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

using PlcSiemens.Core.Extension;
using ServiceCenter.Logs;
using ServiceCenter.Redis;
using ServiceCenter.SqlSugars;
using System.ComponentModel;
using WCS.Core;
using WCS.Entity;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.WebApi.Controllers;
using WCS.WorkEngineering.WebApi.Models.AGV.Response;
using WCS.WorkEngineering.Worlds;

namespace WCS.WorkEngineering.Systems
{
    /// <summary>
    ///  无交互系统
    /// </summary>
    [BelongTo(typeof(MainWorldd))]
    [Description("无交互系统")]
    public class NoInteractionSystems : DeviceSystem<Station>
    {
        public NoInteractionSystems()
        {
        }

        protected override bool ParallelDo => true;

        protected override bool SaveLogsToFile => true;

        public override void Do(Station obj)
        {
            var key = $"WCS:Lock:无交互系统{obj.Entity.Code}";
            try
            {
                if (RedisHub.Default.Get(key) != null)
                {
                    throw new KnownException($"[{obj.Entity.Code}]--触发并发管控", LogLevelEnum.High);
                }
                RedisHub.Default.Set(key, obj.Entity.Code);

                #region 处理所有的新增任务
                try
                {
                    List<WCS_TaskInfo> taskInfos = new List<WCS_TaskInfo>();
                    SqlSugarHelper.Do(db =>
                    {
                        taskInfos = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.Status == Entity.TaskStatus.NewBuild).ToList();
                    });
                    if (taskInfos.Any())
                    {
                        foreach (var item in taskInfos)
                        {
                            try
                            {
                                SqlSugarHelper.Do(db =>
                                {
                                    var task = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.ID == item.ID).First() ?? throw new Exception($"未找到对应的WCS任务[{item.ID}]");                                   
                                    if (task.Type == TaskType.EnterDepot)
                                    {
                                        string nextPos = "";
                                        int i = 0;
                                        //缓存区A、B到1017检测门，C、D到1018检测门，叫料区入库到1018检测门
                                        if (task.AddrFrom.Contains("A") || task.AddrFrom.Contains("B"))
                                        {
                                            nextPos = "1017";
                                        }
                                        else if (task.BarCode.StartsWith("PT"))
                                        {
                                            nextPos = "1018";
                                            i = 1;
                                        }
                                        else
                                        {
                                            nextPos = "1018";
                                        }                                        
                                        //创建AGV任务
                                        var agvTask = new WCS_AgvTaskInfo()
                                        {
                                            ID = db.GetAGVTaskId(),
                                            TaskType = AGVTaskType.EnterDepot,
                                            Status = AGVTaskStatus.NewBuild,
                                            Station = task.AddrFrom,
                                            Position = nextPos,
                                            WorkShop = i,
                                            AddWho = "WCS",
                                        };
                                        db.Default.Insertable(agvTask).SplitTable().ExecuteCommand();
                                        //更新任务状态
                                        task.Status = Entity.TaskStatus.WaitingToExecute;
                                        task.AgvTaskID = agvTask.ID;
                                        db.Default.Updateable(task).ExecuteCommand();
                                        task.AddWCS_TASK_DTL(db, task.Device, $"初始化入库任务信息,并创建AGV任务中间表,AGV任务目标地址:{agvTask.Station}");
                                    }
                                    else if (task.Type == TaskType.OutDepot)
                                    {
                                        if (task.SrmStation.IsNullOrEmpty()) //如果没有指定放货站台
                                        {
                                            //获取堆垛机到目标地址的路径信息
                                            var station = "";
                                            switch (task.Tunnel)
                                            {
                                                case "1":
                                                    station = "1002";
                                                    break;
                                                case "2":
                                                    station = "1004";
                                                    break;
                                                case "3":
                                                    station = "1006";
                                                    break;
                                                case "4":
                                                    station = "1008";
                                                    break;
                                                case "5":
                                                    station = "1010";
                                                    break;
                                                case "6":
                                                    station = "1012";
                                                    break;
                                                case "7":
                                                    station = "1014";
                                                    break;
                                                case "8":
                                                    station = "1016";
                                                    break;
                                            }
                                            task.SrmStation = station;
                                        }
                                        //创建AGV任务
                                        var agvTask = new WCS_AgvTaskInfo()
                                        {
                                            ID = db.GetAGVTaskId(),
                                            TaskType = AGVTaskType.CallMaterial,
                                            Status = AGVTaskStatus.NewBuild,
                                            Station = task.SrmStation,
                                            Position = task.AddrTo,
                                            AddWho = "WCS",
                                        };
                                        
                                        db.Default.Insertable(agvTask).SplitTable().ExecuteCommand();
                                        //更新任务状态
                                        task.Status = Entity.TaskStatus.WaitingToExecute;
                                        task.AgvTaskID = agvTask.ID;
                                        db.Default.Updateable(task).ExecuteCommand();
                                        task.AddWCS_TASK_DTL(db, task.Device, $"初始化叫料任务信息,并创建AGV任务中间表,AGV任务目标地址:{task.AddrTo}");
                                    }
                                    else if (task.Type == TaskType.Delivery)
                                    {
                                        var busType = 111;
                                        //缓存区到出库口
                                        if (task.AddrTo.StartsWith("10"))
                                            busType = 111;
                                        //入库口到缓存区、叫料区到缓存区
                                        else
                                            busType = 333;
                                        //创建AGV搬运任务
                                        var agvTask = new WCS_AgvTaskInfo()
                                        {
                                            ID = db.GetAGVTaskId(),
                                            TaskType = AGVTaskType.Transport,
                                            Status = AGVTaskStatus.NewBuild,
                                            Station = task.AddrFrom,
                                            Position = task.AddrTo,
                                            WorkShop = busType,//标识wms下发任务
                                            AddWho = "WCS",
                                        };
                                        db.Default.Insertable(agvTask).SplitTable().ExecuteCommand();
                                        //更新任务状态
                                        task.Status = Entity.TaskStatus.WaitingToExecute;
                                        task.AgvTaskID = agvTask.ID;
                                        db.Default.Updateable(task).ExecuteCommand();
                                        task.AddWCS_TASK_DTL(db, task.Device, $"初始化搬运任务信息,并创建AGV任务中间表,AGV任务目标地址:{agvTask.Station}");
                                    }
                                });
                            }
                            catch (Exception ex)
                            {
                                World.Log(ex.Message, LogLevelEnum.Mid);
                                continue;
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    World.Log(ex.Message, LogLevelEnum.Mid);
                }

                #endregion 处理所有的新增任务

                #region 下发agv任务
                SqlSugarHelper.Do(db =>
                {
                    var agvTasks = db.Default.Queryable<WCS_AgvTaskInfo>().Where(t => t.Status == AGVTaskStatus.NewBuild && (t.TaskType == AGVTaskType.EnterDepot || t.TaskType == AGVTaskType.Transport)).SplitTable(v => v.Take(2)).ToList();
                    if (agvTasks.Count > 0)
                    {
                        foreach (var agv in agvTasks)
                        {
                            //开始处理
                            try
                            {
                                if (agv.TaskType == AGVTaskType.EnterDepot)
                                {
                                    //获取对应wcs任务                                   
                                    var wcs = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.AgvTaskID == agv.ID && t.Status == Entity.TaskStatus.WaitingToExecute).First();
                                    if (wcs == null) throw new Exception($"未找到对应的WCS任务");
                                    string startPos = "";
                                    //叫料区入库1019-1024
                                    if (agv.WorkShop == 1)
                                    {
                                        if (wcs.AddrFrom == "1021" || wcs.AddrFrom == "1022" || wcs.AddrFrom == "1023" || wcs.AddrFrom == "1024")
                                        {
                                            startPos = "PT" + wcs.AddrFrom;
                                        }                                        
                                        else
                                        {
                                            startPos = wcs.AddrFrom;
                                        }
                                    }
                                    else
                                    {
                                        startPos = wcs.AddrFrom;
                                    }
                                    
                                    var res = AgvApi.盘条入库(startPos, agv.Position,"1001","PT", Guid.NewGuid().ToString().Replace("-", ""), "1");
                                    agv.Status = AGVTaskStatus.Confirm;
                                    agv.AgvID = res.data;
                                    db.Default.Updateable(agv).SplitTable().ExecuteCommand();

                                    //更新WCS数据
                                    wcs.Status = Entity.TaskStatus.AGVExecution;
                                    db.Default.Updateable(wcs).ExecuteCommand();
                                    wcs.AddWCS_TASK_DTL(db, wcs.Device, $"任务下发至AGV-AGV任务ID{agv.AgvID}");
                                }
                                else if (agv.TaskType == AGVTaskType.Transport)//搬运任务下发agv
                                {
                                    if (agv.WorkShop == 111)
                                    {
                                        //获取对应wcs任务
                                        var wcs = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.AgvTaskID == agv.ID && t.Status == Entity.TaskStatus.WaitingToExecute).First();
                                        if (wcs == null) throw new Exception($"未找到对应的WCS任务");
                                        string endPos = "";
                                        if (agv.Position == "1012" || agv.Position == "1014" || agv.Position == "1016")
                                        {
                                            endPos = "PT" + agv.Position;
                                        }
                                        else
                                        {
                                            endPos = agv.Position;
                                        }
                                        var res = AgvApi.搬运_wmsEnd("PT", agv.Station, endPos, Guid.NewGuid().ToString().Replace("-", ""), "1");
                                        agv.Status = AGVTaskStatus.Confirm;
                                        agv.AgvID = res.data;
                                        db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                        //更新WCS数据
                                        wcs.Status = Entity.TaskStatus.AGVExecution;
                                        db.Default.Updateable(wcs).ExecuteCommand();
                                        wcs.AddWCS_TASK_DTL(db, wcs.Device, $"任务下发至AGV-AGV任务ID{agv.AgvID}");
                                    }
                                    else if (agv.WorkShop == 222)
                                    {
                                        var res = AgvApi.搬运("PT", agv.Station, agv.Position, Guid.NewGuid().ToString().Replace("-", ""), "1");
                                        agv.Status = AGVTaskStatus.Confirm;
                                        agv.AgvID = res.data;
                                        db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                    }
                                    else if (agv.WorkShop == 333)
                                    {
                                        string startPos = "";
                                        
                                        //获取对应wcs任务
                                        var wcs = db.Default.Queryable<WCS_TaskInfo>().Where(t => t.AgvTaskID == agv.ID && t.Status == Entity.TaskStatus.WaitingToExecute).First();
                                        if (wcs == null) throw new Exception($"未找到对应的WCS任务");

                                        if (wcs.AddrFrom == "1021" || wcs.AddrFrom == "1022" || wcs.AddrFrom == "1023" || wcs.AddrFrom == "1024")
                                        {
                                            startPos = "PT" + wcs.AddrFrom;
                                        }                                        
                                        else
                                        {
                                            startPos = wcs.AddrFrom;
                                        }
                                        var res = AgvApi.搬运_wmsStart("PT", startPos, agv.Position, Guid.NewGuid().ToString().Replace("-", ""), "1");
                                        agv.Status = AGVTaskStatus.Confirm;
                                        agv.AgvID = res.data;
                                        db.Default.Updateable(agv).SplitTable().ExecuteCommand();
                                        //更新WCS数据
                                        wcs.Status = Entity.TaskStatus.AGVExecution;
                                        db.Default.Updateable(wcs).ExecuteCommand();
                                        wcs.AddWCS_TASK_DTL(db, wcs.Device, $"任务下发至AGV-AGV任务ID{agv.AgvID}");
                                    }
                                }                               
                            }
                            catch (Exception ex)
                            {
                                World.Log(ex.Message, LogLevelEnum.Mid);
                                continue;
                            }
                        }
                    }
                });
                #endregion
            }
            finally
            {
                RedisHub.Default.Del(key);
            }
        }

        public override bool Select(Device dev)
        {
            return dev.Code == "1001";
        }
    }
}