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- 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";
- }
- }
- }
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