baoshi-was/app/Services/CacheShelfService.php

<?php

namespace App\Services;

use App\Events\BroadcastToStation;
use App\Exceptions\ErrorException;
use App\MaterialBox;
use App\Station;
use App\StationTaskMaterialBox;
use App\StationType;
use App\Traits\ServiceAppAop;
use Illuminate\Support\Facades\Http;
use Illuminate\Database\Eloquent\Builder;
use Illuminate\Database\Eloquent\Collection;

class CacheShelfService
{
    use ServiceAppAop;

    protected $modelClass = Station::class;
    /** @var StationTaskMaterialBoxService $stationTaskMaterialBoxService */
    private $stationTaskMaterialBoxService;
    /** @var ForeignHaiRoboticsService $foreignHaiRoboticsService */
    private $foreignHaiRoboticsService;
    /** @var StationTaskService $stationTaskService */
    private $stationTaskService;
    /** @var StationTaskChildService $stationTaskChildService */
    private $stationTaskChildService;

    /**
     * 获取缓存架上子货架当前任务
     * @param $id
     * @return Builder[]|Collection
     */
    public function getChildStation($id)
    {
        return Station::query()->where('parent_id',$id)->with('parent','pendingStationTask.stationTaskMaterialBoxes.materialBox')->get();
    }


    /**
     * 拍灯触发任务
     * @param $locCode
     * @param $PTLAction
     * @return array|bool[]
     */
    public function lightOffTask($locCode, $PTLAction): array
    {

        $station = Station::query()->where('code', $locCode)->first();
        try {
            $bool = $this->putBinToStore($station);                         // 推送任务
            if($bool){
                $this->_stationCacheLightOff($locCode);                     // 格口灭灯
                $this->_stationCacheBroadCast($locCode,$PTLAction);         // 灭灯广播
                return ['success' => true];
            }else{
                return ['success' => false,'errMsg' => '机器人推送失败'];
            }
        } catch (ErrorException $e) {
            LogService::log(__FUNCTION__,'缓存架推送任务失败',json_encode($e->getMessage()));
            return ['success' => false,'errMsg' => $e->getMessage()];
        }
    }

    /**
     * 推任务至海柔机器人
     * @param  $station
     * @return bool
     * @throws ErrorException
     */
    public function putBinToStore($station): bool
    {
        $this->instant($this->stationTaskMaterialBoxService, 'StationTaskMaterialBoxService');
        $this->instant($this->foreignHaiRoboticsService, 'ForeignHaiRoboticsService');

        /** @var StationTaskMaterialBox $stationTaskMaterialBox */
        $stationTaskMaterialBox = $station['pendingStationTask']['stationTaskMaterialBoxes']->first();
        return $this->foreignHaiRoboticsService->putBinToStore_fromCacheShelf($stationTaskMaterialBox);
    }

    /**
     * 创建站任务和料箱任务
     * @param $stationCode
     * @param $materialBoxCode
     * @return array
     */
    public function createStationTask($stationCode,$materialBoxCode): array
    {
        $this->instant($this->stationTaskService, 'StationTaskService');
        $this->instant($this->stationTaskMaterialBoxService,'StationTaskMaterialBoxService');
        $this->instant($this->stationTaskChildService,'StationTaskChildService');

        $station = Station::query()->where('code' , $stationCode)->first();
        if(!$station){
            $arr = [];
            preg_match('/^HAI([\w]+)/',$stationCode,$arr);
            $parentCode = $arr[1] ?? '';
            $stationType = StationType::query()->where('name','缓存架')->first();
            $parentStation = Station::query()->firstOrCreate(['code'=>$parentCode],['station_type_id'=>$stationType['id']]);
            $station = Station::query()->firstOrCreate(['code' => $stationCode,'parent_id'=>$parentStation['id']],['name'=>$stationCode,'station_type_id' => $stationType['id']]);
        }
        $materialBox = MaterialBox::query()->firstOrCreate(['code' => $materialBoxCode]);
        if($station['pendingStationTask'] ?? false){
            return ['success' => false,'message' => '当前已有未完成的站任务'];
        }
        $stationTask = $this->stationTaskService->create(1);                                                    // 生成站任务
        $stationTaskMaterialBox = $this->stationTaskMaterialBoxService->createByStationAndMaterialBox($station,$materialBox);     // 创建料箱任务
        $this->stationTaskService->registerStations($stationTask,[$station['id']]);                                            // 注册站任务站
        $stationTaskMaterialBox->update(['station_task_id'=>$stationTask['id']]);
        $params = [[
                'station_task_id'=>$stationTask->first()['id'],
                'station_taskable_type'=>StationTaskMaterialBox::class,
                'station_taskable_id'=>$stationTaskMaterialBox['id']
            ]];
        $this->stationTaskChildService->insert($params);                                                                        // 任务任务注册
        $body = $this->_stationCacheLightOn($stationCode,$materialBoxCode);
        if($body->code == 200)['success'=>true];
        return ['success' => false,'message' => '机器人亮灯异常'];
    }

    /**
     * 控制格口亮灯
     * @param $locCode
     * @param string $title
     * @param null $materialCode
     * @return mixed
     */
    public function _stationCacheLightOn($locCode,$materialCode = null,$title = 'title')
    {
        $params = [
            "areaCode" => "1004",
            'locCode' => $locCode,
            'PTLAction' => 1,
            'PTLSettings' => [
                'color'=> 1,
                'frequency'  =>1
                ],
            "displayInfo" => [
                "detail01" => $materialCode,
                "detail02" => "detail02",
                "detail03" => "detail03",
                "qrCode" => "qrCode",
                "qty00" => "11",
                "qty01" => 1,
                "qty02" => 2,
                "title" => $title,
                "uomDesc01" => "uo",
                "uomDesc02" => "uo"
            ],
        ];
        $response = Http::post(config('api.haiq.storage.light'), $params);
        return json_decode($response->body());
    }

    /**
     * 控制格口灭灯
     * @param $locCode
     * @return mixed
     */
    public function _stationCacheLightOff($locCode){
        $params = [
            "areaCode" => "1004",
            'locCode' => $locCode,
            'PTLAction' => 0,
        ];
        $response = Http::post(config('api.haiq.storage.light'), $params);
        return json_decode($response->body());
    }

    /**
     * 广播 通知货物被取走
     * @param $locCode
     * @param $PTLAction
     */
    public function _stationCacheBroadCast($locCode,$PTLAction)
    {
        if($PTLAction == 0){
            $station = Station::query()->with('parent')->where('code',$locCode)->first();
            $json = json_encode( [
                'station_id' => $station['parent']['id'],
                'code'  => $station['parent']['code'],
                'gird_id' => $station['id'],
                'grid_code' => $station['code'],
            ]);
            broadcast(new BroadcastToStation($station['parent_id'],$json));
        }
    }

}