diff --git a/SlnMesnac.Business/base/BaseAGVBusiness.cs b/SlnMesnac.Business/base/BaseAGVBusiness.cs index 0bcb6b1..764c0fc 100644 --- a/SlnMesnac.Business/base/BaseAGVBusiness.cs +++ b/SlnMesnac.Business/base/BaseAGVBusiness.cs @@ -2,6 +2,7 @@ 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; @@ -132,7 +133,7 @@ namespace SlnMesnac.Business.@base { try { - AGVState agvState = _AGVStateService.GetAGVState(AGVGUID); + AGVState agvState = _AGVStateService.GetSingleAGVState(AGVGUID); if (agvState == null) { return false; @@ -237,16 +238,16 @@ namespace SlnMesnac.Business.@base /// /// /// 新任务GUID - public string EndTaskAndClearErrorAndDownloadTask(string agvName, string jobName) + public string EndTaskAndClearErrorAndDownloadTask(string agvguid, string jobName) { bool result = false; try { //终止小车当前任务 - result = EndTaskAndClearError(agvName); + result = EndTaskAndClearError(agvguid); 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); + return DownloadTask(agvguid, param.JobGUID, param.PointGUID, param.PointParamName); } catch (Exception ex) { @@ -257,16 +258,16 @@ namespace SlnMesnac.Business.@base /// /// 结束任务并清除报警 延迟1s /// - public bool EndTaskAndClearError(string agvName) + public bool EndTaskAndClearError(string agvguid) { 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); + result1 = EndAGVTask(agvguid); + Task.Delay(500); + result2 = ClaerError(agvguid); }); return result1 && result2; } @@ -280,15 +281,15 @@ namespace SlnMesnac.Business.@base /// /// 清除报警 延迟500ms /// - public bool ClaerError(string agvName) + public bool ClaerError(string agvguid) { bool result = false; try { Task.Run(() => { - var response = _airPorthttpClient.AGVErrorClear(_appConfig.AGVConfig.Where(x => x.AGVName == agvName).First().AGVIp); - Thread.Sleep(500); + 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"); @@ -317,6 +318,26 @@ namespace SlnMesnac.Business.@base } } + /// + /// 筛选一辆空闲且指定类型剩余可用空间最大的AGV, 返回GUID + /// + /// + public AGVState GetBestAGV(AgvType agvType) + { + try + { + List 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; + } + } + /// /// AGV任务状态代码匹配 /// diff --git a/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs b/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs index 08335f1..959982c 100644 --- a/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs +++ b/SlnMesnac.Business/base/BaseTaskInfoBusiness.cs @@ -19,22 +19,34 @@ using System.Linq; namespace SlnMesnac.Business.@base { + /// + /// 航班任务业务类 + /// public class BaseTaskInfoBusiness { + public const int AMRStackNumber = 10; + public const int DeliverStackNumber = 15; private TcpServer _tcpServer = null; public Action _Taskaction; public Action _RefreshLogMessageAction; private static BaseTaskInfoBusiness instance; private ILogger _logger; private IAirportTaskService _Taskservice; + private IAGVMapPointService _AGVMapPointService; private IAGVStateService _AGVStateService; + private IAGVJobService _AGVJobService; private AirPorthttpClient _airpttpClient; + private BaseAGVBusiness _baseAGVBusiness; + System.Timers.Timer RefreshTimer; public BaseTaskInfoBusiness( ILogger logger, IAirportTaskService Taskservice, IAGVStateService agvService, + IAGVMapPointService aGVMapPointService, + IAGVJobService agvJobService, TcpServer tcpServer, - AirPorthttpClient airPorthttpClient) + AirPorthttpClient airPorthttpClient, + BaseAGVBusiness baseAGVBusiness) { _logger = logger; _tcpServer = tcpServer; @@ -43,18 +55,26 @@ 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; } public static BaseTaskInfoBusiness GetInstance( ILogger logger, IAirportTaskService Taskservice, IAGVStateService agvService, + IAGVMapPointService aGVMapPointService, + IAGVJobService aAGVJobService, TcpServer tcpServer, - AirPorthttpClient airPorthttpClient) + AirPorthttpClient airPorthttpClient, + BaseAGVBusiness baseAGVBusiness) { if (instance == null) { - instance = new BaseTaskInfoBusiness(logger, Taskservice, agvService, tcpServer, airPorthttpClient); + instance = new BaseTaskInfoBusiness(logger, Taskservice, agvService, aGVMapPointService, aAGVJobService, tcpServer, airPorthttpClient, baseAGVBusiness); } return instance; } @@ -76,8 +96,8 @@ namespace SlnMesnac.Business.@base deliveragvisarrive = string.Empty, //需要判断，更新 Deliver是否到达 totalcount = totalCount, //判断条件 总数量是多少 loadcount = 0, //需要判断，更新 现抓取数量 - taskstate = "新任务待分配", //需要判断，更新 任务状态 - starttime = DateTime.Now, + 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 @@ -94,7 +114,87 @@ namespace SlnMesnac.Business.@base } } + /// + /// AGV状态查询控制 + /// + /// + public void AGVStateUpdateTimerOperation(TimerControl state) + { + try + { + switch (state) + { + case TimerControl.Start: + RefreshTimer.Start(); + break; + case TimerControl.Stop: + RefreshTimer.Stop(); + break; + case TimerControl.Dispose: + RefreshTimer.Dispose(); + break; + default: + _logger.LogError("未知状态"); + break; + } + } + catch (Exception ex) + { + _logger.LogError("AGV状态操作失败！" + ex.Message); + } + + } + + /// + /// Timer刷新任务状态, 有新任务初次下发AGV + /// + public void RefreshTaskState() + { + try + { + //获取任务列表 + List Task = _Taskservice.GetAGVTaskInfos(); + if (Task != null && Task.Count > 0) + { + //更新前端 + _RefreshLogMessageAction?.Invoke("任务数量:" + Task.Count); + foreach(AirportTask taskItem in Task) + { + //查询待执行任务 + if (taskItem.taskstate == "等待" || string.IsNullOrEmpty(taskItem.amragvno)) + { + //首先调一辆最优AMR + AGVState firstAMR = _baseAGVBusiness.GetBestAGV(AgvType.AMR); + string amrTaskId = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask( + firstAMR.agvno, + _AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入位", taskItem.conveyorno).JobName); + taskItem.amragvTaskNo = amrTaskId; + taskItem.amragvno = firstAMR.agvno; + taskItem.amragvisarrive = "未到达"; + taskItem.taskstate = "执行中"; + //需要AGV和AMR才能装下 + if (taskItem.totalcount > (AMRStackNumber - firstAMR.stackcount)) + { + //调一辆最优Deliver + AGVState firstDeliver = _baseAGVBusiness.GetBestAGV(AgvType.Deliver); + string deliverTaskID = _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask( + firstDeliver.agvno, + _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", taskItem.conveyorno).JobName); + taskItem.deliveragvTaskNo = amrTaskId; + taskItem.deliveragvno = firstDeliver.agvno; + taskItem.deliveragvisarrive = "未到达"; + } + _Taskservice.UpdateTaskAsync(taskItem); + } + } + } + } + catch (Exception ex) + { + _logger.LogError($"查询任务列表初次下发任务发生错误Message：{ex.Message}"); + } + } /// /// 获取任务列表，向待执行任务派发AGV （定期执行） @@ -128,6 +228,7 @@ namespace SlnMesnac.Business.@base _logger.LogInformation($"正在为AGV，AMR分配任务"); //查询AGV设备状态及AMR设备状态 + //这里要看AGV是否会立刻更新状态 CreateAGVTask(taskItem); //查询机械臂状态 @@ -147,7 +248,7 @@ namespace SlnMesnac.Business.@base _logger.LogInformation($"正在为AGV分配任务"); } } - + _Taskaction?.Invoke(taskItem); } } @@ -196,7 +297,7 @@ namespace SlnMesnac.Business.@base { try { - Task.Run((() => + Task.Run(() => { while (true) { @@ -204,7 +305,7 @@ namespace SlnMesnac.Business.@base Task.Delay(1000); } - })); + }); } catch (Exception ex) @@ -228,7 +329,7 @@ namespace SlnMesnac.Business.@base timer.Start(); } - + /// /// 向AMR派发任务 diff --git a/SlnMesnac.Model/domain/AGVJob.cs b/SlnMesnac.Model/domain/AGVJob.cs new file mode 100644 index 0000000..a85be0e --- /dev/null +++ b/SlnMesnac.Model/domain/AGVJob.cs @@ -0,0 +1,57 @@ +using SqlSugar; +using System; +using System.Collections.Generic; +using System.Text; + +namespace SlnMesnac.Model.domain +{ + public class AGVJob + { + [SqlSugar.SugarColumn(ColumnName = "id", IsPrimaryKey = true, IsIdentity = true)] + public int ID { get; set; } + + /// + /// 模板名字 + /// + [SugarColumn(ColumnName = "jobname")] + public string JobName { get; set; } + + /// + /// 模板GUID + /// + [SugarColumn(ColumnName = "jobguid")] + public string JobGuid { get; set; } + + /// + /// 模板对应的传送带编号 + /// + [SugarColumn(ColumnName = "conveyorno")] + public string ConveyorNo { get; set; } + + /// + /// 模板类型 + /// + [SugarColumn(ColumnName = "jobtype")] + public string JobType { get; set; } + + /// + /// 模板参数点位GUID + /// + [SugarColumn(ColumnName = "pointguid")] + public string PointGuid { get; set; } + + /// + /// 模板参数点位名称 + /// + [SugarColumn(ColumnName = "pointname")] + public string PointName { get; set; } + + /// + /// 模板参数点位参数名 + /// + [SugarColumn(ColumnName = "pointparamname")] + public string PointParamName { get; set; } + + + } +} diff --git a/SlnMesnac.Model/domain/AGVSetting.cs b/SlnMesnac.Model/domain/AGVSetting.cs index 1f48505..56f987e 100644 --- a/SlnMesnac.Model/domain/AGVSetting.cs +++ b/SlnMesnac.Model/domain/AGVSetting.cs @@ -21,5 +21,15 @@ namespace SlnMesnac.Model.domain /// AGV类型 1：DeliverAGV 2: AMRAGV /// public string AGVType { get; set; } + + /// + /// AGV名称 + /// + public string AGVName { get; set; } + + /// + /// AGVIp + /// + public string AGVIp { get; set; } } } diff --git a/SlnMesnac.Model/domain/AGVState.cs b/SlnMesnac.Model/domain/AGVState.cs index 90a98ff..31cb48e 100644 --- a/SlnMesnac.Model/domain/AGVState.cs +++ b/SlnMesnac.Model/domain/AGVState.cs @@ -11,61 +11,69 @@ namespace SlnMesnac.Repository [SugarTable("AGVState")] public partial class AGVState { - /// - /// Desc: - /// Default: - /// Nullable:False - /// - [SugarColumn(IsPrimaryKey=true,IsIdentity=true,ColumnName="ID")] - public int id {get;set;} + /// + /// Desc: + /// Default: + /// Nullable:False + /// + [SugarColumn(IsPrimaryKey = true, IsIdentity = true, ColumnName = "ID")] + public int id { get; set; } - /// - /// Desc:AGV编号 - /// Default: - /// Nullable:False - /// - [SugarColumn(ColumnName="AGVNo")] - public string agvno {get;set;} + /// + /// Desc:AGV编号 + /// Default: + /// Nullable:False + /// + [SugarColumn(ColumnName = "AGVNo")] + public string agvno { get; set; } - /// - /// Desc:AGV类型 1：DeliverAGV 2: AMRAGV - /// Default: - /// Nullable:False - /// - [SugarColumn(ColumnName="AGVType")] - public string agvtype {get;set;} + /// + /// Desc:AGV类型 1：DeliverAGV 2: AMRAGV + /// Default: + /// Nullable:False + /// + [SugarColumn(ColumnName = "AGVType")] + public string agvtype { get; set; } - /// - /// Desc:任务编号 - /// Default: - /// Nullable:False - /// - [SugarColumn(ColumnName="TaskNo")] - public string taskno {get;set;} + /// + /// Desc:任务编号 + /// Default: + /// Nullable:False + /// + [SugarColumn(ColumnName = "TaskNo")] + public string taskno { get; set; } - /// - /// Desc:AGV报警状态 - /// Default: - /// Nullable:False - /// - [SugarColumn(ColumnName="AGVAlarmState")] - public string agvalarmstate {get;set;} + /// + /// Desc:AGV报警状态 + /// Default: + /// Nullable:False + /// + [SugarColumn(ColumnName = "AGVAlarmState")] + public string agvalarmstate { get; set; } - /// - /// Desc:AGV工作状态 - /// Default: - /// Nullable:False - /// - [SugarColumn(ColumnName="AGVWorkState")] - public string agvworkstate {get;set;} + /// + /// Desc:AGV工作状态 + /// Default: + /// Nullable:False + /// + [SugarColumn(ColumnName = "AGVWorkState")] + public string agvworkstate { get; set; } - /// - /// Desc:刷新时间 - /// Default: - /// Nullable:False - /// - [SugarColumn(ColumnName="RefreshTime")] - public DateTime refreshtime {get;set;} + /// + /// Desc:刷新时间 + /// Default: + /// Nullable:False + /// + [SugarColumn(ColumnName = "RefreshTime")] + public DateTime refreshtime { get; set; } + + /// + /// Desc:码筐计数 + /// Default: + /// Nullable:False + /// + [SugarColumn(ColumnName = "StackCount")] + public int stackcount { get; set; } } } diff --git a/SlnMesnac.Repository/service/IAGVJobService.cs b/SlnMesnac.Repository/service/IAGVJobService.cs new file mode 100644 index 0000000..ea7b682 --- /dev/null +++ b/SlnMesnac.Repository/service/IAGVJobService.cs @@ -0,0 +1,32 @@ +using SlnMesnac.Model.domain; +using SlnMesnac.Repository.service.@base; +using System; +using System.Collections.Generic; +using System.Text; + +namespace SlnMesnac.Repository.service +{ + public interface IAGVJobService : IBaseService + { + /// + /// 获取AGV模板列表 + /// + /// + List GetAGVJobList(); + + /// + /// 根据模板类型获取对应的AGV模板列表 + /// + /// + /// + List GetAGVJobListByJobType(string jobType); + + /// + /// 根据模板类型和传送带编号获取对应的AGV模板 + /// + /// + /// + /// + AGVJob GetAGVJobListByTypeAndConveyorNo(string jobType, string conveyorno); + } +} diff --git a/SlnMesnac.Repository/service/IAGVStateService.cs b/SlnMesnac.Repository/service/IAGVStateService.cs index 736a18e..1821791 100644 --- a/SlnMesnac.Repository/service/IAGVStateService.cs +++ b/SlnMesnac.Repository/service/IAGVStateService.cs @@ -49,7 +49,7 @@ namespace SlnMesnac.Repository.service /// /// /// - AGVState GetAGVState(string AGVguid); + AGVState GetSingleAGVState(string AGVguid); } } \ No newline at end of file diff --git a/SlnMesnac.Repository/service/Impl/AGVJobServiceImpl.cs b/SlnMesnac.Repository/service/Impl/AGVJobServiceImpl.cs new file mode 100644 index 0000000..c9a7c25 --- /dev/null +++ b/SlnMesnac.Repository/service/Impl/AGVJobServiceImpl.cs @@ -0,0 +1,61 @@ +using Microsoft.Extensions.Logging; +using SlnMesnac.Model.domain; +using SlnMesnac.Repository.service.@base; +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +namespace SlnMesnac.Repository.service.Impl +{ + public class AGVJobServiceImpl : BaseServiceImpl, IAGVJobService + { + private ILogger _logger; + public AGVJobServiceImpl(Repository repository, ILogger logger) : base(repository) + { + _logger = logger; + } + + public List GetAGVJobList() + { + try + { + var list = _rep.GetList(); + return list; + } + catch (Exception ex) + { + _logger.LogError($"获取列表发生错误: {ex.Message}"); + return null; + } + } + + public List GetAGVJobListByJobType(string jobType) + { + try + { + var list = _rep.GetList().Where(x => x.JobType == jobType).ToList(); + return list; + } + catch (Exception ex) + { + _logger.LogError($"获取列表发生错误: {ex.Message}"); + return null; + } + } + + public AGVJob GetAGVJobListByTypeAndConveyorNo(string jobType, string conveyorno) + { + try + { + AGVJob record = GetAGVJobListByJobType(jobType).Where(x => x.ConveyorNo == conveyorno).First(); + return record; + } + catch (Exception ex) + { + _logger.LogError($"获取列表发生错误: {ex.Message}"); + return null; + } + } + } +} diff --git a/SlnMesnac.Repository/service/Impl/AGVStateServiceImpl.cs b/SlnMesnac.Repository/service/Impl/AGVStateServiceImpl.cs index 6735b5f..f3332e3 100644 --- a/SlnMesnac.Repository/service/Impl/AGVStateServiceImpl.cs +++ b/SlnMesnac.Repository/service/Impl/AGVStateServiceImpl.cs @@ -134,7 +134,7 @@ namespace SlnMesnac.Repository.service.Impl /// /// /// - public AGVState GetAGVState(string AGVguid) + public AGVState GetSingleAGVState(string AGVguid) { try { diff --git a/SlnMesnac.TouchSocket/AirPorthttpClient.cs b/SlnMesnac.TouchSocket/AirPorthttpClient.cs index 10cedf9..022c396 100644 --- a/SlnMesnac.TouchSocket/AirPorthttpClient.cs +++ b/SlnMesnac.TouchSocket/AirPorthttpClient.cs @@ -93,7 +93,7 @@ namespace SlnMesnac.TouchSocket // } //} - public AGVResponseEntity JsonStringToEntity(string json) where T : class + public AGVResponseEntity JsonStringToEntity(string json) where T : class { if (json == null) { @@ -127,7 +127,7 @@ namespace SlnMesnac.TouchSocket /// public AGVResponseEntity AGVAddTaskRequest(AGVRequestAddTaskEntity requestValue) { - if(_httpClient == null) + if (_httpClient == null) { _logger.LogError("http服务为空"); return null; @@ -276,13 +276,13 @@ namespace SlnMesnac.TouchSocket // { // _logger.LogError("http服务为空"); // } - // //序列化输入数据 + // 序列化输入数据 // string json = Newtonsoft.Json.JsonConvert.SerializeObject(requestValue); // var context = new StringContent(json, Encoding.UTF8, "application/json"); - // var httpContent = _httpClient.PostAsync($"{Url}/api/task/addTask", context).ConfigureAwait(false).GetAwaiter().GetResult().Content; + // var httpContent = _httpClient.PostAsync($"http://192.168.10.199/api/v1.0.0/Jobs", context).ConfigureAwait(false).GetAwaiter().GetResult().Content; // string result = httpContent.ReadAsStringAsync().ConfigureAwait(false).GetAwaiter().GetResult(); // AGVResponseEntity responseEntity = JsonConvert.DeserializeObject>(result); - // //JToken responseValue = AirportAGVClient.InvokeT("GET:/api/v1.0.0/Positions?mapId={0}", null); + // JToken responseValue = AirportAGVClient.InvokeT("GET:/api/v1.0.0/Positions?mapId={0}", null); // return JTokenToEntity(responseValue); //} diff --git a/SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs b/SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs index 05ac1e4..cdd7fe4 100644 --- a/SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs +++ b/SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs @@ -52,10 +52,13 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage private ILogger _logger; private ILogger _taskBusinessLogger; private ILogger _stateBusinessLogger; + private ILogger _AGVBusinessLogger; private IAirportTaskService _taskservice; private IAGVStateService _agvstateService; + private IAGVMapPointService _agvmapPointService; private BaseTaskInfoBusiness _taskInfoBusiness; private BaseStateRefreshBusiness _StateRefreshBusiness; + private BaseAGVBusiness _baseAGVBusiness; private DispatcherTimer _timer; private TcpServer _tcpServer; private AppConfig _appConfig; @@ -65,14 +68,18 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage { LogMessages = new ObservableCollection(); _taskBusinessLogger = App.ServiceProvider.GetService>(); + _stateBusinessLogger = App.ServiceProvider.GetService>(); + _AGVBusinessLogger = App.ServiceProvider.GetService>(); _logger = App.ServiceProvider.GetService>(); _taskservice = App.ServiceProvider.GetService(); + _agvmapPointService = App.ServiceProvider.GetService(); _agvstateService = App.ServiceProvider.GetService(); _tcpServer = App.ServiceProvider.GetService(); _appConfig = App.ServiceProvider.GetService(); _airPorthttpClient = App.ServiceProvider.GetService(); - _taskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_taskBusinessLogger, _taskservice, _agvstateService, _tcpServer, _airPorthttpClient); + _baseAGVBusiness = BaseAGVBusiness.GetInstance(_AGVBusinessLogger, _airPorthttpClient, _agvstateService, _agvmapPointService, _appConfig); + _taskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_taskBusinessLogger, _taskservice, _agvstateService, _agvmapPointService, _tcpServer, _airPorthttpClient, _baseAGVBusiness); _taskInfoBusiness._RefreshLogMessageAction += RefreshLogMessage; _taskInfoBusiness._Taskaction += task => { diff --git a/SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs b/SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs index 3f3174e..ba1cf68 100644 --- a/SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs +++ b/SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs @@ -116,7 +116,7 @@ namespace SlnMesnac.WPF.ViewModel _AGVSettingService = App.ServiceProvider.GetService(); _tcpServer = App.ServiceProvider.GetService(); _airPorthttpClient = App.ServiceProvider.GetService(); - _baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, _Taskservice, _AGVStateService, _tcpServer, _airPorthttpClient); + _baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, _Taskservice, _AGVStateService, _AGVMapPointService, _tcpServer, _airPorthttpClient, _baseAGVBusiness); _baseAGVBusiness = BaseAGVBusiness.GetInstance(_baseAGVBusinessLogger, _airPorthttpClient, _AGVStateService, _AGVMapPointService, _appConfig); _visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer); _baseStateRefreshBusiness = BaseStateRefreshBusiness.GetInstance(_StateRefreshBusinessLogger, _AGVStateService, _airPorthttpClient, _AGVSettingService); @@ -129,7 +129,7 @@ namespace SlnMesnac.WPF.ViewModel ShellScannerStatus = _state ? 1 : 2; } }; - //_baseStateRefreshBusiness.AGVStateUpdateTimerOperation(TimerControl.Start); + _baseStateRefreshBusiness.AGVStateUpdateTimerOperation(TimerControl.Start); UserContent = indexContent; } @@ -190,19 +190,19 @@ namespace SlnMesnac.WPF.ViewModel _visionBusiness.RequestVisionReplace(_tcpServer.VID); break; case "TestButton3": - _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S800-B", "800小车进入位置任务pause"); + _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S800-B").First().AGVGUID, "800小车进入位置任务pause"); break; case "TestButton4": - _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S800-B", "800小车入库任务pause"); + _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S800-B").First().AGVGUID, "800小车入库任务pause"); break; case "TestButton8": - _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S1000-A", "1000小车进入位置任务pause"); + _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000小车进入位置任务pause"); break; case "TestButton9": - _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S1000-A", "1000小车入库任务pause"); + _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000小车入库任务pause"); break; case "TestButton10": - _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask("S1000-A", "1000校正模板"); + _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000校正模板"); break; case "TestButton5": //手动停止任务