637 lines
29 KiB
C#
637 lines
29 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.Config;
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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3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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Logs.Write("【定时任务】获取任务状态 开始", LogsType.Tasks);
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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", false);
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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.CurrentTaskCode == tasks[i].TaskCode)
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.Where(t => 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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shelf.CurrentTaskCode = string.Empty;
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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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if (tasks[i].TaskStatus != TaskStatusEnum.已创建 && tasks[i].TaskStatus != TaskStatusEnum.正在执行)
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{
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tasks[i].AgvStatus = "-";
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}
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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, LogsType.Tasks);
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}
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Thread.Sleep(50);
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}
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Logs.Write("【定时任务】获取任务状态 结束", LogsType.Tasks);
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}
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else
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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, LogsType.Tasks);
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}
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}
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});
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#endregion
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#region 定时任务:定时同步货架绑定情况
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Task.Run(() =>
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{
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while (true)
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{
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Logs.Write("【定时任务】定时同步货架绑定情况,开始", LogsType.Tasks);
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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/syncMapDatas";
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var data = new AGVSyncMapDatasRequest();
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var result = ApiHelp.GetDataFromHttp<AGVSyncMapDatasResponse>(url, data, "POST", false);
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if (result != null && result.data != null && result.data.Count > 0)
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{
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//获取RCS地图上所有的货架
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var rcsDatas = result.data.Where(t => !string.IsNullOrEmpty(t.podCode))
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.Select(t => new
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{
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ShelfCode = t.podCode,
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LocationCode = t.positionCode.Contains("XY") ? t.positionCode : t.mapDataCode,
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})
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.Distinct()
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.ToList();
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var shelfCodesInRcs = rcsDatas.Select(t => t.ShelfCode).Distinct().ToList();
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var locationCodeInRcs = rcsDatas.Select(t => t.LocationCode).Distinct().ToList();
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//获取位置
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var Locations = DbHelp.db.Queryable<LocationInfo>()
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.Where(t => locationCodeInRcs.Contains(t.LocationCode))
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.ToList();
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//更新货架的信息
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var shelfs = DbHelp.db.Queryable<ShelfInfo>()
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.Where(t => t.TransStatus == TransStatusEnum.静止)
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.ToList();
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foreach (var shelf in shelfs)
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{
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//if (shelf.ShelfCode == "600132")
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// ;
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var currentLocationId = shelf.CurrentLocationId;
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//RCS中有货架储位信息
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if (shelfCodesInRcs.Contains(shelf.ShelfCode))
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{
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//var data1 = result.data.Where(t => t.podCode == "600132").First();
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var rcsData = rcsDatas.Where(t => t.ShelfCode == shelf.ShelfCode).FirstOrDefault();
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if (rcsData == null)
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{
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//此情况先按兵不动
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continue;
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}
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var location = Locations.Where(t => t.LocationCode == rcsData.LocationCode).FirstOrDefault();
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//货架绑定在我系统中未配置的点位上
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if (location == null)
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{
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shelf.CurrentLocationId = 0;
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shelf.CurrentLocaiotnCode = string.Empty;
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}
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//货架绑定在系统中已配置的点位上
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else
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{
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shelf.CurrentLocationId = location.Id;
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shelf.CurrentLocaiotnCode = location.LocationCode;
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}
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}
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//RCS中没有货架储位的信息
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else
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{
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shelf.CurrentLocationId = 0;
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shelf.CurrentLocaiotnCode = string.Empty;
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}
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//只更新产生变化的 缩小更新范围
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if (currentLocationId != shelf.CurrentLocationId)
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{
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shelf.IsSelected = true;
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}
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}
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shelfs = shelfs.Where(t => t.IsSelected).ToList();
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if (shelfs != null && shelfs.Count > 0)
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{
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Logs.Write($"【定时任务】定时同步货架绑定情况,更新{shelfs.Count}个货架", LogsType.Tasks);
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DbHelp.db.Updateable(shelfs)
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.UpdateColumns(t => new { t.CurrentLocationId, t.CurrentLocaiotnCode })
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//.Where(t => t.TransStatus == TransStatusEnum.静止)
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.ExecuteCommand();
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}
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Logs.Write($"【定时任务】定时同步货架绑定情况,更新0个货架", LogsType.Tasks);
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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】定时同步货架绑定情况异常：" + ex.Message, LogsType.Tasks);
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}
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Logs.Write("【定时任务】定时同步货架绑定情况,结束", LogsType.Tasks);
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//每60秒同步一次
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Thread.Sleep(LocalFile.Config.SyncMapDatasIntervalTime);
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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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//相同货架
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var isSameShelf = tasks.Where(t => t.StratLocationId == startLocation.Id && t.ShelfCode == shelfCode)
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.Any();
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if (isSameShelf)
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{
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//获取对应任务
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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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}
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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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//相同货架
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var isSameShelf = tasks.Where(t => t.StratLocationId == startLocation.Id && t.ShelfCode == shelfCode)
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.Any();
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if (isSameShelf)
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{
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//获取对应任务
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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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}
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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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public static void RefreshAgvStatus()
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{
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try
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{
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Logs.Write("[刷新AGV状态]开始刷新AGV状态");
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var url = @"http://192.168.18.150:8181/rcms-dps/rest/queryAgvStatus";
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var body = new AGVQueryAgvStatusRequest();
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var response = ApiHelp.GetDataFromHttpShortTime<AGVQueryAgvStatusResponse>(url, body, "POST", true);
|
||
if (response == null)
|
||
{
|
||
Logs.Write("[刷新AGV状态]Response为空！");
|
||
return;
|
||
}
|
||
//response不为空 更新task表的状态
|
||
var tasks = DbHelp.db.Queryable<AgvTask>()
|
||
.Where(t => t.TaskStatus == TaskStatusEnum.已创建 || t.TaskStatus == TaskStatusEnum.正在执行)
|
||
.ToList();
|
||
if (tasks == null || tasks.Count == 0)
|
||
{
|
||
Logs.Write("[刷新AGV状态]状态为执行中或者已创建的任务为空！");
|
||
}
|
||
foreach (var task in tasks)
|
||
{
|
||
var agvCode = task.AgvCode;
|
||
if (string.IsNullOrEmpty(agvCode))
|
||
{
|
||
continue;
|
||
}
|
||
var dataItem = response?.data.Where(t => t.robotCode == agvCode).FirstOrDefault();
|
||
if (dataItem == null)
|
||
{
|
||
continue;
|
||
}
|
||
|
||
var str = string.Empty;
|
||
switch (dataItem.status)
|
||
{
|
||
case "1":
|
||
str = "任务完成";
|
||
break;
|
||
case "2":
|
||
str = "任务执行中";
|
||
break;
|
||
case "3":
|
||
str = "任务异常";
|
||
break;
|
||
case "4":
|
||
str = "任务空闲";
|
||
break;
|
||
case "5":
|
||
str = "机器人暂停";
|
||
break;
|
||
case "6":
|
||
str = "举升货架状态";
|
||
break;
|
||
case "7":
|
||
str = "充电状态";
|
||
break;
|
||
case "8":
|
||
str = "弧线行走中";
|
||
break;
|
||
case "9":
|
||
str = "充满维护";
|
||
break;
|
||
case "11":
|
||
str = "背货未识别";
|
||
break;
|
||
case "12":
|
||
str = "货架偏角过大";
|
||
break;
|
||
case "13":
|
||
str = "运动库异常";
|
||
break;
|
||
case "14":
|
||
str = "货码无法识别";
|
||
break;
|
||
case "15":
|
||
str = "货码不匹配";
|
||
break;
|
||
case "16":
|
||
str = "举升异常";
|
||
break;
|
||
case "17":
|
||
str = "充电桩异常";
|
||
break;
|
||
case "18":
|
||
str = "电量无增加";
|
||
break;
|
||
case "20":
|
||
str = "充电指令角度错误";
|
||
break;
|
||
case "21":
|
||
str = "平台下发指令错误";
|
||
break;
|
||
case "23":
|
||
str = "外力下放";
|
||
break;
|
||
case "24":
|
||
str = "货架位置偏移";
|
||
break;
|
||
case "25":
|
||
str = "小车不在锁定区";
|
||
break;
|
||
case "26":
|
||
str = "下放重试失败";
|
||
break;
|
||
case "27":
|
||
str = "货架摆歪";
|
||
break;
|
||
case "28":
|
||
str = "举升电池电量太低";
|
||
break;
|
||
case "29":
|
||
str = "后退角度偏大";
|
||
break;
|
||
case "30":
|
||
str = "未背货架举升";
|
||
break;
|
||
case "31":
|
||
str = "区域锁定失败";
|
||
break;
|
||
case "33":
|
||
str = "旋转申请暂时失败";
|
||
break;
|
||
case "34":
|
||
str = "地图切换点地码未识别";
|
||
break;
|
||
default:
|
||
str = "未知状态";
|
||
break;
|
||
}
|
||
//更新状态
|
||
task.AgvStatus = str;
|
||
}
|
||
DbHelp.db.Updateable(tasks).UpdateColumns(t => new { t.AgvStatus }).ExecuteCommand();
|
||
Logs.Write("[刷新AGV状态]结束刷新AGV状态");
|
||
}
|
||
catch (Exception ex)
|
||
{
|
||
Logs.Write($"[刷新AGV状态]遇到异常{ex.Message}\r\n{ex.StackTrace}");
|
||
}
|
||
}
|
||
|
||
}
|
||
|
||
/// <summary>
|
||
/// 解绑或者绑定
|
||
/// </summary>
|
||
public enum BindPodAndBerthMethod
|
||
{
|
||
解绑 = 0,
|
||
绑定 = 1,
|
||
}
|
||
}
|