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using Microsoft.Extensions.Logging;
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using SlnMesnac.Config;
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using SlnMesnac.Model.AirportApiEntity;
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using SlnMesnac.Model.domain;
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using SlnMesnac.Model.Enum;
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using SlnMesnac.Repository;
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using SlnMesnac.Repository.service;
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using SlnMesnac.TouchSocket;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace SlnMesnac.Business.@base
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{
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/// <summary>
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/// AGV业务类
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/// </summary>
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public class BaseAGVBusiness
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{
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private ILogger<BaseAGVBusiness> _logger;
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private static BaseAGVBusiness instance;
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private AppConfig _appConfig;
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private AirPorthttpClient _airPorthttpClient;
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private IAGVStateService _AGVStateService;
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private IAGVMapPointService _AGVMapPointService;
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public BaseAGVBusiness(ILogger<BaseAGVBusiness> logger,
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AirPorthttpClient airPorthttpClient,
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IAGVStateService AGVStateService,
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IAGVMapPointService aGVMapPointService,
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AppConfig appConfig)
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{
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_logger = logger;
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_airPorthttpClient = airPorthttpClient;
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_AGVStateService = AGVStateService;
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_AGVMapPointService = aGVMapPointService;
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_appConfig = appConfig;
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}
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public static BaseAGVBusiness GetInstance(ILogger<BaseAGVBusiness> logger,
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AirPorthttpClient airPorthttpClient,
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IAGVStateService AGVStateService,
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IAGVMapPointService aGVMapPointService,
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AppConfig appConfig)
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{
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if (instance == null)
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{
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instance = new BaseAGVBusiness(logger, airPorthttpClient, AGVStateService, aGVMapPointService, appConfig);
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}
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return instance;
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}
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/// <summary>
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/// 封装任务类
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/// </summary>
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/// <param name="AGVGUID"></param>
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/// <param name="JobGUID"></param>
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/// <param name="PointGUID"></param>
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/// <param name="ParamName"></param>
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/// <param name="TaskName"></param>
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/// <param name="RobotType"></param>
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/// <returns></returns>
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public AGVRequestAddTaskEntity NewTaskEntity(string AGVGUID, string JobGUID, string PointGUID, string ParamName, string TaskName = "AGVCTask", string RobotType = "S800")
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{
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AGVRequestAddTaskEntity aGVRequestAddTaskEntity = new AGVRequestAddTaskEntity()
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{
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businessOrderId = TaskName,
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priority = 0,
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RobotType = RobotType,
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robotId = AGVGUID,
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group = "",
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taskSource = "agvc",
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taskType = 0,
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verifyStatus = 0,
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enableSplitCar = 0,
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load = new List<LoadsEntity>()
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{
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new LoadsEntity()
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{
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jobid = JobGUID,
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location = PointGUID,
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param = new List<ParamEntity>()
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{
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new ParamEntity()
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{
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paramname = ParamName,
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paramvalue = PointGUID,
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}
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},
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robotPort = ""
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}
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},
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};
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return aGVRequestAddTaskEntity;
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}
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/// <summary>
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/// 发送封装的任务类
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/// </summary>
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/// <returns>任务ID</returns>
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public string DownloadTask(string AGVGUID, string JobGUID, string PointGUID, string ParamName, string TaskName = "AGVCTask", string RobotType = "S800")
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{
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try
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{
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var result = _airPorthttpClient.AGVAddTaskRequest(NewTaskEntity(AGVGUID, JobGUID, PointGUID, ParamName, TaskName, RobotType));
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if (result.code == 0)
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{
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return result.Data.guid;
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}
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else
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{
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_logger.LogError("错误响应：" + result.message);
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return string.Empty;
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}
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}
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catch (Exception ex)
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{
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_logger.LogError($"接口发生错误：{ex.Message}");
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return string.Empty;
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}
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}
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/// <summary>
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/// 结束指定AGV的任务
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/// </summary>
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/// <param name="AGVGUID">AGV小车编号</param>
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/// <returns></returns>
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public bool EndAGVTask(string AGVGUID)
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{
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try
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{
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AGVState agvState = _AGVStateService.GetSingleAGVState(AGVGUID);
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if (agvState == null)
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{
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return false;
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}
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if (agvState.agvworkstate != "待机")
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{
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var response = _airPorthttpClient.AGVOperationalTaskRequest(new AGVRequestOperationalTaskEntity()
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{
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taskid = agvState.taskno,
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state = 0,
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operatingSource = "agvc",
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operatingUser = "agvc",
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remark = "agvcEnd"
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});
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if (response.code == 0)
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{
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_logger.LogInformation($"AGV {agvState.agvno} 任务 {agvState.taskno} 结束成功");
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return true;
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}
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else
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{
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_logger.LogError($"AGV {agvState.agvno} 任务 {agvState.taskno} 结束失败 ERROR:{response.message}");
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return false;
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}
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}
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else if (agvState.agvworkstate == "待机")
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{
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_logger.LogError($"AGV {agvState.agvno} 现在无任务");
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return false;
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}
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else
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{
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_logger.LogError($"AGV {agvState.agvno} 终止任务失败！");
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return false;
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}
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}
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catch (Exception ex)
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{
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_logger.LogError($"AGV任务结束失败 ERROR：{ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 获取活跃地图的点位更新到数据库
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/// </summary>
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/// <returns></returns>
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public bool GetActiveMapPoint()
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{
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var result = _airPorthttpClient.AGVMapActiveRequest();
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if (result == null)
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{
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_logger.LogError("AGV活跃地图获取返回Null");
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return false;
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}
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if (result.code != 0)
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{
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_logger.LogError("AGV活跃地图获取错误，内容：" + result.message);
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return false;
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}
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if (result.Data == null)
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{
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_logger.LogError("活跃地图获取无数据");
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return false;
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}
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string mapID = result.Data.guid;
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var res = _airPorthttpClient.AGVMapPositionRequest(mapID);
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if (res == null)
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{
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_logger.LogError("地图点位获取返回Null");
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return false;
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}
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if (res.code != 0)
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{
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_logger.LogError($"地图点位获取错误，内容：{res.message}");
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}
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if (res.Data == null)
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{
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_logger.LogError("地图点位获取无数据");
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return false;
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}
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List<AGVMapPoint> list = new List<AGVMapPoint>();
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foreach (var a in res.Data)
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{
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list.Add(new AGVMapPoint()
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{
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MapID = a.mapId,
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PointGuid = a.guid,
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PointName = a.name,
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PointType = a.type.ToString(),
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MapName = a.name,
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});
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}
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return _AGVMapPointService.DeleteAndAddAgvMapPoint(list);
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}
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/// <summary>
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/// 结束当前任务 清除报警 下发任务 1s
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/// </summary>
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/// <param name="agvguid"></param>
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/// <param name="jobName"></param>
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/// <returns>新任务GUID</returns>
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public string EndTaskAndClearErrorAndDownloadTask(string agvguid, string jobName)
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{
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bool result = false;
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try
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{
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//终止小车当前任务
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result = EndTaskAndClearError(agvguid);
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var param = _appConfig.JobConfig.Where(x => x.JobName == jobName).First();
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//调用小车到抓取位置
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return DownloadTask(agvguid, param.JobGUID, param.PointGUID, param.PointParamName);
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}
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catch (Exception ex)
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{
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_logger.LogError($"结束当前任务清除报警任务下发失败！Message:{ex}");
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return string.Empty;
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}
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}
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/// <summary>
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/// 结束任务并清除报警 延迟1s
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/// </summary>
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public bool EndTaskAndClearError(string agvguid)
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{
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bool result1 = false, result2 = false;
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try
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{
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Task.Run(() =>
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{
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result1 = EndAGVTask(agvguid);
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Task.Delay(500);
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result2 = ClaerError(agvguid);
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});
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return result1 && result2;
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}
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catch (Exception ex)
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{
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_logger.LogError("结束任务并清除报警发生异常 " + ex);
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return false;
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}
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}
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/// <summary>
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/// 清除报警 延迟500ms
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/// </summary>
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public bool ClaerError(string agvguid)
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{
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bool result = false;
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try
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{
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Task.Run(() =>
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{
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var response = _airPorthttpClient.AGVErrorClear(_appConfig.AGVConfig.Where(x => x.AGVGUID == agvguid).First().AGVIp);
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Task.Delay(500);
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if (response == null)
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{
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_logger.LogError("清除报警返回空数据");
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result = false;
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return false;
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}
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if(response.code == 0)
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{
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_logger.LogError("清除报警成功");
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result = true;
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return true;
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}
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else
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{
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_logger.LogError("清除报警失败 message:" + response.message);
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result = false;
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return false;
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}
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});
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return result;
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}
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catch (Exception ex)
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{
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_logger.LogError("清除报警发生异常 " + ex);
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return false;
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}
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}
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/// <summary>
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/// 筛选一辆空闲且指定类型剩余可用空间最大的AGV, 返回调用的AGVState
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/// </summary>
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/// <returns></returns>
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public AGVState GetBestAGV(AgvType agvType)
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{
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try
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{
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//对应类型的，待机的agv列表
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List<AGVState> lists = _AGVStateService.GetAgvState(agvType).Where(x => x.agvworkstate == "待机").ToList();
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if (lists.Count == 0)
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{
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return null;
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}
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//找到堆筐最少的agv
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int min = lists.Min(x => x.stackcount);
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//判断堆筐最少的AGV是不是满的, 如果都满返回null
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if (agvType == AgvType.AMR)
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{
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if (min >= BaseTaskInfoBusiness.AMRStackNumber)
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{
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return null;
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}
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}
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else
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{
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if (min >= BaseTaskInfoBusiness.DeliverStackNumber)
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{
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return null;
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}
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}
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AGVState agv = lists.Where(x => x.stackcount == min).FirstOrDefault();
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//var list = _AGVStateService
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return agv;
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}
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catch(Exception ex)
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{
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_logger.LogError($"AGV筛选发生错误：{ex.Message}");
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return null;
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}
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}
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}
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}
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