SX-WCS/业务工程/时效库/WCS.WorkEngineering/Systems/装箱码垛/码垛位.cs

using Microsoft.Data.SqlClient.Server;
using Newtonsoft.Json;
using Org.BouncyCastle.Bcpg;
using PlcSiemens.Core.Extension;
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;

namespace WCS.WorkEngineering.Systems
{
    [BelongTo(typeof(MainWorld))]
    [Description("码垛位")]
    public class 码垛位 : DeviceSystem<Device<IRobot530, IRobot531,IStation521>>
    {
        protected override bool ParallelDo => true;
         

        public override void Do(Device<IRobot530, IRobot531, IStation521> obj)
        {
           
            if (obj.Data.VoucherNo != obj.Data2.VoucherNo)
                return;
            if (obj.Entity.Code == "8090" && obj.Data.PalletID == 485161 && obj.Data.VoucherNo == -32601 && obj.Data.Cmd != 0)
            {
                obj.Data.Cmd = 0;
            }
            if (obj.Data2.Rqst == RobotStationRqst.完成码垛)
            {
                World.Log($"码垛位{obj.Entity.Code}整垛完成交互开始时间: " + DateTime.Now.ToString("yyyyMMddHHmmss"));
                //调WMS接口
                var res = WMS.码垛完成(obj.Entity.Code);
                long leftPalletizingID = 0;
                if (!res.Success)
                {
                    //兼容wms处理成功，wcs处理失败的情况
                    if (!string.IsNullOrEmpty(res.Memo1))
                    {
                        leftPalletizingID = long.Parse(res.Memo1);
                    }
                    else
                    {
                        MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = obj.Entity.Code + res.ResMsg, Time = DateTime.Now }));
                        throw new Exception(res.ResMsg);
                    }
                }
                
                SqlSugarHelper.Do(db =>
                {

                    var pallet = db.Default.Queryable<Palletizing>().With(SqlWith.NoLock).Where(v => v.TaskNum == obj.Data2.PalletID).First();
                    if (pallet == null && leftPalletizingID == 0)
                    {
                        MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = $"{obj.Entity.Code}，{obj.Data2.PalletID}无码垛位信息", Time = DateTime.Now }));
                        throw new Exception("无码垛位信息");
                    }

                    var tempPalletizingID = pallet.ID;
                    if (leftPalletizingID > 0)
                    {
                        tempPalletizingID = leftPalletizingID;
                    }


                    db.Default.Updateable<WCS_TaskOld>()
                    .SetColumns(v => new WCS_TaskOld { Status = Entity.TaskStatus.Finish, EditTime = SqlFunc.GetDate() })
                    .Where(v => v.Type == TaskType.OutDepot && v.BusType == "装箱码垛")
                    .Where(v => v.Status == Entity.TaskStatus.码垛抓取完成)
                    .Where(v => v.PalletizingID == tempPalletizingID)
                    .SplitTable(v => v.Take(2))
                    .ExecuteCommand();

                    db.Default.Deleteable<WCS_TaskInfo>().Where(v => v.Type == TaskType.OutDepot && v.BusType == "装箱码垛")
                    .Where(v => v.Status == Entity.TaskStatus.码垛抓取完成)
                    .Where(v => v.PalletizingID == tempPalletizingID)
                    .ExecuteCommand();

                    if (obj.Data.VoucherNo == -1)
                    {
                        obj.Data.Cmd = RobotStationCmd.完成确认;
                        obj.Data.VoucherNo = 1;
                    }
                    else
                    {
                        obj.Data.Cmd = RobotStationCmd.完成确认;
                        obj.Data.VoucherNo++;
                    }
                });
                World.Log($"码垛位{obj.Entity.Code}整垛完成交互结束时间: " + DateTime.Now.ToString("yyyyMMddHHmmss"));
                return;
            }

            if (obj.Data2.PalletID == 0)
            {
                SqlSugarHelper.Do(db =>
                {
                    var pallet = db.Default.Queryable<Palletizing>().Where(v => v.PalletizState == 0)
                    .Where(v => v.TaskNum == obj.Data3.TaskNumber).First();
                    if (pallet == null)
                        return;
                    obj.Data.PalletID = pallet.TaskNum;
                    obj.Data.Type = (short)pallet.GoodsType;
                    obj.Data.MaxQty = (short)pallet.PalletMax;
                    obj.Data.Cmd = RobotStationCmd.开始码垛;
                    if (obj.Data.VoucherNo == -1)
                    {
                        obj.Data.VoucherNo = 1;
                    }
                    else
                    {
                        obj.Data.VoucherNo++;
                    }
                });
            }
            else
            {
                if (obj.Data3.TaskNumber == 0)
                {
                    World.Log("托盘未到位");
                    MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = $"{obj.Entity.Code}，{obj.Data3.TaskNumber}请检查托盘是否到位以及电控触摸屏上的任务号是否被清掉", Time = DateTime.Now }));
                    return;
                }
                SqlSugarHelper.Do(db =>
                {
                    var pallet = db.Default.Queryable<Palletizing>().Where(v => v.PalletizState == 0 && v.Count < v.Finish)
                    .Where(v => v.TaskNum == obj.Data3.TaskNumber).First();
                    if (pallet == null)
                    {
                        MainWorld.Redis.Set($"Sx:WCSErrorInfo:{obj.Entity.Code}", JsonConvert.SerializeObject(new RedisError() { Equip = obj.Entity.Code, Con = $"{obj.Entity.Code}，{obj.Data3.TaskNumber}未找到对应的码垛信息", Time = DateTime.Now }));
                        return;
                    }
                    var flag = db.Default.Queryable<WCS_TaskInfo>()
                    .Where(v => v.PalletizingID == pallet.ID)
                    .Where(v => v.Status == Entity.TaskStatus.码垛抓取扫码 || v.Status == Entity.TaskStatus.码垛抓取中)
                    .Any();
                    if (flag)
                        throw new Exception("有等待抓取的货物，无法执行强制完成");
                    pallet.Count = pallet.Finish;
                    db.Default.Updateable(pallet).ExecuteCommand();
                    obj.Data.Cmd = RobotStationCmd.强制完成;
                    if (obj.Data.VoucherNo == -1)
                    {
                        obj.Data.VoucherNo = 1;
                    }
                    else
                    {
                        obj.Data.VoucherNo++;
                    }
                });
            }
        }

        public override bool Select(Device dev)
        {
            return true;// "" dev.Code == "8090" || dev.Code == "8092"||dev.Code=="8096";
        }
    }
}