RCS / RCS_Differential_Slam_Changsha · Files

using RCS.Model.Comm;
using RCS.Model.Entity;
using RCS.Model.ManualModel;
using RCS.WinClient.Common;
using RCS.WinClient.Service;
using SqlSugar;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Input;
using System.Windows.Media;
using static RCS.Model.Comm.EnumMsg;


namespace RCS.WinClient.Views.Pages
{
    /// <summary>
    /// WinTest.xaml 的交互逻辑
    /// </summary>
    public partial class WinTest : Window
    {
        public WinTest()
        {
            InitializeComponent();
        }

        private void Window_Loaded(object sender, RoutedEventArgs e)
        {
            var manualTask = new string[] { EnumMsg.TaskType.普通行走.ToString(), EnumMsg.TaskType.倒车行走.ToString(),
                                            EnumMsg.TaskType.上升到顶.ToString(), EnumMsg.TaskType.下降到底.ToString(),
                                            EnumMsg.TaskType.充电.ToString(), EnumMsg.TaskType.取消充电.ToString(),
                                            EnumMsg.ActionType.旋转.ToString(),
                                            EnumMsg.ActionType.转盘旋转.ToString(),
                                            EnumMsg.ActionType.对中.ToString(),
            EnumMsg.TaskType.回家.ToString()};
            ComBox_ManualTask.ItemsSource = manualTask;

            string[] taskType = [TaskType.物料出库.ToString(), TaskType.物料入库.ToString(),TaskType.配送测试.ToString(), TaskType.展厅配送测试.ToString(),TaskType.展厅激光配送.ToString()];

            ComBox_TaskType.ItemsSource = taskType;

            Tbox_Agv.ItemsSource = App.AgvList.Select(x => x.AgvNo).ToList();

            //循环测试任务
            Tbox_Agv1.ItemsSource = App.AgvList.Select(x => x.AgvNo).ToList();
            ComBox_ManualTask1.ItemsSource = taskType;

            foreach (var item in taskType)
            {
                CheckBox checkBox = new CheckBox
                {
                    Content = item,
                    Margin = new Thickness(5)
                };
                Panel_TaskType.Children.Add(checkBox);
            }

            //ComBox_StartSt.IsDropDownOpen = true;
            //ComBox_StartSt.IsDropDownOpen = true;
        }

        private void BtnClose_Click(object sender, RoutedEventArgs e)
        {
            Close();
        }

        //重写Closing方法
        protected override void OnClosing(System.ComponentModel.CancelEventArgs e)
        {
            Hide();
            e.Cancel = true;
        }

        private void TextBlock_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
        {
            DragMove();
        }

        /// <summary>
        /// 保存单步任务
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Btn_OK_Click(object sender, RoutedEventArgs e)
        {
            try
            {
                //int outNum = 0;
                var Tim = "0";
                var taskType = ComBox_ManualTask.SelectedValue as string;
                if (string.IsNullOrEmpty(taskType))
                {
                    ComnMethod.Message("请选择任务类型，不能手写！");
                    return;
                }
                var agvNo = Tbox_Agv.SelectedValue as string;
                if (string.IsNullOrEmpty(agvNo))
                {
                    ComnMethod.Message("请选择AGV，不能手写！");
                    return;
                }
                var agv = App.AgvList.FirstOrDefault(b => b.AgvNo == agvNo);
                if (agv == null)
                {
                    ComnMethod.Message("车号有误，请检查！");
                    return;
                }
                var startPoint = App.PointList.Find(a => a.Barcode == agv.Barcode);
                if (startPoint == null)
                {
                    ComnMethod.Message("AGV当前点不在地图中！");
                    return;
                }
                var endBarcode = ComBox_Position.SelectedValue as string;

                var taskGroup = EnumMsg.TaskGroup.RCS单步任务.ToString();

                string startBarcode = agv.Barcode;
                string startStationName = "";
                string endStationName = "";

                //如果是行走，就需要检查点位
                if (taskType == EnumMsg.TaskType.普通行走.ToString() || taskType == EnumMsg.TaskType.倒车行走.ToString())
                {
                    if (!App.PointList.Exists(x => x.Barcode == startBarcode))
                    {
                        ComnMethod.Message("起点点位未找到，请检查！");
                        return;
                    }
                    if (!App.PointList.Exists(x => x.Barcode == endBarcode))
                    {
                        ComnMethod.Message("终点点位未找到，请检查！");
                        return;
                    }
                }
                //叉车类型禁止往站台中发普通行走任务，会撞到货架
                if (taskType == TaskType.普通行走.ToString()
                   && agv.AgvType == AgvType.叉车
                   && (App.StationList.Any(x => x.Barcode == endBarcode)
                     || App.StationList.Any(x => x.PreBarcode == endBarcode && x.Name.StartsWith("A"))
                  ))
                {
                    ComnMethod.Message("叉车禁止往站台中发普通行走任务，会撞到货架!");
                    return;
                }

                //如果是取货、放货、充电，就需要检查站台
                if (taskType == EnumMsg.TaskType.充电.ToString())
                {
                    var endStation = App.StationList.FirstOrDefault(t => t.Name == endBarcode);
                    if (endStation == null)
                    {
                        ComnMethod.Message("目标站台未找到，请检查！");
                        return;
                    }
                    startStationName = endStation.Name;
                    endStationName = endStation.Name;
                    startBarcode = endStation.Barcode;
                    endBarcode = endStation.Barcode;
                    //手动充电任务.
                    if (taskType == EnumMsg.TaskType.充电.ToString())
                    {
                        agv.LockStation = endStation;
                        endStation.IsLocked = true;
                        var updateAgvResult = UpdateManage.UpdateAgv(agv);
                        var updateAtationResult = UpdateManage.UpdateStation(endStation);
                    }
                }

                //如果是 顶升、下降、取消充电，就不需要点位
                if (taskType == EnumMsg.TaskType.上升到顶.ToString()
                    || taskType == EnumMsg.TaskType.下降到底.ToString()
                    || taskType == EnumMsg.TaskType.取消充电.ToString()
                    || taskType == EnumMsg.TaskType.旋转.ToString()
                    || taskType == EnumMsg.TaskType.转盘旋转.ToString()
                       || taskType == EnumMsg.TaskType.对中.ToString()
                    )
                {
                    if (taskType == EnumMsg.TaskType.取消充电.ToString() && agv.AgvState != EnumMsg.AGVState.充电中)
                    {
                        ComnMethod.Message("不在充电中，不能取消充电！");
                        return;
                    }
                    startBarcode = agv.Barcode;
                    endBarcode = startBarcode;
                }
                else
                {
                    if (string.IsNullOrEmpty(endBarcode))
                    {
                        ComnMethod.Message("请选择目标，不能手写！");
                        return;
                    }
                }

                if (YesRadio.IsChecked == true)
                {
                    if (taskType == EnumMsg.TaskType.充电.ToString() || taskType == EnumMsg.TaskType.取消充电.ToString())
                    {
                        ComnMethod.Message("充电/取消充电不可以循环"); return;
                    }
                    App.StartCycle = 1;
                    App.ManualCycleList.Add(new ManualCycle()
                    {
                        AgvNo = Tbox_Agv.Text,
                        FromBarcode = startBarcode,
                        ToBarcode = endBarcode,
                        TaskType = ComBox_ManualTask.Text
                    });
                    ComnMethod.Message("循环任务建立成功！");
                }
                else
                {
                    short.TryParse(this.Tbx_HeightAngle.Text, out var heightOrAngle);
                    var result = TaskManage.TaskBuild(taskType, taskGroup, Tim, 1, Tbox_Agv.Text, startBarcode, endBarcode, "", startStationName, endStationName, heightOrAngle);
                    if (result.IsSuccess)
                    {
                        ComnMethod.Message("建立成功！");
                    }
                    else
                    {
                        ComnMethod.Message($"创建失败{result.Message}");
                    }
                }
            }
            catch (Exception ex)
            {
                ComnMethod.Message($"RCS产生单步任务失败！原因：{ex.Message}");
                App.ExFile.MessageError("WinTest", $"RCS产生单步任务异常，原因：{ex.Message}，堆栈：{ex.StackTrace}");
            }
        }

        /// <summary>
        /// 关机
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Btn_Off_Click(object sender, RoutedEventArgs e)
        {
            try
            {
                //if (Combo_offType.Text == "")
                //{
                //    ComnMethod.Message("请选择关机小车！");
                //}
                //else
                //{
                //    App.offAgv = 1;
                //    App.offTime = DateTime.Now;
                //    App.OffAgvNos.Clear();
                //    if (Combo_offType.Text == "单独关机")
                //    {
                //        Base_Agv? getAgv = App.AgvList.FirstOrDefault(a => a.AgvNo == TBox_offAgvNo.Text);
                //        if (getAgv != null)
                //        {
                //            App.OffAgvNos.Add(TBox_offAgvNo.Text);
                //        }
                //    }
                //    else if (Combo_offType.Text == "全部关机")
                //    {
                //        foreach (Base_Agv agv in App.AgvList)
                //        {
                //            if (agv.IsEnable && agv.IsOnline)
                //            {
                //                App.OffAgvNos.Add(agv.AgvNo);
                //            }
                //            else
                //            {
                //                continue;
                //            }
                //        }
                //    }
                //}
            }
            catch (Exception ex)
            {
                App.ExFile.MessageError("WinTest", $"关机任务异常，原因：{ex.Message}，堆栈：{ex.StackTrace}");
            }
        }

        /// <summary>
        /// 保存复合任务
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Btn_Task_Click(object sender, RoutedEventArgs e)
        {
            try
            {
                var taskID = ComBox_TaskType.SelectedValue as string;
                if (string.IsNullOrEmpty(taskID))
                {
                    ComnMethod.Message("请选择任务类型，不能手写！");
                    return;
                }
                var from = ComBox_StartStation.SelectedValue as string;
                if (string.IsNullOrEmpty(from))
                {
                    ComnMethod.Message("请选择 起点，不能手写！");
                    return;
                }
                var to = ComBox_EndStation.SelectedValue as string;
                if (string.IsNullOrEmpty(to))
                {
                    ComnMethod.Message("请选择 终点，不能手写！");
                    return;
                }

                Base_Point? fromPoint = null;
                Base_Point? toPoint = null;
                Base_Station? fromStation = null;
                Base_Station? toStation = null;

                fromStation = App.StationList.FirstOrDefault(a => a.Name == from);
                toStation = App.StationList.FirstOrDefault(a => a.Name == to);
                fromPoint = App.PointList.FirstOrDefault(x => x.Barcode == fromStation?.Barcode);
                toPoint = App.PointList.FirstOrDefault(x => x.Barcode == toStation?.Barcode);

                if (fromPoint == null)
                {
                    ComnMethod.Message("起始不存在!");
                    return;
                }
                if (!fromPoint.IsEnable)
                {
                    ComnMethod.Message("任务起点被禁用!");
                    return;
                }
                if (taskID != EnumMsg.TaskType.出库区任务.ToString())
                {
                    if (toPoint == null)
                    {
                        ComnMethod.Message("终点不存在!");
                        return;
                    }
                    if (!toPoint.IsEnable)
                    {
                        ComnMethod.Message("任务起点被禁用!");
                        return;
                    }
                }
                //var toLoction = App.LoctionList.Find(a => a.LoctionBarcode == toSt.Barcode);
                //if (toLoction != null)
                //{
                //    if(taskID==EnumMsg.TaskType.)
                //}

                //if (YesTaskRadio.IsChecked == true)
                //{
                //    App.StartCycle = 1;
                //    App.ManualCycleList.Add(new ManualCycle()
                //    {
                //        AgvNo = "",
                //        FromBarcode = fromStation.Barcode,
                //        ToBarcode = toStation.Barcode,
                //        TaskType = taskID
                //    });
                //    ComnMethod.Message("循环任务建立成功！");
                //    return;
                //}
                var taskGroup = EnumMsg.TaskGroup.RCS复合任务.ToString();
                var taskBuildRestult = TaskManage.TaskBuild(taskID, taskGroup, "1", 5, "", fromPoint.Barcode, toPoint?.Barcode, "", fromStation?.Name, toStation?.Name);
                if (!taskBuildRestult.IsSuccess)
                {
                    ComnMethod.Message($"生成任务失败！原因：{taskBuildRestult.Message}");
                    return;
                }
            }
            catch (Exception ex)
            {
                ComnMethod.Message($"RCS产生复合任务失败！原因：{ex.Message}");
                App.ExFile.MessageError("WinTest", $"RCS产生复合任务异常，原因：{ex.Message}，堆栈：{ex.StackTrace}");
            }
            ComnMethod.Message("成功！！");
        }


        //private void Btn_StopManualTask_Click(object sender, RoutedEventArgs e)
        //{
        //    int index = -1;
        //    if (Tbox_Agv1.Text == "" && ComBox_ManualTask1.Text == "")
        //    {
        //        if (MessageBox.Show("请确认是否暂停全部循环任务", "确认", MessageBoxButton.YesNo) == MessageBoxResult.No) return;
        //        App.StartCycle = 0;
        //        App.ManualCycleList.Clear();
        //        //App.ManualAgvNoList.Clear();
        //        //App.EndBarcodeList.Clear();
        //        //App.StartBarcodeList.Clear();
        //        //App.ManualTaskList.Clear();
        //    }
        //    else
        //    {
        //        if (Tbox_Agv1.Text != "")
        //        {
        //            index = App.ManualCycleList.FindIndex(a => a.AgvNo == Tbox_Agv1.Text);
        //            if (index < 0) { ComnMethod.Message("AGV不在循环任务中"); return; }
        //        }
        //        else if (ComBox_ManualTask1.Text != "")
        //        {
        //            index = App.ManualCycleList.FindIndex(a => a.TaskType == ComBox_ManualTask1.Text);
        //            if (index < 0) { ComnMethod.Message("任务不在循环任务中"); return; }
        //        }
        //        App.ManualCycleList.RemoveAt(index);
        //        //App.EndBarcodeList.RemoveAt(index);
        //        //App.StartBarcodeList.RemoveAt(index);
        //        //App.ManualTaskList.RemoveAt(index);
        //        if (App.ManualCycleList.Count == 0)
        //        {
        //            App.StartCycle = 0;
        //        }
        //    }
        //    ComnMethod.Message("暂停成功！");
        //}

        /// <summary>
        /// 切换AGV
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Tbox_Agv_SelectionChanged(object sender, SelectionChangedEventArgs e)
        {
            var AgvNo = ((ComboBox)sender).SelectedItem as string;
            var taskType = ComBox_ManualTask.Text;
            if (taskType == EnumMsg.TaskType.充电.ToString())
            {
                var agvNo = Tbox_Agv.SelectedValue as string;
                if (string.IsNullOrEmpty(agvNo))
                {
                    ComnMethod.Message("请选择AGV，不能手写！");
                    return;
                }
                var agv = App.AgvList.FirstOrDefault(b => b.AgvNo == agvNo);
                if (agv == null)
                {
                    ComnMethod.Message("车号有误，请检查！");
                    return;
                }
                var chargeName = agv.ChargeName;
                var stationNames = App.StationList.Where(x => x.StationType == EnumMsg.StationType.充电桩).Select(x => x.Name);
                if (!chargeName.IsNullOrEmpty())
                    stationNames = stationNames.Where(t => t == chargeName);
                ComBox_Position.ItemsSource = stationNames;
            }
            else if (taskType == EnumMsg.TaskType.取消充电.ToString())
            {
                ComBox_Position.ItemsSource = null;
            }
        }

        /// <summary>
        /// 键盘输入筛选
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void ComBox_KeyUp(object sender, KeyEventArgs e)
        {
            if (sender is not ComboBox comboBox)
                return;
            var stationNameList = App.StationList.Where(x => x.StationType > EnumMsg.StationType.充电桩).Select(x => x.Name).ToList();
            var mylist = stationNameList.FindAll(x => x.Contains(comboBox.Text.Trim()));
            comboBox.ItemsSource = mylist;
            comboBox.IsDropDownOpen = true;
        }
        /// <summary>
        /// 切换单步任务
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void ComBox_ManualTask_SelectionChanged(object sender, SelectionChangedEventArgs e)
        {
            //ComBox_Position.Items.Clear();
            var taskType = ((ComboBox)sender).SelectedItem as string;
            if (taskType == EnumMsg.TaskType.充电.ToString())
            {
                var agv = App.AgvList.FirstOrDefault(b => b.AgvNo == Tbox_Agv.Text);
                var stations = App.StationList.FindAll(x => x.StationType == StationType.充电桩);
                if (agv != null)
                {
                    var chargeName = agv.ChargeName;
                    if (!string.IsNullOrEmpty(chargeName))
                    {
                        stations = stations.FindAll(x => x.Name == chargeName);
                    }
                }
                ComBox_Position.ItemsSource = stations.Select(x => x.Name);
            }
            else if (taskType.In(TaskType.普通行走.ToString(),
                TaskType.倒车行走.ToString(),
                TaskType.上升到顶.ToString(),
                TaskType.下降到底.ToString()))
            {
                var barcodes = App.PointList.Select(t => t.Barcode).OrderBy(int.Parse).ToList();
                ComBox_Position.ItemsSource = barcodes;
            }
            else if (taskType == EnumMsg.TaskType.回家.ToString())
            {
                var barcodes = App.PointList.Where(x => x.IsStop).Select(t => t.Barcode).OrderBy(int.Parse).ToList();
                ComBox_Position.ItemsSource = barcodes;
            }
            else
            {
                ComBox_Position.ItemsSource = null;
            }
        }

        /// <summary>
        /// 切换复合任务类型
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void ComBox_TaskType_SelectionChanged(object sender, SelectionChangedEventArgs e)
        {
            var taskType = ((ComboBox)sender).SelectedItem as string;
            var stationNames = App.StationList.Where(x => x.StationType != EnumMsg.StationType.充电桩).Select(x => x.Name).ToList();
            ComBox_StartStation.ItemsSource = stationNames;
            ComBox_EndStation.ItemsSource = stationNames;

        }

        private void Btn_StartManualTask_Click(object sender, RoutedEventArgs e)
        {
            var agvNo = Tbox_Agv1.Text;
            var taskType = ComBox_ManualTask1.Text;
            if (string.IsNullOrEmpty(agvNo) || string.IsNullOrEmpty(taskType))
            {
                MessageBox.Show("请指定agv或者任务类型");
                return;
            }
            var agv = App.AgvList.Find(x => x.AgvNo == agvNo);
            if (agv != null)
            {
                var isExists = App.RecurrentTasks.Exists(x => x.agv.AgvNo == agvNo);
                if (isExists)
                {
                    MessageBox.Show($"{agvNo}已经存在循环任务");
                    return;
                }
                isExists = App.TaskList.Any(x => x.TaskAgvNo == agvNo);
                if (isExists)
                {
                    MessageBox.Show($"{agvNo}存在任务");
                    return;
                }
                App.RecurrentTasks.Add((agv, taskType));
                MessageBox.Show($"agv{agvNo}已经加入循环任务");
            }


            // RecurrentTasks
        }

        private void Btn_StopManualTask_Click(object sender, RoutedEventArgs e)
        {
            var agvNo = Tbox_Agv1.Text;
            var isExists = App.RecurrentTasks.Exists(x => x.agv.AgvNo == agvNo);
            if (isExists)
            {
                //var agv = App.RecurrentTasks.Find(x => x.agv.AgvNo == agvNo);
                //App.RecurrentTasks.Remove(agv);
                var count = App.RecurrentTasks.RemoveAll(x => x.agv.AgvNo == agvNo);
                MessageBox.Show($"已经成功移除{agvNo}的循环任务{count}");
            }
            else
                MessageBox.Show($"{agvNo}没有循环任务");
        }

        private void Btn_StartRadomTask_Click(object sender, RoutedEventArgs e)
        {

            if (int.TryParse(Tbox_RadomCount.Text, out var count))
            {
                var taskTypes = new List<string>();
                foreach (var child in Panel_TaskType.Children)
                {
                    if (child is CheckBox checkBox && (checkBox.IsChecked ?? false) && checkBox.Content != null)
                    {
                        taskTypes.Add((string)checkBox.Content);
                    }
                }

                App.RadomTaskConfig.Concurrency = count;
                App.RadomTaskConfig.IsStartRadom = true;
                App.RadomTaskConfig.TaskTypes = taskTypes;
                MessageBox.Show("操作成功");

            }
            else
            {
                MessageBox.Show("并发数量请填写数值类型");
            }
        }

        private void Btn_StopRadomTask_Click(object sender, RoutedEventArgs e)
        {

            App.RadomTaskConfig.IsStartRadom = false;
            MessageBox.Show("操作成功");

        }

        private void Button_Click(object sender, RoutedEventArgs e)
        {
            this.Topmost = !this.Topmost;
            if (this.Topmost)
            {
              // this.Btn_Nail.for
            }
        }

        private void Btn_Nail_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
        {
            this.Topmost = !this.Topmost;
            if (this.Topmost)
            {
                this.Btn_Nail.Background = new SolidColorBrush(Color.FromRgb(230,230,230)); 
            }
            else
            {
                this.Btn_Nail.Background = new SolidColorBrush(Color.FromRgb(255, 255, 255)); 

            }
        }
    }
}