using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Threading.Tasks; using WCS.BLL.DbModels; using WCS.BLL.Manager; using WCS.BLL.Services.IService; using WCS.DAL.Db; using WCS.DAL.DbModels; using WCS.Model; using WCS.Model.ApiModel.AGV; using WCS.Model.ApiModel.PDAMatBind; namespace WCS.BLL.Services.Service { public class PDAMatBindService : IPDAMatBindService { public async Task callEmptyShelf(BindMatDetailRequest request) { try { #region 参数校验 //判断参数 if (request.LocationId == 0 || string.IsNullOrEmpty(request.LocationCode)) { return new ResponseCommon() { Code = 201, Message = "工位或工位编码为空！\r\n请重新扫工位码", Data = null, }; } #endregion #region 数据校验 //获取是否存在当前工位 var endLocation = await DbHelp.db.Queryable() .Where(t => t.Id == request.LocationId) .Where(t => t.IsEnable == true) .FirstAsync(); if (endLocation == null) { return new ResponseCommon() { Code = 201, Message = $"工位[{request.LocationCode}]不存在或已被禁用!\r\n请联系系统管理人员维护工位信息！", Data = null, }; } #endregion //获取当前工位的货架 var shelf = await DbHelp.db.Queryable() .Where(t => (t.CurrentLocationId == endLocation.Id) || (t.DestinationLocationId == endLocation.Id && t.TransStatus == TransStatusEnum.运输中))//解决产线人员 呼叫后货架未到的时候绑定的问题 .Where(t => t.IsEnable == true) .FirstAsync(); if (shelf != null) { if (shelf.TransStatus == TransStatusEnum.静止) { return new ResponseCommon() { Code = 205, Message = $"货架【{shelf.ShelfCode}】在工位上，无法呼叫新货架！", Data = null, }; } //运输中 else if (shelf.TransStatus == TransStatusEnum.运输中 && shelf.DestinationLocationId == endLocation.Id) { return new ResponseCommon() { Code = 205, Message = $"货架【{shelf.ShelfCode}】运输中，请勿重复呼叫！\r\n货架到达后扫货架码即可继续绑定。", Data = null, }; } else if (shelf.TransStatus == TransStatusEnum.运输中 && shelf.CurrentLocationId == endLocation.Id) { return new ResponseCommon() { Code = 205, Message = $"当前货架【{shelf.ShelfCode}】未从工位拉走！\r\n等待拉走后进行绑定!", Data = null, }; } } #region 参数校验 //判断参数 if (request.LocationId == 0 || string.IsNullOrEmpty(request.LocationCode)) { return new ResponseCommon() { Code = 201, Message = "工位或工位编码为空！\r\n请重新扫工位码", Data = null, }; } #endregion //获取空货架进行呼叫 var locations = await DbHelp.db.Queryable() .LeftJoin((si, li) => si.CurrentLocationId == li.Id) .Where((si, li) => si.TransStatus == TransStatusEnum.静止 && si.CurrentLocationId != 0) .Where((si, li) => si.ShelfStatus == ShelfStatusEnum.空货架) .Where((si, li) => si.ShelfTypeId == request.NeedShelfTypeId) .Where((si, li) => si.IsEnable == true && li.IsEnable == true) .WhereIF(request.NeedLocationAreaId != 0, (si, li) => li.LocationAreaId == request.NeedLocationAreaId) .Select(((si, li) => li)) .ToListAsync(); if (locations == null || locations.Count == 0) { if (request.NeedLocationAreaId != 0) { return new ResponseCommon() { Code = 201, Message = $"库区[{request.NeedLocationAreaName}],货架类型[{request.NeedShelfTypeName}]\r\n当前不存在空货架！\r\n请稍后重试！", Data = null, }; } else { return new ResponseCommon() { Code = 201, Message = $"货架类型[{request.NeedShelfTypeName}]，不存在空货架！\r\n请稍后重试！", Data = null, }; } } locations.ForEach(l => l.RowNumber = (int)Math.Abs(endLocation.X - l.X) * 2 + (int)Math.Abs(endLocation.Y - l.Y)); locations = locations.OrderBy(l => l.RowNumber).ToList(); var startLocation = locations.FirstOrDefault(); if (startLocation == null) { return new ResponseCommon() { Code = 201, Message = $"货架类型[{request.NeedShelfTypeName}]，不存在空货架！\r\n请稍后重试！", Data = null, }; } shelf = await DbHelp.db.Queryable() .Where(t => t.ShelfStatus == ShelfStatusEnum.空货架) .Where(t => t.TransStatus == TransStatusEnum.静止) .Where(t => t.CurrentLocationId == startLocation.Id) .FirstAsync(); if (shelf == null) { return new ResponseCommon() { Code = 201, Message = $"货架类型[{request.NeedShelfTypeName}]，不存在空货架！\r\n请稍后重试！", Data = null, }; } //var startLocation = await DbHelp.db.Queryable() // .Where(t => t.Id == shelf.CurrentLocationId) // .Where(t => t.IsEnable == true) // .FirstAsync(); var response = AGVManager.GenAgvSchedulingTask(startLocation, endLocation, shelf.ShelfCode, request.UserName); if (response.code == "0" && response.message == "成功") { //更新货架位置信息 shelf.TransStatus = TransStatusEnum.运输中; shelf.CurrentTaskCode = response.data; shelf.DestinationLocationId = endLocation.Id; shelf.DestinationLocaiotnCode = endLocation.LocationCode; DbHelp.db.Updateable(shelf).ExecuteCommand(); return new ResponseCommon() { Code = 200, Message = "success", Data = null, }; } else if (response.code == "-999") { return new ResponseCommon() { Code = 201, Message = $"{response.message}\r\n请重试或等待上一个任务完成", Data = null, }; } else { return new ResponseCommon() { Code = 201, Message = $"海康RCS返回：{response.message}", Data = null, }; } } catch (Exception ex) { return new ResponseCommon() { Code = 201, Message = ex.Message, Data = null, }; } } public async Task bindSendBackShelf(BindMatDetailRequest request) { try { #region 参数校验 //判断参数 if (request.LocationId == 0 || string.IsNullOrEmpty(request.LocationCode)) { return new ResponseCommon() { Code = 201, Message = "工位或工位编码为空！\r\n请重新扫码", Data = null, }; } #endregion #region 数据校验 //获取是否存在当前工位 var startLocation = await DbHelp.db.Queryable() .Where(t => t.Id == request.LocationId) .Where(t => t.IsEnable == true) .FirstAsync(); if (startLocation == null) { return new ResponseCommon() { Code = 201, Message = $"工位[{request.LocationCode}]不存在或已被禁用!\r\n请联系系统管理人员维护工位信息！", Data = null, }; } //获取当前工位的货架 var shelf = await DbHelp.db.Queryable() .Where(t => t.CurrentLocationId == startLocation.Id && t.TransStatus == TransStatusEnum.静止) .Where(t => t.IsEnable == true) .FirstAsync(); if (shelf == null) { return new ResponseCommon() { Code = 201, Message = $"当前工位上不存在货架【{request.ShelfCode}】,请确认！", Data = null, }; } #endregion var endLocation = await DbHelp.db.Queryable() .LeftJoin((li, si) => (li.Id == si.CurrentLocationId) || (li.Id == si.DestinationLocationId && si.TransStatus == TransStatusEnum.运输中)) .Where((li, si) => li.LocationAreaId == request.SendBackLocationAreaId) .Where((li, si) => li.IsEnable == true) .Where((li, si) => li.Id != shelf.CurrentLocationId) .Where((li, si) => si.Id == null) .Select((li, si) => li) .FirstAsync(); if (endLocation == null) { return new ResponseCommon() { Code = 201, Message = $"区域[{request.SendBackLocationAreaName}]不存在空闲位置！", Data = null, }; } var response = AGVManager.GenAgvSchedulingTask(startLocation, endLocation, shelf.ShelfCode, request.UserName); if (response.code == "0" && response.message == "成功") { //更新货架位置信息 shelf.TransStatus = TransStatusEnum.运输中; shelf.CurrentTaskCode = response.data; shelf.DestinationLocationId = endLocation.Id; shelf.DestinationLocaiotnCode = endLocation.LocationCode; DbHelp.db.Updateable(shelf).ExecuteCommand(); return new ResponseCommon() { Code = 200, Message = "success", Data = null, }; } else if (response.code == "-999") { return new ResponseCommon() { Code = 201, Message = $"{response.message}\r\n请重试或等待上一个任务完成", Data = null, }; } else { return new ResponseCommon() { Code = 201, Message = $"海康RCS返回：{response.message}", Data = null, }; } } catch (Exception ex) { return new ResponseCommon() { Code = 201, Message = ex.Message, Data = null, }; } } public async Task resendAGVTask(ResendAGVTasksRequest request) { try { #region 参数、数据校验 if (request.TaskId == 0 || string.IsNullOrEmpty(request.TaskCode)) { return new ResponseCommon() { Code = 201, Message = $"传入参数错误！", }; } var agvTask = await DbHelp.db.Queryable() .Where(t => t.Id == request.TaskId) .Where(t => t.TaskCode == request.TaskCode) .FirstAsync(); if (agvTask == null) { return new ResponseCommon() { Code = 201, Message = $"任务[{agvTask.TaskCode}]不存在！", }; } if (agvTask.TaskStatus != TaskStatusEnum.取消完成) { return new ResponseCommon() { Code = 201, Message = $"任务[{agvTask.TaskCode}]状态为【{agvTask.TaskStatus}】,无法重新发送！", }; } if (agvTask.ModifyTime < DateTime.Now.AddMinutes(-10)) { return new ResponseCommon() { Code = 201, Message = $"任务取消已超过10分钟,无法重新发送！", }; } #endregion #region 起点终点等现有数据校验 var startLocation = await DbHelp.db.Queryable() .Where(t => t.Id == agvTask.StratLocationId) .Where(t => t.IsEnable == true) .FirstAsync(); if (startLocation == null) { return new ResponseBase() { Code = 201, Message = "任务重新发送失败：起点位置不存在或已被禁用！", }; } var endLocation = await DbHelp.db.Queryable() .Where(t => t.Id == agvTask.EndLocationId) .Where(t => t.IsEnable == true) .FirstAsync(); if (endLocation == null) { return new ResponseBase() { Code = 201, Message = "任务重新发送失败：终点位置不存在或已被禁用！", }; } //货架 var shelf = await DbHelp.db.Queryable() .Where(t => t.ShelfCode == agvTask.ShelfCode) .Where(t => t.IsEnable == true) .FirstAsync(); if (shelf == null) { return new ResponseBase() { Code = 201, Message = $"任务重新发送失败：货架{agvTask.ShelfCode}不存在或已被禁用！", }; } if (shelf.TransStatus != TransStatusEnum.静止 || shelf.CurrentLocationId != agvTask.StratLocationId) { return new ResponseBase() { Code = 201, Message = $"任务重新发送失败：货架{agvTask.ShelfCode}已不在起点位置{startLocation.LocationCode}！", }; } //查询终点位置是否有货架占用 var otherShelf = await DbHelp.db.Queryable() .Where(t => (t.CurrentLocationId == endLocation.Id && t.TransStatus == TransStatusEnum.静止) || (t.DestinationLocationId == endLocation.Id && t.TransStatus == TransStatusEnum.运输中)) .Where(t => t.IsEnable == true) .FirstAsync(); if (otherShelf != null) { return new ResponseBase() { Code = 201, Message = $"任务重新发送失败：终点位置已被其他货架占用！", }; } #endregion #region 调用RCS进行重新发送任务 var response = AGVManager.GenAgvSchedulingTaskForResend(startLocation, endLocation, agvTask, shelf.ShelfCode, request.UserName); if (response.code == "0" && response.message == "成功") { //更新货架位置信息 shelf.TransStatus = TransStatusEnum.运输中; shelf.CurrentTaskCode = response.data; shelf.DestinationLocationId = endLocation.Id; shelf.DestinationLocaiotnCode = endLocation.LocationCode; DbHelp.db.Updateable(shelf).ExecuteCommand(); return new ResponseCommon() { Code = 200, Message = "success", Data = null, }; } else if (response.code == "-999") { return new ResponseCommon() { Code = 201, Message = $"任务重新发送失败：{response.message}\r\n请重试或等待上一个任务完成", Data = null, }; } else { return new ResponseCommon() { Code = 201, Message = $"任务重新发送失败，海康RCS返回：{response.message}", Data = null, }; } #endregion } catch (Exception ex) { return new ResponseCommon() { Code = 300, Message = $"任务重新发送失败:{ex.Message}", }; } } } }