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", $"允许AGV任务{agv.ID}在站台{agv.Station}取货");
AgvApi.ContinueTask(agv.AgvID, agv.Station);
break;
}
case AGVTaskStatus.PutRequestOrPermission when agv.Status != AGVTaskStatus.PutRequestOrPermission:
{
agv.Status = AGVTaskStatus.PutRequestOrPermission;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
AgvApi.ContinueTask(agv.AgvID, agv.Station);
break;
}
//完成任务
case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted:
{
if (agv.TaskType is AGVTaskType.CallForMaterial or AGVTaskType.ForkliftFilling or AGVTaskType.CallMaterial)
{
var taskInfo = db.Default.Queryable().First(v => v.AgvTaskID == agv.ID);
if (taskInfo == null) throw new Exception($"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("1NC318", 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:
{
//if (agv.TaskType == AGVTaskType.EnterDepot)
//{
// //找到对应WCS任务
// var task = db.Default.Queryable().First(v => v.ID == agv.TaskId);
// if (task == null) throw new Exception($"AGV任务{agv.ID}未找到对应WCS任务");
// //向WMS获取巷道优先级
// var res = WmsApi.GetTunnelPriorityList(task.ID);
// var tunnelNo = res.ResData.Split(",").Select(v => "SRM" + v).ToList();
// //开始获取堆垛机与可用站台信息
// SRM srm = null;
// var stations = new List();
// //一楼三个入库口
// stations = devs.Where(v => v.Entity.Code is "1021" or "1023" or "1025").ToList();
// //筛选出可用站台
// stations = stations.Where(v => v.Data.VoucherNo == v.Data2.VoucherNo && v.Data3.Status.HasFlag(StationStatus.Auto))
// .Where(v => !v.Data3.Status.HasFlag(StationStatus.PH_Status) && !v.Data3.Status.HasFlag(StationStatus.OT_Status))
// .Where(v => !v.Data3.Status.HasFlag(StationStatus.Run)).ToList(); // 筛选出可用站台
// //可用堆垛机
// srm = stations.Select(v => v.Entity.Sources).SelectMany(v => v).Where(v => v.IsTunnel()) //上一个地址是巷道的
// .Select(v => v.Sources).SelectMany(v => v).Where(v => v.HasProtocol(typeof(ISRM520))) //筛选出堆垛机
// .Select(v => new SRM(v, this.World)) //转换为SRM
// .Where(v => !v.Data2.Status.HasFlag(SrmStatus.Alarm) && v.Data2.AutoStatus == SrmAutoStatus.Automatic) //筛选出可用堆垛机
// .Where(v => tunnelNo.Contains(v.Entity.Code)) //筛选出巷道优先级最高的堆垛机
// .MinBy(v => tunnelNo.IndexOf(v.Entity.Code));//按照巷道优先级排序
// if (srm == null) throw new Exception($"agv任务{agv.ID}无可用堆垛机");
// //筛选出堆垛机的放货站台
// var nextPos = stations.FirstOrDefault(v => v.Entity.Sources.Where(t => t.IsTunnel()).Select(t => t.Sources).SelectMany(v => v) //获取所有巷道
// .Where(t => t.HasProtocol(typeof(ISRM520)))//筛选出堆垛机
// .SelectMany(v => v.Sources).Any(t => t.Code == srm.Entity.Parent.Code));
// var flag = false;
// if ((task.BusType is "二楼湿拉线退料回立库" or "二楼湿拉线余料回立库" && task.Floor == 2))
// {
// flag = true;
// nextPos.Entity.Code = "1025";
// }
// var agvs = db.Default.Queryable().Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.Position == nextPos.Entity.Code).SplitTable(v => v.Take(2)).ToList();
// if (agvs.Any())
// {
// var msg = agvs.Aggregate("已无可用放货站台,任务正在执行中:", (current, ag) => current + $"[任务号:{ag.ID},目标地址:{ag.Position}]");
// throw new Exception(msg);
// }
// //更新AGV任务状态
// agv.Status = AGVTaskStatus.Complete1;
// agv.Position = flag == true ? "1025" : nextPos.Entity.Code;
// db.Default.Updateable(agv).SplitTable().ExecuteCommand();
// //更新WCS任务状态
// if (flag)
// {
// srm.Entity.Code = "SRM3";
// task.Device = srm.Entity.Code;
// task.Tunnel = "3";
// task.AddrNext = "1025";
// }
// else
// {
// task.Device = srm.Entity.Code;
// task.Tunnel = task.Device.GetLastDigit().ToString();
// task.AddrNext = agv.Position;
// }
// db.Default.Updateable(task).ExecuteCommand();
// task.AddWCS_TASK_DTL(db.Default, "AGV巷道分配点", nextPos.Entity.Code, $"任务分配至堆垛机:{srm.Entity.Code}");
// this.ExRecord(obj.Entity.Code, $"AGV任务{agv.ID}分配至堆垛机:{srm.Entity.Code}");
// //调继续执行任务接口
// AgvApi.ContinueTask(agv.AgvID, nextPos.Entity.Code);
//}
//else if (agv.TaskType == AGVTaskType.Transport)
//{
//更新AGV任务状态
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, $"任务分配至:{agv.Position}");
//调继续执行任务接口
AgvApi.ContinueTask(agv.AgvID, agv.Position);
//}
break;
}
//放货站点安全交互
case AGVTaskStatus.RequestOrPermission2 when agv.Status != AGVTaskStatus.RequestOrPermission2:
{
if (agv.Position.IsNullOrEmpty()) throw new Exception($"无有效放货地址");
var dev = Device.All.First(x => x.Code == agv.Position);
//if (dev.Data.VoucherNo != dev.Data2.VoucherNo) throw new Exception($"AGV请求放货，但{dev.Entity.Code}凭证号不一致");
//if (!dev.Data3.Status.HasFlag(StationStatus.Auto)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}不在自动状态");
//if (dev.Data3.Status.HasFlag(StationStatus.PH_Status)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}光电有货");
//if (dev.Data3.Status.HasFlag(StationStatus.OT_Status)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}任务有货");
//if (dev.Data3.Status.HasFlag(StationStatus.Run)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}在运行状态");
//agv.Status = AGVTaskStatus.RequestOrPermission2;
//db.Default.Updateable(agv).SplitTable().ExecuteCommand();
//调继续执行任务接口
AgvApi.ContinueTask(agv.AgvID, dev.Code);
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";
}
}
}