator_code!) ?? Task.CompletedTask);
}
}
}
}
@@ -284,8 +289,9 @@ namespace Tnb.WarehouseMgr
}
}
}
catch (Exception)
catch (Exception ex)
{
Log.Error("任务状态上报出现错误", ex);
return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
throw;
}

202
WarehouseMgr/Tnb.WarehouseMgr/WareHouseService.cs
View File

@@ -4,45 +4,25 @@ using System.Diagnostics;
using System.Dynamic;
using System.Linq;
using System.Linq.Expressions;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Text.Encodings.Web;
using System.Threading.Tasks;
using Aliyun.Credentials.Http;
using Aop.Api.Domain;
using Aspose.Cells.Drawing;
using JNPF;
using JNPF.Common.Const;
using JNPF.Common.Contracts;
using JNPF.Common.Core.Manager;
using JNPF.Common.Enums;
using JNPF.Common.Extension;
using JNPF.Common.Manager;
using JNPF.Common.Security;
using JNPF.DependencyInjection;
using JNPF.DynamicApiController;
using JNPF.Extras.CollectiveOAuth.Config;
using JNPF.FriendlyException;
using JNPF.Logging;
using JNPF.Systems.Entitys.Dto.Module;
using JNPF.Systems.Interfaces.System;
using Mapster;
using Microsoft.AspNetCore.Hosting;
using Microsoft.AspNetCore.Mvc;
using Microsoft.CodeAnalysis;
using Newtonsoft.Json;
using Polly.Timeout;
using Senparc.NeuChar.Helpers;
using Senparc.Weixin.Work.AdvancedAPIs.OaDataOpen;
using Spire.Pdf.Widget;
//using NPOI.SS.Formula.Functions;
using SqlSugar;
using Swashbuckle.AspNetCore.SwaggerGen;
using Tnb.BasicData.Entities;
using Tnb.BasicData.Entities.Enums;
using Tnb.Common.Extension;
using Tnb.Common.Utils;
using Tnb.ProductionMgr.Entities.Dto.PrdManage;
using Tnb.WarehouseMgr.Entities;
using Tnb.WarehouseMgr.Entities.Attributes;
using Tnb.WarehouseMgr.Entities.Configs;
@@ -51,7 +31,6 @@ using Tnb.WarehouseMgr.Entities.Dto;
using Tnb.WarehouseMgr.Entities.Dto.Inputs;
using Tnb.WarehouseMgr.Entities.Entity;
using Tnb.WarehouseMgr.Entities.Enums;
using Tnb.WarehouseMgr.Entities.Exceptions;
using Tnb.WarehouseMgr.Interfaces;
namespace Tnb.WarehouseMgr
@@ -68,7 +47,7 @@ namespace Tnb.WarehouseMgr
private readonly ICacheManager _cacheManager;
private readonly IElevatorControlService _elevatorControlService;
private static Dictionary<string, object> _elevatorMap = new Dictionary<string, object>();
public Func<string, Task> AddUnExecuteTask { get; set; }
public WareHouseService(ISqlSugarRepository<WmsInstockH> repository, IDictionaryDataService dictionaryDataService,
IBillRullService billRullService, IUserManager userManager, ICacheManager cacheManager, IElevatorControlService elevatorControlService)
@@ -79,6 +58,14 @@ namespace Tnb.WarehouseMgr
_userManager = userManager;
_cacheManager = cacheManager;
_elevatorControlService = elevatorControlService;
AddUnExecuteTask = async code =>
{
(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(code, CancellationToken.None);
if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯)
{
await _elevatorControlService.CallLift(code, 5, CancellationToken.None);
}
};
}
@@ -360,65 +347,11 @@ namespace Tnb.WarehouseMgr
var endLocCodes = disTasks.Select(it => (it.endlocation_code, it.device_id, it.id)).Where(it => it.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase)).ToList();
if (endLocCodes?.Count > 0)
{
var item = endLocCodes.FirstOrDefault();
if (_elevatorMap.ContainsKey(item.device_id))
{
var devName = _elevatorMap[item.device_id].ToString();
var agvStatus = await _elevatorControlService.GetTagAsync(devName, ElevatorConsts.AGVControl);
//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)
{
await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
}
}
foreach (var (_, devId, disTaskId) in endLocCodes)
{
WmsElevatorUnexecute elevatorQueueItem = new()
{
distask_id = disTaskId,
elevator_id = devId,
elevator_code = _elevatorMap[devId].ToString(),
floor = 5, //5代表4楼
task_status = "待执行",
create_id = _userManager.UserId,
create_time = DateTime.Now
};
var elevatorQueue = await _db.Queryable<WmsElevatorUnexecute>().Where(it => it.elevator_id == devId && it.task_status == "执行中").ToListAsync();
if (_elevatorMap.ContainsKey(devId) && (elevatorQueue.IsNull() || elevatorQueue.Count < 1))
{
var devName = _elevatorMap[devId].ToString();
elevatorQueueItem.task_status = "执行中";
await _elevatorControlService.CallLift(devName, 5, CancellationToken.None);
}
//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
await _db.Insertable(elevatorQueueItem).ExecuteCommandAsync();
}
await CallingLanding(endLocCodes);
}
//调用AGV创建任务链接口
var requestCfg = App.Configuration.Build<AgvRequestConfig>();
var url = requestCfg.AgvRequestUrls.CreateTaskChainUrl;
var taskChainCodeDic = disTasks.Where(t => !t.groups.IsNullOrWhiteSpace()).GroupBy(g => g.groups!)
.ToDictionary(x => x.Key, x => x.Select(it => new
{
taskCode = it.bill_code,
sourceName = it.startpoint_code,
targetName = it.endpoint_code,
containerCode = it.carry_code,
}));
Log.Information($"请求地址：{url}");
foreach (var (k, v) in taskChainCodeDic)
{
dynamic reqBody = new ExpandoObject();
reqBody.taskChainCode = k;
reqBody.type = (int)EnumTaskChainType.AGV;
reqBody.sequential = false;
reqBody.taskChainPriority = 0;
reqBody.taskList = v;
Log.Information($"请求参数：{JsonConvert.SerializeObject(reqBody)}");
var respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, agvCts.Token);
Log.Information($"调用Agv接口响应结果:{respBody}");
}
await AgvDispatch(disTasks, agvCts.Token);
}
}
catch (Exception ex) when (ex is HttpRequestException hReqEx)
@@ -437,36 +370,101 @@ namespace Tnb.WarehouseMgr
}
}
/// <summary>
/// 呼梯操作
/// </summary>
/// <param name="endLocCodes"></param>
/// <returns></returns>
private async Task CallingLanding(List<(string endlocation_code, string device_id, string id)> endLocCodes)
{
try
{
var item = endLocCodes.FirstOrDefault();
if (_elevatorMap.ContainsKey(item.device_id))
{
var devName = _elevatorMap[item.device_id].ToString();
var agvStatus = await _elevatorControlService.GetTagAsync(devName, ElevatorConsts.AGVControl);
//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)
{
await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
}
}
{
foreach (var (_, devId, disTaskId) in endLocCodes)
{
WmsElevatorUnexecute elevatorQueueItem = new()
{
distask_id = disTaskId,
elevator_id = devId,
elevator_code = _elevatorMap[devId].ToString(),
floor = 5, //5代表4楼
task_status = "待执行",
create_id = _userManager.UserId,
create_time = DateTime.Now
};
var elevatorQueue = await _db.Queryable<WmsElevatorUnexecute>().Where(it => it.elevator_id == devId && it.task_status == "执行中").ToListAsync();
if (_elevatorMap.ContainsKey(devId) && (elevatorQueue.IsNull() || elevatorQueue.Count < 1))
{
var devName = _elevatorMap[devId].ToString();
elevatorQueueItem.task_status = "执行中";
(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, CancellationToken.None);
if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯)
{
await _elevatorControlService.CallLift(devName, 5, CancellationToken.None);
}
}
//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
await _db.Insertable(elevatorQueueItem).ExecuteCommandAsync();
}
}
}
catch (Exception ex)
{
Log.Error("呼梯操作错误", ex);
throw;
}
}
/// <summary>
/// Agv调度
/// </summary>
/// <param name="disTasks"></param>
/// <param name="token"></param>
/// <returns></returns>
private async Task AgvDispatch(Dictionary<string, List<dynamic>> taskChainCodeDic, CancellationToken token)
private async Task AgvDispatch(List<WmsDistaskH> disTasks, CancellationToken token)
{
//调用AGV创建任务链接口
var requestCfg = App.Configuration.Build<AgvRequestConfig>();
var url = requestCfg.AgvRequestUrls.CreateTaskChainUrl;
//var taskChainCodeDic = disTasks.Where(t => !t.groups.IsNullOrWhiteSpace()).GroupBy(g => g.groups!)
// .ToDictionary(x => x.Key, x => x.Select(it => new
// {
// taskCode = it.bill_code,
// sourceName = it.startpoint_code,
// targetName = it.endpoint_code,
// containerCode = it.carry_code,
// }));
Log.Information($"请求地址：{url}");
foreach (var (k, v) in taskChainCodeDic)
try
{
dynamic reqBody = new ExpandoObject();
reqBody.taskChainCode = k;
reqBody.type = (int)EnumTaskChainType.AGV;
reqBody.sequential = false;
reqBody.taskChainPriority = 0;
reqBody.taskList = v;
Log.Information($"请求参数：{JsonConvert.SerializeObject(reqBody)}");
var respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, token);
Log.Information($"调用Agv接口响应结果:{respBody}");
var requestCfg = App.Configuration.Build<AgvRequestConfig>();
var url = requestCfg.AgvRequestUrls.CreateTaskChainUrl;
var taskChainCodeDic = disTasks.Where(t => !t.groups.IsNullOrWhiteSpace()).GroupBy(g => g.groups!)
.ToDictionary(x => x.Key, x => x.Select(it => new
{
taskCode = it.bill_code,
sourceName = it.startpoint_code,
targetName = it.endpoint_code,
containerCode = it.carry_code,
}));
Log.Information($"请求地址：{url}");
foreach (var (k, v) in taskChainCodeDic)
{
dynamic reqBody = new ExpandoObject();
reqBody.taskChainCode = k;
reqBody.type = (int)EnumTaskChainType.AGV;
reqBody.sequential = false;
reqBody.taskChainPriority = 0;
reqBody.taskList = v;
Log.Information($"请求参数：{JsonConvert.SerializeObject(reqBody)}");
var respBody = await HttpClientHelper.PostStreamAsync(url, reqBody, token);
Log.Information($"调用Agv接口响应结果:{respBody}");
}
}
catch (Exception ex)
{
Log.Error("agv调度失败异常", ex);
throw;
}
}