using Autofac.Core;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Serialization;
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using Org.BouncyCastle.Asn1.Ocsp;
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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.Reflection.Metadata;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEA_DTO.Agv;
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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.Helper;
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using WIDESEAWCS_DTO.Agv;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_Model.Models;
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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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// 创建一个使用小驼峰命名法的序列化设置
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JsonSerializerSettings settings = new JsonSerializerSettings
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{
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ContractResolver = new CamelCasePropertyNamesContractResolver()
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};
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public WebResponseContent AgvSendTask(AgvTaskSendDTO taskModel, APIEnum SendTask = APIEnum.AgvSendTask)
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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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string? apiAddress = _apiInfoRepository.QueryFirst(x => x.ApiCode == SendTask.ToString())?.ApiAddress;
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if (string.IsNullOrEmpty(apiAddress)) throw new Exception($"未找到发送AGV任务接口,请检查接口配置");
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string request = JsonConvert.SerializeObject(taskModel, settings);
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string response = HttpHelper.Post(apiAddress, request);
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WriteLog.Write_Log("AGV入库任务下发", "出库任务下发接口", "请求任务", $"请求：{request},回传：{response}");
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AgvResponseContent agvContent = response.DeserializeObject<AgvResponseContent>() ?? throw new Exception("AGV任务发送未返回结果");
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if (agvContent.Success)
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{
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content.OK();
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}
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else
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{
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content.Error(agvContent.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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return content;
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}
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/// <summary>
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/// AGV查询调用及WMS故障上报
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/// </summary>
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public void AgvSearchStatus1(Dt_ErrorInfo e2)
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{
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WriteLog.Write_Log("AGV查询调用及WMS故障上报", "AGV查询调用及WMS故障接口", "请求", $"请求：{e2.ToJson()}");
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if (e2 != null)
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{
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// 查询是否有错误没有就添加，有就取消
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List<Dt_ErrorInfo> existingErrors = _errorInfoRepository.QueryData(x =>
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x.RobotCode == e2.RobotCode &&
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x.ErrorType == 2); // 只查询故障类型为2的记录
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string? ErrorBack = _apiInfoRepository.QueryFirst(x => x.ApiCode == APIEnum.WMSErrorBack.ToString())?.ApiAddress;
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if (string.IsNullOrEmpty(ErrorBack))
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{
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return;
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}else{
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// 如果是故障上报(e2.ErrorType == 2)
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if (e2.ErrorType == 2)
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{
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// 检查是否已存在相同机器人的故障记录
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if (existingErrors.Count == 0)
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{
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_errorInfoRepository.AddData(e2);
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// 发送给WMS - 故障上报
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TaskError taskError = new TaskError()
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{
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MsgID = e2.Id,
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StationCode = e2.StationCode,
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MsgCode = 1, // 1表示故障
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Msg = e2.Message
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};
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string reqErrorBack = JsonConvert.SerializeObject(taskError, settings);
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HttpHelper.Post(ErrorBack, reqErrorBack);
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}
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// 如果已存在故障记录，则不重复添加
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}
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// 如果是正常状态(e2.ErrorType == 0)且存在故障记录，则执行故障恢复
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else if (e2.ErrorType == 0 && existingErrors.Count > 0)
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{
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// 删除故障记录
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if (_errorInfoRepository.DeleteData(existingErrors))
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{
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// 发送给WMS - 故障恢复
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foreach (var error in existingErrors)
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{
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TaskError taskError = new TaskError()
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{
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MsgID = error.Id,
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StationCode = error.StationCode,
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MsgCode = 0, // 0表示恢复
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Msg = "故障恢复"
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};
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string reqErrorBack = JsonConvert.SerializeObject(taskError, settings);
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HttpHelper.Post(ErrorBack, reqErrorBack);
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}
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}
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}
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return;
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}
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}
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}
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/// <summary>
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/// AGV状态查询调用及WMS故障上报
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/// </summary>
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public void AgvSearchStatus()
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{
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try
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{
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// 查询是否有任务
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List<Dt_Task> tasks = BaseDal.QueryData();
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// 如果没有任务，直接返回
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if (tasks == null || tasks.Count == 0)
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{
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return;
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}
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AgvSearchStatusDTO agvSearchStatusDTO = new AgvSearchStatusDTO();
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string? apiAddress = _apiInfoRepository.QueryFirst(x => x.ApiCode == APIEnum.AgvSearchStatus.ToString())?.ApiAddress;
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if (string.IsNullOrEmpty(apiAddress)) throw new Exception($"未找到AGV状态查询接口,请检查接口配置");
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string? apiErrorBack = _apiInfoRepository.QueryFirst(x => x.ApiCode == APIEnum.WMSErrorBack.ToString())?.ApiAddress;
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if (string.IsNullOrEmpty(apiErrorBack)) throw new Exception($"未找到WMS故障上报,请检查接口配置");
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string request = JsonConvert.SerializeObject(agvSearchStatusDTO, settings);
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string response = HttpHelper.Post(apiAddress, request);
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AgvStatusContent agvContent = response.DeserializeObject<AgvStatusContent>() ?? throw new Exception("AGV状态查询未返回结果");
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//获取所有故障信息
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List <Dt_ErrorInfo> errorInfos = _errorInfoRepository.QueryData(x => x.ErrorType == 1);
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int errorId = errorInfos.Count > 0 ? errorInfos.Max(x => x.Id) : 0;
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List<Dt_ErrorInfo> delErrorInfos = new List<Dt_ErrorInfo>();
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List<Dt_ErrorInfo> addErrorInfos = new List<Dt_ErrorInfo>();
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//获取任务信息
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//List<Dt_Task> tasks = BaseDal.QueryData();
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if (agvContent.Success)
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{
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foreach (var item in agvContent.Data.Where(x => errorInfos.Select(x => x.RobotCode).Contains(x.RobotId) && x.Status != 7))
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{
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//上报故障恢复
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Dt_ErrorInfo errorInfo = errorInfos.FirstOrDefault(x => x.RobotCode == item.RobotId);
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delErrorInfos.Add(errorInfo);
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}
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foreach (var item in agvContent.Data.Where(x => !x.MissionCode.IsNullOrEmpty() && !errorInfos.Select(x => x.RobotCode).Contains(x.RobotId) && x.Status == 7))
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{
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Dt_Task? task = tasks.FirstOrDefault(x=>x.TaskNum == item.MissionCode.ObjToInt() || x.GroupId==item.MissionCode);
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if (task != null)
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{
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Dt_ErrorInfo errorInfo = new Dt_ErrorInfo()
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{
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RobotCode = item.RobotId,
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Message = "故障",
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ErrorType = 1,
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};
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if (task.TaskType==TaskTypeEnum.Inbound.ObjToInt())
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{
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errorInfo.StationCode = task.CurrentAddress;
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}
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else
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{
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errorInfo.StationCode = task.NextAddress;
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}
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addErrorInfos.Add(errorInfo);
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}
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}
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}
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//数据库操作
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_unitOfWorkManage.BeginTran();
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_errorInfoRepository.DeleteData(delErrorInfos);
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_errorInfoRepository.AddData(addErrorInfos);
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_unitOfWorkManage.CommitTran();
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List<Dt_ErrorInfo> newErrInfos = _errorInfoRepository.QueryData(x=>x.Id > errorId && x.ErrorType == 1);
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if (delErrorInfos.Count>0)
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{
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foreach (var item in delErrorInfos)
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{
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TaskError taskError = new TaskError()
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{
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MsgID = item.Id,
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StationCode = item.StationCode,
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MsgCode = 0,
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Msg = "恢复"
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};
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string reqErrorBack = JsonConvert.SerializeObject(taskError, settings);
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HttpHelper.Post(apiErrorBack, reqErrorBack);
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}
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}
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if (newErrInfos.Count>0)
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{
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//上传故障
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foreach (var item in newErrInfos)
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{
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TaskError taskError = new TaskError()
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{
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MsgID = item.Id,
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StationCode = item.StationCode,
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MsgCode = 1,
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Msg = item.Message
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};
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string reqErrorBack = JsonConvert.SerializeObject(taskError, settings);
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HttpHelper.Post(apiErrorBack, reqErrorBack);
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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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_unitOfWorkManage.RollbackTran();
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throw new Exception(ex.Message);
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}
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}
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public WebResponseContent AgvCancelTask(AgvTaskCancelDTO taskModel, APIEnum SendTask = APIEnum.AgvTaskCancel)
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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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string? apiAddress = _apiInfoRepository.QueryFirst(x => x.ApiCode == SendTask.ToString())?.ApiAddress;
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if (string.IsNullOrEmpty(apiAddress)) throw new Exception($"未找到发送AGV任务接口,请检查接口配置");
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string request = JsonConvert.SerializeObject(taskModel, settings);
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string response = HttpHelper.Post(apiAddress, request);
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AgvResponseContent agvContent = response.DeserializeObject<AgvResponseContent>() ?? throw new Exception("AGV任务发送未返回结果");
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if (agvContent.Success)
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{
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content.OK();
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}
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else
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{
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content.Error(agvContent.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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return content;
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}
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}
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}
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