WcsFramework/WCS.WorkEngineering/Systems/环形库/机械臂cs.cs

using ServiceCenter.Extensions;
using ServiceCenter.Logs;
using ServiceCenter.SqlSugars;
using SqlSugar;
using System.ComponentModel;
using WCS.Core;
using WCS.Entity;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.Protocol.Robot;
using WCS.WorkEngineering.Protocol.Station;
using WCS.WorkEngineering.WebApi.Controllers;
using WCS.WorkEngineering.Worlds;
using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;

namespace WCS.WorkEngineering.Systems
{
    /// <summary>
    ///   机械臂
    /// </summary>
    [BelongTo(typeof(RingWorld))]
    [Description("机械臂")]
    public class 机械臂 : DeviceSystem<Device<IRobot520, IRobot521, IRobot522>>
    {
        protected override bool ParallelDo => true;

        protected override bool SaveLogsToFile => true;

        /// <summary>
        /// 取货点设备集合
        /// </summary>
        private Dictionary<string, List<Device>> PickUpDevices = new();

        /// <summary>
        /// 放货设备
        /// </summary>
        private Dictionary<string, List<Device<IStation520, IStation521, IStation523>>> PutDevices = new();

        public 机械臂()
        {
            //获取所有的机械臂 集合
            var devices = Device.All.Where(v => v.HasFlag(DeviceFlags.Robot));

            //开始分配
            foreach (var roobot in devices)
            {
                //取货设备
                PickUpDevices.Add(roobot.Code, roobot.Sources.Where(v => v.HasFlag(DeviceFlags.输送机)).Select(v => v).ToList());
                PutDevices.Add(roobot.Code, roobot.Targets.Where(v => v.HasFlag(DeviceFlags.输送机)).Select(v => new Device<IStation520, IStation521, IStation523>(v, World)).ToList());
            }
        }

        public override void Do(Device<IRobot520, IRobot521, IRobot522> obj)
        {
            #region 处理完成任务

            //判断DB520 完成任务确认清除信号 是否为1
            if (obj.Data.OkAck == 1 && obj.Data2.TaskFinishId1 == 0 || obj.Data2.TaskFinishId2 == 0) obj.Data.OkAck = 0;

            if (obj.Data2.TaskFinishId1 > 0 || obj.Data2.TaskFinishId2 > 0)
            {
                //处理完成的任务信息
                WCS_TaskInfo taskInfo = null;
                //开始处理
                SqlSugarHelper.Do(db =>
                {
                    World.Log($"机械臂任务处理:开始--完成任务{obj.Data2.TaskFinishId1}--{obj.Data2.TaskFinishId2}", LogLevelEnum.Low);

                    //根据DB521任务号获取对应任务
                    var taskInfoList = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.ID == obj.Data2.TaskFinishId1 || v.ID == obj.Data2.TaskFinishId2).ToList();
                    foreach (var task in taskInfoList)
                    {
                        if (task.Status != Entity.TaskStatus.StackerExecution) continue;
                        //根据任务类型做不同的处理
                        switch (task.Type)
                        {
                            case TaskType.SetPlate: //工字轮入库
                                //完成任务
                                task.Status = Entity.TaskStatus.Finish;
                                task.EedTime = DateTime.Now;
                                db.Default.Updateable(task).ExecuteCommand();
                                task.AddWCS_TASK_DTL(db.Default, task.AddrTo, "入库任务结束");
                                break;

                            case TaskType.OutDepot:
                                task.Status = Entity.TaskStatus.Finish;
                                task.EedTime = DateTime.Now;
                                db.Default.Updateable(task).ExecuteCommand();
                                task.AddWCS_TASK_DTL(db.Default, task.AddrTo, "出库任务结束");

                                break;

                            case TaskType.TransferDepot:
                                task.Status = Entity.TaskStatus.Finish;
                                task.EedTime = DateTime.Now;
                                db.Default.Updateable(task).ExecuteCommand();
                                task.AddWCS_TASK_DTL(db.Default, task.AddrTo, "移库任务结束");
                                break;
                        }
                        if (task.Status >= Entity.TaskStatus.Finish) task.CompleteOrCancelTasks(db.Default);
                        taskInfo = task;
                    }
                });
                if (taskInfo == null) throw new KnownException("数据库提交事务错误", LogLevelEnum.High);
                // 写入信号
                obj.Data.OkAck = 1;
                //通知WMS任务完成
                if (taskInfo.Status == Entity.TaskStatus.Finish) WmsApi.CompleteTask(taskInfo.ID);
                if (taskInfo.Type == TaskType.OutDepot && taskInfo.Status == Entity.TaskStatus.ConveyorExecution) WmsApi.SrmPickOutCompleted(taskInfo.ID);

                World.Log($"机械臂任务处理:结束--完成任务{obj.Data2.TaskFinishId1}--{obj.Data2.TaskFinishId2}", LogLevelEnum.Mid);
            }

            #endregion 处理完成任务

            //robot是否可以下发任务
            if (obj.Data2.VoucherNo != obj.Data.VoucherNo) throw new KnownException($"凭证号不一致,DB520:{obj.Data.VoucherNo},DB521:{obj.Data2.VoucherNo}", LogLevelEnum.Mid);
            if (obj.Data2.RobotMode != RobotMode.Automatic) throw new KnownException($"robot处于{obj.Data2.RobotMode.GetDescription()}模式", LogLevelEnum.Low);
            if (obj.Data2.RunStatus != RobotRunStatus.Idle) throw new KnownException($"robot处于{obj.Data2.RunStatus.GetDescription()}状态", LogLevelEnum.High);

            //上一个周期是不是出库任务 第一次获取返回结果会是false
            var lastIsOut = obj.Entity.GetFlag<bool>("LastIsOut");
            obj.Entity.SetFlag("LastIsOut", !lastIsOut);

            //入库任务优先 或 上一个周期是出库任务并且出库任务无优先
            if (lastIsOut) //入库任务
            {
                //判断本次优先执行楼层,并设置下次执行时优先楼层
                var floor = obj.Entity.GetFlag<int>("FloorIn");
                floor = floor % 2 + 1;
                obj.Entity.SetFlag("FloorIn", floor);

                //获取当前机械臂所有的取货站台
                var pickUpDevices = obj.Entity.Sources.Where(x => x.HasFlag(DeviceFlags.输送机)).Where(x => x.DeviceGroup.Any()).Select(
                    x =>
                    {
                        var group = x.DeviceGroup.Select(s => new Device<IStation523, IStation524>(s, World)).ToList();
                        return new Tuple<Device<IStation523, IStation524>, List<Device<IStation523, IStation524>>>(new Device<IStation523, IStation524>(x, World), group);
                    }).ToList();

                if (!pickUpDevices.Any()) throw new KnownException($"机械臂{obj.Entity.Code}无取货路径点", LogLevelEnum.High);

                //获取取货设备的设备组中都是停止运行的
                var arrIn = pickUpDevices.Where(x => x.Item2.All(a => !a.Data.Status.HasFlag(StationStatus.Run)))
                                                      .Where(x => x.Item2.OrderBy(o => o.Entity.Code.ToShort()) //前两个设备中有取货任务的
                                                                                               .Take(2)
                                                                                               .Any(a => a.Data2.TaskNumber > 0 && a.Data.Status.HasFlag(StationStatus.PH_Status)))
                                                      .ToList();

                if (!arrIn.Any()) throw new KnownException($"[{obj.Entity.Code}]等待入库任务输送到位", LogLevelEnum.Mid);
                //等待下发的任务信息
                var taskList = new List<Tuple<WCS_TaskInfo, Device<IStation523, IStation524>>>();
                SqlSugarHelper.Do(db =>
                {
                    //跟据设备组中第一个设备任务号最小的一个先执行
                    var devGroup = arrIn.MinBy(x => x.Item2.OrderBy(o => o.Data2.TaskNumber));
                    foreach (var dev in devGroup.Item2.OrderBy(x => x.Entity.Code.ToShort()).Take(2)
                             )
                    {
                        var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.Type == TaskType.SetPlate && v.Status == Entity.TaskStatus.FinishOfShunt && dev.Data2.TaskNumber == v.ID);
                        if (task == null) continue;
                        var res = WmsApi.RingApplyStockInLoc(task.ID, task.Device, dev.Entity.Code, task.Height);
                        task.Status = Entity.TaskStatus.StackerExecution;
                        task.AddrTo = res.ResData.CellNo;
                        task.Line = res.ResData.Row;
                        task.Col = res.ResData.Colomn;
                        task.Layer = res.ResData.Layer;
                        task.Depth = res.ResData.Row;
                        task.LastInteractionPoint = dev.Entity.Code;
                        task.SrmStation = dev.Entity.Code;
                        task.EditWho = "WCS";
                        db.Default.Updateable(task).ExecuteCommand();
                        task.AddWCS_TASK_DTL(db.Default, dev.Entity.Code, task.AddrTo, "任务下发机械臂执行");
                        taskList.Add(new(task, dev));
                    }
                });

                if (!taskList.Any()) return;

                switch (taskList.Count)
                {
                    case 1:
                        var task = taskList.FirstOrDefault().Item1;
                        var dev = taskList.FirstOrDefault().Item2;
                        //下发任务
                        obj.Data.TaskNumber1 = task.ID;
                        obj.Data.SLine1 = dev.Entity.Code.ToShort();
                        obj.Data.SCol1 = 0;
                        obj.Data.SLayer1 = 0;
                        obj.Data.SDepth1 = 0;
                        obj.Data.ELine1 = task.Line.ToShort();
                        obj.Data.ECol1 = task.Col.ToShort();
                        obj.Data.ELayer1 = task.Layer.ToShort();
                        obj.Data.EDepth1 = task.Depth.ToShort();
                        obj.Data.TaskNumber2 = 0;
                        obj.Data.SLine2 = 0;
                        obj.Data.SCol2 = 0;
                        obj.Data.SLayer2 = 0;
                        obj.Data.SDepth2 = 0;
                        obj.Data.ELine2 = 0;
                        obj.Data.ECol2 = 0;
                        obj.Data.ELayer2 = 0;
                        obj.Data.EDepth2 = 0;
                        obj.Data.TaskSum = taskList.Count.ToShort();
                        obj.Data.GoodsType = 1;
                        obj.Data.TaskType = 3;
                        obj.Data.VoucherNo++;
                        break;

                    case 2:
                        //一工位取深度较大的任务
                        var taskInfo = taskList.MaxBy(x => x.Item1.Depth);
                        task = taskInfo.Item1;
                        dev = taskInfo.Item2;
                        obj.Data.TaskNumber1 = task.ID;
                        obj.Data.SLine1 = dev.Entity.Code.ToShort();
                        obj.Data.SCol1 = 0;
                        obj.Data.SLayer1 = 0;
                        obj.Data.SDepth1 = 0;
                        obj.Data.ELine1 = task.Line.ToShort();
                        obj.Data.ECol1 = task.Col.ToShort();
                        obj.Data.ELayer1 = task.Layer.ToShort();
                        obj.Data.EDepth1 = task.Depth.ToShort();
                        //二工位取深度较少的值
                        taskInfo = taskList.MinBy(x => x.Item1.Depth);
                        task = taskInfo.Item1;
                        dev = taskInfo.Item2;
                        obj.Data.TaskNumber2 = task.ID;
                        obj.Data.SLine2 = dev.Entity.Code.ToShort();
                        obj.Data.SCol2 = 0;
                        obj.Data.SLayer2 = 0;
                        obj.Data.SDepth2 = 0;
                        obj.Data.ELine2 = task.Line.ToShort();
                        obj.Data.ECol2 = task.Col.ToShort();
                        obj.Data.ELayer2 = task.Layer.ToShort();
                        obj.Data.EDepth2 = task.Depth.ToShort();
                        obj.Data.TaskSum = taskList.Count.ToShort();
                        obj.Data.GoodsType = 1;
                        obj.Data.TaskType = 3;
                        obj.Data.VoucherNo++;
                        break;

                    default:
                        throw new KnownException($"无法执行多个任务", LogLevelEnum.Mid);
                }
            }
            else if (!lastIsOut) //出库任务
            {
                //判断本次优先执行楼层,并设置下次执行时优先楼层

                var floor = obj.Entity.GetFlag<int>("FloorOut");

                floor = floor % 2 + 1;
                obj.Entity.SetFlag("FloorOut", floor);

                //获取当前堆垛机所有的取货站台
                var arrOut = PutDevices.First(v => v.Key == obj.Entity.Code).Value;

                if (!arrOut.Any()) throw new KnownException($"机械臂{obj.Entity.Code}无放货路径点", LogLevelEnum.High);

                //获取可以放货的设备集合
                arrOut = arrOut.Where(v => v.Data3.Status.HasFlag(StationStatus.PH_Status)).ToList();//无光电

                if (!arrOut.Any()) throw new KnownException($"[{obj.Entity.Code}]等待出库任务输送到位", LogLevelEnum.Mid);

                WCS_TaskInfo taskInfo = null;

                SqlSugarHelper.Do(db =>
                        {
                            var allOutCode = arrOut.Select(v => v.Entity.Code).ToList();

                            var task = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.Type == TaskType.OutDepot && v.Status == Entity.TaskStatus.WaitingToExecute)
                                                                         .Where(v => allOutCode.Contains(v.SrmStation))
                                                                         .OrderByDescending(v => v.Priority)
                                                                         .OrderBy(v => v.AddTime)
                                                                         .First() ?? throw new KnownException($"{obj.Entity.Code}未找到出库任务", LogLevelEnum.High);

                            task.Status = Entity.TaskStatus.StackerExecution;
                            task.LastInteractionPoint = task.Device;
                            task.EditWho = "WCS";
                            db.Default.Updateable(task).ExecuteCommand();
                            task.AddWCS_TASK_DTL(db.Default, task.Device, task.SrmStation, "任务下发机械臂执行");
                            taskInfo = task;
                        });

                if (taskInfo == null) throw new KnownException("数据更新错误", LogLevelEnum.High);
                var addrFrom = taskInfo.AddrFrom.Split("-");
                obj.Data.TaskNumber1 = taskInfo.ID;
                obj.Data.SLine1 = addrFrom[0].ToShort();
                obj.Data.SCol1 = addrFrom[1].ToShort();
                obj.Data.SLayer1 = addrFrom[2].ToShort();
                obj.Data.SDepth1 = addrFrom[3].ToShort();
                obj.Data.ELine1 = taskInfo.SrmStation.ToShort();
                obj.Data.ECol1 = taskInfo.ProdLine;
                obj.Data.TaskSum = 1;
                obj.Data.GoodsType = 1;
                obj.Data.TaskType = 4;
                obj.Data.VoucherNo++;
            }
        }

        public override bool Select(Device dev)
        {
            return dev.HasFlag(DeviceFlags.Robot);
        }
    }
}