SX-WCS/业务工程/时效库/WCS.WorkEngineering/Systems/装箱码垛/机器人抓取.cs

using NetTaste;
using Newtonsoft.Json;
using NPOI.SS.Formula.PTG;
using Org.BouncyCastle.Bcpg;
using ServiceCenter.SqlSugars;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol.Protocol.Robot;
using WCS.Entity.Protocol.Robot;
using WCS.Entity.Protocol.Station;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.WebApi.Models.WCS.Request;
using WCS.WorkEngineering.Worlds;
using static ICSharpCode.SharpZipLib.Zip.ExtendedUnixData;

namespace WCS.WorkEngineering.Systems
{
    [BelongTo(typeof(RobotWorld))]
    [Description("机器人抓取")]
    public class 机器人抓取 : DeviceSystem<Device<IRobot520, IRobot521, IRobot522>>
    {
        protected override bool ParallelDo => false;

        private Device<IStation521, IRobot531>[] PalletStations;

        public 机器人抓取()
        {
            var arr = Device.All.Where(v => v.HasProtocol<IStation521>() && v.HasFlag("装箱码垛") && v.HasFlag("位置", "码垛")).ToArray();
            PalletStations = arr.Select(v => new Device<IStation521, IRobot531>(v, this.World)).ToArray();
        }

        public override void Do(Device<IRobot520, IRobot521, IRobot522> obj)
        {

            if (obj.Data.VoucherNo != obj.Data2.VoucherNo)
            {
                MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = obj.Entity.Code + "凭证号不一样，不允许做新的交互", Time = DateTime.Now }));
                return;
            }
            if (obj.Data2.Mode != RobotMode.自动)
            {
                MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = obj.Entity.Code + "不是自动模式", Time = DateTime.Now }));
                return;
            }
            if (obj.Data2.Alarm != 0)
            {
                MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = obj.Entity.Code + "有报警，请先解决报警", Time = DateTime.Now }));
                World.Log($"{obj.Data3.Alarm}");
                return;
            }
            World.Log($"码垛任务下发{obj.Entity.Code}交互开始时间:一个周期" + DateTime.Now.ToString("yyyyMMddHHmmss"));
            if (obj.Data2.Rqst == RobotRqst.抓取完成)
            {
                var tasks = new int[] { obj.Data2.Task1, obj.Data2.Task2, obj.Data2.Task3 }.Take(obj.Data2.TaskQty).ToArray();
                if (tasks.Any(v => v == 0) || tasks.Length == 0)
                {
                    MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = obj.Entity.Code + "抓取完成时任务号有误", Time = DateTime.Now }));
                    throw new Exception("抓取完成时任务号有误");
                }
                var res = WMS.抓取完成(tasks, obj.Data2.AddrTo.ToString());
                if (!res.Success)
                {
                    MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = obj.Entity.Code + "码垛绑定失败," + res.ResMsg, Time = DateTime.Now }));
                    throw new Exception("码垛绑定失败," + res.ResMsg);
                }
                SqlSugarHelper.Do(db =>
                {
                    var arr = db.Default.Queryable<WCS_TaskInfo>().Where(v => tasks.Contains(v.ID)).ToArray();
                    foreach (var task in arr)
                    {
                        if (task.Status != Entity.TaskStatus.码垛抓取中)
                        {
                            MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = $"{obj.Entity.Code}，任务{task.ID}状态有误", Time = DateTime.Now }));
                            throw new Exception($"任务{task.ID}状态有误");
                        }
                        task.Status = Entity.TaskStatus.码垛抓取完成;
                        task.EditTime = DateTime.Now;
                        db.Default.Updateable(task).ExecuteCommand();
                        task.AddWCS_TASK_DTL(db.Default, obj.Data2.AddrTo.ToString(), "码垛抓取完成");
                    }
                    if (obj.Data.VoucherNo == -1)
                    {
                        obj.Data.Cmd = RobotCmd.抓取完成确认;
                        obj.Data.VoucherNo = 1;
                    }
                    else
                    {
                        obj.Data.Cmd = RobotCmd.抓取完成确认;
                        obj.Data.VoucherNo++;
                    }
                });
                return;
            }

            if (obj.Data2.Status != RobotRunStatus.空闲)
                return;

            var temp = PalletStations.Where(v => v.Entity.HasFlag("Robot", obj.Entity.Code))
                .Where(v => v.Data.TaskNumber > 0 && v.Data.TaskNumber == v.Data2.PalletID).ToArray();
            if (temp.Length == 0)
            {
                MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = obj.Entity.Code + "码垛位状态未就绪", Time = DateTime.Now }));
                World.Log("码垛位状态未就绪");
                return;
            }

            var temp2 = temp.Select(v => new { PalletStation = v, QtyLeft = v.Data2.MaxQty - v.Data2.Qty, PickStation = Device.All.Where(d => d.HasFlag("装箱码垛") && d.HasFlag("位置", "抓取") && d.HasFlag("码垛工位", v.Entity.Code)).First() }).ToArray();
            var temp3 = temp2.Select(v => new { v.PalletStation, v.QtyLeft, v.PickStation, Arr = Device.All.Where(d => d.HasFlag("装箱码垛") && d.HasFlag("Parent", v.PickStation.Code)).Select(d => d.Protocol<IStation521>(this.World)).ToArray() }).ToArray();
            var stArr = temp3.Select(v => new { v.PalletStation, v.QtyLeft, v.PickStation, Tasks = v.Arr.Select(d => d.TaskNumber).Where(d => d > 10000).ToArray() })
                .Where(v => v.Tasks.Length > 0).ToArray();
            if (stArr.Length == 0)
            {
                World.Log("抓取位空");
                return;
            }

            SqlSugarHelper.Do(db =>
            {
                foreach (var item in stArr.OrderBy(v => v.QtyLeft))
                {
                    var stCode = item.PalletStation.Entity.Code;
                    if (!item.PickStation.Protocol<IStation523>(this.World).Status.HasFlag(StationStatus.自动))
                    {
                        MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = $"{item.PickStation.Code}不在自动模式", Time = DateTime.Now }));
                        World.Log($"{item.PickStation.Code}不在自动模式", ServiceCenter.Logs.LogLevelEnum.High);
                        continue;
                    }
                    try
                    {
                        var flag = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.AddrTo == item.PalletStation.Entity.Code && v.Status == Entity.TaskStatus.码垛抓取中).Any();
                        if (flag)
                        {
                            World.Log($"{stCode}有正在抓取中的任务");
                            continue;
                        }
                        var p = db.Default.Queryable<Palletizing>().Where(v => v.TaskNum == item.PalletStation.Data.TaskNumber).Where(v => v.PalletizState == 0).First();
                        if (p == null)
                        {
                            World.Log($"{stCode}托盘无码垛数据", ServiceCenter.Logs.LogLevelEnum.High);
                            MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = $"{stCode}托盘无码垛数据", Time = DateTime.Now }));
                            continue;
                        }
                        if (item.Tasks.Distinct().Count() < 3)
                        {
                            if (p.Count >= p.Finish)
                                continue;
                            var qty = db.Default.Queryable<WCS_TaskInfo>().Where(v => v.Type == TaskType.OutDepot && v.BusType == "装箱码垛")
                            .Where(v => v.Status >= Entity.TaskStatus.码垛缓存放行 && v.Status <= Entity.TaskStatus.码垛缓存扫码).Count();
                            if (qty > item.Tasks.Length)
                            {
                                World.Log($"{stCode}有额外货物已缓存放行");
                            }
                        }

                        var rc = db.Default.Updateable<WCS_TaskInfo>()
                           .SetColumns(v => new WCS_TaskInfo { Status = Entity.TaskStatus.码垛抓取中, EditTime = SqlFunc.GetDate() })
                           .Where(v => item.Tasks.Contains(v.ID))
                           .Where(v => v.Status == Entity.TaskStatus.码垛抓取扫码)
                           .ExecuteCommand();
                        if (rc != item.Tasks.Length)
                        {
                            if (db.Default.Updateable<WCS_TaskInfo>().SetColumns(v => new WCS_TaskInfo { Status = Entity.TaskStatus.码垛抓取中, EditTime = SqlFunc.GetDate() })
                                                                     .Where(v => item.Tasks.Contains(v.ID)).ExecuteCommand() > 0)
                            {
                                World.Log($"{stCode}触发任务状态重复修改机制", ServiceCenter.Logs.LogLevelEnum.High);
                            }
                            else
                            {
                                World.Log($"{stCode}修改任务状态失败,", ServiceCenter.Logs.LogLevelEnum.High);
                                continue;
                            }
                        }
                        obj.Data.GoodsType = (short)p.GoodsType;
                        obj.Data.AddrFrom = short.Parse(item.PickStation.Code);
                        obj.Data.AddrTo = short.Parse(item.PalletStation.Entity.Code);

                        obj.Data.TaskQty = (short)item.Tasks.Length;
                        obj.Data.Task1 = item.Tasks[0];
                        if (item.Tasks.Length > 1)
                            obj.Data.Task2 = item.Tasks[1];
                        else
                            obj.Data.Task2 = 0;

                        if (item.Tasks.Length > 2)
                            obj.Data.Task3 = item.Tasks[2];
                        else
                            obj.Data.Task3 = 0;

                        if (obj.Data.VoucherNo == -1)
                        {
                            obj.Data.Cmd = RobotCmd.抓取;
                            obj.Data.VoucherNo = 1;
                        }
                        else
                        {
                            obj.Data.Cmd = RobotCmd.抓取;
                            obj.Data.VoucherNo++;
                        }
                        break;
                    }
                    catch (Exception ex)
                    {
                        World.Log($"{stCode}异常:{ex.Message}");
                    }
                }
            });
            World.Log($"码垛任务下发{obj.Entity.Code}交互结束时间:一个周期" + DateTime.Now.ToString("yyyyMMddHHmmss"));
        }

        public override bool Select(Device dev)
        {
            return dev.Code is "Robot1" or "Robot2";
        }
    }
}