RGV调度

Projects/永冠/WCS.Entity.Protocol/DRGV/IDRGV521.cs

@@ -15,7 +15,7 @@
         /// <summary>
         /// 任务类型
         /// </summary>
-        RGVTaskType TaskType_1 { get; set; }
+        DRGVTaskType TaskType_1 { get; set; }
 
         /// <summary>
         /// 起始地址
@@ -70,7 +70,7 @@
         /// <summary>
         /// 任务类型
         /// </summary>
-        RGVTaskType TaskType_2 { get; set; }
+        DRGVTaskType TaskType_2 { get; set; }
 
         /// <summary>
         /// 起始地址
@@ -127,7 +127,7 @@
         RGVMode WorkMode { get; set; }
 
         /// <summary>
-        /// 备用
+        /// 当前站台
         /// </summary>
         short RES { get; set; }
 
@@ -169,7 +169,7 @@
 
     public enum DRGVTaskType : short
     {
-        搬运 = 1,
-        移动 = 3
+        取货 = 1,
+        放货 = 2
     }
 }

Projects/永冠/WCS.Entity.Protocol/DRGV/WCS_DRGV521.cs

@@ -9,7 +9,7 @@ namespace WCS.Entity.Protocol
         public int TaskID_1 { get; set; }
 
         [DataMember(Order = 1)]
-        public RGVTaskType TaskType_1 { get; set; }
+        public DRGVTaskType TaskType_1 { get; set; }
 
         [DataMember(Order = 2)]
         public short StartPosition_1 { get; set; }
@@ -39,7 +39,7 @@ namespace WCS.Entity.Protocol
         public int TaskID_2 { get; set; }
 
         [DataMember(Order = 11)]
-        public RGVTaskType TaskType_2 { get; set; }
+        public DRGVTaskType TaskType_2 { get; set; }
 
         [DataMember(Order = 12)]
         public short StartPosition_2 { get; set; }

Projects/永冠/WCS.Entity.Protocol/WCS_TASK.cs

@@ -1,48 +1,90 @@
 using System;
-using System.Collections.Generic;
 using System.ComponentModel.DataAnnotations;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 
 namespace WCS.Entity
 {
     public class WCS_TASK : OBJ
     {
+        /// <summary>
+        /// 产品编号
+        /// </summary>
         [StringLength(50)]
         public string BARCODE { get; set; }
 
+        /// <summary>
+        /// 任务类型
+        /// </summary>
         public TaskType TYPE { get; set; }
 
+        /// <summary>
+        /// 任务状态
+        /// </summary>
         public TaskStatus STATUS { get; set; }
 
+        /// <summary>
+        /// 起始地址
+        /// </summary>
         [StringLength(20)]
         public string ADDRFROM { get; set; }
 
+        /// <summary>
+        /// 目标地址
+        /// </summary>
         [StringLength(20)]
         public string ADDRTO { get; set; }
 
         //[StringLength(20)]
         //public string ADDRCURRENT { get; set; }
 
+        /// <summary>
+        /// 下一个地址
+        /// </summary>
         [StringLength(20)]
         public string ADDRNEXT { get; set; }
 
+        /// <summary>
+        /// 巷道
+        /// </summary>
         [StringLength(10)]
         public string TUNNEL { get; set; }
 
+        /// <summary>
+        /// 楼层
+        /// </summary>
         public int FLOOR { get; set; }
 
+        /// <summary>
+        /// 设备/堆垛机
+        /// </summary>
         [StringLength(20)]
         public string DEVICE { get; set; }
 
+        /// <summary>
+        /// 堆垛机站台
+        /// </summary>
         [StringLength(20)]
         public string SCSTATION { get; set; }
 
+        /// <summary>
+        /// 创建时间
+        /// </summary>
         public DateTime CREATETIME { get; set; } = DateTime.Now;
+
+        /// <summary>
+        /// 开始时间
+        /// </summary>
         public DateTime? STARTTIME { get; set; }
+
+        /// <summary>
+        /// 结束时间
+        /// </summary>
         public DateTime? ENDTIME { get; set; }
+
+        /// <summary>
+        /// 单号
+        /// </summary>
         public int DOCID { get; set; }
+
         /// <summary>
         /// 托盘类型1-4
         /// </summary>
@@ -57,13 +99,35 @@ namespace WCS.Entity
         /// 满盘数量
         /// </summary>
         public short FULLQTY { get; set; }
+
+        /// <summary>
+        /// 高
+        /// </summary>
         public short HEIGHT { get; set; }
+
+        /// <summary>
+        /// WMS任务号
+        /// </summary>
         public int WMSTASK { get; set; }
+
+        /// <summary>
+        /// 任务组
+        /// </summary>
         public int GROUPTASK { get; set; }
+
+        /// <summary>
+        /// 更新状态
+        /// </summary>
         public TaskStatus UPLOADED { get; set; }
 
+        /// <summary>
+        /// AGV任务号
+        /// </summary>
         public int AgvTask { get; set; }
 
+        /// <summary>
+        /// 优先级
+        /// </summary>
         public int Priority { get; set; }
     }
 
@@ -74,7 +138,6 @@ namespace WCS.Entity
         出库 = 2,
         移库 = 3,
         输送 = 5,
-
     }
 
     public enum TaskStatus

Projects/永冠/WCS.Service/Extensions/DeviceExtention.cs

@@ -0,0 +1,21 @@
+using System.Collections.Generic;
+using System.Linq;
+using WCS.Core;
+using WCS.Entity;
+using WCS.Entity.Protocol;
+
+namespace WCS.Service.Extensions
+{
+    public static class DeviceExtention
+    {
+        /// <summary>
+        /// 双工位RGV获取需要取货的站点
+        /// </summary>
+        /// <param name="deviceList"></param>
+        /// <returns></returns>
+        public static List<WCS_DEVICE> DRGVGetValidPickupPoint(this WCS_DEVICE[] deviceList)
+        {
+            return deviceList.ToList().Select(v => v.Device<IStation521, IStation520, IStation523>()).Where(v => v.Data.PH_STATUS && v.Data.TASKNUM > 10000 && !v.Data2.CONFIRM);
+        }
+    }
+}

Projects/永冠/WCS.Service/WCS.Service.csproj

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk.Worker">
 
   <PropertyGroup>
-    <TargetFramework>net5.0</TargetFramework>
+    <TargetFramework>net6.0</TargetFramework>
     <UserSecretsId>dotnet-WCS.Service-8F61B94D-566C-41E5-83C9-F3D01CEDFABB</UserSecretsId>
   </PropertyGroup>
 

Projects/永冠/WCS.Service/Works/RGV/RGVWork.cs

@@ -114,7 +114,8 @@ namespace WCS.Service.Works
 
         protected override bool SelectDevice(WCS_DEVICE dev)
         {
-            return true;
+            //TODO:上线时需要填入具体设备号
+            return dev.CODE is "" or "";
         }
     }
 
@@ -131,101 +132,147 @@ namespace WCS.Service.Works
                 }
             }
 
-            if (Ltc.Do(dev, v => v.Data2.Trigger_1 != 0 && v.Data2.Trigger_2 != 0))
-                return;
-            if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动))
-                return;
-            if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲))
-                return;
+            if (Ltc.Do(dev, v => v.Data2.Trigger_1 != 0 && v.Data2.Trigger_2 != 0)) return;
+            if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动)) return;
+            if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲)) return;
 
-            var startStations = Device.Where(v => v.ROUTES.Any(d => d.NEXT.CODE == dev.Entity.CODE))
-                .Select(v => v.Device<IStation521, IStation520>()).ToArray();
-            startStations = Ltc.Do(startStations, (arr) => arr.Where(v => v.Data.GOODSEND > 0 && v.Data.PH_STATUS).ToArray());
-            if (dev.Entity.CODE == "RGV1")
-                startStations = Ltc.Do(startStations, (arr) => arr.Where(v => v.Data.GOODSEND > 0 && v.Data.PH_STATUS && !v.Data.REQUEST).ToArray());
-            if (startStations.Length == 0)
-                return;
+            #region 放货任务
 
-            //startStations = Ltc.Do(startStations, dev, (arr, dev) => arr.Where(v => dev.Entity.ROUTES.Any(d => d.NEXT.CODE == v.Data.GOODSEND.ToString())).ToArray());
-            //if (startStations.Length == 0)
-            //    return;
-
-            startStations = Ltc.Do(startStations, arr => arr.Where(v => v.Data.GOODSEND.ToString() != v.Entity.CODE).ToArray());
-            if (startStations.Length == 0)
-                return;
-
-            var endEmptys = startStations.Where(v =>
+            //判断小车是否有工位有光电,小车空闲自动且有光电代表需要执行放货任务
+            if (dev.Data.PH_Status_1 || dev.Data.PH_Status_2)
             {
-                var end = Device.Find(v.Data.GOODSEND.ToString());
-                var next = dev.Entity.GetNext(end.CODE).Device<IStation521>();
-                var res = next.Data.TASKNUM == 0 && next.Data.PH_STATUS == false;
-                if (res && end.CODE == "2324")
+                if (dev.Data.PH_Status_1) //工位一需要放货
                 {
-                    res = Device.Find("2071", "2072", "2073", "2074", "2075", "2076", "2077", "2078", "2079", "2017", "2019", "2022", "2024", "2029").Select(v => v.Device<IStation521>())
-                    .Count(v => v.Data.PH_STATUS == false && v.Data.TASKNUM == 0) > 3;
-                    if (!res)
+                    if (dev.Data.TaskID_1 < 10000) throw new Exception("有光电无任务号");
+                    string next = "";
+                    //获取任务
+                    DB.Do(db =>
                     {
-                        Configs.UploadException(end.CODE, "库前拥堵,RGV暂停入库");
-                    }
+                        var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Data.TaskID_1) ?? throw new Exception($"WCS不存在任务{dev.Data.TaskID_1}");
+                        var next = dev.Entity.GetNext(task.ADDRTO).CODE;
+                    });
+                    //TODO:放货站点有货检查
+                    dev.Data2.TaskID_1 = dev.Data.TaskID_1;
+                    dev.Data2.TaskType_1 = Convert.ToInt16(DRGVTaskType.放货);
+                    dev.Data2.StartPosition_1 = Convert.ToInt16(next);
+                    dev.Data2.Trigger_1 = 1;
                 }
-                return res;
-            }).ToArray();
+                else if (dev.Data.PH_Status_2)//工位二需要放货
+                {
+                    if (dev.Data.TaskID_2 < 10000) throw new Exception("有光电无任务号");
 
-            short taskType = 1;
-            var st = Ltc.Do(endEmptys, arr => arr.OrderBy(v => v.Entity.CODE == "2182" || v.Entity.CODE == "2181" || v.Entity.CODE == "2081" || v.Entity.CODE == "2325" ? 1 : 2)
-            .ThenBy(v => v.Data.GetUpdateTime())
-            .FirstOrDefault());
-            if (st == null)
+                    string next = "";
+                    //获取任务
+                    DB.Do(db =>
+                    {
+                        var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Data.TaskID_2) ?? throw new Exception($"WCS不存在任务{dev.Data.TaskID_2}");
+                        var next = dev.Entity.GetNext(task.ADDRTO).CODE;
+                    });
+                    //TODO:放货站点有货检查
+                    dev.Data2.TaskID_2 = dev.Data.TaskID_2;
+                    dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.放货);
+                    dev.Data2.StartPosition_2 = Convert.ToInt16(next);
+                    dev.Data2.Trigger_2 = 1;
+                }
+            }
+
+            #endregion 放货任务
+
+            #region 取货任务
+
+            //获取所有需要取货的站台
+            //获取下一个地址为当前RGV的站台，此处不考虑一台车跑全程
+            var validPickupPoints = Device.Where(v => v.ROUTES.Any(p => p.NEXT.CODE == dev.Entity.CODE)).ToList()
+                             .Select(v => v.Device<IStation521, IStation520, IStation523>())
+                             .Where(v => v.Data.PH_STATUS && v.Data.TASKNUM > 10000 && !v.Data2.CONFIRM && v.Data.GOODSEND != Convert.ToInt16(v.Entity.CODE))//需要取货的站点
+                             .Where(v => //是否可以进行取货，主要用于判断放货位是否有货
+                             {
+                                 var end = Device.Find(v.Data.GOODSEND.ToString()).Device<IStation521>();
+                                 var res = end.Data.TASKNUM == 0 && end.Data.PH_STATUS == false;
+                                 return res;
+                             });
+            if (!validPickupPoints.Any()) return;//不需要取货
+
+            Device<IStation521, IStation520, IStation523> validPickupPoint = null;
+
+            //是否包含小车当前所在站点，写死，如有变动必须改代码
+            //这一块的作用主要是用于解决小车就近取货问题
+            if (dev.Data.RES is 3035 or 3036) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3035" or "3036");
+            else if (dev.Data.RES is 3041 or 3040) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3041" or "3040");
+            else if (dev.Data.RES is 3047 or 3048) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3047" or "3048");
+            else if (dev.Data.RES is 3052 or 2108) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3052" or "2108");
+            //当前站点没有需要取货的
+            if (validPickupPoint == null) validPickupPoint = validPickupPoints.OrderBy(v => v.UpdateTime).FirstOrDefault() ?? throw new Exception("没有站台需要取货");
+
+            if (validPickupPoint.Entity.CODE is "" or "" or "") //一工位取货点
             {
-                st = startStations.OrderBy(v => v.Entity.CODE == "2182" || v.Entity.CODE == "2181" || v.Entity.CODE == "2081" || v.Entity.CODE == "2325" ? 1 : 2)
-                .ThenBy(v => v.Data.GetUpdateTime())
-                .FirstOrDefault();
-                taskType = 3;
+                dev.Data2.TaskID_1 = dev.Data.TaskID_1;
+                dev.Data2.TaskType_1 = Convert.ToInt16(DRGVTaskType.取货);
+                dev.Data2.StartPosition_1 = Convert.ToInt16(validPickupPoint.Data.GOODSEND);
+                dev.Data2.Trigger_1 = 1;
+            }
+            else if (validPickupPoint.Entity.CODE is "" or "" or "") //二工位取货点
+            {
+                dev.Data2.TaskID_2 = dev.Data.TaskID_2;
+                dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.取货);
+                dev.Data2.StartPosition_2 = Convert.ToInt16(validPickupPoint.Data.GOODSEND);
+                dev.Data2.Trigger_2 = 1;
             }
 
-            if (taskType == 3)
+            #endregion 取货任务
+        }
+
+        protected override bool SelectDevice(WCS_DEVICE dev)
+        {
+            //TODO:上线时需要填入具体设备号
+            return dev.CODE is "" or "";
+        }
+    }
+
+    [WorkTitle(typeof(ProductHandler), "连廊单工位RGV", true)]
+    public class 连廊RGV : DeviceWork<Device<IRGV521, IRGV520, IRGV523>>
+    {
+        protected override void Do(Device<IRGV521, IRGV520, IRGV523> dev)
+        {
+            if (dev.Data3.Fault != 0)
             {
-                var target = st.Entity.Code();
-                if (dev.Data.DestPosition != target)
+                if (dev.Entity.WakeupOn(5000))
                 {
-                    dev.Data2.TaskType = taskType;
-                    dev.Data2.TaskID = 1;
-                    dev.Data2.StartPosition = 0;
-                    dev.Data2.DestPosition = short.Parse(st.Entity.CODE);
-                    dev.Data2.Trigger = 1;
+                    WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                 }
             }
-            else
-            {
-                var next = dev.Entity.GetNext(st.Data.GOODSEND.ToString());
-                if (next == null)
-                    return;
 
-                DB.Do(db =>
-                {
-                    var task = db.Default.Set<WCS_TASK>().Find(st.Data.TASKNUM);
-                    if (task != null)
-                    {
-                        if (next.CODE == task.ADDRTO)
-                        {
-                            //task.ADDRCURRENT = dev.Entity.CODE;
-                            task.UPDATETIME = DateTime.Now;
-                            db.Default.SaveChanges();
-                        }
-                    }
+            if (Ltc.Do(dev, v => v.Data2.Trigger != 0)) return;
+            if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动)) return;
+            if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲)) return;
 
-                    dev.Data2.TaskType = taskType;
-                    dev.Data2.TaskID = st.Data.TASKNUM;
-                    dev.Data2.StartPosition = short.Parse(st.Entity.CODE);
-                    dev.Data2.DestPosition = next.Code();
-                    dev.Data2.Trigger = 1;
-                });
-            }
+            //获取所有需要取货的站台
+            //获取下一个地址为当前RGV的站台，此处不考虑一台车跑全程
+            var validPickupPoints = Device.Where(v => v.ROUTES.Any(p => p.NEXT.CODE == dev.Entity.CODE)).ToList()
+                             .Select(v => v.Device<IStation521, IStation520, IStation523>())
+                             .Where(v => v.Data.PH_STATUS && v.Data.TASKNUM > 10000 && !v.Data2.CONFIRM && v.Data.GOODSEND != Convert.ToInt16(v.Entity.CODE))//需要取货的站点
+                             .Where(v => //是否可以进行取货，主要用于判断放货位是否有货
+                             {
+                                 var end = Device.Find(v.Data.GOODSEND.ToString()).Device<IStation521>();
+                                 var res = end.Data.TASKNUM == 0 && end.Data.PH_STATUS == false;
+                                 return res;
+                             });
+            if (!validPickupPoints.Any()) return;//不需要取货
+
+            Device<IStation521, IStation520, IStation523> validPickupPoint = null;
+
+            //是否包含小车当前所在站点，写死，如有变动必须改代码
+            //这一块的作用主要是用于解决小车就近取货问题
+            if (dev.Data.RES is 3025 or 3026) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3025" or "3026");
+            else if (dev.Data.RES is 3021 or 3022) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3021" or "3022");
+            //当前站点没有需要取货的
+            if (validPickupPoint == null) validPickupPoint = validPickupPoints.OrderBy(v => v.UpdateTime).FirstOrDefault() ?? throw new Exception("没有站台需要取货");
         }
 
         protected override bool SelectDevice(WCS_DEVICE dev)
         {
-            return true;
+            //TODO:上线时需要填入具体设备号
+            return dev.CODE is "" or "";
         }
     }
 }