JYHB-WCS/src/Khd.Core.Wcs/Wcs/FiveFloorCTU.cs

using Khd.Core.Domain.Dto.webapi;
using Khd.Core.Domain.Models;
using Khd.Core.EntityFramework;
using Khd.Core.Wcs.Global;
using Masuit.Tools.Logging;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Newtonsoft.Json;
using Z.EntityFramework.Plus;

namespace Khd.Core.Wcs.Wcs
{
    /// <summary>
    /// 五楼CTU调度
    /// </summary>
    public class FiveFloorCTU
    {
        List<BasePlcpoint> ScanPoint { get; set; }//点位信息
        private readonly IHost _host;
        private readonly Plc.S7.Plc _plc;
        private readonly BasePlcpoint LineRFID;
        private readonly BasePlcpoint isarrive;
        private readonly BasePlcpoint isput;
        int FloorNo { get; set; }
        string EquipNo = "";
        int CTUID = 11;
        public FiveFloorCTU(IHost host, Plc.S7.Plc plc, int floor, string equipNo)
        {
            this._host = host;
            this._plc = plc;
            FloorNo = floor;
            EquipNo = equipNo;
            this.ScanPoint = StaticData.BasePlcpointList.Where(t => t.floorNo == floor).ToList();//加载当前站点所对应的点位
            this.LineRFID = this.ScanPoint.First(t => t.plcpointNo.Contains("RFID5001"));
            this.isarrive = this.ScanPoint.First(t => t.plcpointNo.Contains("isarrive"));
            this.isput = this.ScanPoint.First(t => t.plcpointNo.Contains("isput"));

            //var lineRFID = this._plc.Read(NodeSettingCarNo.plcpointAddress);
            try
            {
                //默认启动,清理plc的上位机写入点位值
                //this._plc.Write(LineRFID.plcpointAddress, MainCentralControl.QingKongDianWei);
            }
            catch (Exception ex)
            {
                Console.WriteLine("楼层" + floor + " 初始化数据异常" + ex.Message);
                LogManager.Error(ex);
            }
        }

        /// <summary>
        /// 启动上件扫描监听
        /// </summary>
        public void StartPoint()
        {

            Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
            FlowPointThread.Start();

            //Thread FlowCTUInWareThread = new Thread(MonitorInWare);
            //FlowCTUInWareThread.Start();
            Console.WriteLine(DateTime.Now + ":五楼CTU上件扫描监听启动");
            LogManager.Info("五楼CTU上件扫描监听启动");
        }

        private void MonitorInWare(object? obj)
        {
            using var scope = _host.Services.CreateScope();
            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
            while (true)
            {
                try
                {
                    dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                    var rfid = this._plc.Read(LineRFID.plcpointAddress);
                    var isArrive = this._plc.Read(isarrive.plcpointAddress);
                    if (rfid != null && isArrive != null && Convert.ToInt32(isArrive) == 1)
                    {
                        //根据rfid找到库位
                        //生成入库任务
                        var wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.containerCode == rfid.ToString());
                        BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.equipNo == "FL051");
                        BaseEquip ctuEquip = StaticData.BaseEquip.First(t => t.objid == 11);
                        if (wmsBaseLocation != null)
                        {
                            var wcsTask = new WcsTask()
                            {
                                objid = StaticData.SnowId.NextId(),
                                startPointId = baseEquip.objid,
                                startPointNo = baseEquip.agvPositionCode,
                                currPointId = baseEquip.objid,
                                currPointNo = baseEquip.agvPositionCode,
                                nextPointId = ctuEquip.objid,
                                nextPointNo = ctuEquip.equipNo,
                                endPointId = wmsBaseLocation.locationId,
                                endPointNo = wmsBaseLocation.agvPositionCode,
                                taskType = 1,
                                taskStatus = 0,
                                floorNo = 5,
                                ud1 = "0",//是否是最后一个任务
                                containerNo = rfid.ToString(),
                                equipmentNo = baseEquip.equipNo,
                                createBy = FloorNo + "楼CTU",
                                createTime = DateTime.Now,
                            };
                            dbContext.Add(wcsTask);
                            dbContext.SaveChanges();
                        }
                    }
                }
                catch
                {

                }
            }
        }

        public void MonitorInLocatorPoint()
        {
            List<int?> taskType = new() { 1, 3, 5, 7 };
            using var scope = _host.Services.CreateScope();
            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
            while (true)
            {
                try
                {
                    dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                    var taskList = dbContext.WcsTask.Where(t => t.nextPointId == CTUID).ToList();
                    if (taskList.Count == 0)
                    {
                        LogManager.Info(FloorNo + "楼CTU无任务");
                    }
                    foreach (var item in taskList)
                    {
                        if (item.taskStatus == 0)//CTU会同时生成多个任务，生成就下发？
                        {
                            if (item.taskType == 30)//出库任务
                            {
                                BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == item.endPointId);
                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.startPointId);
                                var wcsCmd = new WcsCmd()
                                {
                                    objid = StaticData.SnowId.NextId(),
                                    cmdStatus = 0,
                                    taskId = item.objid,
                                    useFlag = 1,
                                    cmdType = item.taskType,
                                    containerNo = item.containerNo,
                                    createTime = DateTime.Now,
                                    createBy = FloorNo + "楼CTU",
                                    currPointId = wmsBaseLocation.locationId,
                                    currPointNo = wmsBaseLocation.agvPositionCode,
                                    nextPointId = baseEquip.objid,
                                    nextPointNo = baseEquip.agvPositionCode,
                                    taskCode = null
                                };
                                var agvTask = new RequestAGVTaskDto
                                {
                                    reqCode = StaticData.SnowId.NextId().ToString(),
                                    positionCodePath = new List<Position>
                                            {
                                                new()
                                                {
                                                    positionCode = wcsCmd.currPointNo,
                                                    type = "05"
                                                },
                                                new()
                                                {
                                                    positionCode = wcsCmd.nextPointNo,
                                                    type = "05"
                                                },
                                            },
                                    ctnrTyp = "1",
                                    taskTyp = "F504"
                                };
                                string message = JsonConvert.SerializeObject(agvTask);
                                string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
                                if (reponseMessage != null && reponseMessage.message == "成功")
                                {
                                    wcsCmd.taskCode = reponseMessage.data;
                                    wcsCmd.cmdStatus = 1;
                                    item.taskStatus = 1;
                                    dbContext.Update(item);
                                    dbContext.WcsCmd.Add(wcsCmd);
                                    dbContext.SaveChanges();
                                }
                            }
                            else if (item.taskType == 29)//入库任务
                            {
                                BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.objid == item.startPointId);
                                WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation.First(t => t.locationId == item.endPointId);
                                var wcsCmd = new WcsCmd()
                                {
                                    objid = StaticData.SnowId.NextId(),
                                    cmdStatus = 0,
                                    taskId = item.objid,
                                    useFlag = 1,
                                    cmdType = item.taskType,
                                    containerNo = item.containerNo,
                                    createTime = DateTime.Now,
                                    createBy = FloorNo + "楼CTU",
                                    nextPointId = wmsBaseLocation.locationId,
                                    nextPointNo = wmsBaseLocation.agvPositionCode,
                                    currPointId = baseEquip.objid,
                                    currPointNo = baseEquip.agvPositionCode,
                                };
                                var agvTask = new RequestAGVTaskDto
                                {
                                    reqCode = StaticData.SnowId.NextId().ToString(),
                                    positionCodePath = new List<Position>
                                            {
                                                new()
                                                {
                                                    positionCode = wcsCmd.currPointNo,
                                                    type = "0"
                                                },
                                                new()
                                                {
                                                    positionCode = wcsCmd.nextPointNo,
                                                    type = "0"
                                                },
                                            },
                                    ctnrTyp = "1",
                                    taskTyp = "F503"
                                };
                                string message = JsonConvert.SerializeObject(agvTask);
                                string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/genAgvSchedulingTask", message);
                                var reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
                                if (reponseMessage != null && reponseMessage.message == "成功")
                                {
                                    wcsCmd.taskCode = reponseMessage.data;
                                    wcsCmd.cmdStatus = 1;
                                    item.taskStatus = 1;
                                    dbContext.Update(wmsBaseLocation);
                                    dbContext.Update(item);
                                    dbContext.Add(wcsCmd);
                                    dbContext.SaveChanges();
                                }
                            }
                        }
                        else
                        {
                            WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.taskId == item.objid);
                            if (wcsCmd != null)
                            {
                                if (wcsCmd.cmdStatus == 3)
                                {
                                    var agvTask = new RequestAGVTaskDto
                                    {
                                        reqCode = StaticData.SnowId.NextId().ToString(),
                                        taskCode = wcsCmd.taskCode
                                    };
                                    string message = JsonConvert.SerializeObject(agvTask);
                                    string result = HttpHelper.HttpPost("http://172.16.12.24:8182/rcms/services/rest/hikRpcService/continueTask", message);
                                    ReponseMessage? reponseMessage = JsonConvert.DeserializeObject<ReponseMessage>(result);
                                    if (reponseMessage != null && reponseMessage.message == "成功")
                                    {
                                        wcsCmd.cmdStatus = 4;
                                        dbContext.Update(wcsCmd);
                                        dbContext.SaveChanges();
                                    }
                                }
                                else if (wcsCmd.cmdStatus == 5)
                                {
                                    //任务完成
                                    //如果是入库任务,更新库存信息,并删除任务
                                    if (taskType.Contains(item.taskType))
                                    {
                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
                                           .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
                                        wmsBaseLocation.outstockFlag = "0";
                                        wmsBaseLocation.locationStatus = "1";
                                        dbContext.Update(wmsBaseLocation);

                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
                                        dbContext.WcsTask.Where(t => t.objid == item.objid).Delete();
                                        dbContext.SaveChanges();
                                    }
                                    else//如果是出库任务,更新库存信息,下一个任务为提升机
                                    {
                                        WmsBaseLocation wmsBaseLocation = dbContext.WmsBaseLocation
                                            .First(t => t.locationId == item.startPointId && t.warehouseFloor == 5);
                                        if (item.taskType == 29)
                                        {
                                            wmsBaseLocation.outstockFlag = "0";
                                            wmsBaseLocation.locationStatus = "1";
                                            dbContext.Update(wmsBaseLocation);
                                        }

                                        BaseEquip floorLineEquip = StaticData.BaseEquip.First(t => t.equipType == 1 && t.floorNo == 5);
                                        BaseEquip eletorEquip = StaticData.BaseEquip.First(t => t.equipType == 2);
                                        item.nextPointId = floorLineEquip.objid;
                                        item.nextPointNo = floorLineEquip.equipNo;
                                        item.fromFloorNo = 5;
                                        item.floorNo = 1;
                                        item.taskStatus = 6;
                                        dbContext.Update(item);
                                        dbContext.WcsCmd.Where(t => t.objid == wcsCmd.objid).Delete();
                                        dbContext.SaveChanges();
                                    }
                                }
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    LogManager.Error(ex);
                }
                finally
                {
                    Thread.Sleep(1000);
                }
            }
        }



        /// <summary>
        /// 下发任务
        /// </summary>
        /// <param name="task"></param>
        public void SendTask(long? orderId)
        {
            using var scope = _host.Services.CreateScope();
            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
            var taskList = dbContext.WcsTask.Where(t => t.orderId == orderId).ToList();
            //获取
            if (taskList.Count == 0)
                return;
            //首先判断是否已下发指令
            var cmd = dbContext.WcsCmd.Where(t => taskList.Select(t => t.objid).ToList().Contains(t.taskId.GetValueOrDefault())).FirstOrDefault();
            //指令表存在说明已下发
            if (cmd != null) return;
            //获取下发agv指令
            string ip = ""; int port = 0; string url = "";
            RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
            agvtask.reqCode = orderId.ToString();
            var json = JsonConvert.SerializeObject(agvtask);
            HttpHelper.SendPostMessage(ip, port, url, json);
            foreach (var item in taskList)
            {
                //未下发给agv下发指令
                WcsCmd taskCmd = new WcsCmd()
                {
                    taskId = item.objid,
                    cmdType = item.taskType,
                    serialNo = item.serialNo,
                    equipmentNo = item.equipmentNo,
                    cmdStatus = 1,
                    createBy = FloorNo + "楼CTU",
                    createTime = DateTime.Now,
                };
                dbContext.Add(taskCmd);
                dbContext.SaveChanges();
            }
        }
    }
}