Product_Wms/WcsMain/CirculationJob/Stacker/ExecuteWmsTask.cs

using System.Runtime;
using System.Text.RegularExpressions;
using CirculateTool.Attribute;
using WcsMain.ApiClient.AGV;
using WcsMain.ApiClient.Shuttle;
using WcsMain.Constant.Enum.General;
using WcsMain.Constant.Enum.Stacker;
using WcsMain.DataBase.Dao;
using WcsMain.DataBase.TableEntity;
using WcsMain.EquipOperation.StackerConvey;

namespace WcsMain.CirculationJob.Stacker;

/// <summary>
/// 执行仓库任务
/// </summary>
[Circulation]
public class ExecuteWmsTask(AppWmsTaskDao wmsTaskDao, StackerConveyOperation stackerConveyOperation, AGVWebApiAction agvAction, ShuttleWebApiAction containerAction, AppLiftInfoDao liftInfoDao)
{
    /// <summary>
    /// 开始执行任务
    /// </summary>
    /// <returns></returns>
    [Circulation("执行任务", 1000)]
    public bool ExecuteWmsTaskStarter()
    {
        /* 执行任务列表任务 */
        List<AppWmsTask>? wmsTasks = wmsTaskDao.Select(new AppWmsTask() { TaskStatus = (int)WmsTaskStatusEnum.create });
        if (wmsTasks == default)
        {
            ConsoleLog.Error("【异常】解析Wms任务时拉取任务列表失败，与数据库连接中断");
            Thread.Sleep(5000);
            return true;
        }
        wmsTasks.ForEach(ExecuteTask);
        /* 出库站台发送AGV接续任务 */
        ExecuteAGVOutTask();
        return true;
    }

    /// <summary>
    /// 执行对应的任务
    /// </summary>
    /// <param name="wmsTask"></param>
    private void ExecuteTask(AppWmsTask wmsTask)
    {
        switch (wmsTask.TaskType)
        {
            case (int)WmsTaskTypeEnum.agv: // AGV 点对点搬运
                ExecuteAGVTask(wmsTask);
                break;
            case (int)WmsTaskTypeEnum.outTask:
                ExecuteOutTask(wmsTask);
                break;
            case (int)WmsTaskTypeEnum.inTask:
                ExecuteInTask(wmsTask);
                break;
            case (int)WmsTaskTypeEnum.moveTask:
                ExecuteMoveTask(wmsTask);
                break;
            default:
                break;
        }
    }

    /// <summary>
    /// 执行 AGV 任务
    /// </summary>
    /// <param name="wmsTask"></param>
    private void ExecuteAGVTask(AppWmsTask wmsTask)
    {
        string[] stand = ["FaaZHG", "kzxhes", "yDN8ZZ", "6cDXzi", "ranQyi", "SxjX8e", "jC6x3C", "MSP3te"];
        if (string.IsNullOrEmpty(wmsTask.Destination)) return;
        if (stand.Contains(wmsTask.Destination)) 
        {
            // 获取终点的任务，没有任务可以发送
            List<AppWmsTask> tasks = [];
            tasks.AddRange(wmsTaskDao.SelectRunningTask(wmsTask.Destination) ?? []);
            if (tasks == default || tasks.Count > 0) return;
        }
        string errText = agvAction.Send_NO_VERIFY_BUCKET_MOVE(wmsTask);
        if (!string.IsNullOrEmpty(errText))
        {
            ConsoleLog.Warning($"【警告】AGV点对点搬运请求AGV服务失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
            return;
        }
        ConsoleLog.Success($"AGV点对点搬运请求AGV服务成功，任务号：{wmsTask.TaskId}");
        /* 更新任务状态为执行中 */
        var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.running, StartTime = DateTime.Now, ModifyTime = DateTime.Now });
        ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
    }


    /// <summary>
    /// 执行入库任务 --- AGV搬运
    /// </summary>
    /// <param name="wmsTask"></param>
    private void ExecuteInTask(AppWmsTask wmsTask)
    {
        string? midPoint = wmsTask.MidPoint;
        if (string.IsNullOrEmpty(wmsTask.Origin) || Regex.IsMatch(wmsTask.Origin, "^\\d+$")) return;
        if (string.IsNullOrEmpty(midPoint))
        {
            midPoint = GetEmptyInLift(wmsTask.Destination);
        }
        if (string.IsNullOrEmpty(midPoint)) return; // 没有可用的站台
        /* 发送AGV 搬运任务 */
        string errText = agvAction.Send_AGV_TASK(wmsTask.TaskId, wmsTask.Origin, midPoint, 1);
        if (!string.IsNullOrEmpty(errText))
        {
            ConsoleLog.Warning($"【警告】入库请求AGV搬运失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
            return;
        }
        ConsoleLog.Success($"入库搬运请求AGV成功，任务号：{wmsTask.TaskId}");
        /* 更新任务状态为前往中间点，更新中间点 */
        var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, MidPoint = midPoint, TaskStatus = (int)WmsTaskStatusEnum.toMid, StartTime = DateTime.Now, ModifyTime = DateTime.Now });
        ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
        /* 四向车任务有接口返回给四向车 */
    }

    /// <summary>
    /// 执行出库任务
    /// </summary>
    /// <param name="wmsTask"></param>
    private void ExecuteOutTask(AppWmsTask wmsTask)
    {
        string? midPoint = wmsTask.MidPoint;
        if(string.IsNullOrEmpty(midPoint))
        {
            midPoint = GetEmptyOutLift(wmsTask.Origin);
        }
        if (string.IsNullOrEmpty(midPoint)) return; // 没有可用站台
        /* 发送四向车搬运任务 */
        string? errText = containerAction.ExecuteOutTask(wmsTask.WcsId, wmsTask.Origin, midPoint, wmsTask.VehicleNo);
        if (!string.IsNullOrEmpty(errText))
        {
            ConsoleLog.Warning($"【警告】出库请求四向车搬运失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
            return;
        }
        ConsoleLog.Success($"出库搬运请求四向车成功，任务号：{wmsTask.TaskId}/{wmsTask.WcsId}");
        /* 更新任务状态为前往中间点，更新中间点 */
        var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, MidPoint = midPoint, TaskStatus = (int)WmsTaskStatusEnum.toMid, StartTime = DateTime.Now, ModifyTime = DateTime.Now });
        ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
        /* AGV接续任务由定时器触发 */
    }


    /// <summary>
    /// 执行 四向车库移库任务
    /// </summary>
    /// <param name="wmsTask"></param>
    private void ExecuteMoveTask(AppWmsTask wmsTask)
    {
        string errText = containerAction.ExecuteMoveTask(wmsTask);
        if (!string.IsNullOrEmpty(errText))
        {
            ConsoleLog.Warning($"四向车移库任务请求四向车服务失败，任务号：{wmsTask.TaskId}/{wmsTask.WcsId}，异常信息：{errText}");
            return;
        }
        ConsoleLog.Success($"四向车移库任务请求四向车服务成功，任务号：{wmsTask.TaskId}/{wmsTask.WcsId}");
        /* 更新任务状态为执行中 */
        var updateResult = wmsTaskDao.Update(new() { TaskId = wmsTask.TaskId, TaskStatus = (int)WmsTaskStatusEnum.running, StartTime = DateTime.Now, ModifyTime = DateTime.Now });
        ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{wmsTask.TaskId}");
    }


    /// <summary>
    /// 执行AGV出库任务
    /// </summary>
    private void ExecuteAGVOutTask()
    {
        List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
        if (liftInfos == default || liftInfos.Count < 1) return;
        foreach (var liftInfo in liftInfos)
        {
            (string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
            if (!string.IsNullOrEmpty(errText))
            {
                //ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
                continue;
            }
            if (model != 2 || allowAction != (short)TrueFalseEnum.TRUE || errCode != 0) continue; // 不满足执行条件
            /* 查找出库任务 */
            List<AppWmsTask>? tasks = wmsTaskDao.Select(new() { VehicleNo = code, TaskStatus = (int)WmsTaskStatusEnum.arriveMid })?.OrderByDescending(o => o.CreateTime).ToList();
            if (tasks == null || tasks.Count == 0) continue;
            var task = tasks.First();
            if (string.IsNullOrEmpty(task.Destination)) continue;
            /* 下发任务 */
            string agvErrText = agvAction.Send_AGV_TASK(task.TaskId, GetAgvNo(task.MidPoint), task.Destination);
            if (!string.IsNullOrEmpty(agvErrText))
            {
                ConsoleLog.Warning($"【警告】AGV出库任务请求AGV服务失败，任务号：{task.TaskId}，异常信息：{agvErrText}");
                return;
            }
            /* 更新任务状态为前往终点 */
            var updateResult = wmsTaskDao.Update(new() { TaskId = task.TaskId, TaskStatus = (int)WmsTaskStatusEnum.toDestination, ModifyTime = DateTime.Now });
            ConsoleLog.Success($"更新任务状态结果：{(updateResult > 0 ? "成功" : "失败")}，任务号：{task.TaskId}");
        }
    }




    /// <summary>
    /// 获取一个空闲的入库站台
    /// </summary>
    /// <param name="destination"></param>
    /// <returns></returns>
    private string? GetEmptyInLift(string? destination)
    {
        if (string.IsNullOrEmpty(destination)) return default;
        List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
        if (liftInfos == default || liftInfos.Count < 1) return default;
        foreach (var liftInfo in liftInfos)
        {
            (string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
            if (!string.IsNullOrEmpty(errText))
            {
                //ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
                continue;
            }
            if (model != 1 || allowAction != (short)TrueFalseEnum.TRUE || errCode != 0) continue;
            /* 检验任务是否是第一层，若是不是第一层不能分配第一层出入口 */
            if (!destination.EndsWith('1'))
            {
                if (liftInfo.LiftMode == 2) continue;
            }
            /* 获取这个站台的任务.没有占用任务即可重新使用 */
            List<AppWmsTask> tasks = [];
            tasks.AddRange(wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag!.Split(',')[0], TaskStatus = (int)WmsTaskStatusEnum.toMid }) ?? []);
            tasks.AddRange(wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag!.Split(',')[1], TaskStatus = (int)WmsTaskStatusEnum.toMid }) ?? []);
            tasks.AddRange(wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag!.Split(',')[0], TaskStatus = (int)WmsTaskStatusEnum.arriveMid }) ?? []);
            tasks.AddRange(wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag!.Split(',')[1], TaskStatus = (int)WmsTaskStatusEnum.arriveMid }) ?? []);
            if (tasks == default || tasks.Count > 0) continue;
            string location = "";
            if (!string.IsNullOrEmpty(liftInfo.Tag))
            {
                location = liftInfo.Tag.Split(',')[1];
            }
            return location;
        }
        return default;
    }

    /// <summary>
    /// 获取一个空闲的出库站台
    /// </summary>
    /// <param name="origin"></param>
    /// <returns></returns>
    private string? GetEmptyOutLift(string? origin)
    {
        if (string.IsNullOrEmpty(origin)) return default;
        Dictionary<string, int> liftTaskCount = [];
        List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
        if (liftInfos == default || liftInfos.Count < 1) return default;
        foreach (var liftInfo in liftInfos)
        {
            (string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
            if (!string.IsNullOrEmpty(errText))
            {
                //ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
                continue;
            }
            if (model != 2 || allowAction != (short)TrueFalseEnum.FALSE || errCode != 0) continue;
            /* 检验任务是否是第一层，若是不是第一层不能分配第一层出入口 */
            if (!origin.EndsWith('1'))
            {
                if (liftInfo.LiftMode == 2) continue;
            }
            /* 获取这个站台的任务.并计数 */
            List<AppWmsTask> tasks = [];
            tasks.AddRange(wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag!.Split(',')[0], TaskStatus = (int)WmsTaskStatusEnum.toMid }) ?? []);
            tasks.AddRange(wmsTaskDao.Select(new() { MidPoint = liftInfo.Tag!.Split(',')[1], TaskStatus = (int)WmsTaskStatusEnum.toMid }) ?? []);
            if (tasks == default) continue;
            string location = "";
            if(!string.IsNullOrEmpty(liftInfo.Tag))
            {
                location = liftInfo.Tag.Split(',')[0];
            }
            liftTaskCount.TryAdd(location, tasks.Count);
        }
        var sortLiftInfos = liftTaskCount.OrderBy(o => o.Value).ToDictionary();
        if (sortLiftInfos.Count > 0) return sortLiftInfos.First().Key;
        return default;
    }



    private string? GetAgvNo(string? lift)
    {
        List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
        if (liftInfos == default || liftInfos.Count < 1) return default;
        AppLiftInfo? appLiftInfo = liftInfos.Find(f => f.Tag!.Contains(lift!));
        if (appLiftInfo == null) return default;
        return appLiftInfo.Tag?.Split(',')[1];
    }


}