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

using Khd.Core.Domain.Dto.webapi;
using Khd.Core.Domain.Models;
using Khd.Core.EntityFramework;
using Khd.Core.Plc;
using Khd.Core.Plc.S7;
using Khd.Core.Wcs.Global;
using Masuit.Tools;
using Masuit.Tools.Logging;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Khd.Core.Wcs.Wcs
{
    public class SystemTimer
    {
        private readonly IHost host;
        private Plc.S7.Plc Plc30 = StaticData.PlcDic[0];
        private Plc.S7.Plc Plc31 = StaticData.PlcDic[0];
        private Plc.S7.Plc Plc220 = StaticData.PlcDic[2];

        public SystemTimer(IHost host)
        {
            this.host = host;
        }

        public void Start()
        {
            var messageSynchronousThread = new Thread(MessageSynchronousLogic)
            {
                IsBackground = true
            };
            messageSynchronousThread.Start();

            //var baseEquipThread = new Thread(BaseEquipLogic)
            //{
            //    IsBackground = true
            //};
            //baseEquipThread.Start();

            //var PlcHeartBeat30Thread = new Thread(PlcHeartBeat30Logic)
            //{
            //    IsBackground = true
            //};
            //PlcHeartBeat30Thread.Start();

            //var PlcHeartBeat31Thread = new Thread(PlcHeartBeat31Logic)
            //{
            //    IsBackground = true
            //};
            //PlcHeartBeat31Thread.Start();

            Console.WriteLine($"{DateTime.Now}: SystemTimer started");
        }

        /// <summary>
        /// 定时发送心跳包
        /// </summary>
        /// <param name="obj"></param>
        private void PlcHeartBeat30Logic(object? obj)
        {
            BasePlcpoint HeartBeat30 = StaticData.BasePlcpointList.First(t => t.plcpointNo == "HeartBeat30");
            int heartBeatCount = 0;
            while (true)
            {
                try
                {
                    if (heartBeatCount == 0)
                    {
                        heartBeatCount = 1;
                    }
                    else
                    {
                        heartBeatCount = 0;
                    }
                    StaticData.PlcDic[0].WriteToPoint(HeartBeat30.plcpointAddress, heartBeatCount.ToString(), HeartBeat30.plcpointType?.ToString());
                }
                catch (Exception ex)
                {
                    if (ex is PlcException)
                    {
                        try
                        {
                            foreach (var item in StaticData.PlcDic)
                            {
                                if (item.Value.IP == ex.Message)
                                {
                                    StaticData.PlcDic[item.Key] = new Plc.S7.Plc(item.Value.CPU, item.Value.IP, item.Value.Port, item.Value.Rack, item.Value.Slot);
                                    StaticData.PlcDic[item.Key].Open();
                                }
                            }
                        }
                        catch
                        {

                        }
                    }
                    LogManager.Error(ex);
                }
                Thread.Sleep(1000);
            }
        }

        /// <summary>
        /// 定时发送心跳包
        /// </summary>
        /// <param name="obj"></param>
        private void PlcHeartBeat31Logic(object? obj)
        {
            BasePlcpoint HeartBeat31 = StaticData.BasePlcpointList.First(t => t.plcpointNo == "HeartBeat31");
            int heartBeatCount = 0;
            while (true)
            {
                try
                {
                    if (heartBeatCount == 0)
                    {
                        heartBeatCount = 1;
                    }
                    else
                    {
                        heartBeatCount = 0;
                    }
                    StaticData.PlcDic[1].WriteToPoint(HeartBeat31.plcpointAddress, heartBeatCount.ToString(), HeartBeat31.plcpointType?.ToString());
                }
                catch (Exception ex)
                {
                    if (ex is PlcException)
                    {
                        try
                        {
                            foreach (var item in StaticData.PlcDic)
                            {
                                if (item.Value.IP == ex.Message)
                                {
                                    StaticData.PlcDic[item.Key] = new Plc.S7.Plc(item.Value.CPU, item.Value.IP, item.Value.Port, item.Value.Rack, item.Value.Slot);
                                    StaticData.PlcDic[item.Key].Open();
                                }
                            }
                        }
                        catch
                        {

                        }
                    }
                    LogManager.Error(ex);
                }
                Thread.Sleep(1000);
            }
        }

        /// <summary>
        /// 定时更新基础设备信息
        /// </summary>
        /// <param name="obj"></param>
        private void BaseEquipLogic(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());
                    List<BaseEquip> updateEquips = dbContext.BaseEquip.Where(t => t.remark == "99").ToList();
                    if (updateEquips.Count > 0)
                    {
                        foreach (var equip in updateEquips)
                        {
                            equip.remark = "0";
                            dbContext.BaseEquip.Update(equip);
                            dbContext.SaveChanges();
                        }
                        StaticData.BaseEquip = dbContext.BaseEquip.ToList();
                    }
                }
                catch
                {

                }
                Thread.Sleep(5000);
            }
        }

        /// <summary>
        /// 定时同步消息
        /// </summary>
        /// <param name="obj"></param>
        private void MessageSynchronousLogic(object? obj)
        {
            while (true)
            {
                try
                {
                    using var scope = host.Services.CreateScope();
                    using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
                    dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
                    HositerLogic();
                    //CtuLineLogic();
                    ThirdAgvLogic(dbContext);
                    FiveAgvLogic(dbContext);
                    FiveBearAgvLogic(dbContext);
                    CtuCmdLogic(dbContext);
                    SecondAgvLogic(dbContext);
                    SendTrayMessage(dbContext);
                    UpdatePlcPointValue(dbContext);
                }
                catch (Exception ex)
                {
                    try
                    {
                        if (ex is PlcException)
                        {
                            foreach (var item in StaticData.PlcDic)
                            {
                                if (item.Value.IP == ex.Message)
                                {
                                    StaticData.PlcDic[item.Key] = new Plc.S7.Plc(item.Value.CPU, item.Value.IP, item.Value.Port, item.Value.Rack, item.Value.Slot);
                                    StaticData.PlcDic[item.Key].Open();
                                }
                            }
                        }
                    }
                    catch
                    {

                    }
                }
                Thread.Sleep(1000);
            }
        }

        private void SendTrayMessage(DefaultDbContext dbContext)
        {
            BaseEquip baseEquip = dbContext.BaseEquip.First(t => t.objid == 40);
            BasePlcpoint oneInPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "oneIn");
            BasePlcpoint oneOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "oneOut");
            BasePlcpoint someOutPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "someOut");
            BasePlcpoint someInPoint = StaticData.BasePlcpointList.First(t => t.plcpointNo == "someIn");
            BasePlc basePlc = StaticData.basePlcs.First(t => t.Name == "托盘库去向");
            BasePlc basePlc2 = StaticData.basePlcs.First(t => t.Name == "托盘库数量");
            string? value = "0";
            if (StaticData.PlcDic[0].Read(oneInPoint.plcpointAddress)?.ToString() == "1")
            {
                value = "1";
            }
            else if (StaticData.PlcDic[0].Read(oneOutPoint.plcpointAddress)?.ToString() == "1")
            {
                value = "2";
            }
            else if (StaticData.PlcDic[0].Read(someOutPoint.plcpointAddress)?.ToString() == "1")
            {
                value = "3";
            }
            else if (StaticData.PlcDic[0].Read(someInPoint.plcpointAddress)?.ToString() == "1")
            {
                value = "4";
            }
            StaticData.PlcDic[2].WriteToPoint(basePlc.Address, value, basePlc.type);
            StaticData.PlcDic[2].WriteToPoint(basePlc2.Address, baseEquip.emptyCount.ToString(), basePlc2.type);
        }

        private void UpdatePlcPointValue(DefaultDbContext dbContext)
        {
            try
            {
                foreach (var item in StaticData.basePlcs)
                {
                    item.Value = StaticData.PlcDic[2].Read(item.Address)?.ToString();
                }
                dbContext.UpdateRange(StaticData.basePlcs);
                dbContext.SaveChanges();
            }
            catch
            {

            }
        }

        /// <summary>
        /// 定时更新三楼AGV信息
        /// </summary>
        /// <param name="dbContext"></param>
        private void ThirdAgvLogic(DefaultDbContext dbContext)
        {
            var baseEquip = StaticData.BaseEquip.First(t => t.objid == 9);
            dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
            var basePlcs = StaticData.basePlcs.Where(t => t.Station == "3楼AGV").ToList();
            var data = new
            {
                reqCode = StaticData.SnowId.NextId(),
                mapCode = "BB"
            };
            string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms-dps/rest/queryAgvStatus", data.ToJsonString());
            var reponse = JsonConvert.DeserializeObject<AgvStatusDto>(result);
            if (reponse != null && reponse.code == "0")
            {
                var cardStatus = reponse.data.First(t => t.RobotCode == "2032");
                cardStatus.DateNow = DateTime.Now;
                dbContext.Update(cardStatus);
                dbContext.SaveChanges();
                var quantityPlc = basePlcs.First(t => t.Name.Contains("电量"));
                this.Plc220.WriteToPoint(quantityPlc.Address, cardStatus.Battery, quantityPlc.type);
                var XPlc = basePlcs.First(t => t.Name.Contains('X'));
                var Ylc = basePlcs.First(t => t.Name.Contains('Y'));
                this.Plc220.WriteToPoint(XPlc.Address, cardStatus.PosY.ToString(), XPlc.type);
                this.Plc220.WriteToPoint(Ylc.Address, cardStatus.PosY.ToString(), Ylc.type);
            }
        }

        /// <summary>
        /// 定时更新二楼AGV信息
        /// </summary>
        /// <param name="dbContext"></param>
        private void SecondAgvLogic(DefaultDbContext dbContext)
        {
            var baseEquip = StaticData.BaseEquip.First(t => t.objid == 8);
            dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
            var basePlcs = StaticData.basePlcs.Where(t => t.Station == "2楼AGV").ToList();
            var data = new
            {
                reqCode = StaticData.SnowId.NextId(),
                mapCode = "CC"
            };
            string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms-dps/rest/queryAgvStatus", data.ToJsonString());
            var reponse = JsonConvert.DeserializeObject<AgvStatusDto>(result);
            if (reponse != null && reponse.code == "0")
            {
                var cardStatus = reponse.data.First(t => t.RobotCode == "2033");
                cardStatus.DateNow = DateTime.Now;
                dbContext.Update(cardStatus);
                dbContext.SaveChanges();
                var quantityPlc = basePlcs.First(t => t.Name.Contains("电量"));
                this.Plc220.WriteToPoint(quantityPlc.Address, cardStatus.Battery, quantityPlc.type);
                var XPlc = basePlcs.First(t => t.Name.Contains('X'));
                var Ylc = basePlcs.First(t => t.Name.Contains('Y'));
                this.Plc220.WriteToPoint(XPlc.Address, cardStatus.PosX.ToString(), XPlc.type);
                this.Plc220.WriteToPoint(Ylc.Address, cardStatus.PosY.ToString(), Ylc.type);
            }
        }

        /// <summary>
        /// 定时更新五楼AGV信息
        /// </summary>
        /// <param name="dbContext"></param>
        private void FiveAgvLogic(DefaultDbContext dbContext)
        {
            var baseEquip = StaticData.BaseEquip.First(t => t.objid == 10);
            dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
            var basePlcs = StaticData.basePlcs.Where(t => t.Station == "5楼AGV").ToList();
            List<int?> type = new List<int?>() { 27, 28, 34, 35, 37, 38, 46, 47 };
            var wcsCmds = dbContext.WcsCmd.Where(t => type.Contains(t.cmdType)).ToList();
            if (wcsCmds.Count > 0)
            {
                WcsCmd wcsCmd = wcsCmds.First();
                var endPlc = basePlcs.Where(t => t.Name.Contains("目的地")).First();
                Plc220.WriteToPoint(endPlc.Address, wcsCmd.nextPointId.ToString(), endPlc.type);
                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
                Plc220.WriteToPoint(startPlc.Address, wcsCmd.currPointId.ToString(), startPlc.type);
                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
                string cmdType = StaticData.BaseDictionary.First(t => t.objid == wcsCmd.cmdType).ToPlc;
                Plc220.WriteToPoint(cmdPlc.Address, cmdType, cmdPlc.type);
            }
            else
            {
                var endPlc = basePlcs.Where(t => t.Name.Contains("目的地")).First();
                this.Plc220.WriteToPoint(endPlc.Address, "0", endPlc.type);
                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
                Plc220.WriteToPoint(startPlc.Address, "0", startPlc.type);
                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
                Plc220.WriteToPoint(cmdPlc.Address, "0", cmdPlc.type);
            }
            var data = new
            {
                reqCode = StaticData.SnowId.NextId(),
                mapCode = "EE"
            };
            string result = HttpHelper.SendPostMessage(baseEquip.serverIp, baseEquip.serverPort.Value, "rcms-dps/rest/queryAgvStatus", data.ToJsonString());
            var reponse = JsonConvert.DeserializeObject<AgvStatusDto>(result);
            if (reponse != null && reponse.code == "0")
            {
                var cardStatus = reponse.data.First(t => t.RobotCode == "2034");
                cardStatus.DateNow = DateTime.Now;
                dbContext.Update(cardStatus);
                var quantityPlc = basePlcs.First(t => t.Name.Contains("电量"));
                this.Plc220.WriteToPoint(quantityPlc.Address, cardStatus.Battery, quantityPlc.type);
                var XPlc = basePlcs.First(t => t.Name.Contains('X'));
                var Ylc = basePlcs.First(t => t.Name.Contains('Y'));
                this.Plc220.WriteToPoint(XPlc.Address, cardStatus.PosX.ToString(), XPlc.type);
                this.Plc220.WriteToPoint(Ylc.Address, cardStatus.PosY.ToString(), Ylc.type);


                basePlcs = StaticData.basePlcs.Where(t => t.Station == "5楼背负式").ToList();
                cardStatus = reponse.data.First(t => t.RobotCode == "6011");
                cardStatus.DateNow = DateTime.Now;
                quantityPlc = basePlcs.First(t => t.Name.Contains("电量"));
                this.Plc220.WriteToPoint(quantityPlc.Address, cardStatus.Battery, quantityPlc.type);
                XPlc = basePlcs.First(t => t.Name.Contains('X'));
                Ylc = basePlcs.First(t => t.Name.Contains('Y'));
                this.Plc220.WriteToPoint(XPlc.Address, cardStatus.PosX.ToString(), XPlc.type);
                this.Plc220.WriteToPoint(Ylc.Address, cardStatus.PosY.ToString(), Ylc.type);
                dbContext.Update(cardStatus);


                basePlcs = StaticData.basePlcs.Where(t => t.Station == "5楼CTU").ToList();
                cardStatus = reponse.data.First(t => t.RobotCode == "8161");
                cardStatus.DateNow = DateTime.Now;
                quantityPlc = basePlcs.First(t => t.Name.Contains("电量"));
                this.Plc220.WriteToPoint(quantityPlc.Address, cardStatus.Battery, quantityPlc.type);
                XPlc = basePlcs.First(t => t.Name.Contains("X"));
                Ylc = basePlcs.First(t => t.Name.Contains("Y"));
                this.Plc220.WriteToPoint(XPlc.Address, cardStatus.PosX.ToString(), XPlc.type);
                this.Plc220.WriteToPoint(Ylc.Address, cardStatus.PosY.ToString(), Ylc.type);
                dbContext.Update(cardStatus);
                dbContext.SaveChanges();
            }
        }

        /// <summary>
        /// 定时更新五楼背负式AGV信息
        /// </summary>
        /// <param name="dbContext"></param>
        private void FiveBearAgvLogic(DefaultDbContext dbContext)
        {
            var baseEquip = StaticData.BaseEquip.First(t => t.objid == 10);
            dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
            var basePlcs = StaticData.basePlcs.Where(t => t.Station == "5楼背负式").ToList();
            var wcsCmds = dbContext.WcsCmd.Where(t => t.cmdType == 32 || t.cmdType == 48).ToList();
            if (wcsCmds.Count > 0)
            {
                WcsCmd wcsCmd = wcsCmds.First();
                var endPlc = basePlcs.Where(t => t.Name.Contains("目的地")).First();
                Plc220.WriteToPoint(endPlc.Address, wcsCmd.nextPointId.ToString(), endPlc.type);
                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
                Plc220.WriteToPoint(startPlc.Address, wcsCmd.currPointId.ToString(), startPlc.type);
                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
                string cmdType = StaticData.BaseDictionary.First(t => t.objid == wcsCmd.cmdType).ToPlc;
                Plc220.WriteToPoint(cmdPlc.Address, cmdType, cmdPlc.type);
            }
            else
            {
                var endPlc = basePlcs.Where(t => t.Name.Contains("目的地")).First();
                this.Plc220.WriteToPoint(endPlc.Address, "0", endPlc.type);
                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
                Plc220.WriteToPoint(startPlc.Address, "0", startPlc.type);
                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
                Plc220.WriteToPoint(cmdPlc.Address, "0", cmdPlc.type);
            }
        }

        /// <summary>
        /// 定时更新五楼CTU信息
        /// </summary>
        /// <param name="dbContext"></param>
        private void CtuCmdLogic(DefaultDbContext dbContext)
        {
            var baseEquip = StaticData.BaseEquip.First(t => t.objid == 11);
            dbContext.ChangeTracker.Entries().ToList().ForEach(e => e.Reload());
            var basePlcs = StaticData.basePlcs.Where(t => t.Station == "5楼CTU").ToList();
            var wcsCmds = dbContext.WcsCmd.Where(t => t.cmdType == 29 || t.cmdType == 30 || t.cmdType == 31).ToList();
            if (wcsCmds.Count > 0)
            {
                var wcsCmd = wcsCmds.First();
                List<long?> startList = new List<long?>();
                List<long?> endList = new List<long?>();
                if (wcsCmd.cmdType != 30)
                {
                    startList.Add(wcsCmd.currPointId);
                    endList.AddRange(wcsCmds.Select(t => t.nextPointId).ToList());
                }
                else
                {
                    startList.Add(wcsCmd.nextPointId);
                    endList.AddRange(wcsCmds.Select(t => t.currPointId).ToList());
                }
                while (endList.Count < 6)
                {
                    endList.Add(0);
                }
                var endPlcs = basePlcs.Where(t => t.Name.Contains("目的地")).OrderBy(t => t.Name).ToList();
                for (int i = 0; i < endPlcs.Count; i++)
                {
                    this.Plc220.WriteToPoint(endPlcs[i].Address, endList[i].ToString(), endPlcs[i].type);
                }
                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
                Plc220.WriteToPoint(startPlc.Address, wcsCmd.currPointId.ToString(), startPlc.type);
                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
                string cmdType = StaticData.BaseDictionary.First(t => t.objid == wcsCmd.cmdType).ToPlc;
                Plc220.WriteToPoint(cmdPlc.Address, cmdType, cmdPlc.type);

            }
            else
            {
                var endPlcs = basePlcs.Where(t => t.Name.Contains("目的地")).OrderBy(t => t.Name).ToList();
                for (int i = 0; i < endPlcs.Count; i++)
                {
                    this.Plc220.WriteToPoint(endPlcs[i].Address, "0", endPlcs[i].type);
                }
                var startPlc = basePlcs.First(t => t.Name.Contains("起始点"));
                Plc220.WriteToPoint(startPlc.Address, "0", startPlc.type);
                var cmdPlc = basePlcs.First(t => t.Name.Contains("任务代号"));
                Plc220.WriteToPoint(cmdPlc.Address, "0", cmdPlc.type);
            }
        }

        /// <summary>
        /// 定时更新五楼U型线信息
        /// </summary>
        private void CtuLineLogic()
        {
            var basePlcpoints = StaticData.BasePlcpointList.ToList();
            var basePlcs = StaticData.basePlcs.ToList();
            var bill = from a in basePlcpoints
                       from b in basePlcs
                       where a.plcpointNo == b.Name && b.Station == "U型线"
                       select new { a, b };
            foreach (var item in bill)
            {
                if (item.a.plcpointNo.Contains("RFID"))
                {
                    string? rfid = Plc31.ReadRFID(item.a.plcpointAddress);
                    if (!string.IsNullOrEmpty(rfid))
                    {
                        rfid = rfid[(rfid.IndexOf("C") + 1)..];
                        Plc220.WriteToPoint(item.b.Address, rfid, item.b.type);
                    }
                    else
                    {
                        Plc220.WriteToPoint(item.b.Address, "0", item.b.type);
                    }
                }
                else
                {
                    var value = Plc31.Read(item.a.plcpointAddress);
                    if (value != null && !string.IsNullOrEmpty(value.ToString()))
                    {
                        Plc220.WriteToPoint(item.b.Address, value.ToString(), item.b.type);
                    }
                    else
                    {
                        Plc220.WriteToPoint(item.b.Address, "0", item.b.type);
                    }
                }
            }
        }

        /// <summary>
        /// 提升机和接驳位信息同步
        /// </summary>
        private void HositerLogic()
        {

            var basePlcpoints = StaticData.BasePlcpointList.ToList();
            var basePlcs = StaticData.basePlcs.ToList();
            var bill = from a in basePlcpoints
                       from b in basePlcs
                       where a.plcpointNo == b.Name && b.Station != "U型线"
                       select new { a, b };
            foreach (var item in bill)
            {
                if (item.a.plcpointNo.Contains("RFID"))
                {
                    string? rfid = Plc30.ReadRFID(item.a.plcpointAddress);
                    if (!string.IsNullOrEmpty(rfid))
                    {
                        rfid = rfid[(rfid.IndexOf("JYHB") + 4)..];
                        Plc220.WriteToPoint(item.b.Address, rfid, item.b.type);
                    }
                    else
                    {
                        Plc220.WriteToPoint(item.b.Address, "0", item.b.type);
                    }
                }
                else
                {
                    var value = Plc30.Read(item.a.plcpointAddress);
                    if (value != null && !string.IsNullOrEmpty(value.ToString()))
                    {
                        Plc220.WriteToPoint(item.b.Address, value.ToString(), item.b.type);
                    }
                    else
                    {
                        Plc220.WriteToPoint(item.b.Address, "0", item.b.type);
                    }
                }
            }
        }
    }

}