JYHB-WCS/src/Khd.Core.Wcs/Wcs/SecondFloorAGV.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 System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Z.EntityFramework.Plus;

namespace Khd.Core.Wcs.Wcs
{
    /// <summary>
    /// 二楼AGV调度
    /// </summary>
    public class SecondFloorAGV
    {
        List<BasePlcpoint> ScanPoint { get; set; }//点位信息
        private readonly IHost _host;
        private readonly Plc.S7.Plc _plc;
        BasePlcpoint? LineRFID { get; set; }
        BasePlcpoint? LineWcsrun { get; set; }
        BasePlcpoint? LineSignal { get; set; }
        BasePlcpoint? LineIsPallet { get; set; }
        BasePlcpoint? LineSerialNO { get; set; }
        BasePlcpoint? LineFeedSeriaNo { get; set; }
        Thread FlowPointThread;
        int FloorNo { get; set; }
        string EquipNo = "";
        List<int> taskInType = new List<int> { 1, 3, 5, 7 };
        List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
        public SecondFloorAGV(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.FirstOrDefault(t => t.plcpointNo.Contains("RFID"));
            //this.LineWcsrun = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("wcsrun"));
            //this.LineSignal = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("linesignal"));
            this.LineIsPallet = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("ispallet"));
            //this.LineSerialNO = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("serialno"));
            //this.LineFeedSeriaNo = this.ScanPoint.FirstOrDefault(t => t.plcpointNo.Contains("feedserialno"));

            //var IsPallet = this._plc.Read(LineIsPallet.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()
        {

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

        public void MonitorInLocatorPoint()
        {
            using var scope = _host.Services.CreateScope();
            using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
            List<int> taskInType = new List<int> { 1, 3, 5, 7 };
            List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
            while (true)
            {
                try
                {
                    var taskList = GetTask(FloorNo, EquipNo);
                    if (taskList.Count == 0)
                    {
                        LogManager.Info(FloorNo + "楼AGV无任务");
                    }
                    foreach (var item in taskList)
                    {
                        if (taskInType.Contains(item.taskType.GetValueOrDefault()))//入库
                        {
                            var loc = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
                           
                            //2楼成品
                            if (item.taskType == 5|| item.taskType==11 )//成品入库||成品移库
                            {
                                var stock = dbContext.WmsProductStock.Where(t => t.activeFlag == "1").ToList();
                                //获取有物料的库位
                                var locStock = from l in loc
                                               join s in stock on l.locationCode equals s.locationCode
                                               select new
                                               {
                                                   LocId = l.locationId,
                                                   locCode = l.locationCode,
                                                   LocDeep = l.locDeep,
                                                   productBatch = s.productBatch
                                               };
                                //获取空库位
                                var nullLocList = loc.Where(r => !locStock.Select(t => t.locCode).Contains(r.locationCode) && r.warehouseId == 1).ToList();
                                var location = nullLocList.OrderBy(t => t.locColumn).FirstOrDefault();

                                item.currPointId = 8;
                                item.currPointNo = "AGV01";
                                item.nextPointId = location.locationId;
                                item.nextPointNo = location.locationCode;
                                //dbContext.Update(item);
                            }
                            //下发agv出库指令
                            SendAndUpdateTask(item);
                        }
                        else
                        {
                            var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
                            //出库
                            if (item.taskType == 6)//成品出库
                            {
                                //获取库存
                                var proStock = dbContext.WmsProductStock.Where(t => t.activeFlag == "1" && t.stockType == "3").ToList();

                                var dic = dbContext.BaseDictionary.Where(t => t.dicKey == "OutStockDate").FirstOrDefault();
                                var DateRange = Convert.ToInt32(dic.dicValue);
                                var stockList = from t in proStock.Where(r =>  r.productId == item.materialId)
                                                join b in locList on t.locationCode equals b.locationCode
                                                into temp
                                                from newStock in temp.DefaultIfEmpty()
                                                select new
                                                {
                                                    proID = t.productStockId,
                                                    locID = newStock.locationId,
                                                    locCode = t.locationCode,
                                                    layerNum = newStock.layerNum,
                                                    locColumn = newStock.locColumn,
                                                    locRow = newStock.locRow,
                                                    locDeep = newStock.locDeep,
                                                    inStockDate = newStock.createTime,
                                                };
                                //先查出最早入库时间
                                var inStockModel = stockList.OrderBy(t => t.inStockDate).FirstOrDefault();
                                var inStockDate = inStockModel.inStockDate;
                                //查出符合条件的成品
                                var outStockList = stockList.Where(t => t.inStockDate >= inStockDate && t.inStockDate <= inStockDate.GetValueOrDefault().AddDays(DateRange)).ToList();
                                var outModel = outStockList.OrderBy(t => t.locColumn).ThenByDescending(t => t.locDeep).FirstOrDefault();
                                if (outModel.locDeep == 1)
                                {
                                    //自动获取id
                                    Jc.SnowId.JcSnowId id = new Jc.SnowId.JcSnowId(1, 1);
                                    var objid = id.NextId();
                                    var isExiStock = stockList.Where(t=>t.locRow==outModel.locRow && t.locColumn==outModel.locColumn && t.locDeep ==2).FirstOrDefault();
                                    if (isExiStock != null)
                                    { 
                                        //创建成品移库任务
                                        WcsTask newTask = new()
                                        {
                                            objid = objid,
                                            taskType = 11,
                                            containerNo = "",
                                            taskStatus = 0,
                                            materialId = isExiStock.locID,
                                            qty = 1,
                                            startPointId = isExiStock.locID,
                                            startPointNo = "",
                                            currPointId = isExiStock.locID,
                                            currPointNo = "",
                                        };
                                        dbContext.Add(newTask);
                                        dbContext.SaveChanges();
                                        return;
                                    }
                                }
                                //锁定库位
                                dbContext.WmsBaseLocation.Where(t => t.locationCode == outModel.locCode).Update(t => new WmsBaseLocation()
                                {
                                    locationStatus = "1",
                                    updateTime = DateTime.Now,
                                    updateBy = "agv出库",
                                });
                                //下发agv出库指令
                                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();
            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 && t.currPointId != equip.objid && (t.taskType==1|| t.taskType == 2|| t.taskType == 5 || t.taskType == 6)).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();
            //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.podCode = setPos.agvPositionCode;
                p.podTyp = "";
                agvtask.positionCodePath.Add(p);
                p.podCode = putPos.agvPositionCode;
                p.podTyp = "";
                //取料点
                agvtask.positionCodePath.Add(p);
                agvtask.taskTyp = "";
                //给agv创建任务
                wcsToWms.genAgvSchedulingTask(agvtask);
                //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();
            }
            else
            {
                //获取接驳位是否有托盘
                var IsPallet = this._plc.Read(this.LineIsPallet.plcpointAddress);
                if (cmd.sendFlag == 0)
                {
                    if (taskInType.Contains(task.taskType.GetValueOrDefault()))//入库
                    {
                        //入库时有托盘继续任务
                        if (Convert.ToInt32(IsPallet) == 1)
                        {
                            continueTaskDto continueTask = new continueTaskDto();
                            continueTask.taskCode = task.objid.ToString();
                            wcsToWms.continueTask(continueTask);
                            //未下发给agv下发指令
                            WcsCmd taskCmd = new WcsCmd()
                            {
                                taskId = task.objid,
                                sendFlag = 1,
                                createBy = FloorNo + "楼AGV",
                                createTime = DateTime.Now,
                            };
                            dbContext.Update(taskCmd);
                            dbContext.SaveChanges();
                        }
                    }
                    else
                    {
                        //出库时没有托盘继续任务
                        if (Convert.ToInt32(IsPallet) == 0)
                        {
                            continueTaskDto continueTask = new continueTaskDto();
                            continueTask.taskCode = task.objid.ToString();
                            wcsToWms.continueTask(continueTask);
                            //更新任务
                            dbContext.WcsCmd.Where(t => t.taskId == task.objid).Update(t => new WcsCmd()
                            {
                                sendFlag = 1,
                                updateTime = DateTime.Now,
                                updateBy = "agv出库",
                            });
                        }
                    }
                }
            }
            //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",
            }) ; 
        }
        ///// <summary>
        ///// 下发任务
        ///// </summary>
        ///// <param name="task"></param>
        //public void SendTask1(WcsTask task)
        //{
        //    using var scope = _host.Services.CreateScope();
        //    using var dbContext = scope.ServiceProvider.GetRequiredService<DefaultDbContext>();
        //    //入库类型
        //    //List<int> taskInType = new List<int> { 1, 3, 5, 7 };
        //    //List<int> taskOutType = new List<int> { 2, 4, 6, 8 };
        //    //获取
        //    if (task == null) return;
        //    if (taskInType.Contains(task.taskType.GetValueOrDefault()))//入库
        //    {
        //        WcsToWms wcsToWms = new WcsToWms();
        //        //首先判断是否已下发指令
        //        var cmd = StaticData.WcsCmd.Where(t => t.taskId == task.objid).FirstOrDefault();
        //        //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.serialNo.ToString();
        //            //var json = JsonConvert.SerializeObject(agvtask);
        //            //HttpHelper.SendPostMessage(ip, port, url, json);
        //            wcsToWms.genAgvSchedulingTask(agvtask);
        //            //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();
        //        }
        //        else
        //        {

        //            var IsPallet = this._plc.Read(this.LineIsPallet.plcpointAddress);
        //            if (cmd.sendFlag == 0)
        //            {
        //                if (Convert.ToInt32(IsPallet) == 1)
        //                {

        //                    continueTaskDto continueTask = new continueTaskDto();
        //                    continueTask.taskCode = task.objid.ToString();
        //                    wcsToWms.continueTask(continueTask);
        //                    //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,
        //                        sendFlag = 1,
        //                        createBy = FloorNo + "楼AGV",
        //                        createTime = DateTime.Now,
        //                    };
        //                    dbContext.Update(taskCmd);
        //                    dbContext.SaveChanges();

        //                }
        //            }
        //        }

        //    }
        //    else
        //    {
        //        var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
        //        //出库
        //        if (task.taskType == 6)//成品出库
        //        {
        //            //获取库存
        //            var proStock = dbContext.WmsProductStock.Where(t => t.activeFlag == "1" && t.stockType == "3" && t.productId == task.materialId).ToList();

        //            var dic = dbContext.BaseDictionary.Where(t => t.dicKey == "OutStockDate").FirstOrDefault();
        //            var DateRange = Convert.ToInt32(dic.dicValue);
        //            var stockList = from t in proStock
        //                            join b in locList on t.locationCode equals b.locationCode
        //                            into temp
        //                            from newStock in temp.DefaultIfEmpty()
        //                            select new
        //                            {
        //                                proID = t.productStockId,
        //                                locID = newStock.locationId,
        //                                locCode = t.locationCode,
        //                                layerNum = newStock.layerNum,
        //                                locColumn = newStock.locColumn,
        //                                locRow = newStock.locRow,
        //                                locDeep = newStock.locDeep,
        //                                inStockDate = newStock.createTime,
        //                            };
        //            //先查出最早入库时间
        //            var inStockModel = stockList.OrderBy(t => t.inStockDate).FirstOrDefault();
        //            var inStockDate = inStockModel.inStockDate;
        //            //查出符合条件的成品
        //            var outStockList = stockList.Where(t => t.inStockDate >= inStockDate && t.inStockDate <= inStockDate.GetValueOrDefault().AddDays(DateRange)).ToList();
        //            var outModel = outStockList.OrderBy(t => t.locColumn).ThenByDescending(t => t.locDeep).FirstOrDefault();


        //            dbContext.WmsBaseLocation.Where(t => t.locationCode == outModel.locCode).Update(t => new WmsBaseLocation()
        //            {
        //                locationStatus = "1",
        //                updateTime = DateTime.Now,
        //                updateBy = "agv出库",
        //            });

        //            dbContext.WcsTask.Where(t => t.objid == task.objid).Update(t => new WcsTask()
        //            {
        //                currPointId = outModel.locID,
        //                currPointNo = outModel.locCode,
        //                updateTime = DateTime.Now,
        //                updateBy = "agv出库",
        //            });
        //            //下发agv出库指令


        //        }
        //        else if (task.taskType == 2)//原材料出库
        //        {

        //        }
        //    }
        //}
    }
}