using System;
|
using System.Collections.Generic;
|
using System.Linq;
|
using System.Text;
|
using System.Threading.Tasks;
|
using WIDESEAWCS_Common.LocationEnum;
|
using WIDESEAWCS_Common.TaskEnum;
|
using WIDESEAWCS_Common;
|
using WIDESEAWCS_Core;
|
using WIDESEAWCS_DTO.WMS;
|
using WIDESEAWCS_Model.Models;
|
using WIDESEAWCS_Core.Helper;
|
using WIDESEAWCS_DTO;
|
using WIDESEAWCS_DTO.AGV.HIKROBOT;
|
using System.Diagnostics.CodeAnalysis;
|
using System.Reflection.PortableExecutable;
|
|
namespace WIDESEAWCS_TaskInfoService
|
{
|
public partial class TaskService
|
{
|
|
#region 海康AGV任务创建
|
/// <summary>
|
/// 创建海康AGV入库任务
|
/// </summary>
|
/// <param name="taskDTO"></param>
|
/// <param name="taskType"></param>
|
/// <returns></returns>
|
public WebResponseContent CreateHKNewInTask(TaskDTO taskDTO, int taskType)
|
{
|
WebResponseContent content = new WebResponseContent();
|
try
|
{
|
Dt_HKLocationInfo? hKLocationInfo = null;
|
#region 点到点
|
if (!string.IsNullOrEmpty(taskDTO.toLocationCode))
|
{
|
hKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.toLocationCode) ?? throw new Exception($"未找到终点货位【{taskDTO.toLocationCode}】");
|
if (hKLocationInfo.LocationStatus != (int)LocationStatusEnum.Free) throw new Exception($"终点货位【{taskDTO.toLocationCode}】货位状态不为空货位");
|
}
|
#endregion
|
//获取货位信息
|
else
|
hKLocationInfo = _hKLocationInfoService.GetFreeLocationInfo(taskDTO.toAreaCode) ?? throw new Exception($"未找到终点库区【{taskDTO.toAreaCode}】可用空货位！");
|
Dt_Task dt_Task = new Dt_Task()
|
{
|
TaskNum = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
|
WMSTaskNum = taskDTO.taskCode,
|
//WMSId = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
|
Grade = taskDTO.taskPriority,
|
PalletCode = taskDTO.containerCode,
|
Roadway = hKLocationInfo.RoadwayNo,
|
TaskState = TaskStatusEnum.New.ObjToInt(),
|
TaskType = taskType,
|
SourceAddress = taskDTO.fromLocationCode,
|
CurrentAddress = taskDTO.fromLocationCode,
|
NextAddress = hKLocationInfo.LocationCode,
|
TargetAddress = hKLocationInfo.LocationCode,
|
Creater = "WMS",
|
};
|
hKLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
|
|
#region 下发海康AGV任务
|
content = SendHIKROBOTTask(dt_Task);
|
if (!content.Status) throw new Exception(content.Message);
|
dt_Task.TaskState = (int)TaskStatusEnum.Execut;
|
dt_Task.Dispatchertime = DateTime.Now;
|
#endregion
|
try
|
{
|
Db.Ado.BeginTran();
|
BaseDal.AddData(dt_Task);
|
_hKLocationInfoService.Repository.UpdateData(hKLocationInfo);
|
Db.Ado.CommitTran();
|
}
|
catch (Exception ex)
|
{
|
Db.Ado.RollbackTran();
|
throw new Exception(ex.Message);
|
}
|
|
content.OK(data: new
|
{
|
taskCode = taskDTO.taskCode,
|
Message = "成功！"
|
});
|
}
|
catch (Exception ex)
|
{
|
content.Data = new
|
{
|
taskCode = taskDTO.taskCode,
|
Message = $"失败！{ex.Message}"
|
};
|
content.Error(ex.Message);
|
}
|
return content;
|
}
|
/// <summary>
|
/// 创建海康AGV出库任务
|
/// </summary>
|
/// <param name="taskDTO"></param>
|
/// <param name="taskType"></param>
|
/// <returns></returns>
|
public WebResponseContent CreateHKNewOutTask(TaskDTO taskDTO, int taskType)
|
{
|
WebResponseContent content = new WebResponseContent();
|
try
|
{
|
Dt_HKLocationInfo? hKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.fromLocationCode) ?? throw new Exception($"未找到起点库位【{taskDTO.fromLocationCode}】！");
|
if (hKLocationInfo.LocationStatus != LocationStatusEnum.InStock.ObjToInt()) throw new Exception($"起点库位【{taskDTO.fromLocationCode}】当前库位状态不可出库！");
|
if (hKLocationInfo.PalletCode != taskDTO.containerCode) throw new Exception($"起点库位【{taskDTO.fromLocationCode}】绑定料箱号【{hKLocationInfo.PalletCode}】与任务料箱号【{taskDTO.containerCode}】不匹配！");
|
Dt_Task dt_Task = new Dt_Task()
|
{
|
TaskNum = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
|
WMSTaskNum = taskDTO.taskCode,
|
//WMSId = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
|
Grade = taskDTO.taskPriority,
|
PalletCode = taskDTO.containerCode,
|
Roadway = hKLocationInfo.RoadwayNo,
|
TaskState = TaskStatusEnum.New.ObjToInt(),
|
TaskType = taskType,
|
SourceAddress = taskDTO.fromLocationCode,
|
CurrentAddress = taskDTO.fromLocationCode,
|
NextAddress = taskDTO.toLocationCode,
|
TargetAddress = taskDTO.toLocationCode,
|
Creater = "WMS",
|
};
|
hKLocationInfo.LocationStatus = LocationStatusEnum.OutLock.ObjToInt();
|
#region 下发海康AGV任务
|
content = SendHIKROBOTTask(dt_Task);
|
if (!content.Status) throw new Exception(content.Message);
|
dt_Task.TaskState = (int)TaskStatusEnum.Execut;
|
dt_Task.Dispatchertime = DateTime.Now;
|
#endregion
|
try
|
{
|
Db.Ado.BeginTran();
|
BaseDal.AddData(dt_Task);
|
_hKLocationInfoService.Repository.UpdateData(hKLocationInfo);
|
Db.Ado.CommitTran();
|
}
|
catch (Exception ex)
|
{
|
Db.Ado.RollbackTran();
|
throw new Exception(ex.Message);
|
}
|
return content.OK(data: new
|
{
|
taskCode = taskDTO.taskCode,
|
Message = "成功！"
|
});
|
}
|
catch (Exception ex)
|
{
|
content.Data = new
|
{
|
taskCode = taskDTO.taskCode,
|
Message = $"失败！{ex.Message}"
|
};
|
return content.Error(ex.Message);
|
}
|
}
|
#endregion
|
|
#region 下发海康AGV任务
|
public WebResponseContent SendHIKROBOTTask([NotNull] Dt_Task task)
|
{
|
WebResponseContent content = new WebResponseContent();
|
HIKROBOTReturn hIKROBOTReturn = null;
|
HIKROBOTTaskSubmit hIKROBOTTaskSubmit = null;
|
try
|
{
|
Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(HIKROBOTTaskSubmit)) ?? throw new Exception("未找到海康AGV任务下发接口配置信息！请检查接口配置");
|
#region 实体类转换
|
hIKROBOTTaskSubmit = HIKROBOTTask(task);
|
if (hIKROBOTTaskSubmit == null) throw new Exception("海康AGV任务实体转换失败");
|
var json = hIKROBOTTaskSubmit.Serialize();
|
#endregion
|
// 创建Headers字典
|
var headers = new Dictionary<string, string>
|
{
|
{ "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString()+task.TaskNum }
|
// 如果需要其他Header，可以继续添加
|
// { "Content-Type", "application/json" }
|
};
|
|
// 传递Headers参数
|
string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskSubmit.Serialize(), headers: headers);
|
//string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskSubmit.Serialize());
|
hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
|
if (hIKROBOTReturn.code == "SUCCESS")
|
{
|
var data = hIKROBOTReturn.data.ToString().DeserializeObject<HIKROBOTReturnData>();
|
content.OK(data: data);
|
}
|
else
|
{
|
throw new Exception(hIKROBOTReturn.message);
|
}
|
}
|
catch (Exception ex)
|
{
|
content.Error(ex.Message);
|
}
|
finally
|
{
|
_trackloginfoService.AddTrackLog(hIKROBOTTaskSubmit, content, "下发海康AGV任务", "", hIKROBOTReturn.message);
|
}
|
return content;
|
}
|
#endregion
|
/// <summary>
|
/// 海康任务实体类转换
|
/// </summary>
|
/// <param name="task"></param>
|
/// <returns></returns>
|
public HIKROBOTTaskSubmit HIKROBOTTask(Dt_Task task)
|
{
|
HIKROBOTTaskSubmit hIKROBOTTaskSubmit = new HIKROBOTTaskSubmit();
|
try
|
{
|
var tasktype = (TaskTypeEnum)Enum.GetValues(typeof(TaskTypeEnum)).GetValue(task.TaskType - 1);
|
|
hIKROBOTTaskSubmit.initPriority = task.Grade;
|
hIKROBOTTaskSubmit.robotTaskCode = task.WMSTaskNum;
|
hIKROBOTTaskSubmit.taskType = tasktype.ToString(); ExtraDto extraDto = new ExtraDto();
|
CarrierInfoDto carrierInfoDto = new CarrierInfoDto()
|
{
|
carrierCode = task.PalletCode,
|
carrierType = task.PalletCode.Contains("LXM") ? "DX" : "SX"
|
};
|
extraDto.carrierInfo.Add(carrierInfoDto);
|
hIKROBOTTaskSubmit.extra = extraDto;
|
switch (tasktype)
|
{
|
case TaskTypeEnum.CPInbound:
|
case TaskTypeEnum.CPOutbound:
|
case TaskTypeEnum.MLInbound:
|
case TaskTypeEnum.MLOutbound:
|
break;
|
case TaskTypeEnum.F01:
|
break;
|
case TaskTypeEnum.RK3F:
|
case TaskTypeEnum.CK3F:
|
case TaskTypeEnum.F02:
|
case TaskTypeEnum.F03:
|
case TaskTypeEnum.F04:
|
{
|
TargetRouteDto target = new TargetRouteDto()
|
{
|
code = task.CurrentAddress,
|
operation = "DELIVERY",//取货
|
seq = 0,
|
type = "SITE",
|
};
|
TargetRouteDto targetRoute = new TargetRouteDto()
|
{
|
code = task.NextAddress,
|
operation = "DELIVERY",//送货
|
seq = 1,
|
type = "SITE"
|
};
|
hIKROBOTTaskSubmit.targetRoute.Add(target);
|
hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
|
}
|
break;
|
case TaskTypeEnum.Q1TSJ4:
|
{
|
TargetRouteDto target = new TargetRouteDto()
|
{
|
code = task.CurrentAddress,
|
operation = "DELIVERY",//取货
|
seq = 0,
|
type = "SITE",
|
};
|
TargetRouteDto targetRoute = new TargetRouteDto()
|
{
|
code = task.NextAddress,
|
operation = "DELIVERY",//送货
|
seq = 1,
|
type = "STORAGE"
|
};
|
hIKROBOTTaskSubmit.targetRoute.Add(target);
|
hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
|
}
|
break;
|
case TaskTypeEnum.STU0003:
|
case TaskTypeEnum.CHUKU1:
|
{
|
TargetRouteDto target = new TargetRouteDto()
|
{
|
code = task.CurrentAddress,
|
operation = "DELIVERY",//取货
|
seq = 0,
|
type = "STORAGE",
|
};
|
TargetRouteDto targetRoute = new TargetRouteDto()
|
{
|
code = task.NextAddress,
|
operation = "DELIVERY",//送货
|
seq = 1,
|
type = "SITE",
|
};
|
hIKROBOTTaskSubmit.targetRoute.Add(target);
|
hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
|
}
|
break;
|
case TaskTypeEnum.Q3RK:
|
break;
|
case TaskTypeEnum.Q3CK:
|
break;
|
case TaskTypeEnum.Move:
|
break;
|
case TaskTypeEnum.CPMoveInventory:
|
break;
|
default:
|
break;
|
}
|
}
|
catch (Exception ex)
|
{
|
|
}
|
return hIKROBOTTaskSubmit;
|
}
|
|
|
/// <summary>
|
/// 海康AGV任务继续执行
|
/// </summary>
|
/// <param name="TaskCode">任务号</param>
|
/// <returns></returns>
|
public WebResponseContent Hikvisiontaskscontinue(string TaskCode, string Address = null)
|
{
|
WebResponseContent content = new WebResponseContent();
|
HIKROBOTReturn hIKROBOTReturn = null;
|
HIKROBOTTaskContinue hIKROBOTTaskContinue = null;
|
try
|
{
|
// 1. 参数验证
|
if (string.IsNullOrWhiteSpace(TaskCode))
|
{
|
throw new Exception("任务编码不能为空");
|
}
|
Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(HIKROBOTTaskContinue)) ?? throw new Exception("未找到海康AGV继续执行接口配置信息！请检查接口配置");
|
hIKROBOTTaskContinue = new HIKROBOTTaskContinue()
|
{
|
triggerCode = TaskCode,
|
triggerType = "TASK",//固定值
|
targetRoute = string.IsNullOrEmpty(Address) ? null :
|
new TargetRouteDto()
|
{
|
code = Address,
|
type = "SITE",
|
}
|
};
|
var headers = new Dictionary<string, string>
|
{
|
{ "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString()+TaskCode }
|
};
|
string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskContinue.Serialize(), headers: headers);
|
hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
|
|
if (hIKROBOTReturn.code == "SUCCESS")
|
{
|
var data = hIKROBOTReturn.data.ToString().DeserializeObject<HIKROBOTReturnData>();
|
content.OK(data: data);
|
}
|
else
|
{
|
throw new Exception(hIKROBOTReturn.message);
|
}
|
}
|
catch (Exception ex)
|
{
|
content.Error(ex.Message);
|
}
|
finally
|
{
|
_trackloginfoService.AddTrackLog(hIKROBOTTaskContinue, content, "海康AGV继续执行任务", "", hIKROBOTReturn.message);
|
|
}
|
return content;
|
}
|
|
}
|
}
|
