Product_Wms/WcsMain/ApiServe/Service/AGVService/AGVService.cs

using WcsMain.ApiClient.AGV.Dto;
using WcsMain.ApiServe.Dto.AGV;
using WcsMain.Business.CommonAction;
using WcsMain.Constant.Enum.Stacker;
using WcsMain.DataBase.Dao;
using WcsMain.DataBase.TableEntity;
using WcsMain.Constant.WcsAttribute.AutoFacAttribute;
using WcsMain.EquipOperation.StackerConvey;
using WcsMain.ApiClient.AGV;
namespace WcsMain.ApiServe.Service.AGVService;

[Service]
public class AGVService(AppWmsTaskDao wmsTaskDao, WCSTaskExecuteEvent taskExecuteEvent, StackerConveyOperation stackerConveyOperation, AGVWebApiAction webApiAction)
{
    /// <summary>
    /// AGV 任务回告
    /// </summary>
    /// <param name="request"></param>
    /// <returns></returns>
    public AGVResponseLayout<AGVResponseLayout<object>> TaskCallBack(Dto.AGV.AGVRequestLayout<AGVRequestBodyLayout<AGVNoVeBuckMoveRequest>> request)
    {
        var bodyData = request.Body;
        if(bodyData == default)
        {
            return new()
            {
                Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                Body = new() { Code = "ERROR", Success = false, Message = "Body 未能正确解析" }
            };
        }
        string? wmsTaskId = bodyData.Event?.RobotJobId; // 任务号
        string? status = bodyData.Event?.State; // 状态
        if(status == default || wmsTaskId == default)
        {
            return new()
            {
                Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                Body = new() { Code = "ERROR", Success = false, Message = "任务号和状态未能正确解析" }
            };
        }
        /* 实际业务处理 */
        // 找到此任务
        List<AppWmsTask>? wmsTasks = wmsTaskDao.Select(new() { TaskId = wmsTaskId });
        if(wmsTasks == default)
        {
            return new()
            {
                Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                Body = new() { Code = "ERROR", Success = false, Message = "数据连接异常" }
            };
        }
        if (wmsTasks.Count < 1)
        {
            return new()
            {
                Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                Body = new() { Code = "ERROR", Success = false, Message = "该任务号不存在任务" }
            };
        }
        AppWmsTask wmsTask = wmsTasks.First();
        // 若是入库任务或者移库任务则在开始移动时上报WMS货物离开起始位置
        if (status == "MOVE_BEGIN" && (wmsTask.TaskType == (int)WmsTaskTypeEnum.inTask || wmsTask.TaskType == (int)WmsTaskTypeEnum.agv))
        {
            // 上报WMS任务已经开始
            string? errText = taskExecuteEvent.LeaveStart(wmsTask);
            if (string.IsNullOrEmpty(errText)) 
            {
                return new()
                {
                    Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                    Body = new() { Code = "SUCCESS", Success = true, Message = "操作成功" }
                };
            }
            return new()
            {
                Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                Body = new() { Code = "ERROR", Success = false, Message = $"操作异常：{errText}" }
            };
        }
        // 若是出库位置则在上报任务完成时上报WMS任务完成
        if (status == "DONE" || status == "ABNORMAL_COMPLETED")
        {
            Task.Factory.StartNew(() =>
            {
                // 如果是完成并且是入库任务或者agv任务则给放货位置写放货完成
                if (status == "DONE" && (wmsTask.TaskType == (int)WmsTaskTypeEnum.inTask || wmsTask.TaskType == (int)WmsTaskTypeEnum.agv))
                {
                    string? setLocation = wmsTask.TaskType == (int)WmsTaskTypeEnum.inTask ? wmsTask.MidPoint : wmsTask.Destination;
                    string plcLocation = setLocation == null ? "" : setLocation.Trim().Split('_')[0];
                    string? plcErrtext = stackerConveyOperation.SetVehicelComplete(plcLocation ?? "");
                    ConsoleLog.Info($"AGV 放货完成通知PLC结果：{(string.IsNullOrEmpty(plcErrtext) ? "成功" : plcErrtext)}，站台：{plcLocation}，箱号：{wmsTask.VehicleNo}");
                }
            });

            if(wmsTask.TaskType == (int)WmsTaskTypeEnum.outTask || wmsTask.TaskType == (int)WmsTaskTypeEnum.agv) // 出库或移库
            {
                string? errText = taskExecuteEvent.CompleteTaskEvent(wmsTask, "AGV上报完成", wmsTask.Destination);
                if (string.IsNullOrEmpty(errText))
                {
                    return new()
                    {
                        Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                        Body = new() { Code = "SUCCESS", Success = true, Message = "操作成功" }
                    };
                }
                return new()
                {
                    Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                    Body = new() { Code = "ERROR", Success = false, Message = $"操作异常：{errText}" }
                };
            }
            if(wmsTask.TaskType == (int)WmsTaskTypeEnum.inTask) // 入库
            {
                var updateResult = wmsTaskDao.Update(new() { TaskId =  wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.arriveMid, ModifyTime = DateTime.Now });
                if(updateResult > 0)
                {
                    return new()
                    {
                        Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                        Body = new() { Code = "SUCCESS", Success = true, Message = "操作成功" }
                    };
                }
                return new()
                {
                    Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                    Body = new() { Code = "ERROR", Success = false, Message = $"操作异常，数据更新失败" }
                };
            }
        }
        if(status == "CANCEL" || status == "ABNORMAL_CANCEL")
        {
            var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.err, TaskMsg = status, ModifyTime = DateTime.Now });
            if (updateResult > 0)
            {
                return new()
                {
                    Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                    Body = new() { Code = "SUCCESS", Success = true, Message = "操作成功" }
                };
            }
            return new()
            {
                Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                Body = new() { Code = "ERROR", Success = false, Message = $"操作异常数据更新失败" }
            };
        }
        var updateAllResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, TaskMsg = status, ModifyTime = DateTime.Now });
        if (updateAllResult > 0)
        {
            return new()
            {
                Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                Body = new() { Code = "SUCCESS", Success = true, Message = "操作成功" }
            };
        }
        return new()
        {
            Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
            Body = new() { Code = "ERROR", Success = false, Message = $"操作异常数据更新失败" }
        };
    }

    /// <summary>
    /// AGV请求动作
    /// </summary>
    /// <param name="request"></param>
    /// <returns></returns>
    public AGVResponseLayout<AGVResponseLayout<object>> RequestAction(Dto.AGV.AGVRequestLayout<AGVRequestBodyBaseLayout<AGVRequestActionRequest>> request)
    {
        string? agvCode = request.Body?.Event?.AgvCode;
        string? location = request.Body?.Event?.Command;
        if(string.IsNullOrWhiteSpace(agvCode)|| string.IsNullOrWhiteSpace(location))
        {
            return new()
            {
                Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
                Body = new() { Code = "ERROR", Success = false, Message = $"数据无法解析" }
            };
        }
        // [TODO]
        webApiAction.Send_AGV_Action(agvCode, "TRUE");
        return new()
        {
            Header = new() { RequestId = request.Header?.RequestId, Version = request.Header?.version, TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") },
            Body = new() { Code = "SUCCESS", Success = true, Message = "操作成功" }
        };
    }


    public void test()
    {
        Dictionary<string, int> locationIndex = [];
        /*--------------- 拣选站台 ----------------*/
        locationIndex.TryAdd("WWYPYA", 0); // 1-1
        locationIndex.TryAdd("wDj7k3", 1); // 1-2
        locationIndex.TryAdd("5sNjZj", 2); // 1-3
        locationIndex.TryAdd("x3hmTx", 3); // 1-4
        locationIndex.TryAdd("TrkieR", 4); // 2-1
        locationIndex.TryAdd("fED33G", 5); // 2-2
        locationIndex.TryAdd("SAwJWb", 6); // 2-3
        locationIndex.TryAdd("kSyBN2", 7); // 2-4
        locationIndex.TryAdd("tZQJmY", 8); // 3-1
        locationIndex.TryAdd("aHB3A4", 9); // 3-2
        locationIndex.TryAdd("WAdrMA", 10);// 3-3
        locationIndex.TryAdd("EdW8JH", 11);// 3-4
        locationIndex.TryAdd("rK5RbX", 12);// 4-1
        locationIndex.TryAdd("rThaME", 13);// 4-2
        locationIndex.TryAdd("28PW7p", 14);// 4-3
        locationIndex.TryAdd("rNH2Bb", 15);// 4-4
        locationIndex.TryAdd("ZbkKHC", 16);// 5-1
        locationIndex.TryAdd("YeSNEd", 17);// 5-2
        locationIndex.TryAdd("QCECwK", 18);// 5-3
        locationIndex.TryAdd("heYrie", 19);// 5-4
        locationIndex.TryAdd("byBDnX", 20);// 6
        /*----------------- 翻包区 -----------------*/
        locationIndex.TryAdd("TQzNDN", 21);
        locationIndex.TryAdd("SsNakz", 22);
        locationIndex.TryAdd("TjtsJf", 23);
        locationIndex.TryAdd("dM28J8", 24);
        locationIndex.TryAdd("jAiFNS", 25);
        locationIndex.TryAdd("AHQGKW", 26);
        locationIndex.TryAdd("ACEMTS", 27);
        locationIndex.TryAdd("6HbTKm", 28);
        /*----------------- 出入库口 -----------------*/
        locationIndex.TryAdd("FaaZHG", 29);
        locationIndex.TryAdd("kzxhes", 30);
        locationIndex.TryAdd("yDN8ZZ", 31);
        locationIndex.TryAdd("6cDXzi", 32);
        locationIndex.TryAdd("ranQyi", 33);
        locationIndex.TryAdd("SxjX8e", 34);
        locationIndex.TryAdd("jC6x3C", 35);
        locationIndex.TryAdd("MSP3te", 36);

        locationIndex.TryAdd("611", 29);
        locationIndex.TryAdd("511", 30);
        locationIndex.TryAdd("513", 31);
        locationIndex.TryAdd("411", 32);
        locationIndex.TryAdd("311", 33);
        locationIndex.TryAdd("213", 34);
        locationIndex.TryAdd("211", 35);
        locationIndex.TryAdd("111", 36);



    }
}