using HslCommunication;
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using System.ComponentModel;
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using System.Reflection;
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using WIDESEAWCS_Communicator;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob.StackerCrane;
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using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
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namespace WIDESEAWCS_Tasks.StackerCraneJob
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{
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public class GetStackerObject
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{
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private SpeStackerCrane _speStackerCrane;
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public GetStackerObject(SpeStackerCrane speStackerCrane)
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{
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_speStackerCrane = speStackerCrane;
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}
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/// <summary>
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/// 设备状态（有无货状态）
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/// </summary>
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/// <param name="speStackerCrane"></param>
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/// <returns></returns>
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public RgvEquipmentStatus RgvCraneStatusValue => GetRgvCraneStatus();
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/// <summary>
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/// 工作模式（1联机 0脱机）
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/// </summary>
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/// <param name="speStackerCrane"></param>
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/// <returns></returns>
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public RgvCraneAutoStatus RgvCraneAutoStatusValue => GetRgvCraneAutoStatus();
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/// <summary>
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/// 任务状态（0空闲、1执行中、2已完成、3异常完成）
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/// </summary>
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/// <param name="speStackerCrane"></param>
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/// <returns></returns>
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public RgvJobCraneStatus StaclerkJobJobStatusValue => GetRgvJobCraneWorkStatus();
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/// <summary>
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/// 步进状态（0无动作、1取货行走、2取货、3放货行走、4放货、5仅行走中）
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/// </summary>
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/// <param name="speStackerCrane"></param>
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/// <returns></returns>
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public RGVStepprocess RgvCraneWorkStatusValue => GetRgvCraneWorkStatus();
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/// <summary>
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/// 当前，子母车的地址
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/// </summary>
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public int RGVCurrentlocation => GetRGVCurrentlocation();
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/// <summary>
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/// 当前rgv任务
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/// </summary>
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public int CurrentRgvtaskid => GetCurrentRgvtaskid();
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/// <summary>
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/// 当前兰剑任务
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/// </summary>
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public int CurrentLanjiantaskid => GetLanjiantaskid();
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/// <summary>
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/// 获取RGV设备状态
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/// </summary>
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/// <returns></returns>
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private RgvEquipmentStatus GetRgvCraneStatus()
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{
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return Enum.Parse<RgvEquipmentStatus>(GetStatus(nameof(RgvEquipmentStatus)));
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}
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/// <summary>
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/// 获取rgv手自动状态
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/// </summary>
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/// <returns></returns>
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private RgvCraneAutoStatus GetRgvCraneAutoStatus()
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{
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return Enum.Parse<RgvCraneAutoStatus>(GetStatus(nameof(RgvCraneAutoStatus)));
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}
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/// <summary>
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/// 获取rgv工作状态
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/// </summary>
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/// <returns></returns>
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private RGVStepprocess GetRgvCraneWorkStatus()
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{
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return Enum.Parse<RGVStepprocess>(GetStatus(nameof(RGVStepprocess)));
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}
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/// <summary>
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/// 获取rgv作业状态
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/// </summary>
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/// <returns></returns>
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private RgvJobCraneStatus GetRgvJobCraneWorkStatus()
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{
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return Enum.Parse<RgvJobCraneStatus>(GetStatus(nameof(RgvJobCraneStatus)));
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}
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/// <summary>
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/// 获取当前地址
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/// </summary>
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/// <returns></returns>
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private int GetRGVCurrentlocation()
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{
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DeviceProDTO deviceProDTO = _speStackerCrane.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == "RGVCurrentlocation");
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if (deviceProDTO != null)
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{
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return (int)_speStackerCrane.Communicator.ReadAsObj(deviceProDTO.DeviceProAddress, deviceProDTO.DeviceDataType, 1);
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}
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return 0;
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}
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/// <summary>
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/// 获取rgv任务id
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/// </summary>
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/// <returns></returns>
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private int GetCurrentRgvtaskid()
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{
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DeviceProDTO deviceProDTO = _speStackerCrane.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == "RGV_Rgvtaskid");
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if (deviceProDTO != null)
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{
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return (int)_speStackerCrane.Communicator.ReadAsObj(deviceProDTO.DeviceProAddress, deviceProDTO.DeviceDataType, 1);
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}
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return 0;
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}
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/// <summary>
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/// 获取当前兰剑任务id
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/// </summary>
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/// <returns></returns>
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private int GetLanjiantaskid()
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{
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DeviceProDTO deviceProDTO = _speStackerCrane.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == "RGV_Lanjiantaskid");
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if (deviceProDTO != null)
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{
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return (int)_speStackerCrane.Communicator.ReadAsObj(deviceProDTO.DeviceProAddress, deviceProDTO.DeviceDataType, 1);
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}
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return 0;
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}
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private string GetEnumDes<T>(T value) where T : Enum
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{
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FieldInfo? fieldInfo = typeof(T).GetField(value.ToString());
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if (fieldInfo != null)
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{
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DescriptionAttribute? descriptionAttribute = fieldInfo.GetCustomAttribute<DescriptionAttribute>();
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if (descriptionAttribute != null)
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{
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return descriptionAttribute.Description;
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}
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return "未定义";
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}
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return "未知";
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}
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private string GetStatus(string protocolParamType)
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{
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try
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{
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List<DeviceProDTO> devicePros = _speStackerCrane.DeviceProDTOs.Where(x => x.DeviceProParamType == protocolParamType).ToList();
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if (devicePros.Count == 0)
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{
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throw new Exception("未获取到协议信息");
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}
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for (int i = 0; i < devicePros.Count; i++)
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{
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object readStatus = _speStackerCrane.Communicator.ReadAsObj(devicePros[i].DeviceProAddress, devicePros[i].DeviceDataType);
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DeviceProtocolDetailDTO? deviceProtocolDetail = _speStackerCrane.DeviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePros[i].DeviceProParamName) ?? throw new Exception();
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deviceProtocolDetail = _speStackerCrane.DeviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePros[i].DeviceProParamType && x.ProtocalDetailValue.Equals(readStatus.ToString()));
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if (deviceProtocolDetail != null)
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{
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return deviceProtocolDetail.ProtocolDetailType;
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}
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return StackerCraneStatus.Unkonw.ToString();
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}
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return StackerCraneStatus.Unkonw.ToString();
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}
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catch (Exception ex)
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{
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throw;
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}
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}
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public bool SendCommand(RgvCraneTaskCommand command)
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{
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try
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{
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if(_speStackerCrane.IsConnected)
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{
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_speStackerCrane.SetValue(RgvCraneDBName.RGV_RGVTasklocation, command.RGV_RGVTasklocation);
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_speStackerCrane.SetValue(RgvCraneDBName.RGV_RGVtasktype, command.RGV_RGVtasktype);
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_speStackerCrane.SetValue(RgvCraneDBName.RGV_Rgvtaskid, command.RGV_Rgvtaskid);
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_speStackerCrane.SetValue(RgvCraneDBName.RGV_Lanjiantaskid, command.RGV_Lanjiantaskid);
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return true;
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}
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return false;
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}
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catch (Exception ex)
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{
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return false;
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}
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}
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}
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}
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