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

using DBHelper;
using System;
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) return;
                if (rgv.Data2.SystemStatus != RGVRunStatus.空闲) return;

                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_2) throw new WarnException($"待执行任务{rgv.Data.TaskID_1}-{rgv.Data.TaskID_2}");
                    //检查取货点是否需要取货
                    obj.WhetherToExecute();
                    //筛选出有任务号和起始及目标地址的设备
                    var dev = obj.RGVGetTaskedDevice();
                    if (dev.Count > 0) //有需要取货的任务
                    {
                        //开始下达取货任务
                        DB.Do(db =>
                        {
                            var taskids = dev.Select(v => v.Data2.Tasknum);
                            var tasks = db.Default.Set<WCS_TASK>().Where(p => taskids.Contains(p.ID));
                            if (tasks.GroupBy(p => p.TaskGroupKey).Count() > 1)
                                throw new WarnException("任务组ID不一致");
                            if (!tasks.GroupBy(p => p.TaskGroupKey).Any())
                                throw new WarnException("无任务组ID");
                            var gw1 = obj.Items.ToArray()[0];
                            var gw2 = obj.Items.ToArray()[1];
                            if (gw1.Data2.Tasknum != 0 && gw2.Data2.Tasknum != 0)
                            {
                                if (gw1.Data2.Goodsend != gw2.Data2.Goodsend) throw new WarnException($"{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))
                                              .Select(v => v.Create<StationDeviceGroup>())
                                              .Where(v => v.Position > c.Position)
                                              .OrderBy(v => v.Position)
                                              .FirstOrDefault();
                                //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()
                                                     && !v.Data2.Finish_1 && !v.Data2.ToSition_1);
                    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();
                    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.Finish_1) throw new WarnException("任务未完成");
                    if (!rgv.Data2.ToSition_1) throw new WarnException("RGV未到站");
                    if (rgv.Data2.PH_Status_1) 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);
        }
    }
}