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刘磊

2024-11-23 df5e63a89fa2fade5bf87d41f507740ea063e0e4

1

 Code Management/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/StackerCrane/Common/CommonStackerStationCrane.cs

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#region << ç‰ˆ æœ¬ æ³¨ é‡Š >>
/*----------------------------------------------------------------
 * å‘½åç©ºé—´ï¼šWIDESEAWCS_QuartzJob
 * åˆ›å»ºè€…：胡童庆
 * åˆ›å»ºæ—¶é—´ï¼š2024/8/2 16:13:36
 * ç‰ˆæœ¬ï¼šV1.0.0
 * æè¿°ï¼šä¸€èˆ¬å †åž›æœºå®žçŽ°ç±»ï¼Œå®žçŽ°å †åž›æœºæŽ¥å£å±‚
 *
 * ----------------------------------------------------------------
 * ä¿®æ”¹äººï¼š
 * ä¿®æ”¹æ—¶é—´ï¼š
 * ç‰ˆæœ¬ï¼šV1.0.1
 * ä¿®æ”¹è¯´æ˜Žï¼š
 * 
 *----------------------------------------------------------------*/
#endregion << ç‰ˆ æœ¬ æ³¨ é‡Š >>

using HslCommunication;
using Microsoft.AspNetCore.Http;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.StackerCrane;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;

namespace WIDESEAWCS_QuartzJob
{
    /// <summary>
    /// ä¸€èˆ¬å †åž›æœºå®žçŽ°ç±»ï¼Œå®žçŽ°å †åž›æœºæŽ¥å£å±‚
    /// </summary>
    [Description("堆垛机")]
    public class CommonStackerStationCrane : IStackerCrane
    {
        #region Private Member
        /// <summary>
        /// å †åž›æœºé€šè®¯å¯¹è±¡
        /// </summary>
        private BaseCommunicator _communicator;
        /// <summary>
        /// å †åž›æœºåè®®ä¿¡æ¯
        /// </summary>
        private readonly List<DeviceProDTO> _deviceProDTOs;
        /// <summary>
        /// å †åž›æœºåè®®æ˜Žç»†ä¿¡æ¯
        /// </summary>
        private readonly List<DeviceProtocolDetailDTO> _deviceProtocolDetailDTOs;
        /// <summary>
        /// è®¾å¤‡ç¼–号
        /// </summary>
        public readonly string _deviceCode;
        /// <summary>
        /// è®¾å¤‡åç§°
        /// </summary>
        public readonly string _deviceName;
        /// <summary>
        /// ä¸Šä¸€æ¬¡ä»»åŠ¡å·
        /// </summary>
        private int _lastTaskNum;

        private bool _isChecked = false;

        private bool _heartStatr = true;

        private bool _isConnected = true;
        #endregion Private Member

        #region Public Member
        /// <summary>
        /// å †åž›æœºé€šè®¯å¯¹è±¡
        /// </summary>
        public BaseCommunicator Communicator => _communicator;

        /// <summary>
        /// å †åž›æœºåè®®ä¿¡æ¯
        /// </summary>
        public List<DeviceProDTO> DeviceProDTOs => _deviceProDTOs;

        /// <summary>
        /// å †åž›æœºåè®®æ˜Žç»†ä¿¡æ¯
        /// </summary>
        public List<DeviceProtocolDetailDTO> DeviceProtocolDetailDTOs => _deviceProtocolDetailDTOs;

        /// <summary>
        /// è®¾å¤‡çŠ¶æ€(空闲/运行中...)
        /// </summary>
        public DeviceStatus Status => GetStatus();

        /// <summary>
        /// ä¸Šä¸€æ¬¡æ‰§è¡Œçš„任务号
        /// </summary>
        public int LastTaskNum => _lastTaskNum;

        /// <summary>
        /// å½“前正在执行的任务号
        /// </summary>
        public int CurrentTaskNum => GetCurrentTaskNum();

        /// <summary>
        /// å †åž›æœºçŠ¶æ€
        /// </summary>
        public StackerCraneStatus StackerCraneStatusValue => GetStackerCraneStatus();

        /// <summary>
        /// å †åž›æœºçŠ¶æ€ä¸­æ–‡è¯´æ˜Ž
        /// </summary>
        public string StackerCraneStatusDes => GetEnumDes(StackerCraneStatusValue);

        /// <summary>
        /// æ‰‹è‡ªåŠ¨çŠ¶æ€
        /// </summary>
        public StackerCraneAutoStatus StackerCraneAutoStatusValue => GetStackerCraneAutoStatus();

        /// <summary>
        /// æ‰‹è‡ªåŠ¨çŠ¶æ€ä¸­æ–‡è¯´æ˜Ž
        /// </summary>
        public string StackerCraneAutoStatusDes => GetEnumDes(StackerCraneAutoStatusValue);

        /// <summary>
        /// ä½œä¸šçŠ¶æ€
        /// </summary>
        public StackerCraneWorkStatus StackerCraneWorkStatusValue => GetStackerCraneWorkStatus();

        /// <summary>
        /// ä½œä¸šçŠ¶æ€ä¸­æ–‡è¯´æ˜Ž
        /// </summary>
        public string StackerCraneWorkStatusDes => GetEnumDes(StackerCraneWorkStatusValue);

        /// <summary>
        /// è®¾å¤‡ç¼–号
        /// </summary>
        public string DeviceCode => _deviceCode;

        /// <summary>
        /// è®¾å¤‡åç§°
        /// </summary>
        public string DeviceName => _deviceName;

        /// <summary>
        /// å †åž›æœºæ˜¯å¦æœ‰æ•…éšœ
        /// </summary>
        public bool IsFault => StackerCraneStatusValue == StackerCraneStatus.Fault;

        /// <summary>
        /// é€šè®¯æ˜¯å¦å·²è¿žæŽ¥
        /// </summary>
        public bool IsConnected => Communicator.IsConnected && _isConnected;

        /// <summary>
        /// å †åž›æœºä»»åŠ¡å®Œæˆäº‹ä»¶
        /// </summary>
        public event EventHandler<StackerCraneTaskCompletedEventArgs> StackerCraneTaskCompletedEventHandler;

        /// <summary>
        /// å †åž›æœºä»»åŠ¡å‘½ä»¤å¯¹è±¡
        /// </summary>
        public object StackerCraneTaskCommand { get; set; }

        /// <summary>
        /// å †åž›æœºå®Œæˆäº‹ä»¶æ˜¯å¦å·²è®¢é˜…
        /// </summary>
        public bool IsEventSubscribed => StackerCraneTaskCompletedEventHandler != null;

        /// <summary>
        /// å †åž›æœºä¸ŽMOM连接状态
        /// </summary>
        public bool StackerOnline { get; set; } = false;

        public int? LastTaskType { get; set; } = null;
        #endregion

        #region Constructor Function
        /// <summary>
        /// æž„造函数
        /// </summary>
        /// <param name="communicator">堆垛机通讯对象</param>
        /// <param name="deviceProDTOs">堆垛机协议信息</param>
        /// <param name="deviceProtocolDetailDTOs">堆垛机协议明细信息</param>
        /// <param name="deviceCode">设备编号</param>
        /// <param name="deviceName">设备名称</param>
        public CommonStackerStationCrane(BaseCommunicator communicator, List<DeviceProDTO> deviceProDTOs, List<DeviceProtocolDetailDTO> deviceProtocolDetailDTOs, string deviceCode, string deviceName)
        {
            _communicator = communicator;
            _deviceProDTOs = deviceProDTOs;
            _deviceProtocolDetailDTOs = deviceProtocolDetailDTOs;
            _deviceCode = deviceCode;
            _deviceName = deviceName;
            CheckConnect();
        }
        #endregion

        #region Private Method
        /// <summary>
        /// æ ¹æ®åè®®è¯»å–堆垛机状态
        /// </summary>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        private DeviceStatus GetStatus()
        {
            if (IsFault)
            {
                return DeviceStatus.Fault;
            }
            else if (!IsConnected)
            {
                return DeviceStatus.Offline;
            }
            if (StackerCraneStatusValue == StackerCraneStatus.Normal && StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic)
            {
                if (StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                {
                    return DeviceStatus.Idle;
                }
                else if (StackerCraneWorkStatusValue == StackerCraneWorkStatus.Putting || StackerCraneWorkStatusValue == StackerCraneWorkStatus.PickUp || StackerCraneWorkStatusValue == StackerCraneWorkStatus.PickUpCompleted || StackerCraneWorkStatusValue == StackerCraneWorkStatus.PutCompleted)
                {
                    return DeviceStatus.Working;
                }
            }
            return DeviceStatus.Unkonw;
        }

        private int GetCurrentTaskNum()
        {
            DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == nameof(CurrentTaskNum));
            return devicePro == null ? throw new Exception() : (int)Communicator.ReadAsObj(devicePro.DeviceProAddress, devicePro.DeviceDataType);
        }

        /// <summary>
        /// èŽ·å–堆垛机设备状态
        /// </summary>
        /// <returns></returns>
        private StackerCraneStatus GetStackerCraneStatus()
        {
            return Enum.Parse<StackerCraneStatus>(GetStatus(nameof(StackerCraneStatus)));
        }

        /// <summary>
        /// èŽ·å–堆垛机手自动状态
        /// </summary>
        /// <returns></returns>
        private StackerCraneAutoStatus GetStackerCraneAutoStatus()
        {
            return Enum.Parse<StackerCraneAutoStatus>(GetStatus(nameof(StackerCraneAutoStatus)));
        }

        /// <summary>
        /// èŽ·å–堆垛机工作状态
        /// </summary>
        /// <returns></returns>
        private StackerCraneWorkStatus GetStackerCraneWorkStatus()
        {
            return Enum.Parse<StackerCraneWorkStatus>(GetStatus(nameof(StackerCraneWorkStatus)));
        }

        /// <summary>
        /// èŽ·å–枚举说明
        /// </summary>
        /// <typeparam name="T">枚举泛型</typeparam>
        /// <param name="value"></param>
        /// <returns></returns>
        private string GetEnumDes<T>(T value) where T : Enum
        {
            FieldInfo? fieldInfo = typeof(T).GetField(value.ToString());
            if (fieldInfo != null)
            {
                DescriptionAttribute? descriptionAttribute = fieldInfo.GetCustomAttribute<DescriptionAttribute>();
                if (descriptionAttribute != null)
                {
                    return descriptionAttribute.Description;
                }
                return "未定义";
            }
            return "未知";
        }

        /// <summary>
        /// æ ¹æ®åè®®å‚数类型获取状态
        /// </summary>
        /// <param name="protocolParamType">协议参数类型</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        private string GetStatus(string protocolParamType)
        {
            if (Communicator.IsConnected)
            {
                List<DeviceProDTO> devicePros = _deviceProDTOs.Where(x => x.DeviceProParamType == protocolParamType).ToList();
                if (devicePros.Count == 0)
                {
                    throw new Exception("未获取到协议信息");
                }
                for (int i = 0; i < devicePros.Count; i++)
                {
                    object readStatus = Communicator.ReadAsObj(devicePros[i].DeviceProAddress, devicePros[i].DeviceDataType);
                    //todo åè®®æ˜Žç»†ä¿¡æ¯æœªèŽ·å–到时抛出异常
                    DeviceProtocolDetailDTO? deviceProtocolDetail = _deviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePros[i].DeviceProParamName) ?? throw new Exception();
                    deviceProtocolDetail = _deviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePros[i].DeviceProParamType && x.ProtocalDetailValue.Equals(readStatus.ToString()));
                    if (deviceProtocolDetail != null)
                    {
                        return deviceProtocolDetail.ProtocolDetailType;
                    }
                    return StackerCraneStatus.Unkonw.ToString();
                }
            }
            //todo é€šè®¯æœªè¿žæŽ¥æ—¶æŠ›å‡ºå¼‚常
            return StackerCraneStatus.Unkonw.ToString();
        }

        /// <summary>
        /// æ¯”较两个值是否相等。
        /// </summary>
        /// <param name="value">第一个值。</param>
        /// <param name="paramValue">第二个值。</param>
        /// <returns>返回比较结果。</returns>
        private bool Compare(object value, object paramValue)
        {
            return value.Equals(paramValue);
        }

        private void CheckConnect()
        {
            Task.Run(() =>
            {
                while (_heartStatr)
                {
                    try
                    {
                        DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault();
                        if (devicePro == null)
                            _isConnected = false;
                        else
                            Communicator.ReadAsObj(devicePro.DeviceProAddress, devicePro.DeviceDataType);
                        _isConnected = true;
                    }
                    catch (Exception ex)
                    {
                        _isConnected = false;
                    }
                    Thread.Sleep(500);
                }
            });
        }
        #endregion

        #region Public Method
        /// <summary>
        /// å‘送任务命令
        /// </summary>
        /// <param name="command">任务命令</param>
        /// <returns></returns>
        public bool SendCommand<T>(T command) where T : IDataTransfer, new()
        {
            if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
            DeviceProDTO? devicePro = _deviceProDTOs.Where(x => x.DeviceProParamType == nameof(DeviceCommand)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
            if (devicePro == null)
            {
                return false;
            }
            if (Communicator.WriteCustomer(devicePro.DeviceProAddress, command))
            {
                StackerCraneTaskCommand = command;
                CheckStackerCraneTaskCompleted();
                return true;
            }
            return false;
        }

        /// <summary>
        /// ç›‘测堆垛机任务是否完成(防止任务完成事件监测超时，定义手动触发功能)
        /// </summary>
        public void CheckStackerCraneTaskCompleted()
        {
            if (_isChecked)
                return;

            Task.Run(() =>
            {
                _isChecked = true;
                try
                {
                    DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == nameof(StackerCraneWorkStatus));
                    if (devicePro != null)
                    {
                        DeviceProtocolDetailDTO? deviceProtocolDetail = _deviceProtocolDetailDTOs.FirstOrDefault(x => x.DeviceProParamName == devicePro.DeviceProParamName && x.ProtocolDetailType == StackerCraneWorkStatus.WorkCompleted.ToString());
                        if (deviceProtocolDetail != null)
                        {
                            OperateResult<TimeSpan> operateResult = new OperateResult<TimeSpan>();
                            TypeCode typeCode = SiemensDBDataType.GetTypeCode(devicePro.DeviceDataType);
                            switch (typeCode)
                            {
                                case TypeCode.Boolean:
                                    operateResult = Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToBoolean(deviceProtocolDetail.ProtocalDetailValue));
                                    break;
                                case TypeCode.Byte:
                                    operateResult = Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToByte(deviceProtocolDetail.ProtocalDetailValue));
                                    break;
                                case TypeCode.Int16:
                                    operateResult = Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToInt16(deviceProtocolDetail.ProtocalDetailValue));
                                    break;
                                case TypeCode.Int32:
                                    operateResult = Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToInt32(deviceProtocolDetail.ProtocalDetailValue));
                                    break;
                                case TypeCode.UInt16:
                                    operateResult = Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToUInt16(deviceProtocolDetail.ProtocalDetailValue));
                                    break;
                                case TypeCode.UInt32:
                                    operateResult = Communicator.Wait(devicePro.DeviceProAddress, 500, 10 * 6000, Convert.ToUInt32(deviceProtocolDetail.ProtocalDetailValue));
                                    break;
                                default:
                                    break;
                            }
                            int taskNum = CurrentTaskNum;
                            if (operateResult.IsSuccess /*&& LastTaskNum != taskNum*/)
                            {
                                StackerCraneTaskCompletedEventArgs args = new(taskNum);
                                StackerCraneTaskCompletedEventHandler?.Invoke(this, args);
                                _lastTaskNum = taskNum;
                            }
                        }
                    }
                }
                catch (Exception ex)
                {

                }
                finally
                {
                    _isChecked = false;
                }
            });
        }

        /// <summary>
        /// æ ¹æ®å‚数名称读取堆垛机对应的数据。
        /// </summary>
        /// <typeparam name="TEnum">参数名称枚举类型。</typeparam>
        /// <typeparam name="TRsult">读取结果的返回值类型。</typeparam>
        /// <param name="value">参数名称。</param>
        /// <returns>返回读取到的数据。</returns>
        /// <exception cref="Exception"></exception>
        public TRsult GetValue<TEnum, TRsult>(TEnum value) where TEnum : Enum
        {
            if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
            DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == value.ToString());
            return devicePro == null ? throw new Exception() : (TRsult)Communicator.ReadAsObj(devicePro.DeviceProAddress, devicePro.DeviceDataType);
        }

        /// <summary>
        /// ä¸Žè®¾å¤‡çš„心跳
        /// </summary>
        public void Heartbeat()
        {

        }

        /// <summary>
        /// æ ¹æ®å‚数名称写入堆垛机对应的数据。
        /// </summary>
        /// <typeparam name="TEnum">参数名称枚举类型。</typeparam>
        /// <typeparam name="TValue">要写入的数据类型。</typeparam>
        /// <param name="enum">参数名称。</param>
        /// <param name="value">要写入的数据。</param>
        /// <returns>返回写入成功或失败</returns>
        /// <exception cref="Exception"></exception>
        public bool SetValue<TEnum, TValue>(TEnum @enum, TValue value)
            where TEnum : Enum
            where TValue : notnull
        {
            if (!IsConnected) throw new Exception($"通讯连接错误，请检查网络");
            DeviceProDTO? devicePro = _deviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == @enum.ToString());
            return devicePro == null ? throw new Exception() : Communicator.WriteObj(devicePro.DeviceProAddress, devicePro.DeviceDataType, value);
        }

        public void Dispose()
        {
            _heartStatr = false;
            _communicator.Dispose();
            GC.SuppressFinalize(this);
        }
        #endregion
    }
}