wcs_server_kate_suzhou/WcsMain/EquipOperation/StackerConvey/StackerConveyOperation.cs

using WcsMain.Common;
using WcsMain.Enum.Plc;
using WcsMain.EquipOperation.Entity;
using WcsMain.EquipOperation.Entity.StackerConvey;
using WcsMain.WcsAttribute.AutoFacAttribute;

namespace WcsMain.EquipOperation.StackerConvey;

[Component]
public class StackerConveyOperation
{

    /// <summary>
    /// 读取输送机状态
    /// </summary>
    /// <param name="standId"></param>
    /// <returns></returns>
    public (string? errText, StackerConveyInfo? stackerConveyInfo) GetStackerConveyInfo(string standId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            return ("设备尚未连接", default); // 未连接PLC
        }
        var readResult = CommonTool.Siemens.ReadByteWithName($"输送机状态反馈{standId}", 36);
        if (!readResult.Success || readResult.Value == default)
        {
            return (readResult.Message, default); // 读取失败
        }
        var data = readResult.Value;
        StackerConveyInfo stackerConveyInfo = new()
        {
            ConveyNo = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 0)), // 输送机编号
            TaskType = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 2)), // 任务类型
            StackerForbidden = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 4)), // 堆垛机动作禁止
            PlcId = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 6)), // 当前任务号
            ControlModel = (StackerConveyModelEnum)Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 10)), // 控制方式
            StackerConveyStatus = (StackerConveyStatusEnum)Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 12)), // 库前输送机状态
            VehicleSize = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 14)), // 载具尺寸
            Weight = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 16)), // 重量
            SensorStatus = Convert.ToUInt32(CommonTool.Siemens.Trans<int>(data, 18)), // 传感器状态
            ApplyCode = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 22)), // 申请条码
            RunningCode = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 26)), // 正在运行的条码
            ErrCode = Convert.ToInt16(CommonTool.Siemens.Trans<short>(data, 30)), // 错误信息
            Remark = Convert.ToInt32(CommonTool.Siemens.Trans<int>(data, 32)), // 备注
        };
        return (string.Empty, stackerConveyInfo);
    }


    /// <summary>
    /// 获取输送机任务号
    /// </summary>
    /// <param name="conveyNo">输送机编号</param>
    /// <returns></returns>
    public int GetConveyPlcId(string? conveyNo)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return -1;
        }
        var readResult = CommonTool.Siemens.ReadInt32WithName($"输送机当前任务号{conveyNo}");
        if (readResult.Success)
        {
            return readResult.Value;
        }
        return -1;
    }

    /// <summary>
    /// 读取输送机条码
    /// </summary>
    /// <param name="conveyNo"></param>
    /// <returns></returns>
    public string? ReadConveyCode(string? conveyNo)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return default;
        }
        var readResult = CommonTool.Siemens.ReadInt32WithName($"输送机读码{conveyNo}");
        if (readResult.Success)
        {
            return readResult.Value.ToString();
        }
        return default;
    }

    /// <summary>
    /// 输送机卸货完成
    /// </summary>
    /// <param name="conveyNo"></param>
    /// <returns></returns>
    public string? SetConveyUnloadSuccess(string? conveyNo)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return "PLC尚未连接";
        }
        var writeResult = CommonTool.Siemens.WriteBoolWhithName($"输送机卸货完成{conveyNo}", true);
        if (writeResult.Success)
        {
            return string.Empty;
        }
        return writeResult.Message;
    }



    /// <summary>
    /// 获取输送机是否空闲
    /// </summary>
    /// <param name="conveyNo">输送机编号</param>
    /// <returns></returns>
    public int GetConveyIsEasy(string? conveyNo)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return -1;
        }
        var readResult = CommonTool.Siemens.ReadInt16WithName($"输送机空闲{conveyNo}");
        if (readResult.Success)
        {
            return readResult.Value;
        }
        return -1;
    }

    /// <summary>
    /// 获取输送机是否有货
    /// </summary>
    /// <param name="conveyNo">输送机编号</param>
    /// <returns></returns>
    public int GetConveyIsHaveGoods(string? conveyNo)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            // 未连接PLC
            return -1;
        }
        var readResult = CommonTool.Siemens.ReadInt32WithName($"输送机是否有货{conveyNo}");
        if (readResult.Success)
        {
            return readResult.Value;
        }
        return -1;
    }

    /// <summary>
    /// 写入输送机任务，返回错误信息
    /// </summary>
    /// <param name="task"></param>
    /// <returns></returns>
    public string WriteTask(StackerConveyPlcTask task)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            return "PLC尚未连接。"; // 未连接PLC
        }
        var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"输送机写任务{task.StackerConveyId}",
            task.PlcId!,
            task.TaskType!,
            task.GetStand!,
            task.InTunnelId!,
            task.OutTunnelId!,
            task.SetStand!,
            task.GetQueue!,
            task.GetLine!,
            task.GetLayer!,
            task.SetQueue!,
            task.SetLine!,
            task.SetLayer!,
            task.GetDeep!,
            task.SetDeep!,
            task.Size!,
            task.Weight!,
            task.Code
        );
        return writeResult.Success ? string.Empty : "写入失败";
    }




    /// <summary>
    /// 获取过账数据 ---- 地面站控制
    /// </summary>
    /// <param name="dataNum"></param>
    /// <returns></returns>
    public List<TaskFeedBackEntity>? GetConveyTaskFeedBackData(int dataNum)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            return default; // 未连接PLC
        }
        List<TaskFeedBackEntity> taskFeedBackEntities = [];
        var readResult = CommonTool.Siemens.ReadByteWithName($"过账区", (ushort)(6 * dataNum));
        if (!readResult.Success || readResult.Value == default) { return default; }
        var readData = readResult.Value;
        for (var i = 0; i < dataNum; i++)
        {
            TaskFeedBackEntity taskFeedBackEntity = new()
            {
                PlcId = Convert.ToInt32(CommonTool.Siemens.Trans<int>(readData, 0 + i * 6)),
                FeedBackType = Convert.ToInt16(CommonTool.Siemens.Trans<short>(readData, 4 + i * 6)),
                CountNo = i
            };
            taskFeedBackEntities.Add(taskFeedBackEntity);
        }
        return taskFeedBackEntities;
    }

    /// <summary>
    /// 重置过账缓冲区 --- 写反馈区间接清除  ---- 地面站控制
    /// </summary>
    /// <param name="taskFeedBackData"></param>
    public string? ResetFeedBackData(TaskFeedBackEntity taskFeedBackData)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            return "PLC 未连接";  // 未连接PLC
        }
        var dbAddress = CommonTool.Siemens.GetAddressWithNameAndBit($"过账区反馈区", 4 * taskFeedBackData.CountNo);
        if (string.IsNullOrEmpty(dbAddress))
        {
            return "无法计算偏移量";
        }
        var writeResult = CommonTool.Siemens.WritePlcWhithAddress(1, dbAddress, taskFeedBackData.PlcId);
        return writeResult.Success ? default : $"清除过账失败，异常信息：{writeResult.Message}";
    }


    /// <summary>
    /// 重置过账缓冲区 --- 直接清除  ---- 地面站控制
    /// </summary>
    /// <param name="taskFeedBackData"></param>
    public string? ClearFeedBackData(TaskFeedBackEntity taskFeedBackData)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default)
        {
            return "PLC 未连接"; // 未连接PLC
        }
        var dbAddress = CommonTool.Siemens.GetAddressWithNameAndBit($"过账区", 6 * taskFeedBackData.CountNo);
        if (string.IsNullOrEmpty(dbAddress))
        {
            return "无法计算偏移量";
        }
        var writeResult = CommonTool.Siemens.WritePlcWhithAddress(1, dbAddress, 0);
        return !writeResult.Success ? $"清除过账失败，异常信息：{writeResult.Message}" : default;
    }

}