添加跨楼层的接口以及优化

yanjinhui

7 天以前 7e69830653c9be2d675c3fb4c5578ac1efa4b89c

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/HKTaskExtend.cs

@@ -1,9 +1,13 @@
using System;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection.Emit;
using System.Reflection.Metadata;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO;
@@ -24,7 +28,7 @@
        {
            foreach (var item in tasks)
            {
                var content = SendHIKROBOTTask(item);
                var content = _taskService.SendHIKROBOTTask(item);
            }
        }
        #endregion
@@ -34,66 +38,293 @@
        {
            foreach (var item in tasks)
            {
                var content = SendHIKROBOTTask(item);
                var content = _taskService.SendHIKROBOTTask(item);
            }

        }
        #endregion

        #region ä¸‹å‘海康AGV任务
        public WebResponseContent SendHIKROBOTTask(Dt_Task task)
        #region ä¸‹å‘海康1-6楼的AGV任务
        public void SendAGVTask(List<Dt_Task> tasks)
        {
            foreach (var item in tasks)
            {
                // å‡ºåº“任务处理 (从1楼出库到6楼)
                if (item.TaskType == (int)TaskTypeEnum.Q3CK)
                {
                    // è°ƒç”¨æŽ¥å£èŽ·å–小车信息
                    var result = _agvcartInfoService.CheckTheCar();
                    if (result != null && result.Status)
                    {
                        var dataList = result.Data as List<HIKROBOTQueryData>;
                        if (dataList != null && dataList.Any())
                        {
                            // å‡ºåº“任务：检查是否有在1楼(AA)的小车
                            // Q3CK æ˜¯AA→FF的跨楼层任务，只能使用专用小车
                            var specialCarInAA = dataList.FirstOrDefault(d => d.mapCode == "AA" && d.CarType == "MR-Q3-600LE-D(M)(YWGP)");

                            if (specialCarInAA != null)
                            {
                                // æœ‰åœ¨1楼的小车，直接执行任务
                                var content = _taskService.SendHIKROBOTTask(item);
                                if (content.Status)
                                {
                                    item.TaskState = (int)TaskStatusEnum.Execut;
                                }
                            }
                            else
                            {
                                // æ²¡æœ‰ä¸“用小车在1楼，需要呼叫专用小车来到1楼
                                var anySpecialCar = dataList.FirstOrDefault(d => d.CarType == "MR-Q3-600LE-D(M)(YWGP)");
                                if (anySpecialCar != null)
                                {
                                    // èµ·ç‚¹ï¼šå°è½¦å½“前所在楼层的点位，目标：1楼点位
                                    var callCarResult = AddAGVCartInfo(item, anySpecialCar.mapCode, "AA");
                                    if (callCarResult.Status)
                                    {
                                        // åŽŸä»»åŠ¡çŠ¶æ€æ”¹ä¸ºç­‰å¾…空车
                                        item.TaskState = (int)TaskStatusEnum.WaitingHkAGVMovePosition;
                                    }
                                }
                                else
                                {
                                    item.ExceptionMessage = "未找到可用AGV小车";
                                }
                            }
                        }
                    }
                    else
                    {
                        item.ExceptionMessage = "获取AGV小车信息失败";
                    }
                }
                // å…¥åº“任务处理 (从6楼入库到1楼)
                else if (item.TaskType == (int)TaskTypeEnum.Q3RK)
                {
                    var result = _agvcartInfoService.CheckTheCar();

                    if (result != null && result.Status)
                    {
                        var dataList = result.Data as List<HIKROBOTQueryData>;
                        if (dataList != null && dataList.Any())
                        {
                            // Q3RK æ˜¯FF→AA的跨楼层任务，只能使用专用小车
                            var specialCarInFF = dataList.FirstOrDefault(d => d.mapCode == "FF" && d.CarType == "MR-Q3-600LE-D(M)(YWGP)");

                            if (specialCarInFF!=null)
                            {
                                // æœ‰åœ¨1楼的小车，直接执行任务
                                var content = _taskService.SendHIKROBOTTask(item);
                                item.TaskState = (int)TaskStatusEnum.Execut;
                            }
                            else
                            {
                                // æ²¡æœ‰ä¸“用小车在6楼，需要呼叫专用小车来到6楼
                                var anySpecialCar = dataList.FirstOrDefault(d => d.CarType == "MR-Q3-600LE-D(M)(YWGP)");
                                if (anySpecialCar != null)
                                {
                                    // èµ·ç‚¹ï¼šå°è½¦å½“前所在楼层的点位，目标：6楼点位
                                    var callCarResult = AddAGVCartInfo(item, anySpecialCar.mapCode, "FF");
                                    if (callCarResult.Status)
                                    {
                                        item.TaskState = (int)TaskStatusEnum.WaitingHkAGVMovePosition;
                                    }
                                }
                                else
                                {
                                    item.ExceptionMessage = "未找到可用AGV小车";
                                }
                            }
                        }
                    }
                    else
                    {
                        item.ExceptionMessage = "获取AGV小车信息失败";
                    }
                }
                else if (item.TaskType == (int)TaskTypeEnum.F01)
                {
                    // F01任务处理：根据目标地址判断需要哪个楼层的小车
                    var result = _agvcartInfoService.CheckTheCar();

                    if (result != null && result.Status)
                    {
                        var dataList = result.Data as List<HIKROBOTQueryData>;
                        if (dataList != null && dataList.Any())
                        {
                            // ä»Žä»»åŠ¡çš„起始地址中提取需要的楼层代码
                            string requiredMapCode = GetMapCodeFromAddress(item.SourceAddress);
                            if (string.IsNullOrEmpty(requiredMapCode))
                            {
                                item.ExceptionMessage = $"无法从目标地址 {item.SourceAddress} ä¸­è¯†åˆ«æ¥¼å±‚信息";
                                _taskService.UpdateData(item);
                                continue;
                            }

                            // æ£€æŸ¥æ˜¯å¦æœ‰åœ¨ç›®æ ‡æ¥¼å±‚的小车
                            var hasRequiredCar = dataList.FirstOrDefault(d => d.mapCode == requiredMapCode&&d.CarType== "MR-Q3-600LE-D(M)");

                            if (hasRequiredCar!=null)
                            {
                                // æœ‰åœ¨ç›®æ ‡æ¥¼å±‚的小车，直接执行任务
                                var content = _taskService.SendHIKROBOTTask(item);
                                if (content.Status)
                                {
                                    item.TaskState = (int)TaskStatusEnum.Execut;
                                }
                            }
                            else
                            {
                                // æ²¡æœ‰ç›®æ ‡æ¥¼å±‚的小车，需要呼叫空车从当前位置到目标楼层
                                var anySpecialCar = dataList.FirstOrDefault(d => d.CarType == "MR-Q3-600LE-D(M)");

                                if (anySpecialCar != null)
                                {
                                    var callCarResult = AddAGVCartInfo(item, anySpecialCar.mapCode, requiredMapCode);
                                    if (callCarResult.Status)
                                    {
                                        item.TaskState = (int)TaskStatusEnum.WaitingHkAGVMovePosition;
                                    }
                                }
                                else
                                {
                                    item.ExceptionMessage = "未找到可用AGV小车";
                                }
                            }
                        }
                    }
                    }
                _taskService.UpdateData(item);
            }
        }

        #endregion


        #region å¤„理海康agv搬运任务
        /// <summary>
        /// åˆ›å»ºç©ºè½¦å‘¼å«ä»»åŠ¡ï¼šæ ¹æ®å°è½¦å½“前位置和目标楼层，设置任务的起点、当前位置和目标点，并下发给海康接口
        /// </summary>
        /// <param name="task"></param>
        /// <param name="currentMapCode">当前位置</param>
        /// <param name="targetMapCode">目标地址</param>
        /// <returns></returns>
        public WebResponseContent AddAGVCartInfo(Dt_Task task, string currentMapCode, string targetMapCode)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                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");

                #region ä»»åŠ¡ä¿¡æ¯è½¬æ¢
                HIKROBOTTaskSubmit hIKROBOTTaskSubmit = new HIKROBOTTaskSubmit()
                // èŽ·å–起点楼层信息
                if (!FloorMapping.FloorMap.ContainsKey(currentMapCode))
                {
                    taskType = "",
                    initPriority = task.Grade,
                    targetRoute = new List<TargetRouteDto>
                    {
                        new TargetRouteDto
                        {
                            type= "SITE",
                            code=task.CurrentAddress,
                            operation="COLLECT",//取货
                        },
                        new TargetRouteDto
                        {
                            type= "SITE",
                            code=task.NextAddress,
                            operation="DELIVERY",//送货
                        }
                    }
                    content.Error($"无效的起点楼层代码：{currentMapCode}");
                    return content;
                }

                // èŽ·å–目标楼层信息
                if (!FloorMapping.FloorMap.ContainsKey(targetMapCode))
                {
                    content.Error($"无效的目标楼层代码：{targetMapCode}");
                    return content;
                }

                var currentFloorInfo = FloorMapping.FloorMap[currentMapCode];
                var targetFloorInfo = FloorMapping.FloorMap[targetMapCode];

                // è®¾ç½®ä»»åŠ¡ä¿¡æ¯
                //task.SourceAddress = currentFloorInfo.PointCode;  // èµ·ç‚¹ï¼šå°è½¦å½“前位置的点位
                //task.CurrentAddress = currentFloorInfo.PointCode; // å½“前位置：小车当前位置的点位
                //task.TargetAddress = targetFloorInfo.PointCode;   // ç›®æ ‡ç‚¹ï¼šç›®æ ‡æ¥¼å±‚点位
                //task.NextAddress = targetFloorInfo.PointCode; // è®°å½•ç›®æ ‡æ¥¼å±‚代码

                Dt_Task newTask = new Dt_Task
                {
                    WMSTaskNum="HKkc"+ DateTime.Now.ToString("yyyyMMddHHmmss"), // ç”Ÿæˆå”¯ä¸€çš„WMS任务号
                    TaskNum = _taskService.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
                    SourceAddress = currentFloorInfo.PointCode,
                    CurrentAddress = currentFloorInfo.PointCode,
                    TargetAddress = targetFloorInfo.PointCode,
                    NextAddress = targetFloorInfo.PointCode,
                    TaskType = (int)TaskTypeEnum.MOVE,
                    Grade = task.Grade,
                    PalletCode = null,
                    TaskState = (int)TaskStatusEnum.CallingHKtransportation,
                    // å¤åˆ¶å…¶ä»–必要字段
                    CreateDate = DateTime.Now,
                    Creater = "System"
                };
                #endregion

                string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskSubmit.Serialize());
                var hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
                if (hIKROBOTReturn.code == "SUCCESS")
                _taskService.AddData(newTask);  // æ·»åŠ æ–°ä»»åŠ¡
                var result = _taskService.SendHIKROBOTTask(newTask);
                if (result.Status)
                {
                    var data = hIKROBOTReturn.data.ToString().DeserializeObject<HIKROBOTReturnData>();
                    content.OK(data: data);
                    //task.Remark = data.robotTaskCode;
                    content.OK("空车呼叫任务创建成功", newTask);
                }
                else
                {
                    throw new Exception(hIKROBOTReturn.message);
                    content.Error("空车呼叫任务下发失败");
                }
                //_taskService.UpdateData(task);
                return content;
            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            finally
            {

                content.Error($"创建空车呼叫任务失败：{ex.Message}");
            }
            return content;
        }
        #endregion

        #region å¤„理agv待空车搬运任务
        public void SendHKWaitTask()
        {
            try
            {
                List<Dt_Task> reslut = _taskService.Repository.QueryData(x => x.TaskType == (int)TaskTypeEnum.MOVE);
                if (reslut.Count<=0)
                {
                    List<Dt_Task> reslut2 = _taskService.Repository.QueryData(x => x.TaskType == (int)TaskTypeEnum.Q3RK||x.TaskType==(int)TaskTypeEnum.Q3CK || x.TaskType == (int)TaskTypeEnum.F01);
                    foreach (var item in reslut2)
                    {
                        var content = _taskService.SendHIKROBOTTask(item);
                    }   
                    reslut.ForEach(x =>
                    {
                        x.TaskState =(int)TaskStatusEnum.Execut;
                    });

                }
                _taskService.UpdateData(reslut);
               
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
            }
        }
        #endregion

        /// <summary>
        /// ä»Žåœ°å€ä¸­æå–楼层代码（AA、BB、CC、DD、EE、FF）
        /// </summary>
        /// <param name="address">点位地址</param>
        /// <returns>楼层代码</returns>
        private string GetMapCodeFromAddress(string address)
        {
            if (string.IsNullOrEmpty(address))
                return null;

            // åœ°å€æ ¼å¼ç¤ºä¾‹ ï¼šAA å¯¹åº” 0339050AA0309145
            // keys æ˜¯ AA、BB、CC、DD、EE、FF，vule是对应的点位信息
            foreach (var floorCode in FloorMapping.FloorMap.Keys) 
            {
                if (address.Contains(floorCode)) 
                {
                    return floorCode;//返回的就是AA、BB、CC、DD、EE、FF中的一个，代表对应的楼层
                }
            }

            return null;
        }


    }
}