using Autofac.Core;
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using Magicodes.IE.Core;
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using NetTaste;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Net.NetworkInformation;
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using System.Reflection.Metadata;
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using System.Text;
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using System.Text.Json;
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using System.Threading.Tasks;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Common.LocationEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Enums;
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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_DTO.WMS;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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namespace WIDESEAWCS_TaskInfoService
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{
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public partial class TaskService
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{
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#region 更新任务状态
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/// <summary>
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/// 更新任务状态
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/// </summary>
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/// <param name="TaskDTO"></param>
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/// <param name="deviceTypeEnum"></param>
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/// <returns></returns>
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/// <exception cref="NotImplementedException"></exception>
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public WebResponseContent UpdateTaskStatus(object TaskDTO, DeviceTypeEnum deviceTypeEnum)
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{
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WebResponseContent content = new WebResponseContent();
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GALAXISUpdateTaskStatus gALAXIS = new();
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RGVReturnInfo Rgv = new();//四向车任务状态通知
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HIKROBOTTaskProcessReport hIKROBOT = new();//海康机器人
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try
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{
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if (deviceTypeEnum == DeviceTypeEnum.GALAXIS)
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{
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gALAXIS = TaskDTO.Serialize().DeserializeObject<GALAXISUpdateTaskStatus>();
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if (gALAXIS == null) throw new Exception("参数转换失败！");
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var task = BaseDal.QueryFirst(x => x.WMSTaskNum == gALAXIS.taskId);
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if (task == null) throw new Exception($"未找到任务,任务编号【{gALAXIS.taskId}】");
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switch (gALAXIS.taskStatus)
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{
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case 0:
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TaskCompleted(task, deviceTypeEnum);
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break;
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case 4:
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TaskFromCompleted(task, deviceTypeEnum);
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break;
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default:
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task.TaskState = ReturnTaskStatus(gALAXIS.taskStatus, deviceTypeEnum);
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if (gALAXIS.taskStatus == 10) TaskFeedback(task, 1);
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else BaseDal.UpdateData(task);
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break;
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}
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}
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else if (deviceTypeEnum == DeviceTypeEnum.HIKROBOT)
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{
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hIKROBOT = TaskDTO.Serialize().DeserializeObject<HIKROBOTTaskProcessReport>();
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if (hIKROBOT == null) throw new Exception("参数转换失败！");
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var task = BaseDal.QueryFirst(x => x.WMSTaskNum == hIKROBOT.robotTaskCode);
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if (task == null) throw new Exception($"未找到任务,任务编号【{hIKROBOT.robotTaskCode}】");
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switch (hIKROBOT.extra.values.method)
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{
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case "end":
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TaskCompleted(task, deviceTypeEnum);
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break;
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case "outbin":
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TaskFromCompleted(task, deviceTypeEnum);
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break;
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case "start":
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task.TaskState = (int)TaskStatusEnum.Takeing;
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TaskFeedback(task, 1);
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break;
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default:
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task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
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BaseDal.UpdateData(task);
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break;
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}
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}
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else //四向车
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{
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Rgv = TaskDTO.Serialize().DeserializeObject<RGVReturnInfo>();
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if (Rgv == null) throw new Exception("参数转换失败！");
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//var task = BaseDal.QueryFirst(x => x.RGVTaskId == Rgv.content.taskID);
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var task = BaseDal.QueryFirst(x => x.PalletCode == Rgv.content.podID);
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if (task == null) throw new Exception($"未找到任务,任务编号【{Rgv.content.taskID}】");
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if (task.TaskType == TaskTypeEnum.CPMoveInventory.ObjToInt())
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{
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}
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else
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{
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if (Rgv.messageType == 72)//小车顶起货物
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{
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if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Execut)
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{
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task.TaskState = (int)TaskStatusEnum.WaiCheckShape;
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//BaseDal.UpdateData(task);//给质检门写入启动信号
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TaskFeedback(task, 4);
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var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice ?? throw new Exception("未找到1楼质检门设备信息");
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device.SetValue(QualityInspectionCommandEnum.StartqualityInspection, true, task.SourceAddress);
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}
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else
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{
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TaskFromCompleted(task, deviceTypeEnum);
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}
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}
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else if (Rgv.messageType == 10)
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{
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if (Rgv.content.status == 2) TaskFeedback(task, 1);
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if (Rgv.content.status == 4)
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{
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if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.TakeFinish)
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{
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task.TaskState = (int)TaskStatusEnum.CheckShapeing;
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BaseDal.UpdateData(task);
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}
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else if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Puting)
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{
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TaskCompleted(task, deviceTypeEnum);
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}
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else if (task.TaskType == (int)TaskTypeEnum.CPInbound && !string.IsNullOrEmpty(task.ExceptionMessage))
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{
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ErrorTaskFeedback(task, !task.ExceptionMessage.Contains("外检失败"));
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}
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else if (task.TaskType == (int)TaskTypeEnum.CPOutbound || task.TaskType == (int)TaskTypeEnum.CPMoveInventory)//出库、移库完成
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{
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TaskCompleted(task, deviceTypeEnum);
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}
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}
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}
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}
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}
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content.OK();
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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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// 在 finally 中判断哪个对象被赋值了
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object logObject = null;
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string deviceName = "";
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if (gALAXIS != null && gALAXIS.taskId != null)
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{
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logObject = gALAXIS;
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deviceName = "凯乐士AGV";
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}
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else if (hIKROBOT != null && hIKROBOT.robotTaskCode != null)
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{
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logObject = hIKROBOT;
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deviceName = "海康机器人";
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}
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else if (Rgv != null && Rgv.content.taskID != 0)
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{
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logObject = Rgv;
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deviceName = "四向车";
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}
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if (logObject != null)
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{
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_trackloginfoService.AddTrackLog(logObject, content, $"下发{deviceName}任务", "", "");
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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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#region 任务状态转换
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public int ReturnTaskStatus(object status, DeviceTypeEnum deviceTypeEnum)
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{
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try
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{
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if (deviceTypeEnum == DeviceTypeEnum.GALAXIS)
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{
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TaskStatusEnum taskStatus = status switch
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{
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1 => TaskStatusEnum.FromOutOfStock,
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2 => TaskStatusEnum.ToaddInStock,
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3 => TaskStatusEnum.TaskNumRepetition,
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5 => TaskStatusEnum.RCSDataError,
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6 => TaskStatusEnum.TaskTypeError,
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7 => TaskStatusEnum.ParameterError,
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8 => TaskStatusEnum.RCSError,
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10 => TaskStatusEnum.Takeing,
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13 => TaskStatusEnum.Cancel,
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_ => throw new ArgumentOutOfRangeException(
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nameof(status),
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status,
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$"未知的任务状态码: {status}"
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)
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};
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return (int)taskStatus;
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}
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else if (deviceTypeEnum == DeviceTypeEnum.HIKROBOT)
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{
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return 0;
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}
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else
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{
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return 0;
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}
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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#endregion
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#region 任务起点完成
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/// <summary>
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/// 任务起点完成
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/// </summary>
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/// <param name="dt_Task"></param>
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/// <param name="deviceTypeEnum"></param>
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/// <returns></returns>
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public WebResponseContent TaskFromCompleted(Dt_Task dt_Task, DeviceTypeEnum deviceTypeEnum)
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{
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try
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{
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dt_Task.TaskState = TaskStatusEnum.TakeFinish.ObjToInt();
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TaskFeedback(dt_Task, 4);
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//Db.Ado.BeginTran();
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UpdateLocationStatus(dt_Task.SourceAddress, dt_Task.PalletCode, deviceTypeEnum, LocationStatusEnum.Free);
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//BaseDal.UpdateData(dt_Task);
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//Db.Ado.CommitTran();
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return WebResponseContent.Instance.OK();
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}
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catch (Exception ex)
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{
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Db.Ado.RollbackTran();
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throw new Exception(ex.Message);
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}
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}
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#endregion
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#region 任务完成
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/// <summary>
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/// 任务完成
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/// </summary>
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/// <param name=""></param>
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/// <param name="deviceTypeEnum"></param>
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/// <returns></returns>
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public WebResponseContent TaskCompleted(Dt_Task dt_Task, DeviceTypeEnum deviceTypeEnum)
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{
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try
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{
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dt_Task.TaskState = TaskStatusEnum.Finish.ObjToInt();
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TaskFeedback(dt_Task, 2);
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//Db.Ado.BeginTran();
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UpdateLocationStatus(dt_Task.TargetAddress, dt_Task.PalletCode, deviceTypeEnum, LocationStatusEnum.InStock);
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//Db.Ado.CommitTran();
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return WebResponseContent.Instance.OK();
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}
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catch (Exception ex)
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{
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//Db.Ado.RollbackTran();
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throw new Exception(ex.Message);
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}
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}
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#endregion
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#region 更新货位状态
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/// <summary>
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/// 更新货位状态
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/// </summary>
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/// <param name="LocationCode"></param>
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/// <param name="deviceTypeEnum"></param>
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/// <param name="locationStatusEnum"></param>
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/// <returns></returns>
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public WebResponseContent UpdateLocationStatus(string locationCode, string palletCode, DeviceTypeEnum deviceTypeEnum, LocationStatusEnum locationStatusEnum)
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{
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try
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{
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if (deviceTypeEnum == DeviceTypeEnum.GALAXIS)
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{
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Dt_KLSLocationInfo? dt_KLSLocationInfo = _kLSLocationInfoService.Repository.QueryFirst(x => x.LocationCode == locationCode);
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if (dt_KLSLocationInfo != null)
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{
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if (locationStatusEnum == LocationStatusEnum.Free) //如果起点完成就给货位赋值托盘号
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{
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dt_KLSLocationInfo.PalletCode = "";
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}
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else
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{
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dt_KLSLocationInfo.PalletCode = palletCode;
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}
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dt_KLSLocationInfo.LocationStatus = locationStatusEnum.ObjToInt();
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_kLSLocationInfoService.Repository.UpdateData(dt_KLSLocationInfo);
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}
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}
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else if (deviceTypeEnum == DeviceTypeEnum.HIKROBOT)
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{
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Dt_HKLocationInfo? dt_HKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == locationCode);
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if (dt_HKLocationInfo != null)
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{
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if (locationStatusEnum == LocationStatusEnum.Free) //如果起点完成就给货位赋值托盘号
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{
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dt_HKLocationInfo.PalletCode = "";
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}
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else
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{
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dt_HKLocationInfo.PalletCode = palletCode;
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}
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dt_HKLocationInfo.LocationStatus = locationStatusEnum.ObjToInt();
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_hKLocationInfoService.Repository.UpdateData(dt_HKLocationInfo);
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}
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}
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else if (deviceTypeEnum == DeviceTypeEnum.YuanLiJuHe)
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{
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Dt_RGVLocationInfo dt_RGVLocationInfo = _rGVLocationInfoService.Repository.QueryFirst(x => x.LocationCode == locationCode);
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//这里将任务的托盘号给货位表中的PalletCode字段。
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if (dt_RGVLocationInfo != null)
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{
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if (locationStatusEnum == LocationStatusEnum.Free) //如果起点完成就给货位赋值托盘号
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{
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dt_RGVLocationInfo.PalletCode = "";
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}
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else
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{
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dt_RGVLocationInfo.PalletCode = palletCode;
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}
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dt_RGVLocationInfo.LocationStatus = locationStatusEnum.ObjToInt();
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_rGVLocationInfoService.Repository.UpdateData(dt_RGVLocationInfo);
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}
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}
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else//平库库位
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{
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}
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return WebResponseContent.Instance.OK();
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}
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catch (Exception ex)
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{
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throw new Exception(ex.Message);
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}
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}
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#endregion
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#region 上报WMS
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public WebResponseContent TaskFeedback(Dt_Task dt_Task, int Status)
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{
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WebResponseContent content = new WebResponseContent();
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WMSInOutBoundCompleteFeedback boundCompleteFeedback = new WMSInOutBoundCompleteFeedback();
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WMSReturn agvContent = null;
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try
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{
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Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(WMSInOutBoundCompleteFeedback));
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if (apiInfo == null) dt_Task.ExceptionMessage = "未找到出入库完成反馈WMS接口配置信息！请检查接口配置";
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else
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{
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boundCompleteFeedback.taskCode = dt_Task.WMSTaskNum;
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boundCompleteFeedback.containerCode = dt_Task.PalletCode;
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boundCompleteFeedback.fromStationCode = dt_Task.SourceAddress;
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boundCompleteFeedback.toLocationCode = dt_Task.TargetAddress;
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boundCompleteFeedback.status = Status;
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boundCompleteFeedback.custStatus = "";
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string response = HttpHelper.Post(apiInfo.ApiAddress, boundCompleteFeedback.Serialize());
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agvContent = response.DeserializeObject<WMSReturn>();
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content.OK(data: agvContent);
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if (agvContent.code != 200)
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{
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dt_Task.ExceptionMessage = agvContent.message;
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content.Error(agvContent.message);
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}
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}
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}
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catch (Exception ex)
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{
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dt_Task.ExceptionMessage = ex.Message;
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}
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finally
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{
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_trackloginfoService.AddTrackLog(boundCompleteFeedback, content, "出入库任务状态反馈WMS", "", "");
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if (agvContent != null && agvContent.code == 200 && Status == 2)
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BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
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else
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BaseDal.UpdateData(dt_Task);
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}
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return WebResponseContent.Instance.OK();
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}
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#endregion
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#region 失败任务上报WMS并删除任务
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public WebResponseContent ErrorTaskFeedback(Dt_Task dt_Task, bool Del)
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{
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WebResponseContent content = new WebResponseContent();
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WMSInOutBoundCompleteFeedback boundCompleteFeedback = new WMSInOutBoundCompleteFeedback();
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WMSReturn agvContent = null;
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try
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{
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Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(WMSInOutBoundCompleteFeedback));
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if (apiInfo == null) dt_Task.ExceptionMessage = "未找到出入库完成反馈WMS接口配置信息！请检查接口配置";
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else
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{
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boundCompleteFeedback.taskCode = dt_Task.WMSTaskNum;
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boundCompleteFeedback.containerCode = dt_Task.PalletCode;
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boundCompleteFeedback.fromStationCode = dt_Task.SourceAddress;
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boundCompleteFeedback.toLocationCode = dt_Task.TargetAddress;
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boundCompleteFeedback.status = 3;
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boundCompleteFeedback.custStatus = "";
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boundCompleteFeedback.memo = dt_Task.ExceptionMessage;
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string response = HttpHelper.Post(apiInfo.ApiAddress, boundCompleteFeedback.Serialize());
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agvContent = response.DeserializeObject<WMSReturn>();
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content.OK(data: agvContent);
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if (agvContent.code != 200)
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{
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dt_Task.ExceptionMessage = agvContent.message;
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content.Error(agvContent.message);
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}
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}
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}
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catch (Exception ex)
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{
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dt_Task.ExceptionMessage = ex.Message;
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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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_trackloginfoService.AddTrackLog(boundCompleteFeedback, content, "出入库任务状态反馈WMS", "", "");
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if (agvContent != null && agvContent.code == 200 && Del) BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动删除);
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else BaseDal.UpdateData(dt_Task);
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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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