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_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 = 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 = SendHIKROBOTTask(item);
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}
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}
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#endregion
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#region 下发海康AGV任务
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public WebResponseContent SendHIKROBOTTask(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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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");
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#region 任务信息转换
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HIKROBOTTaskSubmit hIKROBOTTaskSubmit = new HIKROBOTTaskSubmit()
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{
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taskType = "",
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initPriority = task.Grade,
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targetRoute = new List<TargetRouteDto>
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{
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new TargetRouteDto
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{
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type= "SITE",
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code=task.CurrentAddress,
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operation="COLLECT",//取货
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},
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new TargetRouteDto
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{
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type= "SITE",
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code=task.NextAddress,
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operation="DELIVERY",//送货
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}
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}
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};
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#endregion
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string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskSubmit.Serialize());
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var hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
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if (hIKROBOTReturn.code == "SUCCESS")
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{
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var data = hIKROBOTReturn.data.ToString().DeserializeObject<HIKROBOTReturnData>();
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content.OK(data: data);
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//task.Remark = data.robotTaskCode;
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}
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else
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{
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throw new Exception(hIKROBOTReturn.message);
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}
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//_taskService.UpdateData(task);
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}
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catch (Exception ex)
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{
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content.Error(ex.Message);
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}
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finally
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{
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}
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return content;
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}
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#endregion
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}
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}
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