using PlcSiemens.Core.Extension; using ServiceCenter.Logs; using ServiceCenter.SqlSugars; using System.ComponentModel; using WCS.Core; using WCS.Entity; using WCS.Entity.Protocol.Protocol.SRM; using WCS.Entity.Protocol.Protocol.Station; using WCS.WorkEngineering.Extensions; using WCS.WorkEngineering.WebApi.Controllers; using WCS.WorkEngineering.Worlds; using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags; 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; protected override bool SaveLogsToFile => true; private List devs = new List(); private List srms = new List(); public AgvSystems() { devs = Device.All.Where(v => v.HasFlag(DeviceFlags.入库, DeviceFlags.巷道口)).Select(v => new Station(v, this.World)).ToList(); srms = Device.All.Where(v => v.HasProtocol(typeof(ISRM520))).Select(v => new SRM(v, this.World)).ToList(); } public override void Do(Device obj) { if (obj.Entity.Code == "出库AGV") { 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().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 taskInfo = db.Default.Queryable().First(v => v.ID == agv.TaskId); agv.Status = AGVTaskStatus.RequestOrPermission2; db.Default.Updateable(agv).SplitTable().ExecuteCommand(); taskInfo.AddWCS_TASK_DTL(db.Default, "agv", $"允许AGV任务{agv.ID}在站台{agv.Station}取货"); AgvApi.ContinueTask(agv.AgvID, agv.Station); break; } case AGVTaskStatus.PutRequestOrPermission when agv.Status != AGVTaskStatus.PutRequestOrPermission: { agv.Status = AGVTaskStatus.PutRequestOrPermission; db.Default.Updateable(agv).SplitTable().ExecuteCommand(); AgvApi.ContinueTask(agv.AgvID, agv.Station); break; } case AGVTaskStatus.LeaveGet when agv.Status != AGVTaskStatus.LeaveGet: var devinfo = new Device(Device.All.First(x => x.Code == agv.Position), World); devinfo.Data.CmdType = StationCmd.Res3; break; //完成任务 case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted: { if (agv.TaskType is AGVTaskType.CallForMaterial or AGVTaskType.ForkliftFilling or AGVTaskType.CallMaterial) { var taskInfo = db.Default.Queryable().First(v => v.AgvTaskID == agv.ID); if (taskInfo == null) throw new Exception($"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.Updateable(agv).SplitTable().ExecuteCommand(); //更新WCS任务状态 taskInfo.Status = Entity.TaskStatus.Finish; taskInfo.EedTime = DateTime.Now; db.Default.Updateable(taskInfo).ExecuteCommand(); taskInfo.AddWCS_TASK_DTL(db.Default, "agv", "任务完成"); taskInfos.Add(taskInfo); } else { agv.Status = AGVTaskStatus.MissionCompleted; db.Default.Updateable(agv).SplitTable().ExecuteCommand(); } break; } } }); } catch (Exception ex) { World.Log(ex.Message, LogLevelEnum.Mid); this.ExRecord(obj.Entity.Code, ex.Message); } } foreach (var taskInfo in taskInfos.Where(taskInfo => taskInfo.Status == TaskStatus.Finish)) { WmsApi.CompleteTask(taskInfo.ID); } } } else if (obj.Entity.Code == "入库AGV") { 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()) { this.ExRecord(obj.Entity.Code, "可用入库AGV任务列表", agvTaskInfos.Select(v => v.ID).ToList()); 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: AgvApi.托盘回库(agv.Position, agv.ID.ToString()); agv.AgvID = agv.ID.ToString(); agv.Status = AGVTaskStatus.Confirm; agv.AgvStatus = AGVTaskStatus.Confirm; db.Default.Updateable(agv).SplitTable().ExecuteCommand(); break; //巷道分配 case AGVTaskStatus.RequestOrPermission1 when agv.Status != AGVTaskStatus.Complete1: { agv.Status = AGVTaskStatus.Complete1; agv.Position = "2501"; db.Default.Updateable(agv).SplitTable().ExecuteCommand(); //task.Status = TaskStatus.Finish; //db.Default.Updateable(task).ExecuteCommand(); //task.AddWCS_TASK_DTL(db.Default, "AGV搬运任务分配放货点", agv.Position, $"任务分配至:{agv.Position}"); //调继续执行任务接口 AgvApi.ContinueTask(agv.AgvID, agv.Position); //} break; } //取货站点安全交互 case AGVTaskStatus.RequestOrPermission2 when agv.Status != AGVTaskStatus.RequestOrPermission2: { if (agv.Position.IsNullOrEmpty()) throw new Exception($"无有效放货地址"); var dev = Device.All.First(x => x.Code == agv.Position); //调继续执行任务接口 AgvApi.ContinueTask(agv.AgvID, dev.Code); break; } case AGVTaskStatus.LeaveGet when agv.Status != AGVTaskStatus.LeaveGet: var devinfo = new Device(Device.All.First(x => x.Code == agv.Position), World); devinfo.Data.CmdType = StationCmd.Res3; break; //完成任务 case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted: if (agv.TaskType == AGVTaskType.EnterDepot) { agv.Status = AGVTaskStatus.MissionCompleted; db.Default.Updateable(agv).SplitTable().ExecuteCommand(); } break; } #endregion 开始跟据AGV状态做出处理 }); } catch (Exception ex) { World.Log(ex.Message, LogLevelEnum.Mid); this.ExRecord(obj.Entity.Code, ex.Message); } } } } } public override bool Select(Device dev) { return dev.Code is "出库AGV" or "入库AGV"; } } }