AgvSystems.cs 8.1 KB

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  1. using ServiceCenter.Extensions;
  2. using ServiceCenter.SqlSugars;
  3. using System.ComponentModel;
  4. using WCS.Core;
  5. using WCS.Entity;
  6. using WCS.Entity.Protocol.SRM;
  7. using WCS.Entity.Protocol.Station;
  8. using WCS.WorkEngineering.Extensions;
  9. using WCS.WorkEngineering.WebApi.Controllers;
  10. using WCS.WorkEngineering.Worlds;
  11. using WCS.WorkEngineering.Worlds.Logs;
  12. using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;
  13. namespace WCS.WorkEngineering.Systems
  14. {
  15. /// <summary>
  16. /// Agv交互系统
  17. /// </summary>
  18. [BelongTo(typeof(MainWorld))]
  19. [Description("Agv交互系统")]
  20. public class AgvSystems : DeviceSystem<Station>
  21. {
  22. protected override bool ParallelDo => true;
  23. protected override bool SaveLogsToFile => true;
  24. private List<Station> devs = new List<Station>();
  25. private List<SRM> srms = new List<SRM>();
  26. public AgvSystems()
  27. {
  28. devs = Device.All.Where(v => v.HasFlag(DeviceFlags.入库, DeviceFlags.巷道口)).Select(v => new Station(v, this.World)).ToList();
  29. srms = Device.All.Where(v => v.HasProtocol(typeof(ISRM520))).Select(v => new SRM(v, this.World)).ToList();
  30. }
  31. public override void Do(Station obj)
  32. {
  33. if (obj.Entity.HasFlag(DeviceFlags.出库))
  34. {
  35. SqlSugarHelper.Do(db =>
  36. {
  37. //获取所有未结束的AGV任务
  38. var agvTaks = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => (v.TaskType == AGVTaskType.CallMaterial || v.TaskType == AGVTaskType.CallForMaterial) && v.Status < AGVTaskStatus.MissionCompleted && v.Status > AGVTaskStatus.NewBuild).SplitTable(tabs => tabs.Take(2)).ToList();
  39. foreach (var agv in agvTaks)
  40. {
  41. switch (agv.Status)
  42. {
  43. case AGVTaskStatus.RequestOrPermission2:
  44. //调继续执行任务接口
  45. var res = AgvApi.ContinueTask(agv.AgvID, agv.Station);
  46. agv.Status = AGVTaskStatus.Complete2;
  47. break;
  48. }
  49. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  50. }
  51. db.Default.SaveQueues();
  52. });
  53. }
  54. else if (obj.Entity.HasFlag(DeviceFlags.入库))
  55. {
  56. SqlSugarHelper.Do(db =>
  57. {
  58. //获取所有未结束的AGV任务
  59. var agvTaks = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot).SplitTable(tabs => tabs.Take(2)).ToList();
  60. foreach (var agv in agvTaks)
  61. {
  62. var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agv.ID);
  63. switch (agv.Status)
  64. {
  65. case AGVTaskStatus.RequestOrPermission1: //获取巷道
  66. var res = WmsApi.GetTunnelPriorityList(task.ID);
  67. var tunnelNo = res.ResData.Split(",").Select(v => "SRM" + v).ToList();
  68. SRM srm = null;
  69. List<Station> stations = new List<Station>();
  70. if (task.Floor == 1) //一楼
  71. {
  72. stations = devs.Where(v => v.Entity.Code is "1011" or "1013" or "1015").ToList();
  73. //筛选出可用站台
  74. stations = stations.Where(v => v.Data.VoucherNo == v.Data2.VoucherNo
  75. && v.Data3.Status.HasFlag(StatusEunm.Auto)
  76. && !v.Data3.Status.HasFlag(StatusEunm.PH_Status)
  77. && !v.Data3.Status.HasFlag(StatusEunm.OT_Status)
  78. && !v.Data3.Status.HasFlag(StatusEunm.Run)).ToList();
  79. //可用堆垛机
  80. srm = stations.Select(v => v.Entity.Sources)
  81. .SelectMany(v => v)
  82. .Where(v => v.IsTunnel())
  83. .Select(v => v.Sources)
  84. .SelectMany(v => v)
  85. .Where(v => v.HasProtocol(typeof(ISRM520)))
  86. .Select(v => new SRM(v, this.World))
  87. .Where(v => !v.Data2.Status.HasFlag(SrmStatus.Alarm) && v.Data2.RunStatus == SrmRunStatus.Idle && v.Data2.AutoStatus == SrmAutoStatus.Automatic)
  88. .MinBy(v => tunnelNo.IndexOf(v.Entity.Code));
  89. }
  90. else //二楼
  91. {
  92. }
  93. if (srm == null) throw new KnownException("无可用堆垛机", LogLevelEnum.Mid);
  94. task.Device = srm.Entity.Code;
  95. task.Tunnel = task.Device.GetLastDigit().ToString();
  96. agv.Status = AGVTaskStatus.Complete1;
  97. var nextPos = stations.FirstOrDefault(v => v.Entity.Sources.Where(t => t.IsTunnel()) //上一个地址是巷道的
  98. .Select(t => t.Sources) //筛选出巷道
  99. .SelectMany(v => v) //合并
  100. .Where(t => t.HasProtocol(typeof(ISRM520)))
  101. .SelectMany(v => v.Sources)
  102. .Any(t => t.Code == srm.Entity.Parent.Code));
  103. agv.Position = nextPos.Entity.Code;
  104. task.AddWCS_TASK_DTL(db, "AGV巷道分配点", nextPos.Entity.Code, $"任务分配至堆垛机:{srm.Entity.Code}");
  105. db.Default.Updateable(task).ExecuteCommand();
  106. //调继续执行任务接口
  107. AgvApi.ContinueTask(agv.AgvID, nextPos.Entity.Code);
  108. break;
  109. case AGVTaskStatus.RequestOrPermission2: //安全交互
  110. var dev = devs.Find(v => v.Entity.Code == agv.Position);
  111. if (dev.Data.VoucherNo == dev.Data2.VoucherNo && dev.Data3.Status.HasFlag(StatusEunm.Auto)
  112. && !dev.Data3.Status.HasFlag(StatusEunm.PH_Status) && !dev.Data3.Status.HasFlag(StatusEunm.OT_Status) && !dev.Data3.Status.HasFlag(StatusEunm.Run))
  113. {
  114. //调继续执行任务接口
  115. AgvApi.ContinueTask(agv.AgvID, dev.Entity.Code);
  116. agv.Status = AGVTaskStatus.Complete2;
  117. }
  118. break;
  119. case AGVTaskStatus.MissionCompleted:
  120. break;
  121. }
  122. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  123. }
  124. });
  125. }
  126. }
  127. public override bool Select(Device dev)
  128. {
  129. //return dev.HasFlag(DeviceFlags.巷道口);
  130. return dev.Code is "1011" or "1012";
  131. }
  132. }
  133. }