diff --git a/TaskManagers/EQTransferTaskManager.cs b/TaskManagers/EQTransferTaskManager.cs index 853eb72..ce919c4 100644 --- a/TaskManagers/EQTransferTaskManager.cs +++ b/TaskManagers/EQTransferTaskManager.cs @@ -1,4 +1,4 @@ -using AGVSystem.Models.EQDevices; +using AGVSystem.Models.EQDevices; using AGVSystem.Models.Map; using AGVSystem.Models.Sys; using AGVSystem.Models.TaskAllocation.HotRun; @@ -123,7 +123,7 @@ public static (bool confirm, ALARMS alarm_code, string message, string message_e if (actiontype == ACTION_TYPE.Unload) { if (Eq.Unload_Request == false) - return new(false, ALARMS.EQ_UNLOAD_REQUEST_IS_NOT_ON, $"設備[{Eq.EQName}] 沒有[出料]請求", $"EQ {Eq.EQName} not raised [Unload] request", null, null); + return new(false, ALARMS.Source_Eq_Unload_Request_Off, $"來源設備[{Eq.EQName}] 沒有[出料]請求", $"Source EQ {Eq.EQName} not raised [Unload] request", null, null); if (Eq.Port_Exist == false) return new(false, ALARMS.EQ_UNLOAD_REQUEST_ON_BUT_NO_CARGO, $"設備[{Eq.EQName}] PORT內無貨物，無法載出", $"No cargo at EQ {Eq.EQName},can't execute Unload task", null, null); if (Eq.EndPointOptions.HasLDULDMechanism && Eq.Up_Pose == false) @@ -135,7 +135,7 @@ public static (bool confirm, ALARMS alarm_code, string message, string message_e else if (actiontype == ACTION_TYPE.Load) { if (Eq.Load_Request == false) - return new(false, ALARMS.EQ_LOAD_REQUEST_IS_NOT_ON, $"設備[{Eq.EQName}] 沒有[入料]請求", $"EQ {Eq.EQName} not raised [Load] request", null, null); + return new(false, ALARMS.Destine_Eq_Load_Request_Off, $"目的設備[{Eq.EQName}] 沒有[入料]請求", $"Destine EQ {Eq.EQName} not raised [Load] request", null, null); if (Eq.Port_Exist == true) return new(false, ALARMS.EQ_LOAD_REQUEST_ON_BUT_HAS_CARGO, $"設備[{Eq.EQName}] 內有貨物，無法載入", $"Cargo exist at EQ {Eq.EQName},can't execute Load task", null, null); if (Eq.EndPointOptions.HasLDULDMechanism && Eq.Down_Pose == false) @@ -164,7 +164,7 @@ public static (bool confirm, ALARMS alarm_code, string message, string message_e if (actiontype == ACTION_TYPE.Unload) { if (Eq.Unload_Request == false) - return new(false, ALARMS.EQ_UNLOAD_REQUEST_IS_NOT_ON, $"設備[{Eq.EQName}] 沒有[出料]請求", $"EQ {Eq.EQName} has no [Unload] request", null, null); + return new(false, ALARMS.Source_Eq_Unload_Request_Off, $"來源設備[{Eq.EQName}] 沒有[出料]請求", $"Source EQ {Eq.EQName} has no [Unload] request", null, null); if (Eq.Port_Exist == false) return new(false, ALARMS.EQ_UNLOAD_REQUEST_ON_BUT_NO_CARGO, $"設備[{Eq.EQName}] PORT內無貨物，無法載出", $"No cargo at EQ {Eq.EQName}, can't unload", null, null); if (Eq.Up_Pose == false) @@ -175,7 +175,7 @@ public static (bool confirm, ALARMS alarm_code, string message, string message_e else if (actiontype == ACTION_TYPE.Load) { if (Eq.Load_Request == false) - return new(false, ALARMS.EQ_LOAD_REQUEST_IS_NOT_ON, $"設備[{Eq.EQName}] 沒有[入料]請求", $"EQ {Eq.EQName} has no [Load] request", null, null); + return new(false, ALARMS.Destine_Eq_Load_Request_Off, $"目的設備[{Eq.EQName}] 沒有[入料]請求", $"Destine EQ {Eq.EQName} has no [Load] request", null, null); if (Eq.Port_Exist == true) return new(false, ALARMS.EQ_LOAD_REQUEST_ON_BUT_HAS_CARGO, $"設備[{Eq.EQName}] 內有貨物，無法載入", $"Cargo exists at EQ {Eq.EQName}, can't load", null, null); if (Eq.Down_Pose == false) @@ -216,13 +216,13 @@ public static (bool confirm, ALARMS alarm_code, string message, string message_e } else if (actiontype == ACTION_TYPE.Load || actiontype == ACTION_TYPE.LoadAndPark) { - bool _isCarrierExist = specificport.CargoExist == true; - bool _isCarrierIDExist = !string.IsNullOrEmpty(specificport.CarrierID); - - if (_isCarrierExist || _isCarrierIDExist) - { - string _failReason = _isCarrierExist ? "料座有貨物存在" : "料座有 Carrier ID 未清除"; - string _failReasonEn = _isCarrierExist ? "Carrier exist at port" : "Carrier ID not clear at port"; + bool _isCarrierExist = specificport.CargoExist == true; + bool _isCarrierIDExist = !string.IsNullOrEmpty(specificport.CarrierID); + + if (_isCarrierExist || _isCarrierIDExist) + { + string _failReason = _isCarrierExist ? "料座有貨物存在" : "料座有 Carrier ID 未清除"; + string _failReasonEn = _isCarrierExist ? "Carrier exist at port" : "Carrier ID not clear at port"; return new(false, ALARMS.DestineRackPortHasCargo, $"WIP設備[{Rack.EQName}, ID:{specificport.Properties.ID}] {_failReason}", $"WIP EQ {Rack.EQName}, ID:{specificport.Properties.ID} {_failReasonEn}", null, null); } } @@ -249,17 +249,17 @@ public static (bool confirm, ALARMS alarm_code, string message, string message_e //若該儲格第一層是設備 需確認設備 1. 是否當機 clsEQ eqInFirstLayer = StaEQPManagager.GetEQByTag(MapPoint.TagNumber); - if (eqInFirstLayer != null) - { - if (eqInFirstLayer.IS_EQ_STATUS_DOWN) - { - bool _isSourceEQDown = actiontype == ACTION_TYPE.Unload; + if (eqInFirstLayer != null) + { + if (eqInFirstLayer.IS_EQ_STATUS_DOWN) + { + bool _isSourceEQDown = actiontype == ACTION_TYPE.Unload; return (false, _isSourceEQDown ? ALARMS.Source_Eq_Status_Down : ALARMS.Destine_Eq_Status_Down, $"取放 [{eqInFirstLayer.EQName}]上層儲格但 [{eqInFirstLayer.EQName}] 狀態為當機", - $"Cannot pick/place the upper storage slot of [{eqInFirstLayer.EQName}]: equipment is down.", - null, + $"Cannot pick/place the upper storage slot of [{eqInFirstLayer.EQName}]: equipment is down.", + null, null); - } + } } diff --git a/TaskManagers/TaskManager.cs b/TaskManagers/TaskManager.cs index 4701ce6..7d64525 100644 --- a/TaskManagers/TaskManager.cs +++ b/TaskManagers/TaskManager.cs @@ -1,4 +1,4 @@ -using AGVSystem.Controllers; +using AGVSystem.Controllers; using AGVSystem.Models.BayMeasure; using AGVSystem.Models.Map; using AGVSystem.Models.Sys; @@ -141,6 +141,7 @@ bool _IsMoveDestineIsForbidden(VEHICLE_TYPE model, int destineTag) results.confirm = results2.confirm; results.alarm_code = results2.alarm_code; results.message = results2.message; + results.message_en = results2.message_en; if (!results.confirm) return results; } @@ -319,7 +320,7 @@ bool _IsMoveDestineIsForbidden(VEHICLE_TYPE model, int destineTag) if (database.tables.AgvStates.Where(agv => agv.AGV_Name != taskData.DesignatedAGVName).Any(agv => agv.CurrentLocation == taskData.To_Station)) { AlarmManagerCenter.AddAlarmAsync(ALARMS.Destine_Charge_Station_Has_AGV, ALARM_SOURCE.AGVS, level: ALARM_LEVEL.WARNING); - return (false, ALARMS.Destine_Eq_Station_Has_Task_To_Park, $"目的充電站已有AGV停駐", "The destination charging station already has an AGV parked."); + return (false, ALARMS.Destine_Charge_Station_Has_AGV, $"目的充電站已有AGV停駐", "The destination charging station already has an AGV parked."); } } catch (Exception ex) @@ -379,8 +380,8 @@ bool _IsMoveDestineIsForbidden(VEHICLE_TYPE model, int destineTag) { taskData.State = TASK_RUN_STATUS.FAILURE; string failReasonZh = isNeedTransferButNoUsableEqToLoad ? "無可用的轉運站可供貨物移入暫存" : "無可用的轉運站可供貨物暫存移出"; - string failReasonEn = "No_Transfer_Station_To_Work"; - taskData.FailureReason = $"{failReasonZh}({failReasonEn})"; + string failReasonEn = "No_Transfer_Station_To_Work"; + taskData.FailureReason = $"{failReasonZh}({failReasonEn})"; await WriteTaskDtoToDatabase(taskData); return new(false, ALARMS.No_Transfer_Station_To_Work, failReasonZh, failReasonEn); } @@ -496,12 +497,12 @@ private static void SetTransferInfo(clsTaskDto taskData, out bool isNeedTransfer { isNeedTransferButNoUsableEqToLoad = true; return; - } - - - //TODO 挑選最優換車點邏輯 - clsEQ transferPort = _GetOptimizeTransferPort(transferPortsFilterOut, taskData); - + } + + + //TODO 挑選最優換車點邏輯 + clsEQ transferPort = _GetOptimizeTransferPort(transferPortsFilterOut, taskData); + taskData.TransferToTag = transferPort.EndPointOptions.TagID; MapPoint loadTransferEqPt = AGVSMapManager.GetMapPointByTag(taskData.TransferToTag); @@ -512,58 +513,58 @@ private static void SetTransferInfo(clsTaskDto taskData, out bool isNeedTransfer { isNeedTransferButNoUsableEqToUnLoad = true; return; - } - - var transferStationPort = StaEQPManagager.RackPortsList.FirstOrDefault(port => port.Properties.Row == 0 && port.TagNumbers.Contains(taskData.TransferToTag)); - //taskData.TransferToTag - if (transferStationPort != null) - { - var _rackOfTransferPort = transferStationPort.GetParentRack(); - taskData.changeVehicleStationPortID = transferStationPort.GetLocID(); - taskData.changeVehicleStationZoneID = _rackOfTransferPort.RackOption.DeviceID; + } + + var transferStationPort = StaEQPManagager.RackPortsList.FirstOrDefault(port => port.Properties.Row == 0 && port.TagNumbers.Contains(taskData.TransferToTag)); + //taskData.TransferToTag + if (transferStationPort != null) + { + var _rackOfTransferPort = transferStationPort.GetParentRack(); + taskData.changeVehicleStationPortID = transferStationPort.GetLocID(); + taskData.changeVehicleStationZoneID = _rackOfTransferPort.RackOption.DeviceID; } taskData.TransferFromTag = unoadTransferEqPt.TagNumber; - } - - private static clsEQ _GetOptimizeTransferPort(List transferPortsCandiites, clsTaskDto taskData) - { - try - { - logger.Info($"開始挑選換車站->終點放貨 Tag:{taskData.To_Station_Tag}, 候選站數量:{transferPortsCandiites.Count}"); - - clsEQ sameColumnOfDestineEq = transferPortsCandiites.FirstOrDefault(eq => eq.EndPointOptions.TagID == taskData.To_Station_Tag); - if (sameColumnOfDestineEq != null) - return sameColumnOfDestineEq; - - - MapPoint destineTag = taskData.To_Station_Tag.GetMapPointByTagNumber(); - - var orderedCandites = transferPortsCandiites.OrderBy(eq => - { - var _eqPt = eq.EndPointOptions.TagID.GetMapPointByTagNumber(); - PathFinder pathFinder = new PathFinder(); - AGVSystemCommonNet6.MAP.PathFinder.clsPathInfo _pathInfo = pathFinder.FindShortestPath(eq.EndPointOptions.TagID, taskData.To_Station_Tag, new PathFinder.PathFinderOption - { - Algorithm = PathFinder.PathFinderOption.ALGORITHM.Dijsktra, - OnlyNormalPoint = false, - }); - - return _pathInfo.total_travel_distance; - - }).ToList(); - var _eq = orderedCandites.First(); - logger.Info($"換車站最終獲勝的是 : {_eq.EndPointOptions.Name}(Tag:{_eq.EndPointOptions.TagID})"); - return _eq; - } - catch (Exception ex) - { - logger.Error(ex, "挑選換車站的途中發生例外錯誤!"); - return transferPortsCandiites.First(); - } - } - - + } + + private static clsEQ _GetOptimizeTransferPort(List transferPortsCandiites, clsTaskDto taskData) + { + try + { + logger.Info($"開始挑選換車站->終點放貨 Tag:{taskData.To_Station_Tag}, 候選站數量:{transferPortsCandiites.Count}"); + + clsEQ sameColumnOfDestineEq = transferPortsCandiites.FirstOrDefault(eq => eq.EndPointOptions.TagID == taskData.To_Station_Tag); + if (sameColumnOfDestineEq != null) + return sameColumnOfDestineEq; + + + MapPoint destineTag = taskData.To_Station_Tag.GetMapPointByTagNumber(); + + var orderedCandites = transferPortsCandiites.OrderBy(eq => + { + var _eqPt = eq.EndPointOptions.TagID.GetMapPointByTagNumber(); + PathFinder pathFinder = new PathFinder(); + AGVSystemCommonNet6.MAP.PathFinder.clsPathInfo _pathInfo = pathFinder.FindShortestPath(eq.EndPointOptions.TagID, taskData.To_Station_Tag, new PathFinder.PathFinderOption + { + Algorithm = PathFinder.PathFinderOption.ALGORITHM.Dijsktra, + OnlyNormalPoint = false, + }); + + return _pathInfo.total_travel_distance; + + }).ToList(); + var _eq = orderedCandites.First(); + logger.Info($"換車站最終獲勝的是 : {_eq.EndPointOptions.Name}(Tag:{_eq.EndPointOptions.TagID})"); + return _eq; + } + catch (Exception ex) + { + logger.Error(ex, "挑選換車站的途中發生例外錯誤!"); + return transferPortsCandiites.First(); + } + } + + private static async Task WriteTaskDtoToDatabase(clsTaskDto taskData) { try @@ -638,10 +639,11 @@ private static (bool confirm, ALARMS alarmCode, string message, string message_e { string sourceKey = $"{taskData.From_Station}_{taskData.From_Slot}"; if (currentNotUsableGoalKeyList.Contains(sourceKey)) - { - ALARMS _alarm = taskData.IsSourceWipPort(out clsRack rack, out clsPortOfRack _port) ? ALARMS.RackSourcePortAlreadyHasCommand : ALARMS.Destine_Eq_Already_Has_Task_To_Excute; - string _message = _alarm == ALARMS.RackSourcePortAlreadyHasCommand ? "來源儲格已有任務" : "The source equipment already has a carry task"; - string _messageEn = _alarm == ALARMS.RackSourcePortAlreadyHasCommand ? "The source rack port already has a carry task" : "The source equipment already has a carry task"; + { + bool isSourceWipPort = taskData.IsSourceWipPort(out _, out _); + ALARMS _alarm = ALARMS.RackSourcePortAlreadyHasCommand; + string _message = isSourceWipPort ? "來源儲格已有任務" : "來源設備已有搬運任務"; + string _messageEn = isSourceWipPort ? "The source rack port already has a carry task" : "The source equipment already has a carry task"; AlarmManagerCenter.AddAlarmAsync(_alarm, ALARM_SOURCE.AGVS); return (false, _alarm, _message, _messageEn); } @@ -669,10 +671,10 @@ private static async Task SetUnknowCarrierID(clsTaskDto taskData, DeviceIDInfo s int flowNumber = 0; string unknowCargoID = ""; - if (sourceDeviceIDInfo.outputRackType == clsEQ.RACK_CONTENT_STATE.FULL_UNBAKED || sourceDeviceIDInfo.outputRackType == clsEQ.RACK_CONTENT_STATE.FULL_BAKED) - { - taskData.Carrier_ID = await AGVSConfigulator.GetRackUnknownFlowID(); - return; + if (sourceDeviceIDInfo.outputRackType == clsEQ.RACK_CONTENT_STATE.FULL_UNBAKED || sourceDeviceIDInfo.outputRackType == clsEQ.RACK_CONTENT_STATE.FULL_BAKED) + { + taskData.Carrier_ID = await AGVSConfigulator.GetRackUnknownFlowID(); + return; }