SemiFinishedTrans.cs
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using Mushiny;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
namespace CtuDeviceLib
{
/// <summary>
/// 半成品运输-CTU
/// 与塔斯克AGV有共享区域
/// </summary>
public class SemiFinishedTrans : IBusinessRobot, ICTUOp
{
public SemiFinishedTrans()
{
Id = 2;
Name = MushinyManager.SemiFinishedCTUName;
}
DateTime uploadTime = DateTime.Now;
protected override void Execute()
{
process();
}
/// <summary>
/// 验证料箱定位码和料箱码是否匹配
/// </summary>
bool validatelocateCode = ConfigAppSettings.GetValue(Mushiny.Common.Mushiny_ + "validateLocateCode", true);
void process()
{
var executingTasks = ctuBean.GetExecutingCTUTasks();
if (executingTasks != null)
{
foreach (var task in executingTasks)
{
try
{
if (validatelocateCode)
{
bool checkFail = false;
var ctu = task.CTU;
if (ctu != null)
{
foreach (var item in ctu.Baskets)
{
if (string.IsNullOrEmpty(item.TaskId))
{
continue;
}
else
{
if (!item.CheckCodeEquals())
{
checkFail = true;
//sbWarnMsgDetails.AppendLine($"【{ctu.Name}】执行的任务【{item.TaskId}】所在背篓【{item.Row}】料箱码【{item.ContainerCode}】与定位码【{item.LocateCode}】不匹配，存在接错料箱风险，无法继续任务，请手动处理");
}
}
}
}
if (checkFail)
continue;
}
task.Process();
var finished = task as CTUTask;
if (finished != null)
{
if (!string.IsNullOrEmpty(finished.ctuTransit?.WarnMsg ?? ""))
{
sbRealtimeMsg.AppendLine(finished.ctuTransit?.WarnMsg ?? "");
}
}
sbRealtimeMsg.AppendLine();
}
catch (Exception ex)
{
LogUtil.error($"{task?.CTU?.Name} 执行任务【{task?.CurRobotTask?.TaskId}】异常：", ex);
}
}
}
var busyCtus = ctuBean.GetInOutCtus();
busyCtus?.ForEach(s => handleEmptyCtuWithTask(s));
}
public override void RemoveTask(RobotTask task, bool force = false)
{
ctuBean.RemoveCTUTask(task.TaskId, force);
base.RemoveTask(task);
}
protected override void CheckTask()
{
try
{
bool noGetNewTask = false;
var enables = ctuBean.GetEnabledCTUs();
if (enables != null && enables.Count > 0)
{
var finds = enables.FindAll(s => s.RunState != Mushiny.RunState.Executing);
if (MushinyManager.EnableCheckEnabledCtuIsOk)
{
if (finds != null && finds.Count > 0)
{
foreach (var item in finds)
{
sbWarnMsgDetails.AppendLine($"【{item.Name}】状态【{item.RunState}】,不接新任务，请先重置");
var pos = ctuBean.GetPointCode(item.CurLandMark);
if (pos == null)
{
sbWarnMsgDetails.AppendLine($"【{item.Name}】当前所在地码【{item.CurLandMark}】未维护,不接新任务，请先重置");
}
}
noGetNewTask = true;
}
}
finds = enables.FindAll(s => s.CurLandMark == 10001);
if (finds != null && finds.Count > 0)
{
foreach (var item in finds)
{
sbWarnMsgDetails.AppendLine($"【{item.Name}】在辅助码【{item.CurLandMark}】");
}
}
}
var needDelete = robotTasks.FindAll(task => task.TaskState == RobotTaskState.完成 || task.TaskState == RobotTaskState.手动完成);
if (needDelete != null && needDelete.Count > 0)
{
needDelete.ForEach(task => RemoveTask(task));
}
var cancelTasks = robotTasks.FindAll(s => s.TaskState == RobotTaskState.取消);
if (cancelTasks != null && cancelTasks.Count > 0)
{
cancelTasks.ForEach(s => { RemoveTask(s, true); });
}
if (noGetNewTask)//不检查新任务，以及分配ctu
{
return;
}
for (int i = 0; i < robotTasks.Count; i++)
{
var task = robotTasks[i];
if (task.TaskState == RobotTaskState.已生成)
{
if (AssignAGV(task))
{
task.TaskState = RobotTaskState.已分配车;
OnRobotTaskChanged(task.RobotType);
break;
}
else
{
task.TaskState = RobotTaskState.等待分配车;
OnRobotTaskChanged(task.RobotType);
}
}
else if (task.TaskState == RobotTaskState.等待分配车)
{
if (AssignAGV(task))
{
task.TaskState = RobotTaskState.已分配车;
OnRobotTaskChanged(task.RobotType);
break;
}
}
}
if (ctuBean.HasCtuTaskWaitExecute(out CTUTask cTUTask))
{
if (cTUTask.TaskType == RobotTaskType.Insotre)
{
cTUTask.MoveInfo.NewMove(MoveType.InStore);
}
else if (cTUTask.TaskType == RobotTaskType.Outstore)
{
cTUTask.MoveInfo.NewMove(MoveType.OutStore);
}
else if (cTUTask.TaskType == RobotTaskType.Switch)
{
cTUTask.MoveInfo.NewMove(MoveType.Switch);
}
else if (cTUTask.TaskType == RobotTaskType.Standby)
{
cTUTask.MoveInfo.NewMove(MoveType.Standby);
}
else if (cTUTask.TaskType == RobotTaskType.Charge)
{
cTUTask.MoveInfo.NewMove(MoveType.Charge);
}
if (MushinyManager.GetCtuTaskByState(cTUTask.AllTasks, RobotTaskState.已分配车, out cTUTask.CurRobotTask))
{
ctuBean.StartExecuteCtutask(cTUTask);
cTUTask.MoveInfo.NextMoveStep(RunStep.CTU_00_Start);
}
}
}
catch (Exception ex)
{
LogUtil.error($"【{Name}】CheckTask error:", ex);
sbWarnMsgDetails.AppendLine($"【{Name}】CheckTask error:{ex.ToString()}");
}
autoCreateTask();
}
void autoCreateTask()
{
try
{
if (!MushinyManager.DisableCallAGV)
{
//检查出库
//查询出库任务
checkOutstore();
//检查入库
checkInstore();
}
checkStandby();
checkCharge();
}
catch (Exception ex)
{
LogUtil.error($"【{Name}】autoCreateTask error:", ex);
sbWarnMsgDetails.AppendLine($"【{Name}】autoCreateTask error:{ex.ToString()}");
}
//检查空闲车,如果电量低，去充电
//
}
void checkInstore()
{
List<FinishedOutTask> inTasks = null;
if (ConfigAppSettings.simulationMode)
{
inTasks = new List<FinishedOutTask>() {
new FinishedOutTask()
{
barcode=ConfigAppSettings.GetValue(Setting_Init.simulationMode + "_SemiFinished_Barcode", "C0700"),
loc = ConfigAppSettings.GetValue(Setting_Init.simulationMode + "_SemiFinished_FromLoc", "SemiLine-Out"),
posName =ConfigAppSettings.GetValue(Setting_Init.simulationMode + "_SemiFinished_InPosname", "W000001R01000102")
}
};
}
else
{
//有料箱需要离开
inTasks = SMFManager.getSemiPutInTask(Name, ServerBase);
}
if (inTasks == null) return;
if (inTasks != null && inTasks.Count > 0)
{
inTasks.Sort((a, b) => { return (int)(a.createDate - b.createDate).TotalSeconds; });
foreach (var task in inTasks)
{
string posname = task.posName;
string fromLoc = task.loc;
string containerCode = task.barcode;
if (!ctuBean.CheckPosExist(posname))
{
sbWarnMsgDetails.AppendLine($"【{Name}】不存在的货架号【{posname}】，请检查");
continue;
}
// var target = ctuBean.GetPosInfoByName(posname);
string flag = $"{containerCode}-{fromLoc}-{posname}";
string taskname = Name + "-入库";
var existTask = robotTasks.Find(s => s.TaskName.Equals(taskname)
&& s.TaskFlag.Equals(flag));
if (existTask == null)
{
existTask = new RobotTask()
{
TaskId = RobotTask.GenTaskId(flag, $"{RobotTaskType.Insotre}"),
TaskName = taskname,
CreateTime = DateTime.Now,
RobotType = Id,
TaskFlag = flag,
TaskState = RobotTaskState.已生成,
//节点描述为货架码
SrcPoint = fromLoc,
DestPoint = posname,
TaskType = RobotTaskType.Insotre,
ContainerCode = containerCode
};
UpdateLocInfo(existTask, TaskStatus.EXECUTING);
AddTask(existTask);
LogUtil.info($"创建任务 入库任务[{existTask.TaskId}]：{JsonHelper.SerializeObject(task)}");
}
}
}
}
void checkOutstore()
{
List<FinishedOutTask> outTasks = null;
if (ConfigAppSettings.simulationMode)
{
outTasks = new List<FinishedOutTask>
{
new FinishedOutTask()
{
barcode=ConfigAppSettings.GetValue(Setting_Init.simulationMode + "_SemiFinished_Barcode", "C0700"),
loc = ConfigAppSettings.GetValue(Setting_Init.simulationMode + "_SemiFinished_ToLoc", "SemiLine-In"),
posName =ConfigAppSettings.GetValue(Setting_Init.simulationMode + "_SemiFinished_OutPosname", "W000001R01000102")
} };
}
else
{
outTasks = SMFManager.GetSemiFinishedOutTask(Name, ServerBase);
}
int limitOutTaskCnt = ConfigAppSettings.GetIntValue(Mushiny.Common.Mushiny_ + "OutTaskLimitCnt", 12);
if (outTasks != null && outTasks.Count > 0)
{
var semiOutTasks = new List<semiOutTask>();
//将出库任务根据巷道分组
foreach (var outTask in outTasks)
{
semiOutTasks.Add(new semiOutTask()
{
OutTask = outTask,
PosInfo = ctuBean.GetPosInfoByName(outTask.posName),
isSwitchTask = isSwitchOutStore(outTask)
});
}
var lanes = semiOutTasks.GroupBy(s => s.PosInfo.Lanway);
foreach (var lane in lanes)
{
var outs = lane.ToList();
foreach (var outTask in outs)
{
var allOutTasks = TaskManager.GetAllTasks()?.FindAll(s => s.TaskType == RobotTaskType.Outstore && s.TaskState < RobotTaskState.已分配车);
if (allOutTasks != null && allOutTasks.Count > 0)
{
if (allOutTasks.Count >= limitOutTaskCnt)//限制出库任务数
{
return;
}
}
string posname = outTask.OutTask.posName;
string target = outTask.OutTask.loc;
string containerCode = outTask.OutTask.barcode;
if (!ctuBean.CheckPosExist(posname))
{
sbWarnMsgDetails.AppendLine($"【{Name}】不存在的货架号【{posname}】，请检查");
continue;
}
string taskname = Name + "-出库";
string flag = $"{containerCode}-{posname}-{target}";
var task = robotTasks.Find(s => s.TaskName.Equals(taskname)
&& s.TaskFlag.Equals(flag));
if (task == null)
{
if (outTask.isSwitchTask)
{
task = new RobotTask()
{
TaskId = RobotTask.GenTaskId(flag),
TaskName = taskname,
CreateTime = DateTime.Now,
RobotType = Id,
TaskFlag = flag,
TaskState = RobotTaskState.已生成,
SrcPoint = posname,
DestPoint = target,
TaskType = RobotTaskType.Switch,
ContainerCode = containerCode
};
AddTask(task);
UpdateLocInfo(task, TaskStatus.EXECUTING);
LogUtil.info($"创建任务 转库任务[{task.TaskId}]：{JsonHelper.SerializeObject(outTask.OutTask)}");
}
else
{
task = new RobotTask()
{
TaskId = RobotTask.GenTaskId(flag),
TaskName = taskname,
CreateTime = DateTime.Now,
RobotType = Id,
TaskFlag = flag,
TaskState = RobotTaskState.已生成,
SrcPoint = posname,
DestPoint = target,
TaskType = RobotTaskType.Outstore,
ContainerCode = containerCode
};
AddTask(task);
UpdateLocInfo(task, TaskStatus.EXECUTING);
LogUtil.info($"创建任务 出库任务[{task.TaskId}]：{JsonHelper.SerializeObject(outTask.OutTask)}");
}
}
}
}
}
}
//bool UpdateLocInfo(RobotTask task, string status)
//{
// bool canRemove;
// string msg = "";
// bool rtn = false;
// if (MushinyManager.FinishedCTUName.Equals(ctuBean.Name))
// {
// rtn = SMFManager.updateFinishedTaskStatus(ctuBean.Name, ServerBase, task.ContainerCode, status, out canRemove, out msg);
// }
// else if (MushinyManager.SemiFinishedCTUName.Equals(ctuBean.Name))
// {
// rtn = SMFManager.updateSemiFinishedTaskStatus(ctuBean.Name, ServerBase, task.ContainerCode, status, out canRemove, out msg);
// }
// if (rtn)
// {
// LogUtil.info($"更新状态 完成【{task.TaskId}】【{status}】【{msg}】");
// }
// else
// {
// LogUtil.error($"更新状态 失败【{task.TaskId}】【{status}】【{msg}】");
// }
// return rtn;
//}
/// <summary>
/// 是否是转库任务
/// </summary>
/// <param name="outTask"></param>
/// <returns></returns>
bool isSwitchOutStore(FinishedOutTask outTask)
{
if (outTask == null) return false;
string loc = outTask.loc;
// "extraDataMap": {
// "targetPos": "1ABAR00003016R01"
//},
if (outTask.extraDataMap != null && outTask.extraDataMap.ContainsKey("targetPos"))
{
string switchLoc = outTask.extraDataMap["targetPos"];
if (!string.IsNullOrEmpty(loc) && !string.IsNullOrEmpty(switchLoc))
{
return loc.Equals(switchLoc);
}
}
return false;
}
public bool AssignAGV(RobotTask createTask)
{
return ctuBean.AssignSemiFinishedAGV(createTask);
}
public override void UploadAGVState()
{
try
{
if ((DateTime.Now - uploadTime).TotalSeconds > 5)
{
var ctus = ctuBean.GetCTUs();
if (ctus != null)
{
RobotStatus = new List<RobotStatus>();
foreach (var item in ctus)
{
bool cargo = item.Baskets.Find(s => !string.IsNullOrEmpty(s.TaskId)) != null;
var point = ctuBean.GetPointCode(item.CurLandMark);
RobotStatus status = new RobotStatus()
{
Cargo = cargo,
X = point?.X ?? 0,
Y = point?.Y ?? 0,
Power = item.SOC,
Name = $"{item.Name}",
Theta = item.CurDir,
Data = item,
Loc = $"{item.CurLandMark}",
Enabled = item.Enabled,
RunState = item.RunState
};
if (item.FaultInfo?.HasFault ?? false)
{
}
RobotStatus.Add(status);
}
base.UploadAGVState();
}
uploadTime = DateTime.Now;
}
}
catch (Exception ex)
{
LogUtil.error($"UploadAGVState error【{Name}】:", ex);
}
}
}
class semiOutTask
{
public FinishedOutTask OutTask { get; set; }
public PosInfo PosInfo { get; set; }
public bool isSwitchTask { get; set; } = false;
}
}