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警報來源終點區分 #10

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9ba31be
修正 TaskManagers 來源與終點檢查的 Alarm 對應
cursoragent Feb 11, 2026
6b21738
修正充電站佔用檢查的 Alarm 回傳碼一致性
cursoragent Feb 11, 2026
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40 changes: 20 additions & 20 deletions TaskManagers/EQTransferTaskManager.cs
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Original file line number Diff line number Diff line change
@@ -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;
Expand Down Expand Up @@ -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)
Expand All @@ -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)
Expand Down Expand Up @@ -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)
Expand All @@ -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)
Expand Down Expand Up @@ -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);
}
}
Expand All @@ -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);
}
}
}


Expand Down
136 changes: 69 additions & 67 deletions TaskManagers/TaskManager.cs
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
using AGVSystem.Controllers;
using AGVSystem.Controllers;
using AGVSystem.Models.BayMeasure;
using AGVSystem.Models.Map;
using AGVSystem.Models.Sys;
Expand Down Expand Up @@ -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;
}
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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);
}
Expand Down Expand Up @@ -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);
Expand All @@ -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<clsEQ> 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<clsEQ> 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
Expand Down Expand Up @@ -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);
}
Expand Down Expand Up @@ -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;
}


Expand Down