add - 添加空筐数量设定，添加AGV任务控制类

SlnMesnac.Business/base/BaseAGVBusiness.cs

@@ -1,11 +1,16 @@
 using Microsoft.Extensions.Logging;
+using SlnMesnac.Config;
 using SlnMesnac.Model.AirportApiEntity;
 using SlnMesnac.Model.domain;
+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
 {
@@ -16,24 +21,34 @@ namespace SlnMesnac.Business.@base
     {
         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)
+        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)
+        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);
+                instance = new BaseAGVBusiness(logger, airPorthttpClient, AGVStateService, aGVMapPointService, appConfig);
             }
             return instance;
         }
@@ -85,7 +100,7 @@ namespace SlnMesnac.Business.@base
         /// <summary>
         /// 发送封装的任务类
         /// </summary>
-        /// <returns></returns>
+        /// <returns>任务ID</returns>
         public string DownloadTask(string AGVGUID, string JobGUID, string PointGUID, string ParamName, string TaskName = "AGVCTask", string RobotType = "S800")
         {
             try
@@ -115,12 +130,14 @@ namespace SlnMesnac.Business.@base
         /// <returns></returns>
         public bool EndAGVTask(string AGVGUID)
         {
-            var agvState = _AGVStateService.GetAGVState(AGVGUID);
+            try
-            if(agvState == null)
+            {
+                AGVState agvState = _AGVStateService.GetAGVState(AGVGUID);
+                if (agvState == null)
                 {
                     return false;
                 }
-            if(agvState.agvworkstate != "待机")
+                if (agvState.agvworkstate != "待机")
                 {
                     var response = _airPorthttpClient.AGVOperationalTaskRequest(new AGVRequestOperationalTaskEntity()
                     {
@@ -141,7 +158,7 @@ namespace SlnMesnac.Business.@base
                         return false;
                     }
                 }
-            else if(agvState.agvworkstate == "待机")
+                else if (agvState.agvworkstate == "待机")
                 {
                     _logger.LogError($"AGV {agvState.agvno} 现在无任务");
                     return false;
@@ -152,6 +169,12 @@ namespace SlnMesnac.Business.@base
                     return false;
                 }
             }
+            catch (Exception ex)
+            {
+                _logger.LogError($"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
@@ -208,6 +231,92 @@ namespace SlnMesnac.Business.@base
             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 agvName, string jobName)
+        {
+            bool result = false;
+            try
+            {
+                //终止小车当前任务
+                result = EndTaskAndClearError(agvName);
+                var param = _appConfig.JobConfig.Where(x => x.JobName == jobName).First();
+                //调用小车到抓取位置
+                return DownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().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 agvName)
+        {
+            bool result1 = false, result2 = false;
+            try
+            {
+                Task.Run(() =>
+                {
+                    result1 = EndAGVTask(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVGUID);
+                    Thread.Sleep(500);
+                    result2 = ClaerError(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVIp);
+                });
+                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 agvName)
+        {
+            bool result = false;
+            try
+            {
+                Task.Run(() =>
+                {
+                    var response = _airPorthttpClient.AGVErrorClear(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVIp);
+                    Thread.Sleep(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>
         /// AGV任务状态代码匹配
         /// </summary>

SlnMesnac.WPF/Page/IndexPage/AddTaskContent.xaml

@@ -35,6 +35,11 @@
                     <TextBox Name="AirNo" Width="188" Height="36"/>
                 </StackPanel>
 
+                <StackPanel Grid.Row="3" Orientation="Horizontal">
+                    <Label Content="空筐数量" Width="64" VerticalAlignment="Center"/>
+                    <TextBox Name="BoxNo" Width="188" Height="36"/>
+                </StackPanel>
+
 
                 <StackPanel Grid.Row="5" Orientation="Horizontal">
                     <Button x:Name="btn_ok" Content="确认" Width="145" Click="btn_ok_Click" />

SlnMesnac.WPF/Page/IndexPage/AddTaskContent.xaml.cs

@@ -80,6 +80,7 @@ namespace SlnMesnac.WPF.Page.IndexPage
                 taskno = taskNo.Text,
                 conveyorno = AreaNo.SelectedValue.ToString(),
                 flightno = AirNo.Text,
+                totalcount = Convert.ToInt32(BoxNo.Text),
                 taskstate = "等待",
                 starttime = DateTime.Now
             };

SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs

@@ -117,7 +117,7 @@ namespace SlnMesnac.WPF.ViewModel
             _tcpServer = App.ServiceProvider.GetService<TcpServer>();
             _airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
             _baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, _Taskservice, _AGVStateService, _tcpServer, _airPorthttpClient);
-            _baseAGVBusiness = BaseAGVBusiness.GetInstance(_baseAGVBusinessLogger, _airPorthttpClient, _AGVStateService, _AGVMapPointService);
+            _baseAGVBusiness = BaseAGVBusiness.GetInstance(_baseAGVBusinessLogger, _airPorthttpClient, _AGVStateService, _AGVMapPointService, _appConfig);
             _visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer);
             _baseStateRefreshBusiness = BaseStateRefreshBusiness.GetInstance(_StateRefreshBusinessLogger, _AGVStateService, _airPorthttpClient, _AGVSettingService);
             ControlOnClickCommand = new RelayCommand<object>(obj => ControlOnClick(obj));
@@ -190,75 +190,30 @@ namespace SlnMesnac.WPF.ViewModel
                         _visionBusiness.RequestVisionReplace(_tcpServer.VID);
                         break;
                     case "TestButton3":
-                        //终止小车当前任务
+                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S800-B", "800小车进入位置任务pause");
-                        StopTaskAndClearError("S800-B");
-                        var param = _appConfig.JobConfig.Where(x => x.JobName == "800小车进入位置任务pause").First();
-                        //调用小车到抓取位置
-                        _baseAGVBusiness.DownloadTask(
-                            _appConfig.AGVConfig.Where(x => x.AGVName == "S800-B").First().AGVGUID,
-                            param.JobGUID,
-                            param.PointGUID,
-                            param.PointParamName
-                            );
                         break;
                     case "TestButton4":
-                        //终止小车当前任务
+                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S800-B", "800小车入库任务pause");
-                        StopTaskAndClearError("S800-B");
-                        var param1 = _appConfig.JobConfig.Where(x => x.JobName == "800小车入库任务pause").First();
-                        //调用小车到库位
-                        _baseAGVBusiness.DownloadTask(
-                            _appConfig.AGVConfig.Where(x => x.AGVName == "S800-B").First().AGVGUID,
-                            param1.JobGUID,
-                            param1.PointGUID,
-                            param1.PointParamName
-                            );
                         break;
                     case "TestButton8":
-                        //终止小车当前任务
+                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S1000-A", "1000小车进入位置任务pause");
-                        StopTaskAndClearError("S1000-A");
-                        var param2 = _appConfig.JobConfig.Where(x => x.JobName == "1000小车进入位置任务pause").First();
-                        //调用小车到抓取位置
-                        _baseAGVBusiness.DownloadTask(
-                            _appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID,
-                            param2.JobGUID,
-                            param2.PointGUID,
-                            param2.PointParamName
-                            );
                         break;
                     case "TestButton9":
-                        //终止小车当前任务
+                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S1000-A", "1000小车入库任务pause");
-                        StopTaskAndClearError("S1000-A");
-                        var param3 = _appConfig.JobConfig.Where(x => x.JobName == "1000小车入库任务pause").First();
-                        //调用小车到库位
-                        _baseAGVBusiness.DownloadTask(
-                            _appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID,
-                            param3.JobGUID,
-                            param3.PointGUID,
-                            param3.PointParamName
-                            );
                         break;
                     case "TestButton10":
-                        //终止小车当前任务
+                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S1000-A", "1000校正模板");
-                        StopTaskAndClearError("S1000-A");
-                        var param4 = _appConfig.JobConfig.Where(x => x.JobName == "1000校正模板").First();
-                        //调用小车到库位
-                        _baseAGVBusiness.DownloadTask(
-                            _appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID,
-                            param4.JobGUID,
-                            param4.PointGUID,
-                            param4.PointParamName
-                            );
                         break;
                     case "TestButton5":
                         //手动停止任务
-                        StopTaskAndClearError("S800-B");
+                        _baseAGVBusiness.EndTaskAndClearError("S800-B");
                         break;
                     case "TestButton6":
                         //手动清除报警
-                        ClaerError("S800-B");
+                        _baseAGVBusiness.ClaerError("S800-B");
                         break;
                     case "TestButton7":
-                        BusinessShow();
+                        _baseAGVBusiness.EndTaskAndClearError("S1000-A");
                         break;
                     default:
                         break;
@@ -270,72 +225,6 @@ namespace SlnMesnac.WPF.ViewModel
             }
         }
 
-        /// <summary>
-        /// 演示程序
-        /// </summary>
-        private void BusinessShow()
-        {
-            try
-            {
-                //Task.Run(() =>
-                //{
-                //    while (true)
-                //    {
-                //        Thread.Sleep(1000);
-                //        List<AGVState> lists = _AGVStateService.GetAllAGVState();
-
-                //    }
-                //});
-                //手动停止任务
-                StopTaskAndClearError("S1000-A");
-            }
-            catch(Exception ex) 
-            {
-                _logger.LogError($"发生错误{ex.Message}");
-            }
-
-        }
-
-        /// <summary>
-        /// 结束任务并清除报警
-        /// </summary>
-        private void StopTaskAndClearError(string agvName)
-        {
-            try
-            {
-                Task.Run(() =>
-                {
-                    _baseAGVBusiness.EndAGVTask(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVGUID);
-                    Thread.Sleep(500);
-                    _airPorthttpClient.AGVErrorClear(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVIp);
-                    Thread.Sleep(500);
-                });
-            }
-            catch (Exception ex)
-            {
-                _logger.LogError("结束任务并清除报警发生异常 " + ex);
-            }
-        }
-
-        /// <summary>
-        /// 清除报警
-        /// </summary>
-        private void ClaerError(string agvName)
-        {
-            try
-            {
-                Task.Run(() =>
-                {
-                    _airPorthttpClient.AGVErrorClear(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVIp);
-                    Thread.Sleep(500);
-                });
-            }
-            catch(Exception ex)
-            {
-                _logger.LogError("清除报警发生异常 " + ex);
-            }
-        }
-
         /// <summary>
         /// 界面跳转
         /// </summary>