HightWay_AirPot_WCS/SlnMesnac.Business/base/BaseAGVBusiness.cs

using Microsoft.Extensions.Logging;
using SlnMesnac.Config;
using SlnMesnac.Model.AirportApiEntity;
using SlnMesnac.Model.domain;
using SlnMesnac.Model.Enum;
using SlnMesnac.Repository;
using SlnMesnac.Repository.service;
using SlnMesnac.TouchSocket;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;

namespace SlnMesnac.Business.@base
{
    /// <summary>
    /// AGV业务类
    /// </summary>
    public class BaseAGVBusiness
    {
        private ILogger<BaseAGVBusiness> _logger;
        private static BaseAGVBusiness instance;
        private AppConfig _appConfig;
        private AirPorthttpClient _airPorthttpClient;
        private IAGVStateService _AGVStateService;
        private IAGVMapPointService _AGVMapPointService;


        public BaseAGVBusiness(ILogger<BaseAGVBusiness> logger, 
            AirPorthttpClient airPorthttpClient, 
            IAGVStateService AGVStateService, 
            IAGVMapPointService aGVMapPointService, 
            AppConfig appConfig)
        {
            _logger = logger;
            _airPorthttpClient = airPorthttpClient;
            _AGVStateService = AGVStateService;
            _AGVMapPointService = aGVMapPointService;
            _appConfig = appConfig;
        }

        public static BaseAGVBusiness GetInstance(ILogger<BaseAGVBusiness> logger, 
            AirPorthttpClient airPorthttpClient, 
            IAGVStateService AGVStateService, 
            IAGVMapPointService aGVMapPointService, 
            AppConfig appConfig)
        {
            if (instance == null)
            {
                instance = new BaseAGVBusiness(logger, airPorthttpClient, AGVStateService, aGVMapPointService, appConfig);
            }
            return instance;
        }

        /// <summary>
        /// 封装任务类
        /// </summary>
        /// <param name="AGVGUID"></param>
        /// <param name="JobGUID"></param>
        /// <param name="PointGUID"></param>
        /// <param name="ParamName"></param>
        /// <param name="TaskName"></param>
        /// <param name="RobotType"></param>
        /// <returns></returns>
        public AGVRequestAddTaskEntity NewTaskEntity(string AGVGUID, string JobGUID, string PointGUID, string ParamName, string TaskName = "AGVCTask", string RobotType = "S800")
        {
            AGVRequestAddTaskEntity aGVRequestAddTaskEntity = new AGVRequestAddTaskEntity()
            {
                businessOrderId = TaskName,
                priority = 0,
                RobotType = RobotType,
                robotId = AGVGUID,
                group = "",
                taskSource = "agvc",
                taskType = 0,
                verifyStatus = 0,
                enableSplitCar = 0,
                load = new List<LoadsEntity>()
                            {
                                new LoadsEntity()
                                {
                                    jobid = JobGUID,
                                    location = PointGUID,
                                    param = new List<ParamEntity>()
                                    {
                                        new ParamEntity()
                                        {
                                            paramname = ParamName,
                                            paramvalue = PointGUID,
                                        }
                                    },
                                    robotPort = ""
                                }
                            },
            };
            return aGVRequestAddTaskEntity;
        }

        /// <summary>
        /// 发送封装的任务类
        /// </summary>
        /// <returns>任务ID</returns>
        public string DownloadTask(string AGVGUID, string JobGUID, string PointGUID, string ParamName, string TaskName = "AGVCTask", string RobotType = "S800")
        {
            try
            {
                var result = _airPorthttpClient.AGVAddTaskRequest(NewTaskEntity(AGVGUID, JobGUID, PointGUID, ParamName, TaskName, RobotType));
                if (result.code == 0)
                {
                    return result.Data.guid;
                }
                else
                {
                    _logger.LogError("错误响应：" + result.message);
                    return string.Empty;
                }
            }
            catch (Exception ex)
            {
                _logger.LogError($"接口发生错误：{ex.Message}");
                return string.Empty;
            }
        }

        /// <summary>
        /// 结束指定AGV的任务
        /// </summary>
        /// <param name="AGVGUID">AGV小车编号</param>
        /// <returns></returns>
        public bool EndAGVTask(string AGVGUID)
        {
            try
            {
                AGVState agvState = _AGVStateService.GetSingleAGVState(AGVGUID);
                if (agvState == null)
                {
                    return false;
                }
                if (agvState.agvworkstate != "待机")
                {
                    var response = _airPorthttpClient.AGVOperationalTaskRequest(new AGVRequestOperationalTaskEntity()
                    {
                        taskid = agvState.taskno,
                        state = 0,
                        operatingSource = "agvc",
                        operatingUser = "agvc",
                        remark = "agvcEnd"
                    });
                    if (response.code == 0)
                    {
                        _logger.LogInformation($"AGV {agvState.agvno} 任务 {agvState.taskno} 结束成功");
                        return true;
                    }
                    else
                    {
                        _logger.LogError($"AGV {agvState.agvno} 任务 {agvState.taskno} 结束失败 ERROR:{response.message}");
                        return false;
                    }
                }
                else if (agvState.agvworkstate == "待机")
                {
                    _logger.LogError($"AGV {agvState.agvno} 现在无任务");
                    return false;
                }
                else
                {
                    _logger.LogError($"AGV {agvState.agvno} 终止任务失败！");
                    return false;
                }
            }
            catch (Exception ex)
            {
                _logger.LogError($"AGV任务结束失败 ERROR：{ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 获取活跃地图的点位更新到数据库
        /// </summary>
        /// <returns></returns>
        public bool GetActiveMapPoint()
        {
            var result = _airPorthttpClient.AGVMapActiveRequest();
            if (result == null)
            {
                _logger.LogError("AGV活跃地图获取返回Null");
                return false;
            }
            if (result.code != 0)
            {
                _logger.LogError("AGV活跃地图获取错误，内容：" + result.message);
                return false;
            }
            if (result.Data == null)
            {
                _logger.LogError("活跃地图获取无数据");
                return false;
            }
            string mapID = result.Data.guid;
            var res = _airPorthttpClient.AGVMapPositionRequest(mapID);
            if (res == null)
            {
                _logger.LogError("地图点位获取返回Null");
                return false;
            }
            if (res.code != 0)
            {
                _logger.LogError($"地图点位获取错误，内容：{res.message}");
            }
            if (res.Data == null)
            {
                _logger.LogError("地图点位获取无数据");
                return false;
            }

            List<AGVMapPoint> list = new List<AGVMapPoint>();
            foreach (var a in res.Data)
            {
                list.Add(new AGVMapPoint()
                {
                    MapID = a.mapId,
                    PointGuid = a.guid,
                    PointName = a.name,
                    PointType = a.type.ToString(),
                    MapName = a.name,
                });
            }

            return _AGVMapPointService.DeleteAndAddAgvMapPoint(list);
        }

        /// <summary>
        /// 结束当前任务 清除报警 下发任务
        /// </summary>
        /// <param name="agvName"></param>
        /// <param name="jobName"></param>
        /// <returns>新任务GUID</returns>
        public string EndTaskAndClearErrorAndDownloadTask(string agvguid, string jobName)
        {
            bool result = false;
            try
            {
                //终止小车当前任务
                result = EndTaskAndClearError(agvguid);
                var param = _appConfig.JobConfig.Where(x => x.JobName == jobName).First();
                //调用小车到抓取位置
                return DownloadTask(agvguid, param.JobGUID, param.PointGUID, param.PointParamName);
            }
            catch (Exception ex)
            {
                return string.Empty;
            }
        }

        /// <summary>
        /// 结束任务并清除报警 延迟1s
        /// </summary>
        public bool EndTaskAndClearError(string agvguid)
        {
            bool result1 = false, result2 = false;
            try
            {
                Task.Run(() =>
                {
                    result1 = EndAGVTask(agvguid);
                    Task.Delay(500);
                    result2 = ClaerError(agvguid);
                });
                return result1 && result2;
            }
            catch (Exception ex)
            {
                _logger.LogError("结束任务并清除报警发生异常 " + ex);
                return false;
            }
        }

        /// <summary>
        /// 清除报警 延迟500ms
        /// </summary>
        public bool ClaerError(string agvguid)
        {
            bool result = false;
            try
            {
                Task.Run(() =>
                {
                    var response = _airPorthttpClient.AGVErrorClear(_appConfig.AGVConfig.Where(x => x.AGVGUID == agvguid).First().AGVIp);
                    Task.Delay(500);
                    if (response == null)
                    {
                        _logger.LogError("清除报警返回空数据");
                        result = false;
                        return false;
                    }
                    if(response.code == 0)
                    {
                        _logger.LogError("清除报警成功");
                        result = true;
                        return true;
                    }
                    else
                    {
                        _logger.LogError("清除报警失败 message:" + response.message);
                        result = false;
                        return false;
                    }
                });
                return result;
            }
            catch (Exception ex)
            {
                _logger.LogError("清除报警发生异常 " + ex);
                return false;
            }
        }

        /// <summary>
        /// 筛选一辆空闲且指定类型剩余可用空间最大的AGV, 返回GUID
        /// </summary>
        /// <returns></returns>
        public AGVState GetBestAGV(AgvType agvType)
        {
            try
            {
                List<AGVState> lists = _AGVStateService.GetAgvState(agvType).Where(x => x.agvworkstate == "待机").ToList();
                AGVState agv = lists.Where(x => x.stackcount == lists.Min(x => x.stackcount)).FirstOrDefault();
                //var list = _AGVStateService
                return agv;
            }
            catch(Exception ex)
            {
                _logger.LogError($"AGV筛选发生错误：{ex.Message}");
                return null;
            }
        }

        /// <summary>
        /// AGV任务状态代码匹配
        /// </summary>
        /// <param name="no"></param>
        /// <returns></returns>
        public static string AGVTaskStatusSelect(int no)
        {
            switch (no)
            {
                case 0: return "已终止";
                case 1: return "待执行";
                case 2: return "正在执行";
                case 3: return "已完成";
                case 4: return "已取消";
                case 5: return "已暂停";
                case 6: return "匹配中";
                case 7: return "核验中";
                default: return "未知代码";
            }
        }
    }
}