using PlcSiemens.Core.Extension;
using ServiceCenter.Extensions;
using ServiceCenter.Logs;
using ServiceCenter.SqlSugars;
using System.ComponentModel;
using System.Threading.Tasks;
using WCS.Core;
using WCS.Entity;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.Protocol.SRM;
using WCS.WorkEngineering.Protocol.Station;
using WCS.WorkEngineering.WebApi.Controllers;
using WCS.WorkEngineering.Worlds;
using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;
namespace WCS.WorkEngineering.Systems
{
///
/// Agv交互系统
///
[BelongTo(typeof(MainWorld))]
[Description("Agv交互系统")]
public class AgvSystems : DeviceSystem
{
protected override bool ParallelDo => true;
protected override bool SaveLogsToFile => true;
private List devs = new List();
private List devsOut = new List();
private List srms = new List();
public AgvSystems()
{
devs = Device.All.Where(v => v.HasFlag(DeviceFlags.入库, DeviceFlags.巷道口)).Select(v => new Station(v, this.World)).ToList();
srms = Device.All.Where(v => v.HasProtocol(typeof(ISRM520))).Select(v => new SRM(v, this.World)).ToList();
devsOut = Device.All.Where(v => v.HasFlag(DeviceFlags.一楼出库口)).Select(v => new Station(v, this.World)).ToList();
}
public override void Do(Station obj)
{
if (obj.Entity.HasFlag(DeviceFlags.出库))
{
List agvTaskInfos = new List();
//获取所有未结束的AGV叫料、搬运任务
SqlSugarHelper.Do(db =>
{
agvTaskInfos = db.Default.Queryable().Where(v => v.Status < AGVTaskStatus.MissionCompleted && (v.TaskType == AGVTaskType.CallMaterial || v.TaskType == AGVTaskType.Transport)).SplitTable(tabs => tabs.Take(2)).OrderBy(v => v.AddTime).ToList();
});
//有需要处理的AGV任务
if (agvTaskInfos.Any())
{
this.ExRecord(obj.Entity.Code, "可用出库AGV任务列表", agvTaskInfos.Select(v => v.ID).ToList());
List taskInfos = new List();
foreach (var agv in agvTaskInfos)
{
try
{
SqlSugarHelper.Do(db =>
{
//出库叫料任务
if (agv.TaskType == AGVTaskType.CallMaterial)
{
var task = db.Default.Queryable().First(v => v.AgvTaskID == agv.ID);
if (task == null) throw new Exception($"AGV任务{agv.ID}未找到对应WCS任务");
//取货点安全交互
if (agv.AgvStatus == AGVTaskStatus.RequestOrPermission2 && agv.Status != AGVTaskStatus.Complete)
{
agv.Status = AGVTaskStatus.Complete;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
task.AddWCS_TASK_DTL(db, "agv", $"允许AGV任务{agv.ID}在站台{agv.Station}取货");
AgvApi.ContinueTask(agv.AgvID, agv.Station);
}
else if (agv.AgvStatus == AGVTaskStatus.LeaveGet)
{
agv.Status = AGVTaskStatus.Execution;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
//WmsApi.PinkuInfoManagement(task.ID);
}
else if (agv.AgvStatus == AGVTaskStatus.PutRequestOrPermission && agv.Status != AGVTaskStatus.PutRequestOrPermission)
{
string endPos = "";
if (task.AddrTo == "1021" || task.AddrTo == "1022" || task.AddrTo == "1023" || task.AddrTo == "1024")
{
endPos = "PT" + task.AddrTo;
}
else
{
endPos = task.AddrTo;
}
agv.Status = AGVTaskStatus.PutRequestOrPermission;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
task.AddWCS_TASK_DTL(db, "agv", $"允许AGV任务{agv.ID}放货，目标站台{endPos}");
AgvApi.ContinueTask(agv.AgvID, endPos);
}
//完成任务
else if (agv.AgvStatus == AGVTaskStatus.MissionCompleted && agv.Status != AGVTaskStatus.MissionCompleted)
{
if (agv.TaskType is AGVTaskType.CallMaterial)
{
//更新AGV任务状态
agv.Status = AGVTaskStatus.MissionCompleted;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
//更新WCS任务状态
task.Status = Entity.TaskStatus.Finish;
task.EedTime = DateTime.Now;
db.Default.Updateable(task).ExecuteCommand();
task.AddWCS_TASK_DTL(db, "agv", "任务完成");
task.CompleteOrCancelTasks(db);
taskInfos.Add(task);
}
}
}
else if (agv.TaskType == AGVTaskType.Transport)//搬运任务，判断是WCS还是WMS创建
{ //终点安全交互
if (agv.WorkShop == 111)
{
var taskInfo = db.Default.Queryable().First(v => v.AgvTaskID == agv.ID);
if (taskInfo == null) throw new Exception($"未找到AGV任务{agv.ID}对应WCS任务");
if (agv.AgvStatus == AGVTaskStatus.LeaveGet && agv.AgvStatus != AGVTaskStatus.Execution)
{
agv.Status = AGVTaskStatus.Execution;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
WmsApi.PinkuInfoManagement(taskInfo.ID);
}
else if (agv.AgvStatus == AGVTaskStatus.PutRequestOrPermission && agv.Status != AGVTaskStatus.PutRequestOrPermission)
{
agv.Status = AGVTaskStatus.PutRequestOrPermission;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
string endPos = "";
if (agv.Position == "1012" || agv.Position == "1014" || agv.Position == "1016")
{
endPos = "PT" + agv.Position;
}
else
{
endPos = agv.Position;
}
taskInfo.AddWCS_TASK_DTL(db, "agv", $"允许AGV任务{agv.ID}放货，目标站台{endPos}");
AgvApi.ContinueTask(agv.AgvID, endPos);
}
//完成任务
else if (agv.AgvStatus == AGVTaskStatus.MissionCompleted && agv.Status != AGVTaskStatus.MissionCompleted)
{
if (agv.Position == "1002" || agv.Position == "1004" || agv.Position == "1006" || agv.Position == "1008")
{
//写入货架信号
var dev = devsOut.Find(v => v.Entity.Code == agv.Position);
dev.Data.GoodsStart = agv.Position.ToShort();
}
//更新AGV任务状态
agv.Status = AGVTaskStatus.MissionCompleted;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
//更新WCS任务状态
taskInfo.Status = Entity.TaskStatus.Finish;
taskInfo.EedTime = DateTime.Now;
db.Default.Updateable(taskInfo).ExecuteCommand();
taskInfo.AddWCS_TASK_DTL(db, "agv", "任务完成");
taskInfo.CompleteOrCancelTasks(db);
taskInfos.Add(taskInfo);
}
}
else if(agv.WorkShop == 222)
{
//取货点安全交互
if (agv.AgvStatus == AGVTaskStatus.RequestOrPermission2 && agv.Status != AGVTaskStatus.Complete)
{
//var dev = devs.Find(v => v.Entity.Code == agv.Position);
//if (dev.Data.VoucherNo != dev.Data2.VoucherNo) throw new Exception($"AGV请求取货，但{dev.Entity.Code}凭证号不一致");
//if (!dev.Data3.Status.HasFlag(StationStatus.Auto)) throw new Exception($"AGV请求取货，但{dev.Entity.Code}不在自动状态");
//if (!(dev.Data3.Status.HasFlag(StationStatus.PH_Status) && !dev.Data3.Status.HasFlag(StationStatus.OT_Status))) throw new Exception($"AGV请求取货，但{dev.Entity.Code}光电状态不满足");
//if (dev.Data3.Status.HasFlag(StationStatus.Run)) throw new Exception($"AGV请求取货，但{dev.Entity.Code}在运行状态");
string startPos = agv.Station;
if (agv.Station == "1011" || agv.Station == "1013" || agv.Station == "1015" || agv.Station == "1021" || agv.Station == "1022" || agv.Station == "1023" || agv.Station == "1024")
{
startPos = "PT" + agv.Station;
}
agv.Status = AGVTaskStatus.Complete;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
AgvApi.ContinueTask(agv.AgvID, agv.Station);
}
else if (agv.AgvStatus == AGVTaskStatus.PutRequestOrPermission && agv.Status != AGVTaskStatus.PutRequestOrPermission)
{
string endPos = agv.Position;
if (agv.Position == "1012" || agv.Position == "1014" || agv.Position == "1016")
{
endPos = "PT" + agv.Position;
}
agv.Status = AGVTaskStatus.PutRequestOrPermission;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
AgvApi.ContinueTask(agv.AgvID, endPos);
}
//完成任务
else if (agv.AgvStatus == AGVTaskStatus.MissionCompleted && agv.Status != AGVTaskStatus.MissionCompleted)
{
//任务完成清除货架信号
var dev = devs.Find(v => v.Entity.Code == agv.Station);
dev.Data.GoodsStart = 0;
if (agv.Position == "1002" || agv.Position == "1004" || agv.Position == "1006" || agv.Position == "1008")
{
//写入货架信号
var dev1 = devsOut.Find(v => v.Entity.Code == agv.Position);
dev1.Data.GoodsStart = agv.Position.ToShort();
}
//更新AGV任务状态
agv.Status = AGVTaskStatus.MissionCompleted;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
}
}
//起点安全交互
if (agv.WorkShop == 333)
{
var taskInfo = db.Default.Queryable().First(v => v.AgvTaskID == agv.ID);
if (taskInfo == null) throw new Exception($"未找到AGV任务{agv.ID}对应WCS任务");
//取货点安全交互
if (agv.AgvStatus == AGVTaskStatus.RequestOrPermission2 && agv.Status != AGVTaskStatus.Complete)
{
agv.Status = AGVTaskStatus.Complete;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
string startPos = "";
if (taskInfo.AddrFrom == "1021" || taskInfo.AddrFrom == "1022" || taskInfo.AddrFrom == "1023" || taskInfo.AddrFrom == "1024")
{
startPos = "PT" + taskInfo.AddrFrom;
}
else
{
startPos = taskInfo.AddrFrom;
}
taskInfo.AddWCS_TASK_DTL(db, "agv", $"允许AGV任务{agv.ID}在站台{startPos}取货");
AgvApi.ContinueTask(agv.AgvID, startPos);
}
else if (agv.AgvStatus == AGVTaskStatus.LeaveGet)
{
agv.Status = AGVTaskStatus.Execution;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
WmsApi.PinkuInfoManagement(taskInfo.ID);
}
//完成任务
else if (agv.AgvStatus == AGVTaskStatus.MissionCompleted && agv.Status != AGVTaskStatus.MissionCompleted)
{
var dev = devs.Find(v => v.Entity.Code == agv.Station);
if (dev != null)
{
dev.Data.GoodsStart = 0;
}
//更新AGV任务状态
agv.Status = AGVTaskStatus.MissionCompleted;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
//更新WCS任务状态
taskInfo.Status = Entity.TaskStatus.Finish;
taskInfo.EedTime = DateTime.Now;
db.Default.Updateable(taskInfo).ExecuteCommand();
taskInfo.AddWCS_TASK_DTL(db, "agv", "任务完成");
taskInfo.CompleteOrCancelTasks(db);
taskInfos.Add(taskInfo);
}
}
}
});
}
catch (Exception ex)
{
World.Log(ex.Message, LogLevelEnum.Mid);
this.ExRecord(obj.Entity.Code, ex.Message);
continue;
}
}
foreach (var item in taskInfos)
{
WmsApi.CompleteTask(item.ID);
}
}
}
else if (obj.Entity.HasFlag(DeviceFlags.入库))
{
List agvTaskInfos = new List();
//获取所有未结束的入库AGV任务
SqlSugarHelper.Do(db =>
{
agvTaskInfos = db.Default.Queryable().Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot).SplitTable(tabs => tabs.Take(2)).OrderBy(v => v.EditTime).ToList();
});
if (agvTaskInfos.Any())
{
this.ExRecord(obj.Entity.Code, "可用入库AGV任务列表", agvTaskInfos.Select(v => v.ID).ToList());
foreach (var agv in agvTaskInfos)
{
try
{
SqlSugarHelper.Do(db =>
{
//找到对应WCS任务
var task = db.Default.Queryable().First(v => v.AgvTaskID == agv.ID);
if (task == null) throw new Exception($"AGV任务{agv.ID}未找到对应WCS任务");
#region 开始跟据AGV状态做出处理
//agv取货完成
if (agv.AgvStatus == AGVTaskStatus.LeaveGet && agv.Status != AGVTaskStatus.Execution)
{
agv.Status = AGVTaskStatus.Execution;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
//通知WMS取货完成
WmsApi.PinkuInfoManagement(task.ID);
}
else if (agv.AgvStatus == AGVTaskStatus.RequestOrPermission2 && agv.Status != AGVTaskStatus.Complete)
{
agv.Status = AGVTaskStatus.Complete;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
}
//放货点安全交互
else if (agv.AgvStatus == AGVTaskStatus.PutRequestOrPermission && agv.Status != AGVTaskStatus.PutRequestOrPermission)
{
if (agv.Position.IsNullOrEmpty()) throw new Exception($"无有效放货地址");
var dev = devs.Find(v => v.Entity.Code == agv.Position);
if (dev.Data.VoucherNo != dev.Data2.VoucherNo) throw new Exception($"AGV请求放货，但{dev.Entity.Code}凭证号不一致");
if (!dev.Data3.Status.HasFlag(StationStatus.Auto)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}不在自动状态");
if (dev.Data3.Status.HasFlag(StationStatus.PH_Status) || dev.Data3.Status.HasFlag(StationStatus.OT_Status)) throw new Exception($"AGV请求放货,{dev.Entity.Code}不满足放货条件，请检查光电状态");
if (dev.Data3.Status.HasFlag(StationStatus.Run)) throw new Exception($"AGV请求放货，但{dev.Entity.Code}在运行状态");
agv.Status = AGVTaskStatus.PutRequestOrPermission;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
//调继续执行任务接口
AgvApi.ContinueTask(agv.AgvID, agv.Position);
}
//完成任务
else if (agv.AgvStatus == AGVTaskStatus.MissionCompleted && agv.Status != AGVTaskStatus.MissionCompleted)
{
var dev = devs.Find(v => v.Entity.Code == agv.Position);
dev.Data.TaskNumber = task.ID;
dev.Data.VoucherNo++;
agv.Status = AGVTaskStatus.MissionCompleted;
db.Default.Updateable(agv).SplitTable().ExecuteCommand();
}
#endregion 开始跟据AGV状态做出处理
});
}
catch (Exception ex)
{
World.Log(ex.Message, LogLevelEnum.Mid);
this.ExRecord(obj.Entity.Code, ex.Message);
continue;
}
}
}
}
}
public override bool Select(Device dev)
{
return dev.Code is "1001" or "1002";
}
}
}