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using Microsoft.Extensions.Logging;
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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 SlnMesnac.TouchSocket.Entity;
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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.Tasks;
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using System.Transactions;
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namespace SlnMesnac.Business.@base
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{
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/// <summary>
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/// 视觉系统业务类
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/// </summary>
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public class VisionBusiness
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{
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private ILogger<VisionBusiness> _logger;
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private static VisionBusiness instance;
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private TcpServer _tcpServer;
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private IAirportTaskService _airportTaskService;
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private IVisionSettingService _visionSettingService;
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private IAGVStateService _aGVStateService;
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private IAGVJobService _AGVJobService;
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private BaseAGVBusiness _baseAGVBusiness;
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public VisionBusiness(ILogger<VisionBusiness> logger, TcpServer tcpServer, IAirportTaskService airportTaskService, IVisionSettingService visionSettingService, IAGVStateService aGVStateService, IAGVJobService aGVJobService)
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{
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_logger = logger;
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_tcpServer = tcpServer;
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_airportTaskService = airportTaskService;
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_visionSettingService = visionSettingService;
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_aGVStateService = aGVStateService;
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_AGVJobService = aGVJobService;
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//视觉系统回复状态
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_tcpServer.ReceiveVisionSysStateEvent += VisionStateRequest;
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//视觉系统回复开始码垛
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_tcpServer.ReceiveVisionStartWorkEvent += GetVisionWorkState;
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//视觉系统通知一次码垛完成结果
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_tcpServer.ReceiveStackWorkDoneEvent += AutoStackResultSend;
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//_tcpServer.ReceiveStackWorkDoneEvent += AutoStackResultSend;
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//视觉系统通知人工异常处理完成
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_tcpServer.ReceiveManualExceptionDealDoneEvent += GetManualExceptionDealDone;
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//视觉系统回复复位结果
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_tcpServer.ReceiveStackRobotResetEvent += GetResetResult;
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_AGVJobService = aGVJobService;
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}
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public static VisionBusiness GetInstance(ILogger<VisionBusiness> logger, TcpServer tcpServer, IAirportTaskService airportTaskService, IVisionSettingService visionSettingService, IAGVStateService aGVStateService, IAGVJobService aGVJobService)
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{
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if (instance == null)
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{
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instance = new VisionBusiness(logger, tcpServer, airportTaskService, visionSettingService, aGVStateService, aGVJobService);
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}
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return instance;
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}
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/// <summary>
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/// AMR就绪，请求视觉开始工作
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/// </summary>
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public void RequestVisionStartWork(StackState state, int count, string id)
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{
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_tcpServer.SendAMRRequestVisionStartWork(new byte[2] { (byte)state, (byte)count }, id);
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}
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/// <summary>
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/// 码垛结束，请求视觉系统复位
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/// </summary>
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public void RequestVisionReplace(string ip)
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{
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_tcpServer.SendStackOverRequestVisionSysReplace(ip);
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VDCount = 1;
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VACount = 0;
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TotalJudge = false;
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}
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/// <summary>
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/// 上位机调度系统每隔固定时间，请求视觉系统状态
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/// </summary>
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public void VisionStateRequest(TcpVisionEntity entity, string id)
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{
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if (entity.DataLength == 2)
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{
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}
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//Thread.Sleep(1000);
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//SendRequestVisionSysState(id);
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}
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/// <summary>
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/// 接受开始工作状态
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/// </summary>
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/// <param name="entity"></param>
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/// <param name="id"></param>
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private void GetVisionWorkState(TcpVisionEntity entity, string id)
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{
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try
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{
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if (entity.DataLength == 3)
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{
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//正常开始工作
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if (entity.DataBytes[0] == 0x00)
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{
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_logger.LogInformation($"视觉系统收到开始工作状态：正常开始工作");
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VisionSetting record = _visionSettingService.GetList(x => x.VisionID == id).ToList().First();
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//大端字节序
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Array.Reverse(entity.SN);
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AirportTask airportTask = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID &&
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x.visiontaskno == (BitConverter.ToUInt16(entity.SN, 0) - 1).ToString() && x.taskstate == "抓取中").First();
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//判断视觉计数和上位机技术是否一致，如果不一致，向视觉计数统一
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//如果这次码垛是AMR
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if (entity.DataBytes[2] == 00)
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{
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AGVState AMR = _aGVStateService.GetSingleAGVState(airportTask.amragvno);
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//如果不一样
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if (entity.DataBytes[1] != AMR.stackcount)
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{
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AMR.stackcount = entity.DataBytes[1];
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_aGVStateService.UpdateAsync(AMR);
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}
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}
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//如果这次码垛是Deliver
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else if (entity.DataBytes[2] == 01)
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{
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AGVState Deliver = _aGVStateService.GetSingleAGVState(airportTask.deliveragvno);
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//如果不一样
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if (entity.DataBytes[1] != Deliver.stackcount)
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{
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Deliver.stackcount = entity.DataBytes[1];
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_aGVStateService.UpdateAsync(Deliver);
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}
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}
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//内容
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else
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{
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_logger.LogError($"视觉系统收到开始工作状态：返回未知代码");
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}
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}
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else if (entity.DataBytes[0] == 0x01)
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{
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_logger.LogError($"视觉系统收到开始工作状态：异常不能开始工作");
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}
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else
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{
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_logger.LogError($"视觉系统收到开始工作状态：返回未知代码");
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}
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}
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else
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{
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_logger.LogError($"视觉系统收到开始工作状态：数据返回格式错误");
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}
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}
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catch (Exception ex)
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{
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RequestVisionReplace(id);
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_logger.LogError($"接受开始工作状态发生错误 {ex.Message}");
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}
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}
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/// <summary>
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/// 收到堆筐请求
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/// </summary>
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/// <param name="entity"></param>
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/// <param name="id"></param>
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/// <exception cref="Exception"></exception>
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public void AutoStackResultSend(TcpVisionEntity entity, string id)
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{
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try
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{
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if (entity.DataLength == 2)
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{
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if (entity.DataBytes[0] == 0x00)
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{
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_logger.LogInformation($"视觉系统一次码垛结束，码垛完成 Deliver:{VDCount} AMR:{VACount}");
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//上位机回复收到码垛结果
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_tcpServer.SendReplayStackResult(id);
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VisionSetting record = _visionSettingService.GetList(x => x.VisionID == id).ToList().First();
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//大端字节序
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Array.Reverse(entity.SN);
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AirportTask airportTask = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID &&
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x.visiontaskno == (BitConverter.ToUInt16(entity.SN, 0) - 1).ToString() && x.taskstate == "抓取中").First();
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//成功码垛先码垛计数
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StackCount(airportTask, entity.DataBytes[1]);
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//取出两辆小车的计数
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int AMRCount = _aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount;
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int DeliverCount = 0;
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if (!string.IsNullOrEmpty(airportTask.deliveragvno))
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{
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DeliverCount = _aGVStateService.GetSingleAGVState(airportTask.deliveragvno).stackcount;
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}
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//////////////下面是下一次码垛的综合判断条件//////////////
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//先判断总数是否需要继续工作
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if (airportTask.totalcount > airportTask.loadcount)
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{
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//如上一次是AMR 如有Deliver 判断是否到达 到达向deliver发送开始工作，没就判断amr是否装满 继续向amr
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//上一次是AMR
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if (entity.DataBytes[1] == 0x00)
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{
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//妹有Deliver的任务（小车号和是否已到达都没有）amr肯定能抓完 继续amr抓取
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if (string.IsNullOrEmpty(airportTask.deliveragvno) && string.IsNullOrEmpty(airportTask.deliveragvisarrive))
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{
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//一直向amr抓，直到抓满
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RequestVisionStartWork(StackState.NXAMRNoPositioning, AMRCount, id);
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}
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//有Delievr任务（有任务号且状态为未到达）继续amr抓取
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else if (!string.IsNullOrEmpty(airportTask.deliveragvno) && airportTask.deliveragvisarrive == "未到达")
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{
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//判断AMR小车是否装满，没满就开装，满了就结束，开始循环判断deliver是否到达
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//amr没满 继续装amr
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if (_aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount < BaseTaskInfoBusiness.AMRStackNumber)
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{
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RequestVisionStartWork(StackState.NXAMRNoPositioning, AMRCount, id);
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}
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//AMR满了
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else
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{
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AirportTask task;
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//结束抓取、循环判断deliver是否到达，到了就向新的Deliver开始抓取
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Task.Run(() =>
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{
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//请求复位
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RequestVisionReplace(id);
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while (true)
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{
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//循环判断该任务的deliver是否到达
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Task.Delay(1000);
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task = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID && x.taskstate == "抓取中").First();
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if (task.deliveragvisarrive == "已到达")
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{
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RequestVisionStartWork(StackState.NXAGVNeedPositioning, DeliverCount, id);
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break;
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}
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}
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});
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}
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}
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//有Deliver任务（有任务号且已到达）向Deliver发送开始抓取
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else if (!string.IsNullOrEmpty(airportTask.deliveragvno) && airportTask.deliveragvisarrive == "已到达")
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{
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RequestVisionStartWork(StackState.NXAGVNeedPositioning, DeliverCount, id);
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}
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//异常情况
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else
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{
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throw new Exception($"任务 {airportTask.taskno} 状态异常！请清除任务并重新下发任务！");
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}
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}
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//如上一次是deliver-->则判断deliver是否装满-->装满则deliver入库-->判断剩下的数量用不用调新的deliver-->用就调新的deliver然后发向amr抓取(还得判断AMR是否抓满)-->不用就直接向amr抓取
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//上一次是Deliver
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else if (entity.DataBytes[1] == 0x01)
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{
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//判断Deliver是否装满,装满就直接入库,未装满继续装
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//deliver没满，继续装
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if (_aGVStateService.GetSingleAGVState(airportTask.deliveragvno).stackcount < BaseTaskInfoBusiness.DeliverStackNumber)
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{
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RequestVisionStartWork(StackState.NXAGVNoPositioning, DeliverCount, id);
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}
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//deliver满了，入库然后判断
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else
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{
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//入库代码
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_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.deliveragvno,
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_AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", airportTask.conveyorno).JobName);
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airportTask.deliveragvno = null;
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airportTask.deliveragvisarrive = null;
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_airportTaskService.UpdateTaskAsync(airportTask);
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//判断剩下的数量用不用调用新的deliver
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//剩下的数量不用 直接向amr抓取
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int amrleft = BaseTaskInfoBusiness.AMRStackNumber - _aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount;
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if (airportTask.totalcount - airportTask.loadcount < amrleft)
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{
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RequestVisionStartWork(StackState.NXAMRNeedPositioning, AMRCount, id);
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}
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//剩下的数量需要调用，并判断向AMR抓取
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else
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{
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//调新的deliver
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AGVState newagv = _baseAGVBusiness.GetBestAGV(AgvType.Deliver);
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_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(newagv.agvno,
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_AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", airportTask.conveyorno).JobName);
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airportTask.deliveragvno = newagv.agvno;
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airportTask.deliveragvisarrive = "未到达";
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_airportTaskService.UpdateTaskAsync(airportTask);
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//amr无容量，结束抓取，等待Deliver到达
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if (amrleft == 0)
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{
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AirportTask task;
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//结束抓取、循环判断deliver是否到达，到了就向新的Deliver开始抓取
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Task.Run(() =>
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{
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//请求复位
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RequestVisionReplace(id);
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while (true)
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{
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//循环判断该任务的deliver是否到达
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Task.Delay(1000);
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task = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID && x.taskstate == "抓取中").First();
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if (task.deliveragvisarrive == "已到达")
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{
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RequestVisionStartWork(StackState.NXAGVNeedPositioning, DeliverCount, id);
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break;
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}
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}
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});
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}
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//amr有容量，抓
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else
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{
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RequestVisionStartWork(StackState.NXAMRNeedPositioning, AMRCount, id);
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}
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}
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}
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}
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//未知代码
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else
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{
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throw new Exception($"任务 {airportTask.taskno} 未知上次码垛代码！请检查视觉系统状态！");
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}
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}
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//总数达标，结束任务，复位机械臂，调回小车，任务状态调整
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else
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{
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_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.amragvno,
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_AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入库", airportTask.conveyorno).JobName);
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airportTask.amragvno = null;
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airportTask.amragvisarrive = null;
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airportTask.visiontaskno = null;
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if (!string.IsNullOrEmpty(airportTask.deliveragvno))
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{
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_baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.deliveragvno,
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_AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", airportTask.conveyorno).JobName);
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airportTask.deliveragvno = null;
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airportTask.deliveragvisarrive = null;
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}
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airportTask.finishtime = DateTime.Now;
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airportTask.taskstate = "已完成";
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_airportTaskService.UpdateTaskAsync(airportTask);
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}
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}
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//码垛过程失败
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else if (entity.DataBytes[0] == 0x01)
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{
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VisionSetting record = _visionSettingService.GetList(x => x.VisionID == id).ToList().First();
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//大端字节序
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Array.Reverse(entity.SN);
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AirportTask airportTask = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID &&
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x.visiontaskno == (BitConverter.ToUInt16(entity.SN, 0) - 1).ToString() && x.taskstate == "抓取中").First();
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//取出两辆小车的计数
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int AMRCount = _aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount;
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int DeliverCount = 0;
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if (!string.IsNullOrEmpty(airportTask.deliveragvno))
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{
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DeliverCount = _aGVStateService.GetSingleAGVState(airportTask.deliveragvno).stackcount;
|
|
|
}
|
|
|
_logger.LogError($"视觉系统一次码垛结束，码垛过程失败，重新发送码垛信号");
|
|
|
if (entity.DataBytes[1] == 0x00)
|
|
|
{
|
|
|
//发送向复合机器人（AMR）码垛的信号
|
|
|
RequestVisionStartWork(StackState.NXAMRNoPositioning, AMRCount, id);
|
|
|
_logger.LogInformation("下一次码垛开始，方向：复合机器人");
|
|
|
}
|
|
|
else if (entity.DataBytes[1] == 0x01)
|
|
|
{
|
|
|
//发送向搬运机器人（AGVDeliver）码垛的信号
|
|
|
RequestVisionStartWork(StackState.NXAGVNoPositioning, DeliverCount, id);
|
|
|
_logger.LogInformation("下一次码垛开始，方向：搬运机器人");
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
_logger.LogError($"码垛失败返回未知码垛结果代码，请手动重新发送码垛信号");
|
|
|
}
|
|
|
}
|
|
|
//码垛检查失败
|
|
|
else if (entity.DataBytes[0] == 0x02)
|
|
|
{
|
|
|
_logger.LogError($"视觉系统一次码垛结束，码垛检查失败，请手动矫正并手动开始下一次码垛");
|
|
|
//仍然要码垛计数，只是筐码的不准
|
|
|
VisionSetting record = _visionSettingService.GetList(x => x.VisionID == id).ToList().First();
|
|
|
AirportTask airportTask = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID &&
|
|
|
x.visiontaskno == (BitConverter.ToInt16(entity.SN, 0) - 1).ToString() && x.taskstate == "抓取中").First();
|
|
|
StackCount(airportTask, entity.DataBytes[1]);
|
|
|
}
|
|
|
//未知代码
|
|
|
else
|
|
|
{
|
|
|
_logger.LogError($"视觉系统一次码垛结束，未知返回代码！请检查视觉系统状态！");
|
|
|
throw new Exception($"视觉系统 {id}一次码垛结束，未知返回代码！请检查视觉系统状态！");
|
|
|
}
|
|
|
}
|
|
|
//数据格式错误
|
|
|
else
|
|
|
{
|
|
|
_logger.LogError($"视觉系统一次码垛结束，返回数据格式错误，请检查视觉系统状态！");
|
|
|
}
|
|
|
}
|
|
|
catch(Exception ex)
|
|
|
{
|
|
|
RequestVisionReplace(id);
|
|
|
_logger.LogError($"接受工作结束再分配状态发生错误 {ex.Message}");
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public void StackCount(AirportTask airportTask, byte lastCount)
|
|
|
{
|
|
|
//AMR码垛计数
|
|
|
if (lastCount == 0x00)
|
|
|
{
|
|
|
airportTask.loadcount++;
|
|
|
AGVState aGVState = _aGVStateService.GetSingleAGVState(airportTask.amragvno);
|
|
|
aGVState.stackcount++;
|
|
|
//判断返回结果
|
|
|
if (_aGVStateService.UpdateAsync(aGVState).Result || _airportTaskService.UpdateTaskAsync(airportTask).Result)
|
|
|
{
|
|
|
_logger.LogInformation($"计数更新成功 {airportTask.amragvno} AMR: {aGVState.stackcount} Total: {airportTask.loadcount}");
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
_logger.LogError("计数更新失败！");
|
|
|
throw new Exception("计数更新失败！");
|
|
|
}
|
|
|
}
|
|
|
//Deliver码垛计数
|
|
|
else if (lastCount == 0x01)
|
|
|
{
|
|
|
airportTask.loadcount++;
|
|
|
AGVState aGVState = _aGVStateService.GetSingleAGVState(airportTask.deliveragvno);
|
|
|
aGVState.stackcount++;
|
|
|
//判断返回结果
|
|
|
if (_aGVStateService.UpdateAsync(aGVState).Result || _airportTaskService.UpdateTaskAsync(airportTask).Result)
|
|
|
{
|
|
|
_logger.LogInformation($"计数更新成功 {airportTask.amragvno} AMR: {aGVState.stackcount} Total: {airportTask.loadcount}");
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
_logger.LogError("计数更新失败！");
|
|
|
throw new Exception("计数更新失败！");
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
throw new Exception($"任务 {airportTask.taskno} 未知上次码垛代码！请检查视觉系统状态！");
|
|
|
}
|
|
|
}
|
|
|
|
|
|
int VDCount = 1;
|
|
|
int VACount = 0;
|
|
|
int VDTotal = 8;
|
|
|
int VATotal = 6;
|
|
|
bool Vjudge = true;
|
|
|
bool VNow = true;
|
|
|
public bool TotalJudge = false;
|
|
|
/// <summary>
|
|
|
/// 接受码垛结果，进行下一次码垛判断
|
|
|
/// </summary>
|
|
|
public void StackResultSend(TcpVisionEntity entity, string id)
|
|
|
{
|
|
|
if (entity.DataLength == 1)
|
|
|
{
|
|
|
if (entity.DataBytes[0] == 0x00)
|
|
|
{
|
|
|
_logger.LogInformation($"视觉系统一次码垛结束，码垛完成 Deliver:{VDCount} AMR:{VACount}");
|
|
|
//上位机回复收到码垛结果
|
|
|
_tcpServer.SendReplayStackResult(id);
|
|
|
//这里写是否继续下一次码垛的判断条件
|
|
|
//判断总数是否继续工作
|
|
|
if ((VDCount < VDTotal && Vjudge == true && TotalJudge == true) || (VACount < VATotal && Vjudge == false && TotalJudge == true))
|
|
|
{
|
|
|
//如果码垛没结束继续发下一次的码垛信号
|
|
|
if (Vjudge) //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
|
|
|
RequestVisionStartWork(StackState.NXAGVNoPositioning, VDCount, id);
|
|
|
_logger.LogInformation("下一次码垛开始，方向：搬运机器人");
|
|
|
VDCount++;
|
|
|
VNow = true;
|
|
|
if (VDCount >= VDTotal)
|
|
|
{
|
|
|
Vjudge = false;
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//发送向复合机器人（AMR）码垛的信号
|
|
|
RequestVisionStartWork(StackState.NXAMRNoPositioning, VACount, id);
|
|
|
_logger.LogInformation("下一次码垛开始，方向：复合机器人");
|
|
|
VACount++;
|
|
|
VNow = false;
|
|
|
if (VACount >= VATotal)
|
|
|
{
|
|
|
Vjudge = true;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//如果码垛结束就请求复位
|
|
|
RequestVisionReplace(id);
|
|
|
_logger.LogInformation("本次码垛结束，请求复位");
|
|
|
}
|
|
|
}
|
|
|
else if (entity.DataBytes[0] == 0x01)
|
|
|
{
|
|
|
_logger.LogError($"视觉系统一次码垛结束，码垛过程失败 Deliver:{VDCount} AMR:{VACount}");
|
|
|
//如果码垛没结束继续发下一次的码垛信号
|
|
|
if (VNow) //这里写向哪个机器人码垛的判断条件
|
|
|
{
|
|
|
//发送向搬运机器人（AGVDeliver）码垛的信号
|
|
|
RequestVisionStartWork(StackState.NXAGVNoPositioning, VDCount, id);
|
|
|
_logger.LogInformation("下一次码垛开始，方向：搬运机器人");
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//发送向复合机器人（AMR）码垛的信号
|
|
|
RequestVisionStartWork(StackState.NXAMRNoPositioning, VACount, id);
|
|
|
_logger.LogInformation("下一次码垛开始，方向：复合机器人");
|
|
|
}
|
|
|
}
|
|
|
else if (entity.DataBytes[0] == 0x02)
|
|
|
{
|
|
|
_logger.LogError($"视觉系统一次码垛结束，码垛检查失败");
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
_logger.LogError($"视觉系统一次码垛结束，未知返回代码");
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
_logger.LogError($"视觉系统一次码垛结束，返回数据格式错误");
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 收到视觉系统复位结果
|
|
|
/// </summary>
|
|
|
public void GetResetResult(TcpVisionEntity entity, string id)
|
|
|
{
|
|
|
if (entity.DataLength == 0x01)
|
|
|
{
|
|
|
if (entity.DataBytes[0] == 0x00)
|
|
|
{
|
|
|
_logger.LogInformation($"视觉系统码垛结束，复位正常");
|
|
|
}
|
|
|
else if (entity.DataBytes[0] == 0x01)
|
|
|
{
|
|
|
_logger.LogError($"视觉系统码垛结束，复位异常");
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
_logger.LogError($"视觉系统码垛结束，未知返回代码");
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
_logger.LogError($"视觉系统码垛结束，返回数据格式错误");
|
|
|
}
|
|
|
}
|
|
|
|
|
|
/// <summary>
|
|
|
/// 人工异常处理完成并更新计数
|
|
|
/// </summary>
|
|
|
public void GetManualExceptionDealDone(TcpVisionEntity entity, string id)
|
|
|
{
|
|
|
_tcpServer.SendReplyGetManualException(id);
|
|
|
}
|
|
|
}
|
|
|
}
|