WcsFramework/WCS.WorkEngineering/Systems/AgvSystems.cs

using PlcSiemens.Core.Extension;
using ServiceCenter.Logs;
using ServiceCenter.SqlSugars;
using System.ComponentModel;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol.Protocol.SRM;
using WCS.Entity.Protocol.Protocol.Station;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.WebApi.Controllers;
using WCS.WorkEngineering.Worlds;
using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;
using TaskStatus = WCS.Entity.TaskStatus;

namespace WCS.WorkEngineering.Systems
{
    /// <summary>
    ///  Agv交互系统
    /// </summary>
    [BelongTo(typeof(MainWorld))]
    [Description("Agv交互系统")]
    public class AgvSystems : DeviceSystem<Device<IStation520>>
    {
        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(Device<IStation520> obj)
        {
            if (obj.Entity.Code == "出库AGV")
            {
                var agvTaskInfos = new List<WCS_AgvTaskInfo>();
                //获取所有未结束的叫料及背负式补空AGV任务
                SqlSugarHelper.Do(db =>
                {
                    agvTaskInfos = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.TaskType == AGVTaskType.CallMaterial)
                                                                         .Where(v => v.Status < AGVTaskStatus.MissionCompleted)
                                                                         .SplitTable(tabs => tabs.Take(2)).OrderBy(v => v.AddTime).ToList();
                });
                //有需要处理的AGV任务
                if (agvTaskInfos.Any())
                {
                    this.ExRecord(obj.Entity.Code, "可用出库AGV任务列表", agvTaskInfos.Select(v => v.ID).ToList());
                    var taskInfos = new List<WCS_TaskInfo>();

                    foreach (var agv in agvTaskInfos)
                    {
                        try
                        {
                            SqlSugarHelper.Do(db =>
                            {
                                switch (agv.AgvStatus)
                                {
                                    //取货点安全交互
                                    case AGVTaskStatus.RequestOrPermission2 when agv.Status != AGVTaskStatus.RequestOrPermission2:
                                        {
                                            var taskInfo = db.Default.Queryable<WCS_TaskInfo>().First(v => v.ID == agv.TaskId);
                                            agv.Status = AGVTaskStatus.RequestOrPermission2;
                                            db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                            taskInfo.AddWCS_TASK_DTL(db.Default, "agv", $"允许AGV任务{agv.ID}在站台{agv.Station}取货");
                                            AgvApi.ContinueTask(agv.AgvID, agv.Station);
                                            break;
                                        }
                                    case AGVTaskStatus.PutRequestOrPermission when agv.Status != AGVTaskStatus.PutRequestOrPermission:
                                        {
                                            agv.Status = AGVTaskStatus.PutRequestOrPermission;
                                            db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                            AgvApi.ContinueTask(agv.AgvID, agv.Station);
                                            break;
                                        }
                                    //完成任务
                                    case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted:
                                        {
                                            if (agv.TaskType is AGVTaskType.CallForMaterial or AGVTaskType.ForkliftFilling or AGVTaskType.CallMaterial)
                                            {
                                                var taskInfo = db.Default.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agv.ID);
                                                if (taskInfo == null) throw new Exception($"未找到AGV任务{agv.ID}对应WCS任务");
                                                //更新AGV任务状态
                                                agv.Status = AGVTaskStatus.MissionCompleted;
                                                db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                                //更新WCS任务状态
                                                taskInfo.Status = Entity.TaskStatus.Finish;
                                                taskInfo.EedTime = DateTime.Now;
                                                db.Default.Updateable(taskInfo).ExecuteCommand();
                                                taskInfo.AddWCS_TASK_DTL(db.Default, "agv", "任务完成");
                                                taskInfos.Add(taskInfo);
                                            }
                                            else
                                            {
                                                agv.Status = AGVTaskStatus.MissionCompleted;
                                                db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                            }

                                            break;
                                        }
                                }
                            });
                        }
                        catch (Exception ex)
                        {
                            World.Log(ex.Message, LogLevelEnum.Mid);
                            this.ExRecord(obj.Entity.Code, ex.Message);
                        }
                    }

                    foreach (var taskInfo in taskInfos.Where(taskInfo => taskInfo.Status == TaskStatus.Finish))
                    {
                        WmsApi.CompleteTask(taskInfo.ID);
                    }
                }
            }
            else if (obj.Entity.Code == "入库AGV")
            {
                List<WCS_AgvTaskInfo> agvTaskInfos = new List<WCS_AgvTaskInfo>();
                //获取所有未结束的入库AGV任务
                SqlSugarHelper.Do(db =>
                {
                    agvTaskInfos = db.Default.Queryable<WCS_AgvTaskInfo>()
                                             .Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot)
                                             .SplitTable(tabs => tabs.Take(2)).OrderBy(v => v.EditTime).ToList();
                });

                if (agvTaskInfos.Any())
                {
                    this.ExRecord(obj.Entity.Code, "可用入库AGV任务列表", agvTaskInfos.Select(v => v.ID).ToList());
                    foreach (var agv in agvTaskInfos)
                    {
                        try
                        {
                            SqlSugarHelper.Do(db =>
                            {
                                #region 开始跟据AGV状态做出处理

                                switch (agv.AgvStatus)
                                {
                                    case AGVTaskStatus.NewBuild when agv.Status == AGVTaskStatus.NewBuild:
                                        AgvApi.托盘回库("1NC318", agv.ID.ToString());
                                        agv.AgvID = agv.ID.ToString();
                                        agv.Status = AGVTaskStatus.Confirm;
                                        agv.AgvStatus = AGVTaskStatus.Confirm;
                                        db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                        break;
                                    //巷道分配
                                    case AGVTaskStatus.RequestOrPermission1 when agv.Status != AGVTaskStatus.Complete1:
                                        {
                                            //if (agv.TaskType == AGVTaskType.EnterDepot)
                                            //{
                                            //    //找到对应WCS任务
                                            //    var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.ID == agv.TaskId);
                                            //    if (task == null) throw new Exception($"AGV任务{agv.ID}未找到对应WCS任务");
                                            //    //向WMS获取巷道优先级
                                            //    var res = WmsApi.GetTunnelPriorityList(task.ID);
                                            //    var tunnelNo = res.ResData.Split(",").Select(v => "SRM" + v).ToList();

                                            //    //开始获取堆垛机与可用站台信息
                                            //    SRM srm = null;
                                            //    var stations = new List<Station>();

                                            //    //一楼三个入库口
                                            //    stations = devs.Where(v => v.Entity.Code is "1021" or "1023" or "1025").ToList();
                                            //    //筛选出可用站台
                                            //    stations = stations.Where(v => v.Data.VoucherNo == v.Data2.VoucherNo && v.Data3.Status.HasFlag(StationStatus.Auto))
                                            //        .Where(v => !v.Data3.Status.HasFlag(StationStatus.PH_Status) && !v.Data3.Status.HasFlag(StationStatus.OT_Status))
                                            //        .Where(v => !v.Data3.Status.HasFlag(StationStatus.Run)).ToList(); // 筛选出可用站台
                                            //    //可用堆垛机
                                            //    srm = stations.Select(v => v.Entity.Sources).SelectMany(v => v).Where(v => v.IsTunnel()) //上一个地址是巷道的
                                            //        .Select(v => v.Sources).SelectMany(v => v).Where(v => v.HasProtocol(typeof(ISRM520))) //筛选出堆垛机
                                            //        .Select(v => new SRM(v, this.World)) //转换为SRM
                                            //        .Where(v => !v.Data2.Status.HasFlag(SrmStatus.Alarm) && v.Data2.AutoStatus == SrmAutoStatus.Automatic) //筛选出可用堆垛机
                                            //        .Where(v => tunnelNo.Contains(v.Entity.Code)) //筛选出巷道优先级最高的堆垛机
                                            //        .MinBy(v => tunnelNo.IndexOf(v.Entity.Code));//按照巷道优先级排序
                                            //    if (srm == null) throw new Exception($"agv任务{agv.ID}无可用堆垛机");

                                            //    //筛选出堆垛机的放货站台
                                            //    var nextPos = stations.FirstOrDefault(v => v.Entity.Sources.Where(t => t.IsTunnel()).Select(t => t.Sources).SelectMany(v => v) //获取所有巷道
                                            //        .Where(t => t.HasProtocol(typeof(ISRM520)))//筛选出堆垛机
                                            //        .SelectMany(v => v.Sources).Any(t => t.Code == srm.Entity.Parent.Code));

                                            //    var flag = false;
                                            //    if ((task.BusType is "二楼湿拉线退料回立库" or "二楼湿拉线余料回立库" && task.Floor == 2))
                                            //    {
                                            //        flag = true;
                                            //        nextPos.Entity.Code = "1025";
                                            //    }
                                            //    var agvs = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.Position == nextPos.Entity.Code).SplitTable(v => v.Take(2)).ToList();
                                            //    if (agvs.Any())
                                            //    {
                                            //        var msg = agvs.Aggregate("已无可用放货站台,任务正在执行中:", (current, ag) => current + $"[任务号:{ag.ID},目标地址:{ag.Position}]");
                                            //        throw new Exception(msg);
                                            //    }

                                            //    //更新AGV任务状态
                                            //    agv.Status = AGVTaskStatus.Complete1;
                                            //    agv.Position = flag == true ? "1025" : nextPos.Entity.Code;
                                            //    db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                            //    //更新WCS任务状态
                                            //    if (flag)
                                            //    {
                                            //        srm.Entity.Code = "SRM3";
                                            //        task.Device = srm.Entity.Code;
                                            //        task.Tunnel = "3";
                                            //        task.AddrNext = "1025";
                                            //    }
                                            //    else
                                            //    {
                                            //        task.Device = srm.Entity.Code;
                                            //        task.Tunnel = task.Device.GetLastDigit().ToString();
                                            //        task.AddrNext = agv.Position;
                                            //    }
                                            //    db.Default.Updateable(task).ExecuteCommand();
                                            //    task.AddWCS_TASK_DTL(db.Default, "AGV巷道分配点", nextPos.Entity.Code, $"任务分配至堆垛机:{srm.Entity.Code}");
                                            //    this.ExRecord(obj.Entity.Code, $"AGV任务{agv.ID}分配至堆垛机:{srm.Entity.Code}");
                                            //    //调继续执行任务接口
                                            //    AgvApi.ContinueTask(agv.AgvID, nextPos.Entity.Code);
                                            //}
                                            //else if (agv.TaskType == AGVTaskType.Transport)
                                            //{
                                            //更新AGV任务状态
                                            agv.Status = AGVTaskStatus.Complete1;
                                            agv.Position = "2501";
                                            db.Default.Updateable(agv).SplitTable().ExecuteCommand();

                                            //task.Status = TaskStatus.Finish;
                                            //db.Default.Updateable(task).ExecuteCommand();
                                            //task.AddWCS_TASK_DTL(db.Default, "AGV搬运任务分配放货点", agv.Position, $"任务分配至:{agv.Position}");
                                            //调继续执行任务接口
                                            AgvApi.ContinueTask(agv.AgvID, agv.Position);
                                            //}
                                            break;
                                        }
                                    //放货站点安全交互
                                    case AGVTaskStatus.RequestOrPermission2 when agv.Status != AGVTaskStatus.RequestOrPermission2:
                                        {
                                            if (agv.Position.IsNullOrEmpty()) throw new Exception($"无有效放货地址");
                                            var dev = Device.All.First(x => x.Code == agv.Position);

                                            //if (dev.Data.VoucherNo != dev.Data2.VoucherNo) throw new Exception($"AGV请求放货，但{dev.Entity.Code}凭证号不一致");
                                            //if (!dev.Data3.Status.HasFlag(StationStatus.Auto)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}不在自动状态");
                                            //if (dev.Data3.Status.HasFlag(StationStatus.PH_Status)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}光电有货");
                                            //if (dev.Data3.Status.HasFlag(StationStatus.OT_Status)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}任务有货");
                                            //if (dev.Data3.Status.HasFlag(StationStatus.Run)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}在运行状态");
                                            //agv.Status = AGVTaskStatus.RequestOrPermission2;
                                            //db.Default.Updateable(agv).SplitTable().ExecuteCommand();

                                            //调继续执行任务接口
                                            AgvApi.ContinueTask(agv.AgvID, dev.Code);
                                            break;
                                        }
                                    //完成任务
                                    case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted:
                                        if (agv.TaskType == AGVTaskType.EnterDepot)
                                        {
                                            agv.Status = AGVTaskStatus.MissionCompleted;
                                            db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                        }
                                        break;
                                }

                                #endregion 开始跟据AGV状态做出处理
                            });
                        }
                        catch (Exception ex)
                        {
                            World.Log(ex.Message, LogLevelEnum.Mid);
                            this.ExRecord(obj.Entity.Code, ex.Message);
                        }
                    }
                }
            }
        }

        public override bool Select(Device dev)
        {
            return dev.Code is "出库AGV" or "入库AGV";
        }
    }
}