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是否在任何一个取货站点
                if (pickStation != null)
                {
                    // 检查取货点是否需要取货
                    //pickStation.WhetherToExecute();
                    // 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.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();

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

                    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);
        }
    }

    //[WorkTitle(typeof(RGVHandler), "涂布环穿取货")]
    public class 涂布环穿取货 : Work<StationDeviceGroup>
    {
        protected override void Do(StationDeviceGroup obj)
        {
            obj.EX(obj =>
            {
                //是否有车
                var rgv = obj.CurrentRGV();
                if (rgv != null) //有车
                {
                    //RGV是自动且空闲的
                    if (rgv.Data2.WorkMode != RGVMode.自动) return;
                    if (rgv.Data2.SystemStatus != RGVRunStatus.空闲) return;
                    //是否有任务
                    if (rgv.Data.Trigger_1 != rgv.Data2.Trigger_1) throw new WarnException($"待执行任务{rgv.Data.TaskID_1}-{rgv.Data.TaskID_2}");
                    //检查取货点是否需要取货
                    //obj.WhetherToExecute();
                    //筛选出有任务号和起始及目标地址的设备
                    //var dev = obj.RGVGetTaskedDevice();
                    int dev = 0;
                    if (dev > 0) //有需要取货的任务
                    {
                        //开始下达取货任务
                        //DB.Do(db =>
                        //{
                        //    var taskids = dev.Select(v => v.Data2.Tasknum);
                        //    var tasks = db.Default.Set<WCS_TASK>().Where(p => taskids.Contains(p.ID));
                        //    if (tasks.GroupBy(p => p.TaskGroupKey).Count() > 1)
                        //        throw new WarnException("任务组ID不一致");
                        //    if (!tasks.GroupBy(p => p.TaskGroupKey).Any())
                        //        throw new WarnException("无任务组ID");
                        //    var gw1 = obj.Items.ToArray()[0];
                        //    var gw2 = obj.Items.ToArray()[1];
                        //    if (gw1.Data2.Tasknum != 0 && gw2.Data2.Tasknum != 0)
                        //    {
                        //        if (gw1.Data2.Goodsend != gw2.Data2.Goodsend) throw new WarnException($"{obj.Entity.Code}目标地址不一致");
                        //    }
                        //    rgv.Data.TaskID_1 = gw1.Data2.Tasknum;
                        //    rgv.Data.TaskID_2 = gw2.Data2.Tasknum;
                        //    rgv.Data.TaskType_1 = RGVTaskType.取货;
                        //    if (gw1.Data2.Tasknum != 0)
                        //    {
                        //        rgv.Data.DestPosition_1 = gw1.Data2.Goodsend;
                        //    }
                        //    else
                        //    {
                        //        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());
                        //    }
                        //});
                    }
                    else
                    {
                        //检查RGV自身是否有任务
                        var b = false; //暂时默认无任务
                        if (b)
                        {
                        }
                        else
                        {
                            //找到自己的后一个小车
                            var a = rgv.After();
                            //后面的小车是否在执行任务
                            if (a.Data2.WorkMode == RGVMode.自动 && a.Data2.SystemStatus == RGVRunStatus.空闲) return;
                            //自己是否阻挡了该小车
                            if (rgv.StopedByMe(a))
                            {
                                //取小车的目标位置值
                                var c = Device.Find($"G{a.Data2.DestPosition_1}").Create<StationDeviceGroup>();
                                //计算目标位置最近的一个取货口
                                var d = Device.Where(v => v.Is(DF.涂布RGV取货站台) && v.CODE != obj.Entity.CODE)
                                              .Select(v => v.Create<StationDeviceGroup>())
                                              .OrderBy(v => obj.Distance(v))
                                              .FirstOrDefault();

                                var cc = Device.Where(v => v.Is(DF.涂布RGV取货站台) && v.CODE != obj.Entity.CODE)
                                              .Select(v => v.Create<StationDeviceGroup>())
                                              .OrderBy(v => obj.Distance(v));

                                var aa = Device.Where(v => v.Is(DF.涂布RGV取货站台) && v.CODE != obj.Entity.CODE)
                                              .Select(v => v.Create<StationDeviceGroup>())
                                              .Select(v =>
                                              {
                                                  return new Tuple<string, float>(v.Entity.CODE, obj.Distance(v));
                                              });
                                //写入移动任务
                                rgv.Move(d);
                            }

                            ///检查是否阻挡了其他RGV
                            ////找到所有自动不空闲的小车
                            //var rgvs = rgv.RGVList.Where(v => v.Data2.WorkMode == RGVMode.自动 && v.Data2.SystemStatus != RGVRunStatus.空闲);
                            ////找到不空闲且离自己最近的
                            //var a = rgvs.OrderBy(v => v.Distance(rgv)).FirstOrDefault();
                        }
                    }
                }
                else //没车
                {
                    ////有没有目标地址是自己这的小车 任务未完成 未到站
                    //var moveRgv = obj.RgvList.Any(v => v.Data2.DestPosition_1 == obj.Entity.CODE.Replace("G", "").ToShort());

                    //if (moveRgv) return;
                    ////找到一个空闲且离自己最近的一个RGV
                    //var a = obj.RgvList.Where(v => v.Data2.SystemStatus == RGVRunStatus.空闲 && v.Data2.WorkMode == RGVMode.自动);
                    //var z = a.OrderBy(v => obj.Distance(v)).FirstOrDefault() ?? throw new DoException("");
                    //z.Move(obj);
                }
            });
        }

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

    //[WorkTitle(typeof(RGVHandler), "涂布环穿放货")]
    public class 涂布环穿放货 : Work<StationDeviceGroup>
    {
        protected override void Do(StationDeviceGroup obj)
        {
            obj.EX(obj =>
            {
                //是否有车
                var rgv = obj.CurrentRGV();
                if (rgv != null) //有车
                {
                    if (rgv.Data.Trigger_1 != rgv.Data2.Trigger_2) throw new WarnException($"等待执行{rgv.Data2.TaskID_1 - rgv.Data2.TaskID_2},凭证号不一致");
                    if (rgv.Data2.WorkMode != RGVMode.自动) throw new DoException("非自动");
                    if (rgv.Data2.SystemStatus != RGVRunStatus.空闲) throw new DoException("非空闲");
                    if (!rgv.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.任务完成)) throw new WarnException("任务未完成");
                    if (!rgv.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.RGV到站)) throw new WarnException("RGV未到站");
                    if (rgv.Data2.Status_1.HasFlag(WCS.Entity.Protocol.RGVStatus.光电)) throw new WarnException("有光电");
                    //找到最近的一个取货站台
                    var q = Device.Where(v => v.Is(DF.涂布RGV取货站台)).Select(v => v.Create<StationDeviceGroup>()); ;
                    //计算自己与每一个取货站台的距离
                    var z = q.OrderBy(v => obj.Distance(v)).FirstOrDefault();
                    rgv.Move(z);
                }
            });
        }

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