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@@ -183,7 +183,6 @@ namespace WCS.Service.Works.RGV
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//是否在一个放货站台
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if (pickStation.Entity.Is(DF.涂布RGV放货设备组))
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{
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- if (obj.RGVList.Any(v => v.Data2.SystemStatus != RGVRunStatus.空闲 || v.Data2.WorkMode != RGVMode.自动)) return;
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pickStation = obj.BeforeStation();
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obj.Move(pickStation);
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}
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@@ -204,162 +203,4 @@ namespace WCS.Service.Works.RGV
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return dev.Is(DF.涂布RGV);
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}
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}
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-
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- //[WorkTitle(typeof(RGVHandler), "涂布环穿取货")]
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- public class 涂布环穿取货 : Work<StationDeviceGroup>
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- {
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- protected override void Do(StationDeviceGroup obj)
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- {
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- obj.EX(obj =>
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- {
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- //是否有车
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- var rgv = obj.CurrentRGV();
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- if (rgv != null) //有车
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- {
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- //RGV是自动且空闲的
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- if (rgv.Data2.WorkMode != RGVMode.自动) return;
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- if (rgv.Data2.SystemStatus != RGVRunStatus.空闲) return;
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- //是否有任务
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- if (rgv.Data.Trigger_1 != rgv.Data2.Trigger_1) throw new WarnException($"待执行任务{rgv.Data.TaskID_1}-{rgv.Data.TaskID_2}");
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- //检查取货点是否需要取货
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- //obj.WhetherToExecute();
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- //筛选出有任务号和起始及目标地址的设备
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- //var dev = obj.RGVGetTaskedDevice();
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- int dev = 0;
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- if (dev > 0) //有需要取货的任务
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- {
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- //开始下达取货任务
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- //DB.Do(db =>
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- //{
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- // var taskids = dev.Select(v => v.Data2.Tasknum);
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- // var tasks = db.Default.Set<WCS_TASK>().Where(p => taskids.Contains(p.ID));
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- // if (tasks.GroupBy(p => p.TaskGroupKey).Count() > 1)
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- // throw new WarnException("任务组ID不一致");
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- // if (!tasks.GroupBy(p => p.TaskGroupKey).Any())
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- // throw new WarnException("无任务组ID");
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- // var gw1 = obj.Items.ToArray()[0];
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- // var gw2 = obj.Items.ToArray()[1];
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- // if (gw1.Data2.Tasknum != 0 && gw2.Data2.Tasknum != 0)
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- // {
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- // if (gw1.Data2.Goodsend != gw2.Data2.Goodsend) throw new WarnException($"{obj.Entity.Code}目标地址不一致");
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- // }
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- // rgv.Data.TaskID_1 = gw1.Data2.Tasknum;
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- // rgv.Data.TaskID_2 = gw2.Data2.Tasknum;
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- // rgv.Data.TaskType_1 = RGVTaskType.取货;
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- // if (gw1.Data2.Tasknum != 0)
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- // {
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- // rgv.Data.DestPosition_1 = gw1.Data2.Goodsend;
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- // }
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- // else
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- // {
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- // rgv.Data.DestPosition_1 = gw2.Data2.Goodsend;
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- // }
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- // rgv.Data.Trigger_1++;
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-
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- // foreach (var task in tasks)
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- // {
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- // var msg = $"下达从{rgv.Data.StartPosition_1}移动至{ rgv.Data.DestPosition_1}的RGV PLC指令。";
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- // msg += $"[{ task.ID}][{rgv.Data.StartPosition_1}][{rgv.Data.DestPosition_1}[{ rgv.Data.Trigger_1}]";
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-
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- // task.CreateStatusLog(db, msg, this.GetType());
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- // }
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- //});
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- }
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- else
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- {
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- //检查RGV自身是否有任务
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- var b = false; //暂时默认无任务
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- if (b)
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- {
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- }
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- else
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- {
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- //找到自己的后一个小车
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- var a = rgv.After();
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- //后面的小车是否在执行任务
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- if (a.Data2.WorkMode == RGVMode.自动 && a.Data2.SystemStatus == RGVRunStatus.空闲) return;
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- //自己是否阻挡了该小车
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- if (rgv.StopedByMe(a))
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- {
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- //取小车的目标位置值
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- var c = Device.Find($"G{a.Data2.DestPosition_1}").Create<StationDeviceGroup>();
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- //计算目标位置最近的一个取货口
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- var d = Device.Where(v => v.Is(DF.涂布RGV取货站台) && v.CODE != obj.Entity.CODE)
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- .Select(v => v.Create<StationDeviceGroup>())
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- .OrderBy(v => obj.Distance(v))
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- .FirstOrDefault();
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-
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- var cc = Device.Where(v => v.Is(DF.涂布RGV取货站台) && v.CODE != obj.Entity.CODE)
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- .Select(v => v.Create<StationDeviceGroup>())
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- .OrderBy(v => obj.Distance(v));
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-
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- var aa = Device.Where(v => v.Is(DF.涂布RGV取货站台) && v.CODE != obj.Entity.CODE)
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- .Select(v => v.Create<StationDeviceGroup>())
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- .Select(v =>
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- {
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- return new Tuple<string, float>(v.Entity.CODE, obj.Distance(v));
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- });
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- //写入移动任务
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- rgv.Move(d);
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- }
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-
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- ///检查是否阻挡了其他RGV
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- ////找到所有自动不空闲的小车
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- //var rgvs = rgv.RGVList.Where(v => v.Data2.WorkMode == RGVMode.自动 && v.Data2.SystemStatus != RGVRunStatus.空闲);
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- ////找到不空闲且离自己最近的
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- //var a = rgvs.OrderBy(v => v.Distance(rgv)).FirstOrDefault();
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- }
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- }
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- }
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- else //没车
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- {
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- ////有没有目标地址是自己这的小车 任务未完成 未到站
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- //var moveRgv = obj.RgvList.Any(v => v.Data2.DestPosition_1 == obj.Entity.CODE.Replace("G", "").ToShort());
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-
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- //if (moveRgv) return;
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- ////找到一个空闲且离自己最近的一个RGV
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- //var a = obj.RgvList.Where(v => v.Data2.SystemStatus == RGVRunStatus.空闲 && v.Data2.WorkMode == RGVMode.自动);
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- //var z = a.OrderBy(v => obj.Distance(v)).FirstOrDefault() ?? throw new DoException("");
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- //z.Move(obj);
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- }
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- });
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- }
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-
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- protected override bool SelectDevice(WCS_DEVICE dev)
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- {
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- return dev.Is(DF.涂布RGV取货站台);
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- }
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- }
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-
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- //[WorkTitle(typeof(RGVHandler), "涂布环穿放货")]
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- public class 涂布环穿放货 : Work<StationDeviceGroup>
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- {
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- protected override void Do(StationDeviceGroup obj)
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- {
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- obj.EX(obj =>
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- {
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- //是否有车
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- var rgv = obj.CurrentRGV();
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- if (rgv != null) //有车
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- {
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- if (rgv.Data.Trigger_1 != rgv.Data2.Trigger_2) throw new WarnException($"等待执行{rgv.Data2.TaskID_1 - rgv.Data2.TaskID_2},凭证号不一致");
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- if (rgv.Data2.WorkMode != RGVMode.自动) throw new DoException("非自动");
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- if (rgv.Data2.SystemStatus != RGVRunStatus.空闲) throw new DoException("非空闲");
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- if (!rgv.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.任务完成)) throw new WarnException("任务未完成");
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- if (!rgv.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.RGV到站)) throw new WarnException("RGV未到站");
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- if (rgv.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.光电)) throw new WarnException("有光电");
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- //找到最近的一个取货站台
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- var q = Device.Where(v => v.Is(DF.涂布RGV取货站台)).Select(v => v.Create<StationDeviceGroup>()); ;
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- //计算自己与每一个取货站台的距离
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- var z = q.OrderBy(v => obj.Distance(v)).FirstOrDefault();
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- rgv.Move(z);
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- }
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- });
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- }
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-
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- protected override bool SelectDevice(WCS_DEVICE dev)
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- {
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- return dev.Is(DF.涂布RGV取货站台);
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- }
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- }
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}
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