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;
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;
public BaseTaskInfoBusiness(ILogger<BaseTaskInfoBusiness> logger, IAirportTaskService Taskservice, IAGVStateService agvService, TcpServer tcpServer)
{
_logger = logger;
_tcpServer = tcpServer;
_tcpServer.VisionSysStateEvent += TcpServerOnVisionSysStateEvent;
_tcpServer.StackWorkDoneEvent += _tcpServer_StackWorkDoneEvent;
_Taskservice = Taskservice;
_AGVStateService = agvService;
InitClearTimer();
//doWhileGetAGVTaskInfo();
}
/// <summary>
/// 一次码垛完成，发送码垛结果
/// </summary>
/// <param name="entity"></param>
private void _tcpServer_StackWorkDoneEvent(TcpVisionEntity entity)
{
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)
{
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)
{
if (instance == null)
{
instance = new BaseTaskInfoBusiness(logger, Taskservice,agvService, tcpServer);
}
return instance;
}
private void doWhileGetAGVTaskInfo()
{
try
{
Task.Run((() =>
{
while (true)
{
GetAGVTaskInfo(null,null);
Task.Delay(1000);
}
}));
}
catch (Exception ex)
{
}
}
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($"获取空闲AMR列表");
_RefreshLogMessageAction?.Invoke("执行站台[" + AirportTask.conveyorno + "]，下发" + "[" + AirportTask.taskno + "]任务");
//调用派发任务接口,向任务状态为任务空闲的AGV派发任务
bool iTaskflag = true;
if (iTaskflag)
{
_RefreshLogMessageAction?.Invoke("[" + AgvItem.agvno + "]AMR，执行任务[" + AirportTask.taskno + "]");
AgvItem.taskno = AirportTask.taskno;
AgvItem.agvworkstate = "任务执行中";
AgvItem.refreshtime = DateTime.Now;
_AGVStateService.UpdateAsync(AgvItem);
//更新任务信息表状态为执行中
AirportTask.manipulatorno = AgvItem.agvno;
AirportTask.taskstate = "执行中";
_Taskservice.UpdateTaskAsync(AirportTask);
break;
}
}
}
return iflag;
}
catch (Exception ex)
{
return iflag;
}
}
/// <summary>
/// 向AGV派发任务
/// </summary>
/// <returns></returns>
private bool CreateAGVTask(AirportTask AirportTask)
{
bool iflag = false;
try
{
iflag = true;
List<AGVState> State = GetAgvState(AgvType.AGV);
foreach (var AgvItem in State)
{
//根据规则筛选最优AGV
if (AgvItem.agvworkstate == "任务空闲")
{
_logger.LogInformation($"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 = "执行中";
_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(() =>
{
List<AirportTask> Task = _Taskservice.GetAGVTaskInfos();
if (Task.Count > 0)
{
// 设置计时器
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
//通过任务编号查询agv任务
// 检查是否超过两秒
if (stopwatch.ElapsedMilliseconds > 2000)
{
_logger.LogError("超时");
}
Thread.Sleep(100);
}
});
}
catch (Exception ex)
{
}
}
}
}