using System;
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using System.Collections.Generic;
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using System.Linq;
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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 WIDESEAWCS_Common;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO;
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using WIDESEAWCS_DTO.AGV.HIKROBOT;
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using WIDESEAWCS_DTO.RGV.FOURBOT;
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using WIDESEAWCS_Model.Models;
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namespace WIDESEAWCS_Tasks
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{
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public partial class TaskJob
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{
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#region 处理海康AGV任务
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/// <summary>
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/// 处理海康不同类型的任务，进行不同的业务逻辑处理（配套任务:修改平库货位信息/换层任务记录小车信息(小车位置层)；出入库任务处理库位信息）
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/// </summary>
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/// <param name="tasks"></param>
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public void HIKROBOTTask(List<Dt_Task> tasks)
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{
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foreach (var item in tasks)
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{
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var content = _taskService.SendHIKROBOTTask(item);
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}
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}
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#endregion
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#region 处理海康待继续执行任务
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public void SendAGVWaitToExecuteTask(List<Dt_Task> tasks)
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{
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foreach (var item in tasks)
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{
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var content = _taskService.SendHIKROBOTTask(item);
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}
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}
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#endregion
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#region 下发海康1-6楼的AGV任务
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public void SendAGVTask(List<Dt_Task> tasks)
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{
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foreach (var item in tasks)
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{
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if (item.TaskState == (int)TaskTypeEnum.Q3CK)
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{
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// 调用接口获取小车信息
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var result = _agvcartInfoService.CheckTheCar();
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// 判断是否有 AA 或 FF
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bool hasAAOrFF = false;
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if (item.TaskState == (int)TaskTypeEnum.Q3CK)
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{
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if (result != null && result.Status)
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{
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var dataList = result.Data as List<HIKROBOTQueryData>;
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if (dataList != null && dataList.Any())
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{
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// 检查返回的 mapCode 列表中是否有 AA
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hasAAOrFF = dataList.Any(d => d.mapCode == "AA");
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if (hasAAOrFF)
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{
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var content = _taskService.SendHIKROBOTTask(item);
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item.TaskState = (int)TaskStatusEnum.Execut;
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}
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else//这里我就要呼叫空车来
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{
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//添加空车运输任务
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AddAGVCartInfo(item);
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item.TaskState = (int)TaskStatusEnum.WaitingHkAGVMovePosition;
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}
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}
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}
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}
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else
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{
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if (result != null && result.Status)
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{
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if (hasAAOrFF)
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{
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var content = _taskService.SendHIKROBOTTask(item);
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item.TaskState = (int)TaskStatusEnum.Execut;
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}
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else//这里我就要呼叫空车来
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{
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//添加空车运输任务
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AddAGVCartInfo(item);
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item.TaskState = (int)TaskStatusEnum.WaitingHkAGVMovePosition;
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}
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}
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}
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}
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}
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_taskService.UpdateData(tasks);
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}
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#endregion
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#region 处理海康agv搬运任务
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public WebResponseContent AddAGVCartInfo(Dt_Task task)
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{
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WebResponseContent content = new WebResponseContent();
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try
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{
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task.TaskNum = _taskService.GetTaskNum(nameof(SequenceEnum.SeqTaskNum));
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task.WMSTaskNum = null;
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task.TaskType = (int)TaskTypeEnum.Move;//换层任务
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task.TaskState = (int)TaskStatusEnum.CallingHKtransportation;
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var result = _taskService.SendHIKROBOTTask(task);
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_taskService.AddData(task);
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}
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catch (Exception ex)
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{
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content.Error($"创建失败：{ex.Message}");
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}
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return content;
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}
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#endregion
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#region 处理agv待空车搬运任务
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public void SendHKWaitTask()
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{
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try
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{
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List<Dt_Task> reslut = _taskService.Repository.QueryData(x => x.TaskType == (int)TaskTypeEnum.Move);
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if (reslut.Count<0)
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{
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foreach (var item in reslut)
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{
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var content = _taskService.SendHIKROBOTTask(item);
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}
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reslut.ForEach(x =>
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{
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x.TaskState =(int)TaskStatusEnum.Execut;
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});
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}
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_taskService.UpdateData(reslut);
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}
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catch (Exception ex)
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{
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WriteError(nameof(TaskJob), ex.Message, ex);
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}
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}
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#endregion
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}
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}
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