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
            var str = Encoding.ASCII.GetString(readData, 2, 20);
            string code = Regex.Replace(str, "\\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>
    /// 读取站台扫码点信息
    /// </summary>
    /// <param name="scanId"></param>
    /// <returns></returns>
    public string ReadStandCode(string? standId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return string.Empty;
        var readResult = CommonTool.Siemens.ReadByteWithName($"站台条码读取{standId}", 22);
        if (!readResult.Success || readResult.Value == default) return string.Empty;// 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
            if (status == 0) return string.Empty;
            string code = Regex.Replace(Encoding.ASCII.GetString(readData, 0, 20), "\\W", "");
            return code;
        }
        catch (Exception ex)
        {
            _ = ex;
            return string.Empty;
        }
    }

    /// <summary>
    /// 清除站台扫码状态
    /// </summary>
    /// <param name="scanId"></param>
    /// <returns></returns>
    public string ClearStandCodeStatus(string? standId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return "PLC尚未连接。";
        var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"站台条码读取{standId}", (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>
    /// 读取拣选站台释放的信号
    /// </summary>
    /// <param name="pickStandId"></param>
    /// <returns></returns>
    public int GetAllowPickStandGo(string pickStandId)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return 0;
        var readResult = CommonTool.Siemens.ReadInt16WithName($"拣选确认按钮{pickStandId}");
        if (!readResult.Success) return 0;// 读取失败
        return readResult.Value;
    }

    /// <summary>
    /// 通知 plc 可以释放站台
    /// </summary>
    /// <param name="pickStandId"></param>
    /// <param name="router"></param>
    /// <returns></returns>
    public string AllowPickStandGo(string pickStandId, short router)
    {
        if (!CommonData.IsConnectPlc || CommonTool.Siemens == default) return "PLC尚未连接。";
        var (writeResult, _) = CommonTool.Siemens.WritePlcWhithName($"拣选确认按钮{pickStandId}", router);
        if (!writeResult.Success) return writeResult.Message ?? "写入失败"; // 读取失败
        return string.Empty;
    }

}