YG-MW-WCS/Projects/永冠/WCS.Service/Works/Robots/RobotWork.cs

using DBHelper;
using System;
using System.Linq;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol;
using WCS.Service.Helpers;

namespace WCS.Service.Works.Robots
{
    [WorkTitle(typeof(ProductHandler), "机器人")]
    public class RobotWork : DeviceWork<Device<IRobot>>
    {
        private Device<IStation521, IStation520> C2153;

        public RobotWork()
        {
            C2153 = Device.Find("2153").Device<IStation521, IStation520>();
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return true;
        }

        protected override void Do(Device<IRobot> dev)
        {
            //dev.Data.Trigger = 0;
            //dev.Data.TaskID = 0;
            //dev.Data.Target = 0;
            if (Ltc.Do(dev, v => v.Data.Trigger != 0))
            {
                return;
            }

            if (Ltc.Do(dev, v => v.Data.FinishedTask != 0))
            {
                var fTaskId = dev.Data.FinishedTask;

                var fTarget = dev.Entity.ROUTES.Where(v => v.NEXT.ProductLine() == dev.Data.Target).Select(v => v.NEXT.Device<IStation521>()).FirstOrDefault();

                var fTarget1 = dev.Entity.ROUTES.Where(v => v.NEXT.ProductLine() == dev.Data.Target).Select(v => v.NEXT.Device<IStation521,IStation520,IRobotStation>()).FirstOrDefault();
                if (fTarget == null)
                {
                    var msg = "目标位置" + dev.Data.Target + "有误";
                    throw new Exception(msg);
                }
                DB.Do(db =>
                {
                    var task = db.Default.Set<WCS_TASK>().Find(fTaskId);
                    if (task == null)
                        throw new Exception("已完成任务号" + fTaskId + "不存在");
                    var taskPallet = db.Default.Set<WCS_TASK>().Find(fTarget.Data.TASKNUM);
                    if (taskPallet == null)
                        throw new Exception("空托盘任务号" + fTarget.Data.TASKNUM + "不存在");                   
                    var container = taskPallet.BARCODE;

                    task.STATUS = WCS.Entity.TaskStatus.已完成;
                    task.ENDTIME = DateTime.Now;
                    task.UPDATETIME = DateTime.Now;
                    task.UPDATEUSER = "WCS";
                    task.GROUPTASK = taskPallet.ID;
                    //task.ADDRCURRENT = fTarget.Entity.CODE;
                    db.Default.SaveChanges();

                    var res = WMS.AutoBuildUpGroupStock(container, task.BARCODE, dev.Entity.CODE);
                    if (Ltc.Do(res, v => v.ResType == false))
                    {
                        //throw new Exception(res.ResMessage);
                        WMS.TaskException(dev.Entity.CODE, res.ResMessage);
                        LogHelper.AddWCS_EXCEPTION($"{dev.Entity.CODE}强制排出,原因：{res.ResMessage}");
                        GeneralHelper.DischargeOfTray(fTarget1,false);
                        LogHelper.AddWCS_EXCEPTION($"{dev.Entity.CODE}强制排出 ,原因：{res.ResMessage}");
                    }
                    dev.Data.FinishedTask = 0;
                });
                return;
            }

            //if (Ltc.Do(dev, v => v.Data.Mode != RobotMode.自动))
            //    return;

            if (Ltc.Do(dev, v => v.Data.Status != RobotStatus.空闲))
                return;

            if (Ltc.Do(C2153, C2153 => C2153.Data.TASKNUM == 0))
                return;

            if (Ltc.Do(C2153, C2153 => C2153.Data.GOODSEND == 2153))
                return;

            if (Ltc.Do(C2153, C2153 => C2153.Data.GOODSEND == 0))
                return;

            if (Ltc.Do(C2153, C2153 => C2153.Data.GOODSCODE == 0))
                return;

            if (Ltc.Do(C2153, C2153 => C2153.Data.PH_STATUS == false))
            {
                throw new Exception("有任务但无光电信号");
            }

            var workShop = C2153.Data.GOODSEND;

            var target = dev.Entity.ROUTES.Where(v => v.NEXT.ProductLine() == workShop).Select(v => v.NEXT.Device<IStation521, IStation520, IRobotStation>()).FirstOrDefault();
            if (target == null) throw new Exception("机器人目标位置" + workShop + "不存在");

            string tType = "";
            if (C2153.Data.GOODSTYPE == 4)
            {
                tType = "母";
            }
            else if (C2153.Data.GOODSTYPE == 3)
            {
                tType = "T2";
            }
            else if (C2153.Data.GOODSTYPE == 1)
            {
                tType = "T9";
            }
            if (Ltc.Do(target, target => target.Data.PH_STATUS == false)) throw new Exception($"目标位置[{target}]{tType}托盘未到位");

            if (Ltc.Do(target, C2153, (target, C2153) => target.Data.GOODSCODE != C2153.Data.GOODSCODE) && target.Data3.Qty != target.Data.GOODSSIZE) //单号不符
            {
                if (Ltc.Do(target, target => target.Data2.CONFIRM == true)) return;
                if (Ltc.Do(target, target => target.Data.GOODSEND == 2202)) return;
                if ((Ltc.Do(target, C2153, (target, C2153) => target.Data.GOODSTYPE != 0 && C2153.Data.GOODSTYPE != 0 && target.Data.GOODSTYPE != C2153.Data.GOODSTYPE && target.Data3.Qty!=0))) //托盘类型不符
                {
                    GeneralHelper.DischargeOfTray(target);
                    LogHelper.AddWCS_EXCEPTION($"2153:{C2153.Data.TASKNUM}与{target.Entity.CODE}单号不符，托盘有货，自动排出106");
                    return;
                }
                if (target.Data3.Qty > 0) //有托盘
                {
                    GeneralHelper.DischargeOfTray(target);
                    LogHelper.AddWCS_EXCEPTION($"2153:{C2153.Data.TASKNUM}与{target.Entity.CODE}单号不符，托盘有货，自动排出112");
                    return;
                }
                if (target.Data3.Qty == 0) //无托盘
                {
                    target.Data.RES4 = true;
                    LogHelper.AddWCS_EXCEPTION($"2153:{C2153.Data.TASKNUM}与{target.Entity.CODE}单号不符，托盘为空，允许组盘");
                }
            }

            if (Ltc.Do(target, C2153, (target, C2153) => target.Data.GOODSTYPE != C2153.Data.GOODSTYPE))
                return;

            if (Ltc.Do(target, target => target.Data3.MaxQty == 0 || target.Data3.PalletType == 0))
                return;

            if (Ltc.Do(target, target => target.Data3.Qty >= target.Data.GOODSSIZE))
                return;
            DB.Do(db =>
            {
                var taskid = C2153.Data.TASKNUM;
                var task = db.Default.Set<WCS_TASK>().Find(taskid);
                if (task == null)
                    return;
                //task.ADDRCURRENT = dev.Entity.CODE;
                db.Default.SaveChanges();

                dev.Data.TaskID = taskid;
                dev.Data.Target = workShop;
                dev.Data.Trigger = 1;
            });
        }
    }
}