#region << 版 本 注 释 >>
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/*----------------------------------------------------------------
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* 命名空间：WIDESEAWCS_TaskInfoService
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* 创建者：胡童庆
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* 创建时间：2024/8/2 16:13:36
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* 版本：V1.0.0
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* 描述：
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*
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* ----------------------------------------------------------------
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* 修改人：
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* 修改时间：
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* 版本：V1.0.1
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* 修改说明：
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*
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*----------------------------------------------------------------*/
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#endregion << 版 本 注 释 >>
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using AutoMapper;
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using Microsoft.AspNetCore.Mvc;
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using Microsoft.AspNetCore.Mvc.RazorPages;
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using NetTaste;
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using Newtonsoft.Json;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
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using SqlSugar;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Diagnostics;
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using System.Diagnostics.CodeAnalysis;
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using System.Linq;
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using System.Linq.Expressions;
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using System.Reflection;
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using System.Reflection.Metadata;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEA_Comm.Http;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.BaseServices;
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using WIDESEAWCS_Core.Enums;
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using WIDESEAWCS_DTO.Enum;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_QuartzJob.Service;
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using System.Net;
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using WIDESEAWCS_ISystemServices;
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using System.Security.Claims;
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using WIDESEAWCS_Common.TaskEnum;
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namespace WIDESEAWCS_TaskInfoService
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{
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public class RgvOperationService : ServiceBase<Dt_Task_hty, ITask_HtyRepository>, IRgvOperationService
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{
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private readonly IAgvStationService _gvStationService;
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private readonly ITaskRepository _taskRepository;
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public RgvOperationService(ITask_HtyRepository BaseDal, IAgvStationService agvStationService, ITaskRepository taskRepository) : base(BaseDal)
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{
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_gvStationService = agvStationService;
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_taskRepository = taskRepository;
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}
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public WebResponseContent WriteInitialization(SaveModel saveModel)
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{
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WebResponseContent webResponse = new WebResponseContent();
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string DeviceName = saveModel.DelKeys[0].ToString(); //设备名称
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
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SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
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//获取实例
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DeviceProDTO? RGV_RGVtasktypet = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_RGVtasktypet", "DeviceCommand"); //任务类型
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//第一步写入任务
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RgvSetLine(Commonstacker, RGV_RGVtasktypet.DeviceProAddress, (short)3);
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//复位报警
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DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Resetoperation", "DeviceCommand"); //复位报警信息
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RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, (short)1);
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//写入自动
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DeviceProDTO? RGV_DWorkingmode = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_DWorkingmode", "DeviceCommand"); //任务id
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RgvSetLine(Commonstacker, RGV_DWorkingmode.DeviceProAddress, (short)1);
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//写入清除任务
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RgvSetLine(Commonstacker, RGV_RGVtasktypet.DeviceProAddress, (short)4);
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//反馈确认任务
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DeviceProDTO? RGV_taskcomplete = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_taskcomplete", "RGV_taskcomplete"); //任务id
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RgvSetLine(Commonstacker, RGV_taskcomplete.DeviceProAddress, (short)1);
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return webResponse.OK();
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}
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public WebResponseContent WriteRGVmokuai(SaveModel saveModel)
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{
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WebResponseContent webResponse = new WebResponseContent();
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string DeviceName = saveModel.DelKeys[0].ToString(); //工作类型
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string DBType = saveModel.DelKeys[1].ToString(); //设备名称
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short WriteRGVvalue = short.Parse(saveModel.DelKeys[2].ToString()); //写入值
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
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SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
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switch (DBType)
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{
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case "1": // 工作模式（0手动、1自动）
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//获取实例
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DeviceProDTO? RGV_DWorkingmode = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_DWorkingmode", "DeviceCommand"); //任务类型
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//第一步写入任务
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RgvSetLine(Commonstacker, RGV_DWorkingmode.DeviceProAddress, WriteRGVvalue);
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break;
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case "2": //复位操作（0不复位、1复位）
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DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Resetoperation", "DeviceCommand"); //任务类型
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//第一步写入任务
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RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, WriteRGVvalue);
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break;
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case "3": //任务确认完成（0不确定，1确定）
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DeviceProDTO? RGV_taskcomplete = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_taskcomplete", "RGV_taskcomplete"); //任务类型
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//第一步写入任务
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RgvSetLine(Commonstacker, RGV_taskcomplete.DeviceProAddress, WriteRGVvalue);
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break;
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case "4": //任务类型(4清除)
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DeviceProDTO? RGV_RGVtasktypet = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_RGVtasktypet", "DeviceCommand"); //任务类型
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//第一步写入任务
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RgvSetLine(Commonstacker, RGV_RGVtasktypet.DeviceProAddress, WriteRGVvalue);
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break;
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}
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return webResponse.OK();
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}
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/// <summary>
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/// 手动移动RGV
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/// </summary>
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/// <param name="saveModel"></param>
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/// <returns></returns>
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public WebResponseContent ManualmovementRGV(SaveModel saveModel)
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{
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WebResponseContent webResponse = new WebResponseContent();
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string DeviceName = saveModel.DelKeys[0].ToString(); //设备名称
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short Nextaddres = short.Parse(saveModel.DelKeys[1].ToString());
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
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SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
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//获取实例
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DeviceProDTO? RGV_RGVtasktypet = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_RGVtasktypet", "DeviceCommand"); //任务类型
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//第一步写入任务
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RgvSetLine(Commonstacker, RGV_RGVtasktypet.DeviceProAddress, (short)3);
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//目标位置
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DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_RGVTasklocationt", "DeviceCommand"); //复位报警信息
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RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, (short)Nextaddres);
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//写入自动
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DeviceProDTO? RGV_DWorkingmode = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Rgvtaskidt", "DeviceCommand"); //任务id
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//任务id
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RgvSetLine(Commonstacker, RGV_DWorkingmode.DeviceProAddress, (short)30001);
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//任务id
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DeviceProDTO? RGV_taskcomplete = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Lanjiantaskidt", "DeviceCommand"); //任务id
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RgvSetLine(Commonstacker, RGV_taskcomplete.DeviceProAddress, (short)30001);
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return webResponse.OK();
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}
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/// <summary>
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/// 一键启动入库子母车
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/// </summary>
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public WebResponseContent WriteInReset(SaveModel saveModel)
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{
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WebResponseContent webResponse = new WebResponseContent();
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List<AGVStation> rgvdata = _gvStationService.GetInStroller();
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foreach (AGVStation rgvstation in rgvdata)
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{
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string DeviceName = rgvstation.ChildPosiDeviceCode; //设备名称
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
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if (device == null) continue;
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SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
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//获取需要复位的设备
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DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Resetoperation", "DeviceCommand"); //复位报警信息
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RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, (short)1);
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}
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return webResponse.OK();
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}
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/// <summary>
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/// 写入复位（出库端）
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/// </summary>
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public WebResponseContent WriteOutReset(SaveModel saveModel)
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{
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WebResponseContent webResponse = new WebResponseContent();
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List<AGVStation> rgvdata = _gvStationService.GetOutStroller();
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foreach (AGVStation rgvstation in rgvdata)
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{
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string DeviceName = rgvstation.ChildPosiDeviceCode; //设备名称
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
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if (device == null) continue;
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SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
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//获取需要复位的设备
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DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Resetoperation", "DeviceCommand"); //复位报警信息
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RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, (short)0);
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}
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return webResponse.OK();
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}
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/// <summary>
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/// 一键暂停
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/// </summary>
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/// <param name="saveModel"></param>
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/// <returns></returns>
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public WebResponseContent WriteOutbuttonpause(SaveModel saveModel)
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{
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WebResponseContent webResponse = new WebResponseContent();
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List<AGVStation> rgvdata = _gvStationService.GetOutStroller();
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foreach (AGVStation rgvstation in rgvdata)
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{
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string DeviceName = rgvstation.ChildPosiDeviceCode; //设备名称
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
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if (device == null) continue;
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SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
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//获取需要复位的设备
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DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_DWorkingmode", "DeviceCommand");
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RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, (short)0);
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}
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return webResponse.OK();
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}
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public WebResponseContent InWriteOutbuttonpause(SaveModel saveModel)
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{
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WebResponseContent webResponse = new WebResponseContent();
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List<AGVStation> rgvdata = _gvStationService.InGetOutStroller();
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foreach (AGVStation rgvstation in rgvdata)
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{
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string DeviceName = rgvstation.ChildPosiDeviceCode; //设备名称
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
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if (device == null) continue;
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SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
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//获取需要复位的设备
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DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_DWorkingmode", "DeviceCommand");
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RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, (short)0);
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}
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return webResponse.OK();
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}
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/// <summary>
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/// 一键启动
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/// </summary>
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/// <param name="saveModel"></param>
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/// <returns></returns>
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public WebResponseContent WriteOuttouchstart(SaveModel saveModel)
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{
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WebResponseContent webResponse = new WebResponseContent();
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List<AGVStation> rgvdata = _gvStationService.GetOutStroller();
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foreach (AGVStation rgvstation in rgvdata)
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{
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string DeviceName = rgvstation.ChildPosiDeviceCode; //设备名称
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
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if (device == null) continue;
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SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
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//获取需要复位的设备
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DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_DWorkingmode", "DeviceCommand");
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RgvSetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress, (short)1);
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}
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return webResponse.OK();
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}
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/// <summary>
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/// 查询RGV设备
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/// </summary>
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/// <param name="Commonstacker"></param>
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/// <param name="SCAddress"></param>
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/// <param name="Interactivet"></param>
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/// <returns></returns>
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public static DeviceProDTO? GetRGVDeviceProDTO(SpeStackerCrane Commonstacker, string SCAddress, string DeviceProParamName, string DeviceProParamType)
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{
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return Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == SCAddress && x.DeviceProParamName == DeviceProParamName && x.DeviceProParamType == DeviceProParamType);
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}
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/// <summary>
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/// 读取设备信息
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/// </summary>
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/// <param name="conveyorLine"></param>
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/// <param name="DeviceProDataBlock"></param>
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/// <returns></returns>
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public static int GetLine(SpeStackerCrane Commonstacker, string DeviceProDataBlock)
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{
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return Commonstacker.Communicator.Read<short>(DeviceProDataBlock);
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}
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/// <summary>
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/// 写入设备信息
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/// </summary>
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/// <param name="conveyorLine"></param>
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/// <param name="DeviceProDataBlock"></param>
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/// <returns></returns>
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public static bool RgvSetLine(SpeStackerCrane Commonstacker, string DeviceProDataBlock, short rgvvalues)
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{
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return Commonstacker.Communicator.Write<short>(DeviceProDataBlock, rgvvalues);
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}
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/// <summary>
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/// 正常入库
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/// </summary>
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public WebResponseContent WriteInNormal(SaveModel saveModel)
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{
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WebResponseContent content = new WebResponseContent();
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Dt_Task dt_Task = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskInStatusEnum.InAbnormalFinish);
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dt_Task.TaskState = (int)TaskInStatusEnum.RGV_InPickupFinish;
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dt_Task.RGVTaskType = (int)RGVTaskTypeEnum.Placing;
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dt_Task.NextAddress = "1021";
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_taskRepository.UpdateData(dt_Task);
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return content;
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}
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/// <summary>
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/// 入库异常排出
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/// </summary>
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public WebResponseContent WriteInAbnormal(SaveModel saveModel)
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{
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WebResponseContent content = new WebResponseContent();
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Dt_Task dt_Task = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskInStatusEnum.InAbnormalFinish);
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dt_Task.TaskState = (int)TaskInStatusEnum.InexceptionalSelection;
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dt_Task.RGVTaskType = (int)RGVTaskTypeEnum.Placing;
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_taskRepository.UpdateData(dt_Task);
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return content;
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}
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public static List<string> OutStationareaList = new List<string>() { "RGV111", "RGV116", "RGV110", "RGV112", "RGV114", "RGV115", "RGV118" };
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public static List<string> InStationareaList = new List<string>() { "RGV111", "RGV116", "RGV110", "RGV112", "RGV114", "RGV115", "RGV118" };
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/// <summary>
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/// 查看报警
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/// </summary>
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public bool AQMReadAlarminform(int tasktype)
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{
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var deviceList = tasktype == 1 ? InStationareaList : OutStationareaList;
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foreach (string deviceName in deviceList)
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{
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == deviceName);
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if (device == null) return false;
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SpeStackerCrane stacker = (SpeStackerCrane)device;
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DeviceProDTO? faultInfo = GetRGVDeviceProDTO(stacker, deviceName, "RGV_Faultcode", "ReadDeviceCommand");
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int alarmCode = GetLine(stacker, faultInfo.DeviceProAddress);
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if (alarmCode != 0)
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{
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return true;
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}
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}
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return true;
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}
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/// <summary>
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/// 查看报警
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/// </summary>
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public WebResponseContent ReadAlarminformation(SaveModel saveModel)
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{
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WebResponseContent webResponse = new WebResponseContent();
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string DeviceName = saveModel.DelKeys[0].ToString(); //设备名称
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == DeviceName);
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if (device == null) return webResponse.Error();
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SpeStackerCrane Commonstacker = (SpeStackerCrane)device;
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DeviceProDTO? RGV_Resetoperation = GetRGVDeviceProDTO(Commonstacker, DeviceName, "RGV_Faultcode", "ReadDeviceCommand");
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int baoj = GetLine(Commonstacker, RGV_Resetoperation.DeviceProAddress);
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string alarmMessage = "";
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if (DeviceName == "RGV118")
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{
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alarmMessage = GetAlarmMessage(baoj);
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}
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else if (DeviceName == "RGV111" || DeviceName == "RGV116")
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{
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alarmMessage = GetAlarmMessage2(baoj);
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}
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else if (DeviceName == "RGV110" || DeviceName == "RGV112" || DeviceName == "RGV114" || DeviceName == "RGV115")
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{
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alarmMessage = GetAlarmMessage3(baoj);
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}
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return webResponse.OK(data: alarmMessage);
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}
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// 报警代码映射方法
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private string GetAlarmMessage(int alarmCode)
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{
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var alarmMessages = new Dictionary<int, string>
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{
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{0, "无报警"},
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{1, "RGV小车急停被按下"},
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{2, "正转雷达报警"},
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{3, "反转雷达报警"},
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{4, "前进限位报警"},
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{5, "后退限位报警"},
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{6, ""},
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{7, "PLC摸块故障"},
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{8, "PLC扩展模块故障"},
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{9, "称重模块故障"},
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{10, "扫码定位故障"},
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{11, "RGV长时间空转故障"},
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{12, "目的地不等于实际位置故障"},
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{13, "与总控通讯故障"},
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{14, "前雷达屏蔽警告"},
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{15, "后雷达屏蔽警告"},
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{16, "行走变频器故障"},
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{17, "伸缩叉变频器故障"},
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{18, "液压单元过载保护故障"},
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{19, "液压上升超时报警"},
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{20, "液压下降超时报警"},
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{21, "伸缩叉伸出超时报警"},
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{22, "伸缩叉缩回超时报警"},
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{23, "外形检测报警"},
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{24, "称重超重报警"},
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{25, "货叉伸出极限限位报警"},
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{26, "货叉缩回极限限位报警"},
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{27, "取货时自身有货物报警"},
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{28, "放货时自身无货物报警"},
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{29, "货叉未回到初始位报警"},
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{30, "触发仅移动命令时货叉不在初始位报警"},
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{31, "货叉到达初始位但中位传感器未检测到报警"}
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};
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return alarmMessages.ContainsKey(alarmCode) ? alarmMessages[alarmCode] : "未知报警代码";
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}
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private string GetAlarmMessage2(int alarmCode)
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{
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var alarmMessages = new Dictionary<int, string>
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{
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{0, "无报警"},
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{1, "RGV小车急停被按下"},
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{2, "前进限位报警"},
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{3, "后退限位报警"},
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{4, "PLC摸块故障"},
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{5, "PLC扩展模块故障"},
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{6, "扫码定位故障"},
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{7, "RGV长时间空转故障"},
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{8, "目的地不等于实际位置故障"},
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{9, "与总控通讯故障"},
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{10, "行走变频器故障"},
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{11, "液压单元过载保护故障"},
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{12, "液压上升超时报警"},
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{13, "液压下降超时报警"},
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{14, "取货时自身有货物报警"},
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{15, "放货时自身无货物报警"},
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{16, "取货检测不到货物报警"}
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};
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return alarmMessages.ContainsKey(alarmCode) ? alarmMessages[alarmCode] : "未知报警代码";
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}
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private string GetAlarmMessage3(int alarmCode)
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{
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var alarmMessages = new Dictionary<int, string>
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{
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{0, "无报警"},
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{1, "RGV小车急停被按下"},
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{2, "前进限位报警"},
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{3, "后退限位报警"},
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{4, "PLC摸块故障"},
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{5, "PLC扩展模块故障"},
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{6, "RGV长时间空转故障"},
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{7, "目的地不等于实际位置故障"},
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{8, "与总控通讯故障"},
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{9, "行走变频器故障"},
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{10, "取货时自身有货物报警"},
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{11, "放货时自身无货物报警"},
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{12, "停止时位置过冲报警"}
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};
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return alarmMessages.ContainsKey(alarmCode) ? alarmMessages[alarmCode] : "未知报警代码";
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}
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}
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}
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