baoshi-was/app/Services/ForeignHaiRoboticsService.php

<?php


namespace App\Services;


use App\Components\ErrorPush;
use App\Exceptions\ErrorException;
use App\Exceptions\Exception;
use App\Jobs\CacheShelfTaskJob;
use App\Log;
use App\MaterialBox;
use App\Station;
use App\StationTask;
use App\StationTaskMaterialBox;
use Carbon\Carbon;
use Illuminate\Support\Collection;
use Illuminate\Support\Facades\Cache;
use Illuminate\Support\Facades\DB;
use Illuminate\Support\Facades\Http;
use App\Traits\ServiceAppAop;


class ForeignHaiRoboticsService
{
    use ServiceAppAop,ErrorPush;

    /** @var  $stationTaskMaterialBoxService StationTaskMaterialBoxService */
    private $stationTaskMaterialBoxService;
    /** @var  $stationTaskBatchService StationTaskBatchService */
    private $stationTaskBatchService;
    /** @var  $stationTaskCommoditiesService StationTaskCommodityService */
    private $stationTaskCommoditiesService;
    /** @var  $materialBoxService MaterialBoxService */
    private $materialBoxService;
    /** @var  $stationTaskService StationTaskService */
    private $stationTaskService;
    /** @var  $stationService StationService */
    private $stationService;
    public function __construct()
    {
        $this->stationTaskMaterialBoxService=null;
        $this->materialBoxService=null;
        $this->stationService=null;
    }

    /**
     * @param string $modeName '输送线入立架'|'立架出至输送线'|'移动立架内位置'|'缓存架入立架'|'立架出至缓存架'
     * @param string $fromLocation
     * @param string $toLocation
     * @param Collection $taskMaterialBoxes
     * @param string $groupId
     * @param int $priority
     * @param int $isSequenced
     * @return array
     */
    private function makeJson_move(
        Collection $taskMaterialBoxes,
        string $modeName,
        string $fromLocation='',
        string $toLocation='',
        $groupId=''
        , $priority=10
        , $isSequenced=1
    ): array
    {
        $timestampSuffix = microtime(true);
        $taskMode=$this->getTaskMode($modeName);
        $bins=$taskMaterialBoxes->map(function (StationTaskMaterialBox $taskMaterialBox)use($timestampSuffix,$fromLocation,$toLocation){
            return [
                "taskCode"  =>$taskMaterialBox['id'].'_'.$timestampSuffix,
                "binCode"   => $taskMaterialBox['materialBox']['code'],
                "fromLocCode" => $fromLocation??'',
                "toLocCode" => $toLocation??'',
            ];
        });
        return [[
            "taskMode"  =>$taskMode,
            "bins"=>$bins,
            "groupCode"=>$groupId.'_'.$timestampSuffix,
            "priority"=>$priority,
            "sequenceFlag"=>$isSequenced,
        ]];
    }

    public function makeJson_move_multi(
        Collection $taskMaterialBoxes,
        string $modeName,
        Collection $fromLocation=null,
        Collection $toLocations=null,
        $groupId=''
        , $priority=10
        , $isSequenced=1
    ): array
    {
        if((!$toLocations||($toLocations->count()!=$taskMaterialBoxes->count())) && (!$fromLocation || ($fromLocation->count()!=$taskMaterialBoxes->count())))throw new Exception('元素数量必须和料箱任务不一致');
        $timestampSuffix = microtime(true);
        $taskMode=$this->getTaskMode($modeName);
        $bins=$taskMaterialBoxes->map(function (StationTaskMaterialBox $taskMaterialBox,$i)use($timestampSuffix,$fromLocation,$toLocations){
            return [
                "taskCode"  =>$taskMaterialBox['id'].'_'.$timestampSuffix,
                "binCode"   => $taskMaterialBox['materialBox']['code'],
                "fromLocCode" => $fromLocation ? $fromLocation[$i] : '',
                "toLocCode" => $toLocations ? $toLocations[$i] : '',
            ];
        });
        return [[
            "taskMode"  =>$taskMode,
            "bins"=>$bins,
            "groupCode"=>$groupId.'_'.$timestampSuffix,
            "priority"=>$priority,
            "sequenceFlag"=>$isSequenced,
        ]];
    }

    private function getTaskMode($modeName){
        switch ($modeName){
            case '输送线入立架': return 1;
            case '立架出至输送线': return 2;
            case '移动立架内位置': return 3;
            case '立架出至缓存架':
            case '缓存架入立架':return 6;
            default: throw new \Exception('发至海柔的移料箱请求，模式不存在');
        }
    }


    public function fetchGroup($toLocation, Collection $taskMaterialBoxes, $groupIdPrefix='',$mode='立架出至输送线'): bool
    {
        $dataToPost=$this->makeJson_move(
            $taskMaterialBoxes,
            $mode,
            '',
            $toLocation??'',
            $groupIdPrefix
        );
        return $this->controlHaiRobot($dataToPost,$taskMaterialBoxes,$mode);
    }

    /**
     * @param Collection $toLocations   //库位和料箱任务一一对应，一个库位对应一个料箱
     * @param Collection $taskMaterialBoxes
     * @param string $groupIdPrefix
     * @param string $mode
     * @param int $priority
     * @param bool $isSequenced
     * @return bool
     * @throws ErrorException|Exception
     */
    public function fetchGroup_multiLocation(Collection $toLocations, Collection $taskMaterialBoxes,string $groupIdPrefix='',string
        $mode='立架出至输送线', int $priority = 10, bool $isSequenced = true): bool
    {
        $dataToPost=$this->makeJson_move_multi(
            $taskMaterialBoxes,
            $mode,
            null,
            $toLocations,
            $groupIdPrefix,
            $priority,
            $isSequenced ? 1 : 0
        );
        return $this->controlHaiRobot($dataToPost,$taskMaterialBoxes,$mode);
    }

    public function markBinProcessed(
        $workStation,
        $binCode,
        $success,
        $created_at,
        $exception,
        $is_in_plan
    ): bool
    {
        LogService::log('海柔请求','markBinProcessed1.1',
            $binCode.'|'.$success.'|'.$exception.'|'.$is_in_plan);
        $this->instant($this->stationService,'StationService');
        $this->instant($this->materialBoxService,'MaterialBoxService');
        $this->instant($this->stationTaskMaterialBoxService,'StationTaskMaterialBoxService');
        $this->instant($this->stationTaskCommoditiesService,'StationTaskCommodityService');
        $this->instant($this->stationTaskBatchService,'StationTaskBatchService');
        try{
            LogService::log('海柔请求','markBinProcessed1.2',
                json_encode([$binCode,$success,$exception,$is_in_plan]));
            if($failed
                =!$success)
                throw new ErrorException('海柔任务失败:'.$exception);
            LogService::log('海柔请求','markBinProcessed1.3',
                $failed);

            $materialBox=
                $this->materialBoxService->get(['code'=>$binCode])->first();
            /** @var StationTaskMaterialBox $stationTaskMaterialBox */
            $stationTaskMaterialBox
                =(function()use($materialBox){
                return $stationTaskMaterialBox=
                    StationTaskMaterialBox::query()
                        ->where('material_box_id',$materialBox['id'])
                        ->where('created_at','>',Carbon::now()->subDay())
                        ->whereIn('status',['处理中','待处理','异常','处理队列'])
                        ->orderBy('id','desc')
                    ->first();
            })();
            if(!$stationTaskMaterialBox){
                throw new ErrorException($binCode.'该料箱没有安排在处理队列中.');
            }

            DB::transaction(function ()use($stationTaskMaterialBox,$binCode){
                $stationTaskMaterialBox_next=
                    $this->stationTaskMaterialBoxService
                        ->processNextQueued($stationTaskMaterialBox); //找到队列中下一个料箱，并标记为处理中
                $this->stationTaskCommoditiesService
                    ->markProcessed($stationTaskMaterialBox['stationTaskCommodities']);
                LogService::log('海柔请求','markBinProcessed1.8',
                    json_encode($stationTaskMaterialBox).'|'.$binCode);
                if($stationTaskMaterialBox_next)
                    $this->stationTaskCommoditiesService
                        ->markProcessing($stationTaskMaterialBox_next['stationTaskCommodities']);//因为上边商品任务被标记完成了，所以这里要将队列中找出正在处理的料箱对应的标记为“处理中”

                $this->stationTaskMaterialBoxService
                    ->markProcessed($stationTaskMaterialBox);
                $notProcessedBoxTasks = $this->stationTaskMaterialBoxService->getNotProcessedSiblings($stationTaskMaterialBox);
                if($notProcessedBoxTasks->isEmpty()){
                    $this->instant($this->stationTaskService,'StationTaskService');
                    LogService::log('海柔请求','markBinProcessed1.81',
                        json_encode($stationTaskMaterialBox['stationTaskBatch']).'|'.$binCode);
                    $stationTaskMaterialBox->loadMissing('stationTaskBatch');
                    $this->stationTaskBatchService->markProcessed($stationTaskMaterialBox['stationTaskBatch']);
                    $this->stationTaskService->markProcessed($stationTaskMaterialBox['stationTask']);
                }
                $this->storeBox($stationTaskMaterialBox)
                    ?true
                    :(function(){throw new ErrorException('呼叫机器人回收U型线料箱失败');})();
                LogService::log('海柔请求','markBinProcessed1.9',
                    json_encode($stationTaskMaterialBox).'|'.$binCode);
                $this->stationService->broadcastBinMonitor($stationTaskMaterialBox['station_id'],$stationTaskMaterialBox['stationTask']);
                LogService::log('海柔请求','markBinProcessed1.99',
                    json_encode($stationTaskMaterialBox).'|'.$binCode);
            });
            return true;
        }catch (\Exception $e){
            LogService::log('海柔请求','markBinProcessed E1',
                $binCode);
            $this->instant($this->stationTaskMaterialBoxService,'StationTaskMaterialBoxService');
            $this->instant($this->materialBoxService,'MaterialBoxService');
            $box=$this->materialBoxService->firstOrCreate(['code'=>$binCode]);
            $stationTaskMaterialBox_toStore=
                $this->stationTaskMaterialBoxService->create([
                    'station_id' => $this->stationService->getStation_byType('立库')['id'],
                    'material_box_id' => $box['id'],
                    'status' => '处理中'
                ] );

            $dataToPost=$this->makeJson_move(
                collect([$stationTaskMaterialBox_toStore]),
                '输送线入立架',
                'BIN-IN1',//TODO：这里应该是动态取得，参考出立架getULineExit()方法，不然不能从站获得对应的出口，而且要改Station的child为children
                '',
                $stationTaskMaterialBox_toStore['stationTaskBatch']['id']
            );
            $this->controlHaiRobot($dataToPost,collect([$stationTaskMaterialBox_toStore]),'输送线入立架');

            LogService::log('海柔请求','markBinProcessed E2',
                $binCode);
            $stationTaskMaterialBox = $stationTaskMaterialBox_toStore??$materialBox??null;
            if($stationTaskMaterialBox && get_class($stationTaskMaterialBox)==MaterialBox::class){
                $stationTaskMaterialBox = StationTaskMaterialBox::query()
                    ->where('material_box_id',$stationTaskMaterialBox['id'])
                    ->where('status','<>','完成')
                    ->where('created_at','>',now()->format('Y-m-d'))
                    ->first();
            }
            if($stationTaskMaterialBox)
                $this->stationTaskMaterialBoxService
                    ->excepted($stationTaskMaterialBox);
            return $e->getMessage();
        }
    }

    public function storeBox(?StationTaskMaterialBox $stationTaskMaterialBox): bool
    {
        LogService::log('海柔请求','putBinToStore1',
            '');
        $this->instant($this->stationService,'StationService');
        $this->instant($this->stationTaskMaterialBoxService,'StationTaskMaterialBoxService');
        $stationTaskMaterialBox_toStore=
            $this->stationTaskMaterialBoxService->firstOrCreate([
                'station_id' => $this->stationService->getStation_byType('立库')['id'],
                'material_box_id' => $stationTaskMaterialBox['materialBox']['id'],
                'status' => '处理中',
                'type' => '放',
            ]);
        LogService::log('海柔请求','putBinToStore2',
            json_encode($stationTaskMaterialBox));
        $dataToPost=$this->makeJson_move(
            collect([$stationTaskMaterialBox_toStore]),
            '输送线入立架',
            'BIN-IN1',//TODO：这里应该是动态取得，参考出立架getULineExit()方法，不然不能从站获得对应的出口，而且要改Station的child为children
            '',
            $stationTaskMaterialBox['stationTaskBatch']['id']
        );
        LogService::log('海柔请求','putBinToStore3',
            json_encode($dataToPost));
        $controlSuccess = $this->controlHaiRobot($dataToPost,collect([$stationTaskMaterialBox_toStore]),'输送线入立架');

        return $controlSuccess;
    }

    /** 缓存架入立架 料箱 任务
     * @param StationTaskMaterialBox|null $stationTaskMaterialBox
     * @param Station|\stdClass|null $station
     * @return bool
     * @throws ErrorException
     */
    public function putBinToStore_fromCacheShelf(?StationTaskMaterialBox $stationTaskMaterialBox,
                                                 $station): bool
    {
        $formLocation = $station->code;
        if ($station && $station->parent_id){
            //缓存标记 推入延时队列 等待三秒决定是否执行
            $key = "cacheShelfTask_".$station->parent_id;
            if (Cache::has($key)){
                list($task,$location) = Cache::get($key);
                $task->add($stationTaskMaterialBox);
                $location->add($formLocation);
            }else{
                $task = collect([$stationTaskMaterialBox]);
                $location = collect([$formLocation]);
            }
            Cache::forever($key,array($task,$location));
            CacheShelfTaskJob::dispatch($key,$task->count())->delay(now()->addSeconds(config("haiRou.cacheShelf.callAwait")));
            return true;
        }
        $dataToPost=$this->makeJson_move(collect([$stationTaskMaterialBox]), '缓存架入立架', $formLocation, '');

        $controlSuccess = $this->controlHaiRobot($dataToPost,collect([$stationTaskMaterialBox]),'缓存架入立架');
        if($controlSuccess){
            $this->instant($this->stationTaskMaterialBoxService,'StationTaskMaterialBoxService');
            $this->stationTaskMaterialBoxService->set($stationTaskMaterialBox,['status' => '处理中']);
        }
        return $controlSuccess;
    }

    /**
     * 任务变更时的动作
     *
     * @param $stationTaskMaterialBox_id
     * @param $updateEventType
     * @param $status
     * @param $binCode
     * @return bool
     */
    public function taskUpdate(
        $stationTaskMaterialBox_id, //实际对应传入的字段 taskCode, 这里用料箱任务号做taskCode
        $updateEventType,   //0：task_begin(取货)1：task_end（放货）
        $status,            //0：任务成功1：任务失败
        $binCode
    ):bool{
        $this->instant($this->stationTaskMaterialBoxService,'StationTaskMaterialBoxService');
        //获取下达任务
        /** @var StationTaskMaterialBox|\stdClass $stationTaskMaterialBox */
        $stationTaskMaterialBox = $stationTaskMaterialBox_id ? StationTaskMaterialBox::query()->with("materialBox:id,code")
            ->find($stationTaskMaterialBox_id) : null;
        if (!$stationTaskMaterialBox || !$stationTaskMaterialBox->materialBox){
            $this->push(__METHOD__."->".__LINE__,"海柔任务不存在",json_encode(request()->input()));
            return false;
        }
        if ($status==1){ //海柔失败
            $this->push(__METHOD__."->".__LINE__,"海柔任务异常",json_encode(request()->input()));
            $stationTaskMaterialBox->update(['status'=>"异常"]);
            return false;
        }
        if ($stationTaskMaterialBox->materialBox->code != $binCode){
            $this->push(__METHOD__."->".__LINE__,"海柔任务料箱号不匹配",json_encode(request()->input()));
            return false;
        }
        try {
            switch ($updateEventType){
                case 0://已取出
                    $this->stationTaskMaterialBoxService->markHasTaken($stationTaskMaterialBox);
                    break;
                case 1://已放置
                    $this->stationTaskMaterialBoxService->markHasPut($stationTaskMaterialBox);
                    break;
                default:
                    throw new \Exception("任务进行状态错误，未捕获");
            }
        }catch (\Exception $err){
            $this->push(__METHOD__."->".__LINE__,"海柔任务通知失败",json_encode(request()->input())." | ".$err->getMessage());
            return false;
        }
        return true;
    }

    public function excepted($taskCode='',$binCode='', $msg=''):bool{
        try{
            throw new ErrorException(
                "taskCode任务号：$taskCode , binCode箱号：$binCode 海柔运行报错: $msg"
            );
        }catch (\Exception $e){
            return true;
        }
    }

    /**
     * @param array $dataToPost
     * @param Collection $taskMaterialBoxes
     * @param string|null $modeName
     * @return bool
     */
    public function controlHaiRobot(array $dataToPost,Collection $taskMaterialBoxes, string $modeName): bool
    {
        LogService::log('海柔请求','runMany','波次任务分配6.r5f2c1：'.json_encode($dataToPost));
        try{
            LogService::log('海柔请求','runMany','波次任务分配6.r5f2c1.51：');
            $response = Http::post(config('api.haiq.storage.moveBin'), $dataToPost);
            if(isset($response->json()['code'])&&$response->json()['code']==500)
                throw new ErrorException('机器人500错误：'.json_encode($response->json()));
            LogService::log(__METHOD__,'runMany','波次任务分配6.r5f2c1.53：'.json_encode($response->json()));
        }catch (\Exception $e){
            LogService::log('海柔请求','runMany','波次任务分配6.r5f2c1.54：'.json_encode($dataToPost).$e->getMessage());
            throw new ErrorException('海柔机器人任务执行失败：'.json_encode($dataToPost).$e->getMessage());
        }
        LogService::log('海柔请求','runMany','波次任务分配6.r5f2c2：'.json_encode($dataToPost));
        $errMsg = (function () use ($response) {
            if ($response->ok()) return '';
            $errMsg = '错误: ';
            if (!$response) {
                return $errMsg . '没有返回内容，检查连接或目标服务器';
            }
            switch (((string)$response["code"])[0]) {
                case 5:
                    $errMsg .= '目标服务器代码错误，请联系对方';
                    break;
                case 4:
                    $errMsg .= '权限不足以请求资源，请检查对方服务器规范';
                    break;
                default:
                    $errMsg .= '出现未知请求错误';
                    break;
            }
            $responseDetails = ' code:' . $response["code"]
                . ' header:' . $response->body()
                . ' response:' . json_encode($response->headers());
            return $errMsg . $responseDetails;
        })();
        LogService::log('海柔请求','runMany','波次任务分配6.r5f2c3：'.json_encode($errMsg));

        LogService::log(__METHOD__, __FUNCTION__,
            $errMsg ?? ''
            . '请求：' . json_encode($dataToPost)
            . '调用堆栈c：' . json_encode(array_slice(debug_backtrace(DEBUG_BACKTRACE_IGNORE_ARGS), 0, 3))
        );
        $isSuccess = !$errMsg;
        $标记料箱状态=(function() use ($taskMaterialBoxes,$modeName){
            foreach ($taskMaterialBoxes as $taskMaterialBox){
                switch ($modeName){
                    case '缓存架入立架':
                    case '输送线入立架':
                    case '移动立架内位置':
                    $taskMaterialBox->materialBox['status']='在入库中';break;
                    case '立架出至输送线':
                    case '立架出至缓存架':
                    $taskMaterialBox->materialBox['status']='在出库中';break;
                    default:
                        $taskMaterialBox->materialBox['status']='未知';break;
                }
                $taskMaterialBox->materialBox->update();
            }
        })();
        return $isSuccess;
    }

    /**
     * 填充缓存架
     *
     * @param \Illuminate\Database\Eloquent\Collection $stations
     *
     * @return bool
     *
     * @throws
     */
    public function paddingCacheShelf(Collection $stations):?bool
    {
        $collection = new Collection();
        $stationCollection = new Collection();
        $blacklist = [];
        foreach ($stations as $station){
            $box = app("MaterialBoxService")->getAnEmptyBoxSortedByOwner(null,$blacklist);
            if (!$box)break;
            $task = StationTask::query()->create([
                'status' => "待处理",
                'station_id' => $station->id,
            ]);
            $collection->add(StationTaskMaterialBox::query()->create([
                'station_id' => $station->id,
                'material_box_id'=>$box->id,
                'status'=>"待处理",
                'type' => '放',
                'station_task_id' => $task->id,
            ]));
            $stationCollection->add($station->code);
            $blacklist[] = $box->id;
        }
        if ($stationCollection->count()>0){
            if (!$this->fetchGroup_multiLocation($stationCollection,$collection,'','立架出至缓存架',20,false)) return null;
            app("StationService")->locationOccupyMulti($stationCollection->toArray());
            $stationCollection->each(function ($code){
                app("CacheShelfService")->lightUp($code,'3','0',["title"=>"机器人取箱中，禁止操作"]);
            });
        }
        return $stations->count()==$stationCollection->count();
    }
}