RuiShengZhiNeng/GaoPuLiTiKu.git

			@@ -10,6 +10,11 @@
			using WIDESEAWCS_DTO.WMS;
			using WIDESEAWCS_Model.Models;
			using WIDESEAWCS_Core.Helper;
			using WIDESEAWCS_DTO;
			using WIDESEAWCS_DTO.AGV.HIKROBOT;
			using System.Diagnostics.CodeAnalysis;
			using System.Reflection.PortableExecutable;
			using WIDESEAWCS_QuartzJob;

			namespace WIDESEAWCS_TaskInfoService
			{
			@@ -25,12 +30,41 @@
			/// <returns></returns>
			public WebResponseContent CreateHKNewInTask(TaskDTO taskDTO, int taskType)
			{
			WebResponseContent content = new WebResponseContent();
			try
			{
			int containerType = taskDTO.containerCode.Contains("LLM") ? LocationTypeEnum.LargePallet.ObjToInt() : LocationTypeEnum.SmallPallet.ObjToInt();//è¿éæä¸ç¥éæ¯ä»ä¹ç±»å
			Dt_HKLocationInfo? hKLocationInfo = null;
			if (taskType==(int)TaskTypeEnum.STURR)
			{
			var reslut=_stationInfo.Repository.QueryFirst(x=>x.StationCode==taskDTO.fromLocationCode) ?? throw new Exception($"æªæ¾å°èµ·ç¹è´§ä½ã{taskDTO.fromLocationCode}ã");
			}
			#region ç¹å°ç¹
			if (!string.IsNullOrEmpty(taskDTO.toLocationCode))
			{
			hKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.toLocationCode) ?? throw new Exception($"æªæ¾å°ç»ç¹è´§ä½ã{taskDTO.toLocationCode}ã");
			if (hKLocationInfo.LocationStatus != (int)LocationStatusEnum.Free) throw new Exception($"ç»ç¹è´§ä½ã{taskDTO.toLocationCode}ãè´§ä½ç¶æä¸ä¸ºç©ºè´§ä½");
			}
			#endregion
			//è·åè´§ä½ä¿¡æ¯
			Dt_HKLocationInfo? kLSLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.WarehouseId.ToString() == taskDTO.toAreaCode && x.EnableStatus == EnableStatusEnum.Normal.ObjToInt() && x.LocationStatus == LocationStatusEnum.Free.ObjToInt() && x.LocationType == containerType);
			if (kLSLocationInfo == null) throw new Exception($"æªæ¾å°ç»ç¹åºåºã{taskDTO.toAreaCode}ãå¯ç¨ç©ºè´§ä½ï¼");
			else
			hKLocationInfo = _hKLocationInfoService.GetFreeLocationInfo(taskDTO.toAreaCode) ?? throw new Exception($"æªæ¾å°ç»ç¹åºåºã{taskDTO.toAreaCode}ãå¯ç¨ç©ºè´§ä½ï¼");
			if (taskType == (int)TaskTypeEnum.Q1TSJ4)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device.IsConnected)
			{
			var reslu = device.GetValue<HoistEnum, string>(HoistEnum.Emptycontainernumber);
			var result = reslu?.TrimEnd('\0')?.Substring(2);
			if (reslu == taskDTO.containerCode && result != null)
			{
			throw new Exception($"å½åçæç®±å·ä¸º{reslu}ä¸{taskDTO.containerCode}æç®±å·ä¸å¹é");
			}
			}
			else
			{
			throw new Exception("æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥");
			}
			}
			Dt_Task dt_Task = new Dt_Task()
			{
			TaskNum = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
			@@ -38,27 +72,52 @@
			//WMSId = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
			Grade = taskDTO.taskPriority,
			PalletCode = taskDTO.containerCode,
			Roadway = kLSLocationInfo.RoadwayNo,
			Roadway = hKLocationInfo.RoadwayNo,
			TaskState = TaskStatusEnum.New.ObjToInt(),
			TaskType = taskType,
			SourceAddress = taskDTO.fromLocationCode,
			CurrentAddress = taskDTO.fromLocationCode,
			NextAddress = kLSLocationInfo.LocationCode,
			TargetAddress = kLSLocationInfo.LocationCode,
			NextAddress = hKLocationInfo.LocationCode,
			TargetAddress = hKLocationInfo.LocationCode,
			Creater = "WMS",
			};
			kLSLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
			Db.Ado.BeginTran();
			BaseDal.AddData(dt_Task);
			_hKLocationInfoService.Repository.UpdateData(kLSLocationInfo);
			Db.Ado.CommitTran();
			return WebResponseContent.Instance.OK();
			hKLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();

			#region ä¸åæµ·åº·AGVä»»å¡
			content = SendHIKROBOTTask(dt_Task);
			if (!content.Status) throw new Exception(content.Message);
			dt_Task.TaskState = (int)TaskStatusEnum.Execut;
			dt_Task.Dispatchertime = DateTime.Now;
			#endregion
			try
			{
			Db.Ado.BeginTran();
			BaseDal.AddData(dt_Task);
			_hKLocationInfoService.Repository.UpdateData(hKLocationInfo);
			Db.Ado.CommitTran();
			}
			catch (Exception ex)
			{
			Db.Ado.RollbackTran();
			throw new Exception(ex.Message);
			}

			content.OK(data: new
			{
			taskCode = taskDTO.taskCode,
			Message = "æåï¼"
			});
			}
			catch (Exception ex)
			{
			Db.Ado.RollbackTran();
			throw new Exception(ex.Message);
			content.Data = new
			{
			taskCode = taskDTO.taskCode,
			Message = $"å¤±è´¥ï¼{ex.Message}"
			};
			content.Error(ex.Message);
			}
			return content;
			}
			/// <summary>
			/// åå»ºæµ·åº·AGVåºåºä»»å¡
			@@ -68,12 +127,23 @@
			/// <returns></returns>
			public WebResponseContent CreateHKNewOutTask(TaskDTO taskDTO, int taskType)
			{
			WebResponseContent content = new WebResponseContent();
			try
			{
			Dt_HKLocationInfo? hKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.fromLocationCode);
			if (hKLocationInfo == null) throw new Exception($"æªæ¾å°èµ·ç¹åºä½ã{taskDTO.fromLocationCode}ãï¼");
			//4æ¥¼åºåå°æåæº
			Dt_HKLocationInfo? hKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.fromLocationCode) ?? throw new Exception($"æªæ¾å°èµ·ç¹åºä½ã{taskDTO.fromLocationCode}ãï¼");
			if (hKLocationInfo.LocationStatus != LocationStatusEnum.InStock.ObjToInt()) throw new Exception($"èµ·ç¹åºä½ã{taskDTO.fromLocationCode}ãå½ååºä½ç¶æä¸å¯åºåºï¼");
			Dt_Task dt_Task = new Dt_Task()
			if (hKLocationInfo.PalletCode != taskDTO.containerCode) throw new Exception($"èµ·ç¹åºä½ã{taskDTO.fromLocationCode}ãç»å®æç®±å·ã{hKLocationInfo.PalletCode}ãä¸ä»»å¡æç®±å·ã{taskDTO.containerCode}ãä¸å¹éï¼");
			//åºåå°ç°è¾¹çç¹å°ç¹ä»»å¡ï¼æ¯å¦éè¦å¤æè´§ä½ç¶æï¼
			if (taskType == (int)TaskTypeEnum.STU0003)
			{
			var reslut = _stationInfo.Repository.QueryFirst(x => x.StationCode == taskDTO.toLocationCode) ?? throw new Exception($"æªæ¾å°ç»ç¹è´§ä½ã{taskDTO.toLocationCode}ã");
			if (reslut.StationStatus != (int)LocationStatusEnum.Free)
			{
			throw new Exception($"ç»ç¹ç«å°ã{taskDTO.toLocationCode}ãç¶æä¸ä¸ºç©ºé²ï¼");
			}
			}
			Dt_Task dt_Task = new Dt_Task()
			{
			TaskNum = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
			WMSTaskNum = taskDTO.taskCode,
			@@ -90,18 +160,301 @@
			Creater = "WMS",
			};
			hKLocationInfo.LocationStatus = LocationStatusEnum.OutLock.ObjToInt();
			Db.Ado.BeginTran();
			BaseDal.AddData(dt_Task);
			_hKLocationInfoService.Repository.UpdateData(hKLocationInfo);
			Db.Ado.CommitTran();
			return WebResponseContent.Instance.OK();
			#region ä¸åæµ·åº·AGVä»»å¡
			content = SendHIKROBOTTask(dt_Task);
			if (!content.Status) throw new Exception(content.Message);
			dt_Task.TaskState = (int)TaskStatusEnum.Execut;
			dt_Task.Dispatchertime = DateTime.Now;
			#endregion
			try
			{
			Db.Ado.BeginTran();
			BaseDal.AddData(dt_Task);
			_hKLocationInfoService.Repository.UpdateData(hKLocationInfo);
			Db.Ado.CommitTran();
			}
			catch (Exception ex)
			{
			Db.Ado.RollbackTran();
			throw new Exception(ex.Message);
			}
			return content.OK(data: new
			{
			taskCode = taskDTO.taskCode,
			Message = "æåï¼"
			});
			}
			catch (Exception ex)
			{
			Db.Ado.RollbackTran();
			throw new Exception(ex.Message);
			content.Data = new
			{
			taskCode = taskDTO.taskCode,
			Message = $"å¤±è´¥ï¼{ex.Message}"
			};
			return content.Error(ex.Message);
			}
			}
			#endregion

			#region ä¸åæµ·åº·AGVä»»å¡
			public WebResponseContent SendHIKROBOTTask([NotNull] Dt_Task task)
			{
			WebResponseContent content = new WebResponseContent();
			HIKROBOTReturn hIKROBOTReturn = null;
			HIKROBOTTaskSubmit hIKROBOTTaskSubmit = null;
			try
			{
			Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(HIKROBOTTaskSubmit)) ?? throw new Exception("æªæ¾å°æµ·åº·AGVä»»å¡ä¸åæ¥å£éç½®ä¿¡æ¯ï¼è¯·æ£æ¥æ¥å£éç½®");
			#region å®ä½ç±»è½¬æ¢
			hIKROBOTTaskSubmit = HIKROBOTTask(task);
			if (hIKROBOTTaskSubmit == null) throw new Exception("æµ·åº·AGVä»»å¡å®ä½è½¬æ¢å¤±è´¥");
			var json = hIKROBOTTaskSubmit.Serialize();
			#endregion
			// åå»ºHeadersåå¸
			var headers = new Dictionary<string, string>
			{
			{ "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString()+task.TaskNum }
			// å¦æéè¦å¶ä»Headerï¼å¯ä»¥ç»§ç»æ·»å
			// { "Content-Type", "application/json" }
			};

			// ä¼ éHeadersåæ°
			string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskSubmit.Serialize(), headers: headers);
			//string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskSubmit.Serialize());
			hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
			if (hIKROBOTReturn.code == "SUCCESS")
			{
			var data = hIKROBOTReturn.data.ToString().DeserializeObject<HIKROBOTReturnData>();
			content.OK(data: data);
			}
			else
			{
			throw new Exception(hIKROBOTReturn.message);
			}
			}
			catch (Exception ex)
			{
			content.Error(ex.Message);
			}
			finally
			{
			_trackloginfoService.AddTrackLog(hIKROBOTTaskSubmit, content, "ä¸åæµ·åº·AGVä»»å¡", "", hIKROBOTReturn.message);
			}
			return content;
			}
			#endregion
			/// <summary>
			/// æµ·åº·ä»»å¡å®ä½ç±»è½¬æ¢
			/// </summary>
			/// <param name="task"></param>
			/// <returns></returns>
			public HIKROBOTTaskSubmit HIKROBOTTask(Dt_Task task)
			{
			HIKROBOTTaskSubmit hIKROBOTTaskSubmit = new HIKROBOTTaskSubmit();
			try
			{
			var tasktype = (TaskTypeEnum)Enum.GetValues(typeof(TaskTypeEnum)).GetValue(task.TaskType - 1);

			hIKROBOTTaskSubmit.initPriority = task.Grade;
			hIKROBOTTaskSubmit.robotTaskCode = task.WMSTaskNum;
			hIKROBOTTaskSubmit.taskType = tasktype.ToString(); ExtraDto extraDto = new ExtraDto();
			if (task.TaskType != (int)TaskTypeEnum.MOVE && task.TaskType != (int)TaskTypeEnum.Q3RK && task.TaskType != (int)TaskTypeEnum.Q3CK && task.TaskType != (int)TaskTypeEnum.F01)
			{
			CarrierInfoDto carrierInfoDto = new CarrierInfoDto()
			{
			carrierCode = task.PalletCode,
			carrierType = task.PalletCode.Contains("LXM") ? "DX" : "SX"
			};
			extraDto.carrierInfo.Add(carrierInfoDto);
			hIKROBOTTaskSubmit.extra = extraDto;
			}
			switch (tasktype)
			{
			case TaskTypeEnum.CPInbound:
			case TaskTypeEnum.CPOutbound:
			case TaskTypeEnum.MLInbound:
			case TaskTypeEnum.MLOutbound:
			break;
			case TaskTypeEnum.RK3F:
			case TaskTypeEnum.CK3F:
			case TaskTypeEnum.F02:
			case TaskTypeEnum.F03:
			case TaskTypeEnum.F04:
			{
			TargetRouteDto target = new TargetRouteDto()
			{
			code = task.CurrentAddress,
			operation = "DELIVERY",//åè´§
			seq = 0,
			type = "SITE",
			};
			TargetRouteDto targetRoute = new TargetRouteDto()
			{
			code = task.NextAddress,
			operation = "DELIVERY",//éè´§
			seq = 1,
			type = "SITE"
			};
			hIKROBOTTaskSubmit.targetRoute.Add(target);
			hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
			}
			break;
			case TaskTypeEnum.STURR:
			case TaskTypeEnum.Q1TSJ4:
			{
			TargetRouteDto target = new TargetRouteDto()
			{
			code = task.CurrentAddress,
			operation = "DELIVERY",//åè´§
			seq = 0,
			type = "SITE",
			};
			TargetRouteDto targetRoute = new TargetRouteDto()
			{
			code = task.NextAddress,
			operation = "DELIVERY",//éè´§
			seq = 1,
			type = "STORAGE"
			};
			hIKROBOTTaskSubmit.targetRoute.Add(target);
			hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
			}
			break;
			case TaskTypeEnum.STU0003:
			case TaskTypeEnum.CHUKU1:
			{
			TargetRouteDto target = new TargetRouteDto()
			{
			code = task.CurrentAddress,
			operation = "DELIVERY",//åè´§
			seq = 0,
			type = "STORAGE",
			};
			TargetRouteDto targetRoute = new TargetRouteDto()
			{
			code = task.NextAddress,
			operation = "DELIVERY",//éè´§
			seq = 1,
			type = "SITE",
			};
			hIKROBOTTaskSubmit.targetRoute.Add(target);
			hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
			}
			break;
			case TaskTypeEnum.Q3RK:
			case TaskTypeEnum.Q3CK:
			case TaskTypeEnum.MOVE:
			case TaskTypeEnum.F01:
			{
			TargetRouteDto target = new TargetRouteDto()
			{
			code = task.CurrentAddress,
			operation = "DELIVERY",//åè´§
			seq = 0,
			type = "SITE",
			};
			TargetRouteDto targetRoute = new TargetRouteDto()
			{
			code = task.NextAddress,
			operation = "DELIVERY",//éè´§
			seq = 1,
			type = "SITE",
			};
			hIKROBOTTaskSubmit.targetRoute.Add(target);
			hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
			}
			break;
			case TaskTypeEnum.STUPTBY:
			{
			TargetRouteDto target = new TargetRouteDto()
			{
			code = task.CurrentAddress,
			operation = "DELIVERY",//åè´§
			seq = 0,
			type = "STORAGE",
			};
			TargetRouteDto targetRoute = new TargetRouteDto()
			{
			code = task.NextAddress,
			operation = "DELIVERY",//éè´§
			seq = 1,
			type = "STORAGE",
			};
			hIKROBOTTaskSubmit.targetRoute.Add(target);
			hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
			}
			break;
			case TaskTypeEnum.CPMoveInventory:
			break;
			default:
			break;
			}
			}
			catch (Exception ex)
			{

			}
			return hIKROBOTTaskSubmit;
			}


			/// <summary>
			/// æµ·åº·AGVä»»å¡ç»§ç»æ§è¡
			/// </summary>
			/// <param name="TaskCode">ä»»å¡å·</param>
			/// <returns></returns>
			public WebResponseContent Hikvisiontaskscontinue(string TaskCode, string Address = null)
			{
			WebResponseContent content = new WebResponseContent();
			HIKROBOTReturn hIKROBOTReturn = null;
			HIKROBOTTaskContinue hIKROBOTTaskContinue = null;
			try
			{
			// 1. åæ°éªè¯
			if (string.IsNullOrWhiteSpace(TaskCode))
			{
			throw new Exception("ä»»å¡ç¼ç ä¸è½ä¸ºç©º");
			}
			Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(HIKROBOTTaskContinue)) ?? throw new Exception("æªæ¾å°æµ·åº·AGVç»§ç»æ§è¡æ¥å£éç½®ä¿¡æ¯ï¼è¯·æ£æ¥æ¥å£éç½®");
			hIKROBOTTaskContinue = new HIKROBOTTaskContinue()
			{
			triggerCode = TaskCode,
			triggerType = "TASK",//åºå®å¼
			targetRoute = string.IsNullOrEmpty(Address) ? null :
			new TargetRouteDto()
			{
			code = Address,
			type = "SITE",
			}
			};
			var headers = new Dictionary<string, string>
			{
			{ "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString()+TaskCode }
			};
			string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskContinue.Serialize(), headers: headers);
			hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();

			if (hIKROBOTReturn.code == "SUCCESS")
			{
			var data = hIKROBOTReturn.data.ToString().DeserializeObject<HIKROBOTReturnData>();
			content.OK(data: data);
			}
			else
			{
			throw new Exception(hIKROBOTReturn.message);
			}
			}
			catch (Exception ex)
			{
			content.Error(ex.Message);
			}
			finally
			{
			_trackloginfoService.AddTrackLog(hIKROBOTTaskContinue, content, "æµ·åº·AGVç»§ç»æ§è¡ä»»å¡", "", hIKROBOTReturn.message);

			}
			return content;
			}

			}
			}