using Newtonsoft.Json;
using PlcSiemens.Core.Extension;
using ServiceCenter.Extensions;
using ServiceCenter.Logs;
using ServiceCenter.SqlSugars;
using System.ComponentModel;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol.Station;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.WebApi.Controllers;
using WCS.WorkEngineering.Worlds;
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 taskInfo = db.Default.Queryable().First(v => v.ID == agv.TaskId);
agv.Status = AGVTaskStatus.RequestOrPermission2;
db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
taskInfo.AddWCS_TASK_DTL(db.Default, "agv", $"允许AGV任务{agv.ID}在站台{agv.Station}取货");
AgvApi.ContinueTask(agv.AgvID, agv.Station);
break;
}
case AGVTaskStatus.PutRequestOrPermission when agv.Status != AGVTaskStatus.PutRequestOrPermission:
{
agv.Status = AGVTaskStatus.PutRequestOrPermission;
db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
AgvApi.ContinueTask(agv.AgvID, agv.Station);
break;
}
case AGVTaskStatus.LeaveGet when agv.Status != AGVTaskStatus.LeaveGet:
World.Log($"AGV取货结束:开始{agv.ID}--{agv.Station}");
var devinfo = new Device(Device.All.First(x => x.Code == agv.Station), World);
devinfo.Data.CmdType = StationCmd.Res5;
agv.Status = AGVTaskStatus.LeaveGet;
db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
World.Log($"AGV取货结束:结束{agv.ID}--{agv.Station}");
break;
//完成任务
case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted:
{
if (agv.TaskType is AGVTaskType.CallForMaterial or AGVTaskType.ForkliftFilling or AGVTaskType.CallMaterial)
{
var taskInfo = db.Default.Queryable().First(v => v.AgvTaskID == agv.ID);
if (taskInfo == null) throw new Exception($"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.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
//更新WCS任务状态
taskInfo.Status = Entity.TaskStatus.Finish;
taskInfo.EndTime = DateTime.Now;
db.Default.UpdateableRowLock(taskInfo).UpdateColumns(x => new { x.Status, x.EndTime }).ExecuteCommand();
taskInfo.AddWCS_TASK_DTL(db.Default, "agv", "任务完成");
taskInfos.Add(taskInfo);
}
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:
AgvApi.托盘回库(agv.Position, agv.ID.ToString(), agv.Station);
agv.AgvID = agv.ID.ToString();
agv.Status = AGVTaskStatus.Confirm;
agv.AgvStatus = AGVTaskStatus.Confirm;
db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).ExecuteCommand();
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($"未找到对应的WCS任务{agv.TaskId}");
//获取当前任务可以去的目标地址
var positionList = new List();
switch (task.WarehouseCode)
{
case "1N":
positionList.AddRange(new List() { "2501", "2505", "2509", "2513" });
break;
case "1S":
positionList.AddRange(new List() { "2701", "2705", "2709", "2713"/*"2501", "2505", "2509", "2513"*/ });
break;
case "2N":
positionList.AddRange(new List() { "2901", "2905", "2909", "2913" });
break;
case "2S":
positionList.AddRange(new List() { "3101", "3105", "3109", "3113"/*"2501", "2505", "2509", "2513"*/ });
break;
case "3N":
positionList.AddRange(new List() { "3301", "3305", "3309", "3313" });
break;
case "3S":
positionList.AddRange(new List() { "3501", "3505", "3509", "3513" });
break;
}
//当前可用地址正在执行的任务
var agvs = db.Default.Queryable().Where(v => v.Status > AGVTaskStatus.Confirm && v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot && positionList.Contains(v.Station))
.SplitTable(v => v.Take(2)).ToList();
var agvPositionList = agvs.Select(x => x.Station).Distinct();
//World.Log($"执行中的AGV任务目标地址:{JsonConvert.SerializeObject(agvPositionList)}");
var endDevs = positionList.Where(x => !agvPositionList.Contains(x)).ToList();
World.Log($"agv可用巷道信息:{JsonConvert.SerializeObject(endDevs)}");
if (!endDevs.Any())//没有可用放货站台
{
var msg = "已无可用放货站台,任务正在执行中:";
foreach (var ag in agvs)
{
msg += $"[任务号:{ag.ID},目标地址:{ag.Station}]";
}
throw new Exception(msg);
}
//获取没有光电信息的设备集合
try
{
var devs = Device.All.Where(x => endDevs.Contains(x.Code)).Select(x =>
new Device(x, World));
devs = devs.Where(x =>
!x.Data3.Status.HasFlag(StationStatus.Run) &&
!x.Data3.Status.HasFlag(StationStatus.PH_Status) &&
x.Data3.Status.HasFlag(StationStatus.Auto)).ToList();
if (!devs.Any())
{
World.Log("可用站台均有货或有执行中任务");
return;
}
World.Log($"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($"任务执行过程:任务成功下发AGV{agv.AgvID}--{agv.Station}");
}
catch (Exception e)
{
throw new Exception($"执行错误:{e.Message + e.StackTrace}");
}
break;
}
//取货站点安全交互
case AGVTaskStatus.RequestOrPermission2 when agv.Status != AGVTaskStatus.RequestOrPermission2:
{
if (agv.Station.IsNullOrEmpty()) throw new Exception($"无有效放货地址");
var dev = Device.All.First(x => x.Code == agv.Station);
var ph = new Device(Device.All.First(x => x.Code == agv.Station), World);
if (ph.Data.Status.HasFlag(StationStatus.PH_Status))
{
throw new Exception($"{agv.Station}站台有光电小车无法放货，请检查并处理");
}
//调继续执行任务接口
AgvApi.ContinueTask(agv.AgvID, dev.Code);
break;
}
case AGVTaskStatus.LeavePut when agv.Status != AGVTaskStatus.LeavePut:
break;
//完成任务
case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted:
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);
devinfo.Data.CmdType = StationCmd.Res2;
}
break;
case AGVTaskStatus.Cancel when agv.Status != AGVTaskStatus.Cancel:
agv.Status = AGVTaskStatus.Cancel;
db.Default.UpdateableRowLock(agv).SplitTable(x => x.Take(2)).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 "AGVIn" or "AGVOut";
}
}
}