debug - 修改乱码问题，解决新接口不适配老服务类问题

SlnMesnac.Business/base/BaseStateRefreshBusiness.cs

@@ -11,29 +11,27 @@ 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)
+        public BaseStateRefreshBusiness(ILogger<BaseStateRefreshBusiness> logger, IAGVStateService agvService)
         {
             _logger = logger;
             _AGVStateService = agvService;
-            _ManipulatorStateService = manipulatorStateService;
         }
-        public static BaseStateRefreshBusiness GetInstance(ILogger<BaseStateRefreshBusiness> logger, IAGVStateService agvService, IManipulatorStateService manipulatorStateService)
+        public static BaseStateRefreshBusiness GetInstance(ILogger<BaseStateRefreshBusiness> logger, IAGVStateService agvService)
         {
             if (instance == null)
             {
-                instance = new BaseStateRefreshBusiness(logger, agvService, manipulatorStateService);
+                instance = new BaseStateRefreshBusiness(logger, agvService);
             }
             return instance;
         }
 
-        public bool UpdateAGVStateByResposne(AGVStateRequestEntity request) 
+        public bool UpdateAGVStateByResposne() 
         {
             try
             {
-                var response = AirPorthttpClient.AGVStateRequest(request);
+                var response = AirPorthttpClient.AGVStateRequest();
                 _AGVStateService.UpdateOrAddByResponse(response);
             }
             catch (Exception e) 
@@ -43,18 +41,5 @@ namespace SlnMesnac.Business.@base
             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.Business/base/BaseTaskInfoBusiness.cs

@@ -30,8 +30,8 @@ namespace SlnMesnac.Business.@base
         {
             _logger = logger;
             _tcpServer = tcpServer;
-            _tcpServer.VisionSysStateEvent += TcpServerOnVisionSysStateEvent;
+            _tcpServer.ReceiveVisionSysStateEvent += TcpServerOnVisionSysStateEvent;
-            _tcpServer.StackWorkDoneEvent += _tcpServer_StackWorkDoneEvent;
+            _tcpServer.ReceiveStackWorkDoneEvent += _tcpServer_StackWorkDoneEvent;
             _Taskservice = Taskservice;
             _AGVStateService = agvService;
             InitClearTimer();
@@ -41,7 +41,7 @@ namespace SlnMesnac.Business.@base
         /// 一次码垛完成，发送码垛结果
         /// </summary>
         /// <param name="entity"></param>
-        private void _tcpServer_StackWorkDoneEvent(TcpVisionEntity entity)
+        private void _tcpServer_StackWorkDoneEvent(TcpVisionEntity entity, string id)
         {
             try
             {
@@ -76,7 +76,7 @@ namespace SlnMesnac.Business.@base
         /// 视觉系统回复给上位机调度系统开始工作状态
         /// </summary>
         /// <param name="entity"></param>
-        private void TcpServerOnVisionSysStateEvent(TcpVisionEntity entity)
+        private void TcpServerOnVisionSysStateEvent(TcpVisionEntity entity, string id)
         {
             try
             {

SlnMesnac.Config/AppConfig.cs

@@ -74,11 +74,6 @@ namespace SlnMesnac.Config
         /// </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>

SlnMesnac.Model/domain/AGVState.cs

@@ -24,7 +24,7 @@ namespace SlnMesnac.Repository
            public int id {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:AGV编号
            /// Default:
            /// Nullable:False
            /// </summary>
@@ -32,7 +32,7 @@ namespace SlnMesnac.Repository
            public string agvno {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:AGV类型 1：AMR 2: 机械臂
            /// Default:
            /// Nullable:False
            /// </summary>
@@ -40,7 +40,7 @@ namespace SlnMesnac.Repository
            public string agvtype {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:任务编号
            /// Default:
            /// Nullable:False
            /// </summary>
@@ -48,7 +48,7 @@ namespace SlnMesnac.Repository
            public string taskno {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:AGV报警状态
            /// Default:
            /// Nullable:False
            /// </summary>
@@ -56,7 +56,7 @@ namespace SlnMesnac.Repository
            public string agvalarmstate {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:AGV工作状态
            /// Default:
            /// Nullable:False
            /// </summary>
@@ -64,7 +64,7 @@ namespace SlnMesnac.Repository
            public string agvworkstate {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:刷新时间
            /// Default:
            /// Nullable:False
            /// </summary>

SlnMesnac.Repository/service/IAGVStateService.cs

@@ -35,7 +35,7 @@ namespace SlnMesnac.Repository.service
         /// </summary>
         /// <param name="response"></param>
         /// <returns></returns>
-        Task<bool> UpdateOrAddByResponse(AGVStateResponseEntity response);
+        Task<bool> UpdateOrAddByResponse(AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>> response);
 
     }
 }

SlnMesnac.Repository/service/IManipulatorStateService.cs

@@ -1,39 +0,0 @@
-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

@@ -15,7 +15,7 @@ namespace SlnMesnac.Repository.service.Impl
     public class AGVStateServiceImpl : BaseServiceImpl<AGVState>, IAGVStateService
     {
         private ILogger<AGVStateServiceImpl> _logger;
-        public AGVStateServiceImpl(Repository<AGVState> repository, ILogger<AGVStateServiceImpl> logger) :base(repository)
+        public AGVStateServiceImpl(Repository<AGVState> repository, ILogger<AGVStateServiceImpl> logger) : base(repository)
         {
             _logger = logger;
         }
@@ -26,13 +26,18 @@ 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 == "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" && (x.agvalarmstate == null || x.agvalarmstate == "") && x.agvtype == _AgvType);
+                exp = exp.And(x =>
+                (x.agvno != null || x.agvno != "")
+                && (x.taskno == null || x.taskno == "")
+                && x.agvworkstate == "空闲"
+                && (x.agvalarmstate == null || x.agvalarmstate == "")
+                && x.agvtype == _AgvType);
 
                 agvStateInfoList = base._rep.GetList(exp);
             }
             catch (Exception ex)
             {
-                _logger.LogError($"<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>AGV<EFBFBD><EFBFBD>Ϣ<EFBFBD>쳣:{ex.Message}");
+                _logger.LogError($"AGV状态获取错误:{ex.Message}");
             }
             return agvStateInfoList;
         }
@@ -46,7 +51,7 @@ namespace SlnMesnac.Repository.service.Impl
             }
             catch (Exception ex)
             {
-                _logger.LogError($"<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>AGV<EFBFBD><EFBFBD>Ϣ<EFBFBD>쳣:{ex.Message}");
+                _logger.LogError($"所有AGV状态获取错误:{ex.Message}");
             }
             return agvStateInfoList;
         }
@@ -57,34 +62,43 @@ namespace SlnMesnac.Repository.service.Impl
             return result;
         }
 
-        public async Task<bool> UpdateOrAddByResponse(AGVStateResponseEntity response)
+        public async Task<bool> UpdateOrAddByResponse(AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>> response)
+        {
+            List<AGVState> records = new List<AGVState>();
+            foreach (var entity in response.Data)
             {
                 AGVState record = new AGVState()
                 {
-                agvno = response.AGVNo,
+                    agvno = entity.Guid,
-                agvalarmstate = response.AGVAlarmState,
+                    agvalarmstate = entity.AgvMoveStatus != 6 ? "正常" : "异常",
-                agvtype = response.AGVType,
+                    agvtype = entity.Name,
-                agvworkstate = response.AGVWorkState,
+                    agvworkstate = entity.AgvMoveStatus == 1 ? "空闲" : "忙碌",
                     refreshtime = DateTime.Now,
-                taskno = response.TaskNo,
+                    taskno = entity.TaskID,
                 };
+                records.Add(record);
+            }
+
             bool result = false;
             try
             {
                 var list = GetAllAGVState();
-                if (list.Where(x => x.agvno == response.AGVNo).Count() == 0)
+                foreach (var r in records)
                 {
-                    result = _rep.Insert(record);
+                    if (list.Where(x => x.agvno == r.agvno).Count() == 0)
+                    {
+                        result = _rep.Insert(r);
                     }
                     else
                     {
-                    record.id = list.Where(x => x.agvno == response.AGVNo).FirstOrDefault().id;
+                        r.id = list.Where(x => x.agvno == r.agvno).FirstOrDefault().id;
-                    result = await _rep.UpdateAsync(record);
+                        result = await _rep.UpdateAsync(r);
+                    }
                 }
             }
             catch (Exception ex)
             {
-                _logger.LogError($"<EFBFBD><EFBFBD>е<EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣:{ex.Message}");
+                _logger.LogError($"AGV状态更新错误：{ex.Message}");
             }
             return result;
         }

SlnMesnac.Repository/service/Impl/ManipulatorStateServiceImpl.cs

@@ -1,92 +0,0 @@
-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

@@ -54,7 +54,6 @@ namespace SlnMesnac.TouchSocket
             try
             {
                 AirportAGVClient = CreateWebApiClient(_appConfig.AGVIpConfig);
-                AirportManipulatorClient = CreateWebApiClient(_appConfig.ManipulatorIpConfig);
             }
             catch (Exception ex)
             {
@@ -65,7 +64,7 @@ namespace SlnMesnac.TouchSocket
         }
 
         /// <summary>
-        /// AGV呼叫请求
+        /// 
         /// </summary>
         /// <returns></returns>
         public static string AGVCallRequest()
@@ -76,26 +75,49 @@ namespace SlnMesnac.TouchSocket
         }
 
         /// <summary>
-        /// AGV状态请求
+        /// AGV下发任务请求
         /// </summary>
         /// <param name="aGVStateRequest"></param>
         /// <returns></returns>
-        public static AGVStateResponseEntity AGVStateRequest(AGVStateRequestEntity aGVStateRequest)
+        public static AGVResponseEntity<ResponseAddTaskDataEntity> AGVAddTaskRequest(AGVRequestAddTaskEntity addTaskEntity)
         {
-            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/m1/5051269-4712337-default/apitest/AGVtest", null, aGVStateRequest);
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/api/task/addTask", null, addTaskEntity);
             if (responseValue == null)
             {
-                return new AGVStateResponseEntity();
+                return new AGVResponseEntity<ResponseAddTaskDataEntity>();
             }
             string json = responseValue.ToString();
             if (string.IsNullOrEmpty(json))
             {
-                return new AGVStateResponseEntity();
+                return new AGVResponseEntity<ResponseAddTaskDataEntity>();
             }
-            AGVStateResponseEntity aGVStateResponseEntity = new AGVStateResponseEntity();
+            AGVResponseEntity<ResponseAddTaskDataEntity> responseEntity;
-            aGVStateResponseEntity = JsonSerializer.Deserialize<AGVStateResponseEntity>(json);
+            responseEntity = JsonSerializer.Deserialize<AGVResponseEntity<ResponseAddTaskDataEntity>>(json);
-            return aGVStateResponseEntity;
+            return responseEntity;
         }
 
+
+        /// <summary>
+        /// 获取AGV所有信息
+        /// </summary>
+        /// <param name="aGVStateRequest"></param>
+        /// <returns></returns>
+        public static AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>> AGVStateRequest()
+        {
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:http://192.168.40.81:5102/api/task/robot/getRobot", null);
+            if (responseValue == null)
+            {
+                return new AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>>();
             }
+            string json = responseValue.ToString();
+            if (string.IsNullOrEmpty(json))
+            {
+                return new AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>>();
+            }
+            AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>> ResponseEntity;
+            ResponseEntity = JsonSerializer.Deserialize<AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>>>(json);
+            return ResponseEntity;
+        }
+    }
+
 }

SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs

@@ -53,7 +53,6 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
         private ILogger<BaseStateRefreshBusiness> _stateBusinessLogger;
         private IAirportTaskService _taskservice;
         private IAGVStateService _agvstateService;
-        private IManipulatorStateService _monipulatorstateService;
         private BaseTaskInfoBusiness _taskInfoBusiness;
         private BaseStateRefreshBusiness _StateRefreshBusiness;
         private DispatcherTimer _timer;

SlnMesnac.WPF/appsettings.json

@@ -82,8 +82,7 @@
 
 
     "redisConfig": "175.27.215.92:6379,password=redis@2023",
-    "AGVIpConfig": "127.0.0.1:4523",
+    "AGVIpConfig": "http://192.168.40.81:5102",
-    "ManipulatorIpConfig": "127.0.0.1:4523",
     "TCPVisionConfig": "127.0.0.1:6000"
 
   }