747 lines
40 KiB
C#
747 lines
40 KiB
C#
using System.Drawing.Drawing2D;
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using Aliyun.OSS;
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using Aop.Api.Domain;
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using JNPF;
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using JNPF.Common.Core.Manager;
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using JNPF.Common.Enums;
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using JNPF.Common.Extension;
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using JNPF.Common.Manager;
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using JNPF.Common.Net;
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using JNPF.Common.Security;
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using JNPF.EventBus;
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using JNPF.EventHandler;
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using JNPF.Logging;
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using JNPF.Systems.Entitys.System;
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using Microsoft.AspNetCore.Authorization;
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using Microsoft.AspNetCore.Mvc;
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using Microsoft.Extensions.Logging;
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using Newtonsoft.Json;
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using Org.BouncyCastle.Crypto.Agreement;
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using Senparc.CO2NET.Cache;
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using SqlSugar;
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using Tnb.Common.Extension;
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using Tnb.EquipMgr.Entities;
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using Tnb.WarehouseMgr.Entities;
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using Tnb.WarehouseMgr.Entities.Configs;
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using Tnb.WarehouseMgr.Entities.Consts;
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using Tnb.WarehouseMgr.Entities.Dto;
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using Tnb.WarehouseMgr.Entities.Dto.Inputs;
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using Tnb.WarehouseMgr.Entities.Dto.Outputs;
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using Tnb.WarehouseMgr.Entities.Dto.Queries;
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using Tnb.WarehouseMgr.Entities.Entity;
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using Tnb.WarehouseMgr.Entities.Enums;
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using Tnb.WarehouseMgr.Interfaces;
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namespace Tnb.WarehouseMgr
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{
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/// <summary>
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/// Wms设备接口提供程序服务类
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/// </summary>
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public class DeviceProviderService : DevServBase<DeviceProviderService>
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{
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private readonly ISqlSugarClient _db;
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private readonly IWareHouseService _wareHouseService;
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private readonly ICacheManager _cacheManager;
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private readonly IEventPublisher _eventPublisher;
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private readonly IUserManager _userManager;
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private readonly IElevatorControlService _elevatorControlService;
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private readonly ElevatorControlConfiguration _eleCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
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private readonly ILoggerFactory _loggerFactory;
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public DeviceProviderService(ISqlSugarRepository<WmsInstockH> repository, IWareHouseService wareHouseService,
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ICacheManager cacheManager,
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IEventPublisher eventPublisher,
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IUserManager userManger,
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IElevatorControlService elevatorControlService
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) : base(repository.AsSugarClient())
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{
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_db = repository.AsSugarClient();
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_wareHouseService = wareHouseService;
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_cacheManager = cacheManager;
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_eventPublisher = eventPublisher;
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_userManager = userManger;
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_elevatorControlService = elevatorControlService;
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}
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/// <summary>
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/// 创建任务链
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/// </summary>
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/// <returns></returns>
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[HttpPost, NonUnify]
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public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> CreateTaskChain()
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{
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Logger.LogInformation("fasdfadsfadsfasdfasdfadsfasdfadsfadsfasdfasdfasdfasdfas");
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return await Task.FromResult<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result>(null);
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}
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/// <summary>
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/// 取货确认/申请取货
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/// </summary>
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/// <param name="input"></param>
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/// <returns></returns>
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[HttpPost, NonUnify, AllowAnonymous]
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public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> LoadConfirm(ConfirmInput input)
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{
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Logger.Information($"【LoadConfirm】接收到WCS取货确认信号.................. {JsonConvert.SerializeObject(input)}");
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try
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{
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var dis = _db.Queryable<WmsDistaskH>().Where(P => P.bill_code == input.taskCode).First();
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if (dis.area_code == "ZSCJ001")
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{
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var flag = await _wareHouseService.Check(dis.startlocation_code, "LOAD");
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if (flag)
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{
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await _wareHouseService.SsxControl(dis, "LOAD");
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Logger.Information("【LoadConfirm】 " + dis.startlocation_code + "取货确认..................成功");
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return await ToApiResult(HttpStatusCode.OK, "成功");
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}
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else
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{
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Logger.Information("【LoadConfirm】 " + dis.startlocation_code + "取货确认..................失败");
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return await ToApiResult(HttpStatusCode.InternalServerError, "失败");
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}
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}
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}
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catch (Exception ex)
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{
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Logger.LogError(ex.Message);
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Logger.LogError(ex.StackTrace);
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return await ToApiResult(HttpStatusCode.InternalServerError, $"取货确认..................失败 原因是{ex.Message}");
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throw;
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}
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/*var whereExp = Expressionable.Create<WmsElevatorH, WmsElevatorD, WmsDistaskH>()
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.And((a, b, c) => c.bill_code == input.taskCode)
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.And((a, b, c) => a.enabled == 1)
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.AndIF(SqlFunc.Contains("DT-R", input.sourceName), (a, b, c) => c.startpoint_code == input.sourceName)
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.AndIF(SqlFunc.Contains("DT-C", input.sourceName), (a, b, c) => c.endlocation_code == input.sourceName)
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.ToExpression();
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WmsElevatorH elevator = await _db.Queryable<WmsElevatorH>().InnerJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
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.InnerJoin<WmsDistaskH>((a, b, c) => b.location_id == c.startlocation_id)
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.Where(whereExp)
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.Select((a, b, c) => new WmsElevatorH
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{
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distask_id = c.id,
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device_id = a.elevator_id,
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}, true)
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.FirstAsync();*/
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Logger.Information($"【LoadConfirm】 当前取货,子任务编号:{input.taskCode}");
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ElevagorInfoQuery q = new() { taskCode = input.taskCode, sourceName = input.sourceName };
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WmsElevatorH elevator = await FindElevatorFromPars(q);
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if (elevator.IsNull())
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{
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Logger.Error("【LoadConfirm】 未找到匹配的电梯任务", new Exception($"【LoadConfirm】 根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务"));
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return await ToApiResult(HttpStatusCode.InternalServerError, $"【LoadConfirm】 根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务");
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}
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try
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{
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if (s_elevatorMap.TryGetValue(elevator.device_id, out object? elevatorCode))
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{
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//s_eleUseStatusDic[elevator.device_id] = (int)EnumElevatorUseStatus.空闲;
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string devName = elevatorCode?.ToString();
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Logger.Information($"【LoadConfirm】 获取设备:{devName},状态");
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var tags = _eleCtlCfg.tags;
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await Task.Delay(1000);
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(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, tags, CancellationToken.None);
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Logger.Information($"【LoadConfirm】 电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>()},运行状态:{runStatus.ToEnum<EnumRunStatus>()},门状态:{doorStatus},Agv状态:{agvStatus.ToEnum<EnumAgvStatus>()},当前楼层：{floorNo}，电梯占用状态{s_eleUseStatusDic[elevator.device_id]}");
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{
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var curFloor = await GetRealFloor(elevator.end_floor);
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/* Logger.Information($"目标楼层：{curFloor},电梯当前楼层:{floorNo}");
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Logger.Information($"当前取货设备ID：{elevator.device_id}");
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var loadedStatus = s_eleUseStatusDic[elevator.device_id] == 1 ? "完成" : "未完成";
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Logger.Information($"{devName.Match(@"\d+")}#梯,取货-> {loadedStatus}");
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*/
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if (s_eleUseStatusDic[elevator.device_id] == (int)EnumElevatorUseStatus.空闲 && curFloor != floorNo)
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{
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_ = await _elevatorControlService.CallLift(devName, curFloor, CancellationToken.None);
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}
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if (curFloor != floorNo)
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{
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Logger.Information($"【LoadConfirm】 电梯还未开门，请重试！curFloor != floorNo");
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return await ToApiResult(HttpStatusCode.InternalServerError, "【LoadConfirm】 电梯还未开门，请重试！");
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}
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if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.开门到位保持 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯 && floorNo == curFloor) //判断电梯楼层与当前放货在同一楼层在允许放货
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{
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Logger.Information($"【LoadConfirm】 发送电梯{devName}前门开门指令");
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_ = await _elevatorControlService.SendOpenCloseCmd(devName, 3); //发送电梯前门开门指令
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}
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//if (doorStatus == (int)EnumDoorStatus.开门到位保持 && s_eleUseStatusDic[elevator.device_id] == (int)EnumElevatorUseStatus.占用)
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//{
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// Logger.Information($"{devName.Match(@"\d+")}#梯，任务未完成");
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// await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
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//}
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if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯
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&& doorStatus == (int)EnumDoorStatus.开门到位保持)
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{
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Logger.Information($"【LoadConfirm】 {devName}取货成功");
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return await ToApiResult(HttpStatusCode.OK, "成功");
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}
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}
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}
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}
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catch (Exception)
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{
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return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
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throw;
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}
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return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
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}
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/// <summary>
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/// 获取电梯根据任务单号
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/// </summary>
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/// <param name="input">
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/// taskCode:子任务编号
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/// endlocation_id:目标库位ID
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/// </param>
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/// <returns></returns>
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protected async Task<WmsElevatorH> FindElevatorFromPars(ElevagorInfoQuery input)
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{
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Logger.Information($"【FindElevatorFromPars】 根据任务单号获取电梯参数: {JsonConvert.SerializeObject(input)}");
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var whereExpable = Expressionable.Create<WmsElevatorH, WmsElevatorD, WmsDistaskH>()
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.And((a, b, c) => a.enabled == 1);
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if (!input.taskCode.IsNullOrEmpty())
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{
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whereExpable.AndIF(!SqlFunc.IsNullOrEmpty(input.taskCode), (a, b, c) => c.bill_code == input.taskCode);
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}
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if (!input.endlocation_id.IsNullOrEmpty())
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{
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whereExpable.AndIF(!SqlFunc.IsNullOrEmpty(input.endlocation_id), (a, b, c) => b.location_id == input.endlocation_id);
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}
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if (!input.startlocation_id.IsNullOrEmpty())
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{
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whereExpable.AndIF(!SqlFunc.IsNullOrEmpty(input.startlocation_id), (a, b, c) => b.location_id == input.startlocation_id);
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}
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ISugarQueryable<WmsElevatorH> queryable = _db.CopyNew().Queryable<WmsElevatorH>().InnerJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
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.InnerJoin<WmsDistaskH>((a, b, c) => b.location_code == c.endlocation_code || b.location_code == c.startlocation_code)
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.Where(whereExpable.ToExpression())
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.WhereIF(!SqlFunc.IsNullOrEmpty(input.sourceName) && SqlFunc.StartsWith("DT-R", input.sourceName), (a, b, c) => c.startpoint_code == input.sourceName)
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.WhereIF(!SqlFunc.IsNullOrEmpty(input.sourceName) && SqlFunc.StartsWith("DT-C", input.sourceName), (a, b, c) => c.endpoint_code == input.sourceName)
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.Select((a, b, c) => new WmsElevatorH
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{
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bill_code = c.bill_code,
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device_id = a.elevator_id,
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end_floor = c.end_floor
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}, true);
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Logger.Information($"【FindElevatorFromPars】 根据任务单号获取电梯sql {queryable.ToSqlString()}");
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var ele = await queryable
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.FirstAsync();
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return ele;
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}
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/// <summary>
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/// 放货确认/申请放货
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/// </summary>
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/// <param name="input"></param>
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/// <returns></returns>
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[HttpPost, NonUnify, AllowAnonymous]
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public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> UnloadConfirm(ConfirmInput input)//
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{
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Logger.Information("【UnloadConfirm】 接收到WCS放货确认信号..................");
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Logger.Information($"【UnloadConfirm】 当前放货，任务编号:{input.taskCode}");
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var dis = _db.Queryable<WmsDistaskH>().Where(P => P.bill_code == input.taskCode).First();
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if (dis.area_code == "ZSCJ001")
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{
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var flag = await _wareHouseService.Check(dis.endlocation_code, "UNLOAD");
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if (flag)
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{
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await _wareHouseService.SsxControl(dis, "UNLOAD");
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return await ToApiResult(HttpStatusCode.OK, "成功");
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}
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else
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{
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return await ToApiResult(HttpStatusCode.InternalServerError, "失败");
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}
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}
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try
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{
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/*var whereExp = Expressionable.Create<WmsElevatorH, WmsElevatorD, WmsDistaskH>()
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.And((a, b, c) => c.bill_code == input.taskCode)
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.And((a, b, c) => a.enabled == 1)
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.AndIF(SqlFunc.Contains("DT-R", input.sourceName), (a, b, c) => c.startpoint_code == input.sourceName)
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.AndIF(SqlFunc.Contains("DT-C", input.sourceName), (a, b, c) => c.endlocation_code == input.sourceName)
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.ToExpression();
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//根据Agv传递的参数获取，对应的电梯
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WmsElevatorH elevator = await _db.Queryable<WmsElevatorH>().LeftJoin<WmsElevatorD>((a, b) => a.id == b.bill_id)
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.LeftJoin<WmsDistaskH>((a, b, c) => b.location_id == c.endlocation_id)
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.Where(whereExp)
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.Select((a, b, c) => new WmsElevatorH
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{
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end_floor = SqlFunc.ToInt32(c.end_floor),
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device_id = a.elevator_id,
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}, true)
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.FirstAsync();*/
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ElevagorInfoQuery q = new() { taskCode = input.taskCode, sourceName = input.sourceName };
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WmsElevatorH elevator = await FindElevatorFromPars(q);
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if (elevator.IsNull())
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{
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Logger.Error($"【UnloadConfirm】 根据参数,sourceName:{input.sourceName},taskCode:{input.taskCode},未找到匹配的电梯任务");
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}
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if (s_elevatorMap.TryGetValue(elevator.device_id, out object? elevatorCode))
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{
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string devName = elevatorCode?.ToString();
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Logger.Information($"【UnloadConfirm】 当前放货设备ID：{elevator.device_id}");
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var loadedStatus = s_eleUseStatusDic[elevator.device_id] == 1 ? "占用" : "空闲";
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Logger.Information($"【UnloadConfirm】 {devName.Match(@"\d+")}#梯,状态-> {loadedStatus}");
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Logger.Information($"【UnloadConfirm】 获取设备:{devName},状态");
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//await Task.Delay(3000);
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(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await _elevatorControlService.GetElevatorStatus(devName, _eleCtlCfg.tags, CancellationToken.None);//elevator.elevator_code
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Logger.Information($"【UnloadConfirm】 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}");
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//判断Agv电梯是否进入状态
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if (agvStatus != (int)EnumAgvStatus.AGV运行状态)
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{
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dynamic res = await _elevatorControlService.WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
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Logger.Information($"【UnloadConfirm】 发送AGVControl 切换电梯{devName}控制模式结果 {JsonConvert.SerializeObject(res)}");
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}
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var curFloor = await GetRealFloor(elevator.end_floor);
|
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Logger.Information($"【UnloadConfirm】 电梯状态 {s_eleUseStatusDic[elevator.device_id]} 当前楼层：{curFloor}，电梯所在楼层:{floorNo}");
|
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if (s_eleUseStatusDic[elevator.device_id] == (int)EnumElevatorUseStatus.空闲 && curFloor != floorNo)
|
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{
|
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_ = await _elevatorControlService.CallLift(devName, curFloor, CancellationToken.None);
|
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}
|
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if (curFloor != floorNo)
|
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{
|
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Logger.Information($"【UnloadConfirm】 电梯还未开门，请重试！curFloor != floorNo");
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return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
|
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}
|
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|
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if (doorStatus == (int)EnumDoorStatus.开门到位保持 && s_eleUseStatusDic[elevator.device_id] == (int)EnumElevatorUseStatus.占用)
|
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{
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Logger.Information($"【UnloadConfirm】 电梯当前在s_eleUseStatusDic中的状态为占用！");
|
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await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
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}
|
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//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
|
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if (doorStatus != (int)EnumDoorStatus.开门到位保持 && s_eleUseStatusDic[elevator.device_id] == (int)EnumElevatorUseStatus.空闲 && 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
|
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{
|
||
Logger.Information($"【UnloadConfirm】 发送电梯{devName}前门开门指令");
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_ = await _elevatorControlService.SendOpenCloseCmd(devName, 3); //发送电梯前门开门指令
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}
|
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if (sysStatus == (int)EnumSysStatus.正常状态 && runStatus == (int)EnumRunStatus.停梯
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&& doorStatus == (int)EnumDoorStatus.开门到位保持 && s_eleUseStatusDic[elevator.device_id] == (int)EnumElevatorUseStatus.空闲)
|
||
{
|
||
Logger.Information($"【UnloadConfirm】 {devName}放货成功 状态变更为占用");
|
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await _db.Updateable<WmsElevatorH>().SetColumns(r => r.is_use == (int)EnumElevatorUseStatus.占用).Where(r => r.elevator_id == elevator.device_id).ExecuteCommandAsync();
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s_eleUseStatusDic[elevator.device_id] = (int)EnumElevatorUseStatus.占用;
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return await ToApiResult(HttpStatusCode.OK, "成功");
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}
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Logger.Information($"【UnloadConfirm】 电梯还未开门，请重试！sysStatus: {sysStatus} runStatus:{runStatus} doorStatus: {doorStatus} s_eleUseStatusDic[elevator.device_id]: {s_eleUseStatusDic[elevator.device_id]}");
|
||
}
|
||
return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
|
||
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Logger.Error("【UnloadConfirm】 放货确认失败", ex);
|
||
return await ToApiResult(HttpStatusCode.InternalServerError, "电梯还未开门，请重试！");
|
||
throw;
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 任务链状态上报
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
[HttpPost, NonUnify, AllowAnonymous]
|
||
public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> TaskChainCallBack(TaskChainCallBackInput input)
|
||
{
|
||
|
||
try
|
||
{
|
||
Logger.Information($"【TaskChainCallBack】 接收到WCS信号 任务链上报->任务链编号：{input.taskChainCode},状态：{input.status},设备ID：{input.deviceID}");
|
||
switch (input.status)
|
||
{
|
||
case "CREATED": break;
|
||
case "ALLOCATED": break;
|
||
case "PROCESSING":
|
||
if (input.taskChainCode.Trim().IsNullOrEmpty())
|
||
{
|
||
return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
|
||
}
|
||
List<WmsDistaskH> disTasks = await _db.Queryable<WmsDistaskH>().Where(it => it.bill_code.Contains(input.taskChainCode)).ToListAsync();
|
||
List<EqpEquipment> eps = await _db.Queryable<EqpEquipment>().Where(it => it.code.Contains(input.deviceID)).ToListAsync();
|
||
if (disTasks == null || disTasks.Count < 1)
|
||
{
|
||
Logger.Error($"【TaskChainCallBack】 根据任务链编号:{input.taskChainCode} ,未获取到任何任务");
|
||
}
|
||
if (disTasks?.Count > 0)
|
||
{
|
||
TaskExecuteUpInput taskExecuteUpInput = new()
|
||
{
|
||
disTaskIds = disTasks?.Select(x => x.id).ToList() ?? Enumerable.Empty<string>().ToList(),
|
||
EqpIds = eps?.Select(x => x.id).ToList() ?? Enumerable.Empty<string>().ToList(),
|
||
};
|
||
await _wareHouseService.TaskExecute(taskExecuteUpInput);
|
||
}
|
||
break;
|
||
case "CANCELLED":
|
||
{
|
||
Logger.Information("开始处理WCS上传的取消任务");
|
||
|
||
|
||
|
||
int row = await _db.Updateable<WmsDistaskH>().SetColumns(r => new WmsDistaskH
|
||
{
|
||
agreement = "WCS上传取消(CANCELLED)信号 取消时间:" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
|
||
status = WmsWareHouseConst.TASK_BILL_STATUS_CANCEL_ID
|
||
}).Where(P => P.bill_code.Contains(input.taskChainCode)).ExecuteCommandAsync();
|
||
if (row > 0)
|
||
{
|
||
List<WmsDistaskH> wmsDistaskHs = _db.Queryable<WmsDistaskH>().Where(P => P.bill_code.Contains(input.taskChainCode)).ToList();
|
||
List<string> wmsDistaskHCodes = wmsDistaskHs.Select(r => r.pretask_code).ToList();
|
||
|
||
foreach (WmsDistaskH wmsDistaskH in wmsDistaskHs)
|
||
{
|
||
if (wmsDistaskH.startlocation_code.Contains("DT") || wmsDistaskH.endlocation_code.Contains("DT"))
|
||
{
|
||
WmsElevatorUnlockInput wmsElevatorUnlockInput = new ();
|
||
wmsElevatorUnlockInput.elevator_id = wmsDistaskH.device_id;
|
||
await WmsElevatorUnlock(wmsElevatorUnlockInput);
|
||
Logger.Information($"WCS取消任务{wmsDistaskH.bill_code}，自动解占用电梯{wmsDistaskH.device_id}");
|
||
}
|
||
}
|
||
|
||
await _db.Updateable<WmsPretaskH>().SetColumns(r => new WmsPretaskH
|
||
{
|
||
note = "WCS上传取消(CANCELLED)信号 取消时间:" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
|
||
status = WmsWareHouseConst.PRETASK_BILL_STATUS_CANCEL_ID
|
||
}).Where(P => wmsDistaskHCodes.Contains(P.bill_code)).ExecuteCommandAsync();
|
||
Logger.Information("成功处理WCS上传的取消任务");
|
||
}
|
||
else
|
||
{
|
||
Logger.Information("未处理WCS上传的取消任务");
|
||
}
|
||
break;
|
||
}
|
||
case "SUCCEED": break;
|
||
case "FAILURE":
|
||
{
|
||
Logger.Information("开始处理WCS上传的失败任务");
|
||
int row = await _db.Updateable<WmsDistaskH>().SetColumns(r => new WmsDistaskH
|
||
{
|
||
agreement = "WCS上传失败(FAILURE)信号 失败时间:" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
|
||
status = WmsWareHouseConst.TASK_BILL_STATUS_CANCEL_ID
|
||
}).Where(P => P.bill_code.Contains(input.taskChainCode)).ExecuteCommandAsync();
|
||
if (row > 0)
|
||
{
|
||
List<string> wmsDistaskHCodes = _db.Queryable<WmsDistaskH>().Where(P => P.bill_code.Contains(input.taskChainCode)).Select(r => r.pretask_code).ToList();
|
||
|
||
await _db.Updateable<WmsPretaskH>().SetColumns(r => new WmsPretaskH
|
||
{
|
||
note = "WCS上传失败(FAILURE)信号 取消时间:" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
|
||
status = WmsWareHouseConst.TASK_BILL_STATUS_CANCEL_ID
|
||
}).Where(P => wmsDistaskHCodes.Contains(P.bill_code)).ExecuteCommandAsync();
|
||
Logger.Information("成功处理WCS上传的失败任务");
|
||
}
|
||
else
|
||
{
|
||
Logger.Information("未处理WCS上传的失败任务");
|
||
}
|
||
break;
|
||
}
|
||
case "FINISHED":
|
||
|
||
break;
|
||
default: break;
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
/*ConnectionConfigOptions opts = App.GetOptions<ConnectionConfigOptions>();
|
||
UserAgent userAgent = new(App.HttpContext);
|
||
//写系统日志
|
||
await _eventPublisher.PublishAsync(new LogEventSource("Log:CreateOpLog", opts, new SysLogEntity
|
||
{
|
||
Id = SnowflakeIdHelper.NextId(),
|
||
Category = 4,
|
||
UserId = _userManager.UserId,
|
||
UserName = _userManager.User.RealName,
|
||
IPAddress = NetHelper.Ip,
|
||
RequestURL = App.HttpContext.Request.Path,
|
||
RequestMethod = App.HttpContext.Request.Method,
|
||
Json = $"任务链状态上报,任务链编号:{input.taskChainCode},上报状态:{input.status},设备编号:{input.deviceID}",
|
||
PlatForm = string.Format("{0}-{1}", userAgent.OS.ToString(), userAgent.RawValue),
|
||
CreatorTime = DateTime.Now
|
||
}));*/
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Logger.Error("【TaskChainCallBack】 任务链状态上报", ex);
|
||
Logger.Error($"【TaskChainCallBack】 任务链状态上报错误堆栈{Environment.NewLine}{ex.StackTrace}");
|
||
return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
|
||
throw;
|
||
}
|
||
return await ToApiResult(HttpStatusCode.OK, "成功");
|
||
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 任务状态上报
|
||
/// </summary>
|
||
/// <param name="input"></param>
|
||
/// <returns></returns>
|
||
[HttpPost, NonUnify, AllowAnonymous]
|
||
public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> TaskCallback(TaskCallBackInput input)
|
||
{
|
||
var disTask = await _db.Queryable<WmsDistaskH>().FirstAsync(it => it.bill_code == input.taskCode);
|
||
Logger.Information($"【TaskCallback】 【接收】{input.taskCode} WCS信号 任务状态上报->接收参数:{JsonConvert.SerializeObject(input)}");
|
||
try
|
||
{
|
||
List<WmsDistaskH> disTasks = new() { disTask };
|
||
if (input.action == "LOAD")
|
||
{
|
||
|
||
TaskExecuteAfterUpInput taskExecuteAfterUpInput = new()
|
||
{
|
||
disTaskIds = disTasks.Select(x => x.id).ToList()
|
||
};
|
||
Logger.Information($"【TaskCallback】 设备取返回输入参数:{JsonConvert.SerializeObject(taskExecuteAfterUpInput)}");
|
||
await _wareHouseService.TaskExecuteAfter(taskExecuteAfterUpInput);
|
||
Logger.Information($"【TaskCallback】 Agv取货完成,任务编号:{string.Join(",", disTasks.Select(x => x.bill_code))}");
|
||
|
||
//根据Agv传递的参数获取，对应的电梯
|
||
|
||
if (!input.sourceName.IsNullOrWhiteSpace() && (input.sourceName.Contains("DT-R", StringComparison.OrdinalIgnoreCase)))
|
||
{
|
||
Logger.Information($"【TaskCallback】 开始根据任务单查找电梯 {input.sourceName}");
|
||
ElevagorInfoQuery q = new() { taskCode = input.taskCode };
|
||
if (!input.sourceName.IsNullOrEmpty())
|
||
{
|
||
q = new() { taskCode = input.taskCode, sourceName = input.sourceName };
|
||
}
|
||
WmsElevatorH elevator = await FindElevatorFromPars(q);
|
||
Logger.Information($"【TaskCallback】 根据任务单查找电梯结果 {JsonConvert.SerializeObject(elevator)}");
|
||
if (!elevator?.device_id.IsNullOrEmpty() ?? false)
|
||
{
|
||
await _db.Updateable<WmsElevatorH>().SetColumns(r => r.is_use == (int)EnumElevatorUseStatus.空闲).Where(r => r.elevator_id == elevator.device_id).ExecuteCommandAsync();
|
||
s_eleUseStatusDic[elevator.device_id] = (int)EnumElevatorUseStatus.空闲;
|
||
// 根据disTask StartLocationId 起始库位关联电梯获取设备ID location_code.Continas("")
|
||
var devName = s_elevatorMap[elevator.device_id]?.ToString();
|
||
Logger.Information($"【TaskCallback】 {devName.Match(@"\d+")}#梯，设备名称：{devName}，开始进入关门流程 {devName} 变更为空闲");
|
||
int doorStatus = await _elevatorControlService.GetTagAsync(devName, ElevatorConsts.DoorStatus);
|
||
Logger.Information($"【TaskCallback】 设备:{devName},门状态：{doorStatus.ToEnum<EnumDoorStatus>().ToString()}");
|
||
if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持
|
||
)//&& !disTask.endlocation_code.StartsWith("DT", StringComparison.OrdinalIgnoreCase)
|
||
{
|
||
_ = await _elevatorControlService.SendOpenCloseCmd(devName, 4); //向电梯发送前门关门指令
|
||
}
|
||
}
|
||
else
|
||
{
|
||
Logger.Information($"【TaskCallback】 没找到电梯，不能解锁电梯状态 {JsonConvert.SerializeObject(elevator)}");
|
||
}
|
||
}
|
||
else
|
||
{
|
||
//Logger.Information($"【TaskCallback】电梯sourceName不符合条件 {input.sourceName}");
|
||
}
|
||
|
||
|
||
WmsElevatorUnexecute elevatorQueueItem = await _db.Queryable<WmsElevatorUnexecute>().FirstAsync(it => disTasks.Select(x => x.id).Contains(it.distask_id) && it.task_status == "执行中");
|
||
if (elevatorQueueItem != null)
|
||
{
|
||
_ = await _db.Deleteable(elevatorQueueItem).ExecuteCommandAsync();
|
||
}
|
||
|
||
|
||
// 中储仓KIVA取货确认后不需要再发送信号给输送线
|
||
if (disTask.startlocation_code == "ZSSSXCTU01" || disTask.startlocation_code == "ZSSSXCTU02")
|
||
{
|
||
|
||
}
|
||
else
|
||
{
|
||
await _wareHouseService.SsxControl(disTask, "LOAD");
|
||
// 二楼机械臂
|
||
await _wareHouseService.Floor2MechanicalComplete(disTask, "LOAD");
|
||
}
|
||
}
|
||
else if (input.action == "UNLOAD")
|
||
{
|
||
|
||
TaskCompleUpInput taskCompleUpInput = new()
|
||
{
|
||
disTaskIds = disTasks.Select(x => x.id).ToList()
|
||
};
|
||
Logger.Information($"taskCompleUpInput json parameter:{JsonConvert.SerializeObject(taskCompleUpInput)}");
|
||
await _wareHouseService.TaskComplate(taskCompleUpInput);
|
||
await _wareHouseService.SsxControl(disTask, "UNLOAD");
|
||
// 二楼机械臂
|
||
await _wareHouseService.Floor2MechanicalComplete(disTask, "UNLOAD");
|
||
Logger.Information($"【TaskCallback】 Agv放货完成,任务编号:{string.Join(",", disTasks.Select(x => x.bill_code))}");
|
||
}
|
||
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Logger.Error("【TaskCallback】 任务状态上报出现错误", ex);
|
||
Logger.Error("【TaskCallback】 任务状态上报错误堆栈信息", ex.StackTrace);
|
||
return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
|
||
throw;
|
||
}
|
||
finally
|
||
{
|
||
_ = InvokeGenPretaskExcute();
|
||
}
|
||
Logger.Information($"【TaskCallback】 【成功】{input.taskCode} WCS信号 任务状态上报->接收参数:{JsonConvert.SerializeObject(input)}");
|
||
return await ToApiResult(HttpStatusCode.OK, "成功");
|
||
|
||
}
|
||
|
||
|
||
[HttpPost]
|
||
public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> WmsElevatorUnlock(WmsElevatorUnlockInput input)
|
||
{
|
||
try
|
||
{
|
||
Logger.Information($"【WmsElevatorUnlock】操作电梯{input.elevator_id}手动解锁");
|
||
await _db.Updateable<WmsElevatorH>().SetColumns(r => r.is_use == (int)EnumElevatorUseStatus.空闲)
|
||
.Where(it => it.elevator_id == input.elevator_id).ExecuteCommandAsync();
|
||
s_eleUseStatusDic[input.elevator_id] = (int)EnumElevatorUseStatus.空闲;
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Logger.Error("【ElevatorConfirm】 申请进出电梯信号错误", ex);
|
||
return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
|
||
throw;
|
||
}
|
||
return await ToApiResult(HttpStatusCode.OK, "解锁成功");
|
||
}
|
||
|
||
/// <summary>
|
||
/// 申请进出电梯
|
||
/// </summary>
|
||
/// <param name="input"></param>
|
||
/// <returns></returns>
|
||
[HttpPost, NonUnify, AllowAnonymous]
|
||
public async Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> ElevatorConfirm(ConfirmInput input)
|
||
{
|
||
try
|
||
{
|
||
Logger.Information($"【ElevatorConfirm】 接收到WCS申请进出电梯信号 接收参数:{JsonConvert.SerializeObject(input)}");
|
||
List<WmsElevatorH> 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 ex)
|
||
{
|
||
Logger.Error("【ElevatorConfirm】 申请进出电梯信号错误", ex);
|
||
return await ToApiResult(HttpStatusCode.InternalServerError, "请重试！");
|
||
throw;
|
||
}
|
||
return await ToApiResult(HttpStatusCode.OK, "未启用");
|
||
}
|
||
|
||
/// <summary>
|
||
/// 根据产线获取Agv列表
|
||
/// </summary>
|
||
/// <param name="lineId">产线Id，默认空，(潍柴的只有一条产线所以不用传)</param>
|
||
/// <remarks>
|
||
/// returns:
|
||
/// <br/>{
|
||
/// <br/> name:设备名称
|
||
/// <br/> code:设备代码
|
||
/// <br/>}
|
||
/// </remarks>
|
||
[HttpGet("lineId"), AllowAnonymous]
|
||
public async Task<dynamic> GetAgvListByLineId(string lineId = "")
|
||
{
|
||
var devList = await _db.Queryable<EqpEquipment>().InnerJoin<EqpEquipType>((a, b) => a.equip_type_id == b.id)
|
||
.Where((a, b) => b.code == "003" && b.status == 1)
|
||
.Select((a, b) => new
|
||
{
|
||
a.name,
|
||
a.code,
|
||
})
|
||
.ToListAsync();
|
||
return devList;
|
||
}
|
||
/// <summary>
|
||
/// 获取Agv实时信息
|
||
/// </summary>
|
||
/// <param name="q">查询输入参数</param>
|
||
///<remarks>
|
||
/// <br/>{
|
||
/// <br/> deviceCode:设备序号
|
||
/// <br/> devicePostionRec:设备所在二维码的x,y坐标，前边的值是x，后边的是y
|
||
/// <br/> devicePosition:设备当前位置
|
||
/// <br/> oritation:方向
|
||
/// <br/> speed:速度
|
||
/// <br/> shelfNumber：当前搬运的货架编号,对应载具编号
|
||
/// <br/>}
|
||
///</remarks>
|
||
[HttpGet, AllowAnonymous]
|
||
public async Task<List<AgvRealInfoOutput>> GetAgvRealInfo([FromQuery] AgvRealInfoQuery q)
|
||
{
|
||
//请求Les接口，bing解析返回结果 绑定到AgvRealInfoOutput实例 此处忽略
|
||
var devCodes = new[] { "Dev01", "Dev02", "Dev03", "Dev04", "Dev05" };
|
||
|
||
if (!q.deviceCode.IsNullOrWhiteSpace())
|
||
{
|
||
devCodes = devCodes.Where(x => q.deviceCode.Contains(x)).ToArray();
|
||
}
|
||
var result = new List<AgvRealInfoOutput>();
|
||
for (int i = 0; i < devCodes.Length; i++)
|
||
{
|
||
AgvRealInfoOutput output = new();
|
||
output.deviceCode = devCodes[i];
|
||
output.oritation = 0;
|
||
output.speed = Random.Shared.Next(0, 100);
|
||
var x = Random.Shared.NextDouble() * 100;
|
||
var y = Random.Shared.NextDouble() * 100;
|
||
output.devicePostionRec = new[] { x, y };
|
||
output.shelfNumber = "xxxx";
|
||
result.Add(output);
|
||
}
|
||
return result;
|
||
}
|
||
|
||
/// <summary>
|
||
/// CTU放货申请
|
||
/// </summary>
|
||
/// <param name="input"></param>
|
||
/// <returns></returns>
|
||
[HttpPost, NonUnify, AllowAnonymous]
|
||
public Task<Tnb.WarehouseMgr.Entities.Dto.Outputs.Result> CTUUnloadConfirm(ConfirmInput input)
|
||
{
|
||
var data = "";
|
||
try
|
||
{
|
||
data = "允许放货";
|
||
}
|
||
catch (Exception)
|
||
{
|
||
data = "不允许放货";
|
||
throw;
|
||
}
|
||
return ToApiResult(HttpStatusCode.OK, data);
|
||
}
|
||
}
|
||
}
|