WinMain.xaml.cs 42.2 KB

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using HHECS.Bll;
using HHECS.Controls;
using HHECS.EquipmentExcute;
using HHECS.Model.BllModel;
using HHECS.Model.Common;
using HHECS.Model.Entities;
using HHECS.Model.Enums;
using HHECS.OPC;
using HHECS.Scan;
using HHECS.View.Win;
using System;
using System.Collections.Generic;
using System.Configuration;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;

namespace HHECS.View
{
    /// <summary>
    /// Main.xaml 的交互逻辑
    /// </summary>
    public partial class WinMain : BaseWindow
    {
        #region 属性

        /// <summary>
        /// OPC地址
        /// </summary>
        public string PLCIP { get; set; }
        public OPCHelp PLC { get; set; }

        /// <summary>
        /// 时钟同步锁
        /// </summary>
        private object locker = new object();

        /// <summary>
        /// 子窗体
        /// </summary>
        public Dictionary<string, Window> ChildrenWin { get; set; } = new Dictionary<string, Window>();

        /// <summary>
        /// 主控时钟
        /// </summary>
        private System.Timers.Timer timer = new System.Timers.Timer();

        /// <summary>
        /// 结束时钟标志
        /// </summary>
        private bool stop = false;

        /// <summary>
        /// 设备
        /// </summary>
        public List<Equipment> Equipments { get; set; }

        /// <summary>
        /// 设备属性
        /// </summary>
        public List<EquipmentProp> EquipmentProps { get; set; }

        /// <summary>
        /// 设备类型
        /// </summary>
        public List<EquipmentType> EquipmentTypes { get; set; }

        /// <summary>
        /// 设备属性模板
        /// </summary>
        public List<EquipmentTypePropTemplate> EquipmentTypePropTemplates { get; set; }

        /// <summary>
        /// 堆垛机处理类
        /// </summary>
        public List<StockerExcute> StockerExcutes { get; set; } = new List<StockerExcute>();

        /// <summary>
        /// 站台处理类
        /// </summary>
        public List<StationExcute> StationExcutes { get; set; } = new List<StationExcute>();

        /// <summary>
        /// 日志监控
        /// </summary>
        public LogInfo LogInfo { get; set; }

        /// <summary>
        /// 堆垛机监控图
        /// </summary>
        public StockerMonitor stockerMonitor { get; set; }

        /// <summary>
        /// 站台监控图
        /// </summary>
        public StationMonitor stationMonitor { get; set; }

        /// <summary>
        /// 站台模型监控类
        /// </summary>
        public List<StationModel> StationModels { get; set; } = new List<StationModel>();

        /// <summary>
        /// PLC状态
        /// </summary>
        private static List<PlcStatus> siemens = new List<PlcStatus>();

        #endregion

        public WinMain()
        {
            InitializeComponent();
        }

        private void Init()
        {
            //时钟初始化
            InitTimer();

            //LED初始化
            AppSession.LEDExcute.BeginSendInfo();

            #region 初始化窗体界面

            //日志初始化
            Logger.LogWrite += Logger_LogWrite;
            this.WindowState = WindowState.Maximized;
            this.Lab1.Content = $"欢迎：{AppSession.User.UserName}   {DateTime.Now.ToLocalTime()}";

            //立体库站台运行图
            stationMonitor = new StationMonitor();
            this.MonitorPanel1.Children.Add(stationMonitor);

            //立体库堆垛机运行图
            stockerMonitor = new StockerMonitor(14, 2, false, 1200, 240);
            stockerMonitor.ControlName = "stocker1";
            this.MonitorPanel.Children.Add(stockerMonitor);


            //堆垛机监控
            StockerInfo stockerInfo = new StockerInfo(800, 400)
            {
                ControlName = "堆垛机"
            };
            stockerInfo.DoubleInEvent += StockerInfo_DoubleInEvent;
            stockerInfo.EmptyOutEvent += StockerInfo_EmptyOutEvent;
            stockerInfo.OverrideTask += StockerInfo_OverrideTask;
            stockerInfo.ForkErrorEvent += StockerInfo_ForkErrorEvent;
            stockerInfo.DeleteTask += StockerInfo_DeleteTask;
            this.EquipmentPanel.Children.Add(stockerInfo);

            //日志控件
            LogInfo = new LogInfo(1600, 404);
            this.EquipmentPanel.Children.Add(LogInfo);

            #endregion

            #region 初始化OPC配置
            try
            {
                this.PLCIP = ConfigurationManager.AppSettings["OPCServerIP"];
                this.PLC = new OPCHelp(PLCIP);
            }
            catch (Exception ex)
            {
                MessageBox.Show("未能获取到OPC配置，请检查。", "注意", MessageBoxButton.OK, MessageBoxImage.Error);
            }

            #endregion


            #region 与WMS心跳
            Task.Run(async () =>
            {
                while (true)
                {
                    await Task.Delay(30000);
                    var temp = AppSession.Bll.HeartBeat();
                    if (!temp.Success)
                    {
                        this.Dispatcher.Invoke(() =>
                       {
                           this.Btn_EndExcute_Click(null, null);
                           this.Btn_ReConnectWMS.IsEnabled = true;
                       });
                        Logger.Log($"与WMS失去连接,请检查网络情况,处理停止:{temp.Msg}", LogLevel.Warning);
                    }
                    else
                    {
                     //   this.Dispatcher.Invoke(() => this.Btn_ReConnectWMS.IsEnabled = false);
                    }
                }
            });
            #endregion

        }


        #region 堆垛机空出、重入、取货错误和重新下发任务

        /// <summary>
        /// 取货错
        /// </summary>
        /// <param name="stocker"></param>
        /// <returns></returns>
        private BllResult StockerInfo_ForkErrorEvent(Equipment stocker)
        {
            //if (PLCs == null)
            //{
            //    return BllResultFactory.Error(null, "底层通讯未连接");
            //}
            //var plc = PLCs.FirstOrDefault(t => t.IP == stocker.IP);
            //if (plc == null || plc.IsConnected == false || plc.IsAvailable == false)
            //{
            //    return BllResultFactory.Error(null, "底层通讯未连接");
            //}
            if (PLC == null || PLC.GetConnStatus() == false)
            {
                //AddLogToUI("地址读取失败,请检查通讯连接", 2);
                return BllResultFactory.Error(null, "地址读取失败,请检查通讯连接");
            }
            var taskProp = stocker.EquipmentProps.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "Fork1TaskNo");
            if (taskProp == null)
            {
                return BllResultFactory.Error(null, $"未找到堆垛机{stocker.Name}的任务属性");
            }
            var taskResult = AppSession.Bll.GetCommonModelByCondition<TaskEntity>($"where id = {taskProp.Value}");
            if (taskResult.Success)
            {
                var task = taskResult.Data[0];
                BllResult result = AppSession.Bll.TaskForkErrorHandle(task.Id, AppSession.Client, AppSession.Urls);
                if (result.Success)
                {
                    //删除当前堆垛机执行的任务
                    var prop = stocker.EquipmentProps.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag");
                    prop.Value = ForkTaskFlag.删除任务.GetIndexString();
                    //result = S7Helper.PlcSplitWrite(plc, new List<EquipmentProp>() { prop }, 20);
                    result = PLC.WriteAddress(new List<EquipmentProp>() { prop });
                    if (result.Success)
                    {
                        return BllResultFactory.Sucess(null, "成功");
                    }
                    else
                    {
                        Logger.Log($"通知WMS取货错误处理成功，但是下发{stocker}删除任务{task.Id}失败！", LogLevel.Error);
                        return BllResultFactory.Error($"通知WMS取货错误处理成功，但是下发{stocker}删除任务{task.Id}失败！");
                    }
                }
                else
                {
                    return BllResultFactory.Error($"堆垛机{stocker.Name}的任务{task.Id}处理取货错误失败：{result.Msg}");
                }
            }
            else
            {
                return BllResultFactory.Error(null, $"未找到{stocker.Name}对应的任务Id：{taskProp.Value}");
            }

        }

        /// <summary>
        /// 重新下发
        /// </summary>
        /// <param name="stocker"></param>
        /// <returns></returns>
        private BllResult StockerInfo_OverrideTask(Equipment stocker)
        {

            //if (PLCs == null)
            //{
            //    return BllResultFactory.Error(null, "底层通讯未连接");
            //}
            //var plc = PLCs.FirstOrDefault(t => t.IP == stocker.IP);
            //if (plc == null || plc.IsConnected == false || plc.IsAvailable == false)
            //{
            //    return BllResultFactory.Error(null, "底层通讯未连接");
            //}
            if (PLC == null || PLC.GetConnStatus() == false)
            {
                //AddLogToUI("地址读取失败,请检查通讯连接", 2);
                return BllResultFactory.Error(null, "地址读取失败,请检查通讯连接");
            }
            var taskProp = stocker.EquipmentProps.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "Fork1TaskNo");
            if (taskProp == null)
            {
                return BllResultFactory.Error(null, $"未找到堆垛机{stocker.Name}的任务属性");
            }
            var taskResult = AppSession.Bll.GetCommonModelByCondition<TaskEntity>($"where id = {taskProp.Value}");
            if (taskResult.Success)
            {
                var task = taskResult.Data[0];
                if (task.LastStatus == TaskEntityStatus.下发堆垛机库内取货任务.GetIndexInt() || task.LastStatus == TaskEntityStatus.下发堆垛机库内放货任务.GetIndexInt() || task.LastStatus == TaskEntityStatus.下发堆垛机库外取货任务.GetIndexInt() || task.LastStatus == TaskEntityStatus.下发堆垛机库外放货任务.GetIndexInt())
                {
                    var prop = stocker.EquipmentProps.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag");
                    prop.Value = ForkTaskFlag.删除任务.GetIndexString();
                    //var result = S7Helper.PlcSplitWrite(plc, new List<EquipmentProp>() { prop }, 20);
                    var result = PLC.WriteAddress(new List<EquipmentProp>() { prop });
                    if (result.Success)
                    {
                        task.SendAgain = 1;
                        result = AppSession.Bll.UpdateCommonModel<TaskEntity>(task);
                        if (result.Success)
                        {
                            return BllResultFactory.Sucess(null, "成功");
                        }
                        else
                        {
                            Logger.Log($"通知{stocker}删除任务{task.Id}成功，但是更新任务重新下发的表示失败！", LogLevel.Error);
                            return BllResultFactory.Error($"通知{stocker}删除任务{task.Id}成功，但是更新任务重新下发的表示失败！");
                        }
                    }
                    else
                    {
                        Logger.Log($"通知{stocker}删除任务{task.Id}失败", LogLevel.Error);
                        return BllResultFactory.Error($"通知{stocker}删除任务{task.Id}失败");
                    }
                }
                else
                {
                    return BllResultFactory.Error(null, $"{stocker.Name}对应的任务Id：{taskProp.Value}任务状态不能重新下发");
                }
            }
            else
            {
                return BllResultFactory.Error(null, $"未找到{stocker.Name}对应的任务Id：{taskProp.Value}");
            }


        }

        /// <summary>
        /// 空出
        /// </summary>
        /// <param name="stocker"></param>
        /// <returns></returns>
        private BllResult StockerInfo_EmptyOutEvent(Equipment stocker)
        {

            //if (PLCs == null)
            //{
            //    return BllResultFactory.Error(null, "底层通讯未连接");
            //}
            //var plc = PLCs.FirstOrDefault(t => t.IP == stocker.IP);
            //if (plc == null || plc.IsConnected == false || plc.IsAvailable == false)
            //{
            //    return BllResultFactory.Error(null, "底层通讯未连接");
            //}
            if (PLC == null || PLC.GetConnStatus() == false)
            {
                //AddLogToUI("地址读取失败,请检查通讯连接", 2);
                return BllResultFactory.Error(null, "地址读取失败,请检查通讯连接");
            }
            var taskProp = stocker.EquipmentProps.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "Fork1TaskNo");
            var emptyOutProp = stocker.EquipmentProps.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "Fork1EmptyOut");
            if (taskProp == null | emptyOutProp == null)
            {
                return BllResultFactory.Error(null, $"未找到堆垛机{stocker.Name}的任务和空出属性");
            }
            if (emptyOutProp.Value != "True")
            {
                return BllResultFactory.Error(null, $"堆垛机{stocker.Name}未报空出错误");
            }
            var taskResult = AppSession.Bll.GetCommonModelByCondition<TaskEntity>($"where id = {taskProp.Value}");
            if (taskResult.Success)
            {
                var task = taskResult.Data[0];
                if (task.LastStatus < TaskEntityStatus.任务完成.GetIndexInt())
                {
                    var result = AppSession.Bll.EmptyOutHandle(task, AppSession.Client, AppSession.Urls);
                    if (result.Success)
                    {
                        var prop = stocker.EquipmentProps.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag");
                        prop.Value = ForkTaskFlag.删除任务.GetIndexString();
                        //result = S7Helper.PlcSplitWrite(plc, new List<EquipmentProp>() { prop }, 20);
                        result = PLC.WriteAddress(new List<EquipmentProp>() { prop });
                        if (result.Success)
                        {
                            return BllResultFactory.Sucess($"空出处理成功");
                        }
                        else
                        {
                            Logger.Log($"通知{stocker}删除任务{task.Id}失败", LogLevel.Error);
                            return BllResultFactory.Error($"空出处理，调用WMS成功但通知{stocker}删除任务{task.Id}失败");
                        }
                    }
                    else
                    {
                        return BllResultFactory.Error($"空出处理调用WMS失败：{result.Msg}");
                    }
                }
                else
                {
                    return BllResultFactory.Error(null, $"{stocker.Name}对应的任务Id：{taskProp.Value}已完成");
                }
            }
            else
            {
                return BllResultFactory.Error(null, $"未找到{stocker.Name}对应的任务Id：{taskProp.Value}");
            }

        }

        /// <summary>
        /// 重入
        /// </summary>
        /// <param name="location"></param>
        /// <param name="stocker"></param>
        /// <returns></returns>
        private BllResult StockerInfo_DoubleInEvent(Location location, Equipment stocker)
        {
            //if (PLCs == null)
            //{
            //    return BllResultFactory.Error(null, "底层通讯未连接");
            //}
            //var plc = PLCs.FirstOrDefault(t => t.IP == stocker.IP);
            //if (plc == null || plc.IsConnected == false || plc.IsAvailable == false)
            //{
            //    return BllResultFactory.Error(null, "底层通讯未连接");
            //}
            if (PLC == null || PLC.GetConnStatus() == false)
            {
                //AddLogToUI("地址读取失败,请检查通讯连接", 2);
                return BllResultFactory.Error(null, "地址读取失败,请检查通讯连接");
            }
            var addresses = stocker.EquipmentProps;
            //获取任务和是否重入
            var taskProp = addresses.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "Fork1TaskNo");
            var doubleInProp = addresses.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "Fork1DoubleIn");
            if (taskProp == null || doubleInProp == null)
            {
                return BllResultFactory.Error(null, $"未找到堆垛机{stocker.Name}的任务和重入属性");
            }
            if (doubleInProp.Value != "True")
            {
                return BllResultFactory.Error(null, $"堆垛机{stocker.Name}未报重入错误");
            }
            var taskResult = AppSession.Bll.GetCommonModelByCondition<TaskEntity>($"where id = {taskProp.Value}");
            if (taskResult.Success)
            {
                var task = taskResult.Data[0];
                if (task.LastStatus < TaskEntityStatus.任务完成.GetIndexInt())
                {
                    BllResult temp = AppSession.Bll.TaskDoubleInHandle("1", location.Code, task.Id, AppSession.WarehouseId);
                    if (temp.Success)
                    {
                        var excute = StockerExcutes.FirstOrDefault(t => t.EquipmentType.Id == stocker.EquipmentTypeId);
                        BllResult sendResult = excute.SendTaskToStocker(stocker, PLC, ForkAction.货叉1号, ForkTaskFlag.重新分配入库地址, location.RowIndex.ToString(), location.Line.ToString(), location.Layer.ToString(), "0", task.Id.ToString());
                        if (sendResult.Success)
                        {
                            return BllResultFactory.Sucess(null, "成功");
                        }
                        else
                        {
                            //回滚
                            AppSession.Bll.TaskDoubleInHandle("0", "", task.Id, AppSession.WarehouseId);
                            return BllResultFactory.Error(null, $"处理{stocker.Name}重入失败：{sendResult.Msg}");
                        }
                    }
                    else
                    {
                        return BllResultFactory.Error(null, $"处理{stocker.Name}重入失败：{temp.Msg}");
                    }
                }
                else
                {
                    return BllResultFactory.Error(null, $"{stocker.Name}对应的任务Id：{taskProp.Value}已完成");
                }
            }
            else
            {
                return BllResultFactory.Error(null, $"未找到{stocker.Name}对应的任务Id：{taskProp.Value}");
            }
        }

        /// <summary>
        /// 任务删除
        /// </summary>
        /// <param name="stocker"></param>
        /// <returns></returns>
        private BllResult StockerInfo_DeleteTask(Equipment stocker)
        {
            if (PLC == null || PLC.GetConnStatus() == false)
            {
                //AddLogToUI("地址读取失败,请检查通讯连接", 2);
                return BllResultFactory.Error(null, "地址读取失败,请检查通讯连接");
            }
            var taskProp = stocker.EquipmentProps.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "Fork1TaskNo");
            if (taskProp == null)
            {
                return BllResultFactory.Error(null, $"未找到堆垛机{stocker.Name}的任务属性");
            }
            //var taskResult = AppSession.Bll.GetCommonModelByCondition<TaskEntity>($"where id = {taskProp.Value}");
            //if (taskResult.Success)
            //{
                //var task = taskResult.Data[0];
                var prop = stocker.EquipmentProps.FirstOrDefault(t => t.EquipmentTypePropTemplateCode == "WCSFork1TaskFlag");
                prop.Value = ForkTaskFlag.删除任务.GetIndexString();
                //var result = S7Helper.PlcSplitWrite(plc, new List<EquipmentProp>() { prop }, 20);
                var result = PLC.WriteAddress(new List<EquipmentProp>() { prop });
                if (result.Success)
                {
                    return BllResultFactory.Sucess(null, $"删除任务{taskProp.Value}成功");
                }
                else
                {
                    Logger.Log($"通知{stocker}删除任务{taskProp.Value}失败", LogLevel.Error);
                    return BllResultFactory.Error($"通知{stocker}删除任务{taskProp.Value}失败");
                }
            //}
            //else
            //{
            //    return BllResultFactory.Error(null, $"未找到{stocker.Name}对应的任务Id：{taskProp.Value}");
            //}

        }
        #endregion

        #region 日志记录

        /// <summary>
        /// 日志记录
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="args"></param>
        private void Logger_LogWrite(object sender, LogEventArgs args)
        {
            Dispatcher.Invoke(() =>
            {
                switch (args.LogLevel)
                {
                    case LogLevel.Info:
                    case LogLevel.Success:
                        LogExecute.WriteLog(LogLevel.Info.ToString(), args.Content);
                        LogInfo.AddLogs(args.Content, args.LogLevel);
                        break;
                    case LogLevel.Error:
                    case LogLevel.Warning:
                        LogExecute.WriteLog(args.LogLevel.ToString(), args.Content);
                        LogInfo.AddLogs(args.Content, args.LogLevel);
                        break;
                    case LogLevel.Exception:
                        LogExecute.WriteExceptionLog(args.Content, args.Exception);
                        LogInfo.AddLogs(args.Content, args.LogLevel);
                        break;
                    default:
                        break;
                }
            });
        }

        #endregion

        #region 时钟逻辑

        private void Timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            lock (locker)
            {
                try
                {
                    //给与50毫秒缓冲时间
                    Thread.Sleep(200);

                    //Stopwatch stopwatch = new Stopwatch();
                    //stopwatch.Restart();

                    #region 是否结束处理

                    if (stop)
                    {
                        if (PLC.GetConnStatus())
                        {
                            PLC.CloseConn();
                        }
                        Dispatcher.Invoke(() =>
                        {
                            Btn_BeginExcute.IsEnabled = true;
                            Btn_EndExcute.IsEnabled = false;
                            timer.Enabled = false;
                        });
                        return;
                    }

                    #endregion

                    #region 检查是否连接正常
                    if (!PLC.GetConnStatus())
                    {
                        this.Btn_EndExcute_Click(null, null);
                        Logger.Log($"失去通讯连接，请重新打开", LogLevel.Error);
                        return;
                    }
                    #endregion

                    //禁用列表超过2分钟的，从禁用列表排除
                    siemens.RemoveAll(x => x.Time < DateTime.Now.AddSeconds(-10));

                    //测试可以ping通的设备，能ping通去读取OPC，不能ping通的加入到禁用列表
                    //List<EquipmentProp> props = new List<EquipmentProp>();
                    IEnumerable<String> ips = Equipments.Select(t => t.IP).Distinct();
                    foreach (var ip in ips)
                    {
                        if (!siemens.Exists(x => x.Station == ip))
                        {
                            if (Util.PingTest(ip))
                            {
                                foreach (var item in Equipments.Where(x => x.IP == ip))
                                {
                                    item.Disable = false;
                                }
                            }
                            else
                            {
                                foreach (var item in Equipments.Where(x => x.IP == ip))
                                {
                                    item.Disable = true;
                                }
                                siemens.Add(new PlcStatus() { Station = ip, Msg = "PING不通", Time = DateTime.Now });
                            }
                        }
                    }
                    //读取所有地址值
                    //PLCs.ForEach(t => S7Helper.PlcSplitRead(t, Equipments.Where(i => t.IP == t.IP).SelectMany(i => i.EquipmentProps).Where(a => a.EquipmentTypePropTemplate.PropType == "PLC").ToList(), 10));
                    //var result = PLC.ReadAddress(Equipments.SelectMany(t => t.EquipmentProps).Where(a => a.EquipmentTypePropTemplate.PropType == "PLC").ToList());
                    List<EquipmentProp> props = Equipments.Where(x => x.Disable == false).SelectMany(x => x.EquipmentProps).Where(x => x.EquipmentTypePropTemplate.PropType == "PLC").ToList();
                    var result = PLC.ReadAddress(props);
                    if (!result.Success)
                    {
                        Dispatcher.Invoke(() =>  this.Btn_EndExcute_Click(null, null));
                        Logger.Log($"读取地址错误：{result.Msg},处理停止，请检查网络配置", LogLevel.Error);
                        return;
                    }

                    #region 更新控件显示
                    Dispatcher.Invoke(() =>
                    {
                        foreach (var item in this.MonitorPanel.Children)
                        {
                            if (item is StockerMonitor temp)
                            {
                                var stocker = Equipments.FirstOrDefault(x => x.Code == temp.ControlName && x.Disable == false);
                                if (stocker != null)
                                {
                                    String currentColumn = stocker.EquipmentProps.Find(t => t.EquipmentTypePropTemplateCode == "CurrentColumn").Value;
                                    temp.SetStocker(0, int.TryParse(currentColumn, out int column) == true ? column : 0);
                                }
                            }
                        }
                        foreach (var item in this.EquipmentPanel.Children)
                        {
                            if (item is StockerInfo temp)
                            {

                                var stocker = Equipments.FirstOrDefault(x => x.Code == temp.ControlName && x.Disable == false);
                                if (stocker != null)
                                {
                                    temp.SetProps(stocker);
                                }
                            }
                        }

                       foreach (var item in Equipments.Where(x => x.EquipmentType.Code == "conveyor"))
                        {
                           var cv  = stationMonitor.GetStationMonitor(item.Code);

                            //var cv = this.Template.FindName(item.Code, stationMonitor);
                            //}//var cv = stationMonitor.FindName(item.Code);

                            //var cv = this.FindName(item.Code);

                            if (cv is StationV stationV)
                            {
                                stationV.SetProp(item.EquipmentProps);

                            }
                            if (cv is StationH stationH)
                            {
                                stationH.SetProp(item.EquipmentProps);


                            }
                        }
                        StationModels.ForEach(t => t.SetProp(Equipments.FirstOrDefault(x => x.Name == t.Name && x.Disable == false)?.EquipmentProps));
                    });
                    #endregion

                    #region 堆垛机处理

                    StockerExcutes.ForEach(x =>
                    {
                        //一般根据堆垛机现在的位置来决定优先执行入库还是出库
                        x.Excute(Equipments.Where(y => y.EquipmentType.Id == x.EquipmentType.Id && y.Disable == false).ToList(), PLC);
                    });

                    #endregion

                    #region 站台处理

                    //华恒站台处理
                    StationExcutes.ForEach(t => t.Excute(Equipments.Where(x => x.Disable == false).ToList(), PLC));

                    ////AGV呼叫处理
                    //AgvCalls.ForEach(t =>
                    //{
                    //    t.Excute(Equipments.Where(a => a.EquipmentType.Id == t.EquipmentType.Id).ToList(), PLC);
                    //});

                    #endregion

                }
                catch (Exception ex)
                {
                    //发生异常，结束处理
                    stop = true;
                    Logger.Log($"程序处理出现异常：{ex.Message}", LogLevel.Exception, ex);
                }
            }
        }

        #endregion

        #region 窗体事件

        /// <summary>
        /// 重连WMS
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Btn_ReConnectWMS_Click(object sender, RoutedEventArgs e)
        {
            var temp = ConnectWMS();
            if (temp.Success)
            {
                MessageBox.Show("连接WMS成功");
            //    this.Btn_ReConnectWMS.IsEnabled = false;
            }
            else
            {
                MessageBox.Show("连接WMS失败");
            //   this.Btn_ReConnectWMS.IsEnabled = true;
            }
        }

        /// <summary>
        /// 时钟初始化
        /// </summary>
        private void InitTimer()
        {
            timer.Interval = AppSession.Interval; //1秒触发一次
            timer.Elapsed += Timer_Elapsed; ;
            timer.AutoReset = true;//每到指定时间Elapsed事件是到时间就触发
            timer.Enabled = false; //指示 Timer 是否应引发 Elapsed 事件。
        }

        /// <summary>
        /// 载入
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Window_Loaded(object sender, RoutedEventArgs e)
        {
            AppSession.Bll.Combine(AppSession.MenuOperations.Where(t => t.ParentId == null).ToList(), AppSession.Bll.GetAllMenuOperation().Data.Where(t => (t.MenuType == "catalog" || t.MenuType == "menu") && AppSession.MenuOperations.Count(a => a.Id == t.Id) > 0).ToList());
            MenuMain.ItemsSource = AppSession.MenuOperations.Where(t => t.ParentId == null).OrderBy(t => t.OrderNum).ToList();

            //初始化
            Init();

        }

        /// <summary>
        /// 关闭窗口
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Window_Closed(object sender, EventArgs e)
        {
            stop = true;
            timer.Enabled = false;
            Thread.Sleep(1000);
            Application.Current.Shutdown();
        }

        /// <summary>
        /// 激活点击的菜单对应的窗口
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void MenuMain_Checked(object sender, RoutedEventArgs e)
        {
            try
            {
                MenuOperation menu = (MenuOperation)((MenuItem)e.OriginalSource).Header;
                var win = ChildrenWin.FirstOrDefault(t => t.Key == menu.Url).Value;
                if (String.IsNullOrWhiteSpace(menu?.Url) || menu.Url == "#")
                {
                    return;
                }
                if (win == null)
                {
                    win = (Window)Activator.CreateInstance(null, menu.Url).Unwrap();
                    ChildrenWin.Add(menu.Url, win);
                }
                win.Show();
                if (win.WindowState == WindowState.Minimized)
                    win.WindowState = WindowState.Normal;
                win.Activate();
            }
            catch (Exception ex)
            {
                LogExecute.WriteExceptionLog("打开菜单", ex);
                MessageBox.Show("打开菜单出现异常！");
            }
        }

        /// <summary>
        /// 开始处理
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Btn_BeginExcute_Click(object sender, RoutedEventArgs e)
        {
            if (PLC == null)
            {
                MessageBox.Show("PLC连接初始化失败！ 请检查PLC配置然后重启本程序", "注意", MessageBoxButton.OK, MessageBoxImage.Error);
                return;
            }
            if (PLC.OpenConn() == false)
            {
                MessageBox.Show("打开PLC连接失败");
                return;
            }
            this.InitEquipments();
            this.PLC.CreateGroup("group1");
            this.PLC.AddOPCItems(Equipments.SelectMany(t => t.EquipmentProps).ToList());
            this.stop = false;
            this.timer.Enabled = true;
            this.Btn_BeginExcute.IsEnabled = false;
            this.Btn_EndExcute.IsEnabled = true;
        }

        /// <summary>
        /// 停止处理
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Btn_EndExcute_Click(object sender, RoutedEventArgs e)
        {
            this.stop = true;
            this.Btn_BeginExcute.IsEnabled = true;
            this.Btn_EndExcute.IsEnabled = false;
        }

        /// <summary>
        /// LED测试
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Btn_LED_Click(object sender, RoutedEventArgs e)
        {
            //AppSession.LEDExcute.LeftInfoQueue.Enqueue($"左侧计数{tempCount}\\nhjhkhkj\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\ndfsdfdfs\\n\\n\\ndfsdf");
            //AppSession.LEDExcute.RightInfoQueue.Enqueue($"右侧计数{tempCount}\\nhjhkhkj");
            //tempCount++;
        }

        /// <summary>
        /// 拣选台回库
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Btn_GoBack_Click(object sender, RoutedEventArgs e)
        {

            if (PLC == null || PLC.GetConnStatus() == false)
            {
                //AddLogToUI("地址读取失败,请检查通讯连接", 2);
                MessageBox.Show("地址读取失败,请检查通讯连接");
                return;
            }
            var station1 = Equipments.FirstOrDefault(x => x.Code == "station1");
            var props = station1.EquipmentProps.FirstOrDefault(x => x.EquipmentTypePropTemplateCode == "Barcode");
            var queryResult = AppSession.Bll.GetTaskUncompleteByPalletCode(props.Value);
            if (queryResult.Success)
            {
                var task = queryResult.Data;
                if (task.LastStatus != TaskEntityStatus.到达拣选站台.GetIndexInt())
                {
                    MessageBox.Show($"托盘{props.Value}对应的任务{task.Id}状态为{task.LastStatus}，状态非【到达拣选站台】，请检查");
                }
                else
                {
                    var UpdateResult = AppSession.Bll.SetTaskStatus(task.Id, TaskEntityStatus.拣选台回库.GetIndexInt());
                    if (UpdateResult.Success)
                    {
                        Logger.Log($"任务{task.Id}回库成功", LogLevel.Success);
                    }
                    else
                    {
                        Logger.Log($"任务{task.Id}回库失败，消息：{UpdateResult.Msg}", LogLevel.Error);
                    }
                }
            }
            else
            {
                MessageBox.Show($"未获取到{props.Value}对应的任务");
            }
        }

        #endregion

        #region 初始化设备信息数据

        private BllResult ConnectWMS()
        {
            List<KeyValuePair<string, string>> list = new List<KeyValuePair<string, string>>
                {
                    new KeyValuePair<string, string>("username", AppSession.WmsUser),
                    new KeyValuePair<string, string>("password", AppSession.WmsPassword),
                    new KeyValuePair<string, string>("warehouse", AppSession.WarehouseId.ToString() + "," + AppSession.WarehouseCode),
                    new KeyValuePair<string, string>("rememberMe", "false")
                };
            //这里用同步的方式，因为我们是在定时器线程中调用的，不影响UI线程
            AppSession.Client = AppSession.InitHttpClient();
            return AppSession.Bll.FormPost(list, WMSUrls.Login, AppSession.Client, AppSession.Urls);
        }

        private void InitEquipments()
        {
            try
            {
                var result1 = AppSession.Bll.GetCommonModelByCondition<Equipment>("where disable = 0");
                var result2 = AppSession.Bll.GetCommonModelByCondition<EquipmentProp>("");
                var result3 = AppSession.Bll.GetCommonModelByCondition<EquipmentType>("");
                var result4 = AppSession.Bll.GetCommonModelByCondition<EquipmentTypePropTemplate>("");
                if (!result1.Success || !result2.Success || !result3.Success || !result4.Success)
                {
                    MessageBox.Show("初始化设备信息异常");
                    Btn_BeginExcute.IsEnabled = false;
                    Btn_EndExcute.IsEnabled = false;
                    return;
                }


                Equipments = result1.Data;
                EquipmentProps = result2.Data.Where(t => Equipments.Exists(a => a.Id == t.EquipmentId)).ToList();
                EquipmentTypes = result3.Data.Where(t => Equipments.Exists(a => a.EquipmentTypeId == t.Id)).ToList();
                EquipmentTypePropTemplates = result4.Data.Where(t => EquipmentTypes.Exists(a => a.Id == t.EquipmentTypeId)).ToList();

                //组合逻辑外键
                Equipments.ForEach(t =>
                {
                    t.EquipmentType = EquipmentTypes.FirstOrDefault(i => i.Id == t.EquipmentTypeId);
                    t.EquipmentProps.AddRange(EquipmentProps.Where(i => i.EquipmentId == t.Id).ToList());
                });
                EquipmentProps.ForEach(t =>
                {
                    t.Equipment = Equipments.FirstOrDefault(i => i.Id == t.EquipmentId);
                    //组合地址
                    t.Address = $"S7:[{t.Equipment.ConnectName}]{t.Address}";

                    t.EquipmentTypePropTemplate = EquipmentTypePropTemplates.FirstOrDefault(i => i.Id == t.EquipmentTypePropTemplateId);
                });
                //判断逻辑外键是否组合完毕
                if (Equipments.Count(t => t.EquipmentType == null || t.EquipmentProps.Count == 0) > 0)
                {
                    MessageBox.Show("初始化设备信息失败，请检查基础数据");
                    Btn_BeginExcute.IsEnabled = false;
                    Btn_EndExcute.IsEnabled = false;
                    return;
                }
                //组合站监控类
                Equipments.ForEach(t =>
                {
                    if (t.EquipmentType.Code.Contains("Station"))
                    {
                        StationModels.Add(new StationModel()
                        {
                            Name = t.Name
                        });
                    }
                });
                this.DGStation.ItemsSource = StationModels;

                //组合处理类
                EquipmentTypes.ForEach(t =>
                {
                    if (t.Code == "stocker")
                    {
                        StockerExcutes.Add(new SingeForkStockerExcute() { EquipmentType = t });
                    }
                    if (t.Code == "StationForStockerOut")
                    {
                        StationExcutes.Add(new StationForStockerOutExcute() { EquipmentType = t });
                    }
                    if (t.Code == "StationForStockerIn")
                    {
                        StationExcutes.Add(new StationForStockerInExcute() { EquipmentType = t });
                    }
                    if (t.Code == "StationForStockerInOrOut")
                    {
                        StationExcutes.Add(new StationForStockerInOrOutExcute() { EquipmentType = t });
                    }
                    if (t.Code == "StationOut")
                    {
                        StationExcutes.Add(new StationOutExcute() { EquipmentType = t });
                    }
                    if (t.Code == "StationIn")
                    {
                        StationExcutes.Add(new StationInExcute() { EquipmentType = t });
                    }
                    if (t.Code == "StationInOrOut")
                    {
                        StationExcutes.Add(new StationInOrOutExcute() { EquipmentType = t });
                    }
                    if (t.Code == "ScanPoint")
                    {
                        StationExcutes.Add(new ScanPoint() { EquipmentType = t });
                    }

                });
            }
            catch (Exception ex)
            {
                MessageBox.Show("初始化设备信息出错：" + ex.Message, "注意", MessageBoxButton.OK, MessageBoxImage.Error);
            }
        }


        #endregion

    }
}