YG-MW-WCS/Projects/永冠/WCS.Service/Works/RGV/RGVWork.cs

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

namespace WCS.Service.Works
{
    [WorkTitle(typeof(ProductHandler), "穿梭车", true)]
    public class RGVWork : DeviceWork<Device<IRGV521, IRGV520, IRGV523>>
    {
        protected override void Do(Device<IRGV521, IRGV520, IRGV523> dev)
        {
            if (dev.Data3.Fault != 0)
            {
                if (dev.Entity.WakeupOn(5000))
                {
                    WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                }
            }

            if (Ltc.Do(dev, v => v.Data2.Trigger != 0))
                return;
            if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动))
                return;
            if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲))
                return;

            var startStations = Device.Where(v => v.ROUTES.Any(d => d.NEXT.CODE == dev.Entity.CODE))//.Where(v => v.CODE != "2323")
                .Select(v => v.Device<IStation521, IStation520>()).ToArray();
            startStations = Ltc.Do(startStations, (arr) => arr.Where(v => v.Data.GOODSEND > 0 && v.Data.PH_STATUS).ToArray());
            if (dev.Entity.CODE == "RGV1")
                startStations = Ltc.Do(startStations, (arr) => arr.Where(v => v.Data.GOODSEND > 0 && v.Data.PH_STATUS && !v.Data.REQUEST).ToArray());
            if (startStations.Length == 0)
                return;

            //startStations = Ltc.Do(startStations, dev, (arr, dev) => arr.Where(v => dev.Entity.ROUTES.Any(d => d.NEXT.CODE == v.Data.GOODSEND.ToString())).ToArray());
            //if (startStations.Length == 0)
            //    return;

            startStations = Ltc.Do(startStations, arr => arr.Where(v => v.Data.GOODSEND.ToString() != v.Entity.CODE).ToArray());
            if (startStations.Length == 0)
                return;

            var endEmptys = startStations.Where(v =>
            {
                var end = Device.Find(v.Data.GOODSEND.ToString());
                var next = dev.Entity.GetNext(end.CODE).Device<IStation521>();
                var res = next.Data.TASKNUM == 0 && next.Data.PH_STATUS == false;
                if (res && end.CODE == "2324")
                {
                    res = Device.Find("2071", "2072", "2073", "2074", "2075", "2076", "2077", "2078", "2079", "2017", "2019", "2022", "2024", "2029").Select(v => v.Device<IStation521>())
                    .Count(v => v.Data.PH_STATUS == false && v.Data.TASKNUM == 0) > 3;
                    if (!res)
                    {
                        Configs.UploadException(end.CODE, "库前拥堵,RGV暂停入库");
                    }
                }
                return res;
            }).ToArray();

            short taskType = 1;
            var st = Ltc.Do(endEmptys, arr => arr.OrderBy(v => v.Entity.CODE == "2182" || v.Entity.CODE == "2181" || v.Entity.CODE == "2081" || v.Entity.CODE == "2325" ? 1 : 2)
            .ThenBy(v => v.Data.GetUpdateTime())
            .FirstOrDefault());
            if (st == null)
            {
                st = startStations.OrderBy(v => v.Entity.CODE == "2182" || v.Entity.CODE == "2181" || v.Entity.CODE == "2081" || v.Entity.CODE == "2325" ? 1 : 2)
                .ThenBy(v => v.Data.GetUpdateTime())
                .FirstOrDefault();
                taskType = 3;
            }

            if (taskType == 3)
            {
                var target = st.Entity.Code();
                if (dev.Data.DestPosition != target)
                {
                    dev.Data2.TaskType = taskType;
                    dev.Data2.TaskID = 1;
                    dev.Data2.StartPosition = 0;
                    dev.Data2.DestPosition = short.Parse(st.Entity.CODE);
                    dev.Data2.Trigger = 1;
                }
            }
            else
            {
                var next = dev.Entity.GetNext(st.Data.GOODSEND.ToString());
                if (next == null)
                    return;

                DB.Do(db =>
                {
                    var task = db.Default.Set<WCS_TASK>().Find(st.Data.TASKNUM);
                    if (task != null)
                    {
                        if (next.CODE == task.ADDRTO)
                        {
                            //task.ADDRCURRENT = dev.Entity.CODE;
                            task.UPDATETIME = DateTime.Now;
                            db.Default.SaveChanges();
                        }
                    }

                    dev.Data2.TaskType = taskType;
                    dev.Data2.TaskID = st.Data.TASKNUM;
                    dev.Data2.StartPosition = short.Parse(st.Entity.CODE);
                    dev.Data2.DestPosition = next.Code();
                    dev.Data2.Trigger = 1;
                });
            }
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.CODE is "RGV1" or "RGV2" or "RGV3" or "RGV5";
        }
    }

    [WorkTitle(typeof(ProductHandler), "双工位RGV", true)]
    public class 双工位RGV : DeviceWork<Device<IDRGV521, IDRGV520, IDRGV523>>
    {
        protected override void Do(Device<IDRGV521, IDRGV520, IDRGV523> dev)
        {
            if (dev.Data3.Fault != 0)
            {
                if (dev.Entity.WakeupOn(5000))
                {
                    WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                }
            }

            if (Ltc.Do(dev, v => v.Data2.Trigger_1 != 0 && v.Data2.Trigger_2 != 0)) return;
            if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动)) return;
            if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲)) return;

            #region 放货任务

            //判断小车是否有工位有光电,小车空闲自动且有光电代表需要执行放货任务
            if (dev.Data.PH_Status_1 || dev.Data.PH_Status_2)
            {
                if (dev.Data.PH_Status_1 && dev.Data.TaskType_1 != DRGVTaskType.放货) //工位一需要放货
                {
                    if (dev.Data.TaskID_1 < 10000) throw new Exception("有光电无任务号");
                    string next = "";
                    //获取任务
                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Data.TaskID_1) ?? throw new Exception($"WCS不存在任务{dev.Data.TaskID_1}");
                        //var next = dev.Entity.GetNext(task.ADDRTO).CODE;
                    });
                    //TODO:放货站点有货检查
                    dev.Data2.TaskID_1 = dev.Data.TaskID_1;
                    dev.Data2.TaskType_1 = Convert.ToInt16(DRGVTaskType.放货);
                    dev.Data2.DestPosition_1 = dev.Data2.StartPosition_1;
                    dev.Data.RES = dev.Data2.StartPosition_1;
                    dev.Data2.Trigger_1 = 1;
                }
                else if (dev.Data.PH_Status_2 && dev.Data.TaskType_2 != DRGVTaskType.放货)//工位二需要放货
                {
                    if (dev.Data.TaskID_2 < 10000) throw new Exception("有光电无任务号");

                    string next = "";
                    //获取任务
                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().FirstOrDefault(v => v.ID == dev.Data.TaskID_2) ?? throw new Exception($"WCS不存在任务{dev.Data.TaskID_2}");
                        //var next = dev.Entity.GetNext(task.ADDRTO).CODE;
                    });
                    //TODO:放货站点有货检查
                    dev.Data2.TaskID_2 = dev.Data.TaskID_2;
                    dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.放货);
                    dev.Data2.DestPosition_2 = dev.Data2.StartPosition_2;
                    //dev.Data2.StartPosition_2 = Convert.ToInt16(next);
                    dev.Data.RES = dev.Data2.StartPosition_2;
                    dev.Data2.Trigger_2 = 1;
                }
            }

            #endregion 放货任务

            var station_3033 = Device.Find("3033").Device<IStation521, IStation520>();
            if (station_3033.Data.PH_STATUS && station_3033.Data.GOODSEND == 3033 && station_3033.Data.TASKNUM > 10000)
            {
                var station_3041 = Device.Find("3041").Device<IStation521, IStation520>();
                if (!station_3041.Data.PH_STATUS && station_3041.Data.TASKNUM == 0)
                {
                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(station_3033.Data.TASKNUM);
                        if (task == null)
                            throw new Exception($"任务号{station_3033.Data.TASKNUM}不存在");
                        task.ADDRNEXT = station_3041.Entity.CODE;
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                        //station_3060.Data2.TASKNUM = station_3060.Data.TASKNUM;
                        station_3033.Data2.GOODSEND = 3041;
                        station_3033.Data2.CONFIRM = true;
                    });
                }
            }
            var station_3046 = Device.Find("3046").Device<IStation521, IStation520>();
            if (station_3046.Data.PH_STATUS && station_3046.Data.GOODSEND == 3046 && station_3046.Data.TASKNUM > 10000)
            {
                var station_2390 = Device.Find("2390").Device<IStation521, IStation520>();
                var arr = Device.Find("2390", "2391", "2392", "2393", "2394", "2395", "2396", "2397").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                int count = arr.Where(v => v.Data.PH_STATUS && v.Data.TASKNUM > 10000).Count();
                if (!station_2390.Data.PH_STATUS && station_2390.Data.TASKNUM == 0 && count < 5)
                {
                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(station_3046.Data.TASKNUM);
                        if (task == null)
                            throw new Exception($"任务号{station_3046.Data.TASKNUM}不存在");
                        task.ADDRNEXT = station_2390.Entity.CODE;
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                        //station_3060.Data2.TASKNUM = station_3060.Data.TASKNUM;
                        station_3046.Data2.GOODSEND = 2390;
                        station_3046.Data2.CONFIRM = true;
                    });
                }
            }
            var station_3040 = Device.Find("3040").Device<IStation521, IStation520>();
            if (station_3040.Data.PH_STATUS && station_3040.Data.GOODSEND == 3040 && station_3040.Data.TASKNUM > 10000)
            {
                var station_3034 = Device.Find("3034").Device<IStation521, IStation520>();
                if (!station_3034.Data.PH_STATUS && station_3034.Data.TASKNUM == 0)
                {
                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(station_3040.Data.TASKNUM);
                        if (task == null)
                            throw new Exception($"任务号{station_3040.Data.TASKNUM}不存在");
                        task.ADDRNEXT = station_3034.Entity.CODE;
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                        //station_3060.Data2.TASKNUM = station_3060.Data.TASKNUM;
                        station_3040.Data2.GOODSEND = 3034;
                        station_3040.Data2.CONFIRM = true;
                    });
                }
            }

            #region 取货任务

            //获取所有需要取货的站台
            //获取下一个地址为当前RGV的站台，此处不考虑一台车跑全程
            var validPickupPoints = Device.Where(v => v.ROUTES.Any(p => p.NEXT.CODE == dev.Entity.CODE)).ToList()
                             .Select(v => v.Device<IStation521, IStation520, IStation523>())
                             .Where(v => v.Data.PH_STATUS && v.Data.TASKNUM > 10000 && !v.Data2.CONFIRM && v.Data.GOODSEND != Convert.ToInt16(v.Entity.CODE))//需要取货的站点
                             .Where(v => //是否可以进行取货，主要用于判断放货位是否有货
                             {
                                 var code = v.Data.GOODSEND.ToString();
                                 switch (v.Data.GOODSEND)
                                 {
                                     case 2366: code = "2359"; break; //二车间
                                     case 2328: code = "2114"; break; //一车间
                                     case 2385: code = "2359"; break; //三车间
                                 };

                                 var end = Device.Find(code).Device<IStation521>();

                                 var res = true;
                                 if (end.Data.TASKNUM != 0) res = false;
                                 else if (end.Data.PH_STATUS) res = false;
                                 // RGV可以到达放货地址,此处判断取反
                                 else if (!dev.Entity.ROUTES.Any(p => p.NEXT.CODE == end.Entity.CODE)) res = false;
                                 else if (dev.Data.PH_Status_1) res = false;

                                 return res;
                             });
            if (!validPickupPoints.Any()) return;//不需要取货

            Device<IStation521, IStation520, IStation523> validPickupPoint = null;

            //是否包含小车当前所在站点，写死，如有变动必须改代码
            //这一块的作用主要是用于解决小车就近取货问题

            #region RGV4

            if (dev.Data.RES is 3035 or 3036) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3035" or "3036");
            else if (dev.Data.RES is 3041 or 3040) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3041" or "3040");
            else if (dev.Data.RES is 3047 or 3048) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3045" or "3046");
            else if (dev.Data.RES is 2108 or 2390) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "2390" or "2108");

            #endregion RGV4

            #region RGV6

            else if (dev.Data.RES is 3033 or 3034) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3033" or "3034");
            else if (dev.Data.RES is 3041 or 3040) validPickupPoint = validPickupPoints.FirstOrDefault(v => v.Entity.CODE is "3041" or "3040");

            #endregion RGV6

            //当前站点没有需要取货的
            if (validPickupPoint == null) validPickupPoint = validPickupPoints.OrderBy(v => v.UpdateTime).FirstOrDefault() ?? throw new Exception("没有站台需要取货");

            var next1 = dev.Entity.GetNext(validPickupPoint.Data.GOODSEND.ToString());
            if (validPickupPoint.Entity.CODE is "2108" or "2114" or "3040" or "3034") //一工位取货点
            {
                dev.Data2.TaskID_1 = validPickupPoint.Data.TASKNUM;//dev.Data.TaskID_1;
                dev.Data2.TaskType_1 = Convert.ToInt16(DRGVTaskType.取货);
                dev.Data2.StartPosition_1 = Convert.ToInt16(next1.CODE);
                dev.Data2.DestPosition_1 = Convert.ToInt16(validPickupPoint.Entity.CODE);
                dev.Data2.Trigger_1 = 1;
            }
            else if (validPickupPoint.Entity.CODE is "3046" or "3041" or "3033") //二工位取货点
            {
                dev.Data2.TaskID_2 = validPickupPoint.Data.TASKNUM;
                dev.Data2.TaskType_2 = Convert.ToInt16(DRGVTaskType.取货);
                dev.Data2.StartPosition_2 = Convert.ToInt16(next1.CODE);
                dev.Data2.DestPosition_2 = Convert.ToInt16(validPickupPoint.Entity.CODE);
                dev.Data2.Trigger_2 = 1;
            }

            #endregion 取货任务
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.CODE is "RGV4" or "RGV6";
        }
    }

    [WorkTitle(typeof(ProductHandler), "连廊单工位RGV", true)]
    public class 连廊RGV : DeviceWork<Device<IRGV521, IRGV520, IRGV523>>
    {
        protected override void Do(Device<IRGV521, IRGV520, IRGV523> dev)
        {
            if (dev.Data3.Fault != 0)
            {
                if (dev.Entity.WakeupOn(5000))
                {
                    WMS.DevInfo(dev.Entity.CODE, dev.Data3.Fault.ToString());
                }
            }

            if (Ltc.Do(dev, v => v.Data2.Trigger != 0)) return;
            if (Ltc.Do(dev, v => v.Data.WorkMode != RGVMode.自动)) return;
            if (Ltc.Do(dev, v => v.Data.SystemStatus != RGVRunStatus.空闲)) return;

            //分配目标地址
            var station = Device.Find("3012").Device<IStation521, IStation520>();
            var station_3028 = Device.Find("3028").Device<IStation521, IStation520>();
            var station_3019 = Device.Find("3019").Device<IStation521, IStation520>();
            var station_3060 = Device.Find("3060").Device<IStation521, IStation520>();
            if (station_3060.Data.PH_STATUS && station_3060.Data.GOODSEND == 3060 && station_3060.Data.TASKNUM > 10000)
            {
                var station_3013 = Device.Find("3013").Device<IStation521, IStation520>();
                if (!station_3013.Data.PH_STATUS && station_3013.Data.TASKNUM == 0)
                {
                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(station_3060.Data.TASKNUM);
                        if (task == null)
                            throw new Exception($"任务号{station_3060.Data.TASKNUM}不存在");
                        if (task.TYPE == TaskType.出库) return;
                        //if (task.TYPE == TaskType.出库)
                        //{
                        //    task.UPDATETIME = DateTime.Now;
                        //    db.Default.SaveChanges();
                        //    //station_3060.Data2.TASKNUM = station_3060.Data.TASKNUM;
                        //    station_3060.Data2.GOODSEND = 3001;
                        //    station_3060.Data2.CONFIRM = true;
                        //}
                        //else
                        //{
                        task.ADDRNEXT = station_3060.Entity.CODE;
                        task.ADDRTO = "2017";
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                        //station_3060.Data2.TASKNUM = station_3060.Data.TASKNUM;
                        station_3060.Data2.GOODSEND = 3013;
                        station_3060.Data2.CONFIRM = true;
                        //}
                    });
                }
            }
            if (station.Data.PH_STATUS && station.Data.GOODSEND == 3012 && station.Data.TASKNUM > 10000)
            {
                short outTemp = 3060;
                var arr = Device.Find("3006", "3060", "3001", "3005", "3004").Select(v => v.Device<IStation521, IStation520>()).ToArray();
                if (!arr.Any(v => v.Data.GOODSEND is 3060 or 3013))
                {
                    if (arr.Any(v => v.Data.GOODSTYPE == 1)) throw new Exception("交通管制,提升机被入库任务占用");
                    if (arr.Any(v => v.Data.PH_STATUS && v.Data.TASKNUM == 0)) throw new Exception("有光电无任务，交通管制,提升机被入库任务占用");
                    if (arr.Any(v => !v.Data.PH_STATUS && v.Data.TASKNUM > 10000)) throw new Exception("有任务无光电,请检查光电是否异常");

                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(station.Data.TASKNUM);
                        if (task == null)
                            throw new Exception($"任务号{station.Data.TASKNUM}不存在");
                        task.ADDRNEXT = outTemp.ToString();
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                        //station.Data2.TASKNUM = station.Data.TASKNUM;
                        station.Data2.GOODSEND = outTemp;
                        station.Data2.GOODSTYPE = 2;
                        station.Data2.CONFIRM = true;
                    });
                }
                //throw new Exception("交通管制,提升机被入库任务占用");

            }
            if (station_3028.Data.PH_STATUS && station_3028.Data.GOODSEND == 3028 && station_3028.Data.TASKNUM > 10000)
            {
                var station_3020 = Device.Find("3020").Device<IStation521, IStation520>();
                if (!station_3020.Data.PH_STATUS && station_3020.Data.TASKNUM == 0)
                {
                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(station_3028.Data.TASKNUM);
                        if (task == null)
                            throw new Exception($"任务号{station.Data.TASKNUM}不存在");
                        task.ADDRNEXT = station_3020.Entity.CODE;
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                        //station_3028.Data2.TASKNUM = station.Data.TASKNUM;
                        station_3028.Data2.GOODSEND = 3020;
                        station_3028.Data2.CONFIRM = true;
                    });
                }
            }
            if (station_3019.Data.PH_STATUS && station_3019.Data.GOODSEND == 3019 && station_3019.Data.TASKNUM > 10000)
            {
                var station_3029 = Device.Find("3029").Device<IStation521, IStation520>();
                if (!station_3029.Data.PH_STATUS && station_3029.Data.TASKNUM == 0)
                {
                    DB.Do(db =>
                    {
                        var task = db.Default.Set<WCS_TASK>().Find(station_3019.Data.TASKNUM);
                        if (task == null)
                            throw new Exception($"任务号{station_3019.Data.TASKNUM}不存在");
                        task.ADDRNEXT = station_3029.Entity.CODE;
                        task.UPDATETIME = DateTime.Now;
                        db.Default.SaveChanges();
                        //station_3019.Data2.TASKNUM = station.Data.TASKNUM;
                        station_3019.Data2.GOODSEND = 3029;
                        station_3019.Data2.CONFIRM = true;
                    });
                }
            }

            bool agvTaks = false;
            if (dev.Entity.CODE == "RGV8")
            {
                DB.Do(db =>
                {
                    agvTaks = db.Default.Set<WCS_AGVTask>().Any(v => v.TaskType == AGVTaskType.入库 && v.Status <= AGVTaskStatus.完成 && v.Status >= AGVTaskStatus.确认 && v.Status != AGVTaskStatus.执行 && v.Station == "3001");
                    var station_3060 = Device.Find("3001", "3004", "3005", "3006").Select(v => v.Device<IStation521, IStation520>());
                    if (station_3060.Any(v => v.Data2.CONFIRM == true || (v.Data.PH_STATUS && v.Data.TASKNUM > 0 && (v.Data.GOODSEND is 0 or 1 or 2 or 3 or 3060)))) agvTaks = false;

                });
            };

            //获取所有需要取货的站台
            //获取下一个地址为当前RGV的站台，此处不考虑一台车跑全程
            var validPickupPoints = Device.Where(v => v.ROUTES.Any(p => p.NEXT.CODE == dev.Entity.CODE)).ToList()
                            .Select(v => v.Device<IStation521, IStation520, IStation523>())
                            .Where(v => v.Data.PH_STATUS && v.Data.TASKNUM > 10000 && v.Data.GOODSEND != Convert.ToInt16(v.Entity.CODE))//需要取货的站点
                            .Where(v => //是否可以进行取货，主要用于判断放货位是否有货
                            {
                                var end = Device.Find(v.Data.GOODSEND.ToString()).Device<IStation521>();
                                var res = end.Data.TASKNUM == 0 && end.Data.PH_STATUS == false;
                                if (v.Entity.CODE == "3012")
                                {
                                    if (agvTaks) res = false;
                                }
                                return res;
                            });

            if (!validPickupPoints.Any()) return;//不需要取货

            var validPickupPoint = validPickupPoints.OrderBy(v => v.UpdateTime).FirstOrDefault() ?? throw new Exception("没有站台需要取货");

            dev.Data2.TaskID = validPickupPoint.Data.TASKNUM;
            dev.Data2.StartPosition = Convert.ToInt16(validPickupPoint.Entity.CODE);
            dev.Data2.DestPosition = validPickupPoint.Data.GOODSEND;
            dev.Data2.Trigger = 1;
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.CODE is "RGV7" or "RGV8";
        }
    }
}