STATION_COLLECT/Controllers/StorageController.cs

using AmrControl.ADS;
using AmrControl.Common;
using AmrControl.DB;
using AmrControl.DB.Models;
using AmrControl.Dto;
using AmrControl.JGR;
using AmrControl.services;
using AmrControl.Vo;
using Microsoft.AspNetCore.Mvc;
using Newtonsoft.Json;
using NPOI.OpenXmlFormats.Dml;

// For more information on enabling Web API for empty projects, visit https://go.microsoft.com/fwlink/?LinkID=397860

namespace AmrControl.Controllers
{
    
    [ApiController]
    public class StorageController : ControllerBase
    {
        private readonly MyDbHandler handler;
        public StorageController(MyDbHandler dbhandler)
        {
            handler = dbhandler;
        }

        /// <summary>
        /// 获取今日任务
        /// </summary>
        /// <returns></returns>
        [HttpGet]
        [Route("api/v1/storage/tasks")]
        public HttpStatus<List<IssueNoteDto>> GetTodayTasks()
        {
            HttpStatus<List<IssueNoteDto>> status = new HttpStatus<List<IssueNoteDto>>();
            status.Code = Dto.Code.Success;
            //status.Data = MockData.getIssueNodeDto();
            //return status;

            status.Data = handler.getIssueNodeDto();
            return status;
        }

        /// <summary>
        /// 查询物料号所属的储位信息
        /// </summary>
        /// <returns></returns>
        [HttpGet]
        [Route("api/v1/storage/location")]
        public HttpStatus<List<StorageBox>> QueryLocation(string materialID)
        {
            HttpStatus<List<StorageBox>> status = new HttpStatus<List<StorageBox>>();
            status.Code = Dto.Code.Success;
            status.Data = MockData.getStorageBox();
            return status;
        }

        /// <summary>
        /// 查询仓储格子的储位信息
        /// </summary>
        /// <returns></returns>
        [HttpGet]
        [Route("api/v1/storage/gridLocation")]
        public HttpStatus<List<StorageBox>> QueryGridLocation(int X,int Y)
        {
            HttpStatus<List<StorageBox>> status = new HttpStatus<List<StorageBox>>();
            status.Code = Dto.Code.Success;
            status.Data = MockData.getStorageBox(X, Y);
            return status;
        }

        /// <summary>
        /// 查询物料盒的RFID来返回物料盒所含物料的内容
        /// </summary>
        /// <returns></returns>
        [HttpGet]
        [Route("api/v1/storage/storageBox")]
        public HttpStatus<StorageBox> QueryStorageBox(string boxRFID)
        {
            HttpStatus<StorageBox> status = new HttpStatus<StorageBox>();
            status.Code = Dto.Code.Success;
            status.Data = MockData.getStorageBox().FirstOrDefault(x => x.BoxRFID == boxRFID);
            return status;
        }

        /// <summary>
        /// 出库并做数量扣除，返回出库的数量
        /// </summary>
        /// <param name="location"></param>
        /// <returns></returns>
        [HttpPost]
        [Route("api/v1/storage/retrieval")]
        public HttpStatus<List<RequireRawBom>> Retrieval([FromBody]RetrievalDto retrievalDto)
        {
            HttpStatus<List<RequireRawBom>> status = new HttpStatus<List<RequireRawBom>>();
            status.Code = Dto.Code.Success;
            //让数量和需求相满足
            foreach (var item in retrievalDto.RequireRawBoms)
            {
                item.ReleaseQuantity = item.DemandQuantity;
            }
            status.Data = retrievalDto.RequireRawBoms;
            return status;
        }

        /// <summary>
        /// 物料盒入库，从入库点搬进仓储，坐标会根据系统自动重新分配
        /// </summary>
        /// <param name="boxRFID"></param>
        /// <returns></returns>
        [HttpGet]
        [Route("api/v1/storage/moveIn")]
        public HttpStatus<string> StorageBoxMoveIn(string boxRFID)
        {
            HttpStatus<string> status = new HttpStatus<string>();
            status.Code = Dto.Code.Success;
            return status;
        }

        /// <summary>
        /// 物料盒出库，从当前仓储点搬出到捡料位
        /// </summary>
        /// <param name="boxRFID"></param>
        /// <returns></returns>
        [HttpGet]
        [Route("api/v1/storage/moveOut")]
        public HttpStatus<string> StorageBoxMoveOut(string boxRFID)
        {
            HttpStatus<string> status = new HttpStatus<string>();
            status.Code = Dto.Code.Success;
            return status;
        }

        /// <summary>
        /// 物料盒调仓位
        /// </summary>
        /// <param name="boxRFID"></param>
        /// <returns></returns>
        [HttpPost]
        [Route("api/v1/storage/moveTo")]
        public HttpStatus<List<KeyValuePair<int, string>>> StorageBoxMoveTo([FromBody] BoxMovingStatusDto movingStatus)
        {
            HttpStatus<List<KeyValuePair<int, string>>> status = new HttpStatus<List<KeyValuePair<int, string>>>();
            status.Data = new List<KeyValuePair<int, string>>();
            status.Data.Add(new KeyValuePair<int, string>(0, "第1步，前往目标点X1-Y2"));
            status.Data.Add(new KeyValuePair<int, string>(1, "第2步，抓取顶部物料盒"));
            status.Data.Add(new KeyValuePair<int, string>(2, "第3步，移走顶部物料盒到X2-Y3"));
            status.Data.Add(new KeyValuePair<int, string>(3, "第4步，放下物料盒子"));
            status.Data.Add(new KeyValuePair<int, string>(4, "第5步，前往目标点X1-Y2"));
            status.Data.Add(new KeyValuePair<int, string>(5, "第6步，抓取目标物料盒"));
            status.Data.Add(new KeyValuePair<int, string>(6, "第7步，前往调仓点X4-Y5"));
            status.Data.Add(new KeyValuePair<int, string>(7, "第7步，放下物料盒子，调仓完成"));
            status.Code = Dto.Code.Success;
            return status;
        }

        /// <summary>
        /// 呼叫空闲的轨道车到检料位
        /// </summary>
        /// <returns></returns>
        [HttpPost]
        [Route("api/v1/line/freeJGR")]
        public HttpStatus<string> CallFreeRailCar()
        {
            HttpStatus<string> status = new HttpStatus<string>();
            status.Code = Dto.Code.Success;
            return status;
        }

        /// <summary>
        /// 调度检料位的轨道车到工位，坐标自动感知
        /// </summary>
        /// <returns></returns>
        [HttpPost]
        [Route("api/v1/line/jgrToStation")]
        public HttpStatus<string> MoveRailCarToStation()
        {
            HttpStatus<string> status = new HttpStatus<string>();
            status.Code = Dto.Code.Success;

            return status;
        }

        /// <summary>
        /// 移动轨道车到目标点位
        /// </summary>
        /// <returns></returns>
        [HttpPost]
        [Route("api/v1/line/jgrMoveTo")]
        public HttpStatus<string> RailCarMoveTo([FromBody] JgrMovingDto movingDto)
        {
            HttpStatus<string> status = new HttpStatus<string>();
            status.Code = Dto.Code.Success;
            return status;
        }


        /// <summary>
        /// 获取仓储的信息
        /// </summary>
        /// <param name="StorageID"></param>
        /// <returns></returns>
        [HttpGet]
        [Route("api/v1/storage/storageStatus")]
        public HttpStatus<StorageStatus> GetStorageStatus(string StorageID)
        {
            HttpStatus<StorageStatus> status = new HttpStatus<StorageStatus>();
            status.Code = Dto.Code.Success;
            status.Data = new StorageStatus();
            status.Data.StorageName = "1号仓储柜";
            status.Data.TodayMoveOutCount = 10;
            status.Data.TodayMoveInCount = 5;
            status.Data.TotalLocation = 300;
            status.Data.FreeLocation = 280;
            status.Data.MaterialCount = 105;
            return status;
        }

        /// <summary>
        /// 获取捡料工位的信息，包括是否有车
        /// </summary>
        /// <param name="StorageID"></param>
        /// <returns></returns>
        [HttpGet]
        [Route("api/v1/storage/pickingStation")]
        public HttpStatus<PickingStationStatus> GetPickingStation(string StorageID)
        {
            HttpStatus<PickingStationStatus> status = new HttpStatus<PickingStationStatus>();
            status.Code = Dto.Code.Success;
            status.Data = new PickingStationStatus();
            status.Data.ContainsJAR = false;
            status.Data.ContainsBox = false;
            return status;
        }

        /// <summary>
        /// 入库接口
        /// </summary>
        /// <param name="dto"></param>
        /// <returns></returns>
        [HttpPost]
        [Route("/api/v1/storage/in-storage")]
        public HttpStatus<InStorageVO> inStroage([FromBody] InStorageDTO dto)
        {
            HttpStatus<InStorageVO> status = new();
            if (!string.IsNullOrEmpty(dto.carId) && !string.IsNullOrWhiteSpace(dto.carId))
            {
                //查找车辆信息
                List<JGR_Tc_Model> carStatus = JGRManager.GetInstance().GetJgrs();
                var carInfo = carStatus.Where(m => m.jgrSN == dto.carId).FirstOrDefault();
                if (carInfo == null)
                {
                    status.Code = Dto.Code.Error;
                    status.Msg = "非法的车辆编号信息";
                    return status;
                }
                if (string.IsNullOrEmpty(dto.storagePos) || string.IsNullOrWhiteSpace(dto.storagePos))
                {
                    status.Code = Dto.Code.Error;
                    status.Msg = "非法的储位坐标信息";
                    return status;
                }
                bool isOk = JGRManager.GetInstance().checkStoragePos(int.Parse(dto.storagePos.Split(',')[0]), int.Parse(dto.storagePos.Split(',')[1]));
                if(!isOk)
                {
                    status.Code = Dto.Code.Error;
                    status.Msg = "非法的储位坐标信息";
                    return status;
                }
                string taskId = TaskExecManager.getInstance().genTaskId();
                Proxy taskProxy = new(() =>
                {
                    //移动轨道车到入库位
                    //JGRManager.GetInstance().moveCarToDestAsync(carInfo, JGRManager.GetInstance().inAmrPos[0], JGRManager.GetInstance().inAmrPos[1]);
                    JGRManager.GetInstance().storageCarToInAsync(carInfo, dto);
                });
                TaskExecManager.getInstance().addTask(taskProxy, taskId);
                InStorageVO vo = new()
                {
                    taskId = taskId
                };
                status.Code = Dto.Code.Success;
                status.Data = vo;
                return status;
            }
            status.Code = Dto.Code.Error;
            status.Msg = "非法的车辆编号信息";
            return status;
        }
        /// <summary>
        /// 判断任务是否完成
        /// </summary>
        /// <param name="taskId"></param>
        /// <returns></returns>
        [HttpGet]
        [Route("/api/v1/storage/check-task-completed")]
        public HttpStatus<bool> checkTaskCompleted([FromQuery] string taskId)
        {
            HttpStatus<bool> status = new();
            if (string.IsNullOrEmpty(taskId) || string.IsNullOrWhiteSpace(taskId))
            {
                status.Code = Dto.Code.Error;
                status.Msg = "非法的任务id信息";
                return status;
            }
            status.Code = Dto.Code.Success;
            status.Data = TaskExecManager.getInstance().checkTaskIsCompleted(taskId);
            return status;
        }
        /// <summary>
        /// 出库逻辑
        /// </summary>
        /// <param name="dto"></param>
        /// <returns></returns>
        [HttpPost]
        [Route("/api/v1/storage/out-storage")]
        public HttpStatus<OutStorageVO> outStorage([FromBody] OutStorageDTO dto)
        {
            HttpStatus<OutStorageVO> status = new();
            //判断仓储坐标是否存在
            if (string.IsNullOrEmpty(dto.storagePos) || string.IsNullOrWhiteSpace(dto.storagePos))
            {
                status.Code = Dto.Code.Error;
                status.Msg = "非法的储位坐标信息";
                return status;
            }
            ////呼叫空的轨道车到出库位置
            //List<JGR_Tc_Model> carStatus = JGRManager.GetInstance().GetJgrs();
            ////获取空的地车
            //JGR_Tc_Model? free_car = null;
            //if (carStatus != null && carStatus.Count > 0)
            //{
            //    foreach (var car in carStatus)
            //    {
            //        if (car.jgrType == 1 && car.moveStatus == 0
            //            && (string.IsNullOrEmpty(car.rfid)
            //            || string.IsNullOrWhiteSpace(car.rfid)))
            //        {
            //            free_car = car;
            //        }
            //    }
            //}
            //if (free_car is null)
            //{
            //    status.Code = Dto.Code.Error;
            //    status.Msg = "没有空闲的车辆，请稍后再试";
            //    return status;
            //}

            //JGRManager.GetInstance().moveCarToDestAsync(free_car, JGRManager.GetInstance().outAmrPos[0], JGRManager.GetInstance().outAmrPos[1]);
            //Thread.Sleep(200);
            //carStatus = JGRManager.GetInstance().GetJgrs();
            //if (carStatus is null)
            //{
            //    status.Code = Dto.Code.Error;
            //    status.Msg = "没有空闲的车辆，请稍后再试";
            //    return status;
            //}
            ////获取空闲的仓储车信息
            //JGR_Tc_Model? storageCarInfo = storageCarInfo = carStatus.Where(m => m.jgrType == 0
            //    && m.moveStatus == 0
            //    && m.basketPosition == 0
            //    && m.basketGripperStatus == 2
            //    ).FirstOrDefault();
            //if(storageCarInfo == null)
            //{
            //    status.Code = Dto.Code.Error;
            //    status.Msg = "没有空闲的车辆，请稍后再试";
            //    return status;
            //}
            //OutStorageVO vo = new()
            //{
            //    taskId = Guid.NewGuid().ToString(),
            //    carId = free_car.jgrSN
            //};
            bool isOk = JGRManager.GetInstance().checkStoragePos(int.Parse(dto.storagePos.Split(',')[0]), int.Parse(dto.storagePos.Split(',')[1]));
            if (!isOk)
            {
                status.Code = Dto.Code.Error;
                status.Msg = "非法的储位坐标信息";
                return status;
            }
            
            int dx = 0;
            int dy = 0;
            if (!string.IsNullOrEmpty(dto.stanCode) 
                && !string.IsNullOrWhiteSpace(dto.stanCode))
            {
                var station = JGRManager.GetInstance().getStationByNo(dto.stanCode);
                if (station == null || station == default)
                {
                    status.Code = Dto.Code.Error;
                    status.Msg = "非法的工站编号";
                    return status;
                }
                dx = station.positionX; 
                dy = station.positionY;
            } else if (!string.IsNullOrEmpty(dto.destPos)
                && !string.IsNullOrWhiteSpace(dto.destPos))
            {
                dx = int.Parse(dto.destPos.Split(',')[0]);
                dy = int.Parse(dto.destPos.Split(',')[1]);
            } else
            {
                dx = JGRManager.GetInstance().selectStationPos[0];
                dy = JGRManager.GetInstance().selectStationPos[1];
            }
            string taskId = TaskExecManager.getInstance().genTaskId();
            Proxy taskProxy = new (() =>
            {
                //移动轨道车到入库位
                //JGRManager.GetInstance().moveCarToDestAsync(carInfo, JGRManager.GetInstance().inAmrPos[0], JGRManager.GetInstance().inAmrPos[1]);
                JGRManager.GetInstance().storageCarToOutAsync(dto.storagePos, dx, dy);
            });
            TaskExecManager.getInstance().addTask(taskProxy, taskId);
            OutStorageVO vo = new()
            {
                taskId = taskId
            };
            //获取到空的仓储车后，将仓储车信息反馈给服务端
            //JGRManager.GetInstance().storageCarToOutAsync(storageCarInfo, free_car.jgrSN,
            //    dto.storagePos, dx, dy, vo.taskId);
            status.Code = Dto.Code.Success;
            status.Data = vo;
            return status;
        }
        /// <summary>
        /// 调仓处理
        /// </summary>
        /// <param name="dto"></param>
        /// <returns></returns>
        [HttpPost]
        [Route("/api/v1/storage/move-storage")]
        public HttpStatus<MoveStorageVO> moveStorage([FromBody] MoveStorageDTO dto)
        {
            HttpStatus<MoveStorageVO> status = new();
            //判断仓储坐标是否存在
            if (string.IsNullOrEmpty(dto.sourcePos) 
                || string.IsNullOrWhiteSpace(dto.sourcePos)
                || string.IsNullOrEmpty(dto.destPos) 
                    || string.IsNullOrWhiteSpace(dto.destPos)
                    || dto.sourcePos == dto.destPos)
            {
                status.Code = Dto.Code.Error;
                status.Msg = "非法的储位坐标信息";
                return status;
            }
            bool spBreak = JGRManager.GetInstance().checkStoragePos(int.Parse(dto.sourcePos.Split(',')[0]), int.Parse(dto.sourcePos.Split(',')[1]));
            bool dpBreak = JGRManager.GetInstance().checkStoragePos(int.Parse(dto.destPos.Split(',')[0]), int.Parse(dto.destPos.Split(',')[1]));
            if (!spBreak || !dpBreak)
            {
                status.Code = Dto.Code.Error;
                status.Msg = "非法的储位坐标信息";
                return status;
            }
            ////获取空闲的仓储车信息
            //List<JGR_Tc_Model>? carStatus = JGRManager.GetInstance().GetJgrs();
            //if(carStatus == null)
            //{
            //    status.Code = Dto.Code.Error;
            //    status.Msg = "未找到车辆信息";
            //    return status;
            //}
            //JGR_Tc_Model? storageCarInfo = carStatus.Where(m => m.jgrType == 0
            //    && m.moveStatus == 0
            //    && m.basketPosition == 0
            //    && m.basketGripperStatus == 2
            //    ).FirstOrDefault();
            //if(storageCarInfo == null)
            //{
            //    status.Code = Dto.Code.Error;
            //    status.Msg = "没有空闲车辆";
            //    return status;
            //}
            //MoveStorageVO vo = new()
            //{
            //    taskId = Guid.NewGuid().ToString(),
            //    carId = storageCarInfo.jgrSN
            //};
            ////获取到空的仓储车后，将仓储车信息反馈给服务端
            //JGRManager.GetInstance().moveStorageAsync(storageCarInfo, dto, vo.taskId);
            string taskId = TaskExecManager.getInstance().genTaskId();
            Proxy taskProxy = new(() =>
            {
                //移动轨道车到入库位
                //JGRManager.GetInstance().moveCarToDestAsync(carInfo, JGRManager.GetInstance().inAmrPos[0], JGRManager.GetInstance().inAmrPos[1]);
                JGRManager.GetInstance().moveStorageAsync(dto);
            });
            TaskExecManager.getInstance().addTask(taskProxy, taskId);
            MoveStorageVO vo = new()
            {
                taskId = taskId
            };
            status.Code = Dto.Code.Success;
            status.Data = vo;
            return status;
        }
    }
}