WcsFramework/WCS.WorkEngineering/Systems/SrmSystems.cs

using ServiceCenter.Extensions;
using ServiceCenter.SqlSugars;
using System.ComponentModel;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol.SRM;
using WCS.Entity.Protocol.Station;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.Worlds;
using WCS.WorkEngineering.Worlds.Logs;
using KnownException = WCS.WorkEngineering.Worlds.Logs.KnownException;

namespace WCS.WorkEngineering.Systems
{
    /// <summary>
    /// 堆垛机系统
    /// </summary>
    [BelongTo(typeof(MainWorld))]
    [Description("堆垛机系统")]
    public class SrmSystems : DeviceSystem<Device<ISRM520, ISRM521, ISRM523>>
    {
        /// <summary>
        /// 取货点设备集合
        /// </summary>
        private List<Device<IStation520, IStation521, IStation522>> PickUpDevices;

        /// <summary>
        /// 放货设备
        /// </summary>
        private List<Device<IStation520, IStation521, IStation522>> PutDevices;

        public SrmSystems()
        {
            //分拣库1
            PickUpDevices = World.Devices.Where(v => v.Code is "" or "")
                                         .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
            PutDevices = World.Devices.Where(v => v.Code is "" or "")
                                         .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
            //分拣库2
            PickUpDevices = World.Devices.Where(v => v.Code is "" or "")
                                         .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
            PutDevices = World.Devices.Where(v => v.Code is "" or "")
                                         .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
            //分拣库3
            PickUpDevices = World.Devices.Where(v => v.Code is "" or "")
                                         .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
            PutDevices = World.Devices.Where(v => v.Code is "" or "")
                                         .Select(v => new Device<IStation520, IStation521, IStation522>(v)).ToList();
        }

        protected override bool ParallelDo => true;

        protected override bool SaveLogsToFile => true;

        public override void Do(Device<ISRM520, ISRM521, ISRM523> obj)
        {
            //判断堆垛机是否报警
            if (obj.Data2.Status.HasFlag(SrmStatus.Alarm)) throw new KnownException(obj.Data3.Alarm.ToString(), LogLevelEnum.High);

            //判断DB520 完成任务确认清除信号 是否为1
            if (obj.Data.OkAck == 1) throw new KnownException("任务完成确认信号未清除", LogLevelEnum.Mid);

            //判断完成任务号是否大于0
            if (obj.Data2.TaskFinishiId > 0)
            {
                SqlSugarHelper.Do(db =>
                {
                    //根据DB521任务号获取对应任务
                    var task = db.Default.Queryable<WCS_TASK>().First(v => v.ID == obj.Data2.TaskFinishiId) ?? throw new KnownException($"未找到任务{obj.Data2.TaskFinishiId}", LogLevelEnum.High);
                    if (task.STATUS != Entity.TaskStatus.StackerExecution)
                        throw new KnownException($"任务{task.ID}状态是{task.STATUS.Description()}.堆垛机完成任务需要对应任务状态处于堆垛机执行中", LogLevelEnum.High);
                    //根据任务类型做不同的处理
                    switch (task.TYPE)
                    {
                        case TaskType.EnterDepot:
                            //完成任务
                            task.STATUS = Entity.TaskStatus.Finish;
                            task.UPDATETIME = DateTime.Now;
                            task.ENDTIME = DateTime.Now;
                            task.AddWCS_TASK_DTL(db, task.ADDRTO, "入库任务结束");
                            break;

                        case TaskType.OutDepot:
                            task.STATUS = Entity.TaskStatus.ConveyorInProgress;
                            task.UPDATETIME = DateTime.Now;
                            task.AddWCS_TASK_DTL(db, task.SRMSTATION, "出库任务到达放货站台");
                            break;

                        case TaskType.TransferDepot:
                            task.STATUS = Entity.TaskStatus.Finish;
                            task.UPDATETIME = DateTime.Now;
                            task.ENDTIME = DateTime.Now;
                            task.AddWCS_TASK_DTL(db, task.ADDRTO, "移库任务结束");
                            break;
                    }

                    db.Default.Updateable(task).AddQueue();
                    db.Default.SaveQueues();
                    obj.Data.OkAck = 1;
                });
            }

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

            //默认没有移库任务
            bool isTransfer = false;

            //出入库优先级任务 1:无优先 2:入库 3:出库
            int enterOrOut = 1;

            //再检查是否有等待执行的货物
            SqlSugarHelper.Do(db =>
            {
                //获取当前堆垛机的所有未完成任务
                var tasks = db.Default.Queryable<WCS_TASK>().Where(v => v.STATUS < Entity.TaskStatus.Finish && (v.DEVICE == obj.Entity.Code));
                //任务集合是否有处于堆垛机执行状态的任务
                if (tasks.Any(v => v.STATUS == Entity.TaskStatus.StackerExecution)) throw new KnownException($"有任务处于堆垛机执行状态", LogLevelEnum.High);

                //判断是否存在调整优先级任务
                if (!tasks.Any(v => v.TYPE != TaskType.TransferDepot && v.STATUS < Entity.TaskStatus.StackerExecution && v.Priority > 0))
                {
                    //不存在调整优先级任务,判断是否存在移库任务
                    isTransfer = tasks.Any(v => v.TYPE == TaskType.TransferDepot && v.STATUS == Entity.TaskStatus.NewBuild);
                }
                else //存在调整优先级任务
                {
                    //获取出库任务中新建状态最大优先级
                    var outPriorityNewBuild = tasks.Where(v => v.TYPE == TaskType.OutDepot && v.STATUS == Entity.TaskStatus.NewBuild).Max(v => v.Priority);
                    //获取入库任务中最后一个交互点是取货点任务的最大优先级
                    var enterPriority = tasks.Where(v => v.TYPE == TaskType.EnterDepot && v.STATUS < Entity.TaskStatus.StackerExecution && PickUpDevices.Any(p => p.Entity.Code == v.LastInteractionPoint))
                                             .Max(v => v.Priority);
                    //出入库最大优先级相加大于零
                    if (outPriorityNewBuild + enterPriority > 0)
                    {
                        //出入库优先级任务 1:无优先 2:入库 3:出库
                        enterOrOut = enterPriority > outPriorityNewBuild ? 2 : 3;
                    }
                }
            });

            #region 移库

            if (isTransfer)
            {
                SqlSugarHelper.Do(db =>
                {
                    //获取一条当前堆垛机优先级最高的新建移库任务
                    var task = db.Default.Queryable<WCS_TASK>().Where(v => v.DEVICE == obj.Entity.Code && v.TYPE == TaskType.TransferDepot && v.STATUS == Entity.TaskStatus.NewBuild)
                                                               .OrderByDescending(v => v.Priority)
                                                               .First() ?? throw new KnownException("未找到移库任务", LogLevelEnum.High);
                    //任务状态改为堆垛机执行中
                    task.STATUS = Entity.TaskStatus.StackerExecution;
                    task.STARTTIME = DateTime.Now;
                    task.UPDATETIME = DateTime.Now;
                    task.AddWCS_TASK_DTL(db, task.ADDRFROM, task.DEVICE, $"堆垛机{obj.Entity.Code}开始执行任务");
                    db.Default.Updateable(task).AddQueue();
                    db.Default.SaveQueues();
                    var addrFrom = task.ADDRFROM.Split("-");
                    var addrTo = task.ADDRTO.Split("-");
                    //下发任务
                    obj.Data.TaskNumber = task.ID;
                    obj.Data.RowPos1 = addrFrom[0].ToShort();
                    obj.Data.TravelPos1 = addrFrom[1].ToShort();
                    obj.Data.LiftPos1 = addrFrom[2].ToShort();
                    obj.Data.RowPos2 = addrTo[0].ToShort();
                    obj.Data.TravelPos2 = addrTo[1].ToShort();
                    obj.Data.LiftPos2 = addrTo[2].ToShort();
                    obj.Data.VoucherNo++;
                });
            }

            #endregion 移库

            #region 出入库

            //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.Get<bool>("LastIsOut");
            obj.Entity.Set("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 (enterOrOut == 2 || (lastIsOut && enterOrOut == 1)) //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.Get<int>("Floor");
                floor = floor % 2 + 1;
                obj.Entity.Set("Floor", floor);
            }
            else if (enterOrOut == 3 || !lastIsOut) //出库任务
            {
            }

            #endregion 出入库
        }

        public override bool Select(Device dev)
        {
            return dev.Code.Contains("SRM");
        }
    }
}