From 6cc5ecdbe27eb83e9275ec37a3d4ce0df38affc6 Mon Sep 17 00:00:00 2001
From: liuwf <wenfaliu@163.com>
Date: Sat, 16 Nov 2024 18:11:55 +0800
Subject: [PATCH] =?UTF-8?q?add-=E6=B7=BB=E5=8A=A0agv=E5=AE=9E=E6=97=B6?=
 =?UTF-8?q?=E7=8A=B6=E6=80=81=E5=85=B7=E4=BD=93=E5=B1=95=E7=A4=BA?=
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---
 SlnMesnac.Model/domain/DmsAgvCodeMap.cs       | 54 +++++++++++++++++++
 SlnMesnac.Model/domain/WcsAgvStatus.cs        |  8 +++
 SlnMesnac.WPF/Page/AgvAndTaskMonitorPage.xaml |  3 +-
 .../ViewModel/AgvAndTaskViewModel.cs          | 20 +++++--
 4 files changed, 80 insertions(+), 5 deletions(-)
 create mode 100644 SlnMesnac.Model/domain/DmsAgvCodeMap.cs

diff --git a/SlnMesnac.Model/domain/DmsAgvCodeMap.cs b/SlnMesnac.Model/domain/DmsAgvCodeMap.cs
new file mode 100644
index 0000000..c5d7142
--- /dev/null
+++ b/SlnMesnac.Model/domain/DmsAgvCodeMap.cs
@@ -0,0 +1,54 @@
+using SqlSugar;
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace SlnMesnac.Model.domain
+{
+    [SugarTable("dms_agv_code_map"), TenantAttribute("mes")]
+    public class DmsAgvCodeMap
+    {
+        /// <summary>
+        /// 机器人状态码
+        /// </summary>
+        [SugarColumn(IsPrimaryKey = true, ColumnName = "agv_code")]
+        public long AgvCode { get; set; }
+
+        /// <summary>
+        /// 机器人状态
+        /// </summary>
+        [SugarColumn(ColumnName = "agv_status")]
+        public string AgvStatus { get; set; }
+
+        /// <summary>
+        /// 机器人状态定义说明
+        /// </summary>
+        [SugarColumn(ColumnName = "agv_status_definition")]
+        public string AgvStatusDefinition { get; set; }
+
+        /// <summary>
+        /// 显示屏显示内容
+        /// </summary>
+        [SugarColumn(ColumnName = "agv_display_content")]
+        public string AgvDisplayContent { get; set; }
+
+        /// <summary>
+        /// 备注
+        /// </summary>
+        [SugarColumn(ColumnName = "remark")]
+        public string Remark { get; set; }
+
+        /// <summary>
+        /// 创建人
+        /// </summary>
+        [SugarColumn(ColumnName = "create_by")]
+        public string CreateBy { get; set; }
+
+        /// <summary>
+        /// 创建时间
+        /// </summary>
+        [SugarColumn(ColumnName = "create_time")]
+        public DateTime? CreateTime { get; set; }
+    }
+
+}
diff --git a/SlnMesnac.Model/domain/WcsAgvStatus.cs b/SlnMesnac.Model/domain/WcsAgvStatus.cs
index d92f71d..1421b65 100644
--- a/SlnMesnac.Model/domain/WcsAgvStatus.cs
+++ b/SlnMesnac.Model/domain/WcsAgvStatus.cs
@@ -93,6 +93,8 @@ namespace SlnMesnac.Model.domain
         [SugarColumn(ColumnName = "status")]
         public string Status { get; set; }
 
+    
+
         /// <summary>
         /// 是否暂停 0-否 1-是
         /// </summary>
@@ -110,5 +112,11 @@ namespace SlnMesnac.Model.domain
         /// </summary>
         [SugarColumn(ColumnName = "agvName")]
         public string AgvName { get; set; }
+
+
+        /// <summary>
+        /// 机器人状态说明
+        /// </summary>
+        public string StatusDefine { get; set; }
     }
 }
diff --git a/SlnMesnac.WPF/Page/AgvAndTaskMonitorPage.xaml b/SlnMesnac.WPF/Page/AgvAndTaskMonitorPage.xaml
index eefede7..65acc4a 100644
--- a/SlnMesnac.WPF/Page/AgvAndTaskMonitorPage.xaml
+++ b/SlnMesnac.WPF/Page/AgvAndTaskMonitorPage.xaml
@@ -47,7 +47,8 @@
                         <!--resourceStyle 399行修改选中字体颜色-->
                         <DataGrid.Columns>
                             <DataGridTextColumn Binding="{Binding AgvName}" Header="AGV名称信息" Width="2*" IsReadOnly="True"/>
-                            <DataGridTextColumn Binding="{Binding Online}" Header="在线状态" Width="*" IsReadOnly="True"/>
+                            <DataGridTextColumn Binding="{Binding Online}" Header="是否在线" Width="*" IsReadOnly="True"/>
+                            <DataGridTextColumn Binding="{Binding StatusDefine}" Header="实时状态" Width="*" IsReadOnly="True"/>
                             <DataGridTextColumn Binding="{Binding Battery}" Header="电量" Width="*" IsReadOnly="True"/>
                             <DataGridTextColumn Binding="{Binding Speed}" Header="速度" Width="*" IsReadOnly="True"/>
                             <DataGridTextColumn Binding="{Binding PosX}" Header="X轴坐标" Width="*" IsReadOnly="True"/>
diff --git a/SlnMesnac.WPF/ViewModel/AgvAndTaskViewModel.cs b/SlnMesnac.WPF/ViewModel/AgvAndTaskViewModel.cs
index b447799..58adade 100644
--- a/SlnMesnac.WPF/ViewModel/AgvAndTaskViewModel.cs
+++ b/SlnMesnac.WPF/ViewModel/AgvAndTaskViewModel.cs
@@ -116,13 +116,25 @@ namespace SlnMesnac.WPF.ViewModel
         /// <param name="palletTasks"></param>
         private async Task RefreshWcsAgvStatusDataGrid()
         {
-          List<WcsAgvStatus>  agvList  =  await sqlSugarClient.AsTenant().GetConnection("mes").Queryable<WcsAgvStatus>().ToListAsync();
-           await App.Current.Dispatcher.BeginInvoke((Action)(() =>
+            var query = sqlSugarClient.AsTenant().GetConnection("mes").Queryable<WcsAgvStatus>()
+                .LeftJoin<DmsAgvCodeMap>((was, dacm) => long.Parse(was.Status) == dacm.AgvCode)
+                .Select((was, dacm) => new WcsAgvStatus
+                {
+                     AgvName = was.AgvName,
+                     Online = was.Online == "true" ? "在线" : "离线",
+                     StatusDefine = dacm.AgvStatus,
+                     Battery = was.Battery,
+                     Speed = was.Speed,
+                     PosX = was.PosX,
+                     PosY = was.PosY,
+                     Timestamp = was.Timestamp
+                }).ToList();
+           
+            await App.Current.Dispatcher.BeginInvoke((Action)(() =>
             {
                 WcsAgvStatusDataGrid.Clear();
-                foreach (var agv in agvList)
+                foreach (var agv in query)
                 {
-                    agv.Online =  agv.Online=="true"? "在线": "离线";
                     WcsAgvStatusDataGrid.Add(agv);
                 }
             }));