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 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;
        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 EquipID = 8; //2楼AGV
        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.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 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()
        {

            Thread FlowPointThread = new Thread(MonitorInLocatorPoint);
            FlowPointThread.Start();
            Console.WriteLine(DateTime.Now + ":二楼AGV上件扫描监听启动成功");
            LogManager.Info("二楼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>();
            while (true)
            {
                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 == EquipID && t.currPointId != EquipID && (t.taskType == 11 || t.taskType == 5 || t.taskType == 6)).ToList();
                    if (taskList.Count == 0)
                    {
                        LogManager.Info(FloorNo + "楼AGV无任务");
                    }
                    foreach (var item in taskList)
                    {
                        if (item.taskType == 5 || item.taskType == 11)//入库
                        {
                            var loc = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
                            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();
                            if (location == null) return;
                            item.currPointId = 8;
                            item.currPointNo = "AGV01";
                            item.nextPointId = location.locationId;
                            item.nextPointNo = location.locationCode;
                            //锁定库位
                            dbContext.WmsBaseLocation.Where(t => t.locRow == location.locRow && t.locColumn == location.locColumn && t.layerNum == location.layerNum).Update(t => new WmsBaseLocation()
                            {
                                locationStatus = "6",
                                updateTime = DateTime.Now,
                                updateBy = "agv出库",
                            });
                            //下发agv出库指令
                            SendAndUpdateTask(item);
                        }
                        else if (item.taskType == 6)
                        {
                            var locList = dbContext.WmsBaseLocation.Where(t => t.activeFlag == "1").ToList();
                            var outProStock = dbContext.WmsProductOutstock.Where(t => t.productOutstockId == item.orderId).FirstOrDefault();
                            //获取库存
                            var proStock = dbContext.WmsProductStock.Where(t => t.activeFlag == "1" && t.stockType == "3" && t.planCode == outProStock.planCode && t.saleorderCode == outProStock.saleorderCode).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

                                var objid = StaticData.SnowId.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,
                                        currPointId = isExiStock.locID,
                                        endPointId = 12,
                                        endPointNo = "WH02",
                                    };
                                    dbContext.Add(newTask);
                                    dbContext.SaveChanges();
                                    return;
                                }
                            }
                            //锁定库位
                            dbContext.WmsBaseLocation.Where(t => t.locRow == outModel.locRow && t.locColumn == outModel.locColumn && t.layerNum == outModel.layerNum).Update(t => new WmsBaseLocation()
                            {
                                locationStatus = "6",
                                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 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
                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",
            });
        }
    }
}