492 lines
21 KiB
C#
492 lines
21 KiB
C#
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<ResponseCommon> 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<LocationInfo>()
|
||
.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<ShelfInfo>()
|
||
.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<ShelfInfo>()
|
||
.LeftJoin<LocationInfo>((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<ShelfInfo>()
|
||
.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<LocationInfo>()
|
||
// .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<ResponseCommon> 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<LocationInfo>()
|
||
.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<ShelfInfo>()
|
||
.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<LocationInfo>()
|
||
.LeftJoin<ShelfInfo>((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<ResponseBase> 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<AgvTask>()
|
||
.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<LocationInfo>()
|
||
.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<LocationInfo>()
|
||
.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<ShelfInfo>()
|
||
.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<ShelfInfo>()
|
||
.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}",
|
||
};
|
||
}
|
||
}
|
||
}
|
||
}
|