新增视觉交互

SlnMesnac.Business/base/BaseTaskInfoBusiness.cs

@@ -2,6 +2,7 @@
 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;
@@ -12,6 +13,7 @@ using System.Timers;
 using SlnMesnac.Model.Enum;
 using HslCommunication.Enthernet;
 using System.Threading;
+using SlnMesnac.TouchSocket.Entity;
 
 namespace SlnMesnac.Business.@base
 {
@@ -28,11 +30,78 @@ namespace SlnMesnac.Business.@base
         {
             _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)
@@ -240,6 +309,38 @@ namespace SlnMesnac.Business.@base
 
         }
 
+        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)
+            {
+
+            }
+        }
+
 
     }
 }

SlnMesnac.Config/AppConfig.cs

@@ -29,7 +29,7 @@ namespace SlnMesnac.Config
     /// <summary>
     /// 系统配置
     /// </summary>
-#pragma warning disable CS8618 // Non-nullable field 'Data' must contain a non-null value when exiting constructor. Consider declaring the field as nullable.
+    #pragma warning disable CS8618 // Non-nullable field 'Data' must contain a non-null value when exiting constructor. Consider declaring the field as nullable.
     public class AppConfig : IOptions<AppConfig>
     {
         /// <summary>
@@ -52,6 +52,7 @@ namespace SlnMesnac.Config
         /// </summary>
         public List<RfidConfig> rfidConfig { get; set; }
 
+
         /// <summary>
         /// Redis配置
         /// </summary>
@@ -60,9 +61,10 @@ namespace SlnMesnac.Config
         /// <summary>
         /// AMR
         /// </summary>
+
         public string AMRIP { get; set; }
 
-        /// </summary>
+        /// <summary>
         /// AGV地址配置
         /// </summary>
         public string AGVIpConfig { get; set; }
@@ -78,7 +80,5 @@ namespace SlnMesnac.Config
         public string TCPVisionConfig { get; set; }
 
         public AppConfig Value => this;
-
-
     }
 }

SlnMesnac.Serilog/SerilogExtensions.cs

@@ -48,7 +48,9 @@ namespace SlnMesnac.Serilog
             Log.Logger = new LoggerConfiguration().MinimumLevel.Information().WriteTo.Console()
                             .WriteTo.File(Path.Combine(logPath, "Info.log"), LogEventLevel.Information)
                             .WriteTo.File(Path.Combine(logPath, "Error.log"), LogEventLevel.Error)
-                            .WriteTo.File(Path.Combine(logPath, "Warn.log"), LogEventLevel.Warning)
+                            .WriteTo.File(Path.Combine(logPath, "data.log"), LogEventLevel.Warning)
+                         
+                            //.WriteTo.File(Path.Combine(logPath, "data.log"), LogEventLevel.Debug)
                             //.WriteTo.File(Path.Combine(logPath, "Debug.log"), LogEventLevel.Debug, fileSizeLimitBytes: 5 * 1024)
                             .CreateLogger();
             app.UseSerilogRequestLogging();

SlnMesnac.TouchSocket/TcpServer.cs

@@ -1,9 +1,13 @@
 using Microsoft.Extensions.Hosting;
 using Microsoft.Extensions.Logging;
+using Serilog;
+using Serilog.Core;
 using SlnMesnac.Config;
 using SlnMesnac.TouchSocket.Entity;
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
@@ -111,11 +115,9 @@ namespace SlnMesnac.TouchSocket
                 };
                 _service.Received = (client, e) =>
                 {
-                    //从客户端收到信息
                     var mes = Encoding.UTF8.GetString(e.ByteBlock.Buffer, 0, e.ByteBlock.Len);//注意：数据长度是byteBlock.Len
                     _logger.LogInformation($"客户端{client.IP}:"+ mes);
                     //区分一下指令类型，委托传参
-                    
                     if (mes == "heartbeat")
                     {
                         RefreshStateAction?.Invoke(client.IP, true);
@@ -151,6 +153,37 @@ namespace SlnMesnac.TouchSocket
 
         }
 
+        //private void Test()
+        //{
+        //    try
+        //    {
+        //        Task.Run(() =>
+        //        {
+        //            // 设置计时器
+        //            Stopwatch stopwatch = new Stopwatch();
+        //            stopwatch.Start();
+        //            ISocketClient client = _service.SocketClients.GetClients().FirstOrDefault(x => x.IP == "127.0.0.1");
+        //            if (client != null)
+        //            {
+        //                Thread.Sleep(4000);
+        //                _service.Send(client.Id, new byte[0x01]);
+   
+        //            }
+        //            // 检查是否超过两秒
+        //            if (stopwatch.ElapsedMilliseconds > 2000)
+        //            {
+        //                _logger.LogError("超时");
+        //            }
+        //            Thread.Sleep(100);
+        //        });
+        //    }
+        //    catch (Exception ex)
+        //    {
+
+        //    }
+        //}
+
+
         /// <summary>
         /// 数据类型区分
         /// </summary>

SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs

@@ -59,7 +59,6 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
 
         public IndexContentViewModel()
         {
-
             LogMessages = new ObservableCollection<string>();
             _taskBusinessLogger = App.ServiceProvider.GetService<ILogger<BaseTaskInfoBusiness>>();
             _taskservice = App.ServiceProvider.GetService<IAirportTaskService>();

SlnMesnac.WPF/appsettings.json

@@ -8,7 +8,7 @@
   },
   "AllowedHosts": "*",
   "AppConfig": {
-    "logPath": "D:\\WorkCode\\AirPortWCS\\SlnMesnac.WPF\\bin\\Debug\\net6.0-windows\\log",
+    "logPath": "F:\\Mesnac\\2023部门项目\\机场AGV调度\\HightWay_AirPot_WCS\\SlnMesnac.WPF\\bin\\Debug\\net6.0-windows\\log",
     "SqlConfig": [
       //{
       //  "configId": "mes",