NoInteractionSystems.cs 12 KB

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  1. using PlcSiemens.Core.Extension;
  2. using ServiceCenter.SqlSugars;
  3. using System.ComponentModel;
  4. using WCS.Core;
  5. using WCS.Entity;
  6. using WCS.WorkEngineering.Extensions;
  7. using WCS.WorkEngineering.WebApi.Controllers;
  8. using WCS.WorkEngineering.WebApi.Models.AGV.Response;
  9. using WCS.WorkEngineering.Worlds;
  10. namespace WCS.WorkEngineering.Systems
  11. {
  12. /// <summary>
  13. /// 无交互系统
  14. /// </summary>
  15. [BelongTo(typeof(NoInteractionWorld))]
  16. [Description("无交互系统")]
  17. public class NoInteractionSystems : DeviceSystem<Station>
  18. {
  19. public NoInteractionSystems()
  20. {
  21. }
  22. protected override bool ParallelDo => true;
  23. protected override bool SaveLogsToFile => true;
  24. public override void Do(Station obj)
  25. {
  26. #region 处理所有的新增任务
  27. try
  28. {
  29. SqlSugarHelper.Do(db =>
  30. {
  31. var tasks = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.Status == Entity.TaskStatus.NewBuild).ToList();
  32. if (!tasks.Any()) return;
  33. tasks.ForEach(task =>
  34. {
  35. switch (task.Type)
  36. {
  37. case TaskType.SetPlate:
  38. break;
  39. case TaskType.EnterDepot:
  40. //创建AGV任务
  41. var agvTask = new WCS_AgvTaskInfo()
  42. {
  43. ID = db.GetAGVTaskId(),
  44. TaskType = AGVTaskType.EnterDepot,
  45. Status = AGVTaskStatus.NewBuild,
  46. Station = task.WorkBench,
  47. AddWho = "WCS"
  48. };
  49. db.Default.Insertable(agvTask).SplitTable().ExecuteCommand();
  50. //更新任务状态
  51. task.Status = Entity.TaskStatus.WaitingToExecute;
  52. task.AgvTaskID = agvTask.ID;
  53. db.Default.Updateable(task).ExecuteCommand();
  54. task.AddWCS_TASK_DTL(db, task.Device, $"初始化入库任务信息,并创建AGV任务中间表");
  55. break;
  56. case TaskType.OutDepot:
  57. if (task.Floor == 2)
  58. { //创建AGV任务
  59. agvTask = new WCS_AgvTaskInfo()
  60. {
  61. ID = db.GetAGVTaskId(),
  62. TaskType = AGVTaskType.CallMaterial,
  63. Status = AGVTaskStatus.NewBuild,
  64. Station = task.WorkBench,
  65. AddWho = "WCS"
  66. };
  67. db.Default.Insertable(agvTask).SplitTable().ExecuteCommand();
  68. task.AgvTaskID = agvTask.ID;
  69. }
  70. if (task.SrmStation.IsNullOrEmpty())
  71. {
  72. //获取堆垛机到目标地址的路径信息
  73. var path = DevicePath.GetPath(task.Device, task.AddrTo);
  74. task.SrmStation = path.Points[1].Code;
  75. }
  76. task.Status = Entity.TaskStatus.WaitingToExecute;
  77. db.Default.Updateable(task).ExecuteCommand();
  78. task.AddWCS_TASK_DTL(db, task.Device, $"初始化出库任务信息,放货站台:{task.SrmStation}");
  79. break;
  80. case TaskType.TransferDepot:
  81. break;
  82. case TaskType.Delivery:
  83. var agv = new WCS_AgvTaskInfo()
  84. {
  85. ID = db.GetAGVTaskId(),
  86. TaskType = AGVTaskType.ForkliftFilling,
  87. Status = AGVTaskStatus.NewBuild,
  88. Station = task.WorkBench,
  89. AddWho = "WCS"
  90. };
  91. db.Default.Insertable(agv).SplitTable().ExecuteCommand();
  92. //更新WCS数据
  93. task.Status = Entity.TaskStatus.WaitingToExecute;
  94. task.AgvTaskID = agv.ID;
  95. db.Default.Updateable(task).ExecuteCommand();
  96. task.AddWCS_TASK_DTL(db, task.Device, $"初始化搬运任务信息,并创建AGV任务");
  97. break;
  98. case TaskType.EmptyInit:
  99. //更新任务状态
  100. task.Status = Entity.TaskStatus.WaitingToExecute;
  101. db.Default.Updateable(task).ExecuteCommand();
  102. task.AddWCS_TASK_DTL(db, task.Device, $"初始化任务信息");
  103. break;
  104. default:
  105. break;
  106. }
  107. });
  108. });
  109. }
  110. catch (Exception ex)
  111. {
  112. World.Log(ex.Message, Worlds.Logs.LogLevelEnum.Mid);
  113. }
  114. #endregion 处理所有的新增任务
  115. #region 下发入库AGV任务
  116. SqlSugarHelper.Do(db =>
  117. {
  118. var agvTasks = db.Default.Queryable<WCS_AgvTaskInfo>().Where(t => t.Status == AGVTaskStatus.NewBuild && t.TaskType == AGVTaskType.EnterDepot).SplitTable(v => v.Take(2)).ToList();
  119. if (agvTasks.Count > 0)
  120. {
  121. foreach (var agv in agvTasks)
  122. {
  123. //开始处理
  124. try
  125. {
  126. //获取对应wcs任务
  127. var wcs = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.AgvTaskID == agv.ID && t.Status == Entity.TaskStatus.WaitingToExecute).First();
  128. switch (wcs.Floor)
  129. {
  130. case 1: //一楼下发AGV任务
  131. var res = AgvApi.满轮入库(wcs.BarCode, agv.Station, Guid.NewGuid().ToString().Replace("-", ""), "1");
  132. agv.Status = AGVTaskStatus.Confirm;
  133. agv.AgvID = res.data;
  134. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  135. break;
  136. case 2:
  137. break;
  138. default:
  139. break;
  140. }
  141. //更新WCS数据
  142. wcs.Status = Entity.TaskStatus.AGVExecution;
  143. db.Default.Updateable(wcs).ExecuteCommand();
  144. wcs.AddWCS_TASK_DTL(db, wcs.Device, $"任务下发至AGV");
  145. }
  146. catch (Exception ex)
  147. {
  148. World.Log(ex.Message, Worlds.Logs.LogLevelEnum.Mid);
  149. continue;
  150. }
  151. }
  152. }
  153. });
  154. #endregion 下发入库AGV任务
  155. Thread.Sleep(1000);
  156. #region 下发出库AGV任务
  157. SqlSugarHelper.Do(db =>
  158. {
  159. var agvTasks = db.Default.Queryable<WCS_AgvTaskInfo>().Where(t => t.Status == AGVTaskStatus.NewBuild && t.TaskType == AGVTaskType.CallMaterial).SplitTable(v => v.Take(2)).ToList();
  160. if (agvTasks.Count > 0)
  161. {
  162. foreach (var agv in agvTasks)
  163. {
  164. ////开始处理
  165. //GenAgvSchedulingTaskResponse res = new GenAgvSchedulingTaskResponse();
  166. try
  167. {
  168. //获取对应wcs任务
  169. var wcs = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.AgvTaskID == agv.ID && t.Status == Entity.TaskStatus.WaitingToExecute).First();
  170. switch (wcs.Floor)
  171. {
  172. case 1:
  173. break;
  174. case 2: //二楼下发AGV任务
  175. var agvRes = IwmsApi.满轮出库(wcs.MatCode, wcs.WorkBench, agv.ID.ToString());
  176. agv.Status = AGVTaskStatus.Confirm;
  177. agv.AgvID = agvRes.data;
  178. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  179. break;
  180. default:
  181. break;
  182. }
  183. //更新WCS数据
  184. wcs.Status = Entity.TaskStatus.AGVExecution;
  185. db.Default.Updateable(wcs).ExecuteCommand();
  186. wcs.AddWCS_TASK_DTL(db, wcs.Device, $"任务下发至AGV");
  187. }
  188. catch (Exception ex)
  189. {
  190. World.Log(ex.Message, Worlds.Logs.LogLevelEnum.Mid);
  191. continue;
  192. }
  193. }
  194. }
  195. });
  196. #endregion 下发出库AGV任务
  197. #region 移动任务处理
  198. try
  199. {
  200. SqlSugarHelper.Do(db =>
  201. {
  202. var agvTasks = db.Default.Queryable<WCS_AgvTaskInfo>().Where(t => t.Status == AGVTaskStatus.NewBuild && t.TaskType == AGVTaskType.ForkliftFilling).SplitTable(v => v.Take(2)).ToList();
  203. if (agvTasks.Count > 0)
  204. {
  205. foreach (var agv in agvTasks)
  206. {
  207. //开始处理
  208. GenAgvSchedulingTaskResponse res = new GenAgvSchedulingTaskResponse();
  209. try
  210. {
  211. //获取对应wcs任务
  212. var wcs = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.AgvTaskID == agv.ID && t.Status == Entity.TaskStatus.WaitingToExecute).First();
  213. //下发AGV任务
  214. res = AgvApi.机台补空(agv.Station, Guid.NewGuid().ToString().Replace("-", ""), "1");
  215. agv.Status = AGVTaskStatus.Confirm;
  216. agv.AgvID = res.data;
  217. db.Default.Updateable(agv).SplitTable().ExecuteCommand();
  218. wcs.Status = Entity.TaskStatus.AGVExecution;
  219. db.Default.Updateable(wcs).ExecuteCommand();
  220. wcs.AddWCS_TASK_DTL(db, wcs.Device, $"任务下发至AGV,AGV任务号:{res.data}");
  221. }
  222. catch (Exception ex)
  223. {
  224. World.Log(ex.Message, Worlds.Logs.LogLevelEnum.Mid);
  225. continue;
  226. }
  227. }
  228. }
  229. });
  230. }
  231. catch { }
  232. #endregion 移动任务处理
  233. }
  234. public override bool Select(Device dev)
  235. {
  236. return dev.Code == "1011";
  237. }
  238. }
  239. }