/// <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()); } }