机械臂cs.cs 21 KB

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  1. using ServiceCenter.Extensions;
  2. using ServiceCenter.Logs;
  3. using ServiceCenter.SqlSugars;
  4. using SqlSugar;
  5. using System.ComponentModel;
  6. using WCS.Core;
  7. using WCS.Entity;
  8. using WCS.Entity.Protocol.Protocol.Robot;
  9. using WCS.Entity.Protocol.Robot;
  10. using WCS.Entity.Protocol.Station;
  11. using WCS.WorkEngineering.Extensions;
  12. using WCS.WorkEngineering.WebApi.Controllers;
  13. using WCS.WorkEngineering.Worlds;
  14. using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;
  15. using TaskStatus = WCS.Entity.TaskStatus;
  16. namespace WCS.WorkEngineering.Systems
  17. {
  18. /// <summary>
  19. /// 机械臂
  20. /// </summary>
  21. [BelongTo(typeof(RingWorld))]
  22. [Description("机械臂")]
  23. public class 机械臂 : DeviceSystem<Device<IRobot520, IRobot521, IRobot522>>
  24. {
  25. protected override bool ParallelDo => true;
  26. protected override bool SaveLogsToFile => true;
  27. /// <summary>
  28. /// 取货点设备集合
  29. /// </summary>
  30. private Dictionary<string, List<Device>> PickUpDevices = new();
  31. /// <summary>
  32. /// 放货设备
  33. /// </summary>
  34. private Dictionary<string, List<Device<IStation520, IStation521, IStation523>>> PutDevices = new();
  35. public 机械臂()
  36. {
  37. //获取所有的机械臂 集合
  38. var devices = Device.All.Where(v => v.HasFlag(DeviceFlags.Robot));
  39. //开始分配
  40. foreach (var robot in devices)
  41. {
  42. //取货设备
  43. PickUpDevices.Add(robot.Code, robot.Sources.Where(v => v.HasFlag(DeviceFlags.输送机)).Select(v => v).ToList());
  44. PutDevices.Add(robot.Code, robot.Targets.Where(v => v.HasFlag(DeviceFlags.输送机)).Select(v => new Device<IStation520, IStation521, IStation523>(v, World)).ToList());
  45. }
  46. }
  47. public override void Do(Device<IRobot520, IRobot521, IRobot522> obj)
  48. {
  49. #region 处理完成任务
  50. //判断DB520 完成任务确认清除信号 是否为1
  51. if (obj.Data.OkAck == 1 && obj.Data2 is { TaskFinishId1: 0, TaskFinishId2: 0 }) obj.Data.OkAck = 0;
  52. if (obj.Data2.TaskFinishId1 > 0 || obj.Data2.TaskFinishId2 > 0)
  53. {
  54. //处理完成的任务信息
  55. var tasks = new List<WCS_TaskInfo>();
  56. //开始处理
  57. SqlSugarHelper.Do(db =>
  58. {
  59. World.Log($"机械臂任务处理:开始--完成任务{obj.Data2.TaskFinishId1}--{obj.Data2.TaskFinishId2}", LogLevelEnum.Low);
  60. //根据DB521任务号获取对应任务
  61. var taskInfoList = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.ID == obj.Data2.TaskFinishId1 || v.ID == obj.Data2.TaskFinishId2).ToList();
  62. foreach (var task in taskInfoList.Where(task => task.Status == Entity.TaskStatus.StackerExecution))
  63. {
  64. //根据任务类型做不同的处理
  65. switch (task.Type)
  66. {
  67. case TaskType.SetPlate: //工字轮入库
  68. //完成任务
  69. task.Status = Entity.TaskStatus.Finish;
  70. task.EedTime = DateTime.Now;
  71. db.Default.Updateable(task).ExecuteCommand();
  72. task.AddWCS_TASK_DTL(db.Default, task.AddrTo, "入库任务结束");
  73. break;
  74. case TaskType.OutDepot:
  75. task.Status = Entity.TaskStatus.ConveyorExecution;
  76. task.EedTime = DateTime.Now;
  77. db.Default.Updateable(task).ExecuteCommand();
  78. task.AddWCS_TASK_DTL(db.Default, task.AddrTo, "出库任务结束");
  79. break;
  80. case TaskType.TransferDepot:
  81. task.Status = Entity.TaskStatus.Finish;
  82. task.EedTime = DateTime.Now;
  83. db.Default.Updateable(task).ExecuteCommand();
  84. task.AddWCS_TASK_DTL(db.Default, task.AddrTo, "移库任务结束");
  85. break;
  86. }
  87. tasks.Add(task);
  88. }
  89. });
  90. if (!tasks.Any()) throw new KnownException("数据库提交事务错误", LogLevelEnum.High);
  91. foreach (var task in tasks)
  92. {
  93. //通知WMS任务完成
  94. if (task.Status == TaskStatus.Finish) WmsApi.CompleteTask(task.ID);
  95. //如果是出库任务,上报放货完成
  96. if (task is { Type: TaskType.OutDepot, Status: TaskStatus.ConveyorExecution }) WmsApi.SrmPickOutCompleted(task.ID);
  97. }
  98. // 写入信号
  99. obj.Data.OkAck = 1;
  100. World.Log($"机械臂任务处理:结束--完成任务{obj.Data2.TaskFinishId1}--{obj.Data2.TaskFinishId2}", LogLevelEnum.Mid);
  101. }
  102. #endregion 处理完成任务
  103. //robot是否可以下发任务
  104. if (obj.Data2.VoucherNo != obj.Data.VoucherNo) throw new KnownException($"凭证号不一致,DB520:{obj.Data.VoucherNo},DB521:{obj.Data2.VoucherNo}", LogLevelEnum.Mid);
  105. if (obj.Data2.RobotMode != RobotMode.Automatic) throw new KnownException($"robot处于{obj.Data2.RobotMode.GetDescription()}模式", LogLevelEnum.Low);
  106. if (obj.Data2.RunStatus != RobotRunStatus.Idle) throw new KnownException($"robot处于{obj.Data2.RunStatus.GetDescription()}状态", LogLevelEnum.High);
  107. //上一个周期是不是出库任务 第一次获取返回结果会是false
  108. var lastIsOut = obj.Entity.GetFlag<bool>("LastIsOut");
  109. obj.Entity.SetFlag("LastIsOut", !lastIsOut);
  110. //判断是否有任务是机器人执行中
  111. //再检查是否有等待执行的货物
  112. SqlSugarHelper.Do(db =>
  113. {
  114. //获取当前堆垛机的所有未完成任务
  115. var tasks = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.Status < Entity.TaskStatus.Finish && v.Device == obj.Entity.Code);
  116. //任务集合是否有处于堆垛机执行状态的任务
  117. if (tasks.Any(v => v.Status == Entity.TaskStatus.StackerExecution)) throw new KnownException($"有任务处于堆垛机执行状态", LogLevelEnum.High);
  118. });
  119. //入库任务优先 或 上一个周期是出库任务并且出库任务无优先
  120. if (lastIsOut) //入库任务
  121. {
  122. //判断本次优先执行楼层,并设置下次执行时优先楼层
  123. var floor = obj.Entity.GetFlag<int>("FloorIn");
  124. floor = floor % 2 + 1;
  125. obj.Entity.SetFlag("FloorIn", floor);
  126. //获取当前机械臂所有的取货站台
  127. var pickUpDevices = obj.Entity.Sources.Where(x => x.HasFlag(DeviceFlags.输送机)).Where(x => x.DeviceGroup.Any()).Select(
  128. x =>
  129. {
  130. var group = x.DeviceGroup.Select(s => new Device<IStation523, IStation524>(s, World)).ToList();
  131. return new Tuple<Device<IStation523, IStation524>, List<Device<IStation523, IStation524>>>(new Device<IStation523, IStation524>(x, World), group);
  132. }).ToList();
  133. if (!pickUpDevices.Any()) throw new KnownException($"机械臂{obj.Entity.Code}无取货路径点", LogLevelEnum.High);
  134. //获取取货设备的设备组中都是停止运行的
  135. var arrIn = pickUpDevices.Where(x => x.Item2.All(a => !a.Data.Status.HasFlag(StationStatus.Run)))
  136. .Where(x => x.Item2.OrderBy(o => o.Entity.Code.ToShort()) //前两个设备中有取货任务的
  137. .Take(2)
  138. .Any(a => a.Data2.TaskNumber > 0 && a.Data.Status.HasFlag(StationStatus.PH_Status)))
  139. .ToList();
  140. if (!arrIn.Any()) throw new KnownException($"[{obj.Entity.Code}]等待入库任务输送到位", LogLevelEnum.Mid);
  141. //等待下发的任务信息
  142. var taskList = new List<Tuple<WCS_TaskInfo, Device<IStation523, IStation524>>>();
  143. SqlSugarHelper.Do(db =>
  144. {
  145. //跟据设备组中第一个设备任务号最小的一个先执行
  146. var devGroup = arrIn.MinBy(x => x.Item2.OrderBy(o => o.Data2.TaskNumber).FirstOrDefault().Data2.TaskNumber);
  147. foreach (var dev in devGroup.Item2.OrderByDescending(x => x.Entity.Code.ToShort()).Take(2))
  148. {
  149. var task = db.Default.Queryable<WCS_TaskInfo>().First(v => v.Type == TaskType.SetPlate && v.Status == Entity.TaskStatus.FinishOfShunt && dev.Data2.TaskNumber == v.ID);
  150. if (task == null) continue;
  151. var res = WmsApi.RingApplyStockInLoc(task.ID, task.Device, dev.Entity.Code, task.GoodsType);
  152. task.Status = Entity.TaskStatus.StackerExecution;
  153. task.AddrTo = res.ResData.CellNo;
  154. task.Line = res.ResData.Row;
  155. task.Col = res.ResData.Colomn;
  156. task.Layer = res.ResData.Layer;
  157. task.Depth = res.ResData.Row;
  158. task.LastInteractionPoint = dev.Entity.Code;
  159. task.SrmStation = dev.Entity.Code;
  160. task.Device = obj.Entity.Code;
  161. task.EditWho = "WCS";
  162. db.Default.Updateable(task).ExecuteCommand();
  163. task.AddWCS_TASK_DTL(db.Default, dev.Entity.Code, task.AddrTo, "任务下发机械臂执行");
  164. taskList.Add(new(task, dev));
  165. }
  166. });
  167. if (!taskList.Any()) return;
  168. switch (taskList.Count)
  169. {
  170. case 1:
  171. var task = taskList.FirstOrDefault().Item1;
  172. var dev = taskList.FirstOrDefault().Item2;
  173. //下发任务
  174. obj.Data.TaskNumber1 = task.ID;
  175. obj.Data.SLine1 = dev.Entity.Code.ToShort();
  176. obj.Data.SCol1 = 0;
  177. obj.Data.SLayer1 = 0;
  178. obj.Data.SDepth1 = 0;
  179. obj.Data.ELine1 = task.Line.ToShort();
  180. obj.Data.ECol1 = task.Col.ToShort();
  181. obj.Data.ELayer1 = task.Layer.ToShort();
  182. obj.Data.EDepth1 = task.Depth.ToShort();
  183. obj.Data.TaskNumber2 = 0;
  184. obj.Data.SLine2 = 0;
  185. obj.Data.SCol2 = 0;
  186. obj.Data.SLayer2 = 0;
  187. obj.Data.SDepth2 = 0;
  188. obj.Data.ELine2 = 0;
  189. obj.Data.ECol2 = 0;
  190. obj.Data.ELayer2 = 0;
  191. obj.Data.EDepth2 = 0;
  192. obj.Data.TaskSum = taskList.Count.ToShort();
  193. obj.Data.GoodsType = task.GoodsType switch
  194. {
  195. 18 => 1,
  196. 34 => 2,
  197. 50 => 3,
  198. _ => 0
  199. };
  200. obj.Data.TaskType = 3;
  201. obj.Data.VoucherNo++;
  202. break;
  203. case 2:
  204. taskList = taskList.OrderBy(x => x.Item1.Depth).ToList();
  205. //一工位取深度较大的任务
  206. var taskInfo = taskList[1];
  207. task = taskInfo.Item1;
  208. dev = taskInfo.Item2;
  209. obj.Data.TaskNumber1 = task.ID;
  210. obj.Data.SLine1 = dev.Entity.Code.ToShort();
  211. obj.Data.SCol1 = 0;
  212. obj.Data.SLayer1 = 0;
  213. obj.Data.SDepth1 = 0;
  214. obj.Data.ELine1 = task.Line.ToShort();
  215. obj.Data.ECol1 = task.Col.ToShort();
  216. obj.Data.ELayer1 = task.Layer.ToShort();
  217. obj.Data.EDepth1 = task.Depth.ToShort();
  218. //二工位取深度较少的值
  219. taskInfo = taskList[0];
  220. task = taskInfo.Item1;
  221. dev = taskInfo.Item2;
  222. obj.Data.TaskNumber2 = task.ID;
  223. obj.Data.SLine2 = dev.Entity.Code.ToShort();
  224. obj.Data.SCol2 = 0;
  225. obj.Data.SLayer2 = 0;
  226. obj.Data.SDepth2 = 0;
  227. obj.Data.ELine2 = task.Line.ToShort();
  228. obj.Data.ECol2 = task.Col.ToShort();
  229. obj.Data.ELayer2 = task.Layer.ToShort();
  230. obj.Data.EDepth2 = task.Depth.ToShort();
  231. obj.Data.TaskSum = taskList.Count.ToShort();
  232. obj.Data.GoodsType = task.GoodsType switch
  233. {
  234. 18 => 1,
  235. 34 => 2,
  236. 50 => 3,
  237. _ => 0
  238. };
  239. obj.Data.TaskType = 3;
  240. obj.Data.VoucherNo++;
  241. break;
  242. default:
  243. throw new KnownException($"无法执行多个任务", LogLevelEnum.Mid);
  244. }
  245. }
  246. else if (!lastIsOut) //出库任务
  247. {
  248. //判断本次优先执行楼层,并设置下次执行时优先楼层
  249. var floor = obj.Entity.GetFlag<int>("FloorOut");
  250. floor = floor % 2 + 1;
  251. obj.Entity.SetFlag("FloorOut", floor);
  252. //获取当前堆垛机所有的取货站台
  253. var arrOut = PutDevices.First(v => v.Key == obj.Entity.Code).Value;
  254. if (!arrOut.Any()) throw new KnownException($"机械臂{obj.Entity.Code}无放货路径点", LogLevelEnum.High);
  255. //获取可以放货的设备集合
  256. arrOut = arrOut.Where(v => v.Data3.Status.HasFlag(StationStatus.PH_Status)).ToList();//无光电
  257. if (!arrOut.Any()) throw new KnownException($"[{obj.Entity.Code}]等待出库任务输送到位", LogLevelEnum.Mid);
  258. var taskInfoList = new List<WCS_TaskInfo>();
  259. var nextAdd = "";
  260. SqlSugarHelper.Do(db =>
  261. {
  262. //所有出库点设备号,即
  263. var allOutCode = arrOut.Select(v => v.Entity.Code).ToList();
  264. //TODO:两个工位同时码垛,并不会一个执行一次,只有一个托盘任务全部执行完毕,才会继续执行下一个,设备号较小的码垛工位会优先执行
  265. var taskInfos = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.Type == TaskType.OutDepot && v.Status == Entity.TaskStatus.WaitingToExecute)
  266. .Where(v => allOutCode.Contains(v.SrmStation)).ToList()
  267. .OrderBy(x => x.SrmStation.ToInt()) //按照码垛站台号进行一次排序
  268. .ThenBy(x => x.ProdLine) //码垛从小到大
  269. .ThenBy(x => x.AddTime)//任务生成时间从早到晚
  270. .Take(2).ToList();
  271. if (taskInfos.Count == 2) //有两个任务
  272. {
  273. var minDepth = taskInfos!.MinBy(x => x.Depth);
  274. var maxDepth = taskInfos.MaxBy(x => x.Depth);
  275. //物料号不同时只执行一个任务 不同的轮子物料号也不同
  276. if (minDepth.MatCode != maxDepth.MatCode) taskInfos = taskInfos.OrderBy(x => x.ProdLine).Take(1).ToList();
  277. //深度之和等于6(机械臂当前无法同时执行两个三深度的取货任务)
  278. else if (taskInfos.Sum(x => x.Depth) == 6) taskInfos = taskInfos.OrderBy(x => x.ProdLine).Take(1).ToList();
  279. }
  280. foreach (var task in taskInfos)
  281. {
  282. task.Status = Entity.TaskStatus.StackerExecution;
  283. task.LastInteractionPoint = task.Device;
  284. task.EditWho = "WCS";
  285. nextAdd = task.SrmStation;
  286. db.Default.Updateable(task).ExecuteCommand();
  287. task.AddWCS_TASK_DTL(db.Default, task.Device, task.SrmStation, "任务下发机械臂执行");
  288. taskInfoList.Add(task);
  289. }
  290. });
  291. if (!taskInfoList.Any()) return;
  292. switch (taskInfoList.Count)
  293. {
  294. case 1:
  295. var task = taskInfoList.FirstOrDefault();
  296. //下发任务
  297. obj.Data.TaskNumber1 = task.ID;
  298. obj.Data.SLine1 = task.Line.ToShort();
  299. obj.Data.SCol1 = task.Col.ToShort();
  300. obj.Data.SLayer1 = task.Layer.ToShort();
  301. obj.Data.SDepth1 = task.Depth.ToShort();
  302. obj.Data.ELine1 = nextAdd.ToShort();
  303. obj.Data.ECol1 = task.ProdLine;
  304. obj.Data.ELayer1 = 0;
  305. obj.Data.EDepth1 = 0;
  306. obj.Data.TaskNumber2 = 0;
  307. obj.Data.SLine2 = 0;
  308. obj.Data.SCol2 = 0;
  309. obj.Data.SLayer2 = 0;
  310. obj.Data.SDepth2 = 0;
  311. obj.Data.ELine2 = 0;
  312. obj.Data.ECol2 = 0;
  313. obj.Data.ELayer2 = 0;
  314. obj.Data.EDepth2 = 0;
  315. obj.Data.TaskSum = taskInfoList.Count.ToShort();
  316. obj.Data.GoodsType = task.GoodsType switch
  317. {
  318. 18 => 1,
  319. 34 => 2,
  320. 50 => 3,
  321. _ => 0
  322. };
  323. obj.Data.TaskType = 4;
  324. obj.Data.VoucherNo++;
  325. break;
  326. case 2:
  327. taskInfoList = taskInfoList.OrderBy(x => x.Depth).ToList();
  328. //一工位取深度较大的任务
  329. var taskInfo = taskInfoList[1];
  330. obj.Data.TaskNumber1 = taskInfo.ID;
  331. obj.Data.SLine1 = taskInfo.Line.ToShort();
  332. obj.Data.SCol1 = taskInfo.Col.ToShort();
  333. obj.Data.SLayer1 = taskInfo.Layer.ToShort();
  334. obj.Data.SDepth1 = taskInfo.Depth.ToShort();
  335. obj.Data.ELine1 = nextAdd.ToShort();
  336. obj.Data.ECol1 = taskInfoList.Min(x => x.ProdLine);
  337. obj.Data.ELayer1 = 0;
  338. obj.Data.EDepth1 = 0;
  339. //二工位取深度较少的值
  340. taskInfo = taskInfoList[0];
  341. obj.Data.TaskNumber2 = taskInfo.ID;
  342. obj.Data.SLine2 = taskInfo.Line.ToShort();
  343. obj.Data.SCol2 = taskInfo.Col.ToShort();
  344. obj.Data.SLayer2 = taskInfo.Layer.ToShort();
  345. obj.Data.SDepth2 = taskInfo.Depth.ToShort();
  346. obj.Data.ELine2 = nextAdd.ToShort();
  347. obj.Data.ECol2 = taskInfoList.Max(x => x.ProdLine);
  348. obj.Data.ELayer2 = 0;
  349. obj.Data.EDepth2 = 0;
  350. obj.Data.TaskSum = taskInfoList.Count.ToShort();
  351. obj.Data.GoodsType = taskInfo.GoodsType switch
  352. {
  353. 18 => 1,
  354. 34 => 2,
  355. 50 => 3,
  356. _ => 0
  357. };
  358. obj.Data.TaskType = 4;
  359. obj.Data.VoucherNo++;
  360. break;
  361. default:
  362. throw new KnownException($"无法执行多个任务", LogLevelEnum.Mid);
  363. }
  364. }
  365. }
  366. public override bool Select(Device dev)
  367. {
  368. return dev.HasFlag(DeviceFlags.Robot);
  369. }
  370. }
  371. }