/// <summary>
/// 将指令写入指令表
/// </summary>
/// <param name="si"></param>
/// <param name="taskid"></param>
public static bool D_SSJCommandAllotNotask(TransportStr si, string taskid)
{
try
{
string tptm1 = "";
string tptm2 = "";
if (si.TRAYCODE.Length > 4)
{
tptm1 = si.TRAYCODE.Substring(0, 4);
tptm2 = si.TRAYCODE.Substring(4, si.TRAYCODE.Length - 4);
}
string alleyid = si.ALLEYID;
if (alleyid.Length > 3)
{
alleyid = Convert.ToInt32(alleyid.Substring(si.ALLEYID.Length - 3, 3)).ToString();
}
string orastr = "begin ";
//orastr += " insert into tbtaskno(taskno) values ('" + si.ZXRWH + "');";
orastr += " update SCHEDULE_TASK set TASKNO='" + si.ZXRWH + "' where TASKID='" + taskid + "';";
orastr += " update rico_device_ssj set ZXRWH='" + si.ZXRWH + "' where SSJID='" + si.SSJID + "';";
orastr += @" INSERT INTO RICO_DEVICE_SSJ_COMMAND( SSJID,BTID,DTYPE,RWH,TUNNELID,
TPTM1,TPTM2,DOFLAG,CREATETIME,TPTM)
VALUES ('" + si.SSJID + "','" + si.BTID + "','" + si.DTYPE + "','" + si.ZXRWH + "','" + alleyid
+ "','" + tptm1 + "','" + tptm2
+ "','N','" + DateTime.Now.ToString("yyyy-MM-dd hh:mm:ss") + "','" + si.TRAYCODE + "');";
orastr += " end;";
int n = OracleHelper.ExecuteNonQuery(CommandType.Text, orastr, null);
return(true);
}
catch (Exception ex)
{
LogInfo.WriteLog("输送机" + si.SSJID + "下发指令" + si.ZXRWH + "异常,异常信息为" + ex.Message);
return(false);
}
}
public static void D_UpDevicesSSJ(TransportStr si)
{
//更新输送机设备表中任务号，托盘条码，到位信号，空闲信号
string orastr = $"update rico_devices_ssj set ZXRWH='{si.ZXRWH}',TRAYCODE='{si.TRAYCODE}',DWXH='{si.DWXH}',KXBZ='{si.KXBZ}' where ssjid='{si.SSJID}'";
OracleHelper.ExecuteNonQuery(CommandType.Text, orastr, null);
}
public int AllotSpaceId(string taskid, TransportStr si)
{
int n = 0;
#region 向中间表插入数据，向WMS发起请求
//发起前先判断中间表是否已存在该条申请，状态1=下发 2=已处理状态
DataSet dsisexist = DataTrans.D_GetIDX_ASRS_SEND(taskid, "15", "1','2");
if (dsisexist != null && dsisexist.Tables[0].Rows.Count == 0)
{
DataSet ds = DataTrans.D_GetAlleyIdBytaskid(si.Taskid);
if (ds == null)
{
return(0);
}
string alleyid = ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString();
//15=货位申请 1=下方
int k = DataTrans.D_InsertIDX_ASRS_SEND("15", "1", taskid, si.TRAYCODE, "", alleyid);
if (k > 0)
{
logWrite.WriteLog($"输送机{si.SSJID}调度指令{taskid}入库已向WMS申请货位托盘条码为{si.TRAYCODE}");
NotifyEvent?.Invoke($"输送机{si.SSJID}调度指令{taskid}入库已向WMS申请货位托盘条码为{si.TRAYCODE}");
}
else
{
logWrite.WriteLog($"输送机{si.SSJID}调度指令{taskid}入库向WMS未申请到货位");
NotifyEvent?.Invoke($"输送机{si.SSJID}调度指令{taskid}入库向WMS未申请到货位");
}
}
#endregion
//获取WMS重新分配的货位，2代表WMS已下发
DataSet dsidx = DataTrans.D_GetIDX_ASRS_SEND(taskid, "15", "2");
//若是查询到数据说明获取到货位
if (dsidx != null && dsidx.Tables[0].Rows.Count > 0)
{
logWrite.WriteLog($"输送机{si.SSJID}调度指令{taskid}申请的货位WMS已处理");
NotifyEvent?.Invoke($"输送机{si.SSJID}调度指令{taskid}申请的货位WMS已处理");
//临时库位字段
string spaceid = dsidx.Tables[0].Rows[0]["LOCATION"].ToString();
//根据货位id获取货位信息
DataSet ds = DataTrans.P_getSpaceInfo(spaceid);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
//货位名称
string spacename = ds.Tables[0].Rows[0]["CARGO_SPACE_NAME"].ToString();
//货位排
string tCSPLATOON = ds.Tables[0].Rows[0]["CSPLATOON"].ToString();
//货位列
string tCSCOLUMN = ds.Tables[0].Rows[0]["CSCOLUMN"].ToString();
//货位层
string tCSFLOOR = ds.Tables[0].Rows[0]["CSFLOOR"].ToString();
n = DataTrans.P_UpSchSpaceInfo(spaceid, spacename, tCSPLATOON, tCSCOLUMN, tCSFLOOR, si.Taskid);
}
}
return(n);
}
public bool HsWriteToSSJ(TransportStr ts)
{
try
{
int start = int.Parse(ts.VAR3);
byte[] buffer = new byte[18];
int[] info = new int[18];
#region 将任务号转为16进制，然后存入2字节
#endregion
byte[] taskno = new byte[2];
taskno[0] = (byte)Convert.ToInt32(Convert.ToInt32(ts.ZXRWH) / 256);
taskno[1] = (byte)Convert.ToInt32(Convert.ToInt32(ts.ZXRWH) % 256);
byte[] barcode = new byte[4];
ts.TRAYCODE = string.IsNullOrEmpty(ts.TRAYCODE) ? "0" : ts.TRAYCODE;
barcode[0] = (byte)Convert.ToInt32(Convert.ToInt32(ts.TRAYCODE) / (256 * 256 * 256));
barcode[1] = (byte)Convert.ToInt32(Convert.ToInt32(ts.TRAYCODE) / (256 * 256));
barcode[2] = (byte)Convert.ToInt32(Convert.ToInt32(ts.TRAYCODE) / 256);
barcode[3] = (byte)Convert.ToInt32(Convert.ToInt32(ts.TRAYCODE) - barcode[0] * 256 * 256 * 256 - barcode[1] * 256 * 256 - barcode[2] * 256);
for (int i = 0; i < 18; i++)
{
info[i] = 0;
}
for (int i = 0; i < taskno.Length; i++)
{
info[i] = int.Parse(taskno[i].ToString());
}
for (int i = 0; i < barcode.Length; i++)
{
info[i + 2] = int.Parse(barcode[i].ToString());
}
for (int i = 0; i < info.Length; i++)
{
buffer[i] = (byte)info[i];
}
bool flag = false;
if (HsPLCList.ContainsKey(ts.VAR1))
{
flag = HsPLCList[ts.VAR1].HsWrite($"DB{dbnumber}.{start}", buffer);
}
else
{
HsPLCList.Add(ts.VAR1, new HsControlServer(ConfigurationManager.AppSettings[ts.VAR1]));
}
return(flag);
}
catch (Exception ex)
{
logWrite.WriteLog($"输送机{ts.SSJID}条码{ts.TRAYCODE}异常，异常信息为{ex.Message}");
return(false);
}
}
/// <summary>
/// 初始化输送机对应参数
/// </summary>
/// <returns></returns>
public bool TransDeviceInit()
{
DataSet ds = DataTrans.D_GetDeviceSSJ();
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
for (int i = 0; i < ds.Tables[0].Rows.Count; i++)
{
//获取设备编号第一个字母，用于与绑定IP地址
_SSJDhead = ds.Tables[0].Rows[i]["VAR1"].ToString().Substring(0, 1);
string _ip = ConfigurationManager.AppSettings[_SSJDhead].ToString();
//需要改进，将端口，DB块，端口等也进行构造函数初始化l
if (!PLCList.ContainsKey(_SSJDhead))
{
PLCList.Add(_SSJDhead, new RWLOPCServerl(_ip));
PLCFlag.Add(_SSJDhead, false);
PLCList[_SSJDhead].Connect();
}
if (!HsPLCList.ContainsKey(_SSJDhead))
{
HsPLCList.Add(_SSJDhead, new HsControlServer(_ip));
bool flag = HsPLCList[_SSJDhead].HsServerConnect();
string res = flag ? "成功" : "失败";
NotifyEvent?.Invoke($"PLC{_ip}连接{res}");
}
TransportStr tp = new TransportStr();
tp.SSJID = ds.Tables[0].Rows[i]["SSJID"].ToString();
tp.BTID = ds.Tables[0].Rows[i]["BTID"].ToString();
tp.DTYPE = ds.Tables[0].Rows[i]["DTYPE"].ToString();
tp.ZXRWH = ds.Tables[0].Rows[i]["ZXRWH"].ToString();
tp.DWXH = ds.Tables[0].Rows[i]["DWXH"].ToString();
tp.KXBZ = ds.Tables[0].Rows[i]["KXBZ"].ToString();
tp.TRAYCODE = ds.Tables[0].Rows[i]["TRAYCODE"].ToString();
tp.JYM = ds.Tables[0].Rows[i]["JYM"].ToString();
tp.BFLAG = ds.Tables[0].Rows[i]["BFLAG"].ToString();
tp.ALLEYID = ds.Tables[0].Rows[i]["ALLEYID"].ToString();
//tp.ALLEYID = "";
tp.VAR1 = ds.Tables[0].Rows[i]["VAR1"].ToString();
tp.VAR2 = ds.Tables[0].Rows[i]["VAR2"].ToString();
tp.VAR3 = ds.Tables[0].Rows[i]["VAR3"].ToString();
tp.VAR4 = ds.Tables[0].Rows[i]["VAR4"].ToString();
tp.VAR5 = ds.Tables[0].Rows[i]["VAR5"].ToString();
tp.SSRWLX = ds.Tables[0].Rows[i]["SSRWLX"].ToString();
tp.SSJIDhead = _SSJDhead;
lsTransport.Add(tp);
}
return(true);
}
return(false);
}
/// <summary>
/// 读取输送机信息
/// </summary>
/// <param name="si"></param>
/// <returns></returns>
public bool HsWcsReadSSJ(ref TransportStr si)
{
bool flag = false;
try
{
//当前输送机对应电机对应开始字节，读取电机信息（主要到位空闲信息）DB54
int djstart = Convert.ToInt32(si.VAR4);
byte[] djbty = new byte[12];
if (HsPLCList[si.VAR1].HsRead($"DB{djdbnumber}.{djstart}", 12, ref djbty))
{
#region 读取DB54信息
//将电机对应输送机id的第一个字节存储到buffer中，并获取bit
int djint = djbty[8];
byte[] buffer = BitConverter.GetBytes(djint);
BitArray arr = new BitArray(buffer);
si.DWXH = Convert.ToInt32(arr[0]).ToString(); //到位信号
si.KXBZ = Convert.ToInt32(arr[1]).ToString(); //空闲信息
#endregion
#region 读取DB55信息
//读取当前输送机条码信息等DB55
si.TRAYCODE = string.Empty;
int start = Convert.ToInt32(si.VAR3);
byte[] bty = new byte[20];
if (HsPLCList[si.VAR1].HsRead($"DB{dbnumber}.{start}", 18, ref bty))
{
//将读取到的信息更新到实体类
string rwh = BitConverter.ToString(bty, 0, 2).Replace("-", string.Empty).ToLower();
//任务号
si.ZXRWH = int.Parse(rwh, System.Globalization.NumberStyles.HexNumber).ToString();
//条码
si.TRAYCODE = (bty[2] * 256 * 256 * 256 + bty[3] * 256 * 256 + bty[4] * 256 + bty[5]).ToString();
if (Convert.ToInt32(si.TRAYCODE) == 0)
{
si.TRAYCODE = "";
}
else if (si.TRAYCODE.Length != 8)
{
logWrite.WriteLog($"输送机{si.SSJID}条码{si.TRAYCODE}长度非8位");
NotifyEvent?.Invoke($"输送机{si.SSJID}条码{si.TRAYCODE}长度非8位");
return(false);
}
byte[] tmp = new byte[1];
tmp[0] = bty[12];
//获取12字节的位数
si.Arr = new BitArray(tmp);
//计算重量
byte[] btyweight = new byte[4];
for (int i = 0; i < 4; i++)
{
btyweight[i] = bty[i + 14];
}
btyweight = btyweight.Reverse().ToArray();
si.Weight = Math.Round(BitConverter.ToSingle(btyweight, 0), 2);
//更新数据库中的输送机
DataTrans.D_UpDevicesSSJ(si);
flag = true;
}
else
{
flag = false;
}
#endregion
}
else
{
flag = false;
}
}
catch (Exception ex)
{
flag = false;
logWrite.WriteLog($"输送线{si.SSJID}读取DB块异常，状态为：{ex.Message}");
}
return(flag);
}
/// <summary>
/// 下发任务
/// </summary>
private void IssusedTask()
{
try
{
#region 入库口输送机
for (int i = 1; i <= 4; i++)
{
TransportStr devicessj = lsTransport.Find(s => s.BTID == i.ToString() && s.DTYPE == "101");
if (devicessj != null)
{
if (!dcsaveledstr.ContainsKey(devicessj.SSJID))
{
dcsaveledstr.Add(devicessj.SSJID, "TMP");
}
if (!dcoldweight.ContainsKey(devicessj.SSJID))
{
dcoldweight.Add(devicessj.SSJID, 0);
}
}
#region 外形检测报警
bool flag = false;
int btid = Convert.ToInt32(devicessj.BTID);
byte[] bty = new byte[2];
BitArray arr = new BitArray(bty);
if (!HsWcsReadalarm(out arr))
{
return;
}
else
{
string str = string.Empty;
for (int j = 0; j < 3; j++)
{
int start = (btid - 1) * 3;
flag = arr[start + j];
if (flag)
{
if (string.IsNullOrEmpty(str))
{
str += "外形检测不合格\r";
}
switch (j)
{
case 0:
str += "超高\r";
break;
case 1:
str += "左超\r";
break;
case 2:
str += "右超\r";
break;
}
}
}
if (str.Length > 0)
{
if (dcsaveledstr[devicessj.SSJID] != str)
{
LedSendStr(devicessj.SSJID, str, 0);
}
continue;
}
}
#endregion
if (SSJInWareCommand(ref devicessj))
{
logWrite.WriteLog($"输送机{devicessj.SSJID}对应托盘条码{devicessj.TRAYCODE}重量为：{devicessj.Weight}");
NotifyEvent?.Invoke($"输送机{devicessj.SSJID}对应托盘条码{devicessj.TRAYCODE}重量为：{devicessj.Weight}");
}
}
#endregion
#region 巷道入库口外
for (int i = 1; i <= 7; i++)
{
TransportStr devicessj = lsTransport.Find(s => s.BTID == i.ToString() && s.DTYPE == "105");
if (!HsWcsReadSSJ(ref devicessj))
{
continue;
}
}
#endregion
#region 巷道入库口内
for (int i = 1; i <= 7; i++)
{
TransportStr devicessj = lsTransport.Find(s => s.BTID == i.ToString() && s.DTYPE == "102");
if (!HsWcsReadSSJ(ref devicessj))
{
continue;
}
if (devicessj.TRAYCODE.Length > 0)
{
//一楼其他输送机都是正在调度任务执行阶段
DataSet ds = DataTrans.D_GetTaskInfoByStatus("3", devicessj.TRAYCODE);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
devicessj.Taskid = ds.Tables[0].Rows[0]["TASKID"].ToString();
//申请货位
if (ds.Tables[0].Rows[0]["TPLATOON"].ToString() == string.Empty)
{
AllotSpaceId(devicessj.Taskid, devicessj);
}
}
}
}
#endregion
#region 出库口输送机到位空闲更新
for (int i = 1; i <= 4; i++)
{
TransportStr devicessj = lsTransport.Find(s => s.BTID == i.ToString() && s.DTYPE == "104");
if (devicessj != null)
{
HsWcsReadSSJ(ref devicessj);
if (!dcsaveledstr.ContainsKey(devicessj.SSJID))
{
dcsaveledstr.Add(devicessj.SSJID, "TMP");
}
if (devicessj.KXBZ == "0" && devicessj.TRAYCODE != string.Empty)
{
DataSet ds = DataTrans.D_GetJobInfoToLed(devicessj.TRAYCODE);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
string str = $"托盘条码{ds.Tables[0].Rows[0]["TRAYCODE"].ToString().Trim()}\r物料编码:{ds.Tables[0].Rows[0]["productcode"].ToString().Trim()}\r物料名称：{ds.Tables[0].Rows[0]["productname"].ToString().Trim()}\r物料批次：{ds.Tables[0].Rows[0]["lotinfo"].ToString().Trim()}\r出库重量/总重量：{ds.Tables[0].Rows[0]["ASSIGNNUM"].ToString().Trim()}/{ds.Tables[0].Rows[0]["JOBNUM"].ToString().Trim()}";
if (dcsaveledstr[devicessj.SSJID] != str)
{
LedSendStr(devicessj.SSJID, str, 0);
}
}
}
else
{
string str = string.Empty;
if (dcsaveledstr[devicessj.SSJID] != str)
{
LedSendStr(devicessj.SSJID, str, 2);
}
}
}
else
{
string str = string.Empty;
if (dcsaveledstr[devicessj.SSJID] != str)
{
LedSendStr(devicessj.SSJID, str, 2);
}
}
}
#endregion
#region 巷道出库口输送机到位空闲更新
for (int i = 1; i <= 7; i++)
{
TransportStr devicessj = lsTransport.Find(s => s.BTID == i.ToString() && s.DTYPE == "103");
HsWcsReadSSJ(ref devicessj);
}
#endregion
}
catch (Exception ex)
{
NotifyEvent?.Invoke($"输送机异常报警，异常信息为：{ex.Message}");
}
}
private bool SSJInWareCommand(ref TransportStr si)
{
bool flag = false;
if (!HsWcsReadSSJ(ref si))
{
flag = false;
return(false);
}
si.TRAYCODE = string.Empty;
if (si.Weight > 700)
{
NotifyEvent?.Invoke($"货物超重，请注意！重量为{si.Weight}");
logWrite.WriteLog($"货物超重，请注意！重量为{si.Weight}");
string str = $"称重重量：{Math.Floor(si.Weight)}\r货物超重，请注意!";
if (dcsaveledstr[si.SSJID] != str)
{
LedSendStr(si.SSJID, str, 2);
}
return(false);
}
if (si.Weight > 1)
{
flag = true;
DataSet ds = new DataSet();
DataTrans.D_GetInwareTask(si.SSJID);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
if (ds.Tables[0].Rows[0]["RESERVE3"]?.ToString() != "1")
{
DataTrans.P_UpActWeight(ds.Tables[0].Rows[0]["TASKID"].ToString().Trim(), si.Weight.ToString());
}
si.TRAYCODE = ds.Tables[0].Rows[0]["TRAYCODE"].ToString().Trim();
string str = $"托盘条码{ds.Tables[0].Rows[0]["TRAYCODE"].ToString().Trim()}\r物料编码{ds.Tables[0].Rows[0]["productcode"].ToString().Trim()}\r物料名称：{ds.Tables[0].Rows[0]["productname"].ToString().Trim()}\r物料批次：{ds.Tables[0].Rows[0]["lotinfo"].ToString().Trim()}\r重量/称重重量：{ds.Tables[0].Rows[0]["assignnum"].ToString().Trim()}/{Math.Floor(si.Weight)}";
if (dcsaveledstr[si.SSJID] != str)
{
LedSendStr(si.SSJID, str, 0);
}
else
{
flag = false;
}
}
else
{
string str = $"称重重量：{Math.Floor(si.Weight).ToString()}\r";
if (dcsaveledstr[si.SSJID] != str)
{
LedSendStr(si.SSJID, str, 2);
}
else
{
flag = false;
}
logWrite.WriteLog($"请确定输送机{si.SSJID}是否有创建任务！");
}
}
else
{
string str = string.Empty;
if (dcsaveledstr[si.SSJID] != str)
{
LedSendStr(si.SSJID, str, 2);
}
}
return(flag);
}
/// <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
}
}
}
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);
}
}
