XiangdianStockerExcute.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using HHECS.Bll;
using HHECS.Model;
using HHECS.OPC;
using S7.Net;
namespace HHECS.Common
{
/// <summary>
/// todo:湘电单叉双伸位堆垛机处理函数
/// </summary>
public class XiangdianStockerExcute : IStockerExcute
{
#region 接口实现
/// <summary>
/// 标记这个堆垛机处理类所处理的设备类型
/// </summary>
public EquipmentType EquipmentType { get; set; }
/// <summary>
/// 标记堆垛机是否可以执行任务
/// 由于我们是抓一次数据然后处理一次数据
/// </summary>
public bool CanExcute { get; set; }
/// <summary>
/// 记录堆垛机当前所在的列
/// </summary>
public int CurrentColumn { get; private set; }
public BllResult Excute(List<Equipment> stockers, List<Plc> plcs)
{
try
{
foreach (var stocker in stockers)
{
//对于每一个堆垛机而言,每一次处理开始都是可执行的
//CanExcute = true;
//一般根据堆垛机的位置来决定是否执行入库任务 hack:这里默认堆垛机在站台旁时列为0
CurrentColumn = int.Parse(stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "CurrentColumn").Value);
//if (CurrentColumn == 0)
//{
// //先处理入库
// ExcuteTaskIn(stocker, plcs.Find(t => t.IP == stocker.IP));
//}
////处理出库
//ExcuteTaskOut(stocker, plcs.Find(t => t.IP == stocker.IP));
////先处理入库
//ExcuteTaskIn(stocker, plcs.Find(t => t.IP == stocker.IP));
////处理巷道内移库(巷道间的移库交给出库处理,这个处理同巷道内的移库)
//ExcuteTaskTransferInRoadway(stocker, plcs.Find(t => t.IP == stocker.IP));
////处理堆垛机任务完成
//ExcuteTaskComplete(stocker, plcs.Find(t => t.IP == stocker.IP));
////任务下发错误处理
//ExcuteTaskError(stocker, plcs.Find(t => t.IP == stocker.IP));
ExcuteSingle(stocker, plcs.Find(t => t.IP == stocker.IP));
//心跳
Heartbeat(stocker, plcs.Find(t => t.IP == stocker.IP));
}
return BllResultFactory.Sucess();
}
catch (Exception ex)
{
Logger.Log($"堆垛机处理过程中出现异常:{ex.Message}", LogLevel.Exception);
return BllResultFactory.Error($"堆垛机处理过程中出现异常:{ex.Message}");
}
}
private void Heartbeat(Equipment stocker, Plc plc)
{
var prop = stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSHeartBeat");
prop.Value = "1";
var result = S7Helper.PlcSplitWrite(plc, new List<EquipmentProp>() { prop }, 20);
if (!result.Success)
{
Logger.Log($"发送堆垛机{stocker.Name}心跳数据失败:{result.Msg}", LogLevel.Error);
}
}
/// <summary>
/// 以堆垛机状态驱动,重写堆垛机控制逻辑
/// </summary>
/// <param name="stocker"></param>
/// <param name="plc"></param>
/// <returns></returns>
public BllResult ExcuteSingle(Equipment stocker, Plc plc)
{
//联机、无故障
if (Validate(stocker).Success)
{
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value == TaskExcuteStatus.任务执行中.GetIndexString())
{
//任务执行中就return
return BllResultFactory.Sucess();
}
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value == TaskExcuteStatus.任务中断_出错.GetIndexString())
{
//由人工处理,一般为空出和重入
return BllResultFactory.Sucess();
}
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value == TaskExcuteStatus.下发任务错误.GetIndexString())
{
//由人工处理,需要重新下发任务
return BllResultFactory.Sucess();
}
#region 任务和货位
//找出所有未完成的任务
var tasksResult = AppSession.Bll.GetCommonModelByCondition<TaskEntity>($"where status < {TaskEntityStatus.任务完成}");
if (!tasksResult.Success)
{
//如果没有找到任务就直接返回
return BllResultFactory.Error(tasksResult.Msg);
}
//找出同巷道的库位
var locationsResult = AppSession.Bll.GetAllLocations(null, null, null, null, stocker.RoadWay, null, null);
if (!locationsResult.Success)
{
return BllResultFactory.Error(locationsResult.Msg);
}
var tasks = tasksResult.Data;
var locations = locationsResult.Data;
#endregion
//堆垛机待机情况下
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value == TaskExcuteStatus.待机.GetIndexString())
{
//货叉任务待机时,可执行放和取任务,同时当执行完成时,交互后堆垛机会从任务完成更新为待机
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag").Value == ForkTaskFlag.任务完成.GetIndexString())
{
return ClearWCSData(stocker, plc);
}
else if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag").Value == ForkTaskFlag.无任务.GetIndexString())
{
#region 优先处理重新下发的任务
var taskForResend = tasks.FirstOrDefault(t => t.FirstStatus == TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt() && t.LastStatus == TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt() && locations.Count(a => a.Code == t.SourceLocation) > 0 && t.SendAgain == 1);
if (taskForResend != null)
{
var locationForResend = locations.Find(t => t.Code == taskForResend.SourceLocation);
return ResendTask(stocker, plc, locationForResend, taskForResend,ForkTaskFlag.库内取货);
}
taskForResend = tasks.FirstOrDefault(t => t.FirstStatus == TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt() && t.LastStatus == TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt() && locations.Count(a => a.Code == t.DestinationLocation) > 0 && t.SendAgain == 1);
if (taskForResend != null)
{
var locationForResend = locations.Find(t => t.Code == taskForResend.DestinationLocation);
return ResendTask(stocker, plc, locationForResend, taskForResend,ForkTaskFlag.库内放货);
}
taskForResend = tasks.FirstOrDefault(t => t.FirstStatus == TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt() && t.LastStatus == TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt() && locations.Count(a => a.Code == t.DestinationLocation) > 0 && t.SendAgain == 1);
if (taskForResend != null)
{
return ResendTask(stocker, plc, null, taskForResend, ForkTaskFlag.库外入库);
}
taskForResend = tasks.FirstOrDefault(t => t.FirstStatus == TaskEntityStatus.下发堆垛机库外放货任务.GetIndexInt() && t.LastStatus == TaskEntityStatus.下发堆垛机库外放货任务.GetIndexInt() && locations.Count(a => a.Code == t.SourceLocation) > 0 && t.SendAgain == 1);
if (taskForResend != null)
{
return ResendTask(stocker, plc, null, taskForResend, ForkTaskFlag.库外出库);
}
#endregion
//判断堆垛机货叉上是不是有货,有货就只能接受放货任务,无货就可以接受取货任务
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1ForkHasPallet").Value == "True")
{
//有货,则查找同巷道的取货任务完成状态的任务,同一个堆垛机,单叉情况下最多一条
//先找库内取货完成的任务
var task = tasks.FirstOrDefault(t => (t.FirstStatus == TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt() && t.LastStatus == TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt()) && locations.Count(a => a.Code == t.SourceLocation) > 0);
if (task == null)
{
//如果没有就找库外取货完成的任务
task = tasks.FirstOrDefault(t => (t.FirstStatus == TaskEntityStatus.响应堆垛机库外取货任务完成.GetIndexInt() && t.LastStatus == TaskEntityStatus.响应堆垛机库外取货任务完成.GetIndexInt()) && locations.Count(a => a.Code == t.DestinationLocation) > 0);
}
if (task == null)
{
//如果还是没有找到任务,那就说明的确没有这条任务,或是认为原因导致的,但此时又显示货叉有货,所以这里是有问题的,做个日志
Logger.Log($"堆垛机{stocker.Name}显示货叉上有货,但是没有对应的任务", LogLevel.Error);
return BllResultFactory.Error();
}
else
{
//判断任务类型
//巷道内移库
if (task.Type == TaskType.移库.GetIndexInt() && locations.Count(t => t.Code == task.DestinationLocation) > 0)
{
//下发
task.FirstStatus = TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt();
var tempResult = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (tempResult.Success)
{
var location = locations.Find(t => t.Code == task.DestinationLocation);
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, ForkTaskFlag.库内放货, location.RowIndex.ToString(), location.Line.ToString(), location.Layer.ToString(), "0", task.Id.ToString());
if (sendResult.Success)
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库内放货}成功", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库内放货}失败:{sendResult.Msg};回滚任务{task.Id}状态。", LogLevel.Error);
//回滚任务状态,记录日志
task.FirstStatus = TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt();
task.LastStatus = TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
return BllResultFactory.Error();
}
}
else
{
Logger.Log($"下发堆垛机{stocker.Name}巷道内移库任务时,更新任务{task.Id}状态失败:{tempResult.Msg}", LogLevel.Error);
return BllResultFactory.Error($"下发堆垛机{stocker.Name}巷道内移库任务时,更新任务{task.Id}状态失败:{tempResult.Msg}");
}
}
else
{
//除了巷道内移库之外,就是取货到站台,或从站台取货到库位了
if (task.FirstStatus == TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt())
{
//库内取,那么库外放
task.FirstStatus = TaskEntityStatus.下发堆垛机库外放货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库外放货任务.GetIndexInt();
var tempResult = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (tempResult.Success)
{
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, ForkTaskFlag.库外出库, "0", "0", "0", task.Station.ToString(), task.Id.ToString());
if (sendResult.Success)
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库外出库}成功", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库外出库}失败:{sendResult.Msg};回滚任务{task.Id}状态。", LogLevel.Error);
//回滚任务状态,记录日志
task.FirstStatus = TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt();
task.LastStatus = TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
return BllResultFactory.Error();
}
}
else
{
Logger.Log($"下发堆垛机{stocker.Name}库外放货任务时,更新任务{task.Id}状态失败:{tempResult.Msg}", LogLevel.Error);
return BllResultFactory.Error($"下发堆垛机{stocker.Name}库外放货任务时,更新任务{task.Id}状态失败:{tempResult.Msg}");
}
}
else
{
//库外取,那么库内放
//下发
task.FirstStatus = TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt();
var tempResult = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (tempResult.Success)
{
var location = locations.Find(t => t.Code == task.DestinationLocation);
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, ForkTaskFlag.库内放货, location.RowIndex.ToString(), location.Line.ToString(), location.Layer.ToString(), "0", task.Id.ToString());
if (sendResult.Success)
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库内放货}成功", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库内放货}失败:{sendResult.Msg};回滚任务{task.Id}状态。", LogLevel.Error);
//回滚任务状态,记录日志
task.FirstStatus = TaskEntityStatus.响应堆垛机库外取货任务完成.GetIndexInt();
task.LastStatus = TaskEntityStatus.响应堆垛机库外取货任务完成.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
return BllResultFactory.Error();
}
}
else
{
Logger.Log($"下发堆垛机{stocker.Name}库内放货时,更新任务{task.Id}状态失败:{tempResult.Msg}", LogLevel.Error);
return BllResultFactory.Error($"下发堆垛机{stocker.Name}库内放货时,更新任务{task.Id}状态失败:{tempResult.Msg}");
}
}
}
}
}
else
{
//无货,说明完全处在空闲状态
//判断任务限制情况
var tempTasks = tasks;
//hack:关于拣选的限制暂时没有做
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "TaskLimit").Value == TaskLimit.限制出库.GetIndexString())
{
//限制出库,则不能执行下发状态的出库性质任务
var temp = tasks.Where(t => t.FirstStatus == TaskEntityStatus.下发任务.GetIndexInt() && t.LastStatus == TaskEntityStatus.下发任务.GetIndexInt()).Where(t => t.Type != TaskType.整盘入库.GetIndexInt() && t.Type != TaskType.空容器入库.GetIndexInt()).ToList();
tempTasks = tasks.Where(t => temp.Count(a => a.Id == t.Id) == 0).ToList();
}
else if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "TaskLimit").Value == TaskLimit.限制入库.GetIndexString())
{
//限制入库,则不能响应待入状态的入库性质任务
tempTasks = tasks.Where(t => t.FirstStatus != TaskEntityStatus.响应接入口位置到达.GetIndexInt() && t.LastStatus != TaskEntityStatus.响应接入口位置到达.GetIndexInt()).ToList();
}
if (tempTasks.Count == 0)
{
return BllResultFactory.Error();
}
else
{
//判断堆垛机的位置
TaskEntity task = null;
if (CurrentColumn == 0)
{
//先入库
//同巷道内的入库
if (ExcuteIn(tempTasks, locations, stocker, plc).Success)
{
return BllResultFactory.Sucess();
}
}
//出库性质的取货
///获取同巷道的离堆垛机优先级最高且最近的一条任务
task = tasks.Where(t => locations.Count(a => a.Code == t.SourceLocation) > 0 && t.LastStatus == TaskEntityStatus.下发任务.GetIndexInt() && t.FirstStatus == TaskEntityStatus.下发任务.GetIndexInt() && (t.Type != TaskType.整盘入库.GetIndexInt() && t.Type != TaskType.空容器入库.GetIndexInt())).OrderByDescending(t => t.Priority).ThenBy(t => Math.Abs(locationsResult.Data.First(a => a.Code == t.SourceLocation).Line - CurrentColumn)).FirstOrDefault();
if (task != null)
{
//先更改任务状态
task.FirstStatus = TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt();
var tempResult = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (tempResult.Success)
{
var location = locationsResult.Data.Find(t => t.Code == task.SourceLocation);
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, ForkTaskFlag.库内取货, location.RowIndex.ToString(), location.Line.ToString(), location.Layer.ToString(), task.Station.ToString(), task.Id.ToString());
if (sendResult.Success)
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库内取货}成功,出库口:{task.Station}", LogLevel.Info);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库内取货}失败:{sendResult.Msg};回滚任务{task.Id}状态。", LogLevel.Error);
task.FirstStatus = TaskEntityStatus.下发任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发任务.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
return BllResultFactory.Error();
}
}
else
{
Logger.Log($"下发堆垛机{stocker.Name}库内取货时,更新任务{task.Id}状态失败:{tempResult.Msg}", LogLevel.Error);
return BllResultFactory.Error($"下发堆垛机{stocker.Name}库内取货时,更新任务{task.Id}状态失败:{tempResult.Msg}");
}
}
//再库外取货
if (ExcuteIn(tempTasks, locations, stocker, plc).Success)
{
return BllResultFactory.Sucess();
}
}
}
}
else if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag").Value == ForkTaskFlag.删除任务.GetIndexString())
{
return ClearWCSData(stocker, plc);
}
else
{
//hack:其他情况1-库内取货,2-库内放货,3-库外入库,4库外出库, 5重新分配入库地址,暂时不做处理,这里也应不需要处理这些情况
}
}
else if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value == TaskExcuteStatus.任务完成.GetIndexString())
{
//todo:响应任务完成
//一共4种完成情况
//库内取货完成
var task = tasks.FirstOrDefault(t => t.LastStatus == TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt() && t.FirstStatus == TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt() && locations.Count(a => a.Code == t.SourceLocation) > 0);
if (task != null)
{
//更新任务状态
task.FirstStatus = TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt();
task.LastStatus = TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt();
var tempResult = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (tempResult.Success)
{
//标记交换区地址,任务完成10
var prop = stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag");
prop.Value = "10";
var sendResult = S7Helper.PlcSplitWrite(plc, new List<EquipmentProp> { prop }, 20);
if (sendResult.Success)
{
Logger.Log($"堆垛机{stocker.Name}完成库内取货成功,任务:{task.Id}", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"堆垛机{stocker.Name}完成库内取货失败,任务:{task.Id},原因:{sendResult.Msg}", LogLevel.Error);
task.FirstStatus = TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
return BllResultFactory.Error();
}
}
else
{
Logger.Log($"完成堆垛机{stocker.Name}库内取货时,更新任务{task.Id}状态失败:{tempResult.Msg}", LogLevel.Error);
return BllResultFactory.Error($"完成堆垛机{stocker.Name}库内取货时,更新任务{task.Id}状态失败:{tempResult.Msg}");
}
}
//库内放货完成
task = tasks.FirstOrDefault(t => t.LastStatus == TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt() && t.FirstStatus == TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt() && locations.Count(a => a.Code == t.SourceLocation) > 0);
if (task != null)
{
//调用WMS任务完成接口
var tempResult = AppSession.Bll.CompleteTask(task.Id.ToString());
if (tempResult.Success)
{
//标记交换区地址,任务完成10
var prop = stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag");
prop.Value = "10";
var sendResult = S7Helper.PlcSplitWrite(plc, new List<EquipmentProp> { prop }, 20);
if (sendResult.Success)
{
Logger.Log($"堆垛机{stocker.Name}完成库内放货成功,任务:{task.Id}", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
//hack:这里如果更新PLC地址失败,WMS端并不会回滚,此时应考虑如何人工处理;
Logger.Log($"堆垛机{stocker.Name}完成库内放货失败,任务:{task.Id},原因:{sendResult.Msg}", LogLevel.Error);
return BllResultFactory.Error();
}
}
else
{
Logger.Log($"完成堆垛机{stocker.Name}库内放货失败,任务{task.Id}请求WMS接口失败:{tempResult.Msg}", LogLevel.Error);
return BllResultFactory.Error($"完成堆垛机{stocker.Name}库内放货失败,任务{task.Id}请求WMS接口失败:{tempResult.Msg}");
}
}
//库外取货完成时
task = tasks.FirstOrDefault(t => t.LastStatus == TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt() && t.FirstStatus == TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt() && locations.Count(a => a.Code == t.SourceLocation) > 0);
if (task != null)
{
//更新任务状态
task.FirstStatus = TaskEntityStatus.响应堆垛机库外取货任务完成.GetIndexInt();
task.LastStatus = TaskEntityStatus.响应堆垛机库外取货任务完成.GetIndexInt();
var tempResult = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (tempResult.Success)
{
//标记交换区地址,任务完成10
var prop = stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag");
prop.Value = "10";
var sendResult = S7Helper.PlcSplitWrite(plc, new List<EquipmentProp> { prop }, 20);
if (sendResult.Success)
{
Logger.Log($"堆垛机{stocker.Name}完成库外取货成功,任务:{task.Id}", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"堆垛机{stocker.Name}完成库外取货失败,任务:{task.Id},原因:{sendResult.Msg}", LogLevel.Error);
task.FirstStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
return BllResultFactory.Error();
}
}
else
{
Logger.Log($"完成堆垛机{stocker.Name}库外取货时,更新任务{task.Id}状态失败:{tempResult.Msg}", LogLevel.Error);
return BllResultFactory.Error($"完成堆垛机{stocker.Name}库外取货时,更新任务{task.Id}状态失败:{tempResult.Msg}");
}
}
//库外放货完成时
task = tasks.FirstOrDefault(t => t.LastStatus == TaskEntityStatus.下发堆垛机库外放货任务.GetIndexInt() && t.FirstStatus == TaskEntityStatus.下发堆垛机库外放货任务.GetIndexInt() && locations.Count(a => a.Code == t.SourceLocation) > 0);
if (task != null)
{
//更新任务状态
task.FirstStatus = TaskEntityStatus.响应堆垛机库外放货任务完成.GetIndexInt();
task.LastStatus = TaskEntityStatus.响应堆垛机库外放货任务完成.GetIndexInt();
var tempResult = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (tempResult.Success)
{
//标记交换区地址,任务完成10
var prop = stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag");
prop.Value = "10";
var sendResult = S7Helper.PlcSplitWrite(plc, new List<EquipmentProp> { prop }, 20);
if (sendResult.Success)
{
Logger.Log($"堆垛机{stocker.Name}完成库外放货成功,任务:{task.Id}", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"堆垛机{stocker.Name}完成库外放货失败,任务:{task.Id},原因:{sendResult.Msg}", LogLevel.Error);
task.FirstStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
return BllResultFactory.Error();
}
}
else
{
Logger.Log($"完成堆垛机{stocker.Name}库外放货时,更新任务{task.Id}状态失败:{tempResult.Msg}", LogLevel.Error);
return BllResultFactory.Error($"完成堆垛机{stocker.Name}库外放货时,更新任务{task.Id}状态失败:{tempResult.Msg}");
}
}
}
else
{
//未知情况
Logger.Log($"堆垛机{stocker.Name}出现了未知的执行状态:{stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value}", LogLevel.Warning);
return BllResultFactory.Sucess();
}
}
return BllResultFactory.Sucess();
}
private BllResult ResendTask(Equipment stocker, Plc plc, Location locationForResend, TaskEntity taskForResend,ForkTaskFlag forkTaskFlag)
{
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, forkTaskFlag, locationForResend == null?"0":locationForResend.RowIndex.ToString(), locationForResend==null?"0":locationForResend.Line.ToString(), locationForResend==null?"0":locationForResend.Layer.ToString(), taskForResend.Station.ToString(), taskForResend.Id.ToString());
if (sendResult.Success)
{
taskForResend.SendAgain = 2;
AppSession.Bll.UpdateCommonModel<TaskEntity>(taskForResend);
Logger.Log($"重新下发堆垛机{stocker.Name},任务:{taskForResend.Id},任务类型:{taskForResend.Type},货叉类型:{forkTaskFlag}成功,出库口:{taskForResend.Station}", LogLevel.Info);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"重新下发堆垛机{stocker.Name},任务:{taskForResend.Id},任务类型:{taskForResend.Type},货叉类型:{forkTaskFlag}失败:{sendResult.Msg};", LogLevel.Error);
return BllResultFactory.Error();
}
}
private BllResult ClearWCSData(Equipment stocker, Plc plc)
{
//表示堆垛机已经收到WCS发送给他的任务完成信号,此时WCS可以清除自己的交换区地址
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.无, ForkTaskFlag.无任务, "0", "0", "0", "0", "0");
if (sendResult.Success)
{
Logger.Log($"任务完成后,清除堆垛机{stocker.Name}交换区地址成功", LogLevel.Info);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"任务完成后,清除堆垛机{stocker.Name}交换区地址失败", LogLevel.Error);
return BllResultFactory.Error();
}
}
/// <summary>
/// 通用条件验证
/// </summary>
/// <param name="stocker"></param>
/// <returns></returns>
private BllResult Validate(Equipment stocker)
{
//联机,无故障
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "OperationModel").Value == OperationModel.联机.GetIndexString() && stocker.EquipmentProps.Where(t => t.EquipmentTypePropTemplate.IsMonitor == true).Count(t => t.Value != t.EquipmentTypePropTemplate.MonitorCompareValue) == 0)
{
return BllResultFactory.Sucess();
}
else
{
return BllResultFactory.Error();
}
}
/// <summary>
/// 重写库外取货逻辑
/// </summary>
public BllResult ExcuteIn(List<TaskEntity> tempTasks, List<Location> locations, Equipment stocker, Plc plc)
{
var task = tempTasks.FirstOrDefault(t => t.FirstStatus == TaskEntityStatus.响应接入口位置到达.GetIndexInt() && t.LastStatus == TaskEntityStatus.响应接入口位置到达.GetIndexInt() && locations.Count(a => a.Code == t.DestinationLocation) > 0);
if (task != null)
{
//下发堆垛机入库任务
task.FirstStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
var temp = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (temp.Success)
{
var location = locations.Find(t => t.Code == task.DestinationLocation);
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, ForkTaskFlag.库外入库, "0", "0", "0", task.Station.ToString(), task.Id.ToString());
if (sendResult.Success)
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库外入库}成功", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库外入库}失败:{sendResult.Msg};回滚任务{task.Id}状态。", LogLevel.Error);
//回滚任务状态,记录日志
task.FirstStatus = TaskEntityStatus.响应接入口位置到达.GetIndexInt();
task.LastStatus = TaskEntityStatus.响应接入口位置到达.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
return BllResultFactory.Error();
}
}
else
{
Logger.Log($"下发堆垛机{stocker.Name}库外取货时,更新任务{task.Id}状态失败:{temp.Msg}", LogLevel.Error);
return BllResultFactory.Error($"下发堆垛机{stocker.Name}库外取货时,更新任务{task.Id}状态失败:{temp.Msg}");
}
}
return BllResultFactory.Error();
}
public BllResult ExcuteTaskError(Equipment stocker, Plc plc)
{
throw new NotImplementedException();
}
/// <summary>
/// 堆垛机任务完成,这里任务号由软件来记
/// </summary>
/// <param name="stocker"></param>
/// <param name="plc"></param>
/// <returns></returns>
public BllResult ExcuteTaskComplete(Equipment stocker, Plc plc)
{
if (ValidateStockerForCompleteTask(stocker).Success && CanExcute)
{
//获取堆垛机正在执行的这条任务
var tasksResult = AppSession.Bll.GetCommonModelByCondition<TaskEntity>($"where status > {(int)TaskEntityStatus.下发任务} and status<{(int)TaskEntityStatus.任务完成}");
if (tasksResult.Success)
{
var tasks = tasksResult.Data;
var locationsResult = AppSession.Bll.GetAllLocations(null, null, null, null, stocker.RoadWay, null, null);
if (locationsResult.Success)
{
var locations = locationsResult.Data;
//一共4种完成情况
//库内取货完成
var task = tasks.FirstOrDefault(t => t.LastStatus == TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt() && t.FirstStatus == TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt() && locations.Count(a => a.Code == t.SourceLocation) > 0);
if (task != null)
{
//判断是否巷道内移库
if (task.Type == TaskType.移库.GetIndexInt() && locations.Count(t => t.Code == task.DestinationLocation) > 0)
{
//下发移库任务
var location = locations.First(t => t.Code == task.DestinationLocation);
}
else
{
//如果不是巷道内的移库,那么就全是出库性质任务
}
}
}
}
}
return BllResultFactory.Sucess();
}
public BllResult ExcuteTaskIn(Equipment stocker, Plc plc)
{
try
{
//校验入库条件
if (ValidateStockerIn(stocker).Success && CanExcute)
{
//找出入库状态的任务
var tasksResult = AppSession.Bll.GetCommonModelByCondition<TaskEntity>($"where status = {(int)TaskEntityStatus.响应接入口位置到达}");
if (tasksResult.Success)
{
//过滤一次任务类型
var tasks = tasksResult.Data.Where(t => t.Type != TaskType.整盘出库.GetIndexInt() && t.Type != TaskType.空容器出库.GetIndexInt()).ToList();
if (tasks.Count > 0)
{
//找出同巷道的任务
var locationsResult = AppSession.Bll.GetAllLocations(null, null, null, null, stocker.RoadWay, null, null);
if (locationsResult.Success)
{
var task = tasks.FirstOrDefault(t => locationsResult.Data.Count(a => a.Code == t.DestinationLocation) > 0);
if (task != null)
{
//更改任务状态
task.FirstStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
var temp = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (temp.Success)
{
//说明找到了则下发
var location = locationsResult.Data.Find(t => t.Code == task.DestinationLocation);
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, ForkTaskFlag.库外入库, "0", "0", "0", task.Station.ToString(), task.Id.ToString());
if (sendResult.Success)
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库外入库}成功,入库口:{task.Station}", LogLevel.Info);
//手动标记堆垛机为不可执行,以免被再次响应
CanExcute = false;
}
else
{
//回滚任务状态,记录日志
task.FirstStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
Logger.Log($"ExcuteTaskIn回滚任务{task.Id}状态", LogLevel.Info);
}
}
else
{
Logger.Log($"ExcuteTaskIn更新任务{task.Id}状态失败:{temp.Msg}", LogLevel.Error);
return BllResultFactory.Error($"ExcuteTaskIn更新任务{task.Id}状态失败:{temp.Msg}");
}
}
}
}
}
}
return BllResultFactory.Sucess();
}
catch (Exception ex)
{
Logger.Log($"堆垛机{stocker.Name}处理[入库任务]过程中出现异常:{ex.Message}", LogLevel.Exception);
return BllResultFactory.Error($"堆垛机{stocker.Name}处理[入库任务]过程中出现异常:{ex.Message}");
}
}
public BllResult SendTaskToStocker(Equipment stocker, Plc plc, ForkAction forkAction, ForkTaskFlag forkTaskFlag, string forkRow, string forkColumn, string forkLayer, string forkStation, string taskNo)
{
try
{
List<EquipmentProp> propsToWriter = new List<EquipmentProp>();
var props = stocker.EquipmentProps;
var action = props.Find(t => t.EquipmentTypePropTemplateCode == "WCSForkAction");
action.Value = forkAction.GetIndexString();
var taskFlag = props.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag");
taskFlag.Value = forkTaskFlag.GetIndexString();
var row = props.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1Row");
row.Value = forkRow;
var column = props.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1Column");
column.Value = forkColumn;
var layer = props.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1Layer");
layer.Value = forkLayer;
var station = props.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1Station");
station.Value = forkStation;
var task = props.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1Task");
task.Value = taskNo;
propsToWriter.AddRange(new List<EquipmentProp>() { action, taskFlag, row, column, layer, station, task });
return S7Helper.PlcSplitWrite(plc, propsToWriter, 20);
}
catch (Exception ex)
{
return BllResultFactory.Error($"下发任务出现异常:{ex.Message}");
}
}
public BllResult ExcuteTaskOut(Equipment stocker, Plc plc)
{
if (ValidateStockerOut(stocker).Success && CanExcute)
{
//找寻下发状态的任务
var tasksResult = AppSession.Bll.GetCommonModelByCondition<TaskEntity>($"where status = {(int)TaskEntityStatus.下发任务}");
if (tasksResult.Success)
{
//找寻出库任务
var tasks = tasksResult.Data.Where(t => t.Type != TaskType.整盘入库.GetIndexInt() && t.Type != TaskType.空容器入库.GetIndexInt()).ToList();
if (tasks.Count > 0)
{
//找出同巷道的任务
var locationsResult = AppSession.Bll.GetAllLocations(null, null, null, null, stocker.RoadWay, null, null);
if (locationsResult.Success)
{
///获取同巷道的离堆垛机优先级最高且最近的一条任务
var task = tasks.Where(t => locationsResult.Data.Count(a => a.Code == t.SourceLocation) > 0).OrderByDescending(t => t.Priority).ThenBy(t => Math.Abs(locationsResult.Data.First(a => a.Code == t.SourceLocation).Line - CurrentColumn)).First();
if (task != null)
{
//先更改任务状态
task.FirstStatus = TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt();
var temp = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (temp.Success)
{
var location = locationsResult.Data.Find(t => t.Code == task.SourceLocation);
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, ForkTaskFlag.库内取货, location.RowIndex.ToString(), location.Line.ToString(), location.Layer.ToString(), task.Station.ToString(), task.Id.ToString());
if (sendResult.Success)
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库内取货}成功,出库口:{task.Station}", LogLevel.Info);
//手动标记堆垛机为不可执行,以免被再次响应
CanExcute = false;
}
else
{
task.FirstStatus = TaskEntityStatus.下发任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发任务.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
Logger.Log($"ExcuteTaskOut回滚任务{task.Id}状态", LogLevel.Info);
}
}
else
{
Logger.Log($"ExcuteTaskOut更新任务{task.Id}状态失败:{temp.Msg}", LogLevel.Error);
return BllResultFactory.Error($"ExcuteTaskOut更新任务{task.Id}状态失败:{temp.Msg}");
}
}
}
}
}
}
return BllResultFactory.Sucess();
}
/// <summary>
/// 这里写个示例,判断一下同巷道内任务
/// </summary>
/// <param name="stocker"></param>
/// <param name="plc"></param>
/// <returns></returns>
public BllResult ExcuteTaskTransferInRoadway(Equipment stocker, Plc plc)
{
if (ValidateStockerTransferInRoadway(stocker).Success && CanExcute)
{
//找寻下发状态的任务
var tasksResult = AppSession.Bll.GetCommonModelByCondition<TaskEntity>($"where status = {(int)TaskEntityStatus.下发任务} and type = {TaskType.移库.GetIndexInt()}");
if (tasksResult.Success)
{
//找寻同巷道移库任务
var locationsResult = AppSession.Bll.GetAllLocations(null, null, null, null, stocker.RoadWay, null, null);
if (locationsResult.Success)
{
var task = tasksResult.Data.Where(t => locationsResult.Data.Count(a => a.Code == t.SourceLocation) > 0 && locationsResult.Data.Count(a => a.Code == t.DestinationLocation) > 0).OrderByDescending(t => t.Priority).ThenBy(t => Math.Abs(locationsResult.Data.First(a => a.Code == t.SourceLocation).Line - CurrentColumn)).First();
if (task != null)
{
//有则下发
//先更改任务状态
task.FirstStatus = TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt();
var temp = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (temp.Success)
{
var location = locationsResult.Data.Find(t => t.Code == task.SourceLocation);
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, ForkTaskFlag.库内取货, location.RowIndex.ToString(), location.Line.ToString(), location.Layer.ToString(), task.Station.ToString(), task.Id.ToString());
if (sendResult.Success)
{
Logger.Log($"下发堆垛机{stocker.Name},任务:{task.Id},任务类型:{task.Type},货叉类型:{ForkTaskFlag.库内取货}成功", LogLevel.Info);
//手动标记堆垛机为不可执行,以免被再次响应
CanExcute = false;
}
else
{
task.FirstStatus = TaskEntityStatus.下发任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发任务.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
Logger.Log($"ExcuteTaskOut回滚任务{task.Id}状态", LogLevel.Info);
}
}
else
{
Logger.Log($"ExcuteTaskTransferInRoadway更新任务{task.Id}状态失败:{temp.Msg}", LogLevel.Error);
return BllResultFactory.Error($"ExcuteTaskTransferInRoadway更新任务{task.Id}状态失败:{temp.Msg}");
}
}
}
}
}
return BllResultFactory.Sucess();
}
/// <summary>
/// 堆垛机任务完成条件
/// </summary>
/// <param name="stocker"></param>
/// <returns></returns>
public BllResult ValidateStockerForCompleteTask(Equipment stocker)
{
try
{
//1.联机
//2.货叉有货
//3.任务执行状态为任务完成
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "OperationModel").Value == OperationModel.联机.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1ForkHasPallet").Value == "True" && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value == TaskExcuteStatus.任务完成.GetIndexString())
{
return BllResultFactory.Sucess();
}
else
{
return BllResultFactory.Error();
}
}
catch (Exception ex)
{
Logger.Log($"校验堆垛机{stocker.Name}任务完成条件异常:{ex.Message}", LogLevel.Exception, ex);
return BllResultFactory.Error($"校验堆垛机{stocker.Name}任务完成条件异常:{ex.Message}");
}
}
public BllResult ValidateStockerIn(Equipment stocker)
{
try
{
//判断条件,这里没有判断货叉故障和堆垛机故障,这特么怎么判断,这么多字段
//1.操作模式 = 5 联机;
//2.双货叉原位,任务货叉上无货;
//3.任务货叉无故障无任务;
//4.堆垛机无故障
//5.对应货叉任务类型:0 - 无任务
//6.对应货叉任务标志:1待机
//WCS交换区无任务
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "OperationModel").Value == OperationModel.联机.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1ForkHasPallet").Value == "False" && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskNo").Value == "0" && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskType").Value == ForkTaskFlag.无任务.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value == TaskExcuteStatus.待机.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag").Value == ForkTaskFlag.无任务.GetIndexString())
{
return BllResultFactory.Sucess();
}
else
{
return BllResultFactory.Error();
}
}
catch (Exception ex)
{
Logger.Log($"校验堆垛机{stocker.Name}入库条件异常:{ex.Message}", LogLevel.Exception, ex);
return BllResultFactory.Error($"校验堆垛机{stocker.Name}入库条件异常:{ex.Message}");
}
}
public BllResult ValidateStockerOut(Equipment stocker)
{
try
{
//判断条件,这里没有判断货叉故障和堆垛机故障,这特么怎么判断,这么多字段
//1.操作模式:5 联机;
//2.任务限制:不等于3;
//3.双货叉原位,任务货叉上有货;
//4.任务货叉无故障无任务;
//5.堆垛机无故障
//5.对应货叉任务类型:0 - 无任务
//6.对应货叉任务标志:1待机
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "OperationModel").Value == OperationModel.联机.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1ForkHasPallet").Value == "False" && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskNo").Value == "0" && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskType").Value == ForkTaskFlag.无任务.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value == TaskExcuteStatus.待机.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "TaskLimit").Value != TaskLimit.限制出库.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag").Value == ForkTaskFlag.无任务.GetIndexString())
{
return BllResultFactory.Sucess();
}
else
{
return BllResultFactory.Error();
}
}
catch (Exception ex)
{
Logger.Log($"校验堆垛机{stocker.Name}出库条件异常:{ex.Message}", LogLevel.Exception, ex);
return BllResultFactory.Error($"校验堆垛机{stocker.Name}出库条件异常:{ex.Message}");
}
}
/// <summary>
/// 同巷道内移库条件判断
/// </summary>
/// <param name="stocker"></param>
/// <returns></returns>
public BllResult ValidateStockerTransferInRoadway(Equipment stocker)
{
try
{
//这个同巷道内的移库任务,判断条件与出库一致
//判断条件,这里没有判断货叉故障和堆垛机故障,这特么怎么判断,这么多字段
//1.操作模式:5 联机;
//2.任务限制:不等于3; (同巷道内移库不判断这个)
//3.双货叉原位,任务货叉上有货;
//4.任务货叉无故障无任务;
//5.堆垛机无故障
//5.对应货叉任务类型:0 - 无任务
//6.对应货叉任务标志:1待机
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "OperationModel").Value == OperationModel.联机.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1ForkHasPallet").Value == "False" && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskNo").Value == "0" && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskType").Value == ForkTaskFlag.无任务.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value == TaskExcuteStatus.待机.GetIndexString() && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag").Value == ForkTaskFlag.无任务.GetIndexString())
{
return BllResultFactory.Sucess();
}
else
{
return BllResultFactory.Error();
}
}
catch (Exception ex)
{
Logger.Log($"校验堆垛机{stocker.Name}移库条件异常:{ex.Message}", LogLevel.Exception, ex);
return BllResultFactory.Error($"校验堆垛机{stocker.Name}移库条件异常:{ex.Message}");
}
}
#endregion
}
}