YG-OPP-WCS/Projects/永冠OPP/WCS.Service/Works/RGV/RGVWorks.cs

using DBHelper;
using System;
using System.Collections.Generic;
using System.Linq;
using WCS.Core;
using WCS.Entity;
using WCS.Entity.Protocol.RGV;
using WCS.Service.Extensions;
using WCS.Service.Handlers;

namespace WCS.Service.Works.RGV
{
    [WorkTitle(typeof(RGVHandler), "直穿RGV")]
    public class 直穿RGV : DeviceWork<RGVDevice>
    {
        private readonly string ConvGroup_1030 = "G1030";
        private readonly string RGV8 = "RGV8";

        protected override void Do(RGVDevice rgv)
        {
            rgv.EX(rgv =>
            {
                //RGV是自动且空闲的
                if (rgv.Data2.WorkMode != RGVMode.自动) throw new DoException($"{rgv.Data2.WorkMode}");
                if (rgv.Data2.SystemStatus != RGVRunStatus.空闲) throw new DoException($"{rgv.Data2.SystemStatus}");

                var obj = Device.Find(ConvGroup_1030).Create<StationDeviceGroup>();

                obj.WhetherToExecute();

                //筛选出有任务号和起始及目标地址的设备
                var dev = obj.RGVGetTaskedDevice() ?? throw new WarnException("无可用任务");

                DB.Do(db =>
                {
                    var taskids = dev.Select(v => v.Data2.Tasknum);
                    var tasks = db.Default.Set<WCS_TASK>().Where(p => taskids.Contains(p.ID));
                    if (tasks.GroupBy(p => p.TaskGroupKey).Count() > 1)
                        throw new WarnException("任务组ID不一致");
                    if (tasks.GroupBy(p => p.TaskGroupKey).Count() == 0)
                        throw new WarnException("无任务组ID");
                    var gw1 = obj.Items.ToArray()[0];
                    var gw2 = obj.Items.ToArray()[1];
                    if (gw1.Data2.Tasknum != 0 && gw2.Data2.Tasknum != 0)
                    {
                        if (gw1.Data2.Goodsend != gw2.Data2.Goodsend) throw new WarnException($"{obj.Entity.CODE}目标地址不一致");
                    }
                    rgv.Data.TaskID_1 = gw1.Data2.Tasknum;
                    rgv.Data.TaskID_2 = gw2.Data2.Tasknum;
                    if (gw1.Data2.Tasknum != 0)
                    {
                        rgv.Data.StartPosition_1 = gw1.Entity.CODE.ToShort();
                        rgv.Data.DestPosition_1 = gw1.Data2.Goodsend;
                    }
                    else
                    {
                        rgv.Data.StartPosition_1 = gw1.Entity.CODE.ToShort();
                        rgv.Data.DestPosition_1 = gw2.Data2.Goodsend;
                    }
                    rgv.Data.Trigger_1++;

                    foreach (var task in tasks)
                    {
                        var msg = $"下达从{rgv.Data.StartPosition_1}移动至{ rgv.Data.DestPosition_1}的RGV PLC指令。";
                        msg += $"[{ task.ID}][{rgv.Data.StartPosition_1}][{rgv.Data.DestPosition_1}[{ rgv.Data.Trigger_1}]";

                        task.CreateStatusLog(db, msg, this.GetType());
                    }
                });
            });
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.CODE == RGV8;
        }
    }

    [WorkTitle(typeof(RGVHandler), "涂布环穿")]
    public class 涂布环穿 : DeviceWork<RGVDevice>
    {
        protected override void Do(RGVDevice obj)
        {
            obj.EX(obj =>
            {
                if (obj.Data2.Trigger_1 != obj.Data.Trigger_1) throw new WarnException($"等待执行任务{obj.Data2.TaskID_1}--{obj.Data2.TaskID_2}");
                if (!obj.Data2.WorkMode.HasFlag(RGVMode.自动)) throw new DoException(obj.Data2.WorkMode.ToString());
                if (!obj.Data2.SystemStatus.HasFlag(RGVRunStatus.空闲)) throw new DoException(obj.Data2.SystemStatus.ToString());
                //RGV当前是否刚刚完成取货任务，等待放货
                if (obj.IsPut())
                {
                    //取小车上的任务
                    DB.Do(db =>
                    {
                        List<int> taskids = new List<int>() { obj.Data2.TaskID_1, obj.Data2.TaskID_2 };
                        var tasks = db.Default.Set<WCS_TASK>().Where(p => taskids.Contains(p.ID));
                        if (tasks.GroupBy(p => p.TaskGroupKey).Count() > 1)
                            throw new WarnException("任务组ID不一致");
                        if (!tasks.GroupBy(p => p.TaskGroupKey).Any())
                            throw new WarnException("无任务组ID");
                        var destStation = Device.Find(tasks.FirstOrDefault().ADDRNEXT).Create<StationDeviceGroup>();
                        obj.Put(destStation, obj.Data2.TaskID_1, obj.Data2.TaskID_2);
                    });

                    return;
                }

                var pickStation = obj.CurrentStation();
                //RGV是否在任何一个站台
                if (pickStation != null)
                {
                    //是否是取货站台
                    if (pickStation.Entity.Is(DF.涂布RGV取货设备组))
                    {
                        // 筛选出有任务号和起始及目标地址的设备
                        var devs = pickStation.RGVGetTaskedDevice();
                        //是否需要取货
                        if (devs != null && devs.Count() > 0)
                        {
                            //开始下达取货任务
                            DB.Do(db =>
                            {
                                var taskids = devs.Select(v => v.Data2.Tasknum);
                                var tasks = db.Default.Set<WCS_TASK>().Where(p => taskids.Contains(p.ID));
                                if (tasks.GroupBy(p => p.TaskGroupKey).Count() > 1)
                                    throw new WarnException("任务组ID不一致");
                                if (!tasks.GroupBy(p => p.TaskGroupKey).Any())
                                    throw new WarnException("无任务组ID");
                                var gw1 = pickStation.Items.ToArray()[0];
                                var gw2 = pickStation.Items.ToArray()[1];
                                if (gw1.Data2.Tasknum != 0 && gw2.Data2.Tasknum != 0)
                                {
                                    if (gw1.Data2.Goodsend != gw2.Data2.Goodsend) throw new WarnException($"{obj.Entity.CODE}目标地址不一致");
                                }
                                obj.Data.TaskID_1 = gw1.Data2.Tasknum;
                                obj.Data.TaskID_2 = gw2.Data2.Tasknum;
                                obj.Data.TaskType_1 = RGVTaskType.取货;
                                obj.Data.DestPosition_1 = pickStation.Entity.CODE.Replace("G", "").ToShort();

                                obj.Data.Trigger_1++;

                                foreach (var task in tasks)
                                {
                                    var msg = $"下达从{obj.Data.StartPosition_1}移动至{ obj.Data.DestPosition_1}的RGV PLC指令。";
                                    msg += $"[{ task.ID}][{obj.Data.StartPosition_1}][{obj.Data.DestPosition_1}[{ obj.Data.Trigger_1}]";

                                    task.CreateStatusLog(db, msg, this.GetType());
                                }
                            });
                            return;
                        }

                        //找到自己的后一个小车
                        var afterStation = obj.After();
                        //后面的小车是否在执行任务
                        if (afterStation.Data2.WorkMode == RGVMode.自动 && afterStation.Data2.SystemStatus == RGVRunStatus.空闲) return;
                        //自己是否阻挡了该小车
                        if (obj.StopedByMe(afterStation))
                        {
                            //取小车的目标位置值
                            var destStation = Device.Find($"G{afterStation.Data2.DestPosition_1}").Create<StationDeviceGroup>();
                            //取被挡住小车的目标位置的下一个取货点
                            var beforeSickStation = Device.Where(v => v.Is(DF.涂布RGV取货设备组) && v.CODE != destStation.Entity.CODE)
                                          .Select(v => v.Create<StationDeviceGroup>())
                                          .OrderBy(v => destStation.Distance(v))
                                          .FirstOrDefault();

                            if (beforeSickStation.Entity.CODE == pickStation.Entity.CODE)
                            {
                                //取被挡住小车的目标位置的下一个取货点
                                beforeSickStation = Device.Where(v => v.Is(DF.涂布RGV取货设备组) && v.CODE != beforeSickStation.Entity.CODE)
                                             .Select(v => v.Create<StationDeviceGroup>())
                                             .OrderBy(v => beforeSickStation.Distance(v))
                                             .FirstOrDefault();
                            }

                            //写入移动任务
                            obj.Move(beforeSickStation);
                            return;
                        }
                    }

                    //是否在一个放货站台
                    if (pickStation.Entity.Is(DF.涂布RGV放货设备组))
                    {
                        pickStation = obj.BeforeStation();
                        obj.Move(pickStation);
                    }
                    return;
                }

                //此时RGV即没有等待执行的放货任务，也不在任何一个取货点,因此需要调往最近的一个取货点
                //找到距离这个RGV最近的一个取货点
                //必须所有RGV都是空闲状态时才可以进行初始化
                if (obj.RGVList.Any(v => v.Data2.SystemStatus != RGVRunStatus.空闲 || v.Data2.WorkMode != RGVMode.自动)) return;
                pickStation = obj.BeforeStation();
                obj.Move(pickStation);
            });
        }

        protected override bool SelectDevice(WCS_DEVICE dev)
        {
            return dev.Is(DF.涂布RGV);
        }
    }
}