JYHB-WCS/src/Khd.Core.Wcs/Wcs/FiveFloorAGV.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AGV调度
    /// </summary>
    public class FiveFloorAGV
    {
        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 LineWcsrun;
        private readonly BasePlcpoint LineSignal;
        private readonly BasePlcpoint LineIsPallet;
        private readonly BasePlcpoint LineSerialNO;
        int FloorNo { get; set; }
        string EquipNo = "";
        int agvID = 10;
        public FiveFloorAGV(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("RFID"));
            this.LineWcsrun = this.ScanPoint.First(t => t.plcpointNo.Contains("wcsrun"));
            this.LineSignal = this.ScanPoint.First(t => t.plcpointNo.Contains("linesignal"));
            this.LineIsPallet = this.ScanPoint.First(t => t.plcpointNo.Contains("ispallet"));
            this.LineSerialNO = this.ScanPoint.First(t => t.plcpointNo.Contains("serialno"));
            //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();
            Console.WriteLine(DateTime.Now + ":五楼AGV上件扫描监听启动成功");
            LogManager.Info("五楼AGV上件扫描监听启动成功");
        }

        public void MonitorInLocatorPoint()
        {
            using var scope = _host.Services.CreateScope();
            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
            List<int?> taskType = new() { 1, 3, 5, 7 };
            while (true)
            {
                try
                {
                    var taskList = dbContext.WcsTask.Where(t => t.nextPointId == agvID).OrderBy(t => t.createTime).ToList();
                    if (taskList.Count == 0)
                    {
                        LogManager.Info(FloorNo + "楼AGV无任务");
                    }
                    foreach (var item in taskList)
                    {
                        if (item.taskStatus == 0)//下发任务
                        {
                            BaseEquip baseEquip = StaticData.BaseEquip.First(t => t.floorNo == 5 && t.equipType == 1);
                            WcsCmd wcsCmd = new WcsCmd()
                            {
                                objid = item.objid,
                                cmdStatus = 0,
                                taskId = item.orderId,
                                useFlag = 1,
                                cmdType = item.taskType,
                                containerNo = item.containerNo,
                                createTime = DateTime.Now,
                                createBy = FloorNo + "楼AGV",
                                currPointId = baseEquip.objid,
                                currPointNo = baseEquip.equipNo,
                                nextPointId = item.endPointId,
                                nextPointNo = item.endPointNo,
                            };
                            RequestAGVTaskDto agvTask = new RequestAGVTaskDto();
                            agvTask.reqCode = item.objid.ToString();
                            agvTask.positionCodePath = new List<Position>
                            {
                                new Position
                                {
                                    positionCode=wcsCmd.currPointNo,
                                    type="1"
                                },
                                new Position
                                {
                                    positionCode=wcsCmd.nextPointNo,
                                    type="2"
                                }
                            };
                            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.Add(wcsCmd);
                                dbContext.SaveChanges();
                            }
                        }
                        else
                        {
                            WcsCmd? wcsCmd = dbContext.WcsCmd.FirstOrDefault(t => t.objid == item.objid);
                            if (wcsCmd != null)
                            {
                                if (wcsCmd.cmdStatus == 2)
                                {
                                    RequestAGVTaskDto agvTask = new RequestAGVTaskDto();
                                    agvTask.reqCode = item.objid.ToString();
                                    agvTask.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 = 3;
                                        dbContext.Update(wcsCmd);
                                        dbContext.SaveChanges();
                                    }
                                }
                                else if (wcsCmd.cmdStatus == 4)
                                {
                                    //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);
                                        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();
                                    }
                                }
                            }
                        }
                    }
                    //foreach (var item in taskList)
                    //{
                    //    SendAndUpdateTask(item);
                    //}
                }
                catch (Exception ex)
                {
                    LogManager.Error(ex);
                }
                finally
                {
                    Thread.Sleep(1000);
                }
            }
        }


        public List<WcsTask> GetTask(int floorNo, string equipNo)
        {
            using var scope = _host.Services.CreateScope();
            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
            List<WcsTask> wcsTask = new List<WcsTask>();
            var wareHouseList = StaticData.WmsBaseWarehouse.ToList();
            var equip = StaticData.BaseEquip.Where(t => t.floorNo == floorNo && t.equipType == 4).FirstOrDefault();
            //入库类型
            List<int> taskInType = new List<int> { 1, 3, 5, 7 };
            List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
            try
            {
                //获取条码号,如果该条码任务存在就继续任务,如果条码不存在,创建入库任务并调度agv
                var taskList = StaticData.WcsTask.Where(t => t.nextPointId == equip.objid).ToList();
                if (taskList.Count() == 0)
                { return null; }
                wcsTask = taskList;
            }
            catch (Exception ex)
            {
                LogManager.Info(floorNo + "楼AGV异常" + ex.Message);
                throw;
            }
            return wcsTask;
        }

        public void SendAndUpdateTask(WcsTask task)
        {
            //获取
            if (task == null) return;
            using var scope = _host.Services.CreateScope();
            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
            WcsToWms wcsToWms = new WcsToWms();
            //首先判断是否已下发指令
            var cmd = dbContext.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
            var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
            if (locList.Count == 0) return;
            //指令表存在说明已下发
            if (cmd == null)
            { //获取下发agv指令
                string ip = ""; int port = 0; string url = "";
                RequestAGVTaskDto agvtask = new RequestAGVTaskDto();
                agvtask.reqCode = task.objid.ToString();
                //var json = JsonConvert.SerializeObject(agvtask);
                //HttpHelper.SendPostMessage(ip, port, url, json);
                agvtask.positionCodePath = new List<Position>();
                Position p = new Position();
                WmsBaseLocation putPos = new WmsBaseLocation(); //放料点
                WmsBaseLocation setPos = new WmsBaseLocation(); //取料点
                if (task.taskType == 5) //入库
                {
                    setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
                }
                else
                {
                    setPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
                }
                putPos = locList.Where(t => t.locationId == task.nextPointId).FirstOrDefault();
                p.positionCode = setPos?.agvPositionCode;
                p.type = "";
                agvtask.positionCodePath.Add(p);
                p.positionCode = putPos?.agvPositionCode;
                p.type = "";
                //取料点
                agvtask.positionCodePath.Add(p);
                agvtask.taskTyp = "";
                //给agv创建任务
                var reponseMessage = wcsToWms.genAgvSchedulingTask(agvtask);
                if (reponseMessage != null)
                {

                }
                //未下发给agv下发指令
                WcsCmd taskCmd = new WcsCmd()
                {
                    taskId = task.objid,
                    cmdType = task.taskType,
                    serialNo = task.serialNo,
                    equipmentNo = task.equipmentNo,
                    cmdStatus = 1,
                    createBy = FloorNo + "楼AGV",
                    createTime = DateTime.Now,
                };
                dbContext.Add(taskCmd);
                dbContext.SaveChanges();
                //更新任务表
                dbContext.WcsTask.Where(t => t.objid == task.objid).Update(t => new WcsTask()
                {
                    currPointId = task.currPointId,
                    currPointNo = task.currPointNo,
                    nextPointId = task.nextPointId,
                    nextPointNo = task.nextPointNo,
                    updateTime = DateTime.Now,
                    updateBy = "agv出库",
                });
            }
        }
    }
}