wcs_server_s7_baoying/WcsMain/Business/CirculationTask/Stacker/ExecuteWcsTask.cs

using CirculateTool;
using WcsMain.Business.CommonAction;
using WcsMain.Common;
using WcsMain.DataBase.Dao;
using WcsMain.DataBase.TableEntity;
using WcsMain.Enum.Stacker;
using WcsMain.Enum.TaskEnum;
using WcsMain.EquipOperation.Entity.Stacker;
using WcsMain.EquipOperation.Entity.StackerConvey;
using WcsMain.EquipOperation.Stacker;
using WcsMain.EquipOperation.StackerConvey;
using WcsMain.ExtendMethod;

namespace WcsMain.Business.CirculationTask.Stacker;

/// <summary>
/// 执行堆垛机任务类
/// </summary>
[Circulation(tags: ["stacker"])]
public class ExecuteWcsTask(StackerOperation stackerOperation, AppWcsTaskDao wcsTaskDao, WCSTaskExecuteEvent wcsTaskEvent, StackerConveyOperation stackerConveyOperation)
{
    private readonly WCSTaskExecuteEvent _wcsTaskEvent = wcsTaskEvent;
    private readonly AppWcsTaskDao _wcsTaskDao = wcsTaskDao;
    private readonly StackerOperation _stackerOperation = stackerOperation;
    private readonly StackerConveyOperation _stackerConveyOperation = stackerConveyOperation;

    /// <summary>
    /// 执行堆垛机任务
    /// </summary>
    /// <returns></returns>
    [Circulation("执行堆垛机任务")]
    public bool ExecuteStackerTask()
    {
        foreach (var stacker in CommonData.AppStackers.Open())
        {

            var stackerUseStatus = _stackerOperation.StackerCanUse(stacker.StackerId, out int _, out int _);
            if (stackerUseStatus == StackerUseStatusEnum.Free)
            {
                /* 空闲时正常执行任务 */
                // 入库
                if (!CommonData.AppConfig.ExcuteStackerInTaskWithScan.ToBool()) // 不是扫码入库
                {
                    bool exeInTask = ExecuteInTask(stacker.StackerId);
                    if (exeInTask) continue;
                }
                // 出库
                bool exeOutTask = ExecuteOutTask(stacker.StackerId);
                if (exeOutTask) continue;
                // 拣选
                //bool exePickTask = ExecutePickTask(stacker.StackerId);
                //if (exePickTask) continue;
                // 移库
                bool exeMoveTask = ExecuteMoveTask(stacker.StackerId);
                if (exeMoveTask) continue;
            }
            //if (stackerUseStatus == StackerUseStatusEnum.waitTask)
            //{
            //    /* 重复入库时执行任务 */
            //    bool exeDoubleInTask = ExecuteDoubleInTask(stacker.StackerId, plcId);
            //    if (exeDoubleInTask) continue;
            //}
        }
        return true;
    }


    /// <summary>
    /// 执行堆垛机入库任务，若执行了任务则返回 true
    /// </summary>
    /// <param name="stackerId"></param>
    /// <returns></returns>
    private bool ExecuteInTask(int? stackerId)
    {
        if (stackerId == default) return false;
        var wcsTasks = _wcsTaskDao.SelectInTaskWithStacker((int)stackerId!); // 此处方法内已经判断状态
        if (wcsTasks == default)
        {
            ConsoleLog.Error($"【异常】{stackerId} 号输送机入库任务查询失败，与数据库连接异常");
            Thread.Sleep(5000);
            return false;
        }
        if (wcsTasks.Count == 0) return false;
        var wcsTask = wcsTasks[0]; // 取第一条任务
        /* 校验入库站台是否可以取货 */
        (bool isSuccess, uint value) = _stackerConveyOperation.ReadSenserStatus(wcsTask.Origin);
        //if (!isSuccess || value == 0) return false; //站台不允许取货
        // TODO
        /* 检验并返回起点终点信息 */
        var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
        var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
        if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
        {
            // 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
            ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
            _wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
            return false;
        }
        StackerConveyPlcTask conveyTask = new()
        {
            //StackerId = stackerId,
            StackerConveyId = wcsTask.Origin,
            PlcId = wcsTask.PlcId,
            TaskType = Convert.ToInt16(wcsTask.TaskType),
            GetStand = wcsTask.Origin == "111" ? (short)111 : (short)106,
            InTunnelId = Convert.ToInt16(destinationLocationInfo.TunnelNo),
            OutTunnelId = Convert.ToInt16(destinationLocationInfo.TunnelNo),
            SetStand = 0,
            GetQueue = 1,
            GetLine = 1,
            GetLayer = 1,
            GetDeep = 1,
            SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
            SetLine = Convert.ToInt16(destinationLocationInfo.Line),
            SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
            SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
            Size = Convert.ToInt16(wcsTask.VehicleSize),
            Weight = Convert.ToInt16(wcsTask.Weight),
            Code = wcsTask.PlcVehicleNo ?? 0,
        };
        // 调用输送机操作类的方法，将任务写入输送机，获取写入任务的错误信息
        var writeStackerTaskErrText = _stackerConveyOperation.WriteTask(conveyTask);
        if (string.IsNullOrEmpty(writeStackerTaskErrText))
        {
            ConsoleLog.Success($"输送机：{stackerId} 写入入库任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
            _wcsTaskEvent.StartTaskEvent(wcsTask);
            return true;
        }
        else
        {
            ConsoleLog.Warning($"【警告】输送机：{stackerId} 写入入库任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
            _wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
        }
        return false;
    }

    /// <summary>
    /// 执行堆垛机出库任务，若执行了任务则返回 true
    /// </summary>
    /// <param name="stackerId"></param>
    /// <returns></returns>
    public bool ExecuteOutTask(int? stackerId)
    {
        if (stackerId == default) return false;
        var wcsTasks = _wcsTaskDao.SelectOutTaskWithStacker((int)stackerId!);
        if (wcsTasks == default)
        {
            ConsoleLog.Error($"【异常】{stackerId} 号堆垛机出库任务查询失败，与数据库连接异常");
            Thread.Sleep(5000);
            return false;
        }
        if (wcsTasks.Count == 0) return false;
        var wcsTask = wcsTasks[0]; // 取第一条任务
        /* 校验出库站台是否可以卸货 */
        // TODO
        /* 检验并返回起点终点信息 */
        var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin); 
        var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
        if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
        {
            // 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
            ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
            _wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
            return false;
        }
        StackerPlcTask stackerTask = new()
        {
            StackerId = stackerId,
            PlcId = wcsTask.PlcId,
            TaskType = Convert.ToInt16(wcsTask.TaskType),
            GetStand = 0,
            InTunnelId = Convert.ToInt16(destinationLocationInfo.TunnelNo),
            OutTunnelId = Convert.ToInt16(destinationLocationInfo.TunnelNo),
            SetStand = Convert.ToInt16(wcsTask.Destination),
            GetQueue = Convert.ToInt16(originLocationInfo.Queue),
            GetLine = Convert.ToInt16(originLocationInfo.Line),
            GetLayer = Convert.ToInt16(originLocationInfo.Layer),
            GetDeep = Convert.ToInt16(originLocationInfo.Depth),
            SetQueue = 2,
            SetLine = 1,
            SetLayer = 1,
            SetDeep = 1,
            Size = Convert.ToInt16(wcsTask.VehicleSize),
            Weight = Convert.ToInt16(wcsTask.Weight),
            Code = wcsTask.PlcVehicleNo ?? 0,
        };
        var writeStackerTaskErrText = _stackerOperation.WriteTask(stackerTask);
        if (string.IsNullOrEmpty(writeStackerTaskErrText))
        {
            ConsoleLog.Success($"堆垛机：{stackerId} 写入出库任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
            _wcsTaskEvent.StartTaskEvent(wcsTask);
            return true;
        }
        else
        {
            ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入出库任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
            _wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
        }
        return false;

    }

    /// <summary>
    /// 执行堆垛机拣选任务，若执行了任务则返回 true
    /// </summary>
    /// <param name="stackerId"></param>
    /// <returns></returns>
    public bool ExecutePickTask(int? stackerId)
    {
        if (stackerId == default) return false;
        var wcsTasks = _wcsTaskDao.SelectPickOutTaskWithStacker((int)stackerId!);
        if (wcsTasks == default)
        {
            ConsoleLog.Error($"【异常】{stackerId} 号堆垛机拣选任务查询失败，与数据库连接异常");
            Thread.Sleep(5000);
            return false;
        }
        if (wcsTasks.Count == 0) return false;
        var wcsTask = wcsTasks[0]; // 取第一条任务
        /* 校验出库站台是否可以卸货 */
        // TODO
        /* 检验并返回起点终点信息 */
        var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
        var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
        if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
        {
            // 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
            ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
            _wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
            return false;
        }
        StackerPlcTask stackerTask = new()
        {
            StackerId = stackerId,
            PlcId = wcsTask.PlcId,
            TaskType = Convert.ToInt16(wcsTask.TaskType),
            GetStand = 0,
            InTunnelId = Convert.ToInt16(destinationLocationInfo.TunnelNo),
            OutTunnelId = Convert.ToInt16(destinationLocationInfo.TunnelNo),
            SetStand = 0,
            GetQueue = Convert.ToInt16(originLocationInfo.Queue),
            GetLine = Convert.ToInt16(originLocationInfo.Line),
            GetLayer = Convert.ToInt16(originLocationInfo.Layer),
            GetDeep = Convert.ToInt16(originLocationInfo.Depth),
            SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
            SetLine = Convert.ToInt16(destinationLocationInfo.Line),
            SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
            SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
            Size = Convert.ToInt16(wcsTask.VehicleSize),
            Weight = Convert.ToInt16(wcsTask.Weight),
            Code = wcsTask.PlcVehicleNo ?? 0,
        };
        var writeStackerTaskErrText = _stackerOperation.WriteTask(stackerTask);
        if (string.IsNullOrEmpty(writeStackerTaskErrText))
        {
            ConsoleLog.Success($"堆垛机：{stackerId} 写入拣选任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
            _wcsTaskEvent.StartTaskEvent(wcsTask);
            return true;
        }
        else
        {
            ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入拣选任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
            _wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
        }
        return false;

    }

    /// <summary>
    /// 执行堆垛机移库任务，若执行了任务则返回 true
    /// </summary>
    /// <param name="stackerId"></param>
    /// <returns></returns>
    public bool ExecuteMoveTask(int? stackerId)
    {
        if (stackerId == default) return false;
        var wcsTasks = _wcsTaskDao.SelectMoveTaskWithStacker((int)stackerId!);
        if (wcsTasks == default)
        {
            ConsoleLog.Error($"【异常】{stackerId} 号堆垛机移库任务查询失败，与数据库连接异常");
            Thread.Sleep(5000);
            return false;
        }
        if (wcsTasks.Count == 0) return false;
        var wcsTask = wcsTasks[0]; // 取第一条任务
        /* 检验并返回起点终点信息 */
        var originLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Origin);
        var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(wcsTask.Destination);
        if (destinationLocationInfo == default || originLocationInfo == default) // 起点终点错误，直接标记错误
        {
            // 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
            ConsoleLog.Warning($"【警告】任务号：{wcsTask.TaskId}，Plc任务号：{wcsTask.PlcId} 无法执行，起点或者终点存在异常");
            _wcsTaskEvent.ErrTaskEvent(wcsTask, $"起点或者终点存在异常");
            return false;
        }
        StackerPlcTask stackerTask = new()
        {
            StackerId = stackerId,
            PlcId = wcsTask.PlcId,
            TaskType = Convert.ToInt16(wcsTask.TaskType),
            GetStand = 0,
            InTunnelId = Convert.ToInt16(destinationLocationInfo.TunnelNo),
            OutTunnelId = Convert.ToInt16(destinationLocationInfo.TunnelNo),
            SetStand = 0,
            GetQueue = Convert.ToInt16(originLocationInfo.Queue),
            GetLine = Convert.ToInt16(originLocationInfo.Line),
            GetLayer = Convert.ToInt16(originLocationInfo.Layer),
            GetDeep = Convert.ToInt16(originLocationInfo.Depth),
            SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
            SetLine = Convert.ToInt16(destinationLocationInfo.Line),
            SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
            SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
            Size = Convert.ToInt16(wcsTask.VehicleSize),
            Weight = Convert.ToInt16(wcsTask.Weight),
            Code = wcsTask.PlcVehicleNo ?? 0,
        };
        var writeStackerTaskErrText = _stackerOperation.WriteTask(stackerTask);
        if (string.IsNullOrEmpty(writeStackerTaskErrText))
        {
            ConsoleLog.Success($"堆垛机：{stackerId} 写入移库任务成功，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}");
            _wcsTaskEvent.StartTaskEvent(wcsTask);
            return true;
        }
        else
        {
            ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入移库任务失败，箱号：{wcsTask.VehicleNo}，PlcId：{wcsTask.PlcId}；{wcsTask.Origin} => {wcsTask.Destination}，异常信息：{writeStackerTaskErrText}");
            _wcsTaskEvent.ErrTaskEvent(wcsTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
        }
        return false;

    }

    /// <summary>
    /// 执行重复入库新任务，若执行了返回true
    /// </summary>
    /// <param name="stackerId"></param>
    /// <param name="plcId"></param>
    /// <returns></returns>
    public bool ExecuteDoubleInTask(int? stackerId, int plcId)
    {
        if (stackerId == default || plcId == 0) return false;
        /* 查找这个PlcId对应的wms任务 */
        List<AppWcsTask>? doubleInTasks = _wcsTaskDao.Select(new AppWcsTask { PlcId = plcId });
        if (doubleInTasks == default)
        {
            ConsoleLog.Error($"【异常】{stackerId} 号堆垛机重复入库任务检验失败，与数据库连接异常");
            Thread.Sleep(5000);
            return false;
        }
        if (doubleInTasks.Count == 0) return false; // 找不到对应的PlcId的任务
        var doubleTask = doubleInTasks[0];
        /* 查找这个任务的新任务 */
        List<AppWcsTask>? newTasks = _wcsTaskDao.Select(new AppWcsTask { TaskId = doubleTask.TaskId, TaskType = (int)TaskTypeEnum.newTaskForDoubleIn, TaskStatus = (int)WmsTaskStatusEnum.create });
        if (newTasks == default)
        {
            ConsoleLog.Error($"【异常】{stackerId} 号堆垛机重复入库任务新任务查询失败，与数据库连接异常");
            Thread.Sleep(5000);
            return false;
        }
        if (newTasks.Count == 0) return false;
        var newTask = newTasks[0];
        var destinationLocationInfo = CommonData.AppLocations.DetailWithWcsLocation(newTask.Destination);
        if (destinationLocationInfo == default) // 终点错误，直接标记错误
        {
            // 已经在接口内做了检查，按道理此处不会出错。直接返回异常，任务直接取消
            ConsoleLog.Warning($"【警告】任务号：{newTask.TaskId}，Plc任务号：{newTask.PlcId} 无法执行，新终点存在异常");
            _wcsTaskEvent.ErrTaskEvent(newTask, $"新终点存在异常");
            return false;
        }
        StackerPlcTask stackerTask = new()
        {
            StackerId = stackerId,
            PlcId = newTask.PlcId,
            TaskType = Convert.ToInt16(TaskTypeEnum.inTask),
            GetStand = 0,
            InTunnelId = Convert.ToInt16(stackerId),
            OutTunnelId = Convert.ToInt16(stackerId),
            SetStand = 0,
            GetQueue = 0,
            GetLine = 0,
            GetLayer = 0,
            GetDeep = 0,
            SetQueue = Convert.ToInt16(destinationLocationInfo.Queue),
            SetLine = Convert.ToInt16(destinationLocationInfo.Line),
            SetLayer = Convert.ToInt16(destinationLocationInfo.Layer),
            SetDeep = Convert.ToInt16(destinationLocationInfo.Depth),
            Size = Convert.ToInt16(newTask.VehicleSize),
            Weight = Convert.ToInt16(newTask.Weight),
            Code = newTask.PlcVehicleNo ?? 0,
        };
        var writeStackerTaskErrText = _stackerOperation.WriteTask(stackerTask);
        if (string.IsNullOrEmpty(writeStackerTaskErrText))
        {
            ConsoleLog.Success($"堆垛机：{stackerId} 写入重复入库新任务成功，箱号：{newTask.VehicleNo}，PlcId：{newTask.PlcId}；新目的地：{newTask.Destination}");
            _wcsTaskEvent.StartTaskEvent(newTask);
            return true;
        }
        else
        {
            ConsoleLog.Warning($"【警告】堆垛机：{stackerId} 写入重复入库新任务失败，箱号：{newTask.VehicleNo}，PlcId：{newTask.PlcId}；新目的地：{newTask.Destination}，异常信息：{writeStackerTaskErrText}");
            _wcsTaskEvent.ErrTaskEvent(newTask, $"写入任务失败，异常信息：{writeStackerTaskErrText}");
        }
        return false;
    }

}