ZT_1C/盘条库/WCS.WorkEngineering/Systems/一楼入库巷道分配处理系统.cs

using ServiceCenter.Extensions;
using ServiceCenter.Logs;
using ServiceCenter.SqlSugars;
using System.ComponentModel;
using WCS.Core;
using WCS.Entity;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.Protocol.BCR;
using WCS.WorkEngineering.Protocol.SRM;
using WCS.WorkEngineering.Protocol.Station;
using WCS.WorkEngineering.WebApi.Controllers;
using WCS.WorkEngineering.Worlds;
using DeviceFlags = WCS.WorkEngineering.Extensions.DeviceFlags;

namespace WCS.WorkEngineering.Systems
{
    /// <summary>
    ///  一楼入库巷道分配处理系统
    /// </summary>
    [BelongTo(typeof(MainWorld))]
    [Description("一楼入库巷道分配处理系统")]
    public class 一楼入库巷道分配处理系统 : DeviceSystem<Station>
    {
        protected override bool ParallelDo => true;
        protected override bool SaveLogsToFile => true;
        private List<Device<IBCR81>> BCRS = new List<Device<IBCR81>>();
        private List<Station> devs = new List<Station>();
        private List<Station> sta = new List<Station>();
        private List<SRM> srms = new List<SRM>();

        public 一楼入库巷道分配处理系统()
        {
            BCRS = Device.All.Where(v => v.HasProtocol<IBCR81>()).Select(x=>new Device<IBCR81>(x,World)).ToList();
            devs = Device.All.Where(v => v.HasFlag(DeviceFlags.入库, DeviceFlags.巷道口)).Select(v => new Station(v, this.World)).ToList();
            sta = Device.All.Where(v => v.HasFlag(DeviceFlags.检测门)).Select(v => new Station(v, this.World)).ToList();
            srms = Device.All.Where(v => v.HasProtocol(typeof(ISRM520))).Select(v => new SRM(v, this.World)).ToList();
        }
        public override void Do(Station obj)
        {
            obj.入库站点是否被禁止();
            obj.入库站点是否满足执行条件();

            WCS_TaskInfo task = null;//处理完成的任务
            WCS_TaskInfo taskInfo = null;
            try
            {
                SqlSugarHelper.Do(_db =>
                {
                    var db = _db.Default;                   
                    //扫码信号交互
                    var agvTaskCur = db.Queryable<WCS_AgvTaskInfo>().SplitTable().First(v => v.AgvStatus == AGVTaskStatus.RequestOrPermission1 && v.Status != AGVTaskStatus.Complete1 && v.Position == obj.Entity.Code);
                    if (agvTaskCur != null)
                    {
                        var dev = sta.Find(v => v.Entity.Code == obj.Entity.Code);
                        var taskCur = db.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agvTaskCur.ID);
                        if (taskCur != null && dev.Data2.GoodsStart == 0)
                        {
                            obj.Data.GoodsStart = obj.Entity.Code.ToShort();                            
                        }                                              
                    }
                    else
                    {
                        return;
                    }
                    //获取RFID
                    var barentity = BCRS.Where(p => p.Entity.Code == "BCR" + obj.Entity.Code).First();
                    var bardata = barentity.Data;
                    var barcode = bardata.Content.Trim().Split('\0')[0];
           
                    if(string.IsNullOrEmpty(barcode)) throw new KnownException($"条码为空，请检查", LogLevelEnum.High);
                    if (!barcode.StartsWith("PT") && !barcode.StartsWith("Test")) throw new KnownException($"条码{barcode}无法识别", LogLevelEnum.High);
                    //根据agv任务找到对应wcs任务并赋值
                    if (db.Queryable<WCS_AgvTaskInfo>().SplitTable().Count(v => v.AgvStatus == AGVTaskStatus.RequestOrPermission1 && v.Status != AGVTaskStatus.Complete1 && v.Position == obj.Entity.Code) > 1)
                    {
                        throw new KnownException($"未分配巷道任务数异常，请检查现场情况", LogLevelEnum.High);
                    }
                    var agvTask = db.Queryable<WCS_AgvTaskInfo>().SplitTable().First(v => v.AgvStatus == AGVTaskStatus.RequestOrPermission1 && v.Status != AGVTaskStatus.Complete1 && v.Position == obj.Entity.Code);
                    if (agvTask == null) throw new KnownException($"未找到对应agv任务,条码{barcode}", LogLevelEnum.High);
                    taskInfo = db.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agvTask.ID) ?? throw new KnownException($"未找到agv任务{agvTask.ID}对应WCS任务", LogLevelEnum.High);
                    if (taskInfo.BarCode.StartsWith("PT") && taskInfo.BarCode != barcode) throw new KnownException($"条码读取有误，请检查条码", LogLevelEnum.High);
                    taskInfo.BarCode = barcode;

                    //分配巷道，agv目标站台
                    if (agvTaskCur.WorkShop == 1)
                    {
                        barcode = "";
                    }
                    var res = WmsApi.GetTunnelPriorityList(taskInfo.ID,barcode);
                    var tunnelNo = res.ResData.Split(",").Select(v => "TY" + v).ToList();
                    //开始获取堆垛机与可用站台信息
                    var agvs = db.Queryable<WCS_AgvTaskInfo>().Where(v => v.Status < AGVTaskStatus.MissionCompleted && v.TaskType == AGVTaskType.EnterDepot).SplitTable(v => v.Take(2)).ToList();
                    var stations = devs.Where(v => v.Entity.Code is "1001" or "1003" or "1005" or "1007").ToList();
                    //筛选出可用站台
                    if (agvs == null)
                    {
                        stations = stations.Where(v => v.Data.VoucherNo == v.Data2.VoucherNo && v.Data3.Status.HasFlag(StationStatus.Auto))
                                       .Where(v => !v.Data3.Status.HasFlag(StationStatus.PH_Status) && !v.Data3.Status.HasFlag(StationStatus.OT_Status))
                                       .Where(v => !v.Data3.Status.HasFlag(StationStatus.Run))
                                       .ToList(); // 筛选出可用站台
                    }
                    else
                    {
                        stations = stations.Where(v => v.Data.VoucherNo == v.Data2.VoucherNo && v.Data3.Status.HasFlag(StationStatus.Auto))
                                       .Where(v => !v.Data3.Status.HasFlag(StationStatus.PH_Status) && !v.Data3.Status.HasFlag(StationStatus.OT_Status))
                                       .Where(v => !v.Data3.Status.HasFlag(StationStatus.Run))
                                       .Where(v => !agvs.Select(a => a.Position).Contains(v.Entity.Code)).ToList(); // 筛选出可用站台
                    }
                    if (!stations.Any())
                    {
                        World.Log($"无可用站台", LogLevelEnum.Mid);
                        return;
                    }
                    //可用堆垛机
                    var tunnelList = stations.Select(v => v.Entity.Sources).SelectMany(v => v).Where(v => v.IsTunnel()).ToList();//上一个地址是巷道的                                                                                                                                
                  
                    var tunnel = stations.Select(v => v.Entity.Sources).SelectMany(v => v).Where(v => v.IsTunnel())//上一个地址是巷道的
                                  .Select(v => v.Sources).SelectMany(v => v).Where(v => v.HasProtocol(typeof(ISRM520))) //筛选出堆垛机
                                  .Select(v => new SRM(v, this.World)) //转换为SRM                                                                      
                                  .Where(v => !v.Data2.Status.HasFlag(SrmStatus.Alarm) && v.Data2.AutoStatus == SrmAutoStatus.Automatic)//筛选出可用堆垛机
                                  .Select(v => v.Entity.Sources).SelectMany(v => v).Where(v => v.IsTunnel())
                                  .Where(v => tunnelList.Select(s => s.Code).Contains(v.Code))
                                  .Where(v => tunnelNo.Contains(v.Code))
                                  .MinBy(v => tunnelNo.IndexOf(v.Code));//按照巷道优先级排序    
                    if (tunnel == null)
                    {
                        World.Log($"无可用巷道", LogLevelEnum.Mid);
                        return;
                    };                   
                    //筛选出堆垛机的放货站台
                    var nextPos = stations.FirstOrDefault(v => v.Entity.Sources.Where(t => t.IsTunnel()).Where(t => t.Code== tunnel.Code).Any());
                    if (nextPos == null)
                    {
                        World.Log($"无可用放货站台，请检查", LogLevelEnum.Mid);
                        return;
                    };
                    agvTask.Status = AGVTaskStatus.Complete1;
                    agvTask.Position = nextPos.Entity.Code;
                    agvTask.EditTime = DateTime.Now;
                    db.Updateable(agvTask).SplitTable().ExecuteCommand();
                    AgvApi.ContinueTask(agvTask.AgvID, nextPos.Entity.Code);                  

                    taskInfo.Status = Entity.TaskStatus.AGVExecution;                   
                    taskInfo.Tunnel = tunnel.Code.GetLastDigit().ToString();
                    string srm = "";
                    if (tunnel.Code.GetLastDigit() > 2)
                    {
                        srm = "SRM2";
                    }
                    else
                    {
                        srm = "SRM1";
                    }
                    taskInfo.Device = srm; ;
                    taskInfo.SrmStation = nextPos.Entity.Code;
                    taskInfo.AddrNext = tunnel.Code;
                    db.Updateable(taskInfo).ExecuteCommand();
                    taskInfo.AddWCS_TASK_DTL(_db, obj.Entity.Code, "SRM", $"任务分配巷道[{tunnel.Code}],目标站台[{nextPos.Entity.Code}]");

                    var taskCur1 = db.Queryable<WCS_TaskInfo>().First(v => v.AgvTaskID == agvTaskCur.ID);
                    var dev1 = sta.Find(v => v.Entity.Code == obj.Entity.Code);                   
                    //条码已读且请求信号还在
                    if (taskCur1 != null && !taskCur1.BarCode.StartsWith("Test"))
                    {
                        if (dev1 != null && dev1.Data2.GoodsStart == obj.Entity.Code.ToShort())
                        {
                            obj.Data.GoodsStart = 0;                           
                        }
                    }
                    task = taskInfo;
                    if (task == null) throw new Exception();
                });
            }
            catch (Exception ex)
            {
                throw new KnownException(ex.Message, LogLevelEnum.High);
            }
        }
        public override bool Select(Device dev)
        {
            return dev.HasFlag(DeviceFlags.检测门);
        }
    }
}