SingeForkStockerExcute.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using HHECS.Bll;
using HHECS.Model.BllModel;
using HHECS.Model.Common;
using HHECS.Model.Entities;
using HHECS.Model.Enums;
using HHECS.OPC;
namespace HHECS.EquipmentExcute
{
/// <summary>
/// 单叉堆垛机标准实现
/// </summary>
public class SingeForkStockerExcute : StockerExcute
{
/// <summary>
/// 记录堆垛机当前所在的列
/// </summary>
public int CurrentColumn { get; private set; }
public override BllResult Excute(List<Equipment> stockers, OPCHelp plc)
{
try
{
foreach (var stocker in stockers)
{
CurrentColumn = int.Parse(stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "CurrentColumn").Value);
//var plc = plcs.Find(t => t.IP == stocker.IP);
ExcuteSingle(stocker, plc);
//心跳
Heartbeat(stocker, plc);
//开关是否可以切换(手动操作的时候用)
//var result = AppSession.Bll.GetCommonModelCount<TaskEntity>("where station = 1 and lastStatus<100 and lastStatus>10");
//if (result.Success)
//{
// if (result.Data > 0)
// {
// //说明有去1号的任务没有执行完成，则不能切换
// var prop = stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "SwitchStatus");
// prop.Value = "True";
// //S7Helper.PlcSplitWrite(plc, new List<EquipmentProp>() { prop }, 20);
// plc.WriteAddress(new List<EquipmentProp>() { prop });
// }
// else
// {
// var prop = stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "SwitchStatus");
// prop.Value = "False";
// //S7Helper.PlcSplitWrite(plc, new List<EquipmentProp>() { prop }, 20);
// plc.WriteAddress(new List<EquipmentProp>() { prop });
// }
//}
//else
//{
// var prop = stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSCanOut");
// prop.Value = "False";
// //S7Helper.PlcSplitWrite(plc, new List<EquipmentProp>() { prop }, 20);
// plc.WriteAddress(new List<EquipmentProp>() { prop });
//}
}
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}");
}
}
/// <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, OPCHelp 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 lastStatus < {TaskEntityStatus.任务完成.GetIndexInt()}");
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);
}
//hack:这里筛选本巷道的任务，规则为起始或目标库位在本巷道中，所以，当将来出现跨巷道移库时，需要特别处理跨巷道移库任务
var locations = locationsResult.Data;
var tasks = tasksResult.Data.Where(t => locations.Count(a => a.Code == t.SourceLocation || a.Code == t.DestinationLocation) > 0).ToList();
#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.RowIndex.ToString(), locationForResend.Line.ToString(), locationForResend.Layer.ToString(), 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.RowIndex.ToString(), locationForResend.Line.ToString(), locationForResend.Layer.ToString(), 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)
{
BllResult<Equipment> stationResult = AppSession.Bll.GetOutStationByIndex(taskForResend.Station,Convert.ToInt32(stocker.RoadWay));
if (!stationResult.Success)
{
Logger.Log($"重新下发任务时，根据任务号{taskForResend.Id}未能获取到站台号：{stationResult.Msg}", LogLevel.Error);
return BllResultFactory.Error();
}
return ResendTask(stocker, plc, "1", "0", "0", taskForResend, ForkTaskFlag.库外取货);
}
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)
{
BllResult<Equipment> stationResult = AppSession.Bll.GetOutStationByIndex(taskForResend.Station,Convert.ToInt32(stocker.RoadWay));
if (!stationResult.Success)
{
Logger.Log($"重新下发任务时，根据任务号{taskForResend.Id}未能获取到站台号：{stationResult.Msg}", LogLevel.Error);
return BllResultFactory.Error();
}
return ResendTask(stocker, plc, ForkRowType.右1.GetIndexString(), "0", "0", taskForResend, ForkTaskFlag.库外放货);
}
#endregion
//判断堆垛机货叉上是不是有货，有货就只能接受放货任务，无货就可以接受取货任务
if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1ForkHasPallet").Value == "True")
{
//有货，则查找同巷道的取货任务完成状态的任务，同一个堆垛机，单叉情况下最多一条
#region 判断是否超出一条
if (tasks.Count(t => (t.LastStatus == TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt()) || t.LastStatus == TaskEntityStatus.响应堆垛机库外取货任务完成.GetIndexInt()) > 1)
{
Logger.Log($"堆垛机{stocker.Name}显示货叉上有货，但是对应的任务超过1条，请检查状态为{TaskEntityStatus.响应堆垛机库内取货任务完成}和{TaskEntityStatus.响应堆垛机库外取货任务完成}的任务", LogLevel.Error);
return BllResultFactory.Error();
}
#endregion
//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，或是人为原因导致的，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,库位编码：{location.Code}", 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($"下发堆垛机{stocker.Name}巷道内移库任务时，更新任务{task.Id}状态失败：{tempResult.Msg}");
}
}
else
{
//除了巷道内移库之外，就是取货到站台，或从站台取货到库位了
if (task.FirstStatus == TaskEntityStatus.响应堆垛机库内取货任务完成.GetIndexInt())
{
BllResult<Equipment> stationResult = AppSession.Bll.GetOutStationByIndex(task.Station, Convert.ToInt32(stocker.RoadWay));
if (!stationResult.Success)
{
Logger.Log($"下发堆垛机库外出库任务时，根据任务号{task.Id}未能获取到站台号：{stationResult.Msg}", LogLevel.Error);
return BllResultFactory.Error();
}
//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.库外放货, ForkRowType.右1.GetIndexString(), "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.库外放货}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($"下发堆垛机{stocker.Name}库外放货任务时，更新任务{task.Id}状态失败：{tempResult.Msg}", LogLevel.Error);
return BllResultFactory.Error($"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($"下发堆垛机{stocker.Name},任务：{task.Id},任务类型：{task.Type},货叉类型：{ForkTaskFlag.库内放货}成功,库位：{location.Code}", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"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();
}
////查看是否有开关控制
//if (stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSCanOut").Value != "True")
//{
// //过滤去1号站台的出库任务
// tempTasks = tempTasks.Where(t => (t.Type == TaskType.整盘入库.GetIndexInt() || t.Type == TaskType.空容器入库.GetIndexInt())).ToList();
//}
if (tempTasks.Count == 0)
{
return BllResultFactory.Error();
}
else
{
//判断堆垛机的位置
TaskEntity task = null;
if (CurrentColumn == 0 && stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "CurrentStation").Value != "0")
{
//先入库
//同巷道内的入库
if (ExcuteIn(tempTasks, locations, stocker, plc, stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "CurrentStation").Value).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
var inWareHoseTask = tempTasks.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());
task = inWareHoseTask.Where(t => 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($"下发堆垛机{stocker.Name},任务：{task.Id},任务类型：{task.Type},货叉类型：{ForkTaskFlag.库内取货}成功,库位：{location.Code},出库口:{task.Station}", LogLevel.Info);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"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())
{
var taskId = Convert.ToInt32(stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "WCSFork1Task").Value);
var task = tasks.FirstOrDefault(t => t.Id == taskId);
//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 && 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() && locations.Count(a => a.Code == task.SourceLocation) > 0)
{
//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);
var sendResult = plc.WriteAddress(new List<EquipmentProp> { prop });
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.DestinationLocation) > 0);
if (task != null && 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() && locations.Count(a => a.Code == task.DestinationLocation) > 0)
{
//调用WMS任务完成接口
var tempResult = AppSession.Bll.CompleteTask(task.Id.ToString(), AppSession.Client, AppSession.Urls);
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);
var sendResult = plc.WriteAddress(new List<EquipmentProp> { prop });
if (sendResult.Success)
{
Logger.Log($"堆垛机{stocker.Name}完成库内放货成功，任务:{task.Id}", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
task.FirstStatus = TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt();
AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
Logger.Log($"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.DestinationLocation) > 0);
if (task != null && 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() && locations.Count(a => a.Code == task.DestinationLocation) > 0)
{
//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);
var sendResult = plc.WriteAddress(new List<EquipmentProp> { prop });
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 && 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() && locations.Count(a => a.Code == task.SourceLocation) > 0)
{
//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);
var sendResult = plc.WriteAddress(new List<EquipmentProp> { prop });
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.下发堆垛机库外放货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库外放货任务.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($"堆垛机{stocker.Name}出现了未知的执行状态：{stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "Fork1TaskExcuteStatus").Value}", LogLevel.Warning);
return BllResultFactory.Sucess();
}
}
return BllResultFactory.Sucess();
}
/// <summary>
/// 重写库外取货逻辑
/// </summary>
public BllResult ExcuteIn(List<TaskEntity> tempTasks, List<Location> locations, Equipment stocker, OPCHelp plc)
{
var task = tempTasks.FirstOrDefault(t => t.FirstStatus == TaskEntityStatus.响应接入口位置到达.GetIndexInt() && t.LastStatus == TaskEntityStatus.响应接入口位置到达.GetIndexInt() && locations.Count(a => a.Code == t.DestinationLocation) > 0);
if (task != null)
{
return ExcuteInInner(stocker, plc, task);
}
return BllResultFactory.Error();
}
private BllResult ExcuteInInner(Equipment stocker, OPCHelp plc, TaskEntity task)
{
//下发堆垛机入库任务
task.FirstStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
task.LastStatus = TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt();
var temp = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
if (temp.Success)
{
BllResult<Equipment> stationResult = AppSession.Bll.GetInStationByIndex(task.Station, Convert.ToInt32(task.Roadway));
if (!stationResult.Success)
{
Logger.Log($"堆垛机入库时，根据任务号{task.Id}未能获取到站台号：{stationResult.Msg}", 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();
}
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, ForkTaskFlag.库外取货, ForkRowType.左1.GetIndexString(), "0", "0", stationResult.Data.StationIndex.ToString(), task.Id.ToString());
if (sendResult.Success)
{
Logger.Log($"下发堆垛机{stocker.Name},任务：{task.Id},任务类型：{task.Type},货叉类型：{ForkTaskFlag.库外取货}成功", LogLevel.Success);
return BllResultFactory.Sucess();
}
else
{
Logger.Log($"下发堆垛机{stocker.Name},任务：{task.Id},任务类型：{task.Type},货叉类型：{ForkTaskFlag.库外取货}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}");
}
}
/// <summary>
/// 重写库外取货逻辑
/// </summary>
public BllResult ExcuteIn(List<TaskEntity> tempTasks, List<Location> locations, Equipment stocker, OPCHelp plc, string station)
{
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 && t.Station?.ToString() == station);
if (task != null)
{
return ExcuteInInner(stocker, plc, task);
}
return BllResultFactory.Error();
}
private BllResult ResendTask(Equipment stocker, OPCHelp plc, string row, string column, string layer, TaskEntity taskForResend, ForkTaskFlag forkTaskFlag)
{
BllResult sendResult = SendTaskToStocker(stocker, plc, ForkAction.货叉1号, forkTaskFlag, row, column, layer, 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();
}
}
}
}