/// <summary>
/// 将信息转换为生成任务发送给AGV的实体类
/// </summary>
/// <param name="ds"></param>
/// <param name="zyType"></param>
/// <param name="sourceAddress"></param>
/// <param name="desAddress"></param>
/// <returns></returns>
private SendToAgvInfo ToModel(DataSet ds, string zyType, string sourceAddress, string desAddress)
{
string snumber = ds.Tables[0].Rows[0]["SNumber"].ToString();
SendToAgvInfo req = new SendToAgvInfo
{
ReqCode = Guid.NewGuid().ToString("N"),
TaskType = zyType,
PodCode = string.Empty,
PodDir = "0",
Priority = ds.Tables[0].Rows[0]["PRIORITY"].ToString(),
AgvCode = string.Empty,
TaskCode = ds.Tables[0].Rows[0]["TASKID"].ToString(),
TokenCode = string.Empty,
Data = string.Empty
};
if (zyType == InTaskType)
{
req.PositionCodePaths = new Positioncodepath[]
{
new Positioncodepath {
PositionCode = sourceAddress, Type = "00"
},
new Positioncodepath {
PositionCode = desAddress, Type = "00"
},
};
}
else if (zyType == PallentsInTaskType)
{
req.PositionCodePaths = new Positioncodepath[]
{
new Positioncodepath {
PositionCode = sourceAddress, Type = "00"
},
new Positioncodepath {
PositionCode = desAddress, Type = "00"
},
new Positioncodepath {
PositionCode = desAddress, Type = "00"
},
};
}
else
{
req.PositionCodePaths = new Positioncodepath[]
{
new Positioncodepath {
PositionCode = sourceAddress, Type = "00"
},
new Positioncodepath {
PositionCode = desAddress, Type = "00"
},
};
}
return(req);
}
/// <summary>
/// 生成任务给AGV发送任务
/// </summary>
/// <param name="req"></param>
/// <returns></returns>
private SendToAgvResult SendTask(SendToAgvInfo req)
{
string url = $"http://{ip}:{port}/cms/services/rest/hikRpcService/genAgvSchedulingTask";
string param = JsonConvert.SerializeObject(req);
string result = Post(url, param);
SendToAgvResult sdResult = JsonConvert.DeserializeObject <SendToAgvResult>(result);
return(sdResult);
}
/// <summary>
/// 出库口待执行任务发送给AGV
/// </summary>
private void CKSendToAgvMsg()
{
while (true)
{
for (int i = 1; i <= 7; i++)
{
//查询出库口输送机是否有到位信号
var outts = lsTransport.Find(s => s.DTYPE == "103" && s.BTID == i.ToString() && s.DWXH == "1");
if (outts == null)
{
continue;
}
DataSet ds = DataTrans.D_GetSchByTaskno(outts.ZXRWH);
if (ds != null)
{
//查询目标巷道输送机是否空闲
List <TransportStr> ls = lsTransport.FindAll(s => s.DTYPE == "103" && s.BTID == i.ToString() && s.DWXH == "1");
if (ls == null)
{
continue;
}
if (ds.Tables[0].Rows.Count == 1)
{
string desAddress = string.Empty;
string ssj = string.Empty;
foreach (var item in ls)
{
var ts = item;
crl.HsWcsReadSSJ(ref ts);
if (ts.KXBZ != "1")
{
continue;
}
int onjobnum = DataTrans.D_GetOnJobByDes(item.SSJID);
if (onjobnum == 0)
{
desAddress = item.VAR5;
ssj = item.SSJID;
break;
}
}
//如果没有目的地就说明在途已经占满了出库口，终止循坏
if (string.IsNullOrEmpty(desAddress))
{
continue;
}
string msg = string.Empty;
SendToAgvInfo req = CKToModel(ds, OutTaskType, outts.VAR5, desAddress);
SendToAgvResult result = SendTask(req);
if (result.Message == "成功")
{
string zxrwh = string.Empty;
if (string.IsNullOrEmpty(ds.Tables[0].Rows[0]["TASKNO"].ToString()))
{
zxrwh = ds.Tables[0].Rows[0]["TASKNO"].ToString();
}
else
{
zxrwh = DataTrans.D_AllotTaskno().ToString();
}
int m = DataTrans.D_UpdateRkSendToAgv(ds.Tables[0], zxrwh, ds.Tables[0].Rows[0]["SCARGO_ALLEY_ID"].ToString(), ssj, out msg);
if (m > 0)
{
NotifyEvent?.Invoke("S", $"调度指令{ds.Tables[0].Rows[0]["Taskid"]}更新成功");
log.WriteLog($"调度指令{ds.Tables[0].Rows[0]["Taskid"]}更新成功");
}
else
{
string res = string.IsNullOrEmpty(msg) ? "更新失败" : $"更新出现异常！异常信息为{msg}";
NotifyEvent?.Invoke("S", $"调度指令{ds.Tables[0].Rows[0]["Taskid"]}{res}");
log.WriteLog($"调度指令{ds.Tables[0].Rows[0]["Taskid"]}{res}");
}
}
}
}
}
Thread.Sleep(500);
}
}
/// <summary>
/// 入库口待执行任务发送给AGV
/// </summary>
private void SendToAgvMsg()
{
while (true)
{
if (log.DataFileName != $"{DateTime.Now:yyyyMMdd}业务逻辑.txt")
{
log = new Log("业务逻辑", @".\RGV日志\");
}
for (int i = 1; i <= 5; i++)
{
if (i == 5)
{
//查询入口载货台
TransportStr rkssj = lsTransport.Find(s => s.DTYPE == "106" && s.BTID == "1");
if (rkssj == null)
{
continue;
}
DataSet ds = DataTrans.D_GetInwareTask(rkssj.SSJID);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
//查询目标巷道输送机是否空闲
TransportStr ts = lsTransport.Find(si => si.DTYPE == "105" && si.ALLEYID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString() && si.KXBZ == "1");
if (ts == null)
{
continue;
}
if (ds.Tables[0].Rows.Count == 1)
{
//查入库在途，在途存在，则不发目的地
int n = DataTrans.D_GetRkOnJobByDes(ds.Tables[0].Rows[0]["TCAGRO_ALLEY_ID"].ToString());
if (n > 0)
{
continue;
}
var dessj = lsTransport.Find(t => t.ALLEYID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
if (dessj == null)
{
continue;
}
string desaddress = rkssj.VAR5;
string msg = string.Empty;
SendToAgvInfo req = ToModel(ds, PallentsInTaskType, rkssj.VAR5, dessj.VAR5);
SendToAgvResult result = SendTask(req);
if (result.Message == "成功")
{
string zxrwh = string.Empty;
if (string.IsNullOrEmpty(ds.Tables[0].Rows[0]["TASKID"].ToString()))
{
zxrwh = ds.Tables[0].Rows[0]["TASKNO"].ToString();
}
else
{
zxrwh = DataTrans.D_AllotTaskno().ToString();
}
int m = DataTrans.D_UpdateRkSendToAgv(ds.Tables[0], zxrwh, rkssj.SSJID, ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString(), out msg);
if (m > 0)
{
NotifyEvent?.Invoke("S", $"调度指令{ds.Tables[0].Rows[0]["Taskid"]}更新成功");
log.WriteLog($"调度指令{ds.Tables[0].Rows[0]["Taskid"]}更新成功");
}
else
{
string res = string.IsNullOrEmpty(msg) ? "更新失败" : $"更新出现异常！异常信息为{msg}";
NotifyEvent?.Invoke("S", $"调度指令{ds.Tables[0].Rows[0]["Taskid"]}{res}");
log.WriteLog($"调度指令{ds.Tables[0].Rows[0]["Taskid"]}{res}");
}
}
}
}
}
else
{
//查询入口载货台
var rkssj = lsTransport.Find(si => si.DTYPE == "101" && si.BTID == i.ToString());
var wxssj = lsTransport.Find(si => si.DTYPE == "107" && si.BTID == i.ToString());
if (rkssj == null || wxssj == null)
{
continue;
}
DataSet ds = DataTrans.D_GetInwareTask(rkssj.SSJID);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
//如果称重实际重量未更新不能给AGV下发指令
if (string.IsNullOrEmpty(ds.Tables[0].Rows[0]["actweight"].ToString()))
{
continue;
}
//查询目标巷道输送机是否空闲
var ts = lsTransport.Find(si => si.DTYPE == "105" && si.ALLEYID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString() && si.KXBZ == "1");
if (ts == null)
{
continue;
}
if (ds.Tables[0].Rows.Count == 1)
{
//查入库在途，在途存在，则不发目的地
int n = DataTrans.D_GetRkOnJobByDes(ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
if (n > 0)
{
continue;
}
string msg = string.Empty;
SendToAgvInfo req = ToModel(ds, InTaskType, rkssj.VAR5, wxssj.VAR5);
SendToAgvResult result = SendTask(req);
if (result.Message == "成功")
{
string zxrwh = string.Empty;
if (string.IsNullOrEmpty(ds.Tables[0].Rows[0]["TASKNO"].ToString()))
{
zxrwh = ds.Tables[0].Rows[0]["TASKNO"].ToString();
}
else
{
zxrwh = DataTrans.D_AllotTaskno().ToString();
}
int m = DataTrans.D_UpdateRkSendToAgv(ds.Tables[0], zxrwh, rkssj.SSJID, ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString(), out msg);
if (m > 0)
{
NotifyEvent?.Invoke("S", $"调度指令{ds.Tables[0].Rows[0]["Taskid"]}更新成功");
log.WriteLog($"调度指令{ds.Tables[0].Rows[0]["Taskid"]}更新成功");
}
else
{
string res = string.IsNullOrEmpty(msg) ? "更新失败" : $"更新出现异常！异常信息为{msg}";
NotifyEvent?.Invoke("S", $"调度指令{ds.Tables[0].Rows[0]["Taskid"]}{res}");
}
}
}
}
else if (ds.Tables[0].Rows.Count > 1)
{
string[] arr = Array.ConvertAll(ds.Tables[0].Rows.Cast <DataRow>().ToArray(), r => r["TASKID"].ToString());
string taskstr = string.Join(",", arr, 0, arr.Length);
NotifyEvent?.Invoke("S", $"入库口{i}存在多个待执行任务，请检查并进行处理！待执行任务id{taskstr}");
log.WriteLog($"入库口{i}存在多个待执行任务，请检查并进行处理！待执行任务id{taskstr}");
}
}
}
Thread.Sleep(500);
}
}
