fix

Projects/永冠OPP/WCS.Service/Works/RGV/RGVWorks.cs

@@ -96,31 +96,31 @@ namespace WCS.Service.Works.RGV
             //11号站台是取货点，但不是待命点，如需取货，从九号站台调车
             //2号站台是一个待命点，但是为了保证入库取货效率，所有后面会跟一个车
             //如果3号站台的小车拦住了后一个小车的放货任务，检测一次最近的空车距离值，如果大于或等于618500并且小于被拦住小车的位置值再进行调车，用于避免无效空跑
-            obj.EX(obj =>
+            obj.EX(rgvDevice =>
             {
-                if (obj.Data2.Trigger_1 != obj.Data.Trigger_1) throw new WarnException($"等待执行任务{obj.Data2.TaskID_1}--{obj.Data2.TaskID_2}");
-                if (obj.Data2.WorkMode != RGVMode.自动) throw new DoException(obj.Data2.WorkMode.ToString());
-                if (obj.Data2.SystemStatus != RGVRunStatus.空闲) throw new DoException(obj.Data2.SystemStatus.ToString());
+                if (rgvDevice.Data2.Trigger_1 != rgvDevice.Data.Trigger_1) throw new WarnException($"等待执行任务{rgvDevice.Data2.TaskID_1}--{rgvDevice.Data2.TaskID_2}");
+                if (rgvDevice.Data2.WorkMode != RGVMode.自动) throw new DoException(rgvDevice.Data2.WorkMode.ToString());
+                if (rgvDevice.Data2.SystemStatus != RGVRunStatus.空闲) throw new DoException(rgvDevice.Data2.SystemStatus.ToString());
                 //RGV当前是否刚刚完成取货任务，等待放货
-                if (obj.IsPut())
+                if (rgvDevice.IsPut())
                 {
-                    if (!obj.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.光电)) throw new WarnException("RGV无光电，无法放货，请检查实际情况");
+                    if (!rgvDevice.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.光电)) throw new WarnException("RGV无光电，无法放货，请检查实际情况");
                     //取小车上的任务
                     DB.Do(db =>
                     {
-                        List<int> taskids = new List<int>() { obj.Data2.TaskID_1, obj.Data2.TaskID_2 };
+                        var taskids = new List<int>() { rgvDevice.Data2.TaskID_1, rgvDevice.Data2.TaskID_2 };
                         var tasks = db.Default.Set<WCS_TASK>().Where(p => taskids.Contains(p.ID));
                         if (tasks.GroupBy(p => p.TaskGroupKey).Count() > 1)
                             throw new WarnException("任务组ID不一致");
                         if (!tasks.GroupBy(p => p.TaskGroupKey).Any())
                             throw new WarnException("无任务组ID");
-                        var destStation = Device.Find(tasks.FirstOrDefault().ADDRNEXT).Create<StationDeviceGroup>();
-                        obj.Put(destStation, obj.Data2.TaskID_1, obj.Data2.TaskID_2);
+                        var destStation = Device.Find(tasks.FirstOrDefault()!.ADDRNEXT).Create<StationDeviceGroup>();
+                        rgvDevice.Put(destStation, rgvDevice.Data2.TaskID_1, rgvDevice.Data2.TaskID_2);
                     });
                     return;
                 }
                 //当前有rgv的取货站台
-                var pickStation = obj.CurrentStation();
+                var pickStation = rgvDevice.CurrentStation();
                 //RGV是否在任何一个站台
                 if (pickStation != null)
                 {
@@ -135,9 +135,9 @@ namespace WCS.Service.Works.RGV
                             //开始下达取货任务
                             DB.Do(db =>
                             {
-                                if (obj.Data2.TaskType_1 != RGVTaskType.移动) throw new WarnException($"RGV正在执行{obj.Data2.TaskType_1}");
-                                if (obj.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.光电)) throw new WarnException("RGV有光电，无法取货，请检查实际情况");
-                                if (!obj.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.RGV到站)) throw new WarnException("RGV无到站状态，请检查RGV实际状态");
+                                if (rgvDevice.Data2.TaskType_1 != RGVTaskType.移动) throw new WarnException($"RGV正在执行{rgvDevice.Data2.TaskType_1}");
+                                if (rgvDevice.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.光电)) throw new WarnException("RGV有光电，无法取货，请检查实际情况");
+                                if (!rgvDevice.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.RGV到站)) throw new WarnException("RGV无到站状态，请检查RGV实际状态");
 
                                 var taskids = devs.Select(v => v.Data2.Tasknum);
                                 var tasks = db.Default.Set<WCS_TASK>().Where(p => taskids.Contains(p.ID));
@@ -149,25 +149,38 @@ namespace WCS.Service.Works.RGV
                                 var gw2 = pickStation.Items.ToArray()[1];
                                 if (gw1.Data2.Tasknum != 0 && gw2.Data2.Tasknum != 0)
                                 {
-                                    if (gw1.Data2.Goodsend != gw2.Data2.Goodsend) throw new WarnException($"{obj.Entity.CODE}目标地址不一致");
+                                    if (gw1.Data2.Goodsend != gw2.Data2.Goodsend) throw new WarnException($"{rgvDevice.Entity.CODE}目标地址不一致");
                                 }
-                                obj.Data.TaskID_1 = gw1.Data2.Tasknum;
-                                obj.Data.TaskID_2 = gw2.Data2.Tasknum;
-                                obj.Data.TaskType_1 = RGVTaskType.取货;
-                                obj.Data.DestPosition_1 = pickStation.Entity.CODE.Replace("G", "").ToShort();
+                                rgvDevice.Data.TaskID_1 = gw1.Data2.Tasknum;
+                                rgvDevice.Data.TaskID_2 = gw2.Data2.Tasknum;
+                                rgvDevice.Data.TaskType_1 = RGVTaskType.取货;
+                                rgvDevice.Data.DestPosition_1 = pickStation.Entity.CODE.Replace("G", "").ToShort();
 
-                                obj.Data.Trigger_1++;
+                                rgvDevice.Data.Trigger_1++;
 
                                 foreach (var task in tasks)
                                 {
-                                    var msg = $"下达从{obj.Data.StartPosition_1}移动至{obj.Data.DestPosition_1}的RGV PLC指令。";
-                                    msg += $"[{task.ID}][{obj.Data.StartPosition_1}][{obj.Data.DestPosition_1}[{obj.Data.Trigger_1}]";
+                                    var msg = $"下达从{rgvDevice.Data.StartPosition_1}移动至{rgvDevice.Data.DestPosition_1}的RGV PLC指令。";
+                                    msg += $"[{task.ID}][{rgvDevice.Data.StartPosition_1}][{rgvDevice.Data.DestPosition_1}[{rgvDevice.Data.Trigger_1}]";
 
                                     task.CreateStatusLog(db, msg, this.GetType());
                                 }
                             });
                             return;
                         }
+
+                        if (rgvDevice.RGVList.Count != 6)//有小车进入维修站时启用该逻辑，避免在正常使用时影响效率
+                        {
+                            var station11 = rgvDevice.LocationList.Where(v => v.Entity.Is(DF.涂布RGV取货设备组)).Where(v => v.RGVGetTaskedDevice().Any())
+                                .Where(v => v.CurrentRGV() == null).MinBy(rgvDevice.Distance);
+
+                            //该站台到当前小车的范围中没有车
+                            if (rgvDevice.RGVList.Any(v => station11!.Position <= v.Position && rgvDevice.Position > v.Position))
+                            {
+                                rgvDevice.Move(station11);
+                                return;
+                            }
+                        }
                         else if (pickStation.Entity.CODE == "G9")
                         {
                             //九站台的小车需要额外检测一下11站台是否需要取货
@@ -175,75 +188,57 @@ namespace WCS.Service.Works.RGV
                             var station11Dev = station11.RGVGetTaskedDevice();
                             if (station11Dev != null && station11Dev.Count > 0)
                             {
-                                obj.Move(station11);
+                                rgvDevice.Move(station11);
                                 return;
                             }
                         }
 
                         //找到自己的后一个小车
-                        var afterRgv = obj.After();
+                        var afterRgv = rgvDevice.After();
 
                         //自己是否阻挡了该小车
-                        if (afterRgv.Data2.WorkMode == RGVMode.自动 && afterRgv.Data2.SystemStatus != RGVRunStatus.空闲 && obj.StopedByMe(afterRgv))
+                        if (afterRgv.Data2.WorkMode == RGVMode.自动 && afterRgv.Data2.SystemStatus != RGVRunStatus.空闲 && rgvDevice.StopedByMe(afterRgv))
                         {
-                            if (pickStation.Entity.CODE == "G2")
-                            {
-                                //此站台因需要进行排队，因此是否需要赶车取决于是否拦住了两个小车的任务
-                                var afterRgv1 = afterRgv.After();
-                                //如果是空闲或者没有拦住他，就不执行赶车
-                                if (afterRgv1.Data2.WorkMode == RGVMode.自动 && (afterRgv1.Data2.SystemStatus == RGVRunStatus.空闲 || !afterRgv.StopedByMe(afterRgv1))) return;
-                            }
-                            else if (pickStation.Entity.CODE == "G3")
+                            switch (pickStation.Entity.CODE)
                             {
-                                //为了减少空跑，需要被阻拦的小车后面的小车任务类型为移动并且位置值要大于618500小于被阻拦小车的位置值
-                                var afterRgv1 = afterRgv.After();
-                                if (afterRgv1.Data2.WorkMode == RGVMode.自动 && afterRgv.Data2.TaskType_1 != RGVTaskType.移动 && !(afterRgv1.Position < afterRgv.Position && afterRgv1.Position > 618500)) return;
+                                case "G2":
+                                    {
+                                        if (rgvDevice.RGVList.Count != 6) break;
+                                        //此站台因需要进行排队，因此是否需要赶车取决于是否拦住了两个小车的任务
+                                        var afterRgv1 = afterRgv.After();
+                                        //如果是空闲或者没有拦住他，就不执行赶车
+                                        if (afterRgv1.Data2.WorkMode == RGVMode.自动 && (afterRgv1.Data2.SystemStatus == RGVRunStatus.空闲 || !afterRgv.StopedByMe(afterRgv1))) return;
+                                        break;
+                                    }
+                                case "G3":
+                                    {
+                                        //为了减少空跑，需要被阻拦的小车后面的小车任务类型为移动并且位置值要大于618500小于被阻拦小车的位置值
+                                        var afterRgv1 = afterRgv.After();
+                                        if (afterRgv1.Data2.WorkMode == RGVMode.自动 && afterRgv.Data2.TaskType_1 != RGVTaskType.移动 && !(afterRgv1.Position < afterRgv.Position && afterRgv1.Position > 618500)) return;
+                                        break;
+                                    }
                             }
                             //找到当前所在站台的下一个取货点
                             var beforeStation = Device.Where(v => v.Is(DF.涂布RGV取货设备组) && v.CODE != pickStation.Entity.CODE)
-                                          .Select(v => v.Create<StationDeviceGroup>())
-                                          .OrderBy(v => pickStation.Distance(v))
-                                          .FirstOrDefault();
+                                .Select(v => v.Create<StationDeviceGroup>()).MinBy(v => pickStation.Distance(v));
 
                             //写入移动任务
-                            obj.Move(beforeStation);
+                            rgvDevice.Move(beforeStation);
                             return;
                         }
-                        else if (pickStation.Entity.CODE == "G11")
+
+                        if (pickStation.Entity.CODE == "G11")
                         {
-                            obj.Move(Device.Find("G2").Create<StationDeviceGroup>());
+                            rgvDevice.Move(Device.Find("G2").Create<StationDeviceGroup>());
                             return;
                         }
-                        else
-                        {
-                            //找到自己前面的 有货 没有小车 没有正在过来的小车 距离自己最近的 的站台
-                            var station = Device.Where(v => v.Is(DF.涂布RGV取货设备组))
-                                                    .Select(v => v.Create<StationDeviceGroup>())
-                                                    .Where(v => v.Position > obj.Position) //前面的
-                                                    .Where(v => v.CurrentRGV() == null)
-                                                    .Where(v => !v.RgvList.Any(c => c.Data2.SystemStatus != RGVRunStatus.空闲 && c.Data2.DestPosition_1 == v.Entity.CODE.GetShortCode()))
-                                                    .Where(v =>
-                                                    {
-                                                        // 筛选出有任务号和起始及目标地址的设备
-                                                        var b = pickStation.RGVGetTaskedDevice();
-                                                        //是否需要取货
-                                                        if (b != null && b.Count > 0) return true;
-                                                        else return false;
-                                                    })
-                                                    .OrderBy(v => obj.Distance(v)).FirstOrDefault();//取当前小车最近
-                            if (obj.Data2.TaskType_1 == RGVTaskType.移动 && obj.Distance(station) > 100000)
-                            {
-                                obj.Move(station);
-                                return;
-                            }
-                        }
                     }
 
                     //是否在一个放货站台
                     if (pickStation.Entity.Is(DF.涂布RGV放货设备组))
                     {
-                        pickStation = obj.BeforeStation();
-                        obj.Move(pickStation);
+                        pickStation = rgvDevice.BeforeStation();
+                        rgvDevice.Move(pickStation);
                         return;
                     }
                 }
@@ -251,9 +246,9 @@ namespace WCS.Service.Works.RGV
                 //此时RGV即没有等待执行的放货任务，也不在任何一个取货点,因此需要调往最近的一个取货点
                 //找到距离这个RGV最近的一个取货点
                 //必须所有RGV都是空闲状态时才可以进行初始化
-                if (obj.RGVList.Any(v => v.Data2.SystemStatus != RGVRunStatus.空闲)) return;
-                pickStation = obj.BeforeStation();
-                obj.Move(pickStation);
+                if (rgvDevice.RGVList.Any(v => v.Data2.SystemStatus != RGVRunStatus.空闲)) return;
+                pickStation = rgvDevice.BeforeStation();
+                rgvDevice.Move(pickStation);
             });
         }