/// <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>
/// 继续执行给AGV发送任务
/// </summary>
/// <param name="req"></param>
/// <returns></returns>
public SendToAgvResult ContinueTask(ContinueToAgvInfo req)
{
string url = $"http://{ip}:{port}/cms/services/rest/hikRpcService/continueTasl";
string param = JsonConvert.SerializeObject(req);
string result = Post(url, param);
SendToAgvResult sdresult = JsonConvert.DeserializeObject <SendToAgvResult>(result);
return(sdresult);
}
public SendToAgvResult CallBackResult(ReciveAgeCallBack agvCallBack)
{
DataSet ds = new DataSet();
ds = DataTrans.D_GetAgvCallBack(agvCallBack.ReqCode, out string msg);
SendToAgvResult result = new SendToAgvResult();
if (ds != null)
{
if (ds.Tables[0].Rows.Count > 0)
{
result.Code = "1";
result.Message = "请求编号已存在";
result.Data = "";
result.ReqCode = agvCallBack.ReqCode;
}
else
{
string msgInfo = bll.HandleCallBackData(agvCallBack);
if (msgInfo == "OK")
{
int n = DataTrans.D_InsertCallBack(agvCallBack, "2", out msg);
if (n > 0)
{
result.Code = "0";
result.Message = "成功";
result.Data = string.Empty;
result.ReqCode = agvCallBack.ReqCode;
}
}
else
{
result.Code = "1";
result.Message = "失败";
result.Data = string.Empty;
result.ReqCode = agvCallBack.ReqCode;
}
}
}
else
{
result.Code = "1";
result.Message = "数据处理异常";
result.Data = string.Empty;
result.ReqCode = agvCallBack.ReqCode;
}
return(result);
}
/// <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);
}
}
public string HandleCallBackData(ReciveAgeCallBack agvCallBack)
{
string msg = string.Empty;
//外形检测出到达
if (agvCallBack.Method == Arrive)
{
DataSet ds = DataTrans.D_GetSchByTaskIdArrive(agvCallBack.TaskCode);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
#region 读取外形检测是否报警
bool flag = false;
string ssjid = ds.Tables[0].Rows[0]["SNUMBER"].ToString();
TransportStr ts = lsTransport.Find(si => si.SSJID == ssjid);
if (ts == null)
{
return(string.Empty);
}
int btid = Convert.ToInt32(ts.BTID);
byte[] bty = new byte[2];
BitArray arr = new BitArray(bty);
if (!HsWcsReadalarm(out arr))
{
return("");
}
else
{
for (int i = 0; i < 3; i++)
{
int start = (btid - 1) * 3;
flag = arr[start + i];
if (flag == true)
{
break;
}
}
}
#endregion
string desaddress = string.Empty;
//如果报警返回
if (flag == true)
{
desaddress = ts.VAR5;
}
else
{
TransportStr rkssj = lsTransport.Find(t => t.ALLEYID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
if (rkssj == null)
{
return(string.Empty);
}
desaddress = rkssj.VAR5;
}
ContinueToAgvInfo req = ContinueToModel(ds, desaddress);
SendToAgvResult result = ContinueTask(req);
if (result.Message == "成功" && flag)
{
NotifyEvent?.Invoke("R", $"外形检测不合格，给AGV发送返回起始点成功，任务id为：{agvCallBack.TaskCode}目的地{desaddress}");
log.WriteLog($"外形检测不合格，给AGV发送返回起始点成功，任务id为：{agvCallBack.TaskCode}目的地{desaddress}");
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "1", "5", string.Empty);
}
else if (result.Message == "成功" && !flag)
{
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "3", "3", string.Empty);
NotifyEvent?.Invoke("R", $"外形检测合格，给AGV发送目标巷道成功，任务Id为{agvCallBack.TaskCode}目的地{desaddress}");
log.WriteLog($"外形检测合格，给AGV发送目标巷道成功，任务Id为{agvCallBack.TaskCode}目的地{desaddress}");
msg = "OK";
}
else
{
NotifyEvent?.Invoke("R", $"给AGV发送目标巷道失败，任务id为：{agvCallBack.TaskCode}");
log.WriteLog($"给AGV发送目标巷道失败，任务id为：{agvCallBack.TaskCode}");
msg = "Lost";
}
}
}
//放货完成
else if (agvCallBack.Method == Finish)
{
DataSet ds = DataTrans.D_GetSchByTaskId(agvCallBack.TaskCode);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
TransportStr ts;
if (ds.Tables[0].Rows[0]["TASKTYPE"].ToString() == "1")
{
ts = lsTransport.Find(si => si.ALLEYID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
}
else
{
ts = lsTransport.Find(si => si.SSJID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
}
if (ts == null)
{
return(string.Empty);
}
ts.TRAYCODE = ds.Tables[0].Rows[0]["TRAYCODE"].ToString();
ts.ZXRWH = ds.Tables[0].Rows[0]["TASKNO"].ToString();
if (crl.HsWriteToSSJ(ts))
{
NotifyEvent?.Invoke("S", $"根据AGV反馈任务与id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务成功");
log.WriteLog($"根据AGV反馈任务id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务成功");
if (ds.Tables[0].Rows[0]["TASKTYPE"].ToString() == "1")
{
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "1", "3", string.Empty);
}
else if (ds.Tables[0].Rows[0]["TASKTYPE"].ToString() == "2")
{
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "1", "4", string.Empty);
}
msg = "OK";
}
else
{
NotifyEvent?.Invoke("S", $"根据AGV反馈任务id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务失败");
log.WriteLog($"根据AGV反馈任务id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务失败");
msg = "Lost";
}
}
}
return(msg);
}
/// <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);
}
}
