wcs_core/Sln.Wcs.HoistDispatcher/HoistDispatchHub.cs

#region << 版 本 注 释 >>

/*--------------------------------------------------------------------
* 版权所有 (c) 2026 WenJY 保留所有权利。
* CLR版本：4.0.30319.42000
* 机器名称：Mr.Wen's MacBook Pro
* 命名空间：Sln.Wcs.HoistDispatchHub
* 唯一标识：764B880E-8084-48A5-B773-95E8EA044319
*
* 创建者：WenJY
* 电子邮箱：
* 创建时间：2026-06-01 13:24:25
* 版本：V1.0.0
* 描述：
*
*--------------------------------------------------------------------
* 修改人：
* 时间：
* 修改说明：
*
* 版本：V1.0.0
*--------------------------------------------------------------------*/

#endregion << 版 本 注 释 >>

using Newtonsoft.Json;
using Sln.Wcs.HoistAdapter.Domain.Dto.GetHoistStatus;
using Sln.Wcs.HoistAdapter.Domain.Dto.HoistTaskExecutor;
using Sln.Wcs.HoistAdapter.Domain.Dto.SetHoistAction;
using Sln.Wcs.HoistAdapter.Domain.Dto.SetHoistTask;
using Sln.Wcs.HoistAdapter.Domain.Enum;
using Sln.Wcs.HoistAdapter.Service;
using Sln.Wcs.Model.Domain;
using Sln.Wcs.Serilog;

namespace Sln.Wcs.HoistDispatcher;

/// <summary>
/// 提升机调度中心
/// </summary>
public class HoistDispatchHub
{
    private readonly SerilogHelper _logger;
    private readonly IHoistService _hoistAdapter;
    public HoistDispatchHub(IHoistService hoistAdapter, SerilogHelper logger)
    {
        _hoistAdapter = hoistAdapter;
        _logger = logger;
    }

    /// <summary>
    /// 接收托盘
    /// </summary>
    /// <param name="taskDetail"></param>
    /// <param name="deviceInfo"></param>
    public void ReceivePallet(LiveTaskDetail taskDetail,BaseDeviceInfo deviceInfo)
    {
        //读取托盘RFID信息
        string palletStr = "202606030001";
        if (taskDetail.palletBarcode == palletStr)
        {
            this.TaskRun(deviceInfo);
        }
        else
        {
            _logger.Info($"托盘条码与计划不符");
        }
    }
    
    /// <summary>
    /// 提升机启动：放置完成下发
    /// </summary>
    /// <param name="hoistCode"></param>
    public void TaskRun(BaseDeviceInfo deviceInfo)
    {
        try
        {
            SetHoistActionResultDto res = _hoistAdapter.SetHoistAction(new SetHoistActionDto()
            {
                hoistCode = deviceInfo.hostCode,
                deviceSerialNo = deviceInfo.deviceSerialNo,
                action = ControlAction.Start
            });

            if (res.code == HoistStatusEnum.成功)
            {
                _logger.Info($"提升机启动指令（放置完成）下发成功");
            }
            else
            {
                _logger.Info($"提升机启动指令（放置完成）下发失败:{res.msg},SDK返回信息:{res.data.message}");
            }
        }
        catch (Exception e)
        {
            _logger.Info($"提升机启动指令（放置完成）下发异常:{e.Message}");
        }
    }
    
    /// <summary>
    /// 提升机任务下发执行：可根据现场节拍进行提前下发（AGV 确定接驳位后即可下发）
    /// </summary>
    /// <param name="deviceInfo"></param>
    /// <param name="liveTaskDetail"></param>
    public void TaskDispatch(BaseDeviceInfo deviceInfo,LiveTaskDetail liveTaskDetail)
    {
        try
        {
            //解析起始点，组合 PLC 所需的起始点
            TryParsePointCode(liveTaskDetail.startPoint, out string startBuilding, out string startFloor,
                out string startLocation);
            TryParsePointCode(liveTaskDetail.endPoint, out string endBuilding, out string endFloor,
                out string endLocation);
            int endPoint = Convert.ToInt32(deviceInfo.deviceSerialNo + startFloor + endFloor);

            //调用适配层下发 提升机调度任务
            SetHoistTaskResultDto res = _hoistAdapter.SetHoistTask(new SetHoistTaskDto()
            {
                hoistCode = deviceInfo.hostCode,
                taskCode = liveTaskDetail.taskCode,
                deviceSerialNo = deviceInfo.deviceSerialNo,
                endPoint = endPoint,
            });

            if (res.code == HoistStatusEnum.成功)
            {
                _logger.Info($"提升机任务{liveTaskDetail.taskCode}下发成功:目标位置-{endPoint}");
            }
            else
            {
                _logger.Info($"提升机任务{liveTaskDetail.taskCode}下发失败:{res.msg},SDK返回信息:{res.data.message}");
            }
        }
        catch (Exception e)
        {
            _logger.Info($"提升机任务下发异常:{e.Message}");
        }
    }

    /// <summary>
    /// 获取空闲提升机
    /// </summary>
    /// <param name="hostCode"></param>
    /// <returns></returns>
    public async Task<BaseDeviceInfo> GetFreeHoistAsync(string hostCode)
    {
        while (true)
        {
            RefreshDeviceParams(hostCode, out List<BaseDeviceInfo> deviceInfos);
        
            var freeHoist = deviceInfos?.FirstOrDefault(info =>
                info.deviceParams.Any(item =>
                    item.paramName.Contains("提升机反馈任务状态") && item.paramValue == 0
                )
            );
        
            if (freeHoist != null)
                return freeHoist;
        
            await Task.Delay(1000);
        }
    }

    /// <summary>
    /// 刷新设备参数：根据设备参数地址通过 PLC 获取参数值
    /// hostCode为空时获取配置的所有参数值
    /// </summary>
    /// <param name="hostCode"></param>
    /// <param name="deviceParams"></param>
    private void RefreshDeviceParams(string hostCode,out List<BaseDeviceInfo> deviceParams)
    {
        deviceParams = null;
        
        GetHoistStatusResultDto getRes = _hoistAdapter.GetHoistStatus(new GetHoistStatusDto(){hoistCode = hostCode});

        if (getRes.code == HoistStatusEnum.成功)
        {
            deviceParams = JsonConvert.DeserializeObject<List<BaseDeviceInfo>>(getRes.data.deviceParamStr);
        }
        else
        {
            _logger.Info($"设备参数获取失败:{getRes.msg}");
        }
    }
    
    /// <summary>
    /// 解析起始点内容
    /// 14#_L2_02 => 14栋、2层、02货位
    /// </summary>
    /// <param name="taskCode"></param>
    /// <param name="building"></param>
    /// <param name="floor"></param>
    /// <param name="location"></param>
    /// <returns></returns>
    private bool TryParsePointCode(string taskCode, out string building, out string floor, out string location)
    {
        building = null;
        floor = null;
        location = null;

        if (string.IsNullOrWhiteSpace(taskCode))
            return false;

        // 使用正则表达式匹配格式：数字+#+_+L+数字+_+数字（至少一位）
        // 示例：14#_L2_03
        var match = System.Text.RegularExpressions.Regex.Match(taskCode, @"^(\d+)#_L(\d+)_(\d+)$");
        if (!match.Success)
            return false;

        building = match.Groups[1].Value;
        floor = match.Groups[2].Value;
        location = match.Groups[3].Value;
        return true;
    }
}