using FreeRedis; using Newtonsoft.Json; using PlcSiemens.Core.Extension; using ServiceCenter.Extensions; using ServiceCenter.Logs; using ServiceCenter.SqlSugars; using System.ComponentModel; using System.Security.Cryptography.Xml; using System.Threading.Tasks; using WCS.Core; using WCS.Entity; using WCS.Entity.Protocol.Station; using WCS.WorkEngineering.Extensions; using WCS.WorkEngineering.Model.WMS; using WCS.WorkEngineering.WebApi.Controllers; using WCS.WorkEngineering.WebApi.Models.WMS.Request; using WCS.WorkEngineering.WebApi.Models.WMS.Response; using WCS.WorkEngineering.Worlds; using TaskStatus = WCS.Entity.TaskStatus; namespace WCS.WorkEngineering.Systems { /// /// Agv交互系统 /// [BelongTo(typeof(MainWorld))] [Description("Agv交互系统")] public class AgvSystems : DeviceSystem> { protected override bool ParallelDo => true; public AgvSystems() { } public override void Do(Device obj) { if (obj.Entity.Code == "AGVOut") { var agvTaskInfos = new List(); //获取所有未结束的叫料及背负式补空AGV任务 SqlSugarHelper.Do(db => { agvTaskInfos = db.Default.Queryable().ReadPast().Where(v => v.TaskType == AGVTaskType.CallMaterial) .Where(v => v.Status < AGVTaskStatus.MissionCompleted) .SplitTable(tabs => tabs.Take(2)).OrderBy(v => v.AddTime).ToList(); }); //有需要处理的AGV任务 if (agvTaskInfos.Any()) { this.ExRecord(obj.Entity.Code, "可用出库AGV任务列表", agvTaskInfos.Select(v => v.ID).ToList()); var taskInfos = new List(); foreach (var agv in agvTaskInfos) { try { SqlSugarHelper.Do(db => { switch (agv.AgvStatus) { //取货点安全交互 case AGVTaskStatus.RequestOrPermission2 when agv.Status != AGVTaskStatus.RequestOrPermission2: { var taskInfoPick = db.Default.Queryable().NoLock().First(v => v.ID == agv.TaskId); if (taskInfoPick == null) throw new Exception($"未找到对应的WCS任务{agv.TaskId}"); agv.Status = AGVTaskStatus.RequestOrPermission2; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); taskInfoPick.AddWCS_TASK_DTL(db.Default, "agv", $"允许AGV任务{agv.ID}在站台{agv.Station}取货"); AgvApi.ContinueTask(agv.AgvID, agv.Station); break; } case AGVTaskStatus.PutRequestOrPermission when agv.Status != AGVTaskStatus.PutRequestOrPermission: { agv.Status = AGVTaskStatus.PutRequestOrPermission; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); AgvApi.ContinueTask(agv.AgvID, agv.Station); break; } case AGVTaskStatus.LeaveGet when agv.Status != AGVTaskStatus.LeaveGet: var taskInfo = db.Default.Queryable().NoLock().First(v => v.ID == agv.TaskId); if (taskInfo == null) throw new Exception($"未找到对应的WCS任务{agv.TaskId}"); World.Log($"AGV取货结束:开始{agv.ID}--{agv.Station}"); var devinfo = new Device(Device.All.First(x => x.Code == agv.Station), World); if (!taskInfo.AddrFrom.StartsWith("92")) { devinfo.Data.CmdType = StationCmd.Res5; } if (taskInfo.AddrFrom.StartsWith("92") && taskInfo.Device == "CR") { var res = WmsApi.SrmPickOutCompleted(taskInfo.ID); if (res.ResCode != ResponseStatusCodeEnum.Sucess) { throw new Exception(res.ResMsg); } } agv.Status = AGVTaskStatus.LeaveGet; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); World.Log($"AGV取货结束:结束{agv.ID}--{agv.Station}"); break; //完成任务 case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted: { if (agv.TaskType is AGVTaskType.CallForMaterial or AGVTaskType.ForkliftFilling or AGVTaskType.CallMaterial) { var taskInfoFinish = db.Default.Queryable().RowLock().First(v => v.AgvTaskID == agv.ID); //if (taskInfo == null) throw new Exception($"未找到AGV任务{agv.ID}对应WCS任务"); //更新AGV任务状态 agv.Status = AGVTaskStatus.MissionCompleted; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); //更新WCS任务状态 if (taskInfoFinish != null) { taskInfoFinish.Status = Entity.TaskStatus.Finish; taskInfoFinish.EndTime = DateTime.Now; db.Default.UpdateableRowLock(taskInfoFinish).UpdateColumns(x => new { x.Status, x.EndTime }).ExecuteCommand(); taskInfoFinish.AddWCS_TASK_DTL(db.Default, "agv", "任务完成"); taskInfos.Add(taskInfoFinish); } } else { agv.Status = AGVTaskStatus.MissionCompleted; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); } break; } } }); } catch (Exception ex) { World.Log(ex.Message, LogLevelEnum.Mid); this.ExRecord(obj.Entity.Code, ex.Message); } } } } else if (obj.Entity.Code == "AGVIn") { List agvTaskInfos = new List(); //获取所有未结束的入库AGV任务 SqlSugarHelper.Do(db => { agvTaskInfos = db.Default.Queryable() .Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot) .SplitTable(tabs => tabs.Take(2)).OrderBy(v => v.EditTime).ToList(); }); if (agvTaskInfos.Any()) { foreach (var agv in agvTaskInfos) { try { SqlSugarHelper.Do(db => { #region 开始跟据AGV状态做出处理 switch (agv.AgvStatus) { case AGVTaskStatus.NewBuild when agv.Status == AGVTaskStatus.NewBuild: if (agv.WorkShop != 111) { agv.AgvID = agv.ID.ToString(); agv.Status = AGVTaskStatus.Confirm; agv.AgvStatus = AGVTaskStatus.Confirm; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); } //人工满托入库 if (agv.TaskType == AGVTaskType.EnterDepot && (agv.Station == "2535" || agv.Station == "2935" || agv.Station == "2735" || agv.Station == "3135")) { //fjSysConfig config1 = new fjSysConfig(); var config1 = db.Default.Queryable().NoLock().First(x => x.Code == "FullPalletInMax"); if (config1 != null) { if (!(db.Default.Queryable().NoLock().Where(x => x.Status == TaskStatus.AGVExecution && x.BusType == "人工满托入库").Count() < config1.SContent.ToShort())) { throw new Exception($"人工组盘任务数已达{config1.SContent.ToShort()},暂停下发任务"); } } AgvApi.满托入库(agv.Position, agv.ID.ToString(), agv.Station); var tasknew = db.Default.Queryable().NoLock().Where(x => x.ID == agv.TaskId).First(); if (tasknew != null) { tasknew.Status = TaskStatus.AGVExecution; tasknew.EditTime = DateTime.Now; db.Default.UpdateableRowLock(tasknew).UpdateColumns(x => new { x.Status, x.EditTime }).ExecuteCommand(); tasknew.AddWCS_TASK_DTL(db.Default, "agv", "任务下发agv执行"); } else { throw new Exception($"未找到WCS任务{agv.TaskId},请确认任务状态"); } } //退料重绕 else if (agv.WorkShop == 222) { AgvApi.退料重绕(agv.Position, agv.ID.ToString(), agv.Station); var tasknew = db.Default.Queryable().NoLock().Where(x => x.ID == agv.TaskId).First(); if (tasknew != null) { tasknew.Status = TaskStatus.AGVExecution; tasknew.EditTime = DateTime.Now; db.Default.UpdateableRowLock(tasknew).UpdateColumns(x => new { x.Status, x.EditTime }).ExecuteCommand(); tasknew.AddWCS_TASK_DTL(db.Default, "agv", "任务下发agv执行"); } else { throw new Exception($"未找到WCS任务{agv.TaskId},请确认任务状态"); } } //重绕退料区搬运 else if (agv.WorkShop == 333) { AgvApi.退料搬运(agv.Position, agv.ID.ToString(), agv.Station); } else if (agv.WorkShop != 111) { AgvApi.托盘回库(agv.Position, agv.ID.ToString(), agv.Station); } break; //巷道分配 case AGVTaskStatus.RequestOrPermission1 when agv.Status != AGVTaskStatus.Complete1: { var task = db.Default.Queryable().NoLock().Where(x => x.Id == agv.TaskId).SplitTable(x => x.Take(2)).First(); if (task == null) throw new Exception($"未找到对应的WCS任务{agv.TaskId}"); if (task.BusType != TaskBusType.帘线退料重绕.GetDescription()) { //获取当前任务可以去的目标地址 var positionList = new List(); //当前分配点对应的放货点 //var allPositionList = new List(); //同库区另一侧的放货点 //var nearPositionList = new List(); //所有的放货点 //GetPositionList(positionList, nearPositionList, allPositionList, task.WarehouseCode); switch (agv.Station) { case "2501": positionList.AddRange(new List() { "2501", "2505", "2509", "2513" }); break; case "2701": positionList.AddRange(new List() { "2701", "2705", "2709", "2713" }); break; case "2901": positionList.AddRange(new List() { "2901", "2905", "2909", "2913" }); break; case "3101": positionList.AddRange(new List() { "3101", "3105", "3109", "3113" }); break; case "3301": positionList.AddRange(new List() { "3301", "3305", "3309", "3313" }); break; case "3501": positionList.AddRange(new List() { "3501", "3505", "3509", "3513" }); break; } List agvs = new List(); //当前分配点对应的放货点已用点 //List agvsNear = new List(); //同库区另一侧的放货点已用点 //List agvsAll = new List(); //所有的放货点已用点 agvs = db.Default.Queryable().Where(v => v.Status > AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot && positionList.Contains(v.Station)) .SplitTable(v => v.Take(2)).ToList(); //agvsAll = db.Default.Queryable().Where(v => v.Status > AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot && allPositionList.Contains(v.Station)) // .SplitTable(v => v.Take(2)).ToList(); //agvsNear = db.Default.Queryable().Where(v => v.Status > AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot && nearPositionList.Contains(v.Station)) // .SplitTable(v => v.Take(2)).ToList(); //获取放货点 var agvPositionLists = agvs.Select(x => x.Station).Distinct(); //var agvPositionListsNear = agvsNear.Select(x => x.Station).Distinct(); //var agvPositionListsAll = agvsAll.Select(x => x.Station).Distinct(); //获取各区域可用点 var endDev = positionList.Where(x => !agvPositionLists.Contains(x)).ToList(); //var endNearDev = nearPositionList.Where(x => !agvPositionListsNear.Contains(x)).ToList(); //var endAllDev = allPositionList.Where(x => !agvPositionListsAll.Contains(x)).ToList(); World.Log($"agv可用巷道信息:{JsonConvert.SerializeObject(endDev)}"); //World.Log($"agv可用巷道信息(所有):{JsonConvert.SerializeObject(endAllDev)}"); if (!endDev.Any() /*&& !endAllDev.Any() && !endNearDev.Any()*/)//没有可用放货站台 { var msg = $"任务{agv.ID}已无可用放货站台"; foreach (var ag in agvs) { msg += $"[任务号:{ag.ID},目标地址:{ag.Station}]"; } throw new Exception(msg); } //获取没有光电信息的设备集合 try { // 获取可用站台 var devs = Device.All.Where(x => endDev.Contains(x.Code)).Select(x => new Device(x, World)); devs = devs.Where(x => !x.Data3.Status.HasFlag(StationStatus.Run) && !x.Data3.Status.HasFlag(StationStatus.PH_Status) && x.Data3.Status.HasFlag(StationStatus.Auto)).ToList(); //var devsNear = Device.All.Where(x => endNearDev.Contains(x.Code)).Select(x => // new Device(x, World)); //devsNear = devsNear.Where(x => // !x.Data3.Status.HasFlag(StationStatus.Run) && // !x.Data3.Status.HasFlag(StationStatus.PH_Status) && // x.Data3.Status.HasFlag(StationStatus.Auto)).ToList(); //var devsAll = Device.All.Where(x => endAllDev.Contains(x.Code)).Select(x => // new Device(x, World)); //devsAll = devsAll.Where(x => // !x.Data3.Status.HasFlag(StationStatus.Run) && // !x.Data3.Status.HasFlag(StationStatus.PH_Status) && // x.Data3.Status.HasFlag(StationStatus.Auto)).OrderBy(v => allPositionList.Contains(v.Entity.Code)).ToList(); if (!devs.Any()) //自身所属位置无可用放货点 { throw new Exception($"当前任务{agv.ID}无可用站台"); #region 弃用 //if (devsNear.Any())//先判断同库一侧 //{ // foreach (var dev in devsNear) // { // if (!dev.Data3.Status.HasFlag(StationStatus.Run) && !dev.Data3.Status.HasFlag(StationStatus.PH_Status) && dev.Data3.Status.HasFlag(StationStatus.Auto)) // { // World.Log($"任务执行过程:开始{agv.ID}-{JsonConvert.SerializeObject(devsAll.Select(x => x.Entity.Code).ToList())}"); // agv.Status = AGVTaskStatus.Complete1; // agv.Station = dev.Entity.Code; // db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); // World.Log($"任务执行过程:完成agv任务更新{agv.ID}--{agv.Station}"); // task.AddWCS_TASK_DTL(db.Default, "皮盘返库任务分配巷道", agv.Station, $"任务分配至:{agv.Station}"); // World.Log($"任务执行过程:完成任务明细添加{agv.Station}"); // AgvApi.ContinueTask(agv.AgvID, agv.Station); // World.Log($"任务执行过程:任务成功下发AGV{agv.AgvID}--{agv.Station}"); // return; // } // } //} //else if (devsAll.Any()) //{ // foreach (var dev in devsAll) // { // if (!dev.Data3.Status.HasFlag(StationStatus.Run) && !dev.Data3.Status.HasFlag(StationStatus.PH_Status) && dev.Data3.Status.HasFlag(StationStatus.Auto)) // { // World.Log($"任务执行过程:开始{agv.ID}-{JsonConvert.SerializeObject(devsAll.Select(x => x.Entity.Code).ToList())}"); // agv.Status = AGVTaskStatus.Complete1; // agv.Station = dev.Entity.Code; // db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); // World.Log($"任务执行过程:完成agv任务更新{agv.ID}--{agv.Station}"); // task.AddWCS_TASK_DTL(db.Default, "皮盘返库任务分配巷道", agv.Station, $"任务分配至:{agv.Station}"); // World.Log($"任务执行过程:完成任务明细添加{agv.Station}"); // AgvApi.ContinueTask(agv.AgvID, agv.Station); // World.Log($"任务执行过程:任务成功下发AGV{agv.AgvID}--{agv.Station}"); // return; // } // } //} World.Log("可用站台均有货或有执行中任务"); return; #endregion 弃用 } World.Log($"任务执行过程:开始{agv.ID}-{JsonConvert.SerializeObject(devs.Select(x => x.Entity.Code).ToList())}"); agv.Status = AGVTaskStatus.Complete1; agv.Station = devs.MinBy(x => x.Entity.Code).Entity.Code; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); World.Log($"任务执行过程:完成agv任务更新{agv.ID}--{agv.Station}"); task.AddWCS_TASK_DTL(db.Default, "皮盘返库任务分配巷道", agv.Station, $"任务分配至:{agv.Station}"); World.Log($"任务执行过程:完成任务明细添加{agv.Station}"); AgvApi.ContinueTask(agv.AgvID, agv.Station); World.Log($"任务执行过程:任务成功下发AGV{agv.AgvID}--{agv.Station}"); } catch (Exception e) { throw new Exception($"{e.Message}"); } } else if (task.BusType == TaskBusType.帘线退料重绕.GetDescription()) { var con = db.Default.Queryable().NoLock().First(x => x.Code == "CRTLZone").SContent; var isUse = false || con != null && con == "1"; //首先判断退料输送线是否可放货 var ph_9001 = new Device(Device.All.First(x => x.Code == "9001"), World); var ph_9101 = new Device(Device.All.First(x => x.Code == "9101"), World); var flag1 = !db.Default.Queryable().NoLock().Where(v => v.Status > AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot && v.Station == "9001") .SplitTable(v => v.Take(2)).Any() && !ph_9001.Data.Status.HasFlag(StationStatus.PH_Status); var flag2 = !db.Default.Queryable().NoLock().Where(v => v.Status > AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot && v.Station == "9101") .SplitTable(v => v.Take(2)).Any() && !ph_9101.Data.Status.HasFlag(StationStatus.PH_Status); var taskApply = db.Default.Queryable().NoLock().Where(x => x.ID == agv.TaskId).First(); if (flag2) { if (taskApply != null) { agv.Status = AGVTaskStatus.Complete1; agv.Station = "9101"; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); AgvApi.ContinueTask(agv.AgvID, agv.Station); taskApply.AddrTo = agv.Station; db.Default.UpdateableRowLock(taskApply).UpdateColumns(x => new { x.AddrTo }).ExecuteCommand(); World.Log($"帘线退料重绕分配目标放货点,任务{agv.ID}分配至:{agv.Station}"); taskApply.AddWCS_TASK_DTL(db.Default, "agv", $"帘线退料重绕分配目标放货点,任务分配至:{agv.Station}"); } else { throw new Exception($"未找到WCS任务{agv.TaskId},请确认任务状态"); } return; } else if (flag1) { if (taskApply != null) { agv.Status = AGVTaskStatus.Complete1; agv.Station = "9001"; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); AgvApi.ContinueTask(agv.AgvID, agv.Station); taskApply.AddrTo = agv.Station; db.Default.UpdateableRowLock(taskApply).UpdateColumns(x => new { x.AddrTo }).ExecuteCommand(); World.Log($"帘线退料重绕分配目标放货点,任务{agv.ID}分配至:{agv.Station}"); taskApply.AddWCS_TASK_DTL(db.Default, "agv", $"帘线退料重绕分配目标放货点,任务分配至:{agv.Station}"); } else { throw new Exception($"未找到WCS任务{agv.TaskId},请确认任务状态"); } return; } else if (isUse)//请求WMS分配可用放货点 { List allDevs = new List { "9210", "9211", "9212", "9213", "9214",/* "9215", "9216", "9217", "9218" */}; var agvStas = db.Default.Queryable().NoLock().Where(v => v.Status > AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot && (allDevs.Contains(v.Station) || allDevs.Contains(v.Position))) .SplitTable(v => v.Take(2)).ToList(); var agvStaLists = agvStas.Select(x => x.Station).Distinct(); var devs = allDevs.Where(x => !agvStaLists.Contains(x)).ToList(); var devsPut = Device.All.Where(x => devs.Contains(x.Code)).Select(x => new Device(x, World)); devsPut = devsPut.Where(x => !x.Data3.Status.HasFlag(StationStatus.Run) && !x.Data3.Status.HasFlag(StationStatus.PH_Status) && x.Data3.Status.HasFlag(StationStatus.Auto)).ToList(); if (taskApply == null) { throw new Exception($"找不到对应wcs任务{agv.TaskId}"); } if (devsPut.Any()) { foreach (var dev in devsPut) { if (!dev.Data3.Status.HasFlag(StationStatus.PH_Status) && !db.Default.Queryable().NoLock().Where(v => v.Status > AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot && (v.Station == dev.Entity.Code || v.Position == dev.Entity.Code)) .SplitTable(v => v.Take(2)).Any()) { var sta = dev.Entity.Code; var res = WmsApi.GetFlatLocalIn(agv.TaskId, "T2", dev.Entity.Code, 1); if (res.ResCode == ResponseStatusCodeEnum.Sucess && res.ResData.CellNo == dev.Entity.Code) { sta = dev.Entity.Code; } else if (res.ResCode == ResponseStatusCodeEnum.Sucess) { sta = res.ResData.CellNo; World.Log($"{dev.Entity.Code}分配货位{res.ResData.CellNo}"); } else { continue; } agv.Status = AGVTaskStatus.Complete1; agv.Station = dev.Entity.Code; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); AgvApi.ContinueTask(agv.AgvID, agv.Station); taskApply.AddrTo = agv.Station; db.Default.UpdateableRowLock(taskApply).UpdateColumns(x => new { x.AddrTo }).ExecuteCommand(); taskApply.AddWCS_TASK_DTL(db.Default, "agv", $"帘线退料重绕分配目标放货点,任务分配至:{agv.Station}"); World.Log($"帘线退料重绕分配目标放货点,任务{agv.ID}分配至:{agv.Station}"); return; } } } else { throw new Exception("已无可用放货站台,请等待"); } } else { throw new Exception("已无可用放货站台,请等待"); } } break; } //放货站点安全交互 case AGVTaskStatus.RequestOrPermission2 when agv.Status != AGVTaskStatus.RequestOrPermission2: { if (agv.Station.IsNullOrEmpty()) throw new Exception($"无有效放货地址"); //var dev = Device.All.First(x => x.Code == agv.Station); var devPut = new Device(Device.All.First(x => x.Code == agv.Station), World); var taskPut = db.Default.Queryable().NoLock().Where(x => x.Id == agv.TaskId).SplitTable(x => x.Take(2)).First(); var flag = false; if (taskPut == null) { throw new Exception($"未找到WCS任务{agv.TaskId},请确认任务状态"); } else if (taskPut.BusType == "人工满托入库") { flag = true; } if (devPut.Data3.Status.HasFlag(StationStatus.PH_Status)) { throw new Exception($"{agv.Station}站台有光电小车无法放货，请检查实际情况并处理"); } if (flag) { if (!devPut.Data3.Status.HasFlag(StationStatus.Low_Station_2)) { throw new Exception($"{agv.Station}站台不在低位小车无法放货，请检查并处理"); } var tasking = db.Default.Queryable().NoLock().Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot && v.Station == agv.Station && v.GoodsSum == 1).SplitTable(tabs => tabs.Take(2)).First(); if (tasking != null) { throw new Exception($"{agv.Station}站台有执行中任务{tasking.ID}，请确认该任务实际位置"); } agv.GoodsSum = 1; } agv.Status = AGVTaskStatus.RequestOrPermission2; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); //taskPut.AddWCS_TASK_DTL(db.Default, "agv", $"允许agv任务{agv.ID}放货"); if (taskPut.BusType != TaskBusType.帘线退料重绕.GetDescription() && taskPut.BusType != TaskBusType.重绕满托入库.GetDescription()) { devPut.Data.CmdType = StationCmd.Res1; } //调继续执行任务接口 AgvApi.ContinueTask(agv.AgvID, agv.Station); break; } case AGVTaskStatus.LeavePut when agv.Status != AGVTaskStatus.LeavePut: break; //完成任务 case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted: var taskold = db.Default.Queryable().NoLock().Where(x => x.Id == agv.TaskId).SplitTable(x => x.Take(2)).First(); if (agv.TaskType == AGVTaskType.EnterDepot) { agv.Status = AGVTaskStatus.MissionCompleted; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); var devinfo = new Device(Device.All.First(x => x.Code == agv.Station), World); if (taskold.BusType != TaskBusType.帘线退料重绕.GetDescription() && taskold.BusType != TaskBusType.重绕满托入库.GetDescription()) { devinfo.Data.CmdType = StationCmd.Res2; } if (taskold.LastInteractionPoint == "2" || taskold.BusType == TaskBusType.重绕满托入库.GetDescription() || taskold.BusType == TaskBusType.帘线退料重绕.GetDescription()) //如果是单独取空任务直接完成 { var task = db.Default.Queryable().NoLock().Where(x => x.ID == agv.TaskId).First(); if (task != null) { task.Status = TaskStatus.Finish; task.EndTime = DateTime.Now; db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.EndTime }).ExecuteCommand(); task.AddWCS_TASK_DTL(db.Default, "agv", "任务完成"); } } else if (taskold.BusType == "人工满托入库") { var task = db.Default.Queryable().NoLock().Where(x => x.ID == agv.TaskId).First(); if (task != null) { task.Status = TaskStatus.ConveyorExecution; devinfo.Data.TaskNumber = task.ID; task.EndTime = DateTime.Now; db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.EndTime }).ExecuteCommand(); task.AddWCS_TASK_DTL(db.Default, "agv", "任务放货完成"); } } } break; case AGVTaskStatus.Cancel when agv.Status != AGVTaskStatus.Cancel: var taskold1 = db.Default.Queryable().NoLock().Where(x => x.Id == agv.TaskId).SplitTable(x => x.Take(2)).First(); agv.Status = AGVTaskStatus.Cancel; db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand(); if (taskold1.LastInteractionPoint == "2") //如果是单独取空任务直接取消 { var task = db.Default.Queryable().NoLock().Where(x => x.ID == agv.TaskId).First(); if (task != null) { task.Status = TaskStatus.Cancel; task.EndTime = DateTime.Now; db.Default.UpdateableRowLock(task).UpdateColumns(x => new { x.Status, x.EndTime }).ExecuteCommand(); task.AddWCS_TASK_DTL(db.Default, "agv", "任务取消"); } } break; } #endregion 开始跟据AGV状态做出处理 }); } catch (Exception ex) { if (ex.Message.Contains("SqlTransaction")) World.Log($"{ex.Message}:{ex.StackTrace}"); else World.Log(ex.Message, LogLevelEnum.Mid); } } } } } public override bool Select(Device dev) { return dev.Code is "AGVIn" or "AGVOut"; } /// /// 获取可用放货点 /// /// /// /// /// private void GetPositionList(List positionList, List nearPositionList, List allPositionList, string warehouseCode) { switch (warehouseCode) { case "1N": positionList.AddRange(new List() { "2501", "2505", "2509", "2513" }); nearPositionList.AddRange(new List() { "2701", "2705", "2709", "2713" }); allPositionList.AddRange(new List() { "2901", "2905", "2909", "2913","3101", "3105", "3109", "3113", "3301", "3305", "3309", "3313","3501", "3505", "3509", "3513"}); break; case "1S": positionList.AddRange(new List() { "2701", "2705", "2709", "2713" }); nearPositionList.AddRange(new List() { "2501", "2505", "2509", "2513" }); allPositionList.AddRange(new List() { "3101", "3105", "3109", "3113", "2901", "2905", "2909", "2913", "3501", "3505", "3509", "3513", "3301", "3305", "3309", "3313"}); break; case "2N": positionList.AddRange(new List() { "2901", "2905", "2909", "2913" }); nearPositionList.AddRange(new List() { "3101", "3105", "3109", "3113" }); allPositionList.AddRange(new List() { "2501" , "2505" , "2509" , "2513" , "2701", "2705", "2709", "2713","3301", "3305", "3309", "3313", "3501", "3505", "3509", "3513"}); break; case "2S": positionList.AddRange(new List() { "3101", "3105", "3109", "3113" }); nearPositionList.AddRange(new List() { "2901", "2905", "2909", "2913" }); allPositionList.AddRange(new List() { "2701" , "2705" , "2709" , "2713" ,"2501" , "2505" , "2509" , "2513" , "3501" , "3505" , "3509" , "3513","3301", "3305", "3309", "3313"}); break; case "3N": positionList.AddRange(new List() { "3301", "3305", "3309", "3313" }); nearPositionList.AddRange(new List() { "3501", "3505", "3509", "3513" }); allPositionList.AddRange(new List() { "2901", "2905", "2909", "2913", "3101", "3105", "3109", "3113","2501" , "2505" , "2509" , "2513" , "2701", "2705", "2709", "2713" }); break; case "3S": positionList.AddRange(new List() { "3501", "3505", "3509", "3513" }); nearPositionList.AddRange(new List() { "3301", "3305", "3309", "3313" }); allPositionList.AddRange(new List() { "3101", "3105", "3109", "3113", "2901", "2905", "2909", "2913", "2701" , "2705" , "2709" , "2713" ,"2501" , "2505" , "2509" , "2513" }); break; } } } }