Sln.Wcs/Sln.Wcs/Function/SubTaskControl.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Cryptography.X509Certificates;
using System.Text;
using System.Threading.Tasks;
using Microsoft.Extensions.DependencyInjection;
using Newtonsoft.Json;
using Sln.Wcs.HikRoBotApi.Domain.Dto.GenAgvSchedulingTask;
using Sln.Wcs.HikRoBotSdk;
using Sln.Wcs.Model.Domain;
using Sln.Wcs.Plc;
using Sln.Wcs.Serilog;
using Sln.Wcs.WCS.Global;
using SlnMesnac.Business.@base;
using SqlSugar;
using Sln.Wcs.HikRoBotApi.Service.Impl;

namespace Sln.Wcs.Function
{
    /// <summary>
    /// 子任务执行
    /// </summary>
    public class SubTaskControl : BaseBusiness
    {
        private readonly SerilogHelper _logger;
        private readonly ISqlSugarClient sqlSugarClient;

        public HikRoBotService hikRoBotService;

        public PlcAbsractFactory workShopPlc1;

        public PlcAbsractFactory workShopPlc2;

        public List<WcsAgvStatus> agvStatusList = new List<WcsAgvStatus>();

        public SubTaskControl(IServiceProvider serviceProvider) : base(serviceProvider)
        {
            hikRoBotService = serviceProvider.GetRequiredService<HikRoBotService>();
            sqlSugarClient = serviceProvider.GetRequiredService<ISqlSugarClient>();
            _logger = serviceProvider.GetRequiredService<SerilogHelper>();
            
        }

        /// <summary>
        /// 启动扫描监听
        /// </summary>
        public void StartPoint()
        {

            try
            {
                //List<WcsBaseEquip> agvList = sqlSugarClient.Queryable<WcsBaseEquip>().Where(x => agvEquipNos.Contains(x.EquipNo)).ToList();
                Task.Run(async () =>
                {
                    while (true)
                    {
                        await ExecuteSubTaskAsync();
                        await Task.Delay(5000);
                    }
                });
            }
            catch (Exception ex)
            {
                _logger.Error($"agv执行任务启动扫描监听失败:{ex.Message},{ex.StackTrace}");
            }

        }

        /// <summary>
        /// 执行分任务
        /// </summary>
        private async Task ExecuteSubTaskAsync()
        {
            try
            {
                sqlSugarClient.AsTenant().ChangeDatabase("wcs");
                var db = sqlSugarClient.CopyNew();
                List<SubTaskInstance> taskList = db.Queryable<SubTaskInstance>().OrderBy(x => x.CreatedTime).ToList();
                foreach (SubTaskInstance item in taskList)
                {
                    item.UpdatedTime = DateTime.Now;
                    switch (item.TaskType)
                    {
                        //AGV下发任务
                        case StaticTaskType.MovePalletHTGTask:
                        case StaticTaskType.MovePalletGTHTask:
                        case StaticTaskType.MovePalletXTGTask:
                        case StaticTaskType.MovePalletGTXTask:
                        case StaticTaskType.MovePalletHTGJTask:
                        case StaticTaskType.MovePalletGTHJTask:
                        case StaticTaskType.MovePalletXTGJTask:
                        case StaticTaskType.MovePalletGTXJTask:
                            TransPalletTaskHandler(item);
                            break;
                        //提升机下发任务
                        case StaticTaskType.ElevatorBoxTask:
                            ElevatorTaskHandler(item);
                            break;
                        default: break;
                    }
                }
            }
            catch (Exception ex)
            {
                _logger.Error($"ExecuteTask异常{ex.StackTrace}");
                Thread.Sleep(2000);
            }
        }

        #region 不同任务处理流程

        /// <summary>
        /// 运输任务处理
        /// </summary>
        private void TransPalletTaskHandler(SubTaskInstance task)
        {

            if (task.TaskStatus == 0)
            {
                try
                {
                    var db = sqlSugarClient.CopyNew();
                    var wcsLocation = db.Queryable<BaseLocation>().First(t => t.AgvPositionCode == task.CurrAGVPoint);
                    workShopPlc1 = base.GetPlcByKey("workshop" + wcsLocation.WorkshopId + "Plc");
                    WcsBaseDictionary wcsBaseDictionary = db.Queryable<WcsBaseDictionary>().First(t => t.Id == task.TaskType);
                    List<Position> PathList = new List<Position>();
                    PathList.Add(new Position { positionCode = task.CurrAGVPoint, type = "00" });
                    PathList.Add(new Position { positionCode = task.EndAGVPoint, type = "00" });
                    var agvTask = new GenAgvSchedulingTaskDto
                    {
                        reqCode = StaticData.SnowId.NextId().ToString(),
                        positionCodePath = PathList,
                        taskTyp = wcsBaseDictionary.DicValue,
                        ctnrTyp = "2",
                    };
                    
                    var result = hikRoBotService.GetGenAgvSchedulingTask(agvTask);

                    result.code = 0; //测试用，记得删除

                    if (result.code == 0)
                    {
                        task.TaskStatus = 1;
                        var updateflag = db.Updateable<SubTaskInstance>(task).ExecuteCommandAsync();
                    }

                }
                catch (Exception ex)
                {
                    _logger.Error("TransPalletTaskHandler方法异常:" + ex.Message);
                }
            }

        }

        /// <summary>
        /// 提升机任务处理
        /// </summary>
        private void ElevatorTaskHandler(SubTaskInstance task)
        {
            try
            {
                var db = sqlSugarClient.CopyNew();
                var startLocation = db.Queryable<BaseLocation>().First(t => t.AgvPositionCode == task.CurrAGVPoint);
                var endLocation = db.Queryable<BaseLocation>().First(t => t.AgvPositionCode == task.EndAGVPoint);
                workShopPlc1 = base.GetPlcByKey("workshop" + startLocation.WorkshopId + "Plc");
                var elevator = db.Queryable<BaseEquipInfo>().First(t => t.EquipNo == task.EquipmentNo);

                if (workShopPlc1 == null || !workShopPlc1.IsConnected)
                {
                    _logger.Plc(DateTime.Now + "PLC未连接,请检查网络!");
                    return;
                }

                int busyFlag = workShopPlc1.readInt16ByAddress(StaticData.GetPlcAddress("线体忙碌状态"));

                if (task.TaskStatus == 0) //呼叫提升机
                {
                    if (busyFlag == 1)
                    {
                        return;
                    }
                    if (busyFlag == 0)
                    {

                        int hoistFloor = workShopPlc1.readInt16ByAddress(StaticData.GetPlcAddress(elevator.EquipName + "号提升机当前层"));
                        if (hoistFloor != startLocation.WorkshopLevel)
                        {
                            workShopPlc1.writeInt16ByAddress("任务执行命令", (int)(NumberConverter(elevator.EquipName) * 100 + hoistFloor * 10 + startLocation.WorkshopLevel));
                        }
                        task.TaskStatus = 1;
                    }
                }
                if (task.TaskStatus == 1)//提升机到起点后，发送信号放置完成
                {
                    if (busyFlag == 1)
                    {
                        return;
                    }
                    if (busyFlag == 0)
                    {
                        workShopPlc1.writeBoolByAddress("放置完成", true);
                        task.TaskStatus = 2;
                    }
                }
                if (task.TaskStatus == 2)//开始运输到终点
                {
                    if (busyFlag == 1)
                    {
                        return;
                    }
                    if (busyFlag == 0)
                    {
                        if(workShopPlc1.readBoolByAddress(elevator.EquipName+"号提升机"+NumberConverter((int)startLocation.WorkshopLevel)+ "读写器读取触发"))
                        {
                            workShopPlc1.writeInt16ByAddress("任务执行命令", (int)(NumberConverter(elevator.EquipName) * 100 + startLocation.WorkshopLevel * 10 + endLocation.WorkshopLevel));
                            task.TaskStatus = 3;
                        }
                    }
                }
                if(task.TaskStatus == 3)//提升机到终点后，发送信号提升完成
                {
                    if (busyFlag == 1)
                    {
                        return;
                    }
                    if (busyFlag == 0)
                    {
                        workShopPlc1.writeBoolByAddress("提升完成", true); //继续下一步任务<-待定
                        if (workShopPlc1.readBoolByAddress(elevator.EquipName + "提升机"+ NumberConverter((int)endLocation.WorkshopLevel) + "楼接驳位状态"))
                        {
                            var mainTask = db.Queryable<WcsTaskInstance>().First(t => t.TaskCode == task.MaintaskCode);
                            mainTask.ResultCode = 1;
                            db.Updateable(mainTask).ExecuteCommand();
                            db.Deleteable(task).ExecuteCommand();
                            return;
                        }
                    }
                }
                sqlSugarClient.AsTenant().BeginTran();
                try
                {
                    db.Updateable(task).ExecuteCommand();
                    db.AsTenant().CommitTran();
                }
                catch (Exception ex)
                {
                    db.AsTenant().RollbackTran();
                    _logger.Error("提交事务异常:" + ex.Message);
                }
            }
            catch (Exception ex)
            {
                _logger.Error("TransPalletTaskHandler方法异常:" + ex.Message);
            }
        }
        #endregion

        #region 任务状态流转处理逻辑
        /// <summary>
        /// 根据不同任务模版获取路径
        /// </summary>
        /// <param name="currPointNo"></param>
        /// <param name="endPointNo"></param>
        /// <param name="dicValue"></param>
        /// <returns></returns>
        private List<Position> GetPositionPath(string currPointNo, string endPointNo, string dicValue, int taskType)
        {
            List<Position> PathList = new List<Position>();
            if (dicValue == "Transport")   //同层只需要起点、终点
            {
                PathList.Add(new Position { positionCode = currPointNo, type = "00" });
                PathList.Add(new Position { positionCode = endPointNo, type = "00" });
            }
            else if (dicValue == "XLXQL")
            {

            }
            return PathList;
        }

        public static int NumberConverter(string number)
        {
            switch (number)
            {
                case "一": return 1;
                case "二": return 2;
                case "三": return 3;
                case "四": return 4;
                case "五": return 5;
                case "六": return 6;
                case "七": return 7;
                case "八": return 8;
            }
            return 0;
        }

        public static string NumberConverter(int number)
        {
            switch (number)
            {
                case 1: return "一";
                case 2: return "二";
                case 3: return "三";
                case 4: return "四";
                case 5: return "五";
            }
            return "无";
        }
        #endregion 任务状态流转处理逻辑
    }
}