add - 小车初次调度 任务状态初次更新代码完毕

SlnMesnac.Business/base/BaseAGVBusiness.cs

@@ -233,9 +233,9 @@ namespace SlnMesnac.Business.@base
         }
 
         /// <summary>
-        /// 结束当前任务 清除报警 下发任务
+        /// 结束当前任务 清除报警 下发任务 1s
         /// </summary>
-        /// <param name="agvName"></param>
+        /// <param name="agvguid"></param>
         /// <param name="jobName"></param>
         /// <returns>新任务GUID</returns>
         public string EndTaskAndClearErrorAndDownloadTask(string agvguid, string jobName)
@@ -251,6 +251,7 @@ namespace SlnMesnac.Business.@base
             }
             catch (Exception ex)
             {
+                _logger.LogError($"结束当前任务清除报警任务下发失败！Message:{ex}");
                 return string.Empty;
             }
         }
@@ -327,7 +328,12 @@ namespace SlnMesnac.Business.@base
             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();
+                if (lists.Count == 0)
+                {
+                    return null;
+                }
+                int min = lists.Min(x => x.stackcount);
+                AGVState agv = lists.Where(x => x.stackcount == min).FirstOrDefault();
                 //var list = _AGVStateService
                 return agv;
             }
@@ -338,25 +344,5 @@ namespace SlnMesnac.Business.@base
             }
         }
 
-        /// <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";
-            }
-        }
     }
 }

SlnMesnac.Business/base/BaseStateRefreshBusiness.cs

@@ -92,12 +92,31 @@ namespace SlnMesnac.Business.@base
                 var response = _airPorthttpClient.AGVAllStateRequest();
                 if(response == null)
                 {
+                    _logger.LogError($"AgvStateResponse返回空值！");
+                    return false;
+                }
+                if(response.code == 0 || response.Data == null)
+                {
+                    _logger.LogError($"返回错误信息：{response.message}");
                     return false;
                 }
-
                 List<AGVState> records = new List<AGVState>();
                 foreach (var entity in response.Data)
                 {
+                    var taskStateRespose = _airPorthttpClient.AGVGetTaskStateDetailRequest(new AGVRequestTaskStateDetailEntity()
+                    {
+                        taskId = entity.TaskID
+                    });
+                    if (taskStateRespose == null)
+                    {
+                        _logger.LogError($"taskStateRespose返回空值！");
+                        return false;
+                    }
+                    if (taskStateRespose.code == 0 || taskStateRespose.Data == null)
+                    {
+                        _logger.LogError($"返回错误信息：{taskStateRespose.message}");
+                        return false;
+                    }
                     AGVState record = new AGVState()
                     {
                         agvno = entity.Guid,
@@ -106,6 +125,7 @@ namespace SlnMesnac.Business.@base
                         agvworkstate = AGVStatusSelect(entity.AgvMoveStatus),
                         refreshtime = DateTime.Now,
                         taskno = entity.TaskID,
+                        taskstate = AGVTaskStatusSelect(taskStateRespose.Data.state)
                     };
                     records.Add(record);
                 }
@@ -142,8 +162,31 @@ namespace SlnMesnac.Business.@base
                 default: return "未知代码";
             }
         }
+
+        /// <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";
+            }
+        }
     }
 
+
+
     public enum TimerControl
     {
         Start = 1,

SlnMesnac.Business/base/BaseTaskInfoBusiness.cs

@@ -37,6 +37,7 @@ namespace SlnMesnac.Business.@base
         private IAGVJobService _AGVJobService;
         private AirPorthttpClient _airpttpClient;
         private BaseAGVBusiness _baseAGVBusiness;
+        private VisionBusiness _visionBusiness;
         System.Timers.Timer RefreshTimer;
         public BaseTaskInfoBusiness(
             ILogger<BaseTaskInfoBusiness> logger,
@@ -46,7 +47,8 @@ namespace SlnMesnac.Business.@base
             IAGVJobService agvJobService,
             TcpServer tcpServer,
             AirPorthttpClient airPorthttpClient,
-            BaseAGVBusiness baseAGVBusiness)
+            BaseAGVBusiness baseAGVBusiness,
+            VisionBusiness visionBusiness)
         {
             _logger = logger;
             _tcpServer = tcpServer;
@@ -55,11 +57,16 @@ namespace SlnMesnac.Business.@base
             _airpttpClient = airPorthttpClient;
             InitClearTimer();
             //doWhileGetAGVTaskInfo();
-            RefreshTimer = new System.Timers.Timer(1000);
-            RefreshTimer.Elapsed += (sender, e) => RefreshTaskState();
             _baseAGVBusiness = baseAGVBusiness;
             _AGVMapPointService = aGVMapPointService;
             _AGVJobService = agvJobService;
+
+
+
+            RefreshTimer = new System.Timers.Timer(1000);
+            RefreshTimer.Elapsed += (sender, e) => RefreshTaskState();
+
+            _visionBusiness = visionBusiness;
         }
 
         public static BaseTaskInfoBusiness GetInstance(
@@ -70,11 +77,14 @@ namespace SlnMesnac.Business.@base
             IAGVJobService aAGVJobService,
             TcpServer tcpServer,
             AirPorthttpClient airPorthttpClient,
-            BaseAGVBusiness baseAGVBusiness)
+            BaseAGVBusiness baseAGVBusiness,
+            VisionBusiness visionBusiness)
         {
             if (instance == null)
             {
-                instance = new BaseTaskInfoBusiness(logger, Taskservice, agvService, aGVMapPointService, aAGVJobService, tcpServer, airPorthttpClient, baseAGVBusiness);
+                instance = new BaseTaskInfoBusiness(logger,
+                    Taskservice, agvService, aGVMapPointService, aAGVJobService,
+                    tcpServer, airPorthttpClient, baseAGVBusiness, visionBusiness);
             }
             return instance;
         }
@@ -99,8 +109,6 @@ namespace SlnMesnac.Business.@base
                 taskstate = "等待",                  //需要判断，更新   任务状态
                 starttime = DateTime.Now,
                 finishtime = null,
-                deliveragvTaskNo = string.Empty,    //需要判断，更新       
-                amragvTaskNo = string.Empty,        //需要判断，更新
             };
 
             try
@@ -146,7 +154,7 @@ namespace SlnMesnac.Business.@base
         }
 
         /// <summary>
-        /// Timer刷新任务状态, 有新任务初次下发AGV
+        /// Timer刷新任务状态, 有新任务初次下发AGV,Timer执行
         /// </summary>
         public void RefreshTaskState()
         {
@@ -158,9 +166,10 @@ namespace SlnMesnac.Business.@base
                 {
                     //更新前端
                     _RefreshLogMessageAction?.Invoke("任务数量:" + Task.Count);
-                    foreach(AirportTask taskItem in Task)
+                    foreach (AirportTask taskItem in Task)
                     {
-                        //查询待执行任务
+
+                        //查询待执行任务，如果是新任务就下发车辆
                         if (taskItem.taskstate == "等待" || string.IsNullOrEmpty(taskItem.amragvno))
                         {
                             //首先调一辆最优AMR
@@ -168,10 +177,10 @@ namespace SlnMesnac.Business.@base
                             string amrTaskId = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
                                     firstAMR.agvno,
                                     _AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入位", taskItem.conveyorno).JobName);
-                            taskItem.amragvTaskNo = amrTaskId;
+                            _logger.LogInformation($"为AMR[ {firstAMR.agvno}]分配任务，目标:[ {taskItem.conveyorno} ]号传送带");
                             taskItem.amragvno = firstAMR.agvno;
                             taskItem.amragvisarrive = "未到达";
-                            taskItem.taskstate = "执行中";
+                            taskItem.taskstate = "派车中";
                             //需要AGV和AMR才能装下
                             if (taskItem.totalcount > (AMRStackNumber - firstAMR.stackcount))
                             {
@@ -180,12 +189,60 @@ namespace SlnMesnac.Business.@base
                                 string deliverTaskID = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(
                                     firstDeliver.agvno,
                                     _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", taskItem.conveyorno).JobName);
-                                taskItem.deliveragvTaskNo = amrTaskId;
+                                _logger.LogInformation($"为Deliver[ {firstDeliver.agvno} ]分配任务，目标:[ {taskItem.conveyorno} ]号传送带");
                                 taskItem.deliveragvno = firstDeliver.agvno;
                                 taskItem.deliveragvisarrive = "未到达";
                             }
                             _Taskservice.UpdateTaskAsync(taskItem);
                         }
+
+                        //根据小车状态更新任务表中AMR是否到达状态，如果到达就改变任务表的状态
+                        if (!string.IsNullOrEmpty(taskItem.amragvno) && taskItem.amragvisarrive == "未到达")
+                        {
+                            AGVState agvstate = _AGVStateService.GetSingleAGVState(taskItem.amragvno);
+                            if (agvstate.taskstate == "已暂停")
+                            {
+                                taskItem.amragvisarrive = "已到达";
+                                _logger.LogInformation($"[ {taskItem.conveyorno} ]号传送带AMR[ {agvstate.agvno} ]已到达");
+                            }
+                            _Taskservice.UpdateTaskAsync(taskItem);
+                        }
+
+                        //根据小车状态更新任务表中Deliver是否到达状态，如果到达就改变任务表的状态
+                        if (!string.IsNullOrEmpty(taskItem.deliveragvno) && taskItem.deliveragvisarrive == "未到达")
+                        {
+                            AGVState agvstate = _AGVStateService.GetSingleAGVState(taskItem.deliveragvno);
+                            if (agvstate.taskstate == "已暂停")
+                            {
+                                taskItem.deliveragvisarrive = "已到达";
+                                _logger.LogInformation($"[ {taskItem.conveyorno} ]号传送带Deliver[ {agvstate.agvno} ]已到达");
+                            }
+                            _Taskservice.UpdateTaskAsync(taskItem);
+                        }
+
+                        //查询执行中的任务车辆是否到达，如果指派的车都到达就开始抓取
+                        if (taskItem.taskstate == "派车中")
+                        {
+                            //只有amr的情况
+                            if (taskItem.amragvisarrive == "已到达" && string.IsNullOrEmpty(taskItem.deliveragvno))
+                            {
+                                //调用机械臂向AMR小车抓取
+                                _visionBusiness.RequestVisionStartWork(StackState.AMRNeedPositioning, _tcpServer.VID);
+                                taskItem.taskstate = "抓取中";
+                                _Taskservice.UpdateTaskAsync(taskItem);
+                                _logger.LogInformation($"[ {taskItem.conveyorno} ]号传送带开始工作");
+                            }
+
+                            //amr和deliver都用的情况
+                            if (taskItem.amragvisarrive == "已到达" && taskItem.deliveragvisarrive == "已到达")
+                            {
+                                //调用机械臂向Deliver小车抓取
+                                _visionBusiness.RequestVisionStartWork(StackState.AGVNeedPositioning, _tcpServer.VID);
+                                taskItem.taskstate = "抓取中";
+                                _Taskservice.UpdateTaskAsync(taskItem);
+                                _logger.LogInformation($"[ {taskItem.conveyorno} ]号传送带开始工作");
+                            }
+                        }
                     }
                 }
             }
@@ -193,9 +250,17 @@ namespace SlnMesnac.Business.@base
             {
                 _logger.LogError($"查询任务列表初次下发任务发生错误Message：{ex.Message}");
             }
-
         }
 
+
+
+
+
+
+
+
+
+
         /// <summary>
         /// 获取任务列表，向待执行任务派发AGV （定期执行）
         /// </summary>

SlnMesnac.Business/base/VisionBusiness.cs

@@ -16,11 +16,15 @@ namespace SlnMesnac.Business.@base
         private ILogger<VisionBusiness> _logger;
         private static VisionBusiness instance;
         private TcpServer _tcpServer;
+        private IAirportTaskService _airportTaskService;
+        private BaseAGVBusiness _baseAGVBusiness;
 
-        public VisionBusiness(ILogger<VisionBusiness> logger, TcpServer tcpServer)
+
+        public VisionBusiness(ILogger<VisionBusiness> logger, TcpServer tcpServer, IAirportTaskService airportTaskService)
         {
             _logger = logger;
             _tcpServer = tcpServer;
+            _airportTaskService = airportTaskService;
 
             //视觉系统回复状态
             _tcpServer.ReceiveVisionSysStateEvent += VisionStateRequest;
@@ -34,11 +38,11 @@ namespace SlnMesnac.Business.@base
             _tcpServer.ReceiveStackRobotResetEvent += GetResetResult;
         }
 
-        public static VisionBusiness GetInstance(ILogger<VisionBusiness> logger, TcpServer tcpServer)
+        public static VisionBusiness GetInstance(ILogger<VisionBusiness> logger, TcpServer tcpServer, IAirportTaskService airportTaskService)
         {
             if (instance == null)
             {
-                instance = new VisionBusiness(logger, tcpServer);
+                instance = new VisionBusiness(logger, tcpServer, airportTaskService);
             }
             return instance;
         }
@@ -111,7 +115,7 @@ namespace SlnMesnac.Business.@base
         bool VNow = true;
         public bool TotalJudge = false;
         /// <summary>
-        /// 接受码垛结果
+        /// 接受码垛结果，进行下一次码垛判断
         /// </summary>
         public void StackResultSend(TcpVisionEntity entity, string id)
         {
@@ -123,6 +127,16 @@ namespace SlnMesnac.Business.@base
                     //上位机回复收到码垛结果
                     _tcpServer.SendReplayStackResult(id);
                     //这里写是否继续下一次码垛的判断条件
+
+                    
+                    //判断总数是否继续工作
+                    if (true)
+                    {
+                        
+                    }
+                    //如有Deliver 判断是否到达 到达向deliver发送开始工作
+
+                    //如上一次是deliver-->则判断deliver是否装满-->装满则deliver入库-->判断剩下的数量用不用调新的deliver-->用就调新的deliver然后发向amr抓取-->不用就直接向amr抓取
                     if ((VDCount < VDTotal && Vjudge == true && TotalJudge == true) || (VACount < VATotal && Vjudge == false && TotalJudge == true))
                     {
                         //如果码垛没结束继续发下一次的码垛信号

SlnMesnac.Model/domain/AGVState.cs

@@ -6,7 +6,7 @@ using SqlSugar;
 namespace SlnMesnac.Repository
 {
     ///<summary>
-    ///
+    ///AGV状态实体类
     ///</summary>
     [SugarTable("AGVState")]
     public partial class AGVState
@@ -43,6 +43,14 @@ namespace SlnMesnac.Repository
         [SugarColumn(ColumnName = "TaskNo")]
         public string taskno { get; set; }
 
+        /// <summary>
+        /// Desc:任务状态
+        /// Default:
+        /// Nullable:False
+        /// </summary>
+        [SugarColumn(ColumnName = "TaskState")]
+        public string taskstate { get; set; }
+
         /// <summary>
         /// Desc:AGV报警状态
         /// Default:

SlnMesnac.Model/domain/AirportTask.cs

@@ -95,15 +95,9 @@ namespace SlnMesnac.Repository
         public DateTime? finishtime { get; set; }
 
         /// <summary>
-        /// 运载小车任务编号
+        /// 视觉任务号
         /// </summary>
-        [SugarColumn(ColumnName = "DeliverAGVTaskNo")]
-        public string deliveragvTaskNo { get; set; }
-
-        /// <summary>
-        /// 机械臂小车任务编号
-        /// </summary>
-        [SugarColumn(ColumnName = "AMRAGVTaskNo")]
-        public string amragvTaskNo { get; set; }
+        [SugarColumn(ColumnName = "VisionTaskNo")]
+        public string? visiontaskno {  get; set; }
     }
 }

SlnMesnac.Repository/service/Impl/AGVStateServiceImpl.cs

@@ -139,7 +139,7 @@ namespace SlnMesnac.Repository.service.Impl
             try
             {
                 var lists = GetAllAGVState();
-                return lists.Where(x => x.agvno == AGVguid).FirstOrDefault();
+                return lists.Where(x => x.agvno == AGVguid).First();
             }
             catch (Exception ex)
             {

SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs

@@ -53,12 +53,15 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
         private ILogger<BaseTaskInfoBusiness> _taskBusinessLogger;
         private ILogger<BaseStateRefreshBusiness> _stateBusinessLogger;
         private ILogger<BaseAGVBusiness> _AGVBusinessLogger;
+        private ILogger<VisionBusiness> _visionBusinessLogger;
         private IAirportTaskService _taskservice;
         private IAGVStateService _agvstateService;
         private IAGVMapPointService _agvmapPointService;
+        private IAGVJobService _agvJobService;
         private BaseTaskInfoBusiness _taskInfoBusiness;
         private BaseStateRefreshBusiness _StateRefreshBusiness;
         private BaseAGVBusiness _baseAGVBusiness;
+        private VisionBusiness _visionBusiness;
         private DispatcherTimer _timer;
         private TcpServer _tcpServer;
         private AppConfig _appConfig;
@@ -70,16 +73,21 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
             _taskBusinessLogger = App.ServiceProvider.GetService<ILogger<BaseTaskInfoBusiness>>();
             _stateBusinessLogger = App.ServiceProvider.GetService<ILogger<BaseStateRefreshBusiness>>();
             _AGVBusinessLogger = App.ServiceProvider.GetService<ILogger<BaseAGVBusiness>>();
+            _visionBusinessLogger = App.ServiceProvider.GetService<ILogger<VisionBusiness>>();
             _logger = App.ServiceProvider.GetService<ILogger<IndexContentViewModel>>();
             _taskservice = App.ServiceProvider.GetService<IAirportTaskService>();
             _agvmapPointService = App.ServiceProvider.GetService<IAGVMapPointService>();
             _agvstateService = App.ServiceProvider.GetService<IAGVStateService>();
+            _agvJobService = App.ServiceProvider.GetService<IAGVJobService>();
             _tcpServer = App.ServiceProvider.GetService<TcpServer>();
             _appConfig = App.ServiceProvider.GetService<AppConfig>();
             _airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
 
+            _visionBusiness = VisionBusiness.GetInstance(_visionBusinessLogger, _tcpServer, _taskservice);
             _baseAGVBusiness = BaseAGVBusiness.GetInstance(_AGVBusinessLogger, _airPorthttpClient, _agvstateService, _agvmapPointService, _appConfig);
-            _taskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_taskBusinessLogger, _taskservice, _agvstateService, _agvmapPointService, _tcpServer, _airPorthttpClient, _baseAGVBusiness);
+            _taskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_taskBusinessLogger, 
+                _taskservice, _agvstateService, _agvmapPointService, _agvJobService, 
+                _tcpServer, _airPorthttpClient, _baseAGVBusiness, _visionBusiness);
             _taskInfoBusiness._RefreshLogMessageAction += RefreshLogMessage;
             _taskInfoBusiness._Taskaction += task =>
             {

SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs

@@ -31,6 +31,7 @@ namespace SlnMesnac.WPF.ViewModel
         private IAGVStateService _AGVStateService;
         private IAGVMapPointService _AGVMapPointService;
         private IAGVSettingService _AGVSettingService;
+        private IAGVJobService _agvJobService;
         private TcpServer _tcpServer;
         //代码生成
         private readonly GenerateControl generateControl = new GenerateControl();
@@ -114,11 +115,14 @@ namespace SlnMesnac.WPF.ViewModel
             _AGVStateService = App.ServiceProvider.GetService<IAGVStateService>();
             _AGVMapPointService = App.ServiceProvider.GetService<IAGVMapPointService>();
             _AGVSettingService = App.ServiceProvider.GetService<IAGVSettingService>();
+            _agvJobService = App.ServiceProvider.GetService<IAGVJobService>();
             _tcpServer = App.ServiceProvider.GetService<TcpServer>();
             _airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
-            _baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, _Taskservice, _AGVStateService, _AGVMapPointService, _tcpServer, _airPorthttpClient, _baseAGVBusiness);
+            _baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, 
+                _Taskservice, _AGVStateService, _AGVMapPointService, _agvJobService, 
+                _tcpServer, _airPorthttpClient, _baseAGVBusiness, _visionBusiness);
             _baseAGVBusiness = BaseAGVBusiness.GetInstance(_baseAGVBusinessLogger, _airPorthttpClient, _AGVStateService, _AGVMapPointService, _appConfig);
-            _visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer);
+            _visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer, _Taskservice);
             _baseStateRefreshBusiness = BaseStateRefreshBusiness.GetInstance(_StateRefreshBusinessLogger, _AGVStateService, _airPorthttpClient, _AGVSettingService);
             ControlOnClickCommand = new RelayCommand<object>(obj => ControlOnClick(obj));
             FormControlCommand = new RelayCommand<object>(x => FormControl(x));