wcs_server_kate_suzhou/WcsMain/PlcOperation/ConveyOperation.cs

using System.Text;
using System.Text.RegularExpressions;
using WcsMain.Common;
using WcsMain.PlcOperation.Entity;

namespace WcsMain.PlcOperation;

/// <summary>
/// 输送机操作 ---- 箱式线，不包含于立库库前设备，库前请参考堆垛机操作
/// </summary>
public class ConveyOperation
{
    private static ConveyOperation? _instance;

    public static ConveyOperation Instance()
    {
        return _instance ??= new ConveyOperation();
    }

    /// <summary>
    /// 写入箱式线任务
    /// </summary>
    /// <param name="equipmentId"></param>
    /// <param name="task"></param>
    /// <returns></returns>
    public string WriteTask(string? equipmentId, ConveyPLCTask task)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return "PLC尚未连接。";
        }
        var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"箱式线写任务{equipmentId}",
            task.PlcId,
            task.Router);
        if (writeResult.Success)
        {
            return string.Empty;
        }
        return writeResult.Message ?? "写入失败，未知原因";
    }

    /// <summary>
    /// 写入输送机心跳
    /// </summary>
    /// <returns></returns>
    public string WriteHeartBeat()
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return "PLC尚未连接。";
        }
        var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"箱式线写心跳", (short)0);
        if (writeResult.Success)
        {
            return string.Empty;
        }
        return writeResult.Message ?? "写入失败，未知原因";
    }

    /// <summary>
    /// 获取箱式线出库站台状态
    /// </summary>
    /// <param name="standId"></param>
    /// <returns></returns>
    public bool GetOutConveyStatus(string? standId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return false;
        }
        var readGoodsExistResult = CommonTool.Siemens.ReadBoolWithName($"站台货物检测{standId}");
        if (!readGoodsExistResult.Success || readGoodsExistResult.Value) // 读取失败，或者有货 就不允许出库
        {
            return false;
        }
        var readAGVExistResult = CommonTool.Siemens.ReadBoolWithName($"站台AGV检测{standId}");
        if (!readAGVExistResult.Success || readAGVExistResult.Value) // 读取失败，或者有AGV 就不允许出库
        {
            return false;
        }
        if (!readGoodsExistResult.Value && !readAGVExistResult.Value) // 无货并且没有AGV才能出库
        {
            return true;
        }
        return false;
    }


    // 10.40.200.210

    /// <summary>
    /// 获取入库站台状态 --- 是否可以入库
    /// </summary>
    /// <param name="standId"></param>
    /// <returns></returns>
    public bool GetInConveyStatus(string? standId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return false;
        }
        if (string.IsNullOrEmpty(standId)) { return false; }
        if (standId.StartsWith('P'))
        {
            var readGoodsNeedIn = CommonTool.Siemens.ReadBoolWithName($"站台请求入库{standId}");
            if (!readGoodsNeedIn.Success || !readGoodsNeedIn.Value) // 读取失败，或者没有货 就不允许入库
            {
                return false;
            }
            return true;
        }
        var readGoodsExistResult = CommonTool.Siemens.ReadBoolWithName($"站台货物检测{standId}");
        if (!readGoodsExistResult.Success || !readGoodsExistResult.Value) // 读取失败，或者没有货 就不允许入库
        {
            return false;
        }
        var readAGVExistResult = CommonTool.Siemens.ReadBoolWithName($"站台AGV检测{standId}");
        if (!readAGVExistResult.Success || readAGVExistResult.Value) // 读取失败，或者有AGV 就不允许入库
        {
            return false;
        }
        if (readGoodsExistResult.Value && !readAGVExistResult.Value) // 有货并且没有AGV才能入库
        {
            return true;
        }
        return false;
    }

    /// <summary>
    /// 获取箱式线拣选站台状态
    /// </summary>
    /// <param name="standId"></param>
    /// <returns></returns>
    public bool GetPickConveyStatus(string? standId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return false;
        }
        var readGoodsExistResult = CommonTool.Siemens.ReadBoolWithName($"站台货物检测{standId}");
        if (!readGoodsExistResult.Success) // 读取失败，或者有货 就不允许出库
        {
            return false;
        }
        return !readGoodsExistResult.Value;
    }

    /// <summary>
    /// 获取输送机箱子号
    /// </summary>
    /// <param name="stackerId"></param>
    /// <returns></returns>
    public string GetStandCode(int stackerId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return string.Empty;
        }
        var readResult1 = CommonTool.Siemens.ReadStringWithName($"箱式线入库载具号{stackerId}", 10, Encoding.ASCII);
        if (!readResult1.Success)
        {
            // 读取失败
            return string.Empty;
        }
        // 返回读取到的任务号
        return Regex.Replace(readResult1.Value ?? "", "\\W", "");
    }


    /// <summary>
    /// 读取扫码点信息
    /// </summary>
    /// <param name="scanId"></param>
    /// <returns></returns>
    public (string? errText, short scanOk, string code) ReadScanInfo(string scanId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return ("PLC尚未连接。", 0, "");
        }
        var readResult = CommonTool.Siemens.ReadByteWithName($"扫码读取{scanId}", 22);
        if (!readResult.Success || readResult.Value == default) // 读取失败
        {
            return (readResult.Message, 0, "");
        }
        try
        {
            var readData = readResult.Value;
            short status = Convert.ToInt16(CommonTool.Siemens.Trans<short>(readData, 0)); // PLC 返回任务状态
            string code = Regex.Replace(Encoding.ASCII.GetString(readData, 2, 20), "\\W", "");
            return (string.Empty, status, code);
        }
        catch (Exception ex)
        {
            return (ex.Message, 0, "");
        }
    }

    /// <summary>
    /// 清除扫码状态
    /// </summary>
    /// <param name="scanId"></param>
    /// <returns></returns>
    public string ClearScanStatus(string scanId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return "PLC尚未连接。";
        }
        var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"扫码读取{scanId}", (short)0);
        if (!writeResult.Success) // 读取失败
        {
            return writeResult.Message ?? "写入失败";
        }
        try
        {
            return string.Empty;
        }
        catch (Exception ex)
        {
            return ex.Message;
        }
    }

}