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using Microsoft.Extensions.Logging;
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using SlnMesnac.Repository.service;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Threading.Tasks;
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using SlnMesnac.Repository;
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using SlnMesnac.Repository.service.Impl;
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using TouchSocket.Sockets;
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using SlnMesnac.Model.domain;
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using SlnMesnac.TouchSocket;
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using System.Timers;
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using SlnMesnac.Model.Enum;
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using HslCommunication.Enthernet;
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using System.Threading;
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using SlnMesnac.TouchSocket.Entity;
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using static SlnMesnac.TouchSocket.TcpServer;
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namespace SlnMesnac.Business.@base
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{
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public class BaseTaskInfoBusiness
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{
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private TcpServer _tcpServer = null;
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public Action<AirportTask> _Taskaction;
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public Action<string> _RefreshLogMessageAction;
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private static BaseTaskInfoBusiness instance;
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private ILogger<BaseTaskInfoBusiness> _logger;
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private IAirportTaskService _Taskservice;
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private IAGVStateService _AGVStateService;
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private AirPorthttpClient _airPorthttpClient;
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public BaseTaskInfoBusiness(ILogger<BaseTaskInfoBusiness> logger, IAirportTaskService Taskservice, IAGVStateService agvService, TcpServer tcpServer, AirPorthttpClient airPorthttpClient)
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{
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_logger = logger;
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_tcpServer = tcpServer;
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_tcpServer.ReceiveVisionSysStateEvent += TcpServerOnVisionSysStateEvent;
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_tcpServer.ReceiveStackWorkDoneEvent += _tcpServer_StackWorkDoneEvent;
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_Taskservice = Taskservice;
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_AGVStateService = agvService;
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//InitClearTimer();
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_airPorthttpClient = airPorthttpClient;
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//doWhileGetAGVTaskInfo();
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//GetTaskStateDetail();
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}
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/// <summary>
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/// 一次码垛完成，发送码垛结果
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/// </summary>
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/// <param name="entity"></param>
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private void _tcpServer_StackWorkDoneEvent(TcpVisionEntity entity, string id)
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{
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try
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{
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if (entity != null)
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{
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//码垛完成
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if (entity.DataBytes[0] == 0x00)
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{
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//更新码垛数量
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}
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//码垛过程失败
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else if (entity.DataBytes[1] == 0x01)
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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[2] == 0x02)
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{
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}
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}
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}
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catch (Exception ex)
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{
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}
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}
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/// <summary>
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/// 视觉系统回复给上位机调度系统开始工作状态
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/// </summary>
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/// <param name="entity"></param>
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private void TcpServerOnVisionSysStateEvent(TcpVisionEntity entity, string id)
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{
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try
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{
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if (entity != null)
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{
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//任务正常
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if (entity.DataBytes[0] == 0x00)
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{
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//更新AMR任务状态
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}
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//任务异常
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else if (entity.DataBytes[0] == 0x01)
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{
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}
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}
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}
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catch (Exception ex)
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{
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}
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}
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public static BaseTaskInfoBusiness GetInstance(ILogger<BaseTaskInfoBusiness> logger, IAirportTaskService Taskservice, IAGVStateService agvService, TcpServer tcpServer, AirPorthttpClient airPorthttpClient)
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{
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if (instance == null)
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{
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instance = new BaseTaskInfoBusiness(logger, Taskservice,agvService, tcpServer, airPorthttpClient);
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}
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return instance;
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}
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private void InitClearTimer()
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{
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System.Timers.Timer timer = new System.Timers.Timer
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{
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Interval = 1000, // 每天执行一次
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AutoReset = true,
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};
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timer.Elapsed += GetAGVTaskInfo;
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timer.Start();
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}
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/// <summary>
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/// 获取任务列表
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/// </summary>
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private void GetAGVTaskInfo(object source, ElapsedEventArgs e)
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{
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try
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{
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List<AirportTask> Task = _Taskservice.GetAGVTaskInfos();
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if (Task != null)
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{
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if (Task.Count > 0)
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{
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_RefreshLogMessageAction?.Invoke("任务数量:" + Task.Count);
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foreach (var TaskItem in Task)
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{
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//AGV未派发，AMR未派发
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if (string.IsNullOrEmpty(TaskItem.agvno) && string.IsNullOrEmpty(TaskItem.manipulatorno))
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{
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_RefreshLogMessageAction?.Invoke($"正在为AGV，AMR分配任务...");
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_logger.LogInformation($"正在为AGV，AMR分配任务");
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//查询AGV设备状态及AMR设备状态
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//这里要看AGV是否会立刻更新状态
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CreateAGVTask(TaskItem);
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//查询机械臂状态
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}
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//AGV已派发，AMR未派发
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if (!string.IsNullOrEmpty(TaskItem.agvno) && string.IsNullOrEmpty(TaskItem.manipulatorno))
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{
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//查询AMR状态
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CreateAMRTask(TaskItem);
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_RefreshLogMessageAction?.Invoke($"正在为AMR分配任务...");
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_logger.LogInformation($"正在为AMR分配任务");
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}
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//AGV未派发，AMR已派发
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if (string.IsNullOrEmpty(TaskItem.agvno) && !string.IsNullOrEmpty(TaskItem.manipulatorno))
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{
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_RefreshLogMessageAction?.Invoke($"正在为AGV分配任务...");
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_logger.LogInformation($"正在为AGV分配任务");
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}
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_Taskaction?.Invoke(TaskItem);
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}
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}
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}
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}
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catch (Exception ex)
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{
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}
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}
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/// <summary>
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/// 向AMR派发任务
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/// </summary>
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/// <param name="AirportTask"></param>
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/// <returns></returns>
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private bool CreateAMRTask(AirportTask AirportTask)
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{
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bool iflag = false;
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try
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{
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iflag = true;
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List<AGVState> State = GetAgvState(AgvType.AMR);
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foreach (var AgvItem in State)
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{
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//根据规则筛选最优AGV
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if (AgvItem.agvworkstate == "任务空闲")
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{
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_logger.LogInformation($"获取空闲AMR列表");
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_RefreshLogMessageAction?.Invoke("执行站台[" + AirportTask.conveyorno + "]，下发" + "[" + AirportTask.taskno + "]任务");
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//调用派发任务接口,向任务状态为任务空闲的AGV派发任务
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bool iTaskflag = true;
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if (iTaskflag)
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{
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_RefreshLogMessageAction?.Invoke("[" + AgvItem.agvno + "]AMR，执行任务[" + AirportTask.taskno + "]");
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AgvItem.taskno = AirportTask.taskno;
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AgvItem.agvworkstate = "任务执行中";
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AgvItem.refreshtime = DateTime.Now;
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_AGVStateService.UpdateAsync(AgvItem);
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//更新任务信息表状态为执行中
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AirportTask.manipulatorno = AgvItem.agvno;
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AirportTask.taskstate = "执行中";
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_Taskservice.UpdateTaskAsync(AirportTask);
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break;
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}
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}
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}
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return iflag;
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}
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catch (Exception ex)
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{
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return iflag;
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}
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}
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/// <summary>
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/// 向AGV派发任务
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/// </summary>
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/// <returns></returns>
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private bool CreateAGVTask(AirportTask AirportTask)
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{
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bool iflag = false;
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try
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{
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iflag = true;
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List<AGVState> State = GetAgvState(AgvType.AGV);
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foreach (var AgvItem in State)
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{
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//根据规则筛选最优AGV
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if (AgvItem.agvworkstate == "任务空闲")
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{
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//搬运机器人是否已到位
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if (string.IsNullOrEmpty(AirportTask.agvtaskno))
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{
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_logger.LogInformation($"获取空闲AGV列表");
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_RefreshLogMessageAction?.Invoke("执行站台[" + AirportTask.conveyorno + "]，下发" + "[" + AirportTask.taskno + "]任务");
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//调用派发任务接口,向任务状态为任务空闲的复合AGV、搬运AGV派发任务
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bool iTaskflag = true;
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if (iTaskflag)
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{
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_RefreshLogMessageAction?.Invoke("[" + AgvItem.agvno + "]AGV，执行任务[" + AirportTask.taskno + "]");
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AgvItem.taskno = AirportTask.taskno;
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AgvItem.agvworkstate = "任务执行中";
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AgvItem.refreshtime = DateTime.Now;
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_AGVStateService.UpdateAsync(AgvItem);
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//更新任务信息表状态为执行中
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AirportTask.agvno = AgvItem.agvno;
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AirportTask.taskstate = "AGV执行中";
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//等待agv返回任务编号
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AirportTask.agvtaskno = Guid.NewGuid().ToString("N");
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_Taskservice.UpdateTaskAsync(AirportTask);
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break;
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}
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}
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//复合机器人是否已到位
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if (string.IsNullOrEmpty(AirportTask.amrtaskno))
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{
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_logger.LogInformation($"获取空闲AGV列表");
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_RefreshLogMessageAction?.Invoke("执行站台[" + AirportTask.conveyorno + "]，下发" + "[" + AirportTask.taskno + "]任务");
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//调用派发任务接口,向任务状态为任务空闲的复合AGV、搬运AGV派发任务
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bool iTaskflag = true;
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if (iTaskflag)
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{
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_RefreshLogMessageAction?.Invoke("[" + AgvItem.agvno + "]AGV，执行任务[" + AirportTask.taskno + "]");
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AgvItem.taskno = AirportTask.taskno;
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AgvItem.agvworkstate = "任务执行中";
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AgvItem.refreshtime = DateTime.Now;
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_AGVStateService.UpdateAsync(AgvItem);
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//更新任务信息表状态为执行中
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AirportTask.agvno = AgvItem.agvno;
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AirportTask.taskstate = "AMR执行中";
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//等待agv返回任务编号
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AirportTask.amrtaskno = Guid.NewGuid().ToString("N");
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_Taskservice.UpdateTaskAsync(AirportTask);
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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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return iflag;
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}
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catch (Exception ex)
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{
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return iflag;
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}
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}
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/// <summary>
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/// 获取agv设备状态
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/// </summary>
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/// <returns></returns>
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private List<AGVState> GetAgvState(AgvType AgvType)
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{
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List<AGVState> State = null;
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try
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{
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State = _AGVStateService.GetAgvState(AgvType);
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return State;
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}
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catch (Exception ex)
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{
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return State;
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}
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}
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private void GetTaskStateDetail()
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{
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try
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{
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Task.Run(() =>
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{
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while (true)
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{
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List<AirportTask> Task = _Taskservice.GetAGVTaskInfos();
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if (Task != null)
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{
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// 设置计时器
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Stopwatch stopwatch = new Stopwatch();
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stopwatch.Start();
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foreach (AirportTask airportTask in Task)
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{
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//1.根据搬运AGV任务编号查询agv是否到达
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if (!string.IsNullOrEmpty(airportTask.agvtaskno))
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{
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Console.WriteLine("搬运AGV已到达");
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//2.调用3.查询任务状态接口
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//根据搬运AGV任务编号查询agv是否到达
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bool iflag = true;
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if (iflag)
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{
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//3:已完成
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// if (state == 3)
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// {
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//
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// }
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//更新任务表中AGV编号
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airportTask.agvno = "";
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//更新agv返回任务编号
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airportTask.agvtaskno = Guid.NewGuid().ToString("N");
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_Taskservice.UpdateTaskAsync(airportTask);
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}
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}
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//根据复合AGV任务编号查询复合agv是否到达
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if (!string.IsNullOrEmpty(airportTask.amrtaskno))
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{
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Console.WriteLine("复合AGV已到达");
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//根据复合AGV任务编号查询agv是否到达
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bool iflag = true;
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if (iflag)
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{
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//已到达更新任务表中AGV编号
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}
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}
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//复合、搬运已到上料点
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if (!string.IsNullOrEmpty(airportTask.agvtaskno) && !string.IsNullOrEmpty(airportTask.agvtaskno))
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{
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Console.WriteLine("复合AGV已到达且搬运AGV已到达");
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Console.WriteLine("下发视觉抓取任务");
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//1.获取任务抓取数量
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//判断是否为第一车，搬运机器人码垛无需定位
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if (airportTask.loadcount == 0)
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{
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//下发视觉抓取任务
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}
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if (airportTask.loadcount == 0)
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{
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//下发视觉抓取任务
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}
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}
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}
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// 检查是否超过两秒
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if (stopwatch.ElapsedMilliseconds > 2000)
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{
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_logger.LogError("超时");
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}
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}
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}
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Thread.Sleep(100);
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});
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}
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catch (Exception ex)
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{
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}
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}
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}
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} |