ZhiHuiQiCe/LongDeLiLiKu.git

			@@ -1,4 +1,5 @@
			ï»¿using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
			ï»¿using Microsoft.IdentityModel.Tokens;
			using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
			using System;
			using System.Collections.Generic;
			using System.Linq;
			@@ -21,7 +22,7 @@
			{
			try
			{
			var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()\|\| x.TaskState == TaskStatusEnum.New.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.TaskType!=999).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
			var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()\|\| x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.DeviceCode=="AGV" && x.TaskType!=999).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();

			if (newTasks.Count>0)
			{
			@@ -29,52 +30,72 @@
			{
			try
			{
			if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
			task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
			else
			task.NextAddress = GetAGVAddress(task.NextAddress);
			AgvTaskDTO taskDTO = new AgvTaskDTO()
			Guid guid = Guid.NewGuid();
			AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
			{
			TaskCode = task.AgvTaskNum,
			ReqCode = DateTime.Now.ToString("yyyyMMdd") + task.AgvTaskNum,
			TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
			ctnrCode = task.PalletCode,
			PositionCodePath = new List<CodePath>()
			{
			new CodePath()
			{
			type = "05",
			positionCode = task.CurrentAddress
			},
			new CodePath()
			{
			type = "05",
			positionCode = task.NextAddress
			}
			}
			SysToken=guid.ToString().Replace("-",""),
			ReceiveTaskID=task.TaskNum.ToString(),
			MapCode="01",
			Variables=new List<PointDetail>()
			};
			if (taskDTO.TaskTyp== "CPC")
			Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x=>x.StationCode==task.CurrentAddress);
			Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.StationCode == task.NextAddress);
			//æ·»å ä»»å¡è·¯å¾åé«åº¦
			if (stationMangerStart !=null && stationMangerEnd != null)
			{
			taskDTO.Priority = task.Grade.ToString();
			PointDetail pointDetail1 = new PointDetail()
			{
			Code= "GoodPoint",
			Value=stationMangerStart.AGVStationCode
			};
			if (!string.IsNullOrEmpty(stationMangerStart.AGVFrontCode))
			{
			PointDetail pointDetail2 = new PointDetail()
			{
			Code = "CostPoint",
			Value = stationMangerStart.AGVFrontCode
			};
			agvTaskSend.Variables.Add(pointDetail2);
			}
			PointDetail pointDetail3 = new PointDetail()
			{
			Code = "PointB",
			Value = stationMangerEnd.AGVStationCode
			};
			if (!string.IsNullOrEmpty(stationMangerStart.AGVFrontCode))
			{
			PointDetail pointDetail4 = new PointDetail()
			{
			Code = "PointA",
			Value = stationMangerEnd.AGVFrontCode
			};
			agvTaskSend.Variables.Add(pointDetail4);
			}
			PointDetail pointDetail5 = new PointDetail()
			{
			Code = "QUQTH",
			Value = stationMangerStart.AGVStationHeight.ToString()
			};
			PointDetail pointDetail6 = new PointDetail()
			{
			Code = "FHMH",
			Value = stationMangerEnd.AGVStationHeight.ToString()
			};
			agvTaskSend.Variables.Add(pointDetail1);
			agvTaskSend.Variables.Add(pointDetail3);
			agvTaskSend.Variables.Add(pointDetail5);
			agvTaskSend.Variables.Add(pointDetail6);
			}
			if (task.GroupId.IsNotEmptyOrNull())
			else
			{
			taskDTO.GroupId=task.GroupId;
			throw new Exception("æªæ¾å°AGVç«ç¹");
			}
			//åéAGVä»»å¡
			WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
			WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
			if (!content.Status)
			throw new Exception(content.Message);
			if (taskDTO.TaskTyp == "CPC")
			{
			task.Dispatchertime = DateTime.Now;
			_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
			}
			else
			{
			task.Dispatchertime = DateTime.Now;
			_taskService.UpdateTask(task, TaskStatusEnum.AGV_Takeing);
			}
			task.Dispatchertime = DateTime.Now;
			_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
			Thread.Sleep(500);
			}
			catch (Exception ex)
			@@ -88,177 +109,11 @@
			_taskService.UpdateData(newTasks);
			}
			}
			var newTasksLocations = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.Remark == "æµè¯ç©ºæ¡").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
			if (newTasksLocations.Count>0)
			{
			foreach (var task in newTasksLocations)
			{
			try
			{
			string CurrentAddress = GetAGVAddress(task.CurrentAddress);
			string NextAddress = GetAGVAddress(task.NextAddress);
			AgvTaskDTO taskDTO = new AgvTaskDTO()
			{
			TaskCode = task.AgvTaskNum,
			ReqCode = DateTime.Now.ToString("yyyyMMdd") + task.AgvTaskNum,
			TaskTyp = "CP",
			ctnrCode = task.PalletCode,
			PositionCodePath = new List<CodePath>()
			{
			new CodePath()
			{
			type="05",
			positionCode=CurrentAddress
			},
			new CodePath()
			{
			type="05",
			positionCode=NextAddress
			}
			},
			};
			//åéAGVä»»å¡
			WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
			if (!content.Status)
			throw new Exception(content.Message);
			task.TaskState = TaskStatusEnum.AGV_Takeing.ObjToInt();
			task.CurrentAddress = CurrentAddress;
			task.NextAddress = NextAddress;
			_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
			}
			catch (Exception ex)
			{
			task.TaskState = TaskStatusEnum.Exception.ObjToInt();
			task.ExceptionMessage = ex.Message;
			}
			}
			}
			}
			catch (Exception ex)
			{
			WriteError(nameof(AGV_CPJob), ex.Message, ex);
			}
			}
			/// <summary>
			/// AGVåæ¾è´§åè°
			/// </summary>
			public void ContinueAGVTask()
			{
			try
			{
			//è·åæ¯å¦æå®å¨ç³è¯·ä¸çä»»å¡
			var continueTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
			foreach (var continueTask in continueTasks)
			{
			//åè´§åè°
			if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
			{
			Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.CurrentAddress \|\| x.StationCode == continueTask.CurrentAddress);
			if (stationManger == null)
			{
			continue;
			}
			IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
			if (device == null)
			{
			continue;
			}
			OtherDevice otherDevice = (OtherDevice)device;
			short canTake = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
			if (canTake != 1)
			{
			continue;
			}
			}
			else//æ¾è´§åè°
			{
			Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.NextAddress);
			if (stationManger == null)
			{
			continue;
			}
			IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
			if (device == null)
			{
			continue;
			}
			OtherDevice otherDevice = (OtherDevice)device;
			short canPut = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
			if (canPut != 1)
			{
			continue;
			}
			}
			//è·åè°å¥åæ°
			AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
			{
			ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
			ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
			TaskCode = continueTask.AgvTaskNum
			};
			if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
			{
			boxApplyPassDTO.Type = "1";
			}
			else
			{
			boxApplyPassDTO.Type = "2";
			}
			//è¯·æ±æç®±åè°æ¥å£
			WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
			if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && boxApplyPassDTO.TaskCode == continueTask.AgvTaskNum)
			{
			_taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Executing);
			}
			else if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && boxApplyPassDTO.TaskCode== continueTask.AgvTaskNum)
			{
			_taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Puting);
			}
			else
			{
			continueTask.ExceptionMessage = content.Message;
			_taskService.UpdateTask(continueTask, TaskStatusEnum.Exception);
			}
			}

			}
			catch (Exception ex)
			{
			WriteError(nameof(AGV_CPJob), ex.Message, ex);
			}
			}
			/// <summary>
			/// è·åAGVå°å
			/// </summary>
			/// <param name="Address"></param>
			/// <returns></returns>
			public static string GetAGVAddress(string Address)
			{
			string[] targetCodes = Address.Split("-");
			if (targetCodes.Length == 5)
			{
			var Row = Convert.ToInt16(targetCodes[1]);
			var Column = Convert.ToInt16(targetCodes[2]);
			var Layer = Convert.ToInt16(targetCodes[3]);
			var a = Row switch
			{
			1 => "A",
			2 => "B",
			3 => "C",
			4 => "D",
			5 => "E",
			_ => throw new Exception($"æªå®ä¹çæ,å°å:ã{Address}ã"),
			};
			var b = Layer > 9 ? "" + Layer : "0" + Layer;
			var c = Column > 9 ? "" + Column : "0" + Column;
			if (Column == 10) c = "010";
			Address = a + b + c;
			}
			else
			{
			throw new Exception($"å°åæè¯¯,å°å:ã{Address}ã");
			}
			return Address;
			}
			}
			}