ATJ_Middle_Ware/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs


using Microsoft.Extensions.Logging;
using SlnMesnac.Repository.service;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Threading.Tasks;
using SlnMesnac.Repository;
using SlnMesnac.Repository.service.Impl;
using TouchSocket.Sockets;
using SlnMesnac.Model.domain;
using SlnMesnac.TouchSocket;
using System.Timers;
using SlnMesnac.Model.Enum;
using HslCommunication.Enthernet;
using System.Threading;
using SlnMesnac.TouchSocket.Entity;
using static SlnMesnac.TouchSocket.TcpServer;

namespace SlnMesnac.Business.@base
{
    public class BaseTaskInfoBusiness
    {
        private TcpServer _tcpServer = null;
        public Action<AirportTask> _Taskaction;
        public Action<string> _RefreshLogMessageAction;
        private static BaseTaskInfoBusiness instance;
        private ILogger<BaseTaskInfoBusiness> _logger;
        private IAirportTaskService _Taskservice;
        private IAGVStateService _AGVStateService;
        private AirPorthttpClient _airPorthttpClient;
        public BaseTaskInfoBusiness(ILogger<BaseTaskInfoBusiness> logger, IAirportTaskService Taskservice, IAGVStateService agvService, TcpServer tcpServer, AirPorthttpClient airPorthttpClient)
        {
            _logger = logger;
            _tcpServer = tcpServer;
            _tcpServer.ReceiveVisionSysStateEvent += TcpServerOnVisionSysStateEvent;
            _tcpServer.ReceiveStackWorkDoneEvent += _tcpServer_StackWorkDoneEvent;
            _Taskservice = Taskservice;
            _AGVStateService = agvService;
            //InitClearTimer();
            _airPorthttpClient = airPorthttpClient;
            //doWhileGetAGVTaskInfo();
            //GetTaskStateDetail();
        }
        /// <summary>
        /// 一次码垛完成，发送码垛结果
        /// </summary>
        /// <param name="entity"></param>
        private void _tcpServer_StackWorkDoneEvent(TcpVisionEntity entity, string id)
        {
            try
            {
                if (entity != null)
                {
                    //码垛完成
                    if (entity.DataBytes[0] == 0x00)
                    {
                        //更新码垛数量


                    }
                    //码垛过程失败
                    else if (entity.DataBytes[1] == 0x01)
                    {

                    }
                    //码垛过程失败
                    else if (entity.DataBytes[2] == 0x02)
                    {

                    }
                }
            }
            catch (Exception ex)
            {

            }
        }

        /// <summary>
        /// 视觉系统回复给上位机调度系统开始工作状态
        /// </summary>
        /// <param name="entity"></param>
        private void TcpServerOnVisionSysStateEvent(TcpVisionEntity entity, string id)
        {
            try
            {
                if (entity != null)
                {
                    //任务正常
                    if (entity.DataBytes[0] == 0x00)
                    {
                        //更新AMR任务状态

                    }
                    //任务异常
                    else if (entity.DataBytes[0] == 0x01)
                    {
                        
                    }
                }
            }
            catch (Exception ex)
            {


            }
        }

        public static BaseTaskInfoBusiness GetInstance(ILogger<BaseTaskInfoBusiness> logger, IAirportTaskService Taskservice, IAGVStateService agvService, TcpServer tcpServer, AirPorthttpClient airPorthttpClient)
        {
            if (instance == null)
            {
                instance = new BaseTaskInfoBusiness(logger, Taskservice,agvService, tcpServer, airPorthttpClient);
            }
            return instance;
        }

        private void InitClearTimer()
        {
            System.Timers.Timer timer = new System.Timers.Timer
            {
                Interval = 1000, // 每天执行一次
                AutoReset = true,
                
            };
            timer.Elapsed += GetAGVTaskInfo;
            timer.Start();

        }
        /// <summary>
        /// 获取任务列表
        /// </summary>
        private void GetAGVTaskInfo(object source, ElapsedEventArgs e)
        {
            try
            {
                List<AirportTask> Task = _Taskservice.GetAGVTaskInfos();
                if (Task != null)
                {
                    if (Task.Count > 0)
                    {
                        _RefreshLogMessageAction?.Invoke("任务数量:" + Task.Count);
                        foreach (var TaskItem in Task)
                        {
                            //AGV未派发，AMR未派发
                            if (string.IsNullOrEmpty(TaskItem.agvno) && string.IsNullOrEmpty(TaskItem.manipulatorno))
                            {
                                _RefreshLogMessageAction?.Invoke($"正在为AGV，AMR分配任务...");
                                _logger.LogInformation($"正在为AGV，AMR分配任务");
                                //查询AGV设备状态及AMR设备状态
                                //这里要看AGV是否会立刻更新状态
                                CreateAGVTask(TaskItem);
                                //查询机械臂状态
                            }
                            //AGV已派发，AMR未派发
                            if (!string.IsNullOrEmpty(TaskItem.agvno) && string.IsNullOrEmpty(TaskItem.manipulatorno))
                            {
                                //查询AMR状态
                                CreateAMRTask(TaskItem);
                                _RefreshLogMessageAction?.Invoke($"正在为AMR分配任务...");

                                _logger.LogInformation($"正在为AMR分配任务");
                            }
                            //AGV未派发，AMR已派发
                            if (string.IsNullOrEmpty(TaskItem.agvno) && !string.IsNullOrEmpty(TaskItem.manipulatorno))
                            {
                                _RefreshLogMessageAction?.Invoke($"正在为AGV分配任务...");

                                _logger.LogInformation($"正在为AGV分配任务");

                            }
                            _Taskaction?.Invoke(TaskItem);

                        }

                    }
                }
              



            }
            catch (Exception ex)
            {

            }
        }
        /// <summary>
        /// 向AMR派发任务
        /// </summary>
        /// <param name="AirportTask"></param>
        /// <returns></returns>
        private bool CreateAMRTask(AirportTask AirportTask)
        {
            bool iflag = false;
            try
            {
                iflag = true;
                List<AGVState> State = GetAgvState(AgvType.AMR);
                foreach (var AgvItem in State)
                {
                    //根据规则筛选最优AGV
                    if (AgvItem.agvworkstate == "任务空闲")
                    {
                        _logger.LogInformation($"获取空闲AMR列表");
                        _RefreshLogMessageAction?.Invoke("执行站台[" + AirportTask.conveyorno + "]，下发" + "[" + AirportTask.taskno + "]任务");
                        //调用派发任务接口,向任务状态为任务空闲的AGV派发任务
                        bool iTaskflag = true;
                        if (iTaskflag)
                        {
                            _RefreshLogMessageAction?.Invoke("[" + AgvItem.agvno + "]AMR，执行任务[" + AirportTask.taskno + "]");
                            AgvItem.taskno = AirportTask.taskno;
                            AgvItem.agvworkstate = "任务执行中";
                            AgvItem.refreshtime = DateTime.Now;
                            _AGVStateService.UpdateAsync(AgvItem);

                            //更新任务信息表状态为执行中
                            AirportTask.manipulatorno = AgvItem.agvno;
                            AirportTask.taskstate = "执行中";
                            _Taskservice.UpdateTaskAsync(AirportTask);
                            break;
                        }
                    }
                }
                return iflag;
            }
            catch (Exception ex)
            {
                return iflag;
            }
        }

        /// <summary>
        /// 向AGV派发任务
        /// </summary>
        /// <returns></returns>
        private bool CreateAGVTask(AirportTask AirportTask)
        {
            bool iflag = false;
            try
            {
                iflag = true;
                List<AGVState> State = GetAgvState(AgvType.AGV);
                foreach (var AgvItem in State)
                {
                    //根据规则筛选最优AGV
                    if (AgvItem.agvworkstate == "任务空闲")
                    {
                        //搬运机器人是否已到位
                        if (string.IsNullOrEmpty(AirportTask.agvtaskno))
                        {
                            _logger.LogInformation($"获取空闲AGV列表");
                            _RefreshLogMessageAction?.Invoke("执行站台[" + AirportTask.conveyorno + "]，下发" + "[" + AirportTask.taskno + "]任务");

                            //调用派发任务接口,向任务状态为任务空闲的复合AGV、搬运AGV派发任务
                            bool iTaskflag = true;
                            if (iTaskflag)
                            {
                                _RefreshLogMessageAction?.Invoke("[" + AgvItem.agvno + "]AGV，执行任务[" + AirportTask.taskno + "]");
                                AgvItem.taskno = AirportTask.taskno;
                                AgvItem.agvworkstate = "任务执行中";
                                AgvItem.refreshtime = DateTime.Now;
                                _AGVStateService.UpdateAsync(AgvItem);

                                //更新任务信息表状态为执行中
                                AirportTask.agvno = AgvItem.agvno;
                                AirportTask.taskstate = "AGV执行中";
                                //等待agv返回任务编号
                                AirportTask.agvtaskno = Guid.NewGuid().ToString("N");


                                _Taskservice.UpdateTaskAsync(AirportTask);
                                break;
                            }
                        }
                        //复合机器人是否已到位
                        if (string.IsNullOrEmpty(AirportTask.amrtaskno))
                        {
                            _logger.LogInformation($"获取空闲AGV列表");
                            _RefreshLogMessageAction?.Invoke("执行站台[" + AirportTask.conveyorno + "]，下发" + "[" + AirportTask.taskno + "]任务");

                            //调用派发任务接口,向任务状态为任务空闲的复合AGV、搬运AGV派发任务
                            bool iTaskflag = true;
                            if (iTaskflag)
                            {
                                _RefreshLogMessageAction?.Invoke("[" + AgvItem.agvno + "]AGV，执行任务[" + AirportTask.taskno + "]");
                                AgvItem.taskno = AirportTask.taskno;
                                AgvItem.agvworkstate = "任务执行中";
                                AgvItem.refreshtime = DateTime.Now;
                                _AGVStateService.UpdateAsync(AgvItem);

                                //更新任务信息表状态为执行中
                                AirportTask.agvno = AgvItem.agvno;
                                AirportTask.taskstate = "AMR执行中";
                                //等待agv返回任务编号
                                AirportTask.amrtaskno = Guid.NewGuid().ToString("N");
                                _Taskservice.UpdateTaskAsync(AirportTask);
                                break;
                            }
                        }
                        
                    }
                }
                return iflag;
            }
            catch (Exception ex)
            {
                return iflag;
            }
        }
        /// <summary>
        /// 获取agv设备状态
        /// </summary>
        /// <returns></returns>
        private List<AGVState> GetAgvState(AgvType AgvType)
        {
            List<AGVState> State = null;
            try
            {
                State = _AGVStateService.GetAgvState(AgvType);
                return State;
            }
            catch (Exception ex)
            {
                return State;
            }

        }

        private void GetTaskStateDetail()
        {
            try
            {
                Task.Run(() =>
                {
                    while (true)
                    {
                        List<AirportTask> Task = _Taskservice.GetAGVTaskInfos();
                        if (Task != null)
                        {
                            // 设置计时器
                            Stopwatch stopwatch = new Stopwatch();
                            stopwatch.Start();
                            foreach (AirportTask airportTask in Task)
                            {
                                //1.根据搬运AGV任务编号查询agv是否到达
                                if (!string.IsNullOrEmpty(airportTask.agvtaskno))
                                {
                                    Console.WriteLine("搬运AGV已到达");
                                    //2.调用3.查询任务状态接口
                                    //根据搬运AGV任务编号查询agv是否到达
                                    bool iflag = true;
                                    if (iflag)
                                    {
                                        //3:已完成
                                        // if (state == 3)
                                        // {
                                        //
                                        // }
                                        //更新任务表中AGV编号
                                        airportTask.agvno = "";
                                        //更新agv返回任务编号
                                        airportTask.agvtaskno = Guid.NewGuid().ToString("N");
                                        _Taskservice.UpdateTaskAsync(airportTask);
                                    }
                                }
                                //根据复合AGV任务编号查询复合agv是否到达
                                if (!string.IsNullOrEmpty(airportTask.amrtaskno))
                                {
                                    Console.WriteLine("复合AGV已到达");
                                    //根据复合AGV任务编号查询agv是否到达
                                    bool iflag = true;
                                    if (iflag)
                                    {
                                        //已到达更新任务表中AGV编号

                                    }
                                }
                                //复合、搬运已到上料点
                                if (!string.IsNullOrEmpty(airportTask.agvtaskno) && !string.IsNullOrEmpty(airportTask.agvtaskno))
                                {
                                    Console.WriteLine("复合AGV已到达且搬运AGV已到达");
                                    Console.WriteLine("下发视觉抓取任务");

                                    //1.获取任务抓取数量
                                    //判断是否为第一车，搬运机器人码垛无需定位
                                    if (airportTask.loadcount == 0)
                                    {
                                        //下发视觉抓取任务

                                    }
                                    if (airportTask.loadcount == 0)
                                    {
                                        //下发视觉抓取任务

                                    }
                                }



                            }


                            // 检查是否超过两秒
                            if (stopwatch.ElapsedMilliseconds > 2000)
                            {
                                _logger.LogError("超时");
                            }
                        }
                    }
                    Thread.Sleep(100);

                });
            }
            catch (Exception ex)
            {

            }
        }


    }
}