NoInteractionSystems.cs 14 KB

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  1. using PlcSiemens.Core.Extension;
  2. using ServiceCenter.Logs;
  3. using ServiceCenter.Redis;
  4. using ServiceCenter.SqlSugars;
  5. using System.ComponentModel;
  6. using System.Threading.Tasks;
  7. using WCS.Core;
  8. using WCS.Entity;
  9. using WCS.WorkEngineering.Extensions;
  10. using WCS.WorkEngineering.WebApi.Controllers;
  11. using WCS.WorkEngineering.WebApi.Models.AGV.Response;
  12. using WCS.WorkEngineering.Worlds;
  13. namespace WCS.WorkEngineering.Systems
  14. {
  15. /// <summary>
  16. /// 无交互系统
  17. /// </summary>
  18. [BelongTo(typeof(NoInteractionWorld))]
  19. [Description("无交互系统")]
  20. public class NoInteractionSystems : DeviceSystem<Station>
  21. {
  22. public NoInteractionSystems()
  23. {
  24. }
  25. protected override bool ParallelDo => true;
  26. protected override bool SaveLogsToFile => true;
  27. public override void Do(Station obj)
  28. {
  29. var key = $"WCS:Lock:无交互系统{obj.Entity.Code}";
  30. try
  31. {
  32. if (RedisHub.Default.Get(key) != null)
  33. {
  34. throw new KnownException($"[{obj.Entity.Code}]--触发并发管控", LogLevelEnum.High);
  35. }
  36. RedisHub.Default.Set(key, obj.Entity.Code);
  37. #region 处理所有的新增任务
  38. try
  39. {
  40. List<WCS_TaskInfo> taskInfos = new List<WCS_TaskInfo>();
  41. SqlSugarHelper.Do(db =>
  42. {
  43. taskInfos = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.Status == Entity.TaskStatus.NewBuild).ToList();
  44. });
  45. if (taskInfos.Any())
  46. {
  47. foreach (var item in taskInfos)
  48. {
  49. try
  50. {
  51. SqlSugarHelper.Do(db =>
  52. {
  53. var task = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.ID == item.ID).First() ?? throw new Exception($"未找到对应的WCS任务[{item.ID}]");
  54. if (task.Type == TaskType.EnterDepot)
  55. {
  56. //创建AGV任务
  57. var agvTask = new WCS_AgvTaskInfo()
  58. {
  59. ID = db.GetAGVTaskId(),
  60. TaskType = AGVTaskType.EnterDepot,
  61. Status = AGVTaskStatus.NewBuild,
  62. Station = task.WorkBench,
  63. AddWho = "WCS",
  64. //Position = task.SrmStation
  65. };
  66. if (task.Floor == 2)
  67. {
  68. task.Tunnel = "3";
  69. task.Device = "SRM3";
  70. task.SrmStation = "1025";
  71. }
  72. db.Default.Insertable(agvTask).SplitTable().ExecuteCommand();
  73. //更新任务状态
  74. task.Status = Entity.TaskStatus.WaitingToExecute;
  75. task.AgvTaskID = agvTask.ID;
  76. db.Default.Updateable(task).ExecuteCommand();
  77. task.AddWCS_TASK_DTL(db, task.Device, $"初始化入库任务信息,并创建AGV任务中间表,AGV任务目标地址:{agvTask.Position}");
  78. }
  79. else if (task.Type == TaskType.OutDepot)
  80. {
  81. #region 二楼非半自动手动出库任务需要创建AGV任务
  82. if (task.Floor == 2 && task.OutType != OutTypeEnum.半自动手动出库任务)
  83. {
  84. //创建AGV任务
  85. var agvTask = new WCS_AgvTaskInfo()
  86. {
  87. ID = db.GetAGVTaskId(),
  88. TaskType = AGVTaskType.CallMaterial,
  89. Status = AGVTaskStatus.NewBuild,
  90. Station = task.WorkBench,
  91. AddWho = "WCS"
  92. };
  93. db.Default.Insertable(agvTask).SplitTable().ExecuteCommand();
  94. task.AgvTaskID = agvTask.ID;
  95. }
  96. #endregion 二楼非半自动手动出库任务需要创建AGV任务
  97. if (task.SrmStation.IsNullOrEmpty()) //如果没有指定放货站台
  98. {
  99. //获取堆垛机到目标地址的路径信息
  100. var path = DevicePath.GetPath(task.Device, task.AddrTo);
  101. task.SrmStation = path.Points[1].Code;
  102. }
  103. //更新任务状态
  104. task.Status = Entity.TaskStatus.WaitingToExecute;
  105. db.Default.Updateable(task).ExecuteCommand();
  106. task.AddWCS_TASK_DTL(db, task.Device, $"初始化出库任务信息,放货站台:{task.SrmStation}");
  107. }
  108. else if (task.Type == TaskType.Delivery) //一楼叉车搬运任务
  109. {
  110. var agv = new WCS_AgvTaskInfo()
  111. {
  112. ID = db.GetAGVTaskId(),
  113. TaskType = AGVTaskType.ForkliftFilling,
  114. Status = AGVTaskStatus.NewBuild,
  115. Station = task.WorkBench,
  116. AddWho = "WCS"
  117. };
  118. db.Default.Insertable(agv).SplitTable().ExecuteCommand();
  119. //更新WCS数据
  120. task.Status = Entity.TaskStatus.WaitingToExecute;
  121. task.AgvTaskID = agv.ID;
  122. db.Default.Updateable(task).ExecuteCommand();
  123. task.AddWCS_TASK_DTL(db, task.Device, $"初始化搬运任务信息,并创建AGV任务");
  124. }
  125. else if (task.Type == TaskType.EmptyInit)
  126. {
  127. //更新任务状态
  128. task.Status = Entity.TaskStatus.WaitingToExecute;
  129. db.Default.Updateable(task).ExecuteCommand();
  130. task.AddWCS_TASK_DTL(db, task.Device, $"初始化任务信息");
  131. }
  132. });
  133. }
  134. catch (Exception ex)
  135. {
  136. World.Log(ex.Message, LogLevelEnum.Mid);
  137. continue;
  138. }
  139. }
  140. }
  141. }
  142. catch (Exception ex)
  143. {
  144. World.Log(ex.Message, LogLevelEnum.Mid);
  145. }
  146. #endregion 处理所有的新增任务
  147. #region 下发入库AGV任务
  148. List<WCS_AgvTaskInfo> agvTaskInfos = new List<WCS_AgvTaskInfo>();
  149. SqlSugarHelper.Do(db =>
  150. {
  151. agvTaskInfos = db.Default.Queryable<WCS_AgvTaskInfo>().Where(t => t.Status == AGVTaskStatus.NewBuild && t.TaskType == AGVTaskType.EnterDepot).SplitTable(v => v.Take(2)).ToList();
  152. });
  153. if (agvTaskInfos.Any())
  154. {
  155. foreach (var item in agvTaskInfos)
  156. {
  157. try
  158. {
  159. SqlSugarHelper.Do(db =>
  160. {
  161. var agv = db.Default.Queryable<WCS_AgvTaskInfo>().Where(t => t.ID == item.ID).SplitTable(v => v.Take(2)).First() ?? throw new Exception($"未找到对应的AGV任务:{item.ID}");
  162. //获取对应wcs任务
  163. var wcs = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.AgvTaskID == agv.ID && t.Status == Entity.TaskStatus.WaitingToExecute).First() ?? throw new Exception($"AGV任务[{item.ID}]未找到对应的WCS任务");
  164. switch (wcs.Floor)
  165. {
  166. case 1: //一楼下发AGV任务
  167. var res = AgvApi.满轮入库(wcs.BarCode, agv.Station, Guid.NewGuid().ToString().Replace("-", ""), "1");
  168. agv.Status = AGVTaskStatus.Confirm;
  169. agv.AgvID = res.data;
  170. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  171. break;
  172. case 2:
  173. var agvRes = IwmsApi.空轮回库(wcs.MatCode, wcs.SrmStation, wcs.IsSurplus, wcs.IsRework, agv.ID, wcs.BarCode);
  174. agv.Status = AGVTaskStatus.Confirm;
  175. agv.AgvID = agvRes.data;
  176. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  177. break;
  178. default:
  179. break;
  180. }
  181. //更新WCS数据
  182. wcs.Status = Entity.TaskStatus.AGVExecution;
  183. db.Default.Updateable(wcs).ExecuteCommand();
  184. wcs.AddWCS_TASK_DTL(db, wcs.Device, $"任务下发至AGV-AGV任务ID{agv.AgvID}");
  185. });
  186. }
  187. catch (Exception ex)
  188. {
  189. World.Log(ex.Message, LogLevelEnum.Mid);
  190. continue;
  191. }
  192. }
  193. }
  194. #endregion 下发入库AGV任务
  195. #region 一楼叉车补空任务处理
  196. List<WCS_AgvTaskInfo> agvTaskInfos1 = new List<WCS_AgvTaskInfo>();
  197. SqlSugarHelper.Do(db =>
  198. {
  199. agvTaskInfos1 = db.Default.Queryable<WCS_AgvTaskInfo>().Where(t => t.Status == AGVTaskStatus.NewBuild && t.TaskType == AGVTaskType.ForkliftFilling).SplitTable(v => v.Take(2)).ToList();
  200. });
  201. if (agvTaskInfos1.Any())
  202. {
  203. foreach (var item in agvTaskInfos1)
  204. {
  205. try
  206. {
  207. GenAgvSchedulingTaskResponse res = new GenAgvSchedulingTaskResponse();
  208. SqlSugarHelper.Do(db =>
  209. {
  210. var agv = db.Default.Queryable<WCS_AgvTaskInfo>().Where(t => t.ID == item.ID).SplitTable(v => v.Take(2)).First() ?? throw new Exception($"未找到对应的AGV任务:{item.ID}");
  211. //获取对应wcs任务
  212. var wcs = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.AgvTaskID == agv.ID && t.Status == Entity.TaskStatus.WaitingToExecute).First() ?? throw new Exception($"AGV任务[{item.ID}]未找到对应的WCS任务");
  213. //下发AGV任务
  214. res = AgvApi.机台补空(agv.Station, Guid.NewGuid().ToString().Replace("-", ""), "1");
  215. agv.Status = AGVTaskStatus.Confirm;
  216. agv.AgvID = res.data;
  217. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  218. wcs.Status = Entity.TaskStatus.AGVExecution;
  219. db.Default.Updateable(wcs).ExecuteCommand();
  220. wcs.AddWCS_TASK_DTL(db, wcs.Device, $"任务下发至AGV,AGV任务号:{res.data}");
  221. });
  222. }
  223. catch (Exception ex)
  224. {
  225. World.Log(ex.Message, LogLevelEnum.Mid);
  226. continue;
  227. }
  228. }
  229. }
  230. #endregion 移动任务处理
  231. }
  232. finally
  233. {
  234. RedisHub.Default.Del(key);
  235. }
  236. }
  237. public override bool Select(Device dev)
  238. {
  239. return dev.Code == "1011";
  240. }
  241. }
  242. }