合并

SlnMesnac.Business/Airport/AirPortBusiness.cs

@@ -0,0 +1,16 @@
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Hosting;
+using SlnMesnac.Repository.service;
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace SlnMesnac.Business.Airport
+{
+    public class AirPortBusiness
+    {
+
+    }
+}

SlnMesnac.Business/base/BaseStateRefreshBusiness.cs

@@ -0,0 +1,60 @@
+using Microsoft.Extensions.Logging;
+using SlnMesnac.Model.AirportApiEntity;
+using SlnMesnac.Repository.service;
+using SlnMesnac.TouchSocket;
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Business.@base
+{
+    public class BaseStateRefreshBusiness
+    {
+        private IAGVStateService _AGVStateService;
+        private IManipulatorStateService _ManipulatorStateService;
+        private ILogger<BaseStateRefreshBusiness> _logger;
+        private static BaseStateRefreshBusiness instance;
+        public BaseStateRefreshBusiness(ILogger<BaseStateRefreshBusiness> logger, IAGVStateService agvService, IManipulatorStateService manipulatorStateService)
+        {
+            _logger = logger;
+            _AGVStateService = agvService;
+            _ManipulatorStateService = manipulatorStateService;
+        }
+        public static BaseStateRefreshBusiness GetInstance(ILogger<BaseStateRefreshBusiness> logger, IAGVStateService agvService, IManipulatorStateService manipulatorStateService)
+        {
+            if (instance == null)
+            {
+                instance = new BaseStateRefreshBusiness(logger, agvService, manipulatorStateService);
+            }
+            return instance;
+        }
+
+        public bool UpdateAGVStateByResposne(AGVStateRequestEntity request) 
+        {
+            try
+            {
+                var response = AirPorthttpClient.AGVStateRequest(request);
+                _AGVStateService.UpdateOrAddByResponse(response);
+            }
+            catch (Exception e) 
+            {
+                _logger.LogError("Error:" + e);
+            }
+            return true;
+        }
+
+        public bool UpdateManipulatorStateByResposne(ManipulatorStateRequestEntity request)
+        {
+            try
+            {
+                var response = AirPorthttpClient.ManipulatorStateRequest(request);
+                _ManipulatorStateService.UpdateOrAddByResponse(response);
+            }
+            catch (Exception e)
+            {
+                _logger.LogError("Error:" + e);
+            }
+            return true;
+        }
+    }
+}

SlnMesnac.Config/AppConfig.cs

@@ -29,30 +29,29 @@ 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>
         /// 日志文件路径
         /// </summary>
         public string logPath { get; set; }
-        
+
         /// <summary>
         /// Sql连接配置 
         /// </summary>
         public List<SqlConfig> sqlConfig { get; set; }
-        
+
         /// <summary>
         /// PLC连接配置
         /// </summary>
         public List<PlcConfig> plcConfig { get; set; }
-        
+
         /// <summary>
         /// RFID连接配置
         /// </summary>
         public List<RfidConfig> rfidConfig { get; set; }
 
-
         /// <summary>
         /// Redis配置
         /// </summary>
@@ -61,9 +60,22 @@ namespace SlnMesnac.Config
         /// <summary>
         /// AMR
         /// </summary>
-
         public string AMRIP { get; set; }
 
+        /// </summary>
+        /// AGV地址配置
+        /// </summary>
+        public string AGVIpConfig { get; set; }
+
+        /// <summary>
+        /// 机械臂地址配置
+        /// </summary>
+        public string ManipulatorIpConfig { get; set; }
+
+        /// <summary>
+        /// 机械臂地址配置
+        /// </summary>
+        public string TCPVisionConfig { get; set; }
 
         public AppConfig Value => this;
 

SlnMesnac.Extensions/SqlsugarSetup.cs

@@ -1,5 +1,6 @@
 using Microsoft.Extensions.DependencyInjection;
 using SlnMesnac.Config;
+using SlnMesnac.Model.domain;
 using SqlSugar;
 using System;
 using System.Collections.Generic;
@@ -31,6 +32,7 @@ namespace SlnMesnac.Extensions
 {
     public static class SqlsugarSetup
     {
+
         /// <summary>
         /// 注册SqlSugar
         /// </summary>

SlnMesnac.Model/AirportApiEntity/AGVArrivalSingalEntity.cs

@@ -0,0 +1,35 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    public class AGVArrivalSingalEntity
+    {
+        /// <summary>
+        /// AGV编号
+        /// </summary>
+        public string AGVNo { get; set; }
+
+        /// <summary>
+        /// AGV类型
+        /// </summary>
+        public string AGVType { get; set; }
+
+        /// <summary>
+        /// 目的地编号
+        /// </summary>
+        public string DestinationNo { get; set; }
+
+        /// <summary>
+        /// 任务编号
+        /// </summary>
+        public string TaskNo { get; set; }
+
+        /// <summary>
+        /// 信号发送时间
+        /// </summary>
+        public string SignalSendTime { get; set; }
+
+    }
+}

SlnMesnac.Model/AirportApiEntity/AGVCallSingalEntity.cs

@@ -0,0 +1,39 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    public class AGVCallSingalEntity
+    {
+        /// <summary>
+        /// AGV编号
+        /// </summary>
+        public string AGVNo { get; set; }
+
+        /// <summary>
+        /// AGV类型
+        /// </summary>
+        public string AGVType { get; set; }
+
+        /// <summary>
+        /// 起始地编号
+        /// </summary>
+        public string StartingPointNo { get; set; }
+
+        /// <summary>
+        /// 目的地编号
+        /// </summary>
+        public string DestinationNo { get; set; }
+
+        /// <summary>
+        /// 任务编号
+        /// </summary>
+        public string TaskNo { get; set; }
+
+        /// <summary>
+        /// 信号发送时间
+        /// </summary>
+        public string SignalSendTime { get; set; }
+    }
+}

SlnMesnac.Model/AirportApiEntity/AGVStateEntity.cs

@@ -0,0 +1,57 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    public class AGVStateRequestEntity
+    {
+        /// <summary>
+        /// AGV编号
+        /// </summary>
+        public string AGVNo { get; set; }
+
+        /// <summary>
+        /// 信号发送时间
+        /// </summary>
+        public string SignalSendTime { get; set; }
+    }
+
+    public class AGVStateResponseEntity
+    {
+        /// <summary>
+        /// AGV编号
+        /// </summary>
+        public string AGVNo { get; set; }
+
+        /// <summary>
+        /// AGV类型（1：机械臂小车，2：运载小车）
+        /// </summary>
+        public string AGVType { get; set; }
+
+        /// <summary>
+        /// AGV报警状态（1：正常，2：故障）
+        /// </summary>
+        public string AGVAlarmState { get; set; }
+
+        /// <summary>
+        /// AGV工作状态（1：空闲，2：忙碌）
+        /// </summary>
+        public string AGVWorkState { get; set; }
+
+        /// <summary>
+        /// 报警信息
+        /// </summary>
+        public string AlarmText { get; set; }
+
+        /// <summary>
+        /// 任务编号
+        /// </summary>
+        public string TaskNo { get; set; }
+
+        /// <summary>
+        /// 信号发送时间
+        /// </summary>
+        public string SignalSendTime { get; set; }
+    }
+}

SlnMesnac.Model/AirportApiEntity/ManipulatorStartWorkEntity.cs

@@ -0,0 +1,36 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    public class ManipulatorStartWorkEntity
+    {
+
+        /// <summary>
+        /// 机械臂编号
+        /// </summary>
+        public string ManipulatorNo { get; set; }
+
+        /// <summary>
+        /// 运载小车编号
+        /// </summary>
+        public string CarryAGVNo { get; set; }
+
+        /// <summary>
+        /// 传送带编号
+        /// </summary>
+        public string ConveyorNo { get; set; }
+
+        /// <summary>
+        /// 任务编号
+        /// </summary>
+        public string TaskNo { get; set; }
+
+        /// <summary>
+        /// 信号发送时间
+        /// </summary>
+        public string SignalSendTime { get; set; }
+
+    }
+}

SlnMesnac.Model/AirportApiEntity/ManipulatorStateEntity.cs

@@ -0,0 +1,54 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    public class ManipulatorStateRequestEntity
+    {
+        /// <summary>
+        /// 机械臂编号
+        /// </summary>
+        public string ManipulatorNo { get; set; }
+
+        /// <summary>
+        /// 信号发送时间
+        /// </summary>
+        public string SignalSendTime { get; set; }
+    }
+
+
+    public class ManipulatorStateResponseEntity
+    {
+        /// <summary>
+        /// 机械臂编号
+        /// </summary>
+        public string ManipulatorNo { get; set; }
+
+        /// <summary>
+        /// 机械臂报警状态（1：正常，2：故障）
+        /// </summary>
+        public string ManipulatorAlarmState { get; set; }
+
+        /// <summary>
+        /// 机械臂工作状态（1：空闲，2：工作）
+        /// </summary>
+        public string ManipulatorWorkState { get; set; }
+
+        /// <summary>
+        /// 报警信息
+        /// </summary>
+        public string AlarmText { get; set; }
+
+        /// <summary>
+        /// 任务编号
+        /// </summary>
+        public string TaskNo { get; set; }
+
+        /// <summary>
+        /// 信号发送时间
+        /// </summary>
+        public string SignalSendTime { get; set; }
+    }
+
+}

SlnMesnac.Model/AirportApiEntity/ManipulatorWorkDoneEntity.cs

@@ -0,0 +1,61 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.AirportApiEntity
+{
+    public class ManipulatorWorkDoneEntity
+    {
+
+        /// <summary>
+        /// 机械臂编号
+        /// </summary>
+        public string ManipulatorNo { get; set; }
+
+        /// <summary>
+        /// 运载小车编号
+        /// </summary>
+        public string CarryAGVNo { get; set; }
+
+        /// <summary>
+        /// 传送带编号
+        /// </summary>
+        public string ConveyorNo { get; set; }
+
+        /// <summary>
+        /// 此次抓取数量
+        /// </summary>
+        public int NowCarryNumber { get; set; }
+
+        /// <summary>
+        /// 小车装载数量
+        /// </summary>
+        public int CarrierLoadNumber { get; set; }
+
+        /// <summary>
+        /// 此次工作总抓取数量
+        /// </summary>
+        public int AllCarryNumber { get; set; }
+
+        /// <summary>
+        /// 装载方向（1：机械臂小车，2：装载小车）
+        /// </summary>
+        public string LoadLocation { get; set; }
+
+        /// <summary>
+        /// 工作是否结束（0：未结束，1：结束）
+        /// </summary>
+        public string WorkIsDone { get; set; }
+
+        /// <summary>
+        /// 任务编号
+        /// </summary>
+        public string TaskNo { get; set; }
+
+        /// <summary>
+        /// 信号发送时间
+        /// </summary>
+        public string SignalSendTime { get; set; }
+
+    }
+}

SlnMesnac.Model/domain/AGVLog.cs

@@ -0,0 +1,47 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.domain
+{
+    public class AGVLog
+    {
+        [SqlSugar.SugarColumn(IsPrimaryKey = true, IsIdentity = true)]
+        public int ID { get; set; }
+
+        /// <summary>
+        /// AGV编号
+        /// </summary>
+        public string AGVNo { get; set; }
+
+        /// <summary>
+        /// AGV类型
+        /// </summary>
+        public string AGVType { get; set; }
+
+        /// <summary>
+        /// 任务编号
+        /// </summary>
+        public string ?TaskNo { get; set; }
+
+        /// <summary>
+        /// AGV报警状态（1：正常，2：故障）
+        /// </summary>
+        public string AGVAlarmState { get; set; }
+
+        /// <summary>
+        /// AGV工作状态（1：空闲，2：忙碌）
+        /// </summary>
+        public string AGVWorkState { get; set; }
+
+        /// <summary>
+        /// 报警内容
+        /// </summary>
+        public string ?AlarmText { get; set; }
+
+        /// <summary>
+        /// 日志时间
+        /// </summary>
+        public DateTime LogTime { get; set; }
+    }
+}

SlnMesnac.Model/domain/AGVSetting.cs

@@ -0,0 +1,25 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.domain
+{
+    public class AGVSetting
+    {
+        /// <summary>
+        /// 自增编号
+        /// </summary>
+        [SqlSugar.SugarColumn(IsPrimaryKey = true, IsIdentity = true)]
+        public int ID { get; set; }
+
+        /// <summary>
+        /// AGV编号
+        /// </summary>
+        public string AGVNo { get; set; }
+
+        /// <summary>
+        /// AGV类型
+        /// </summary>
+        public string AGVType { get; set; }
+    }
+}

SlnMesnac.Model/domain/ManipulatorLog.cs

@@ -0,0 +1,45 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.domain
+{
+    public class ManipulatorLog
+    {
+        /// <summary>
+        /// 自增编号
+        /// </summary>
+        [SqlSugar.SugarColumn(IsPrimaryKey = true, IsIdentity = true)]
+        public int ID { get; set; }
+
+        /// <summary>
+        /// 机械臂编号
+        /// </summary>
+        public string ManipulatorNo { get; set; }
+
+        /// <summary>
+        /// 任务编号
+        /// </summary>
+        public string ?TaskNo { get; set; }
+
+        /// <summary>
+        /// 机械臂报警状态（1：正常，2：故障）
+        /// </summary>
+        public string ManipulatorAlarmState { get; set; }
+
+        /// <summary>
+        /// 机械臂工作状态（1：空闲，2：忙碌）
+        /// </summary>
+        public string ManipulatorWorkState { get; set; }
+
+        /// <summary>
+        /// 报警内容
+        /// </summary>
+        public string ?AlarmText { get; set; }
+
+        /// <summary>
+        /// 日志时间
+        /// </summary>
+        public DateTime LogTime { get; set; }
+    }
+}

SlnMesnac.Model/domain/ManipulatorSetting.cs

@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.domain
+{
+    public class ManipulatorSetting
+    {
+        /// <summary>
+        /// 自增编号
+        /// </summary>
+        [SqlSugar.SugarColumn(IsPrimaryKey = true, IsIdentity = true)]
+        public int ID { get; set; }
+
+        /// <summary>
+        /// 机械臂编号
+        /// </summary>
+        public string ManipulatorNo { get; set; }
+
+        /// <summary>
+        /// 机械臂所属AGV编号
+        /// </summary>
+        public string RelatedAGVNo { get; set; }
+
+    }
+}

SlnMesnac.Model/domain/ManipulatorState.cs

@@ -0,0 +1,40 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.domain
+{
+    public class ManipulatorState
+    {
+        /// <summary>
+        /// 自增编号
+        /// </summary>
+        [SqlSugar.SugarColumn(IsPrimaryKey = true, IsIdentity = true)]
+        public int ID { get; set; }
+
+        /// <summary>
+        /// 机械臂编号
+        /// </summary>
+        public string ManipulatorNo { get; set; }
+
+        /// <summary>
+        /// 任务编号
+        /// </summary>
+        public string ?TaskNo { get; set; }
+
+        /// <summary>
+        /// 机械臂报警状态（1：正常，2：故障）
+        /// </summary>
+        public string ManipulatorAlarmState { get; set; }
+
+        /// <summary>
+        /// 机械臂工作状态（1：空闲，2：忙碌）
+        /// </summary>
+        public string ManipulatorWorkState { get; set; }
+
+        /// <summary>
+        /// 刷新时间
+        /// </summary>
+        public DateTime RefreshTime { get; set; }
+    }
+}

SlnMesnac.Quartz/Job/GetTaskInfo_Job.cs

@@ -13,7 +13,7 @@ namespace SlnMesnac.Quartz.Job
     {
         private readonly ILogger<GetTaskInfo_Job> _logger;
         private IAirportTaskService _service;
-                private BaseTaskInfoBusiness _taskInfoBusiness;
+        private BaseTaskInfoBusiness _taskInfoBusiness;
         public GetTaskInfo_Job(ILogger<GetTaskInfo_Job> logger, IAirportTaskService service)
         {
             _logger = logger;

SlnMesnac.Quartz/Job/Job2.cs

@@ -1,5 +1,6 @@
 using Microsoft.Extensions.Logging;
 using Quartz;
+using SlnMesnac.Repository.service;
 using System;
 using System.Collections.Generic;
 using System.Text;
@@ -38,9 +39,12 @@ namespace SlnMesnac.Quartz.Job
             _logger = logger;
         }
 
+
+
         public Task Execute(IJobExecutionContext context)
         {
             _logger.LogInformation($"执行Job2：{DateTime.Now.ToString("HH:mm:ss")}");
+
             return Task.CompletedTask;
         }
     }

SlnMesnac.Quartz/Job/MyJob.cs

@@ -1,5 +1,7 @@
 using Microsoft.Extensions.Logging;
 using Quartz;
+using SlnMesnac.Repository.service;
+using SlnMesnac.Repository.service.Impl;
 using System;
 using System.Collections.Generic;
 using System.Text;
@@ -33,9 +35,12 @@ namespace SlnMesnac.Quartz.Job
     {
         private readonly ILogger<MyJob> _logger;
 
+        //private readonly IAirportTaskService _airportTaskService;
+
         public MyJob(ILogger<MyJob> logger)
         {
             _logger = logger;
+            //airportTaskService = airportTaskService;
         }
 
         public Task Execute(IJobExecutionContext context)

SlnMesnac.Quartz/QuartzSetUp.cs

@@ -40,12 +40,9 @@ namespace SlnMesnac.Quartz
                 //    trigger.WithCronSchedule("*/3 * * * * ?").WithIdentity("MyJob", "MyJobGroup") // 示例：每3s执行一次
                 //);
 
-                q.ScheduleJob<GetAgvState_Job>(trigger =>
-                    trigger.WithCronSchedule("*/5 * * * * ?").WithIdentity("GetAgvState_Job", "GetAgvState_JobGroup") // 示例：每5s执行一次
-                );
-                q.ScheduleJob<MyJob>(trigger =>
-                        trigger.WithCronSchedule("*/5 * * * * ?").WithIdentity("MyJob", "GetAgvState_JobGroup") // 示例：每5s执行一次
-                );
+                //q.ScheduleJob<Job2>(trigger =>
+                //    trigger.WithCronSchedule("*/5 * * * * ?").WithIdentity("Job2", "Job2Group") // 示例：每5s执行一次
+                //);
             });
 
             services.AddQuartzHostedService(options => options.WaitForJobsToComplete = true);

SlnMesnac.Repository/service/IAGVStateService.cs

@@ -1,3 +1,4 @@
+using SlnMesnac.Model.AirportApiEntity;
 using SlnMesnac.Model.domain;
 using SlnMesnac.Model.Enum;
 using SlnMesnac.Repository.service.@base;
@@ -23,5 +24,18 @@ namespace SlnMesnac.Repository.service
         /// <returns></returns>
         Task<bool> UpdateAsync(AGVState record);
 
+        /// <summary>
+        /// 查询所有AGV状态
+        /// </summary>
+        /// <returns></returns>
+        List<AGVState> GetAllAGVState();
+
+        /// <summary>
+        /// 根据响应数据插入或更新数据
+        /// </summary>
+        /// <param name="response"></param>
+        /// <returns></returns>
+        Task<bool> UpdateOrAddByResponse(AGVStateResponseEntity response);
+
     }
 }

SlnMesnac.Repository/service/IAirportTaskService.cs

@@ -10,12 +10,12 @@ namespace SlnMesnac.Repository.service
     public interface IAirportTaskService : IBaseService<AirportTask>
     {
         /// <summary>
-        /// 获取站台任务列表
+        /// <EFBFBD><EFBFBD>ȡվ̨<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>б<EFBFBD>
         /// </summary>
         /// <returns></returns>
         List<AirportTask> GetTaskInfos();
         /// <summary>
-        /// 获取待执行任务列表
+        /// <EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD>ִ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>б<EFBFBD>
         /// </summary>
         /// <returns></returns>
         List<AirportTask> GetAGVTaskInfos();
@@ -28,7 +28,7 @@ namespace SlnMesnac.Repository.service
         Task<List<AirportTask>> GetTaskInfoListAsync(string ConveyorNo);
 
         /// <summary>
-        /// 更新任务列表
+        /// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>б<EFBFBD>
         /// </summary>
         /// <param name="record"></param>
         /// <returns></returns>
@@ -49,4 +49,4 @@ namespace SlnMesnac.Repository.service
         /// <returns></returns>
         Task<bool> DeleteTaskAsync(AirportTask record);
     }
-}
+}

SlnMesnac.Repository/service/IManipulatorStateService.cs

@@ -0,0 +1,39 @@
+using SlnMesnac.Model.AirportApiEntity;
+using SlnMesnac.Model.domain;
+using SlnMesnac.Repository.service.@base;
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace SlnMesnac.Repository.service
+{
+    public interface IManipulatorStateService : IBaseService<ManipulatorState>
+    {
+        /// <summary>
+        /// 查询空闲的机械臂信息
+        /// </summary>
+        /// <returns></returns>
+        List<ManipulatorState> GetFreeManipulatorState();
+
+        /// <summary>
+        /// 查询所有机械臂信息
+        /// </summary>
+        /// <returns></returns>
+        List<ManipulatorState> GetAllManipulatorState();
+
+        /// <summary>
+        /// 更新机械臂设备状态信息
+        /// </summary>
+        /// <param name="record"></param>
+        /// <returns></returns>
+        Task<bool> UpdateAsync(ManipulatorState record);
+
+        /// <summary>
+        /// 更新或插入机械臂设备状态信息
+        /// </summary>
+        /// <param name="response"></param>
+        /// <returns></returns>
+        Task<bool> UpdateOrAddByResponse(ManipulatorStateResponseEntity response);
+    }
+}

SlnMesnac.Repository/service/Impl/AGVStateServiceImpl.cs

@@ -1,10 +1,12 @@
 using Microsoft.Extensions.Logging;
 using SlnMesnac.Common;
+using SlnMesnac.Model.AirportApiEntity;
 using SlnMesnac.Model.domain;
 using SlnMesnac.Model.Enum;
 using SlnMesnac.Repository.service.@base;
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using System.Linq.Expressions;
 using System.Threading.Tasks;
 
@@ -24,13 +26,27 @@ namespace SlnMesnac.Repository.service.Impl
             try
             {
                 Expression<Func<AGVState, bool>> exp = x => true;
-                exp = exp.And(x =>(x.agvno != null || x.agvno != "") && (x.taskno == null || x.taskno == "") && x.agvworkstate == "任务空闲" && (x.agvalarmstate == null || x.agvalarmstate == "") && x.agvtype == _AgvType);
+                exp = exp.And(x =>(x.agvno != null || x.agvno != "") && (x.taskno == null || x.taskno == "") && x.agvworkstate == "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" && (x.agvalarmstate == null || x.agvalarmstate == "") && x.agvtype == _AgvType);
 
                 agvStateInfoList = base._rep.GetList(exp);
             }
             catch (Exception ex)
             {
-                _logger.LogError($"通过物料类型获取物料信息异常:{ex.Message}");
+                _logger.LogError($"<22><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>AGV<47><56>Ϣ<EFBFBD>쳣:{ex.Message}");
+            }
+            return agvStateInfoList;
+        }
+
+        public List<AGVState> GetAllAGVState()
+        {
+            List<AGVState> agvStateInfoList = null;
+            try
+            {
+                agvStateInfoList = base._rep.GetList();
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError($"<22><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>AGV<47><56>Ϣ<EFBFBD>쳣:{ex.Message}");
             }
             return agvStateInfoList;
         }
@@ -41,5 +57,36 @@ namespace SlnMesnac.Repository.service.Impl
             return result;
         }
 
+        public async Task<bool> UpdateOrAddByResponse(AGVStateResponseEntity response)
+        {
+            AGVState record = new AGVState()
+            {
+                agvno = response.AGVNo,
+                agvalarmstate = response.AGVAlarmState,
+                agvtype = response.AGVType,
+                agvworkstate = response.AGVWorkState,
+                refreshtime = DateTime.Now,
+                taskno = response.TaskNo,
+            };
+            bool result = false;
+            try
+            {
+                var list = GetAllAGVState();
+                if (list.Where(x => x.agvno == response.AGVNo).Count() == 0)
+                {
+                    result = _rep.Insert(record);
+                }
+                else
+                {
+                    record.id = list.Where(x => x.agvno == response.AGVNo).FirstOrDefault().id;
+                    result = await _rep.UpdateAsync(record);
+                }
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError($"<22><>е<EFBFBD><D0B5>״̬<D7B4><CCAC>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD>쳣:{ex.Message}");
+            }
+            return result;
+        }
     }
 }

SlnMesnac.Repository/service/Impl/ManipulatorStateServiceImpl.cs

@@ -0,0 +1,92 @@
+using Microsoft.Extensions.Logging;
+using SlnMesnac.Common;
+using SlnMesnac.Model.AirportApiEntity;
+using SlnMesnac.Model.domain;
+using SlnMesnac.Repository.service.@base;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Linq.Expressions;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace SlnMesnac.Repository.service.Impl
+{
+    public class ManipulatorStateServiceImpl : BaseServiceImpl<ManipulatorState>, IManipulatorStateService
+    {
+        private ILogger<ManipulatorStateServiceImpl> _logger;
+
+
+        public ManipulatorStateServiceImpl(Repository<ManipulatorState> rep, ILogger<ManipulatorStateServiceImpl> logger) : base(rep)
+        {
+            _logger = logger;
+        }
+
+        public List<ManipulatorState> GetAllManipulatorState()
+        {
+            var list = new List<ManipulatorState>();
+            try
+            {
+                list = base._rep.GetList();
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError($"所有机械臂状态信息获取异常:{ex.Message}");
+            }
+            return list;
+        }
+
+        public List<ManipulatorState> GetFreeManipulatorState()
+        {
+            var list = new List<ManipulatorState>();
+            try
+            {
+                list = base._rep.GetList()
+                    .Where(x => x.ManipulatorNo != "" && (x.TaskNo == null || x.TaskNo == "") && x.ManipulatorWorkState == "任务空闲")
+                    .ToList();
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError($"空闲机械臂状态信息获取异常:{ex.Message}");
+            }
+            return list;
+        }
+
+        public async Task<bool> UpdateAsync(ManipulatorState record)
+        {
+            bool result = await _rep.UpdateAsync(record);
+            return result;
+        }
+
+        public async Task<bool> UpdateOrAddByResponse(ManipulatorStateResponseEntity response)
+        {
+            ManipulatorState record = new ManipulatorState()
+            {
+                ManipulatorNo = response.ManipulatorNo,
+                ManipulatorAlarmState = response.ManipulatorAlarmState,
+                ManipulatorWorkState = response.ManipulatorWorkState,
+                TaskNo = response.TaskNo,
+                RefreshTime = DateTime.Now,
+            };
+            bool result = false;
+            try
+            {
+                var list = GetAllManipulatorState();
+                if (list.Where(x => x.ManipulatorNo == response.ManipulatorNo).Count() == 0)
+                {
+                    result = _rep.Insert(record);
+                }
+                else
+                {
+                    record.ID = list.Where(x => x.ManipulatorNo == response.ManipulatorNo).FirstOrDefault().ID;
+                    result = await _rep.UpdateAsync(record);
+                }
+            }
+            catch(Exception ex)
+            {
+                _logger.LogError($"机械臂状态信息更新异常:{ex.Message}");
+            }
+            return result;
+        }
+    }
+}

SlnMesnac.TouchSocket/AirPorthttpClient.cs

@@ -0,0 +1,133 @@
+using Microsoft.Extensions.Hosting;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+using SlnMesnac.Config;
+using SlnMesnac.Model.AirportApiEntity;
+using SQLitePCL;
+using SqlSugar;
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Text.Json;
+using TouchSocket.Rpc;
+using TouchSocket.Sockets;
+using TouchSocket.WebApi;
+using JsonSerializer = System.Text.Json.JsonSerializer;
+using Microsoft.Extensions.Logging;
+
+namespace SlnMesnac.TouchSocket
+{
+    public class AirPorthttpClient : BackgroundService
+    {
+        private readonly AppConfig _appConfig;
+        private readonly ILogger<AirPorthttpClient> _logger;
+
+        public AirPorthttpClient(AppConfig appConfig, ILogger<AirPorthttpClient> logger)
+        {
+            _appConfig = appConfig;
+            _logger = logger;
+        }
+
+        public static WebApiClient AirportAGVClient;
+        public static WebApiClient AirportManipulatorClient;
+
+        private WebApiClient CreateWebApiClient(string IpHost)
+        {
+            var client = new WebApiClient();
+            try
+            {
+                client.Connect(IpHost);
+                _logger.LogInformation(IpHost + "连接成功");
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError("ERROR: " + ex.Message);
+                return null;
+            }
+            return client;
+        }
+
+        protected override Task ExecuteAsync(CancellationToken stoppingToken)
+        {
+            try
+            {
+                AirportAGVClient = CreateWebApiClient(_appConfig.AGVIpConfig);
+                AirportManipulatorClient = CreateWebApiClient(_appConfig.ManipulatorIpConfig);
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError("ERROR: " + ex.Message);
+                return Task.FromException(ex);
+            }
+            return Task.CompletedTask;
+        }
+
+        /// <summary>
+        /// AGV呼叫请求
+        /// </summary>
+        /// <returns></returns>
+        public static string AGVCallRequest()
+        {
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:", null, new AGVArrivalSingalEntity());
+
+            return responseValue.ToString();
+        }
+
+        /// <summary>
+        /// 机械臂开始工作请求
+        /// </summary>
+        /// <returns></returns>
+        public static string ManipulatorStartRequest()
+        {
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:", null, new AGVArrivalSingalEntity());
+
+            return responseValue.ToString();
+        }
+
+        /// <summary>
+        /// AGV状态请求
+        /// </summary>
+        /// <param name="aGVStateRequest"></param>
+        /// <returns></returns>
+        public static AGVStateResponseEntity AGVStateRequest(AGVStateRequestEntity aGVStateRequest)
+        {
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/m1/5051269-4712337-default/apitest/AGVtest", null, aGVStateRequest);
+            if (responseValue == null)
+            {
+                return new AGVStateResponseEntity();
+            }
+            string json = responseValue.ToString();
+            if (string.IsNullOrEmpty(json))
+            {
+                return new AGVStateResponseEntity();
+            }
+            AGVStateResponseEntity aGVStateResponseEntity = new AGVStateResponseEntity();
+            aGVStateResponseEntity = JsonSerializer.Deserialize<AGVStateResponseEntity>(json);
+            return aGVStateResponseEntity;
+        }
+
+        /// <summary>
+        /// 机械臂状态请求
+        /// </summary>
+        /// <param name="manipulatorStateRequest"></param>
+        /// <returns></returns>
+        public static ManipulatorStateResponseEntity ManipulatorStateRequest(ManipulatorStateRequestEntity manipulatorStateRequest)
+        {
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/m1/5051269-4712337-default/apitest/manipulatortest", null, manipulatorStateRequest);
+            if (responseValue == null)
+            {
+                return new ManipulatorStateResponseEntity();
+            }
+            string json = responseValue.ToString();
+            if (string.IsNullOrEmpty(json))
+            {
+                return new ManipulatorStateResponseEntity();
+            }
+            ManipulatorStateResponseEntity manipulatorState = new ManipulatorStateResponseEntity();
+            manipulatorState = JsonSerializer.Deserialize<ManipulatorStateResponseEntity>(json);
+            return manipulatorState;
+        }
+    }
+}

SlnMesnac.TouchSocket/AirportTcpServer.cs

@@ -0,0 +1,19 @@
+using Microsoft.Extensions.Hosting;
+using System;
+using System.Collections.Generic;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace SlnMesnac.TouchSocket
+{
+    public class AirportTcpServer : BackgroundService
+    {
+        protected override Task ExecuteAsync(CancellationToken stoppingToken)
+        {
+            return Task.CompletedTask;
+        }
+
+
+    }
+}

SlnMesnac.TouchSocket/ApiServer.cs

@@ -1,4 +1,5 @@
-using System;
+using SlnMesnac.Model.AirportApiEntity;
+using System;
 using System.Collections.Generic;
 using System.Text;
 using TouchSocket.Rpc;
@@ -30,80 +31,64 @@ namespace SlnMesnac.TouchSocket
 {
     public class ApiServer: RpcServer
     {
+        public ApiServer()
+        {
 
-        public delegate void RefreshScanInfoInCenterStart();
-        /// <summary>
-        /// 入库开始事件刷新
-        /// </summary>
-        public event RefreshScanInfoInCenterStart RefreshScanInfoInCenterStartEvent;
-
-        public delegate void RefreshScanInfoInCenterStop();
-        /// <summary>
-        /// 入库结束事件刷新
-        /// </summary>
-        public event RefreshScanInfoInCenterStop RefreshScanInfoInCenterStopEvent;
-
-        public delegate void RefreshScanInfoOutCenterStart();
-        /// <summary>
-        /// 出库开始事件刷新
-        /// </summary>
-        public event RefreshScanInfoOutCenterStart RefreshScanInfoOutCenterStartEvent;
+        }
 
-        public delegate void RefreshScanInfoOutCenterStop();
+        public delegate void AGVArrivalStart(string message, AGVArrivalSingalEntity aGVArrivalSingalEntity);
         /// <summary>
-        /// 出库结束事件刷新
+        /// AGV到位信号刷新
         /// </summary>
-        public event RefreshScanInfoOutCenterStop RefreshScanInfoOutCenterStopEvent;
+        public event AGVArrivalStart AGVArrivalStartEvent;
 
         /// <summary>
-        /// 入库开始
+        /// AGV到位信号接口
         /// </summary>
         /// <param name="messageHeader"></param>
         /// <returns></returns>
         [EnableCors("cors")]
         [WebApi(HttpMethodType.POST)]
-        public object getScanInfoInCenterStart(string messageHeader)
+        public object AGVArrivalSignal(string messageHeader, AGVArrivalSingalEntity aGVArrivalSingalEntity)
         {
-            RefreshScanInfoInCenterStartEvent?.Invoke();
-            return true;
+            AGVArrivalStartEvent?.Invoke(messageHeader, aGVArrivalSingalEntity);
+            return "Success";
         }
 
+        public delegate void ManipulatorWorkDoneStart(string message, ManipulatorWorkDoneEntity manipulatorWorkDoneEntity);
+        /// <summary>
+        /// 机械臂抓取完毕事件刷新
+        /// </summary>
+        public event ManipulatorWorkDoneStart ManipulatorWorkDoneEvent;
+
         /// <summary>
-        /// 入库结束
+        /// 机械臂抓取完毕信号接口
         /// </summary>
         /// <param name="messageHeader"></param>
         /// <returns></returns>
         [EnableCors("cors")]
         [WebApi(HttpMethodType.POST)]
-        public object getScanInfoInCenterStop(string messageHeader)
+        public object ManipulatorWorkDone(string messageHeader, ManipulatorWorkDoneEntity manipulatorWorkDoneEntity)
         {
-            RefreshScanInfoInCenterStopEvent?.Invoke();
-            return true;
+            ManipulatorWorkDoneEvent?.Invoke(messageHeader, manipulatorWorkDoneEntity);
+            return "Success";
         }
 
-        /// <summary>
-        /// 出库开始
-        /// </summary>
-        /// <param name="messageHeader"></param>
-        /// <returns></returns>
-        [WebApi(HttpMethodType.POST)]
-        public object getScanInfoOutCenterStart(string messageHeader)
+
+        public void SubscribeToAGVArrivalEvent()
         {
-            RefreshScanInfoOutCenterStartEvent?.Invoke();
-            return true;
+            // 订阅 AGV 到位事件
+            AGVArrivalStartEvent += OnAGVArrival;
         }
 
-        /// <summary>
-        /// 出库结束
-        /// </summary>
-        /// <param name="messageHeader"></param>
-        /// <returns></returns>
-        [WebApi(HttpMethodType.POST)]
-        public object getScanInfoOutCenterStop(string messageHeader)
+        // 处理 AGV 到位事件的方法
+        public void OnAGVArrival(string message, AGVArrivalSingalEntity aGVArrivalSingalEntity)
         {
-            RefreshScanInfoOutCenterStopEvent?.Invoke();
-            return true;
+            Console.WriteLine($"收到AGV到位信号: {message}");
+            Console.WriteLine($"AGV编号: {aGVArrivalSingalEntity.AGVNo}, 到达位置: {aGVArrivalSingalEntity.DestinationNo}");
+            // 这里可以处理更多的业务逻辑，比如记录日志、更新系统状态等
         }
 
     }
+
 }

SlnMesnac.TouchSocket/BufferDataAnalysis.cs

@@ -0,0 +1,87 @@
+using Microsoft.Extensions.Logging;
+using Serilog.Core;
+using SlnMesnac.Config;
+using SlnMesnac.Model.AirportApiEntity;
+using SlnMesnac.TouchSocket.Entity;
+using System;
+using System.Buffers;
+using System.Collections.Generic;
+using System.Text;
+using System.Threading;
+using TouchSocket.Sockets;
+
+namespace SlnMesnac.TouchSocket
+{
+
+    public class BufferDataAnalysis
+    {
+        public static TcpVisionEntity BufferRootAnalysis(byte[] bytes)
+        {
+            TcpVisionEntity entity;
+            //数据校验，从起始符开始到数据位，按字节求和得出的结果对256求余
+            if(bytes.Length <= 2)
+            {
+                return null;
+            }
+            int checkDatalength = bytes.Length - 2;
+            byte checksum = bytes[checkDatalength];
+            byte[] checkData = new byte[checkDatalength];
+            Array.Copy(bytes, 0, checkData, 0, checkDatalength);
+            int sum = 0;
+            foreach (byte b in checkData)
+            {
+                sum += b;
+            }
+            int count = sum % 256;
+            if (count == checksum)
+            {
+                entity = new TcpVisionEntity();
+                entity.Checksum = checksum;
+            }
+            else
+            {
+                return null;
+            }
+            int index = 2;
+
+            //取序列号
+            entity.SN = new byte[2] { bytes[index], bytes[index + 1] };
+            index += 2;
+
+            //取时间戳
+            entity.Timestamp = new byte[4] { bytes[index], bytes[index + 1], bytes[index + 2], bytes[index + 3] };
+            index += 4;
+
+            //取命令字
+            entity.Command = bytes[index];
+            index += 1;
+
+            //取数据位长度
+            entity.DataLength = bytes[index];
+            index += 1;
+
+            //取数据位
+            byte[] dataBytes = new byte[entity.DataLength];
+            Array.Copy(bytes, index, dataBytes, 0, entity.DataLength);
+            entity.DataBytes = dataBytes;
+            index += entity.DataLength;
+            return entity;
+        }
+
+        public byte[] DataCombine(byte[] bytes)
+        {
+
+            return null;
+        }
+
+        public static byte[] GetCurrentUnixTimestampAsBytes()
+        {
+            // 获取当前的Unix时间戳，表示自1970-01-01以来的秒数
+            int unixTimestamp = (int)(DateTimeOffset.UtcNow.ToUnixTimeSeconds());
+            // 将时间戳转换为字节数组
+            byte[] bytes = BitConverter.GetBytes(unixTimestamp);
+            return bytes;
+        }
+
+    }
+}

SlnMesnac.TouchSocket/Entity/TcpVisionEntity.cs

@@ -0,0 +1,39 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.TouchSocket.Entity
+{
+    public class TcpVisionEntity
+    {
+        /// <summary>
+        /// 序列号
+        /// </summary>
+        public byte[] SN {  get; set; }
+
+        /// <summary>
+        /// 时间戳
+        /// </summary>
+        public byte[] Timestamp { get; set; }
+
+        /// <summary>
+        /// 命令字
+        /// </summary>
+        public byte Command { get; set; }
+
+        /// <summary>
+        /// 数据长度
+        /// </summary>
+        public byte DataLength { get; set; }
+
+        /// <summary>
+        /// 数据位
+        /// </summary>
+        public byte[]? DataBytes { get; set; }
+
+        /// <summary>
+        /// 校验和
+        /// </summary>
+        public byte Checksum { get; set; }
+     }
+}

SlnMesnac.TouchSocket/SlnMesnac.TouchSocket.csproj

@@ -12,6 +12,7 @@
   </ItemGroup>
 
   <ItemGroup>
+    <ProjectReference Include="..\SlnMesnac.Model\SlnMesnac.Model.csproj" />
     <ProjectReference Include="..\SlnMesnac.Serilog\SlnMesnac.Serilog.csproj" />
   </ItemGroup>
 

SlnMesnac.TouchSocket/TcpServer.cs

@@ -1,7 +1,12 @@
-using Microsoft.Extensions.Logging;
+using Microsoft.Extensions.Hosting;
+using Microsoft.Extensions.Logging;
+using SlnMesnac.Config;
+using SlnMesnac.TouchSocket.Entity;
 using System;
 using System.Collections.Generic;
 using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
 using TouchSocket.Core;
 using TouchSocket.Sockets;
 
@@ -29,10 +34,13 @@ using TouchSocket.Sockets;
 #endregion << 版 本 注 释 >>
 namespace SlnMesnac.TouchSocket
 {
-    public class TcpServer
+    public class TcpServer : BackgroundService
     {
+
         private ILogger<TcpServer> _logger;
         private readonly TcpService _service;
+        private readonly AppConfig _appConfig;
+
         /// <summary>
         /// 接收客户端指令委托
         /// </summary>
@@ -44,28 +52,64 @@ namespace SlnMesnac.TouchSocket
 
         public Action<String, bool> RefreshStateAction;
 
-        public TcpServer(ILogger<TcpServer> logger,TcpService tcpService)
+        public delegate void GetVisionData(TcpVisionEntity entity);
+
+        /// <summary>
+        /// 视觉系统反馈给上位机调度系统状态
+        /// </summary>
+        public event GetVisionData? VisionSysStateEvent;
+
+        /// <summary>
+        /// 视觉系统回复给上位机调度系统开始工作状态
+        /// </summary>
+        public event GetVisionData? VisionStartWorkEvent;
+
+        /// <summary>
+        /// 一次码垛完成，发送码垛结果
+        /// </summary>
+        public event GetVisionData? StackWorkDoneEvent;
+
+        /// <summary>
+        /// 视觉系统发送给机器人码垛位置定位结果
+        /// </summary>
+        public event GetVisionData? StackRobotLocationEvent;
+
+        /// <summary>
+        /// 人工异常处理完成并更新计数
+        /// </summary>
+        public event GetVisionData? ManualExceptionDealDoneEvent;
+
+        private string ClientID = "";
+
+        public TcpServer(ILogger<TcpServer> logger,TcpService tcpService, AppConfig appConfig)
         {
             _logger = logger;
             _service = tcpService;
+            _appConfig = appConfig;
+        }
+                                                                                                                                                                                                                          
+        protected override Task ExecuteAsync(CancellationToken stoppingToken)
+        {
+            Init(_appConfig.TCPVisionConfig);
+            return Task.CompletedTask;
         }
 
-        public void Init(int serverPort)
+        public void Init(string serverPort)
         {
             try
             {
-                
                 _service.Connecting = (client, e) => {  
                     _logger.LogInformation($"客户端{client.IP}正在接入服务");
                     return EasyTask.CompletedTask;
                 };
-                _service.Connected = (client, e) => {   
+                _service.Connected = (client, e) => {
                     _logger.LogInformation($"客户端{client.IP}接入服务成功");
                     RefreshClientInfoEvent?.Invoke(_service);
                     RefreshStateAction?.Invoke(client.IP,true);
+                    ClientID = client.Id;
                     return EasyTask.CompletedTask;
                 };
-                _service.Disconnected = (client, e) => { 
+                _service.Disconnected = (client, e) => {
                     _logger.LogInformation($"客户端{client.IP}断开连接");
                     RefreshStateAction?.Invoke(client.IP, false);
                     RefreshClientInfoEvent?.Invoke(_service);
@@ -82,15 +126,18 @@ namespace SlnMesnac.TouchSocket
                     {
                         RefreshStateAction?.Invoke(client.IP, true);
                     }
+                    //var mes = Encoding.UTF8.GetString(e.ByteBlock.Buffer, 0, e.ByteBlock.Len);//注意：数据长度是byteBlock.Len
+
                     byte[] receivedBuffer = new byte[e.ByteBlock.Len];
                     Array.Copy(e.ByteBlock.Buffer, 0, receivedBuffer, 0, e.ByteBlock.Len);
-                    ReceivedClientBufferEvent?.Invoke(receivedBuffer);
-                    
+                    //ReceivedClientBufferEvent?.Invoke(receivedBuffer);
+                    DataClassify(BufferDataAnalysis.BufferRootAnalysis(receivedBuffer));
+
                     return EasyTask.CompletedTask;
                 };
 
                 _service.Setup(new TouchSocketConfig()//载入配置     
-                    .SetListenIPHosts(new IPHost[] { new IPHost($"0.0.0.0:{serverPort}") })
+                    .SetListenIPHosts(new IPHost[] { new IPHost(serverPort) })
                     .ConfigureContainer(a =>//容器的配置顺序应该在最前面
                     {
                         a.AddConsoleLogger();
@@ -111,15 +158,37 @@ namespace SlnMesnac.TouchSocket
         }
 
         /// <summary>
-        /// 向所有客户端发送心跳
+        /// 数据类型区分
         /// </summary>
-        public void SendHeartBeat()
+        /// <param name="entity"></param>
+        public void DataClassify(TcpVisionEntity entity)
         {
-            var clients = _service.SocketClients.GetClients();
-            foreach (var item in clients)
+            if(entity == null)
             {
-                _service.Send(item.Id,"heartbeat");
+                _logger.LogError("数据格式校验错误！");
+                return;
+            }
+            switch(entity.Command)
+            {
+                case 10: VisionSysStateEvent?.Invoke(entity); break;
+                case 11: VisionStartWorkEvent?.Invoke(entity); break;
+                case 12: StackWorkDoneEvent?.Invoke(entity); break;
+                case 13: StackRobotLocationEvent?.Invoke(entity); break;
+                case 14: ManualExceptionDealDoneEvent?.Invoke(entity); break;
+                    default: _logger.LogInformation("未知命令字！"); return;
             }
         }
+
+        ///// <summary>
+        ///// 向所有客户端发送心跳
+        ///// </summary>
+        //public void SendHeartBeat()
+        //{
+        //    var clients = _service.SocketClients.GetClients();
+        //    foreach (var item in clients)
+        //    {
+        //        _service.Send(item.Id,"heartbeat");
+        //    }
+        //}
     }
 }

SlnMesnac.TouchSocket/TouchSocketSetup.cs

@@ -4,6 +4,7 @@ using System.Collections.Generic;
 using System.Text;
 using Microsoft.AspNetCore.Builder;
 using TouchSocket.Sockets;
+using TouchSocket.WebApi;
 
 #region << 版 本 注 释 >>
 /*--------------------------------------------------------------------
@@ -34,7 +35,7 @@ namespace SlnMesnac.TouchSocket
     /// </summary>
     public static class TouchSocketSetup
     {
-        
+
         public static IApplicationBuilder UseTouchSocketExtensions(this IApplicationBuilder app)
         {
             var _server = app.ApplicationServices.GetService<TcpServer>();

SlnMesnac.TouchSocket/WebApiServer.cs

@@ -109,4 +109,6 @@ namespace SlnMesnac.TouchSocket
             await e.InvokeNext();
         }
     }
+
+
 }

SlnMesnac.WPF/MainWindow.xaml.cs

@@ -1,4 +1,6 @@
-using SlnMesnac.WPF.ViewModel;
+using SlnMesnac.Model.AirportApiEntity;
+using SlnMesnac.TouchSocket;
+using SlnMesnac.WPF.ViewModel;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -27,5 +29,17 @@ namespace SlnMesnac.WPF
 
             this.DataContext = new MainWindowViewModel();
         }
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+            var a = AirPorthttpClient.ManipulatorStateRequest(new ManipulatorStateRequestEntity());
+            var b = AirPorthttpClient.AGVStateRequest(new AGVStateRequestEntity());
+
+
+
+
+
+            return;
+        }
     }
 }

SlnMesnac.WPF/Startup.cs

@@ -45,6 +45,12 @@ namespace SlnMesnac.WPF
             //注册PLC工厂
             services.AddPlcFactorySetup();
 
+            //注册httpClient
+            services.AddHostedService<AirPorthttpClient>();
+
+            //注册TCPServer
+            services.AddHostedService<TcpServer>();
+
             //注册RFID工厂
             //services.AddRfidFactorySetup();
 
@@ -52,7 +58,7 @@ namespace SlnMesnac.WPF
             //services.AddQuartzSetUp();
 
         }
-        
+
         /// <summary>
         /// AutoFac自动注入
         /// </summary>

SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs

@@ -48,9 +48,12 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
     {
         private ILogger<IndexContentViewModel> _logger;
         private ILogger<BaseTaskInfoBusiness> _taskBusinessLogger;
+        private ILogger<BaseStateRefreshBusiness> _stateBusinessLogger;
         private IAirportTaskService _taskservice;
         private IAGVStateService _agvstateService;
+        private IManipulatorStateService _monipulatorstateService;
         private BaseTaskInfoBusiness _taskInfoBusiness;
+        private BaseStateRefreshBusiness _StateRefreshBusiness;
         private DispatcherTimer _timer;
         private TcpServer _tcpServer;
 
@@ -105,6 +108,11 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
 
             LoadTaskInfo();
 
+            //_StateRefreshBusiness.UpdateManipulatorStateByResposne(
+            //    new Model.AirportApiEntity.ManipulatorStateRequestEntity() 
+            //    { ManipulatorNo = "1", SignalSendTime = DateTime.Now.ToString()});
+            //List<AirportTask> AirportTaskItem = _taskservice.GetTaskInfos();
+            //TaskItems = new ObservableCollection<AirportTask>(AirportTaskItem);
             // TaskItems = new ObservableCollection<AirportTask>
             // {
             //     new AirportTask { TaskCode = "1", StationName = "1#站台", TaskDetails = "入库：P04->C01", Status = "任务状态：执行中" },

SlnMesnac.WPF/appsettings.json

@@ -8,7 +8,7 @@
   },
   "AllowedHosts": "*",
   "AppConfig": {
-    "logPath": "F:\\Mesnac\\2023部门项目\\机场AGV调度\\HightWay_AirPot_WCS\\SlnMesnac.WPF\\bin\\Debug\\net6.0-windows\\log",
+    "logPath": "D:\\WorkCode\\AirPortWCS\\SlnMesnac.WPF\\bin\\Debug\\net6.0-windows\\log",
     "SqlConfig": [
       //{
       //  "configId": "mes",
@@ -23,7 +23,7 @@
       {
         "configId": "AGV",
         "dbType": 2,
-        "connStr": "Data Source=F:\\Mesnac\\2023部门项目\\机场AGV调度\\HightWay_AirPot_WCS\\SlnMesnac.WPF\\bin\\Debug\\net6.0-windows\\data\\Airport_db.sqlite;"
+        "connStr": "Data Source=D:\\WorkCode\\AirPortWCS\\SlnMesnac.WPF\\bin\\Debug\\net6.0-windows\\data\\Airport_db.sqlite"
       }
     ],
     "PlcConfig": [
@@ -62,8 +62,11 @@
     ],
     "AMRIP": "127.0.0.1",
 
-    "redisConfig": "175.27.215.92:6379,password=redis@2023"
 
+    "redisConfig": "175.27.215.92:6379,password=redis@2023",
+    "AGVIpConfig": "127.0.0.1:4523",
+    "ManipulatorIpConfig": "127.0.0.1:4523",
+    "TCPVisionConfig": "127.0.0.1:6000"
 
   }
 }

SlnMesnac/Controllers/AirportController.cs

@@ -0,0 +1,30 @@
+using Microsoft.AspNetCore.Http;
+using Microsoft.AspNetCore.Mvc;
+using Quartz;
+using SlnMesnac.Model.AirportApiEntity;
+using SlnMesnac.Repository.service;
+
+namespace SlnMesnac.Controllers
+{
+    /// <summary>
+    /// 任务调度
+    /// </summary>
+    [ApiController]
+    [Route("api/[controller]")]
+    public class AirportController
+    {
+        private readonly ILogger<BaseUserController> _logger;
+
+        /// <summary>
+        /// 
+        /// </summary>
+        /// <param name="logger"></param>
+        /// <param name="service"></param>
+        public AirportController(ILogger<BaseUserController> logger)
+        {
+            _logger = logger;
+        }
+
+    }
+
+}

SlnMesnac/Properties/launchSettings.json

@@ -1,18 +1,8 @@
-{
-  "$schema": "http://json.schemastore.org/launchsettings.json",
-  "iisSettings": {
-    "windowsAuthentication": false,
-    "anonymousAuthentication": true,
-    "iisExpress": {
-      "applicationUrl": "http://localhost:32147",
-      "sslPort": 44302
-    }
-  },
+{
   "profiles": {
     "IIS Express": {
       "commandName": "IISExpress",
       "launchBrowser": true,
-      //"launchUrl": "swagger",
       "environmentVariables": {
         "ASPNETCORE_ENVIRONMENT": "Development"
       }
@@ -20,11 +10,29 @@
     "SlnMesnac": {
       "commandName": "Project",
       "launchBrowser": true,
-      //"launchUrl": "swagger",
-      "applicationUrl": "http://localhost:5000",
       "environmentVariables": {
         "ASPNETCORE_ENVIRONMENT": "Development"
-      }
+      },
+      "applicationUrl": "http://localhost:5000"
+    },
+    "WSL": {
+      "commandName": "WSL2",
+      "launchBrowser": true,
+      "launchUrl": "http://localhost:5000",
+      "environmentVariables": {
+        "ASPNETCORE_ENVIRONMENT": "Development",
+        "ASPNETCORE_URLS": "http://localhost:5000"
+      },
+      "distributionName": ""
+    }
+  },
+  "$schema": "http://json.schemastore.org/launchsettings.json",
+  "iisSettings": {
+    "windowsAuthentication": false,
+    "anonymousAuthentication": true,
+    "iisExpress": {
+      "applicationUrl": "http://localhost:32147",
+      "sslPort": 44302
     }
   }
-}
+}

SlnMesnac/SlnMesnac.csproj

@@ -12,6 +12,7 @@
   </ItemGroup>
 
   <ItemGroup>
+    <ProjectReference Include="..\SlnMesnac.Business\SlnMesnac.Business.csproj" />
     <ProjectReference Include="..\SlnMesnac.Config\SlnMesnac.Config.csproj" />
     <ProjectReference Include="..\SlnMesnac.Extensions\SlnMesnac.Extensions.csproj" />
     <ProjectReference Include="..\SlnMesnac.Model\SlnMesnac.Model.csproj" />

SlnMesnac/Startup.cs

@@ -4,6 +4,7 @@ using SlnMesnac.Quartz;
 using SlnMesnac.Serilog;
 using SlnMesnac.Extensions;
 using System.Runtime.Serialization;
+using SlnMesnac.Business.Airport;
 
 namespace SlnMesnac
 {
@@ -79,6 +80,8 @@ namespace SlnMesnac
 
             //注册任务调度
             services.AddQuartzSetUp();
+            //添加服务
+            //services.AddHostedService<AirPortBusiness>();
 
         }
 

SlnMesnac/appsettings.json

@@ -10,6 +10,6 @@
   "AppConfig": {
     "logPath": "E:\\桌面\\日常代码\\SlnMesnac\\SlnMesnac\\bin\\Debug\\net6.0",
     "mesConnStr": "server=.;uid=sa;pwd=123456;database=JiangYinMENS",
-    "mcsConnStr": "Data Source=175.27.215.92/helowin;User ID=aucma_scada;Password=aucma"
+    "mcsConnStr": "Data Source=175.27.215.92/helowin;User ID=aucma_scada;Password=aucma",
   }
 }