ZT_1C/盘条库/WCS.WorkEngineering/Systems/AgvSystems.cs

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
{
    /// <summary>
    ///  Agv交互系统
    /// </summary>
    [BelongTo(typeof(MainWorld))]
    [Description("Agv交互系统")]
    public class AgvSystems : DeviceSystem<Station>
    {
        protected override bool ParallelDo => true;
        protected override bool SaveLogsToFile => true;
        private List<Station> devs = new List<Station>();
        private List<Station> devsOut = new List<Station>();
        private List<SRM> srms = new List<SRM>();
        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<WCS_AgvTaskInfo> agvTaskInfos = new List<WCS_AgvTaskInfo>();
                //获取所有未结束的AGV叫料、搬运任务
                SqlSugarHelper.Do(db =>
                {
                    agvTaskInfos = db.Default.Queryable<WCS_AgvTaskInfo>().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<WCS_TaskInfo> taskInfos = new List<WCS_TaskInfo>();                   
                    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<WCS_TaskInfo>().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", $"允许AGV任务{agv.ID}放货，目标站台{endPos}");
                                        AgvApi.ContinueTask(agv.AgvID, endPos);
                                    }
                                    //完成任务
                                    else if (agv.AgvStatus == AGVTaskStatus.MissionCompleted && agv.Status != AGVTaskStatus.MissionCompleted)
                                    {
                                        if (agv.TaskType is AGVTaskType.CallMaterial)
                                        {                                            
                                            //更新AGV任务状态
                                            agv.Status = AGVTaskStatus.MissionCompleted;
                                            db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                            //更新WCS任务状态
                                            task.Status = Entity.TaskStatus.Finish;
                                            task.EedTime = DateTime.Now;
                                            db.Default.Updateable(task).ExecuteCommand();
                                            task.AddWCS_TASK_DTL(db, "agv", "任务完成");
                                            task.CompleteOrCancelTasks(db);
                                            taskInfos.Add(task);
                                        }
                                    }
                                }
                                else if (agv.TaskType == AGVTaskType.Transport)//搬运任务，判断是WCS还是WMS创建
                                {   //终点安全交互                                 
                                    if (agv.WorkShop == 111)
                                    {
                                        var taskInfo = db.Default.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agv.ID);
                                        if (taskInfo == null) throw new Exception($"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<WCS_TaskInfo>().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<WCS_AgvTaskInfo> agvTaskInfos = new List<WCS_AgvTaskInfo>();
                //获取所有未结束的入库AGV任务
                SqlSugarHelper.Do(db =>
                {
                    agvTaskInfos = db.Default.Queryable<WCS_AgvTaskInfo>().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<WCS_TaskInfo>().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";
        }
    }
}