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- 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.WebApi.Controllers;
- using WCS.WorkEngineering.Worlds;
- using WCS.WorkEngineering.Worlds.Logs;
- using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;
- namespace WCS.WorkEngineering.Systems
- {
- /// <summary>
- /// Agv交互系统
- /// </summary>
- [BelongTo(typeof(MainWorld))]
- [Description("Agv交互系统")]
- public class AgvSystems : DeviceSystem<Station>
- {
- protected override bool ParallelDo => true;
- protected override bool SaveLogsToFile => true;
- private List<Station> devs = new List<Station>();
- private List<SRM> srms = new List<SRM>();
- 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(Station obj)
- {
- if (obj.Entity.HasFlag(DeviceFlags.出库))
- {
- SqlSugarHelper.Do(db =>
- {
- //获取所有未结束的AGV任务
- 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();
- foreach (var agv in agvTaks)
- {
- switch (agv.Status)
- {
- case AGVTaskStatus.RequestOrPermission2:
- //调继续执行任务接口
- var res = AgvApi.ContinueTask(agv.AgvID, agv.Station);
- agv.Status = AGVTaskStatus.Complete2;
- break;
- }
- db.Default.Updateable(agv).SplitTable().ExecuteCommand();
- }
- db.Default.SaveQueues();
- });
- }
- else if (obj.Entity.HasFlag(DeviceFlags.入库))
- {
- SqlSugarHelper.Do(db =>
- {
- //获取所有未结束的AGV任务
- var agvTaks = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot).SplitTable(tabs => tabs.Take(2)).ToList();
- foreach (var agv in agvTaks)
- {
- var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agv.ID);
- switch (agv.Status)
- {
- case AGVTaskStatus.RequestOrPermission1: //获取巷道
- var res = WmsApi.GetTunnelPriorityList(task.ID);
- var tunnelNo = res.ResData.Split(",").Select(v => "SRM" + v).ToList();
- SRM srm = null;
- List<Station> stations = new List<Station>();
- if (task.Floor == 1) //一楼
- {
- stations = devs.Where(v => v.Entity.Code is "1011" or "1013" or "1015").ToList();
- //筛选出可用站台
- stations = stations.Where(v => v.Data.VoucherNo == v.Data2.VoucherNo
- && v.Data3.Status.HasFlag(StatusEunm.Auto)
- && !v.Data3.Status.HasFlag(StatusEunm.PH_Status)
- && !v.Data3.Status.HasFlag(StatusEunm.OT_Status)
- && !v.Data3.Status.HasFlag(StatusEunm.Run)).ToList();
- //可用堆垛机
- srm = stations.Select(v => v.Entity.Sources)
- .SelectMany(v => v)
- .Where(v => v.IsTunnel())
- .Select(v => v.Sources)
- .SelectMany(v => v)
- .Where(v => v.HasProtocol(typeof(ISRM520)))
- .Select(v => new SRM(v, this.World))
- .Where(v => !v.Data2.Status.HasFlag(SrmStatus.Alarm) && v.Data2.RunStatus == SrmRunStatus.Idle && v.Data2.AutoStatus == SrmAutoStatus.Automatic)
- .MinBy(v => tunnelNo.IndexOf(v.Entity.Code));
- }
- else //二楼
- {
- }
- if (srm == null) throw new KnownException("无可用堆垛机", LogLevelEnum.Mid);
- task.Device = srm.Entity.Code;
- task.Tunnel = task.Device.GetLastDigit().ToString();
- agv.Status = AGVTaskStatus.Complete1;
- var nextPos = stations.FirstOrDefault(v => v.Entity.Sources.Where(t => t.IsTunnel()) //上一个地址是巷道的
- .Select(t => t.Sources) //筛选出巷道
- .SelectMany(v => v) //合并
- .Where(t => t.HasProtocol(typeof(ISRM520)))
- .SelectMany(v => v.Sources)
- .Any(t => t.Code == srm.Entity.Parent.Code));
- agv.Position = nextPos.Entity.Code;
- 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}");
- db.Default.Updateable(task).ExecuteCommand();
- //调继续执行任务接口
- AgvApi.ContinueTask(agv.AgvID, nextPos.Entity.Code);
- break;
- case AGVTaskStatus.RequestOrPermission2: //安全交互
- var dev = devs.Find(v => v.Entity.Code == agv.Position);
- if (dev.Data.VoucherNo == dev.Data2.VoucherNo && dev.Data3.Status.HasFlag(StatusEunm.Auto)
- && !dev.Data3.Status.HasFlag(StatusEunm.PH_Status) && !dev.Data3.Status.HasFlag(StatusEunm.OT_Status) && !dev.Data3.Status.HasFlag(StatusEunm.Run))
- {
- //调继续执行任务接口
- AgvApi.ContinueTask(agv.AgvID, dev.Entity.Code);
- agv.Status = AGVTaskStatus.Complete2;
- }
- break;
- case AGVTaskStatus.MissionCompleted:
- break;
- }
- db.Default.Updateable(agv).SplitTable().ExecuteCommand();
- }
- });
- }
- }
- public override bool Select(Device dev)
- {
- //return dev.HasFlag(DeviceFlags.巷道口);
- return dev.Code is "1011" or "1012";
- }
- }
- }
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