/// <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>
/// 给堆垛机下达任务
/// </summary>
/// <param name="craneid"></param>
/// <param name="buffer"></param>
public void IssuedCraneTask(string craneid, byte[] buffer)
{
CraneStr cs = CRLBase.CraneStrList.Find(c => c.Btid == craneid);
//任务结束，删除指令，放货完成
if (cs.Jdbz == "4")
{
cs.Zyfs = "4";
LogWrite.WriteLog($"放货完成开始删除堆垛机{cs.Btid}任务{cs.Zxrwh}");
NotifyShowEvent?.Invoke("R", $"防火完成开始删除堆垛机{cs.Btid}任务{cs.Zxrwh}");
if (WriteToCrane(cs))
{
DataSet dssch = DataTrans.D_GetSchByTaskno(cs.Zxrwh.ToString());
if (dssch == null)
{
return;
}
if (dssch.Tables[0].Rows.Count > 0)
{
//入库或者移库
if (dssch.Tables[0].Rows[0]["TASKTYPE"].ToString() == "1" || dssch.Tables[0].Rows[0]["TASKTYPE"].ToString() == "3")
{
DataTrans.D_CraneCommandTrans(cs.Btid, dssch.Tables[0].Rows[0]["TASKID"].ToString(), "4", "4", "4");
LogWrite.WriteLog($"放货完成删除堆垛机{cs.Btid}任务{cs.Zxrwh}完成 托盘条码：{dssch.Tables[0].Rows[0]["traycode"]}");
NotifyShowEvent?.Invoke("R", $"放货完成删除堆垛机{cs.Btid}任务{cs.Zxrwh}完成 托盘条码：{dssch.Tables[0].Rows[0]["traycode"]}");
}
//出库
else if (dssch.Tables[0].Rows[0]["TASKTYPE"].ToString() == "2")
{
DataTrans.D_CraneCommandTrans(cs.Btid, dssch.Tables[0].Rows[0]["TASKID"].ToString(), "3", "1", "3");
LogWrite.WriteLog($"放货完成删除堆垛机{cs.Btid}任务{cs.Zxrwh}完成 托盘条码：{dssch.Tables[0].Rows[0]["traycode"]}");
NotifyShowEvent?.Invoke("R", $"放货完成删除堆垛机{cs.Btid}任务{cs.Zxrwh}完成 托盘条码：{dssch.Tables[0].Rows[0]["traycode"]}");
}
}
}
//入库目标有货
else if (cs.Rkyh == "1" && cs.Alarm != "0")
{
//根据任务号获取调度指令
DataSet dsoldsh = DataTrans.D_GetSchByTaskno(cs.Zxrwh.ToString());
//判断是否入库或者移库
if ((dsoldsh != null && dsoldsh.Tables[0].Rows.Count > 0 && (dsoldsh.Tables[0].Rows[0]["tasktype"].ToString() == "1")) || dsoldsh.Tables[0].Rows[0]["tasktype"].ToString() == "3")
{
#region 向中间表插入数据，向WMS发起请求
//发起前先判断中间表是否已存在该条申请，状态为 1=已下发，2=已处理
DataSet dsisexist = DataTrans.D_GetIDX_ASRS_SEND(dsoldsh.Tables[0].Rows[0]["TASKID"].ToString(), "10", $"1','2");
if (dsisexist != null && dsisexist.Tables[0].Rows.Count == 0)
{
LogWrite.WriteLog($"堆垛机{cs.Btid}调度指令{dsoldsh.Tables[0].Rows[0]["taskid"]}入库货位有货，开始向WMS申请新货位...");
NotifyShowEvent?.Invoke("R", $"堆垛机{cs.Btid}调度指令{dsoldsh.Tables[0].Rows[0]["taskid"]}入库货位有货，开始向WMS申请新货位...");
string alleyid = AlleyIdRelation.GetAlleyId(cs.Btid);
//10代表存货占位，1代表下发
int n = DataTrans.D_InsertIDX_ASRS_SEND("10", "1", dsoldsh.Tables[0].Rows[0]["taskid"].ToString(), dsoldsh.Tables[0].Rows[0]["TRAYCODE"].ToString(), dsoldsh.Tables[0].Rows[0]["TCARGO_SPACE_ID"].ToString(), alleyid);
string res = n > 0 ? "成功" : "失败";
LogWrite.WriteLog($"堆垛机{cs.Btid}调度指令{dsoldsh.Tables[0].Rows[0]["taskid"]}入库货位有货，向WMS申请新货位{res}");
NotifyShowEvent?.Invoke("R", $"堆垛机{cs.Btid}调度指令{dsoldsh.Tables[0].Rows[0]["taskid"]}入库货位有货，向WMS申请新货位{res}");
//等待wms处理2s
Thread.Sleep(2000);
}
#endregion
//获取WMS重新分配的货位
DataSet dsidx = DataTrans.D_GetIDX_ASRS_SEND(dsoldsh.Tables[0].Rows[0]["TASKID"].ToString(), "10", "2");
//查询到数据说明获取到货位
if (dsidx != null && dsidx.Tables[0].Rows.Count > 0)
{
LogWrite.WriteLog($"堆垛机{cs.Btid}货位有货重新分配货位");
NotifyShowEvent?.Invoke("R", $"堆垛机{cs.Btid}货位有货重新分配货位");
string taskid = dsoldsh.Tables[0].Rows[0]["TASKID"].ToString();
string sendid = dsidx.Tables[0].Rows[0]["SENDID"].ToString();
//重分的货位号
string spaceid = dsidx.Tables[0].Rows[0]["LOCATION"].ToString();
//根据货位号获取货位信息
DataSet dsspace = DataTrans.P_getSpaceInfo(spaceid);
if (dsspace == null)
{
return;
}
//目标排号
string desrow = dsspace.Tables[0].Rows[0]["CSPLATOON"].ToString();
//目标列号
string descolnum = dsspace.Tables[0].Rows[0]["CSCOLUMN"].ToString();
//目标层号
string desfloor = dsspace.Tables[0].Rows[0]["CSFLOOR"].ToString();
//目标名称
string spacename = dsspace.Tables[0].Rows[0]["CARGO_SPACE_NAME"].ToString();
int remainder = Convert.ToInt32(desrow) % 2;
cs.Mbph = remainder == 0 ? "2" : "1";
cs.Mblh = descolnum;
cs.Mbch = desfloor;
AlleyIdRelation.GetRKDesSpace(cs.Btid, ref cs);
cs.Zyfs = "5";
if (WriteToCrane(cs))
{
LogWrite.WriteLog($"{cs.Btid}满入解警成功");
NotifyShowEvent?.Invoke("R", $"{cs.Btid}满入解警成功");
//更新相关表货位信息
DataTrans.D_GetSpaceUpInfo(taskid, cs.Btid, "3", sendid, spaceid, desrow, descolnum, desfloor, spacename);
cs.Zyfs = "1";
string res = WriteToCrane(cs) ? "成功" : "失败";
LogWrite.WriteLog($"给堆垛机{cs.Btid}重新分货位{spaceid}{res}");
NotifyShowEvent?.Invoke("R", $"给堆垛机{cs.Btid}重新分货位{spaceid}{res}");
}
else
{
LogWrite.WriteLog($"{cs.Btid}满入解警失败");
NotifyShowEvent?.Invoke("R", $"{cs.Btid}满入解警失败");
}
}
}
}
//出库无货
else if (cs.Ckwh == "1" && cs.Alarm != "0")
{
//根据任务号获取调度指令
DataSet dsoldsch = DataTrans.D_GetSchByTaskno(cs.Zxrwh.ToString());
//判断是否出库
//出库将旧指令删除即可，调度指令作废
if (dsoldsch != null && dsoldsch.Tables[0].Rows.Count > 0 && dsoldsch.Tables[0].Rows[0]["tasktype"].ToString() == "2")
{
#region 向中间表插入数据，向WMS发起请求
//发起前先判断中间表是否已存在该条申请
//状态 1=下发，2=已处理状态
DataSet dsisexist = DataTrans.D_GetIDX_ASRS_SEND(dsoldsch.Tables[0].Rows[0]["TASKID"].ToString(), "11", $"1','3',4','2");
if (dsisexist.Tables[0].Rows.Count == 0)
{
//判断出库目标无货无申请，则插入一条申请
string alleyid = AlleyIdRelation.GetAlleyId(cs.Btid);
//11=出库目标无货 1=下发
int n = DataTrans.D_InsertIDX_ASRS_SEND("11", "1", dsoldsch.Tables[0].Rows[0]["taskid"].ToString(), dsoldsch.Tables[0].Rows[0]["TRAYCODE"].ToString(), dsoldsch.Tables[0].Rows[0]["TCAGRO_SPACE_ID"].ToString(), alleyid);
if (n > 0)
{
//插入成功，将调度指令更新为作废，将中间表更新为已完成
int k = DataTrans.D_RKYHDel(cs.Btid, dsoldsch.Tables[0].Rows[0]["taskid"].ToString());
if (k > 0)
{
string res = WriteToCrane(cs) ? "成功" : "失败";
LogWrite.WriteLog($"{cs.Btid}空出解警成功");
NotifyShowEvent?.Invoke("R", $"{cs.Btid}空出解警成功");
}
}
}
#endregion
}
else
{
cs.Zyfs = "5";
string res = WriteToCrane(cs) ? "成功" : "失败";
LogWrite.WriteLog($"{cs.Btid}空出解警{res}");
NotifyShowEvent?.Invoke("R", $"{cs.Btid}空出解警{res}");
}
}
//待机
else if (cs.Jdbz == "0")
{
#region 一楼出库
//一楼出库
if (runorder == 1 && n == 0)
{
DataTable dt = new DataTable();
//查询一楼出库口输送机信息，设备类型为103
string dttype = "103";
TransportStr ts = lsTransport.Find(t => t.DTYPE == dttype && t.BTID == cs.Btid && t.KXBZ == "1");
if (ts == null)
{
return;
}
crl.HsWcsReadSSJ(ref ts);
if (ts.KXBZ != "1")
{
return;
}
//查询调度任务，
//任务类型2（TASKTYPE出库），任务类型描述（DESCRIPTION），状态为2（STATUS待执行）
string alleyid = AlleyIdRelation.GetAlleyId(cs.Btid);
//查询出库调度任务
//任务类型为2（TASKTYPE出库），层号（FLOOR）为1，状态为2（STATUS待执行）
DataSet dstask = DataTrans.D_GetOutSchTaskByCrane("2", "1", "2", alleyid, string.Empty, cs);
if (dstask != null && dstask.Tables[0].Rows.Count > 0)
{
dt = dstask.Tables[0].Clone();
dt.ImportRow(dstask.Tables[0].Rows[0]);
bool flag1 = true;
//调度指令表中任务号不存在，分配新的任务号
if (dt.Rows[0]["task"].ToString() == "0" || string.IsNullOrEmpty(dt.Rows[0]["taskno"].ToString()))
{
//任务号分配
string taskno = DataTrans.D_AllotTaskno().ToString();
if (!string.IsNullOrEmpty(taskno) && taskno != "0")
{
dt.Rows[0]["taskno"] = taskno;
flag1 = DataTrans.D_UpSchTask(taskno, dt.Rows[0]["taskid"].ToString());
}
else
{
flag1 = false;
}
}
if (flag1)
{
LogWrite.WriteLog($"巷道{cs.Btid}开始一楼出库任务，任务号为{dt.Rows[0]["taskno"]}托盘条码：{dt.Rows[0]["traycode"]}");
NotifyShowEvent?.Invoke("R", $"巷道{cs.Btid}开始一楼出库任务，任务号为{dt.Rows[0]["taskno"]}托盘条码：{dt.Rows[0]["traycode"]}");
bool flag = DDJCommand(ref cs, dt);
if (flag)
{
//根据巷道获取出库目标
AlleyIdRelation.GetCKOneDesSpace(cs.Btid, ref cs);
//出库
cs.Zyfs = "2";
if (WriteToCrane(cs))
{
LogWrite.WriteLog($"给堆垛机{cs.Btid}下发出库任务{dt.Rows[0]["taskno"]}成功，托盘条码：{dt.Rows[0]["traycode"]}，目标地址：{cs.Mbph}排{cs.Mblh}列{cs.Mbch}层");
NotifyShowEvent?.Invoke("R", $"给堆垛机{cs.Btid}下发出库任务{dt.Rows[0]["taskno"]}成功，托盘条码：{dt.Rows[0]["traycode"]}，目标地址：{cs.Mbph}排{cs.Mblh}列{cs.Mbch}层");
DataTrans.D_CraneCommandTrans(cs.Btid, dt.Rows[0]["TASKID"].ToString(), "2", "2", "3");
Thread.Sleep(1000);
}
else
{
LogWrite.WriteLog($"给堆垛机{cs.Btid}下发出库任务{dt.Rows[0]["taskno"]}失败");
NotifyShowEvent?.Invoke("R", $"给堆垛机{cs.Btid}下发出库任务{dt.Rows[0]["taskno"]}失败");
}
}
}
}
}
#endregion
#region 一楼入库
else if (runorder == 2)
{
DataTable dt = new DataTable();
//查询二楼入库口输送机信息，设备类型为207
string dttype = "102";
TransportStr ts = lsTransport.Find(s => s.DTYPE == dttype && s.BTID == cs.Btid && s.DWXH == "1");
if (ts == null)
{
return;
}
else
{
crl.HsWcsReadSSJ(ref ts);
if (ts.DWXH != "1")
{
return;
}
//根据输送机任务号获取调度信息
DataSet dstask = DataTrans.D_GetSchByTaskno(ts.ZXRWH);
DataRow[] drs = dstask.Tables[0].Select("TCARGO_SPACE_ID is not null", "");
if (drs.Length > 0)
{
dt = dstask.Tables[0].Clone();
dt.ImportRow(drs[0]);
LogWrite.WriteLog($"开始入库任务，任务号为：{dt.Rows[0]["taskno"]}，托盘条码：{dt.Rows[0]["traycode"]}");
NotifyShowEvent?.Invoke("R", $"开始入库任务，任务号为：{dt.Rows[0]["taskno"]}，托盘条码：{dt.Rows[0]["traycode"]}");
bool flag = DDJCommand(ref cs, dt);
if (flag)
{
//如果入库，目标地址为巷道
AlleyIdRelation.GetRKDesSpace(cs.Btid, ref cs);
cs.Zyfs = "1";
//如果插入指令表成功，将指令写入到堆垛机中
if (WriteToCrane(cs))
{
LogWrite.WriteLog($"给堆垛机{cs.Btid}下发任务{dt.Rows[0]["taskno"]}成功，托盘条码：{dt.Rows[0]["traycode"]}，目标地址{cs.Mbph}排-{cs.Mblh}列-{cs.Mbch}层");
NotifyShowEvent?.Invoke("R", $"给堆垛机{cs.Btid}下发任务{dt.Rows[0]["taskno"]}成功，托盘条码：{dt.Rows[0]["traycode"]}，目标地址{cs.Mbph}排-{cs.Mblh}列-{cs.Mbch}层");
DataTrans.D_CraneCommandTrans(cs.Btid, dt.Rows[0]["TASKID"].ToString(), "3", "3", "3");
Thread.Sleep(1000);
}
else
{
LogWrite.WriteLog($"给堆垛机{cs.Btid}下发入库任务{dt.Rows[0]["taskno"]}失败");
NotifyShowEvent?.Invoke("R", $"给堆垛机{cs.Btid}下发入库任务{dt.Rows[0]["taskno"]}失败");
}
}
return;
}
}
}
#endregion
}
}
}
/// <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);
}
}