YG-PVC-WCS/WCS.PLC/Equipment/Base_SingleRgv.cs

using SqlSugar;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using WCS.Data;
using WCS.Data.Models;
using WCS.Data.Utils;
using WCS.PLC.Model.Equipment;

namespace WCS.PLC
{
    public class Base_SingleRgv : Base_Rgv
    {
        #region Constructor
        public Base_SingleRgv() : base()
        {
        }
        #endregion;

        #region 属性 
        //工位编号
        protected string RgvPos { get; set; }
        #endregion;

        #region 方法
        private int _locRgvExecute = 0;
        public override void Run()
        {
            if (Interlocked.Exchange(ref _locRgvExecute, 1) == 0)
            {
                try
                {
                    RgvExecute();
                }
                catch (Exception ex)
                {
                    string errormsg = string.Format("Rgv[{0}]执行异常,消息：{1}", PlcName, ex.ToString());
                    LogMessageHelper.RecordLogMessage(errormsg, ex);
                }
                finally
                {
                    RgvRunFinish_Other();
                    Interlocked.Exchange(ref _locRgvExecute, 0);
                }
            }
        }
        protected virtual void RgvRunFinish_Other() { }
        internal void RgvExecute()
        {
            //RGV完成任务
            Rgv_Finish();
            //上下料
            OnUpMateriel();

            //其它功能
            Rgv_OtherExtend();
        }

        /// <summary>
        /// RGV完成任务
        /// </summary>
        internal void Rgv_Finish()
        {
            if (Rgv.DB521_Finish_1)
            {
                var task = SugarBase.DB.Queryable<WCS_TASK>().First(v => v.TASK_NO == Rgv.DB521_TaskID_1 && v.TASK_RGVNO == PlcName);
                if (task != null)
                {
                    task.TASK_RGVNO = "";
                    //task.TASK_POSIDCUR = task.TASK_POSIDNEXT;
                    if (task.TASK_WKSTATUS == 7) task.TASK_WKSTATUS = (int)WkStatus.RGV完成;

                    SugarBase.DB.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = task.TASK_WKSTATUS, TASK_POSIDCUR = task.TASK_POSIDNEXT, TASK_RGVNO = "", TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                                .Where(it => it.TASK_NO == task.TASK_NO)
                                .ExecuteCommand();
                    DateTime lastfinishtime = SugarBase.DB.GetDate();
                    //更新最后完成时间
                    SugarBase.DB.Updateable<WCS_PLC>(it => new WCS_PLC() { PLC_LASTFINISHTIME = lastfinishtime }).Where(it => it.PLC_NAME == PlcName).ExecuteCommand();
                    bool isReducePriority = true;//是否降低优先级(均匀原则)
                                                 //重新排上料顺序(均匀原则，就近原则)
                    RGVOnPosList.ForEach(item =>
                    {
                        if (isReducePriority)
                        {
                            item.EvenOnMat_Sequence = 1;//降低优先级
                        }
                        else
                        {
                            item.EvenOnMat_Sequence = 0;//提升优先级
                        }

                        int convNo = Convert.ToInt32(item.RGVOUTIN_CONVNO);
                        if (Rgv.DB521_StartPosition_1 == convNo)
                        {
                            isReducePriority = false;
                        }
                    });
                }
            }
            Rgv_Complete();
        }

        /// <summary>
        /// RGV上下料任务
        /// </summary>
        internal void OnUpMateriel()
        {
            if (string.IsNullOrWhiteSpace(PlcName)) return;
            if (Rgv.DB521_SystemStatus != 1) return;
            if (Rgv.DB521_WorkMode != 1) return;
            if (Rgv.DB521_Finish_1 == false) return;
            if (Rgv.DB521_PH_Status_1) return;
            //是否存在执行的任务
            if (SugarBase.DB.Queryable<WCS_TASK>().Any(v => v.TASK_RGVNO == PlcName)) return;

            string upPosConvNo = string.Empty;
            //1.就近原则;2.均匀原则;3.优先入库原则;4.优先出库原则;(WMS任务优先级高的任务所有原则失效)

            var rgvtask = QueryOnUpTask(ref upPosConvNo);

            if (rgvtask == null) return;

            var rgvwrite = new WCSWriteToRgvSignal();
            rgvwrite.Plc = RgvPlc;
            rgvwrite.RgvPos = RgvPosEnum.一号工位;
            rgvwrite.DBName = WCS_PLCItem.WCS_DBSet.FirstOrDefault(v => v.DB_TypeCh == DB_TypeEnum.WCS可读可写DB).DB_NAME;
            rgvwrite.RgvNo = PlcName;
            rgvwrite.WriteStartAddress = Rgv.EquDbInfo_ReadWrite.DBReadIndox;
            rgvwrite.Tasknum = rgvtask.TASK_NO;
            rgvwrite.StartPosition = Convert.ToInt32(rgvtask.TASK_POSIDCUR);
            rgvwrite.DestPosition = Convert.ToInt32(upPosConvNo);

            WriteTaskToRgv(rgvwrite);
        }

        /// <summary>
        /// 返回一条可执行任务，按照优先级进行排序的结果
        /// </summary>
        /// <param name="upPosConvNo"></param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        private WCS_TASK QueryOnUpTask(ref string upPosConvNo)
        {
            WCS_TASK rgvtask = null;
            //循环RGV上料点
            foreach (var item in RGVOnPosList)
            {
                //获取RGV对接口输送线信息
                var conv = ConveyorHelper.GetConveyorSignal(item.PLCNAME, item.RGVOUTIN_CONVNO);
                //if (!conv.CvDB51_PH_Status) continue;
                //找到输送机编号所在任务信息
                var task = SugarBase.DB.Queryable<WCS_TASK>().Single(v => v.TASK_POSIDCUR == item.RGVOUTIN_CONVNO && conv.DB521_Tasknum == v.TASK_NO);
                
                if (task == null || task.TASK_WKSTATUS != (int)WkStatus.输送机执行) continue;

                //查询任务下料点列表
                var routeSet = EquRouteHelper.QueryRoute(item.RGVOUTIN_CONVNO, task.TASK_POSIDTO)
                                             .Where(v => v.ROUTE_STARTPOS == item.RGVOUTIN_CONVNO)
                                             .Select(t => t.ROUTE_SONPOS).ToList();

                //routeSet = QueryRoutes(task, routeSet);

                if (routeSet.Count() == 0)
                {
                    if (task.TASK_POSIDFROM == "1094" || task.TASK_POSIDFROM == "Pvc_4_Full01" || task.TASK_POSIDFROM == "Pvc_4_Full02" || task.TASK_POSIDFROM == "Pvc_4_Back")
                    {
                        routeSet.Add("1120");
                    }
                    else
                    {
                        LogMessageHelper.RecordLogMessage(string.Format("任务[{0}]当前地址[{1}]目标地址[{2}]未查询到路由地址。", task.TASK_NO, item.RGVOUTIN_CONVNO, task.TASK_POSIDTO));
                        continue;
                    }
                }

                if (!CheckOnTaskToPos(task, item.RGVOUTIN_CONVNO)) continue;

                var rgvUpPosList = QueryRgvUpPosList(item.RGVOUTIN_CONVNO);
                rgvUpPosList = rgvUpPosList.Where(v => routeSet.Any(t => t.Contains(v.RGVOUTIN_CONVNO))).ToList();

                if (rgvUpPosList.Any(v => v.SrmTunnelNo <= 0) == false && task.TASK_POSIDTO == srm)
                {
                    if (string.IsNullOrWhiteSpace(task.TASK_ITEM7) || task.TASK_ITEM7 == "0")
                    {
                        //预分配堆垛机巷道
                        ThreadHelper.TaskThread(BaseWorkflow.PreparatoryAssignSrmTunnel, task, 2000);
                    }

                    if (string.IsNullOrWhiteSpace(task.TASK_ITEM7))
                    {
                        rgvUpPosList = new List<WCS_RGVOutInInfo>();//清零
                    }
                    else
                    {
                        //根据巷道预分配调整下料口顺序
                        var srmTunnelList = task.TASK_ITEM7.Split(',');

                        var rgvUpPosSet = rgvUpPosList.Where(v => srmTunnelList.Contains(v.SrmTunnelNo.ToString())).ToList();
                        if (rgvUpPosSet.Count() <= 0)
                        {
                            throw new Exception(string.Format("任务[{0}]根据分配货位获取下料点列表为零，请排查分配巷道是否正确。", task.TASK_NO));
                        }
                        var rgvUpPosList_temp = new List<WCS_RGVOutInInfo>();
                        srmTunnelList.ToList().ForEach(v => rgvUpPosList_temp.Add(rgvUpPosSet.First(t => t.SrmTunnelNo.ToString() == v)));

                        rgvUpPosList = rgvUpPosList_temp;
                    }
                }

                //检测下料位置是否可用
                foreach (var upItem in rgvUpPosList)
                {
                    var upConv = ConveyorHelper.GetConveyorSignal(upItem.PLCNAME, upItem.RGVOUTIN_CONVNO);
                    if (upConv.CvDB51_PH_Status == false && upConv.DB521_Tasknum == 0 && upConv.DB521_Request == false || (upItem.IsCheckUpMatPos == false))
                    {
                        if (SugarBase.DB.Queryable<WCS_TASK>().Any(v => v.TASK_POSIDCUR == upItem.RGVOUTIN_CONVNO && v.TASK_POSIDNEXT == upItem.RGVOUTIN_CONVNO) && upItem.IsCheckUpMatPos)
                        {
                            LogMessageHelper.RecordLogMessage(string.Format("穿梭车[{0}]下料位置[{1}]PLC无光电和任务号但WCS存在任务。", PlcName, upItem.RGVOUTIN_CONVNO));
                        }
                        else
                        {
                            if (CheckUpTaskToPos(task, upItem.RGVOUTIN_CONVNO))
                            {
                                if (!string.IsNullOrWhiteSpace(task.TASK_ITEM7))
                                {
                                    var srminitem = Current.WCS_SrmOutInInfoSet.FirstOrDefault(v => v.SRMOUTIN_CONVNO == upItem.RGVOUTIN_CONVNO);
                                    //任务分配巷道
                                    var result = TryCachHelper.TryExecute((db) =>
                                    {
                                        db.Updateable<WCS_TASK>(it => new WCS_TASK()
                                        {
                                            TASK_EndTunnelNum = upItem.SrmTunnelNo.ToString(),
                                            TASK_POSIDTO = srminitem.SRMOUTIN_SRMNO,
                                            TASK_SRMNO = srminitem.SRMOUTIN_SRMNO,
                                            TASK_EDITUSERNO = "WCS",
                                            TASK_EDITDATETIME = DateTime.Now
                                        })
                                         .Where(it => it.TASK_NO == task.TASK_NO)
                                         .ExecuteCommand();
                                    });
                                    if (!string.IsNullOrWhiteSpace(result))
                                    {
                                        throw new Exception(string.Format("WMS任务[{0}]分配巷道更新任务失败,原因[{1}]", task.TASK_WMSNO, result));
                                    }
                                }
                                upPosConvNo = upItem.RGVOUTIN_CONVNO;
                                break;
                            }
                        }
                    }
                }
                if (string.IsNullOrWhiteSpace(upPosConvNo)) continue;

                rgvtask = task;
                break;
            }
            return rgvtask;
        }
        protected virtual List<string> QueryRoutes(WCS_TASK task, List<string> routeSet) { return routeSet; }
        protected override void UpdateRgvTaskStatus(SqlSugarClient db, WCSWriteToRgvSignal rgvwrite)
        {
            var task = Current.TaskSet.First(t => t.TASK_NO == rgvwrite.Tasknum);
            string msg = string.Empty;

            if (rgvwrite.TaskType == 3)
            {
                //移动
                db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = (int)WkStatus.RGV移动, TASK_RGVNO = PlcName, TASK_ITEM4 = rgvwrite.StartPosition.ToString(), TASK_POSIDNEXT = rgvwrite.DestPosition.ToString(), TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                  .Where(it => it.TASK_NO == task.TASK_NO)
                  .ExecuteCommand();
                msg = string.Format("穿梭车[{0}]开始执行移动任务[{1}]起始点[{2}]终点[{3}]", rgvwrite.RgvNo, rgvwrite.Tasknum, rgvwrite.StartPosition, rgvwrite.DestPosition);
            }
            else
            {
                db.Updateable<WCS_TASK>(it => new WCS_TASK() { TASK_WKSTATUS = (int)WkStatus.RGV执行中, TASK_RGVNO = PlcName, TASK_ITEM4 = rgvwrite.StartPosition.ToString(), TASK_POSIDNEXT = rgvwrite.DestPosition.ToString(), TASK_EDITUSERNO = "WCS", TASK_EDITDATETIME = DateTime.Now })
                  .Where(it => it.TASK_NO == task.TASK_NO)
                  .ExecuteCommand();
                msg = string.Format("穿梭车[{0}]开始执行上下料任务[{1}]上料点[{2}]下料点[{3}]", rgvwrite.RgvNo, rgvwrite.Tasknum, rgvwrite.StartPosition, rgvwrite.DestPosition);
            }
            if (!string.IsNullOrWhiteSpace(msg))
            {
                CommonData.AddWCS_TASK_DTL(db, task.TASK_NO, task.TASK_NO, task.TASK_POSIDCUR, rgvwrite.DestPosition.ToString(), msg);
            }
        }

        /// <summary>
        /// 查询RGV下料列表(就近原则)
        /// </summary>
        protected List<WCS_RGVOutInInfo> QueryRgvUpPosList(string onPosConvNo)
        {
            var tempList = Current.WCS_RGVOutInInfoSet.Where(v => v.RGVOUTIN_RGVNO == PlcName && (v.RGVOUTIN_OUTINTYPE == "UpMat" || v.RGVOUTIN_OUTINTYPE == "OnUpMat")).ToList();

            var curItem = RGVOnPosList.FirstOrDefault(v => v.RGVOUTIN_CONVNO == onPosConvNo);
            if (curItem != null)
            {
                foreach (var item in tempList)
                {
                    int difference = item.RGVOUTIN_SEQUENCE - curItem.RGVOUTIN_SEQUENCE;
                    item.RGVCURRENT_SEQUENCE = Math.Abs(difference);
                }
            }
            return tempList.OrderBy(v => v.RGVCURRENT_SEQUENCE).ToList();
        }

        #region #region virtual,abstract 
        protected virtual bool CheckOnTaskToPos(WCS_TASK task, string onPosConvNo) { return true; }
        protected virtual bool CheckUpTaskToPos(WCS_TASK task, string upPosConvNo) { return true; }
        protected virtual void Rgv_OtherExtend() { }
        protected virtual void Rgv_Complete() { }
        #endregion;
        #endregion;
    }
}