using HslCommunication;
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using System;
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using System.Collections.Generic;
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using System.Text;
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using System.Threading;
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using WIDESEA_Common;
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using WIDESEA_Common.Tools;
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using WIDESEA_Core.Utilities;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_Services;
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using WIDESEA_Services.IRepositories;
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using WIDESEA_Services.Repositories;
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using WIDESEA_Services.Services;
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using WIDESEA_WCS.WCSClient;
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namespace WIDESEA_WCS.Jobs.ConveyorLine.InboundArea
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{
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public partial class InboundAreaDispatch
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{
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private static string MeasureStationNo = "10301";
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public static void MeasureStationAction(IDt_TaskWCSinfoRepository taskWCSinfoRepository, PLCClient client,string lineCode)
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{
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//读取设备正常
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try
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{
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//出库测量到达终点处理逻辑
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string rfidResult = client.ReadValue(CLineInfoDBName.R_Line_Barcode.ToString(), MeasureStationNo).ToString();
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//出库测量到达终点处理逻辑
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int taskResult = Int32.Parse(client.ReadValue(CLineInfoDBName.R_Line_TaskNumber.ToString(), MeasureStationNo).ToString());
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//机械手是否开始工作
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bool workingResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Catch_Moving.ToString(), "RobotArm").ToString());
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//读取轴承是否被机械手放回10301
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bool backResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Back_Normal.ToString(), "RobotArm").ToString());
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string str = string.Empty;
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//准备测量，出库测量到达目的地
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Dt_TaskWCSinfo taskWCSinfo = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == rfidResult && x.wcstask_state == TaskState.TaskState_Measure_Out_Line_Executing.ToString());
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if (null != taskWCSinfo)
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{
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WebResponseContent content = WMSApi.PostTaskStateToWMS(rfidResult, TaskState.TaskState_Measure_Out_Line_Finished.ToString());
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if (content.Status)
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{
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taskWCSinfo.wcstask_state = TaskState.TaskState_Measure_Out_Line_Finished.ToString();
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taskWCSinfo.wcstask_dispatcherTime = DateTime.Now;
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taskWCSinfoRepository.Update(taskWCSinfo, true);
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}
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}
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//测量完毕后，机械手把轴承放回该工位，准备走测量回库流程
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Dt_TaskWCSinfo back_TaskWCSinfo = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == rfidResult && x.wcstask_state == TaskState.TaskState_Measureing.ToString());
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if (null != back_TaskWCSinfo && backResult)
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{
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WebResponseContent content = WMSApi.PostTaskStateToWMS(rfidResult, TaskState.TaskState_Measure_Back_Line_Wait_Executing.ToString());
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if (content.Status)
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{
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//将任务类型改为回库中
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back_TaskWCSinfo.wcstask_type = TaskType.TaskType_Box_Pallet_Measure_Back.ToString();
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//将任务起始站台和目的站台对调，准备回库
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back_TaskWCSinfo.wcstask_endPoint = back_TaskWCSinfo.wcstask_startPoint;
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back_TaskWCSinfo.wcstask_startPoint = "10301";
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back_TaskWCSinfo.wcstask_endLocation = back_TaskWCSinfo.wcstask_startLocation;
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back_TaskWCSinfo.wcstask_startLocation = back_TaskWCSinfo.wcstask_endPoint;
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back_TaskWCSinfo.wcstask_state = TaskState.TaskState_Measure_Back_Line_Wait_Executing.ToString();
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back_TaskWCSinfo.wcstask_dispatcherTime = DateTime.Now;
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taskWCSinfoRepository.Update(back_TaskWCSinfo, true);
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}
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}
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//测量完毕
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Dt_TaskWCSinfo backMoving_TaskWCSinfo = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == rfidResult && (x.wcstask_state == TaskState.TaskState_Measure_Back_Line_Wait_Executing.ToString() ||
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x.wcstask_state == TaskState.TaskState_Measure_Back_Line_Executing.ToString()));
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if (null != backMoving_TaskWCSinfo)
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{
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//回库这里需要考虑冲突， 即穿梭车可能要放货到回库的目标地址，看是否有该类型已经开始
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//出库测量任务
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//起始站台为回库目的站台
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//已经开始
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//还没有到达托盘码校验位置
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Dt_TaskWCSinfo tmpMeasureOutTask = taskWCSinfoRepository.FindFirst(x =>
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x.wcstask_type == TaskType.TaskType_Box_Pallet_Measure_Out.ToString() &&
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x.wcstask_startPoint.Contains(backMoving_TaskWCSinfo.wcstask_endPoint) &&
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x.wcstask_state != TaskState.TaskState_Assigned.ToString() &&
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string.IsNullOrEmpty(x.wcstask_backUp_1));
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if (tmpMeasureOutTask != null)
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{
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Console.WriteLine($"当前有该站台：【{backMoving_TaskWCSinfo.wcstask_endPoint}】的出库测量任务正在进行，回库任务：【{backMoving_TaskWCSinfo.wcstask_taskNumber}】等待执行");
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return;
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}
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//string lineCode = "Measure_B";
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//读取逻辑控制值
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int logicValue = int.Parse(client.ReadValue(CLineInfoDBName.R_Line_Logic.ToString(), lineCode).ToString());
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//说明工位在等待调度，准备下发任务
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if (logicValue == 1 || logicValue == 2)
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{
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WriteTaskInfo.WriteTaskInfoAction(backMoving_TaskWCSinfo, client, lineCode);
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}
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else if (logicValue == 3) //说明站台已经收到任务数据，等待WCS的启动指令
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{
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client.WriteValue(CLineInfoDBName.W_Line_Logic.ToString(), lineCode, 1);//启动任务
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}
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else if (logicValue == 4 || logicValue == 5)
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{
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if (backMoving_TaskWCSinfo.wcstask_state == TaskState.TaskState_Measure_Back_Line_Executing.ToString())
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return;
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//启动成功后，在此更新任务状态、上报WMS任务状态
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WebResponseContent content1 = WMSApi.PostTaskStateToWMS(backMoving_TaskWCSinfo.wcstask_barcode, TaskState.TaskState_Measure_Back_Line_Executing.ToString());
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if (content1.Status)
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{
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backMoving_TaskWCSinfo.wcstask_state = TaskState.TaskState_Measure_Back_Line_Executing.ToString();
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backMoving_TaskWCSinfo.wcstask_dispatcherTime = DateTime.Now;
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taskWCSinfoRepository.Update(backMoving_TaskWCSinfo, true);
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}
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}
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}
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//说明机械手在抓取轴承到测量设备，在此修改任务状态为：正在测量中
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if (workingResult)
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{
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Dt_TaskWCSinfo executingTask = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == rfidResult && x.wcstask_state == TaskState.TaskState_Measure_Out_Line_Finished.ToString());
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if (null != executingTask)
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{
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WebResponseContent content = WMSApi.PostTaskStateToWMS(rfidResult, TaskState.TaskState_Measureing.ToString());
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if (content.Status)
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{
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executingTask.wcstask_state = TaskState.TaskState_Measureing.ToString();
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executingTask.wcstask_dispatcherTime = DateTime.Now;
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taskWCSinfoRepository.Update(executingTask, true);
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}
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}
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}
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/***********************************************/
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/*****************机械手逻辑********************/
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/***********************************************/
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//查看机械手是否待测量等待状态
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bool robotReadyResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Ready.ToString(), "RobotArm").ToString());
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if (robotReadyResult)
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{
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//通知机械手抓取轴承
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Dt_TaskWCSinfo _taskWCSinfo = taskWCSinfoRepository.FindFirst(x => x.wcstask_barcode == rfidResult && x.wcstask_state == TaskState.TaskState_Measure_Out_Line_Finished.ToString());
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if (_taskWCSinfo != null)
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{
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//查看机械手是否已经启动
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bool robotWorkResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Working.ToString(), "RobotArm").ToString());
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if (!robotWorkResult)//说明机械手还没启动，发送启动指令
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client.WriteValue(CLineInfoDBName.W_RobotArm_Catch.ToString(), true);
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}
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}
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//机械手已启动
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bool flag = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Working.ToString(), "RobotArm").ToString());
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if (flag)
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client.WriteValue(CLineInfoDBName.W_RobotArm_Catch.ToString(), false);
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//查看机械手是否已经启动
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//bool _robotWorkResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_RobotArm_Catch_Moving.ToString(), "RobotArm").ToString());
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//if (_robotWorkResult)//启动成功后，置位机械手启动信号为 false
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// client.WriteValue(CLineInfoDBName.W_RobotArm_Catch.ToString(), false);
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}
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catch (Exception ex)
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{
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WriteLog.Info(MeasureStationNo).Write($"{ DateTime.Now }测量站台调度失败:{ex.Message}", MeasureStationNo);
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}
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}
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}
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}
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