363 lines
16 KiB
C#
363 lines
16 KiB
C#
using SqlSugar;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using WCS.BLL.DbModels;
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using WCS.BLL.Tool;
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using WCS.DAL.Db;
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using WCS.DAL.DbModels;
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using WCS.Model;
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using WCS.Model.ApiModel.AGV;
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using WCS.Model.ApiModel.InOutRecord;
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using WCS.Model.ApiModel.MXBackgroundThread;
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namespace WCS.BLL.Manager
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{
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//AGV动作相关
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public static class AGVManager
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{
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public static void InitBackgroundThread()
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{
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#region 定时任务:定时查询任务状态
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Task.Run(() =>
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{
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while (true)
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{
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//每5秒同步一次
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Thread.Sleep(3000);
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try
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{
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var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/queryTaskStatus";
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var tasks = DbHelp.db.Queryable<AgvTask>()
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.Where(t => t.CreateTime > DateTime.Now.AddDays(-7)) //只查询7天内agv任务数据
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.Where(t =>t.TaskStatus != TaskStatusEnum.取消完成 && t.TaskStatus!= TaskStatusEnum.已结束)
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.OrderBy(t => t.Id)
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.ToList();
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if (tasks != null && tasks.Count > 0)
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{
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for (int i = 0; i < tasks.Count; i++)
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{
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try
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{
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//请求RCS获取任务状态
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var data = new AGVQueryTaskStatusRequest();
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data.taskCodes.Add(tasks[i].TaskCode);
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var result = ApiHelp.GetDataFromHttp<AGVQueryTaskStatusResponse>(url, data, "POST", true);
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if (result != null && result.code == "0" && result.data !=null && result.data.Count > 0)
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{
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var isUpdate = false;
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//获取成功 是否与当前任务状态一致 如果不一致 进行更新
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var responseData = result.data.First();
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if (responseData.agvCode != tasks[i].AgvCode)
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{
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isUpdate = true;
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tasks[i].AgvCode = responseData.agvCode;
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}
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if (responseData.taskStatus != tasks[i].TaskStatus.ToString())
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{
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Enum.TryParse<TaskStatusEnum>(responseData.taskStatus, out TaskStatusEnum status);
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isUpdate = true;
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tasks[i].TaskStatus = status;
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//取消任务时 货架数据需要更新
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if (status == TaskStatusEnum.取消完成)
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{
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var shelf = DbHelp.db.Queryable<ShelfInfo>()
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.Where(t => t.ShelfCode == tasks[i].ShelfCode)
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.Where(t => t.CurrentLocationId == tasks[i].StratLocationId && t.DestinationLocationId == tasks[i].EndLocationId)
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.First();
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if (shelf != null)
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{
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shelf.DestinationLocationId = 0;
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shelf.DestinationLocaiotnCode = string.Empty;
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shelf.TransStatus = TransStatusEnum.静止;
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DbHelp.db.Updateable(shelf).ExecuteCommand();
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}
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}
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}
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if (isUpdate)
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{
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tasks[i].ModifyTime = DateTime.Now;
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DbHelp.db.Updateable(tasks[i]).ExecuteCommand();
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}
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}
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}
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catch (Exception ex)
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{
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Logs.Write("【定时任务】获取任务状态异常：" + ex.Message);
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}
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Thread.Sleep(50);
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}
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}
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}
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catch (Exception ex)
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{
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Logs.Write("【定时任务】获取任务状态异常：" + ex.Message);
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}
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}
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});
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#endregion
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}
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public static object lockFlag = new object();
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/// <summary>
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/// 产生AGV点到点搬运任务
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/// </summary>
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public static AGVResponseModel GenAgvSchedulingTask(LocationInfo startLocation, LocationInfo endLocation, string shelfCode, string createUser)
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{
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var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/genAgvSchedulingTask";
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var startPositionCodePathItem = new PositionCodePathItem()
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{
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positionCode = startLocation.RcsStoreCode,
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};
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var endPositionCodePathItem = new PositionCodePathItem()
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{
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positionCode = endLocation.RcsStoreCode,
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};
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List<PositionCodePathItem> positionCodePathItems = new List<PositionCodePathItem>();
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positionCodePathItems.Add(startPositionCodePathItem);
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positionCodePathItems.Add((endPositionCodePathItem));
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//任务只允许一个一个发送
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lock (lockFlag)
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{
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//正在执行中的任务
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var tasks = DbHelp.db.Queryable<AgvTask>()
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.Where(t => t.TaskStatus == TaskStatusEnum.已创建 || t.TaskStatus == TaskStatusEnum.正在执行)
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.ToList();
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//校验货架
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if (tasks.Where(t => t.ShelfCode == shelfCode).Any())
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{
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return new AGVResponseModel()
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{
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code = "-999",
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message = $"货架[{shelfCode}]已有执行中的任务!",
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};
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}
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//校验起点
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if (tasks.Where(t => t.StratLocationId == startLocation.Id).Any())
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{
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return new AGVResponseModel()
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{
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code = "-999",
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message = $"工位[{startLocation.LocationCode}]作为起点已有执行中的任务!",
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};
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}
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//校验终点
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if (tasks.Where(t => t.EndLocationId == endLocation.Id).Any())
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{
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return new AGVResponseModel()
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{
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code = "-999",
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message = $"工位[{endLocation.LocationCode}]作为终点已有执行中的任务!",
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};
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}
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var body = new GenAgvSchedulingTaskRequest()
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{
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positionCodePath = positionCodePathItems,
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};
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var response = ApiHelp.GetDataFromHttp<AGVResponseModel>(url, body, "POST", true);
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if (response.code == "0" && response.message == "成功")
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{
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//生成任务数据
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var task = new AgvTask()
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{
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ShelfCode = shelfCode,
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RequestCode = body.reqCode,
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TaskCode = body.taskCode,
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TaskType = "GenAgvSchedulingTask",
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StratLocationId = startLocation.Id,
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StartLocationCode = startLocation.LocationCode,
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EndLocationId = endLocation.Id,
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EndLocationCode = endLocation.LocationCode,
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CreateUser = createUser
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};
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DbHelp.db.Insertable(task).ExecuteCommand();
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}
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return response;
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}
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}
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public static AGVResponseModel GenAgvSchedulingTaskForResend(LocationInfo startLocation, LocationInfo endLocation, AgvTask agvTask,string shelfCode, string createUser)
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{
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var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/genAgvSchedulingTask";
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var startPositionCodePathItem = new PositionCodePathItem()
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{
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positionCode = startLocation.RcsStoreCode,
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};
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var endPositionCodePathItem = new PositionCodePathItem()
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{
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positionCode = endLocation.RcsStoreCode,
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};
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List<PositionCodePathItem> positionCodePathItems = new List<PositionCodePathItem>();
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positionCodePathItems.Add(startPositionCodePathItem);
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positionCodePathItems.Add((endPositionCodePathItem));
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//任务只允许一个一个发送
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lock (lockFlag)
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{
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//正在执行中的任务
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var tasks = DbHelp.db.Queryable<AgvTask>()
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.Where(t => t.TaskStatus == TaskStatusEnum.已创建 || t.TaskStatus == TaskStatusEnum.正在执行)
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.ToList();
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//校验货架
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if (tasks.Where(t => t.ShelfCode == shelfCode).Any())
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{
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return new AGVResponseModel()
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{
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code = "-999",
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message = $"货架[{shelfCode}]已有执行中的任务!",
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};
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}
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//校验起点
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if (tasks.Where(t => t.StratLocationId == startLocation.Id).Any())
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{
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return new AGVResponseModel()
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{
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code = "-999",
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message = $"工位[{startLocation.LocationCode}]作为起点已有执行中的任务!",
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};
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}
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//校验终点
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if (tasks.Where(t => t.EndLocationId == endLocation.Id).Any())
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{
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return new AGVResponseModel()
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{
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code = "-999",
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message = $"工位[{endLocation.LocationCode}]作为终点已有执行中的任务!",
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};
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}
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agvTask.TaskCode = agvTask.TaskCode + "_resend";
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agvTask.CreateTime = DateTime.Now;
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agvTask.CreateUser = createUser;
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var body = new GenAgvSchedulingTaskRequest()
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{
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taskCode = agvTask.TaskCode,
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positionCodePath = positionCodePathItems,
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};
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var response = ApiHelp.GetDataFromHttp<AGVResponseModel>(url, body, "POST", true);
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if (response.code == "0" && response.message == "成功")
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{
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//DbHelp.db.Updateable(agvTask).ExecuteCommand();
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//生成任务数据
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var task = new AgvTask()
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{
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ShelfCode = shelfCode,
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RequestCode = body.reqCode,
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TaskCode = agvTask.TaskCode,
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TaskType = "GenAgvSchedulingTask",
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StratLocationId = startLocation.Id,
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StartLocationCode = startLocation.LocationCode,
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EndLocationId = endLocation.Id,
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EndLocationCode = endLocation.LocationCode,
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CreateUser = createUser
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};
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DbHelp.db.Insertable(task).ExecuteCommand();
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}
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return response;
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}
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}
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/// <summary>
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/// RCS取消任务
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/// </summary>
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/// <param name="agvTask"></param>
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/// <returns></returns>
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public static AGVResponseModel CancelTask(AgvTask agvTask)
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{
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try
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{
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var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/cancelTask";
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//任务只允许一个一个发送
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lock (lockFlag)
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{
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var body = new AGVCancelTaskRequest()
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{
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taskCode = agvTask.TaskCode,
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};
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var response = ApiHelp.GetDataFromHttp<AGVResponseModel>(url, body, "POST", true);
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if (response.code == "0" && response.message == "成功")
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{
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//取消会统一在后台线程更新
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//agvTask.TaskStatus = Model.ApiModel.AGV.TaskStatusEnum.取消完成;
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//DbHelp.db.Updateable(agvTask).ExecuteCommand();
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}
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return response;
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}
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}
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catch (Exception ex)
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{
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return new AGVResponseModel()
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{
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code = "-1",
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message = $"发生异常：{ex.Message}"
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};
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}
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}
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/// <summary>
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/// RCS货架绑定 解绑
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/// </summary>
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/// <param name="agvTask"></param>
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/// <returns></returns>
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public static AGVResponseModel BindPodAndBerth(string shelfCode,string locationCode , BindPodAndBerthMethod bindPodAndBerthMethod)
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{
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try
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{
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//货架绑定解绑地址
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var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/bindPodAndBerth";
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//任务只允许一个一个发送
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lock (lockFlag)
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{
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var body = new AGVBindPodAndBerthRequest()
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{
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podCode = shelfCode,
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positionCode = locationCode,
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pointCode = locationCode,
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indBind = ((int)bindPodAndBerthMethod).ToString(),
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};
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var response = ApiHelp.GetDataFromHttp<AGVResponseModel>(url, body, "POST", true);
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//if (response.code == "0" && response.message == "成功")
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//{
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//}
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return response;
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}
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}
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catch (Exception ex)
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{
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return new AGVResponseModel()
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{
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code = "-1",
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message = $"发生异常：{ex.Message}"
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};
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}
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}
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}
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/// <summary>
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/// 解绑或者绑定
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/// </summary>
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public enum BindPodAndBerthMethod
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{
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解绑 = 0,
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绑定 = 1,
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}
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}
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