出库逻辑优化初版

source/DeviceLibrary/DeviceLibrary.csproj

@@ -76,6 +76,7 @@
     <Compile Include="deviceLibrary\IO\NJSDot\NanjingSDotIO.cs" />
     <Compile Include="ESS\ESS_CancelBody.cs" />
     <Compile Include="ESS\ESS_CreateTaskBody.cs" />
+    <Compile Include="ESS\ResultData.cs" />
     <Compile Include="ESS\TaskStateInfo.cs" />
     <Compile Include="lineManager\ALineManager.cs" />
     <Compile Include="clientLine\StationEquip_InStore.cs" />

source/DeviceLibrary/ESS/ResultData.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace OnlineStore.DeviceLibrary
+{
+    public class ResultData
+    {
+        public int code { get; set; }
+        public string msg { get; set; }
+        public RobotStates data { get; set; }
+    }
+    public class RobotStates
+    {
+        public List<RobotState> robots { get; set; }
+    }
+    public class RobotState
+    {
+        /// <summary>
+        /// 编码
+        /// </summary>
+        public string robotCode { get; set; }
+        /// <summary>
+        /// 型号
+        /// </summary>
+        public string robotTypeCode { get; set; }
+        /// <summary>
+        /// 节点编码
+        /// 机器人当前所处节点
+        /// </summary>
+        public string pointCode { get; set; }
+        /// <summary>
+        /// 坐标X，单位mm
+        /// </summary>
+        public long positionX { get; set; }
+        /// <summary>
+        /// 坐标Y，单位mm
+        /// </summary>
+        public long positionY { get; set; }
+        /// <summary>
+        /// 电量
+        /// </summary>
+        public int energyLevel { get; set; }
+        /// <summary>
+        /// 机器人角度
+        /// </summary>
+        public int theta { get; set; }
+        /// <summary>
+        /// 货叉高度
+        /// </summary>
+        public long forkHeight { get; set; }
+        /// <summary>
+        /// 货叉长度
+        /// </summary>
+        public long forkLength { get; set; }
+        /// <summary>
+        /// 货叉相对机器人角度
+        /// </summary>
+        public int forkTheta { get; set; }
+        /// <summary>
+        /// 工作站编码
+        /// </summary>
+
+        public string stationCode { get; set; }
+        /// <summary>
+        /// 工作位编码
+        /// </summary>
+        public string locationCode { get; set; }
+        /// <summary>
+        /// 机器人状态
+        /// UNAVAILABLE = 杀机器人后，在场外的状态
+        ///UNKNOWN = 未知, 待初始化
+        ///ERROR = 错误（机器人状态更新超时）
+        ///IDLE = 空闲
+        ///EXECUTING = 执行任务中
+        ///AWAITING = 原地等待
+        /// </summary>
+        public string state { get; set; }
+        /// <summary>
+        /// 机器人硬件状态
+        /// ROBOT_READY_TO_INIT = 机器人启动以后的初始状态，等待初始化指令
+        ///ROBOT_IDLE = 空闲状态，等待任务指令(MOVE、BIN_OP)
+        ///ROBOT_RUNNING = 运行状态(正在执行任务）
+        ///ROBOT_ABNORMAL = 异常状态(内部故障，或者执行任务过程中发生异常需要处理)
+        ///ROBOT_RECOVERY = 恢复状态
+        ///ROBOT_PAUSED = 暂停状态
+        /// </summary>
+        public string hardwareState { get; set; }
+        /// <summary>
+        /// 背篓描述
+        /// </summary>
+        public List<tray> trays { get; set; }
+    }
+
+    public class tray
+    {
+        /// <summary>
+        /// 背篓序号
+        /// 货叉标识64
+        /// </summary>
+        public int trayLevel { get; set; }
+        /// <summary>
+        /// 容器编码
+        /// 若背篓为空则为空
+        /// </summary>
+        public string containerCode { get; set; }
+        /// <summary>
+        /// 业务任务
+        /// 容器对应的业务任务编码
+        /// </summary>
+        public List<string> taskCodes { get; set; }
+        /// <summary>
+        /// 位置编码
+        /// 格式为机器人id#背篓序号
+        /// </summary>
+        public string positionCode { get; set; }
+    }
+}

source/DeviceLibrary/clientLine/LineBean.cs

@@ -582,7 +582,7 @@ namespace OnlineStore.DeviceLibrary
         object timerLockobj = new object();
         protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
-            if(Monitor.TryEnter(timerLockobj))
+            if (Monitor.TryEnter(timerLockobj))
             {
                 try
                 {
@@ -845,7 +845,7 @@ namespace OnlineStore.DeviceLibrary
                         {
                             map.Add($"s{equip.DeviceID}", data.StrData);
                             //自动上传出库料箱被其他工位拿走的状态
-                           if(ContainerManager.GetOutStoreBox(data.ToContainerId()))
+                            if (ContainerManager.GetOutStoreBox(data.ToContainerId()))
                             {
                                 ContainerManager.UpdateTaskStatus(data.ToContainerId(), TaskStatus.FINISHED, $"s{equip.DeviceID}");
                                 LogUtil.info($"出库容器被拿上工位s{equip.DeviceID},自动完成：{data.ToContainerId()}");
@@ -858,23 +858,28 @@ namespace OnlineStore.DeviceLibrary
                     }
                 }
                 List<string> inTask = SServerManager.UploadStationInfo(Name, map);
-                List<OutTaskData> outTask = SServerManager.GetOutTask(Name);
                 if (inTask != null && inTask.Count > 0)
                 {
                     foreach (var item in inTask)
                     {
                         if (map.ContainsKey(item))
                         {
-                            ContainerManager.AddOrUpdateContainerInfo(item,map[item]);
+                            ContainerManager.AddOrUpdateContainerInfo(item, map[item]);
                         }
                     }
                 }
+                List<OutTaskData> outTask = SServerManager.GetOutTask(Name);
                 if (outTask != null && outTask.Count > 0)
                 {
-                    foreach (var item in outTask)
+                    RobotStates states = SServerManager.GetRobotState();
+                    if (LineManager.RobotIsIdle(states) || LineManager.CheckRobotTrayIsInstore(states))
                     {
-                        ContainerManager.AddOrUpdateContainerInfo(item.barcode);
+                        foreach (var item in outTask)
+                        {
+                            ContainerManager.AddOrUpdateContainerInfo(item.barcode);
+                        }
                     }
+
                 }
                 //发送呼叫任务
                 ContainerManager.HandlePendingTask();

source/DeviceLibrary/lineManager/ALineManager.cs

@@ -8,6 +8,7 @@ using System.Linq;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
+using System.Web.Management;
 using System.Windows.Forms;
 
 namespace OnlineStore.DeviceLibrary
@@ -184,5 +185,75 @@ namespace OnlineStore.DeviceLibrary
         {
             return Line?.AllEquipMap[101]?.BoxCheck() ?? false;
         }
+
+        #region 机器人
+        /// <summary>
+        /// 是否有机器人空闲：背篓为空且空闲
+        /// </summary>
+        /// <param name="robotStates"></param>
+        /// <returns>true:空闲</returns>
+       public static bool RobotIsIdle(RobotStates robotStates)
+        {
+            try
+            {
+                if(robotStates !=null && robotStates.robots!=null)
+                {
+                    foreach (var item in robotStates.robots)
+                    {
+                        if (!item.state.Equals("IDLE")) continue;
+                        var fullTray = item.trays.FindAll(s => s.containerCode != null);
+                        if (fullTray == null) return true;
+                    }
+
+                }
+            }
+            catch(Exception ex)
+            {
+                LogUtil.error("RobotTrayIsEmpty", ex);
+            }
+            return false;
+        }
+        /// <summary>
+        /// 检查机器人背篓是否是入库容器
+        /// </summary>
+        /// <param name="robotStates"></param>
+        /// <returns>true：是入库容器</returns>
+        public static bool CheckRobotTrayIsInstore(RobotStates robotStates)
+        {
+            try
+            {
+                if (robotStates != null && robotStates.robots != null)
+                {
+                    foreach (var item in robotStates.robots)
+                    {
+                        var fullTray = item.trays.FindAll(s => s.containerCode != null);
+                        if (fullTray != null)
+                        {
+                            foreach (var tray in fullTray)
+                            {
+                                var instore = ContainerManager.GetTrayInfo(tray.containerCode);
+                                if (instore != null && instore.InOrOutStore.Equals(ContainerType.InStore))
+                                    return true;
+                            }
+                        }
+                    }
+
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("CheckRobotTrayIsInstore", ex);
+            }
+            return false;
+        }
+        /// <summary>
+        /// 检查容器任务数是否超限
+        /// </summary>
+        /// <returns></returns>
+        public static bool CheckTaskCntIsInLimit()
+        {
+           return ContainerManager.getTrayList().Count <= 30;
+        }
+        #endregion
     }
 }

source/DeviceLibrary/lineManager/ContainerManager.cs

@@ -102,7 +102,10 @@ namespace OnlineStore.DeviceLibrary
         }
         public static ContainerInfo GetTrayInfo(string trayNum)
         {
-
+            if (trayNum.EndsWith("A") || trayNum.EndsWith("B"))
+            {
+                trayNum = trayNum.Substring(0, trayNum.Length - 1);
+            }
             if (containerInfoMap.ContainsKey(trayNum))
             {
                 return containerInfoMap[trayNum];

source/DeviceLibrary/lineManager/SServerManager.cs

@@ -118,8 +118,8 @@ namespace OnlineStore.DeviceLibrary
                 string path = ess_server + Addr_createTask;
                 if (HttpHelper.Post(path, param, out bool isTimueOut, out string outMsg))
                 {
-                    ServerData1 server= JsonHelper.DeserializeJsonToObject<ServerData1>(outMsg);
-                    if(server != null)
+                    ServerData1 server = JsonHelper.DeserializeJsonToObject<ServerData1>(outMsg);
+                    if (server != null)
                     {
                         foreach (var item in containerInfos)
                         {
@@ -323,6 +323,8 @@ namespace OnlineStore.DeviceLibrary
         public static List<OutTaskData> GetOutTask(string deviceName)
         {
             List<OutTaskData> list = new List<OutTaskData>();
+            //判断任务数》-30 不获取出库任务
+            if (!LineManager.CheckTaskCntIsInLimit()) return list;
             try
             {
                 string msg = "";
@@ -477,9 +479,37 @@ namespace OnlineStore.DeviceLibrary
 
 
         #region ESS 接口
-        public static bool CreateTask()
+        static string Addr_GetRobotState = "/robot/query";
+        /// <summary>
+        /// 获取机器人状态
+        /// </summary>
+        /// <returns></returns>
+        public static RobotStates GetRobotState()
         {
-            return false;
+            try
+            {
+                string path = ess_server + Addr_GetRobotState;
+                if (HttpHelper.Post(path, "", out bool isTimueOut, out string outMsg))
+                {
+                    ResultData resultData = JsonHelper.DeserializeJsonToObject<ResultData>(outMsg);
+                    if (resultData != null)
+                    {
+                        if (resultData.code.Equals(0))
+                            return resultData.data;
+                    }
+                    else
+                        return null;
+                }
+                else
+                {
+                    return null;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error($"GetRobotState ", ex);
+            }
+            return null;
         }
         #endregion
         #region 未使用接口