using Autofac.Core;
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using Microsoft.AspNetCore.Authorization;
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using Microsoft.AspNetCore.Http;
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using Microsoft.AspNetCore.Mvc;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
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using Org.BouncyCastle.Asn1.Ocsp;
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using System.Text;
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using System.Text.RegularExpressions;
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using WIDESEA_DTO.Agv;
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using WIDESEA_External.Model;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Common.APIEnum;
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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_Core.LogHelper;
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using WIDESEAWCS_DTO;
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using WIDESEAWCS_DTO.Agv;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_QuartzJob.DTO;
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using WIDESEAWCS_QuartzJob.Models;
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using WIDESEAWCS_QuartzJob.Repository;
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using WIDESEAWCS_TaskInfoService;
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using WIDESEAWCS_Tasks;
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using WIDESEAWCS_Tasks.DBNames;
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using static Dm.net.buffer.ByteArrayBuffer;
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namespace WIDESEAWCS_Server.Controllers
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{
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[Route("api/[controller]")]
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[ApiController]
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public class AGVController : ControllerBase
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{
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private readonly IStationMangerRepository _stationMangerRepository;
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private readonly ITaskService _taskService;
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private readonly ITaskRepository _taskRepository;
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private readonly IRouterRepository _routerRepository;
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public AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository,IRouterRepository routerRepository)
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{
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_stationMangerRepository = stationMangerRepository;
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_taskService = taskService;
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_taskRepository = taskRepository;
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_routerRepository = routerRepository;
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}
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/// <summary>
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/// AGV任务更新
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("Callback"), AllowAnonymous]
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public WebResponseContent? Callback([FromBody]AgvUpdateDTO agvUpdateDTO)
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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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WriteLog.Write_Log("AGV任务更新接口", "AGV任务更新接口", "更新任务", $"任务：{agvUpdateDTO.ToJson()}");
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if (agvUpdateDTO.Message != null && agvUpdateDTO.Message == "ROBOT_ERROR-haiUnknownError")
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{
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var task1 = _taskRepository.QueryFirst(x => (agvUpdateDTO.MissionCode ?? "") == x.GroupId);
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if (task1 != null)
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{
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Dt_ErrorInfo errorInfo = new Dt_ErrorInfo()
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{
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RobotCode = agvUpdateDTO.RobotId,
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Message = agvUpdateDTO.Message,
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ErrorType = 2
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};
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if (task1.TaskType == 500)
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{
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errorInfo.Message = "入库异常";
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errorInfo.StationCode = task1.CurrentAddress;
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}
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else
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{
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errorInfo.Message = "出库异常";
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errorInfo.StationCode = task1.NextAddress;
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}
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_taskService.AgvSearchStatus1(errorInfo);
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}
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}
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var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "") == x.PalletCode);
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switch (agvUpdateDTO.MissionStatus)
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{
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case nameof(AGVStatusEnum.PICKER_RECEIVE):
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if (task == null) throw new Exception($"未找到料箱【{agvUpdateDTO.ContainerCode}】任务");
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_taskService.UpdateTask(task, TaskStatusEnum.AGV_TakeFinish);
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Dt_ErrorInfo e1 = new Dt_ErrorInfo()
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{
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RobotCode = agvUpdateDTO.RobotId,
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Message = agvUpdateDTO.Message,
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ErrorType = 0
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};
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_taskService.AgvSearchStatus1(e1);
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break;
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case nameof(AGVStatusEnum.PICKER_SEND):
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if (task == null) throw new Exception($"未找到料箱【{agvUpdateDTO.ContainerCode}】任务");
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Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);
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if (task.IsCancel > 0 && stationManger != null && stationManger.StationCode != agvUpdateDTO.CurrentPosition)
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{
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_taskService.TaskCancelCompleted(task.TaskNum);
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}
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else
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{
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_taskService.TaskCompleted(task.TaskNum);
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}
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Dt_ErrorInfo e2 = new Dt_ErrorInfo()
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{
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RobotCode = agvUpdateDTO.RobotId,
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Message = agvUpdateDTO.Message,
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ErrorType = 0
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};
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_taskService.AgvSearchStatus1(e2);
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break;
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case nameof(AGVStatusEnum.WAITFEEDBACK):
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//AGV放行
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List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x => x.StationType == StationTypeEnum.StationType_OnlyInbound.ObjToInt());
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if (!stationMangers.Select(x => x.StationCode).Contains(agvUpdateDTO.CurrentPosition))
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{
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WebResponseContent responseContent = _taskService.AgvTaskFlow(agvUpdateDTO.MissionCode);
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if (!responseContent.Status) throw new Exception($"{responseContent.Message}");
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}
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Dt_ErrorInfo e3 = new Dt_ErrorInfo()
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{
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RobotCode = agvUpdateDTO.RobotId,
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Message = agvUpdateDTO.Message,
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ErrorType = 0
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};
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_taskService.AgvSearchStatus1(e3);
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break;
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default:
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break;
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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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return content;
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}
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/// <summary>
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/// AGV任务请求
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("WorkRequest"), AllowAnonymous]
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public AgvTaskReqContent WorkRequest([FromBody] AgvTaskRequestDTO agvTaskRequestDTO)
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{
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AgvTaskReqContent content = new AgvTaskReqContent();
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try
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{
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WriteLog.Write_Log("AGV任务请求", "AGV任务请求接口", "任务", $"任务：{agvTaskRequestDTO.ToJson()}");
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//获取任务
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Dt_Task? taskExist = _taskRepository.QueryFirst(x=>x.PalletCode==agvTaskRequestDTO.ContainerCode) ?? throw new Exception($"未找到料箱{agvTaskRequestDTO.ContainerCode}任务");
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//获取站台
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Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == agvTaskRequestDTO.PositionId) ?? throw new Exception($"未找到{agvTaskRequestDTO.PositionId}站台位置");
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode) ?? throw new Exception($"未找到对应设备{stationManger.StationDeviceCode}");
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OtherDevice commonConveyorLine = (OtherDevice)device;
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if (stationManger.StationType==StationTypeEnum.StationType_OnlyOutbound.ObjToInt())
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{
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short IsPut = commonConveyorLine.Communicator.Read<short>("0");
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if (IsPut != 256) throw new Exception($"{agvTaskRequestDTO.PositionId}禁止放箱");
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}
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else
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{
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short IsTake = commonConveyorLine.Communicator.Read<short>("11");
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if (IsTake != 256) throw new Exception($"{agvTaskRequestDTO.PositionId}禁止取箱");
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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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return content;
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}
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/// <summary>
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/// AGV作业完成
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("WorkFinish"), AllowAnonymous]
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public AgvTaskReqContent WorkFinish([FromBody] AgvTaskRequestDTO agvTaskRequestDTO)
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{
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AgvTaskReqContent content = new AgvTaskReqContent();
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try
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{
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WriteLog.Write_Log("AGV作业完成", "AGV作业完成接口", "任务", $"任务：{agvTaskRequestDTO.ToJson()}");
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//获取站台
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Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == agvTaskRequestDTO.PositionId) ?? throw new Exception($"未找到{agvTaskRequestDTO.PositionId}站台位置");
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode) ?? throw new Exception($"未找到对应设备{stationManger.StationDeviceCode}");
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OtherDevice commonConveyorLine = (OtherDevice)device;
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if (stationManger.StationType == StationTypeEnum.StationType_OnlyOutbound.ObjToInt())
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{
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commonConveyorLine.Communicator.Write("21", new byte[] { 1, 0 });
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}
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else
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{
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commonConveyorLine.Communicator.Write("23", new byte[] { 1, 0 });
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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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return content;
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}
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/// <summary>
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/// AGV作业完成
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/// </summary>
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/// <returns></returns>
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[HttpPost, HttpGet, Route("AgvSearchStatus"), AllowAnonymous]
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public void AgvSearchStatus()
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{
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_taskService.AgvSearchStatus();
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}
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}
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}
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