wcs_server_kate_suzhou/WcsMain/EquipOperation/Convey/ConveyOperation.cs

using System.Text;
using System.Text.RegularExpressions;
using WcsMain.Common;
using WcsMain.EquipOperation.Entity;
using WcsMain.WcsAttribute.AutoFacAttribute;

namespace WcsMain.EquipOperation.Convey;

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

    /// <summary>
    /// 箱式线允许取货
    /// </summary>
    /// <param name="point">要取货的点位</param>
    /// <returns></returns>
    public bool AllowGetVehicle(string? point)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return false;
        var readResult = CommonTool.Siemens.ReadInt16WithName($"箱式线允许取货{point}");
        return readResult.Success && readResult.Value == 1;
    }

    /// <summary>
    /// 箱式线允许卸货
    /// </summary>
    /// <param name="point">要取货的点位</param>
    /// <returns></returns>
    public bool AllowSetVehicle(string? point)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return false;
        var readResult = CommonTool.Siemens.ReadInt16WithName($"箱式线允许卸货{point}");
        return readResult.Success && readResult.Value == 1;
    }

    /// <summary>
    /// 读取箱式线入库站台反馈的载具号
    /// </summary>
    /// <param name="point"></param>
    /// <returns></returns>
    public List<string>? ReadAreaConveyCode(string? point)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return default;
        var readResult1 = CommonTool.Siemens.ReadStringWithName($"箱式线入库载具号{point}-1", 20, Encoding.ASCII);
        var readResult2 = CommonTool.Siemens.ReadStringWithName($"箱式线入库载具号{point}-2", 20, Encoding.ASCII);
        if (!readResult1.Success! || !readResult2.Success!) return default;
        // 返回读取到的任务号
        return [Regex.Replace(readResult1.Value ?? "", "\\W", ""), Regex.Replace(readResult2.Value ?? "", "\\W", "")];
    }

    /// <summary>
    /// 读取箱号
    /// </summary>
    /// <param name="point"></param>
    /// <returns></returns>
    public (string? errText, string? code) ReadConveyCode(string? point)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return ("设备离线", default);
        var readResult1 = CommonTool.Siemens.ReadStringWithName($"箱式线入库载具号{point}", 20, Encoding.ASCII);
        if (!readResult1.Success!) return (readResult1.Message, default);
        // 返回读取到的任务号
        return (default, 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) return ("PLC尚未连接。", 0, "");
        var readResult = CommonTool.Siemens.ReadByteWithName($"扫码读取{scanId}", 22);
        if (!readResult.Success || readResult.Value == default) return (readResult.Message, 0, "");// 读取失败
        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) return "PLC尚未连接。";
        var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"扫码读取{scanId}", (short)0);
        if (!writeResult.Success) return writeResult.Message ?? "写入失败";
        return string.Empty;
    }

    /// <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) return "PLC尚未连接。";
        var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"箱式线写任务{equipmentId}",
            task.PlcId,
            task.Router);
        return writeResult.Success ? string.Empty : writeResult.Message ?? "写入失败，未知原因";
    }

    /// <summary>
    /// 箱式线写任务
    /// </summary>
    /// <param name="equipmentId"></param>
    /// <param name="plcId"></param>
    /// <param name="router"></param>
    /// <returns></returns>
    public string WriteTask(string? equipmentId, int plcId, short router) => WriteTask(equipmentId, new ConveyPLCTask(plcId, router));


    /// <summary>
    /// 释放指定位置的箱子
    /// </summary>
    /// <param name="conveyId"></param>
    /// <returns></returns>
    public string DisposeVehicle(string? conveyId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return "PLC尚未连接。";
        var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"箱式线释放{conveyId}", (short)1);
        return writeResult.Success ? string.Empty : 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", "");
    }



}