394 lines
19 KiB
C#
394 lines
19 KiB
C#
using CirculateTool.Attribute;
|
||
using WcsMain.Business.CommonAction;
|
||
using WcsMain.Common;
|
||
using WcsMain.Constant.Enum.Stacker;
|
||
using WcsMain.Constant.Enum.TaskEnum;
|
||
using WcsMain.DataBase.Dao;
|
||
using WcsMain.DataBase.TableEntity;
|
||
using WcsMain.EquipOperation.Entity.Stacker;
|
||
using WcsMain.EquipOperation.Stacker;
|
||
using WcsMain.ExtendMethod;
|
||
|
||
namespace WcsMain.CirculationJob.Stacker;
|
||
|
||
/// <summary>
|
||
/// 执行堆垛机任务类
|
||
/// </summary>
|
||
//[Circulation(tags: ["stacker"])]
|
||
public class ExecuteWcsTask(StackerOperation stackerOperation, AppWcsTaskDao wcsTaskDao, WCSTaskExecuteEvent wcsTaskEvent)
|
||
{
|
||
/// <summary>
|
||
/// 执行堆垛机任务
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
[Circulation("执行堆垛机任务")]
|
||
public bool ExecuteStackerTask()
|
||
{
|
||
foreach (var stacker in CommonData.AppStackers.Open())
|
||
{
|
||
var stackerUseStatus = stackerOperation.StackerCanUse(stacker.StackerId, out int plcId, out int _);
|
||
if (stackerUseStatus == StackerUseStatusEnum.Free)
|
||
{
|
||
/* 空闲时正常执行任务 */
|
||
// 入库
|
||
if (!CommonData.AppConfig.ExcuteStackerInTaskWithScan.ToBool()) // 不是扫码入库
|
||
{
|
||
bool exeInTask = ExecuteInTask(stacker.StackerId);
|
||
if (exeInTask) continue;
|
||
}
|
||
// 出库
|
||
bool exeOutTask = ExecuteOutTask(stacker.StackerId);
|
||
if (exeOutTask) continue;
|
||
// 拣选
|
||
bool exePickTask = ExecutePickTask(stacker.StackerId);
|
||
if (exePickTask) continue;
|
||
// 移库
|
||
bool exeMoveTask = ExecuteMoveTask(stacker.StackerId);
|
||
if (exeMoveTask) continue;
|
||
}
|
||
if (stackerUseStatus == StackerUseStatusEnum.waitTask)
|
||
{
|
||
/* 重复入库时执行任务 */
|
||
bool exeDoubleInTask = ExecuteDoubleInTask(stacker.StackerId, plcId);
|
||
if (exeDoubleInTask) continue;
|
||
}
|
||
}
|
||
return true;
|
||
}
|
||
|
||
|
||
/// <summary>
|
||
/// 执行堆垛机入库任务，若执行了任务则返回 true
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <returns></returns>
|
||
private bool ExecuteInTask(int? stackerId)
|
||
{
|
||
if (stackerId == default) return false;
|
||
var wcsTasks = wcsTaskDao.SelectInTaskWithStacker((int)stackerId!); // 此处方法内已经判断状态
|
||
if (wcsTasks == default)
|
||
{
|
||
ConsoleLog.Error($"【异常】{stackerId} 号堆垛机入库任务查询失败，与数据库连接异常");
|
||
Thread.Sleep(5000);
|
||
return false;
|
||
}
|
||
if (wcsTasks.Count == 0) return false;
|
||
var wcsTask = wcsTasks[0]; // 取第一条任务
|
||
/* 校验入库站台是否可以取货 */
|
||
// TODO
|
||
/* 检验并返回起点终点信息 */
|
||
var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
|
||
var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
|
||
if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
|
||
{
|
||
// 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
|
||
ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
|
||
wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
|
||
return false;
|
||
}
|
||
StackerPlcTask stackerTask = new()
|
||
{
|
||
StackerId = stackerId,
|
||
PlcId = wcsTask.PlcId,
|
||
TaskType = Convert.ToInt16(wcsTask.TaskType),
|
||
GetStand = 0,
|
||
InTunnelId = Convert.ToInt16(stackerId),
|
||
OutTunnelId = Convert.ToInt16(stackerId),
|
||
SetStand = 0,
|
||
GetQueue = Convert.ToInt16(originLocationInfo.Queue),
|
||
GetLine = Convert.ToInt16(originLocationInfo.Line),
|
||
GetLayer = Convert.ToInt16(originLocationInfo.Layer),
|
||
GetDeep = Convert.ToInt16(originLocationInfo.Depth),
|
||
SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
|
||
SetLine = Convert.ToInt16(destinationLocationInfo.Line),
|
||
SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
|
||
SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
|
||
Size = Convert.ToInt16(wcsTask.VehicleSize),
|
||
Weight = Convert.ToInt16(wcsTask.Weight),
|
||
Code = wcsTask.PlcVehicleNo ?? 0,
|
||
};
|
||
var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
|
||
if (string.IsNullOrEmpty(writeStackerTaskErrText))
|
||
{
|
||
ConsoleLog.Success($"堆垛机：{stackerId} 写入入库任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
|
||
wcsTaskEvent.StartTaskEvent(wcsTask);
|
||
return true;
|
||
}
|
||
else
|
||
{
|
||
ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入入库任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
|
||
wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
|
||
}
|
||
return false;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 执行堆垛机出库任务，若执行了任务则返回 true
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <returns></returns>
|
||
public bool ExecuteOutTask(int? stackerId)
|
||
{
|
||
if (stackerId == default) return false;
|
||
var wcsTasks = wcsTaskDao.SelectOutTaskWithStacker((int)stackerId!);
|
||
if (wcsTasks == default)
|
||
{
|
||
ConsoleLog.Error($"【异常】{stackerId} 号堆垛机出库任务查询失败，与数据库连接异常");
|
||
Thread.Sleep(5000);
|
||
return false;
|
||
}
|
||
if (wcsTasks.Count == 0) return false;
|
||
var wcsTask = wcsTasks[0]; // 取第一条任务
|
||
/* 校验出库站台是否可以卸货 */
|
||
// TODO
|
||
/* 检验并返回起点终点信息 */
|
||
var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
|
||
var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
|
||
if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
|
||
{
|
||
// 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
|
||
ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
|
||
wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
|
||
return false;
|
||
}
|
||
StackerPlcTask stackerTask = new()
|
||
{
|
||
StackerId = stackerId,
|
||
PlcId = wcsTask.PlcId,
|
||
TaskType = Convert.ToInt16(wcsTask.TaskType),
|
||
GetStand = 0,
|
||
InTunnelId = Convert.ToInt16(stackerId),
|
||
OutTunnelId = Convert.ToInt16(stackerId),
|
||
SetStand = 0,
|
||
GetQueue = Convert.ToInt16(originLocationInfo.Queue),
|
||
GetLine = Convert.ToInt16(originLocationInfo.Line),
|
||
GetLayer = Convert.ToInt16(originLocationInfo.Layer),
|
||
GetDeep = Convert.ToInt16(originLocationInfo.Depth),
|
||
SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
|
||
SetLine = Convert.ToInt16(destinationLocationInfo.Line),
|
||
SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
|
||
SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
|
||
Size = Convert.ToInt16(wcsTask.VehicleSize),
|
||
Weight = Convert.ToInt16(wcsTask.Weight),
|
||
Code = wcsTask.PlcVehicleNo ?? 0,
|
||
};
|
||
var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
|
||
if (string.IsNullOrEmpty(writeStackerTaskErrText))
|
||
{
|
||
ConsoleLog.Success($"堆垛机：{stackerId} 写入出库任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
|
||
wcsTaskEvent.StartTaskEvent(wcsTask);
|
||
return true;
|
||
}
|
||
else
|
||
{
|
||
ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入出库任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
|
||
wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
|
||
}
|
||
return false;
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 执行堆垛机拣选任务，若执行了任务则返回 true
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <returns></returns>
|
||
public bool ExecutePickTask(int? stackerId)
|
||
{
|
||
if (stackerId == default) return false;
|
||
var wcsTasks = wcsTaskDao.SelectPickOutTaskWithStacker((int)stackerId!);
|
||
if (wcsTasks == default)
|
||
{
|
||
ConsoleLog.Error($"【异常】{stackerId} 号堆垛机拣选任务查询失败，与数据库连接异常");
|
||
Thread.Sleep(5000);
|
||
return false;
|
||
}
|
||
if (wcsTasks.Count == 0) return false;
|
||
var wcsTask = wcsTasks[0]; // 取第一条任务
|
||
/* 校验出库站台是否可以卸货 */
|
||
// TODO
|
||
/* 检验并返回起点终点信息 */
|
||
var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
|
||
var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
|
||
if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
|
||
{
|
||
// 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
|
||
ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
|
||
wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
|
||
return false;
|
||
}
|
||
StackerPlcTask stackerTask = new()
|
||
{
|
||
StackerId = stackerId,
|
||
PlcId = wcsTask.PlcId,
|
||
TaskType = Convert.ToInt16(wcsTask.TaskType),
|
||
GetStand = 0,
|
||
InTunnelId = Convert.ToInt16(stackerId),
|
||
OutTunnelId = Convert.ToInt16(stackerId),
|
||
SetStand = 0,
|
||
GetQueue = Convert.ToInt16(originLocationInfo.Queue),
|
||
GetLine = Convert.ToInt16(originLocationInfo.Line),
|
||
GetLayer = Convert.ToInt16(originLocationInfo.Layer),
|
||
GetDeep = Convert.ToInt16(originLocationInfo.Depth),
|
||
SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
|
||
SetLine = Convert.ToInt16(destinationLocationInfo.Line),
|
||
SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
|
||
SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
|
||
Size = Convert.ToInt16(wcsTask.VehicleSize),
|
||
Weight = Convert.ToInt16(wcsTask.Weight),
|
||
Code = wcsTask.PlcVehicleNo ?? 0,
|
||
};
|
||
var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
|
||
if (string.IsNullOrEmpty(writeStackerTaskErrText))
|
||
{
|
||
ConsoleLog.Success($"堆垛机：{stackerId} 写入拣选任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
|
||
wcsTaskEvent.StartTaskEvent(wcsTask);
|
||
return true;
|
||
}
|
||
else
|
||
{
|
||
ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入拣选任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
|
||
wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
|
||
}
|
||
return false;
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 执行堆垛机移库任务，若执行了任务则返回 true
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <returns></returns>
|
||
public bool ExecuteMoveTask(int? stackerId)
|
||
{
|
||
if (stackerId == default) return false;
|
||
var wcsTasks = wcsTaskDao.SelectMoveTaskWithStacker((int)stackerId!);
|
||
if (wcsTasks == default)
|
||
{
|
||
ConsoleLog.Error($"【异常】{stackerId} 号堆垛机移库任务查询失败，与数据库连接异常");
|
||
Thread.Sleep(5000);
|
||
return false;
|
||
}
|
||
if (wcsTasks.Count == 0) return false;
|
||
var wcsTask = wcsTasks[0]; // 取第一条任务
|
||
/* 检验并返回起点终点信息 */
|
||
var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
|
||
var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
|
||
if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
|
||
{
|
||
// 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
|
||
ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
|
||
wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
|
||
return false;
|
||
}
|
||
StackerPlcTask stackerTask = new()
|
||
{
|
||
StackerId = stackerId,
|
||
PlcId = wcsTask.PlcId,
|
||
TaskType = Convert.ToInt16(wcsTask.TaskType),
|
||
GetStand = 0,
|
||
InTunnelId = Convert.ToInt16(stackerId),
|
||
OutTunnelId = Convert.ToInt16(stackerId),
|
||
SetStand = 0,
|
||
GetQueue = Convert.ToInt16(originLocationInfo.Queue),
|
||
GetLine = Convert.ToInt16(originLocationInfo.Line),
|
||
GetLayer = Convert.ToInt16(originLocationInfo.Layer),
|
||
GetDeep = Convert.ToInt16(originLocationInfo.Depth),
|
||
SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
|
||
SetLine = Convert.ToInt16(destinationLocationInfo.Line),
|
||
SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
|
||
SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
|
||
Size = Convert.ToInt16(wcsTask.VehicleSize),
|
||
Weight = Convert.ToInt16(wcsTask.Weight),
|
||
Code = wcsTask.PlcVehicleNo ?? 0,
|
||
};
|
||
var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
|
||
if (string.IsNullOrEmpty(writeStackerTaskErrText))
|
||
{
|
||
ConsoleLog.Success($"堆垛机：{stackerId} 写入移库任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
|
||
wcsTaskEvent.StartTaskEvent(wcsTask);
|
||
return true;
|
||
}
|
||
else
|
||
{
|
||
ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入移库任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
|
||
wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
|
||
}
|
||
return false;
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 执行重复入库新任务，若执行了返回true
|
||
/// </summary>
|
||
/// <param name="stackerId"></param>
|
||
/// <param name="plcId"></param>
|
||
/// <returns></returns>
|
||
public bool ExecuteDoubleInTask(int? stackerId, int plcId)
|
||
{
|
||
if (stackerId == default || plcId == 0) return false;
|
||
/* 查找这个PlcId对应的wms任务 */
|
||
List<AppWcsTask>? doubleInTasks = wcsTaskDao.Select(new AppWcsTask { PlcId = plcId });
|
||
if (doubleInTasks == default)
|
||
{
|
||
ConsoleLog.Error($"【异常】{stackerId} 号堆垛机重复入库任务检验失败，与数据库连接异常");
|
||
Thread.Sleep(5000);
|
||
return false;
|
||
}
|
||
if (doubleInTasks.Count == 0) return false; // 找不到对应的PlcId的任务
|
||
var doubleTask = doubleInTasks[0];
|
||
/* 查找这个任务的新任务 */
|
||
List<AppWcsTask>? newTasks = wcsTaskDao.Select(new AppWcsTask { TaskId = doubleTask.TaskId, TaskType = (int)TaskTypeEnum.newTaskForDoubleIn, TaskStatus = (int)WmsTaskStatusEnum.create });
|
||
if (newTasks == default)
|
||
{
|
||
ConsoleLog.Error($"【异常】{stackerId} 号堆垛机重复入库任务新任务查询失败，与数据库连接异常");
|
||
Thread.Sleep(5000);
|
||
return false;
|
||
}
|
||
if (newTasks.Count == 0) return false;
|
||
var newTask = newTasks[0];
|
||
var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(newTask.Destination);
|
||
if (destinationLocationInfo == default) // 终点错误，直接标记错误
|
||
{
|
||
// 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
|
||
ConsoleLog.Warning($"【警告】任务号：{newTask.TaskId}，Plc任务号：{newTask.PlcId} 无法执行，新终点存在异常");
|
||
wcsTaskEvent.ErrTaskEvent(newTask, $"新终点存在异常");
|
||
return false;
|
||
}
|
||
StackerPlcTask stackerTask = new()
|
||
{
|
||
StackerId = stackerId,
|
||
PlcId = newTask.PlcId,
|
||
TaskType = Convert.ToInt16(TaskTypeEnum.inTask),
|
||
GetStand = 0,
|
||
InTunnelId = Convert.ToInt16(stackerId),
|
||
OutTunnelId = Convert.ToInt16(stackerId),
|
||
SetStand = 0,
|
||
GetQueue = 0,
|
||
GetLine = 0,
|
||
GetLayer = 0,
|
||
GetDeep = 0,
|
||
SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
|
||
SetLine = Convert.ToInt16(destinationLocationInfo.Line),
|
||
SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
|
||
SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
|
||
Size = Convert.ToInt16(newTask.VehicleSize),
|
||
Weight = Convert.ToInt16(newTask.Weight),
|
||
Code = newTask.PlcVehicleNo ?? 0,
|
||
};
|
||
var writeStackerTaskErrText = stackerOperation.WriteTask(stackerTask);
|
||
if (string.IsNullOrEmpty(writeStackerTaskErrText))
|
||
{
|
||
ConsoleLog.Success($"堆垛机：{stackerId} 写入重复入库新任务成功，箱号：{newTask.VehicleNo}，PlcId：{newTask.PlcId}；新目的地：{newTask.Destination}");
|
||
wcsTaskEvent.StartTaskEvent(newTask);
|
||
return true;
|
||
}
|
||
else
|
||
{
|
||
ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入重复入库新任务失败，箱号：{newTask.VehicleNo}，PlcId：{newTask.PlcId}；新目的地：{newTask.Destination}，异常信息：{writeStackerTaskErrText}");
|
||
wcsTaskEvent.ErrTaskEvent(newTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
|
||
}
|
||
return false;
|
||
}
|
||
|
||
} |