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