using System;
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using System.Collections.Generic;
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using System.Text;
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using WIDESEA_WCS.WCSClient;
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using WIDESEA_Entity.DomainModels;
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using WIDESEA_Services.Repositories;
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using System.Linq;
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using System.Threading;
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using WIDESEA_Core.Utilities;
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using System.Diagnostics;
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using Quartz.Impl;
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using WIDESEA_Common.CutomerModel;
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using WIDESEA_Common;
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using WIDESEA_Services.IRepositories;
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using HslCommunication.WebSocket;
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using HslCommunication;
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using WIDESEA_Services;
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using WIDESEA_Common.TaskEnum;
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using WIDESEA_Core.EFDbContext;
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using WIDESEA_Common.LogEnum;
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using WIDESEA_Services.Services;
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using WIDESEA_Core.Services;
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using WIDESEA_Core.Enums;
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namespace WIDESEA_WCS
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{
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public class WCSService
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{
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/// <summary>
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/// PLC连接集合
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/// </summary>
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public static List<PLCClient> Clients;
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/// <summary>
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/// 调度中心
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/// </summary>
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public static ISchedulerCenterServer Scheduler;
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/// <summary>
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/// Job集合
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/// </summary>
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public static List<JobOptions> jobs = new List<JobOptions>();
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//WebServices推送监控数据
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public static WebSocketServer webServer = new WebSocketServer();
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/// <summary>
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/// 用来监控组盘工位的托盘RFID值
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/// </summary>
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public static string RfidValue = "";
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/// <summary>
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/// 当一个测量出库的任务穿梭车部分完成后，用此变量记录下该条任务的任务号
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/// </summary>
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public static string MeasureTaskNumber = "";
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//在入库工位处获取托盘码码，然后PDA定时获取，用于组盘，但是入库工位没有RFID读码器了，该函数暂时没用
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public static WebResponseContent GetBoxingRfidValue()
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{
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RfidValue = "121212";
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WebResponseContent content = new WebResponseContent();
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content.OK(data: RfidValue);
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return content;
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}
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/// <summary>
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/// 切换入库线体区的模式，正常模式和应急模式
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/// </summary>
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/// <param name="saveModel"></param>
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/// <returns></returns>
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public static WebResponseContent ChangeInboundLineModel(SaveModel saveModel)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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string modelValue = saveModel.MainData["model"].ToString();
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PLCClient client = Clients.Find(r => r.PLCName == "LineDevice");
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if (client.IsConnected)
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{
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int modelResult = int.Parse(client.ReadValue(CLineInfoDBName.R_System_Inline_Run_Model.ToString(), "System").ToString());
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if (modelResult != 3)
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return content.Error("当前非联机模式，不能切换模式.");
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if (modelValue == "normal")
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{
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bool writeModelResult = client.WriteValue(CLineInfoDBName.W_System_Normal_Model.ToString(), 1);
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bool writeModelResult1 = client.WriteValue(CLineInfoDBName.W_System_Emery_Model.ToString(), 0);
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if (!writeModelResult || !writeModelResult1)
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{
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content.Error("切换到正常模式失败");
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}
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else
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{
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Thread.Sleep(666);
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for (int i = 0; i < 5; i++)
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{
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bool logicResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_System_Normal_Model.ToString(), "System").ToString());
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if (logicResult)
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return content.OK("切换到正常模式成功");
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else
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Thread.Sleep(88);
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}
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return content.Error("当前线体切换到正常模式失败");
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}
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}
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else if (modelValue == "emerge")
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{
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bool writeModelResult = client.WriteValue(CLineInfoDBName.W_System_Emery_Model.ToString(), 1);
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bool writeModelResult1 = client.WriteValue(CLineInfoDBName.W_System_Normal_Model.ToString(), 0);
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if (!writeModelResult || !writeModelResult1)
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content.Error("切换到应急模式失败");
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else
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{
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Thread.Sleep(666);
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for (int i = 0; i < 5; i++)
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{
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bool logicResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_System_Emery_Model.ToString(), "System").ToString());
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if (logicResult)
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return content.OK("切换到应急模式成功");
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else
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Thread.Sleep(88);
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}
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return content.Error("当前线体切换到应急模式失败");
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//bool logicResult = bool.Parse(client.ReadValue(CLineInfoDBName.R_System_Emery_Model.ToString(), "System").ToString());
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////bool leftState = bool.Parse(client.ReadValue(CLineInfoDBName.R_System_LeftState.ToString(), "System").ToString());
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////bool rightState = bool.Parse(client.ReadValue(CLineInfoDBName.R_System_RightState.ToString(), "System").ToString());
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//if (logicResult)
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//{
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// content.OK("切换到应急模式成功");
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//}
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//else
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// content.Error("当前线体不允许切换到应急模式");
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}
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}
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}
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else
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{
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content.Error("当前与PLC断开连接，请检查网络");
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}
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return content;
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}
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catch (Exception ex)
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{
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 获取入库线体当前模式状态
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/// </summary>
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/// <param name="saveModel"></param>
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/// <returns></returns>
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public static WebResponseContent GetInboundLineCurrentModel(SaveModel saveModel)
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{
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WebResponseContent content = new WebResponseContent();
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Dictionary<string, string> resultDic = new Dictionary<string, string>();
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try
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{
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PLCClient client = Clients.Find(r => r.PLCName == "LineDevice");
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if (client.IsConnected)
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{
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bool modelResult1 = bool.Parse(client.ReadValue(CLineInfoDBName.R_System_Normal_Model.ToString(), "System").ToString());
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if (modelResult1)
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resultDic.Add("normal", "1");
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else
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resultDic.Add("normal", "0");
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Thread.Sleep(300);
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modelResult1 = bool.Parse(client.ReadValue(CLineInfoDBName.R_System_Emery_Model.ToString(), "System").ToString());
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if (modelResult1)
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{
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resultDic.Add("emerge", "1");
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//false是未停用
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bool leftState = bool.Parse(client.ReadValue(CLineInfoDBName.R_System_LeftState.ToString(), "System").ToString());
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if (!leftState)
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{
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resultDic.Add("hoisterState", "left");
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}
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else
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{
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bool rightState = bool.Parse(client.ReadValue(CLineInfoDBName.R_System_RightState.ToString(), "System").ToString());
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if (!rightState)
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resultDic.Add("hoisterState", "right");
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else
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resultDic.Add("hoisterState", "empty");
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}
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}
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else
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{
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resultDic.Add("emerge", "0");
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resultDic.Add("hoisterState", "empty");
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}
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Thread.Sleep(300);
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int val = int.Parse(client.ReadValue(CLineInfoDBName.R_System_Inline_Run_Model.ToString(), "System").ToString());
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if (val == 1)
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resultDic.Add("controlModel", "手动控制");
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else if (val == 2)
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resultDic.Add("controlModel", "单机控制");
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else if (val == 3)
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resultDic.Add("controlModel", "联机控制");
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else
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resultDic.Add("controlModel", "未知状态");
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}
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else
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{
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content.Error("当前与PLC断开连接，请检查网络");
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}
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content.OK(data: resultDic);
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}
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catch (Exception ex)
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{
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 当校验托盘码不一致时，人工触发继续任务
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/// </summary>
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/// <param name="saveModel"></param>
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/// <returns></returns>
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public static WebResponseContent CheckBarcodeSameOk(SaveModel saveModel)
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{
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WebResponseContent content = new WebResponseContent();
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Dictionary<string, string> resultDic = new Dictionary<string, string>();
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try
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{
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PLCClient client = Clients.Find(r => r.PLCName == "LineDevice");
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if (client.IsConnected)
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{
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string taskNumber = saveModel.MainData["taskNumber"].ToString();
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string station = saveModel.MainData["station"].ToString();
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string barcode = saveModel.MainData["systemRFID"].ToString();
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if (string.IsNullOrEmpty(taskNumber) || string.IsNullOrEmpty(station) || string.IsNullOrEmpty(barcode))
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{
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content.Error("当前无需操作！");
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return content;
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}
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Dt_TaskWCSinfo inWcsInfo = Dt_TaskWCSinfoRepository.Instance.FindFirst(x =>
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x.wcstask_taskNumber == int.Parse(taskNumber) &&
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x.wcstask_barcode == barcode);
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if (inWcsInfo != null)
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{
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bool goOn = client.WriteValue(CLineInfoDBName.W_Line_RFID_Done.ToString(), station, 1);
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if (goOn)
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{
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content.OK();
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}
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else
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{
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content.Error("给PLC下发继续任务指令失败，请重试");
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}
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}
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else
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{
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content.Error($"系统检测没有检测到该工位:【{station}】对应的任务");
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}
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}
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else
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{
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content.Error("当前与PLC断开连接，请检查网络");
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}
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}
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catch (Exception ex)
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{
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// 称重后，由人工继续任务
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/// </summary>
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/// <param name="saveModel"></param>
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/// <returns></returns>
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public static WebResponseContent WeightCheckOk(SaveModel saveModel)
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{
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WebResponseContent content = new WebResponseContent();
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Dictionary<string, string> resultDic = new Dictionary<string, string>();
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try
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{
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PLCClient client = Clients.Find(r => r.PLCName == "LineDevice");
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if (client.IsConnected)
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{
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string barcode = saveModel.MainData["barcode"].ToString();
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if (string.IsNullOrEmpty(barcode))
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{
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content.Error("当前无需操作！");
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return content;
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}
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Dt_TaskWCSinfo inWcsInfo = Dt_TaskWCSinfoRepository.Instance.FindFirst(x =>
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(x.wcstask_type == TaskType.TaskType_Empty_Pallet_Inbound.ToString() ||
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x.wcstask_type == TaskType.TaskType_Box_Pallet_Inbound.ToString()) &&
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x.wcstask_state == TaskState.TaskState_ConveyorLineExecuting.ToString() &&
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x.wcstask_barcode == barcode);
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if (inWcsInfo != null)
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{
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bool goOn = client.WriteValue(CLineInfoDBName.W_Line_Weight_OK.ToString(), "20201", 1);
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if (goOn)
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{
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content.OK();
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}
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else
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{
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content.Error("给PLC下发继续任务指令失败，请重试");
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}
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}
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else
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{
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content.Error($"系统检测没有检测到该工位:【20201】对应的任务");
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}
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}
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else
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{
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content.Error("当前与PLC断开连接，请检查网络");
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}
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}
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catch (Exception ex)
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{
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content.Error(ex.Message);
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}
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return content;
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}
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/// <summary>
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/// WCS接收RGV上报的任务状态
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/// </summary>
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/// <param name="taskModel">任务信息</param>
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/// <returns></returns>
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public static Dictionary<string, object> WCSReceiveRGVData(Dictionary<string, object> statusData)
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{
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WebResponseContent content = new WebResponseContent();
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Dictionary<string, object> resultDic = new Dictionary<string, object>();
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try
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{
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//任务编号
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string taskId = statusData["taskId"]?.ToString();
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//小车编号
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string rgvId = statusData["rgvId"]?.ToString();
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//任务状态
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int taskStatus = int.Parse(statusData["status"].ToString());
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LogRecord.WriteLog(LogEnum.RGV, $"接受到RGV上报的任务状态：任务号：{taskId}，小车编号：{rgvId}，任务状态：{taskStatus}");
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DateTime now = DateTime.Now;
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//在此根据上报的任务号，更新任务状态以及任务完成后的相关操作
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Dt_TaskRGVinfo taskRGVinfo = Dt_TaskRGVinfoRepository.Instance.FindFirst(x => x.rgvtask_taskId == taskId);
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if (taskRGVinfo == null)
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{
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resultDic.Add("Code", "0");
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resultDic.Add("Message", "成功");
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resultDic.Add("data ", null);
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}
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else
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{
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Dt_TaskWCSinfo taskWCSinfo = Dt_TaskWCSinfoRepository.Instance.FindFirst(x => x.wcstask_taskNumber == taskRGVinfo.rgvtask_wcsTaskNumber);
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if (taskWCSinfo != null)
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{
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//RGV上报对应的任务正常完成
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if (taskStatus == 1)
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{
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taskRGVinfo.rgvtask_backup_1 = rgvId;
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content = CommonFunction.FinishedRgvTask(taskRGVinfo, rgvId);
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if (content.Status)
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{
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if (taskRGVinfo.rgvtask_areaCode == "OutboundArea")
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{
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PLCClient client = WCSService.Clients.Find(r => r.PLCName == "LineDevice");
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//写入AGV执行完成
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Jobs.ConveyorLine.OutboundArea.OutboundAreaDispatch.WriteRGVState(client, true);
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}
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content.OK("RGV上报完成穿梭车任务成功");
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}
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else
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content.Error($"RGV上报完成穿梭车任务出错:" + content.Message);
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}//取放货完成
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else if (taskStatus == 2)
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{
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taskRGVinfo.rgvtask_backup_2 = "2";
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Dt_TaskRGVinfoRepository.Instance.Update(taskRGVinfo, r => r.rgvtask_backup_2, true);
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content.OK("RGV上报取放货完成成功");
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}
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else
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content.Error($"RGV上报了任务状态，但是状态不是1，表示非正常完成");
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}
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else
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{
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CommonFunction.AddRgvTaskToHistory(taskRGVinfo, Dt_TaskRGVinfoRepository.Instance, Dt_TaskRGVinfo_HtyRepository.Instance);
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content.OK($"RGV上报了任务状态，但是在WCS任务表中没有找到对应的任务，任务号：【{taskId}】");
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}
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if (content.Status)
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{
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resultDic.Add("Code", "0");
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resultDic.Add("Message", "成功");
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resultDic.Add("data ", null);
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}
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else
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{
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resultDic.Add("Code", "-1");
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resultDic.Add("Message", "失败");
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resultDic.Add("data ", content.Message);
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}
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DateTime end = DateTime.Now;
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// Console.Out.WriteLine($"状态:{taskStatus}耗时:{end - now}");
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}
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}
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catch (Exception ex)
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{
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resultDic.Add("Code", "-1");
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resultDic.Add("Message", "失败");
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resultDic.Add("data ", ex.Message);
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}
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//Logger.AddLog(LoggerType.RGVUpload, statusData, resultDic, content);
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return resultDic;
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}
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/// <summary>
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/// WCS查询提升机状态信息
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/// </summary>
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/// <param name="taskModel">任务信息</param>
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/// <returns></returns>
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public static Dictionary<string, object> GetElevatorInfo()
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{
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Dictionary<string, object> resultDic = new Dictionary<string, object>();
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try
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{
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//提升机层
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PLCClient client = WCSService.Clients.Find(r => r.PLCName == "LineDevice");
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string hoisterLayer = client.ReadValue(CLineInfoDBName.R_Line_Layer.ToString(), "90100").ToString();
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resultDic.Add("code", "1");
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resultDic.Add("layer", hoisterLayer);
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resultDic.Add("status ", "提升机当前状态");
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//Console.Out.WriteLine(DateTime.Now + "提升机当前状态" + hoisterLayer);
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}
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catch (Exception ex)
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{
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resultDic.Add("code", "0");
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resultDic.Add("layer", "-1");
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resultDic.Add("status ", "获取提升机状态失败" + ex.Message);
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}
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return resultDic;
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}
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}
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}
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