/// <summary>
/// AGV 装货中
/// </summary>
/// <param name="id"></param>
/// <param name="agv"></param>
public void SubmitAgvLoading(int id, string agv)
{
try
{
// 获取对应AGV任务资讯
String sql = String.Format(@"select * from wcs_agv_info where MAGIC = '{0}' and ID = '{1}' and AGV = '{2}'", AGVMagic.到达装货点, id.ToString(), agv);
DataTable dt = DataControl._mMySql.SelectAll(sql);
if (DataControl._mStools.IsNoData(dt))
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("SubmitNDCPlcLoading()", "AGV装货中[AGV任务ID，AGV设备号]", id.ToString(), agv, "找不到对应AGV任务资讯！");
return;
}
WCS_AGV_INFO info = dt.ToDataEntity <WCS_AGV_INFO>();
// 生成包装线固定辊台指令
FRT frt = new FRT(info.PICKSTATION);
// 获取指令-- 反向送货
byte[] order = FRT._RollerControl(frt.FRTNum(), FRT.RollerRunAll, FRT.RunObverse, FRT.GoodsDeliver, FRT.GoodsQty1);
// 加入任务作业链表
WCS_TASK_ITEM item = new WCS_TASK_ITEM()
{
ITEM_ID = "包装线送货",
WCS_NO = info.TASK_UID,
ID = info.ID,
DEVICE = info.PICKSTATION,
LOC_TO = info.AGV
};
DataControl._mTaskControler.StartTask(new AGVFRTTack(item, DeviceType.固定辊台, order));
}
catch (Exception ex)
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("SubmitNDCPlcLoading()", "AGV装货中[AGV任务ID，AGV设备号]", id.ToString(), agv, ex.ToString());
}
}
/// <summary>
/// 生成对应辊台任务指令
/// </summary>
/// <param name="agv"></param>
public void CreatOrderTask(WCS_AGV_INFO agv)
{
try
{
// 按任务当前状态处理
switch (Convert.ToInt32(agv.MAGIC))
{
case AGVMagic.到达装货点:
// 获取对应包装线固定辊台资讯
FRT frt = new FRT(agv.PICKSTATION);
// 是否作业中
if (frt.CurrentStatus() != FRT.RollerStop)
{
return;
}
// 是否存在货物
//if (frt.GoodsStatus() == FRT.GoodsYesAll)
if (frt.GoodsStatus() == FRT.GoodsYesAll || PublicParam.IsIgnoreFRT) //add调试判断
{
// 分配 WMS TASK
if (String.IsNullOrEmpty(agv.TASK_UID.Trim()))
{
// 获取WMS TASK ID
String sql = String.Format(@"select TASK_UID from wcs_task_info where TASK_TYPE = '{0}' and W_S_LOC = '{1}' and TASK_UID not in
(select DISTINCT TASK_UID from wcs_agv_info where TASK_UID is not null)", TaskType.AGV搬运, DataControl._mTaskTools.GetArea(agv.PICKSTATION));
DataTable dt = DataControl._mMySql.SelectAll(sql);
if (DataControl._mStools.IsNoData(dt))
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", "无对应 WMS Task！");
return;
}
// 更新AGV任务资讯-- WMS TASK ID
agv.TASK_UID = dt.Rows[0]["TASK_UID"].ToString();
sql = String.Format(@"update wcs_agv_info set TASK_UID = '{1}' where ID = '{0}'", agv.ID, agv.TASK_UID);
DataControl._mMySql.ExcuteSql(sql);
}
// 分配卸货点
if (agv.UPDATE_TIME == null)
{
// 获取 WMS 任务目标点
String sqlloc = String.Format(@"select distinct DEVICE from wcs_config_device where FLAG in('{1}','{2}') and TYPE = '{3}'
and AREA in (select W_D_LOC from wcs_task_info where TASK_UID = '{0}')
and DEVICE in (select distinct DROPSTATION From wcs_agv_info where MAGIC <> {4} group by DROPSTATION HAVING count(DROPSTATION) < {5})
order by FLAG,CREATION_TIME", agv.TASK_UID, DeviceFlag.占用, DeviceFlag.空闲, DeviceType.固定辊台, AGVMagic.任务完成, 3);//最多三辆车
DataTable dtloc = DataControl._mMySql.SelectAll(sqlloc);
if (DataControl._mStools.IsNoData(dtloc))
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", "无对应 WMS Task 目标位置！");
return;
}
// 更新AGV任务资讯-- 卸货点
agv.DROPSTATION = dtloc.Rows[0]["DEVICE"].ToString();
sqlloc = String.Format(@"update wcs_agv_info set UPDATE_TIME = NOW(), DROPSTATION = '{1}' where ID = '{0}';
update wcs_config_device set FLAG = '{2}' where DEVICE = '{1}'", agv.ID, agv.DROPSTATION, DeviceFlag.占用);
DataControl._mMySql.ExcuteSql(sqlloc);
// 发送 NDC 更新点位
UpdateAGVStation(agv.ID, agv.DROPSTATION);
}
// 发指令请求AGV启动辊台装货
if (!DataControl._mNDCControl.DoLoad(agv.ID, Convert.ToInt32(agv.AGV), out string result))
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", result.ToString());
return;
}
}
break;
case AGVMagic.到达卸货点:
// 获取对应包装线固定辊台资讯
FRT frtdrop = new FRT(agv.DROPSTATION);
// 是否作业中
if (frtdrop.CurrentStatus() != FRT.RollerStop)
{
// 当已启动辊台
if (frtdrop.CurrentTask() == FRT.TaskTake && (frtdrop.CurrentStatus() == FRT.RollerRun1 || frtdrop.CurrentStatus() == FRT.RollerRunAll))
{
// 发指令请求AGV启动辊台装货
if (!DataControl._mNDCControl.DoUnLoad(agv.ID, Convert.ToInt32(agv.AGV), out string result))
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", result.ToString());
return;
}
}
return;
}
else // 未启动辊台
{
byte[] order = null;
// 当辊台都无货
//if (frtdrop.GoodsStatus() == FRT.GoodsNoAll)
if (frtdrop.GoodsStatus() == FRT.GoodsNoAll || PublicParam.IsIgnoreFRT) //add调试判断
{
// 获取指令-- 启动所有辊台 正向接货
order = FRT._RollerControl(frtdrop.FRTNum(), FRT.RollerRunAll, FRT.RunFront, FRT.GoodsReceive, FRT.GoodsQty1);
}
// 当仅2#辊台有货
else if (frtdrop.GoodsStatus() == FRT.GoodsYes2)
{
// 获取指令-- 只启动1#辊台 正向接货
order = FRT._RollerControl(frtdrop.FRTNum(), FRT.RollerRun1, FRT.RunFront, FRT.GoodsReceive, FRT.GoodsQty1);
}
// 加入任务作业链表
WCS_TASK_ITEM item = new WCS_TASK_ITEM()
{
ITEM_ID = "库区接货",
WCS_NO = agv.TASK_UID,
ID = agv.ID,
DEVICE = agv.DROPSTATION,
LOC_FROM = agv.AGV
};
DataControl._mTaskControler.StartTask(new AGVFRTTack(item, DeviceType.固定辊台, order));
}
break;
default:
return;
}
}
catch (Exception ex)
{
// LOG
DataControl._mTaskTools.RecordTaskErrLog("CreatOrderTask()", "AGV辊台任务[AGV任务ID]", agv.ID.ToString(), "", ex.ToString());
}
}
