change - AGV测试完成，准备视觉测试

SlnMesnac.Business/base/AirPortAGVMapPointBusiness.cs

@@ -1,8 +1,10 @@
 using Microsoft.Extensions.Logging;
+using SlnMesnac.Model.domain;
 using SlnMesnac.Repository.service;
 using SlnMesnac.TouchSocket;
 using System;
 using System.Collections.Generic;
+using System.Security.Cryptography.X509Certificates;
 using System.Text;
 
 namespace SlnMesnac.Business.@base
@@ -13,22 +15,79 @@ namespace SlnMesnac.Business.@base
         {
             private ILogger<BaseStateRefreshBusiness> _logger;
             private static BaseStateRefreshBusiness instance;
+            private AirPorthttpClient _airPorthttpClient;
+            private IAGVMapPointService _agvMapPointService;
 
-            public BaseStateRefreshBusiness(ILogger<BaseStateRefreshBusiness> logger)
+            public BaseStateRefreshBusiness(ILogger<BaseStateRefreshBusiness> logger, AirPorthttpClient airPorthttpClient, IAGVMapPointService aGVMapPointService)
             {
                 _logger = logger;
-
+                _agvMapPointService = aGVMapPointService;
+                _airPorthttpClient = airPorthttpClient;
             }
 
-            public static BaseStateRefreshBusiness GetInstance(ILogger<BaseStateRefreshBusiness> logger)
+            public static BaseStateRefreshBusiness GetInstance(ILogger<BaseStateRefreshBusiness> logger, AirPorthttpClient airPorthttpClient, IAGVMapPointService aGVMapPointService)
             {
                 if (instance == null)
                 {
-                    instance = new BaseStateRefreshBusiness(logger);
+                    instance = new BaseStateRefreshBusiness(logger, airPorthttpClient, aGVMapPointService);
                 }
                 return instance;
             }
 
+            /// <summary>
+            /// 获取活跃地图的点位更新到数据库
+            /// </summary>
+            /// <returns></returns>
+            public bool GetActiveMapPoint()
+            {
+                var result = _airPorthttpClient.AGVMapActiveRequest();
+                if (result == null)
+                {
+                    _logger.LogError("AGV活跃地图获取返回Null");
+                    return false;
+                }
+                if (result.code != 0)
+                {
+                    _logger.LogError("AGV活跃地图获取错误，内容：" + result.message);
+                    return false;
+                }
+                if (result.Data == null)
+                {
+                    _logger.LogError("活跃地图获取无数据");
+                    return false;
+                }
+                string mapID = result.Data.guid;
+                var res = _airPorthttpClient.AGVMapPositionRequest(mapID);
+                if (res == null)
+                {
+                    _logger.LogError("地图点位获取返回Null");
+                    return false;
+                }
+                if (res.code != 0)
+                {
+                    _logger.LogError($"地图点位获取错误，内容：{res.message}");
+                }
+                if (res.Data == null)
+                {
+                    _logger.LogError("地图点位获取无数据");
+                    return false;
+                }
+
+                List<AGVMapPoint> list = new List<AGVMapPoint>();
+                foreach (var a in res.Data)
+                {
+                    list.Add(new AGVMapPoint()
+                    {
+                        MapID = a.mapId,
+                        PointGuid = a.guid,
+                        PointName = a.name,
+                        PointType = a.type.ToString(),
+                        MapName = a.name,
+                    });
+                }
+
+                return _agvMapPointService.DeleteAndAddAgvMapPoint(list);
+            }
 
         }
     }

SlnMesnac.Business/base/BaseAGVBusiness.cs

@@ -1,4 +1,5 @@
-using System;
+using SlnMesnac.Model.AirportApiEntity;
+using System;
 using System.Collections.Generic;
 using System.Text;
 
@@ -6,6 +7,44 @@ namespace SlnMesnac.Business.@base
 {
     public class BaseAGVBusiness
     {
+        /// <summary>
+        /// 向AGV小车下发任务
+        /// </summary>
+        /// <returns></returns>
+        public bool DownloadTask(string taskID, string jobID)
+        {
+            AGVRequestAddTaskEntity aGVRequestAddTaskEntity = new AGVRequestAddTaskEntity()
+            {
+                businessOrderId = taskID,
+                priority = 0,
+                RobotType = "S800",
+                robotId = "",
+                group = "",
+                taskSource = "Mesnac",
+                taskType = 3,
+                verifyStatus = 0,
+                enableSplitCar = 0,
+                load = new List<LoadsEntity>()
+                {
+                    new LoadsEntity()
+                    {
+                        jobid = jobID,
+                        location = "",
+                        param = new List<ParamEntity>()
+                        {
+                            new ParamEntity()
+                            {
+                                paramname = "",
+                                paramvalue = "",
+                            }
+                        },
+                        robotPort = ""
+                    }
+                },
+            };
 
+            return true;
+
+        }
     }
 }

SlnMesnac.Business/base/BaseStateRefreshBusiness.cs

@@ -25,6 +25,7 @@ namespace SlnMesnac.Business.@base
             _airPorthttpClient = airPorthttpClient;
             _aGVSettingService = aGVSettingService;
         }
+
         public static BaseStateRefreshBusiness GetInstance(ILogger<BaseStateRefreshBusiness> logger, IAGVStateService agvService, AirPorthttpClient airPorthttpClient, IAGVSettingService aGVSettingService)
         {
             if (instance == null)

SlnMesnac.Business/base/BaseTaskInfoBusiness.cs

@@ -158,7 +158,6 @@ namespace SlnMesnac.Business.@base
                         Task.Delay(1000);
                     }
 
-
                 }));
 
             }
@@ -377,6 +376,5 @@ namespace SlnMesnac.Business.@base
             }
         }
 
-
     }
 }

SlnMesnac.Business/base/VisionBusiness.cs

@@ -0,0 +1,34 @@
+using Microsoft.Extensions.Logging;
+using SlnMesnac.Repository.service;
+using SlnMesnac.TouchSocket;
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Business.@base
+{
+    public class VisionBusiness
+    {
+        private ILogger<VisionBusiness> _logger;
+        private static VisionBusiness instance;
+        
+        private TcpServer _tcpServer;
+
+        public VisionBusiness(ILogger<VisionBusiness> logger, TcpServer tcpServer)
+        {
+            _logger = logger;
+            _tcpServer = tcpServer;
+        }
+
+        public static VisionBusiness GetInstance(ILogger<VisionBusiness> logger, TcpServer tcpServer)
+        {
+            if (instance == null)
+            {
+                instance = new VisionBusiness(logger, tcpServer);
+            }
+            return instance;
+        }
+
+
+    }
+}

SlnMesnac.Model/AirportApiEntity/AGVAddTaskEntity.cs

@@ -12,12 +12,12 @@ namespace SlnMesnac.Model.AirportApiEntity
         /// <summary>
         /// 任务单ID-AGVC的任务ID
         /// </summary>
-        public string businessOrderId { get; set; }
+        public string businessOrderId { get; set; } = string.Empty;
 
         /// <summary>
         /// 设备类型
         /// </summary>
-        public string RobotType { get; set; }
+        public string RobotType { get; set; } = string.Empty;
 
         /// <summary>
         /// 优先级 默认值0
@@ -27,7 +27,7 @@ namespace SlnMesnac.Model.AirportApiEntity
         /// <summary>
         /// 机器人ID
         /// </summary>
-        public string roborId { get; set; }
+        public string robotId { get; set; } = string.Empty;
 
         /// <summary>
         /// 分组ID 默认空
@@ -47,17 +47,17 @@ namespace SlnMesnac.Model.AirportApiEntity
         /// <summary>
         /// 验证任务 0：不验证 1：需要验证 传0
         /// </summary>
-        public int verifyStatus { get; set; }
+        public int verifyStatus { get; set; } = 0;
 
         /// <summary>
         /// 是否允许分⻋执⾏(默认FALSE) 
         /// </summary>
-        public int? enableSplitCar { get; set; }
+        public int enableSplitCar { get; set; } = 0;
 
         /// <summary>
         /// 任务描述
         /// </summary>
-        public string? desc { get; set; }
+        public string desc { get; set; } = string.Empty ;
 
         /// <summary>
         /// 装货点
@@ -83,7 +83,7 @@ namespace SlnMesnac.Model.AirportApiEntity
         /// <summary>
         /// 地图中的点位 默认空字符串
         /// </summary>
-        public string loaction { get; set; } = string.Empty;
+        public string location { get; set; } = string.Empty;
 
         /// <summary>
         /// 参数 数据跟location一样

SlnMesnac.TouchSocket/AirPorthttpClient.cs

@@ -18,6 +18,8 @@ using JsonSerializer = System.Text.Json.JsonSerializer;
 using Serilog;
 using Serilog.Events;
 using Microsoft.Extensions.Logging;
+using System.Net.Http;
+using static System.Net.WebRequestMethods;
 
 namespace SlnMesnac.TouchSocket
 {
@@ -69,35 +71,46 @@ namespace SlnMesnac.TouchSocket
         /// <typeparam name="T"></typeparam>
         /// <param name="value"></param>
         /// <returns></returns>
-        public T JTokenToEntity<T>(JToken value) where T : class
+        public AGVResponseEntity<T> JTokenToEntity<T>(JToken value) where T : class
         {
             if (value == null)
             {
+                _logger.LogError("返回空数据！");
                 return null;
             }
             string json = value.ToString();
             if (string.IsNullOrEmpty(json))
             {
+                _logger.LogError("解析数据为空！");
+                return null;
+            }
+            AGVResponseEntity<T> ResponseEntity;
+            try
+            {
+                ResponseEntity = JsonSerializer.Deserialize<AGVResponseEntity<T>>(json);
+                return ResponseEntity;
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError($"Json反序列化发生错误：{ex.Message}");
                 return null;
             }
-            T ResponseEntity;
-            ResponseEntity = JsonSerializer.Deserialize<T>(json);
-            return ResponseEntity;
         }
-
         /// <summary>
         /// AGV下发任务请求
         /// </summary>
         /// <param name="requestValue"></param>
         /// <returns></returns>
+        /// 
         public AGVResponseEntity<ResponseAddTaskDataEntity> AGVAddTaskRequest(AGVRequestAddTaskEntity requestValue)
         {
             if (AirportAGVClient == null)
             {
                 return null;
             }
+
             JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/api/task/addTask", null, requestValue);
-            return JTokenToEntity<AGVResponseEntity<ResponseAddTaskDataEntity>>(responseValue);
+            return JTokenToEntity<ResponseAddTaskDataEntity>(responseValue);
         }
 
         /// <summary>
@@ -112,7 +125,7 @@ namespace SlnMesnac.TouchSocket
                 return null;
             }
             JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/api/task/operationalTask", null, requestValue);
-            return JTokenToEntity<AGVResponseEntity<object>>(responseValue);
+            return JTokenToEntity<object>(responseValue);
         }
 
         /// <summary>
@@ -127,7 +140,7 @@ namespace SlnMesnac.TouchSocket
                 return null;
             }
             JToken responseValue = AirportAGVClient.InvokeT<JToken>("PUT:/api/task/getTaskStateDetail", null, requestValue);
-            return JTokenToEntity<AGVResponseEntity<ResponseTaskStateDetailDataEntity>>(responseValue);
+            return JTokenToEntity<ResponseTaskStateDetailDataEntity>(responseValue);
         }
 
         /// <summary>
@@ -141,7 +154,7 @@ namespace SlnMesnac.TouchSocket
                 return null;
             }
             JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/task/robot/getRobot", null);
-            return JTokenToEntity<AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>>>(responseValue);
+            return JTokenToEntity<List<ResponseRobotAtrributeDataEntity>>(responseValue);
         }
 
         /// <summary>
@@ -155,7 +168,7 @@ namespace SlnMesnac.TouchSocket
                 return null;
             }
             JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/v1.0.0/Maps/mapActive", null);
-            return JTokenToEntity<AGVResponseEntity<ResponseActiveMapDataEntity>>(responseValue);
+            return JTokenToEntity<ResponseActiveMapDataEntity>(responseValue);
         }
 
         /// <summary>
@@ -170,9 +183,35 @@ namespace SlnMesnac.TouchSocket
                 return null;
             }
             JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/v1.0.0/Positions?mapId={0}", null, requestValue);
-            return JTokenToEntity<AGVResponseEntity<List<ResponseMapPositionDataEntity>>>(responseValue);
+            return JTokenToEntity<List<ResponseMapPositionDataEntity>>(responseValue);
+        }
+
+        /// <summary>
+        /// 获取当前所有任务模板信息(目前不可用)
+        /// </summary>
+        /// <returns></returns>
+        public AGVResponseEntity<object> AGVJobRequest()
+        {
+            if (AirportAGVClient == null)
+            {
+                return null;
+            }
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/v1.0.0/Positions?mapId={0}", null);
+            return JTokenToEntity<object>(responseValue);
         }
 
     }
 
+    //HttpClient client1 = new HttpClient();
+
+
+
+    //string url = "http://192.168.10.199:5102/api/task/addTask";
+
+    //string json =Newtonsoft.Json.JsonConvert.SerializeObject(requestValue);
+    //var context=new StringContent(json,Encoding.UTF8, "application/json");
+    //var httpContent = client1.PostAsync(url, context).ConfigureAwait(false).GetAwaiter().GetResult().Content;
+    //var result = httpContent.ReadAsStringAsync().ConfigureAwait(false).GetAwaiter().GetResult();
+    //_logger.LogInformation(result);
+
 }

SlnMesnac.TouchSocket/TcpServer.cs

@@ -4,6 +4,7 @@ using Serilog;
 using Serilog.Core;
 using SlnMesnac.Config;
 using SlnMesnac.TouchSocket.Entity;
+using SqlSugar;
 using System;
 using System.Collections.Generic;
 using System.Diagnostics;
@@ -54,7 +55,7 @@ namespace SlnMesnac.TouchSocket
         public delegate void RefreshClientInfo(TcpService tcpService);
         public event RefreshClientInfo? RefreshClientInfoEvent;
 
-        public Action<String, bool> RefreshStateAction;
+        public Action<string, bool> RefreshStateAction;
 
         public delegate void GetVisionData(TcpVisionEntity entity, string id);
 
@@ -91,7 +92,13 @@ namespace SlnMesnac.TouchSocket
             _service = tcpService;
             _appConfig = appConfig;
 
+            //视觉系统回复状态
+            ReceiveVisionSysStateEvent += VisionStateRequest;
+            //视觉系统回复开始码垛
+            ReceiveVisionStartWorkEvent += GetVisionWorkState;
+            //视觉系统回复一次码垛完成结果
             ReceiveStackWorkDoneEvent += StackResultSend;
+            //视觉系统回复人工异常处理完成
             ReceiveManualExceptionDealDoneEvent += ManualExceptionDealDone;
         }
 
@@ -175,7 +182,7 @@ namespace SlnMesnac.TouchSocket
         //            {
         //                Thread.Sleep(4000);
         //                _service.Send(client.Id, new byte[0x01]);
-   
+
         //            }
         //            // 检查是否超过两秒
         //            if (stopwatch.ElapsedMilliseconds > 2000)
@@ -353,9 +360,9 @@ namespace SlnMesnac.TouchSocket
         /// <summary>
         /// 上位机调度系统每隔固定时间，请求视觉系统状态
         /// </summary>
-        public void VisionStateRequest(int port)
+        public void VisionStateRequest(TcpVisionEntity entity, string id)
         {
-            SendRequestVisionSysState(port.ToString());
+            SendRequestVisionSysState(id);
         }
 
         /// <summary>
@@ -367,11 +374,89 @@ namespace SlnMesnac.TouchSocket
         }
 
         /// <summary>
-        /// 一次码垛完成，发送码垛结果
+        /// 接受开始工作状态
+        /// </summary>
+        /// <param name="entity"></param>
+        /// <param name="id"></param>
+        private void GetVisionWorkState(TcpVisionEntity entity, string id)
+        {
+            string result;
+            if (entity.DataLength == 1)
+            {
+                if (entity.DataBytes[0] == 0x00)
+                {
+                    result = "正常开始工作";
+                    
+                }
+                else if (entity.DataBytes[0] == 0x01)
+                {
+                    result = "异常不能开始工作";
+                }
+                else
+                {
+                    result = "返回未知代码";
+                }
+            }
+            else
+            {
+                result = "数据返回格式错误";
+            }
+            _logger.LogInformation($"视觉系统收到开始工作状态：{result}");
+        }
+
+        /// <summary>
+        /// 接受码垛结果
         /// </summary>
         public void StackResultSend(TcpVisionEntity entity, string id)
         {
-            SendReplayStackResult(id);
+            string result;
+            if (entity.DataLength == 1)
+            {
+                if (entity.DataBytes[0] == 0x00)
+                {
+                    result = "码垛完成";
+                    //上位机回复收到码垛结果
+                    SendReplayStackResult(id);
+                    if (true) //这里写是否继续下一次码垛的判断条件
+                    {
+                        //如果码垛没结束继续发下一次的码垛信号
+                        if (true) //这里写向哪个机器人码垛的判断条件
+                        {
+                            //发送向搬运机器人（AGVDeliver）码垛的信号
+                            SendAMRRequestVisionStartWork(new byte[] { 0x10 }, id);
+                            _logger.LogInformation("下一次码垛开始，方向：搬运机器人");
+                        }
+                        else
+                        {
+                            //发送向复合机器人（AMR）码垛的信号
+                            SendAMRRequestVisionStartWork(new byte[] { 0x01 }, id);
+                            _logger.LogInformation("下一次码垛开始，方向：复合机器人");
+                        }
+                    }
+                    else
+                    {
+                        //如果码垛结束就请求复位
+                        SendStackOverRequestVisionSysReplace(id);
+                    }
+                }
+                else if (entity.DataBytes[0] == 0x01)
+                {
+                    result = "码垛过程失败";
+                }
+                else if (entity.DataBytes[0] == 0x02)
+                {
+                    result = "码垛检查失败";
+                }
+                else
+                {
+                    result = "未知返回代码";
+                }
+            }
+            else
+            {
+                result = "返回数据格式错误";
+            }
+            _logger.LogInformation($"视觉系统一次码垛结束：{result}");
         }
 
         /// <summary>

SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs

@@ -21,6 +21,7 @@ using SlnMesnac.TouchSocket;
 using HslCommunication.Enthernet;
 using SlnMesnac.Config;
 using System.Threading;
+using SlnMesnac.Model.AirportApiEntity;
 
 #region << 版 本 注 释 >>
 /*--------------------------------------------------------------------
@@ -46,7 +47,7 @@ using System.Threading;
 #endregion << 版 本 注 释 >>
 namespace SlnMesnac.WPF.ViewModel.IndexPage
 {
-    public partial class IndexContentViewModel: ObservableObject
+    public partial class IndexContentViewModel : ObservableObject
     {
         private ILogger<IndexContentViewModel> _logger;
         private ILogger<BaseTaskInfoBusiness> _taskBusinessLogger;
@@ -64,6 +65,7 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
         {
             LogMessages = new ObservableCollection<string>();
             _taskBusinessLogger = App.ServiceProvider.GetService<ILogger<BaseTaskInfoBusiness>>();
+            _logger = App.ServiceProvider.GetService<ILogger<IndexContentViewModel>>();
             _taskservice = App.ServiceProvider.GetService<IAirportTaskService>();
             _agvstateService = App.ServiceProvider.GetService<IAGVStateService>();
             _tcpServer = App.ServiceProvider.GetService<TcpServer>();
@@ -86,7 +88,7 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
                         x.deliveragvno = task.deliveragvno;
                         x.taskstate = task.taskstate;
                         TaskItems = new ObservableCollection<AirportTask>(TaskItems);
-                        
+
                     }
                 }
             };
@@ -111,6 +113,50 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
             #region 测试数据
 
             LoadTaskInfo();
+
+
+
+            ////下发数据测试
+            //AGVRequestAddTaskEntity aGVRequestAddTaskEntity = new AGVRequestAddTaskEntity()
+            //{
+            //    businessOrderId = "testtask1009",
+            //    priority = 0,
+            //    RobotType = "S800",
+            //    robotId = "53773a420771497b8b699e949e9eaacb",
+            //    group = "",
+            //    taskSource = "agvctest",
+            //    taskType = 0,
+            //    verifyStatus = 0,
+            //    enableSplitCar = 0,
+            //    load = new List<LoadsEntity>()
+            //    {
+            //        new LoadsEntity()
+            //        {
+            //            jobid = "36e065b08a5245df898ba6ff135768a6",
+            //            location = "8491f5771c824bab80a497cc9af63772",
+            //            param = new List<ParamEntity>()
+            //            {
+            //                new ParamEntity()
+            //                {
+            //                    paramname = "p3",
+            //                    paramvalue = "8491f5771c824bab80a497cc9af63772",
+            //                }
+            //            },
+            //            robotPort = ""
+            //        }
+            //    },
+
+            //};
+
+            //try
+            //{
+            //    _airPorthttpClient.AGVAddTaskRequest(aGVRequestAddTaskEntity);
+            //}
+            //catch (Exception ex)
+            //{
+            //    _logger.LogError($"接口发生错误：{ex.Message}");
+            //}
+
             //Thread.Sleep(5000);
 
             //_tcpServer.SendReplyGetManualException(
@@ -171,7 +217,7 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
             _timer.Start();
             #endregion
 
-            
+
         }
 
         public async void RefreshTaskItems(AirportTask airportTask)
@@ -266,7 +312,7 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
             {
 
             }
-            
+
         }
         /// <summary>
         /// 系统运行日志输出
@@ -336,7 +382,7 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
                 RefreshLogMessage("任务添加成功!");
             }
 
-                
+
         }
 
         /// <summary>

SlnMesnac.WPF/appsettings.json

@@ -82,7 +82,7 @@
 
 
     "redisConfig": "175.27.215.92:6379,password=redis@2023",
-    "AGVIpConfig": "http://192.168.40.81:5102",
+    "AGVIpConfig": "http://192.168.10.199:5102",
     "TCPVisionConfig": "127.0.0.1:6000"
 
   }