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 true;
        }
    }
}