AgvSystems.cs 19 KB

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  1. using PlcSiemens.Core.Extension;
  2. using ServiceCenter.Logs;
  3. using ServiceCenter.SqlSugars;
  4. using System.ComponentModel;
  5. using WCS.Core;
  6. using WCS.Entity;
  7. using WCS.Entity.Protocol.Protocol.SRM;
  8. using WCS.Entity.Protocol.Protocol.Station;
  9. using WCS.WorkEngineering.Extensions;
  10. using WCS.WorkEngineering.WebApi.Controllers;
  11. using WCS.WorkEngineering.Worlds;
  12. using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;
  13. using TaskStatus = WCS.Entity.TaskStatus;
  14. namespace WCS.WorkEngineering.Systems
  15. {
  16. /// <summary>
  17. /// Agv交互系统
  18. /// </summary>
  19. [BelongTo(typeof(MainWorld))]
  20. [Description("Agv交互系统")]
  21. public class AgvSystems : DeviceSystem<Device<IStation520>>
  22. {
  23. protected override bool ParallelDo => true;
  24. protected override bool SaveLogsToFile => true;
  25. private List<Station> devs = new List<Station>();
  26. private List<SRM> srms = new List<SRM>();
  27. public AgvSystems()
  28. {
  29. devs = Device.All.Where(v => v.HasFlag(DeviceFlags.入库, DeviceFlags.巷道口)).Select(v => new Station(v, this.World)).ToList();
  30. srms = Device.All.Where(v => v.HasProtocol(typeof(ISRM520))).Select(v => new SRM(v, this.World)).ToList();
  31. }
  32. public override void Do(Device<IStation520> obj)
  33. {
  34. if (obj.Entity.Code == "出库AGV")
  35. {
  36. var agvTaskInfos = new List<WCS_AgvTaskInfo>();
  37. //获取所有未结束的叫料及背负式补空AGV任务
  38. SqlSugarHelper.Do(db =>
  39. {
  40. agvTaskInfos = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.TaskType == AGVTaskType.CallMaterial)
  41. .Where(v => v.Status < AGVTaskStatus.MissionCompleted)
  42. .SplitTable(tabs => tabs.Take(2)).OrderBy(v => v.AddTime).ToList();
  43. });
  44. //有需要处理的AGV任务
  45. if (agvTaskInfos.Any())
  46. {
  47. this.ExRecord(obj.Entity.Code, "可用出库AGV任务列表", agvTaskInfos.Select(v => v.ID).ToList());
  48. var taskInfos = new List<WCS_TaskInfo>();
  49. foreach (var agv in agvTaskInfos)
  50. {
  51. try
  52. {
  53. SqlSugarHelper.Do(db =>
  54. {
  55. switch (agv.AgvStatus)
  56. {
  57. //取货点安全交互
  58. case AGVTaskStatus.RequestOrPermission2 when agv.Status != AGVTaskStatus.RequestOrPermission2:
  59. {
  60. var taskInfo = db.Default.Queryable<WCS_TaskInfo>().First(v => v.ID == agv.TaskId);
  61. agv.Status = AGVTaskStatus.RequestOrPermission2;
  62. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  63. taskInfo.AddWCS_TASK_DTL(db.Default, "agv", $"允许AGV任务{agv.ID}在站台{agv.Station}取货");
  64. AgvApi.ContinueTask(agv.AgvID, agv.Station);
  65. break;
  66. }
  67. case AGVTaskStatus.PutRequestOrPermission when agv.Status != AGVTaskStatus.PutRequestOrPermission:
  68. {
  69. agv.Status = AGVTaskStatus.PutRequestOrPermission;
  70. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  71. AgvApi.ContinueTask(agv.AgvID, agv.Station);
  72. break;
  73. }
  74. //完成任务
  75. case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted:
  76. {
  77. if (agv.TaskType is AGVTaskType.CallForMaterial or AGVTaskType.ForkliftFilling or AGVTaskType.CallMaterial)
  78. {
  79. var taskInfo = db.Default.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agv.ID);
  80. if (taskInfo == null) throw new Exception($"未找到AGV任务{agv.ID}对应WCS任务");
  81. //更新AGV任务状态
  82. agv.Status = AGVTaskStatus.MissionCompleted;
  83. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  84. //更新WCS任务状态
  85. taskInfo.Status = Entity.TaskStatus.Finish;
  86. taskInfo.EedTime = DateTime.Now;
  87. db.Default.Updateable(taskInfo).ExecuteCommand();
  88. taskInfo.AddWCS_TASK_DTL(db.Default, "agv", "任务完成");
  89. taskInfos.Add(taskInfo);
  90. }
  91. else
  92. {
  93. agv.Status = AGVTaskStatus.MissionCompleted;
  94. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  95. }
  96. break;
  97. }
  98. }
  99. });
  100. }
  101. catch (Exception ex)
  102. {
  103. World.Log(ex.Message, LogLevelEnum.Mid);
  104. this.ExRecord(obj.Entity.Code, ex.Message);
  105. }
  106. }
  107. foreach (var taskInfo in taskInfos.Where(taskInfo => taskInfo.Status == TaskStatus.Finish))
  108. {
  109. WmsApi.CompleteTask(taskInfo.ID);
  110. }
  111. }
  112. }
  113. else if (obj.Entity.Code == "入库AGV")
  114. {
  115. List<WCS_AgvTaskInfo> agvTaskInfos = new List<WCS_AgvTaskInfo>();
  116. //获取所有未结束的入库AGV任务
  117. SqlSugarHelper.Do(db =>
  118. {
  119. agvTaskInfos = db.Default.Queryable<WCS_AgvTaskInfo>()
  120. .Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot)
  121. .SplitTable(tabs => tabs.Take(2)).OrderBy(v => v.EditTime).ToList();
  122. });
  123. if (agvTaskInfos.Any())
  124. {
  125. this.ExRecord(obj.Entity.Code, "可用入库AGV任务列表", agvTaskInfos.Select(v => v.ID).ToList());
  126. foreach (var agv in agvTaskInfos)
  127. {
  128. try
  129. {
  130. SqlSugarHelper.Do(db =>
  131. {
  132. #region 开始跟据AGV状态做出处理
  133. switch (agv.AgvStatus)
  134. {
  135. case AGVTaskStatus.NewBuild when agv.Status == AGVTaskStatus.NewBuild:
  136. AgvApi.托盘回库("1NC318", agv.ID.ToString());
  137. agv.AgvID = agv.ID.ToString();
  138. agv.Status = AGVTaskStatus.Confirm;
  139. agv.AgvStatus = AGVTaskStatus.Confirm;
  140. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  141. break;
  142. //巷道分配
  143. case AGVTaskStatus.RequestOrPermission1 when agv.Status != AGVTaskStatus.Complete1:
  144. {
  145. //if (agv.TaskType == AGVTaskType.EnterDepot)
  146. //{
  147. // //找到对应WCS任务
  148. // var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.ID == agv.TaskId);
  149. // if (task == null) throw new Exception($"AGV任务{agv.ID}未找到对应WCS任务");
  150. // //向WMS获取巷道优先级
  151. // var res = WmsApi.GetTunnelPriorityList(task.ID);
  152. // var tunnelNo = res.ResData.Split(",").Select(v => "SRM" + v).ToList();
  153. // //开始获取堆垛机与可用站台信息
  154. // SRM srm = null;
  155. // var stations = new List<Station>();
  156. // //一楼三个入库口
  157. // stations = devs.Where(v => v.Entity.Code is "1021" or "1023" or "1025").ToList();
  158. // //筛选出可用站台
  159. // stations = stations.Where(v => v.Data.VoucherNo == v.Data2.VoucherNo && v.Data3.Status.HasFlag(StationStatus.Auto))
  160. // .Where(v => !v.Data3.Status.HasFlag(StationStatus.PH_Status) && !v.Data3.Status.HasFlag(StationStatus.OT_Status))
  161. // .Where(v => !v.Data3.Status.HasFlag(StationStatus.Run)).ToList(); // 筛选出可用站台
  162. // //可用堆垛机
  163. // srm = stations.Select(v => v.Entity.Sources).SelectMany(v => v).Where(v => v.IsTunnel()) //上一个地址是巷道的
  164. // .Select(v => v.Sources).SelectMany(v => v).Where(v => v.HasProtocol(typeof(ISRM520))) //筛选出堆垛机
  165. // .Select(v => new SRM(v, this.World)) //转换为SRM
  166. // .Where(v => !v.Data2.Status.HasFlag(SrmStatus.Alarm) && v.Data2.AutoStatus == SrmAutoStatus.Automatic) //筛选出可用堆垛机
  167. // .Where(v => tunnelNo.Contains(v.Entity.Code)) //筛选出巷道优先级最高的堆垛机
  168. // .MinBy(v => tunnelNo.IndexOf(v.Entity.Code));//按照巷道优先级排序
  169. // if (srm == null) throw new Exception($"agv任务{agv.ID}无可用堆垛机");
  170. // //筛选出堆垛机的放货站台
  171. // 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
  172. // .Where(t => t.HasProtocol(typeof(ISRM520)))//筛选出堆垛机
  173. // .SelectMany(v => v.Sources).Any(t => t.Code == srm.Entity.Parent.Code));
  174. // var flag = false;
  175. // 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))
  176. // {
  177. // flag = true;
  178. // nextPos.Entity.Code = "1025";
  179. // }
  180. // var agvs = db.Default.Queryable<WCS_AgvTaskInfo>().Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.Position == nextPos.Entity.Code).SplitTable(v => v.Take(2)).ToList();
  181. // if (agvs.Any())
  182. // {
  183. // 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}]");
  184. // throw new Exception(msg);
  185. // }
  186. // //更新AGV任务状态
  187. // agv.Status = AGVTaskStatus.Complete1;
  188. // agv.Position = flag == true ? "1025" : nextPos.Entity.Code;
  189. // db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  190. // //更新WCS任务状态
  191. // if (flag)
  192. // {
  193. // srm.Entity.Code = "SRM3";
  194. // task.Device = srm.Entity.Code;
  195. // task.Tunnel = "3";
  196. // task.AddrNext = "1025";
  197. // }
  198. // else
  199. // {
  200. // task.Device = srm.Entity.Code;
  201. // task.Tunnel = task.Device.GetLastDigit().ToString();
  202. // task.AddrNext = agv.Position;
  203. // }
  204. // db.Default.Updateable(task).ExecuteCommand();
  205. // 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}");
  206. // this.ExRecord(obj.Entity.Code, $"AGV任务{agv.ID}分配至堆垛机:{srm.Entity.Code}");
  207. // //调继续执行任务接口
  208. // AgvApi.ContinueTask(agv.AgvID, nextPos.Entity.Code);
  209. //}
  210. //else if (agv.TaskType == AGVTaskType.Transport)
  211. //{
  212. //更新AGV任务状态
  213. agv.Status = AGVTaskStatus.Complete1;
  214. agv.Position = "2501";
  215. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  216. //task.Status = TaskStatus.Finish;
  217. //db.Default.Updateable(task).ExecuteCommand();
  218. //task.AddWCS_TASK_DTL(db.Default, "AGV搬运任务分配放货点", agv.Position, $"任务分配至:{agv.Position}");
  219. //调继续执行任务接口
  220. AgvApi.ContinueTask(agv.AgvID, agv.Position);
  221. //}
  222. break;
  223. }
  224. //放货站点安全交互
  225. case AGVTaskStatus.RequestOrPermission2 when agv.Status != AGVTaskStatus.RequestOrPermission2:
  226. {
  227. if (agv.Position.IsNullOrEmpty()) throw new Exception($"无有效放货地址");
  228. var dev = Device.All.First(x => x.Code == agv.Position);
  229. //if (dev.Data.VoucherNo != dev.Data2.VoucherNo) throw new Exception($"AGV请求放货,但{dev.Entity.Code}凭证号不一致");
  230. //if (!dev.Data3.Status.HasFlag(StationStatus.Auto)) throw new Exception($"AGV请求放货,但{dev.Entity.Code}不在自动状态");
  231. //if (dev.Data3.Status.HasFlag(StationStatus.PH_Status)) throw new Exception($"AGV请求放货,但{dev.Entity.Code}光电有货");
  232. //if (dev.Data3.Status.HasFlag(StationStatus.OT_Status)) throw new Exception($"AGV请求放货,但{dev.Entity.Code}任务有货");
  233. //if (dev.Data3.Status.HasFlag(StationStatus.Run)) throw new Exception($"AGV请求放货,但{dev.Entity.Code}在运行状态");
  234. //agv.Status = AGVTaskStatus.RequestOrPermission2;
  235. //db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  236. //调继续执行任务接口
  237. AgvApi.ContinueTask(agv.AgvID, dev.Code);
  238. break;
  239. }
  240. //完成任务
  241. case AGVTaskStatus.MissionCompleted when agv.Status != AGVTaskStatus.MissionCompleted:
  242. if (agv.TaskType == AGVTaskType.EnterDepot)
  243. {
  244. agv.Status = AGVTaskStatus.MissionCompleted;
  245. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  246. }
  247. break;
  248. }
  249. #endregion 开始跟据AGV状态做出处理
  250. });
  251. }
  252. catch (Exception ex)
  253. {
  254. World.Log(ex.Message, LogLevelEnum.Mid);
  255. this.ExRecord(obj.Entity.Code, ex.Message);
  256. }
  257. }
  258. }
  259. }
  260. }
  261. public override bool Select(Device dev)
  262. {
  263. return dev.Code is "出库AGV" or "入库AGV";
  264. }
  265. }
  266. }