1

huangxiaoqiang

2025-05-21 6c8b4c256053c61e848c3f9dd494feebf6ef0cea

 ÏîÄ¿´úÂë/WMS/WIDESEA_WMSServer/WIDESEA_StorageSocketServices/SocketClientService.cs

@@ -1,35 +1,24 @@
using LogLibrary.Log;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.Hosting;
using Microsoft.Extensions.Logging;
using MimeKit;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.DateTime;
using Org.BouncyCastle.Tls;
using System;
using System.Net;
using System.Net.Sockets;
using System.Reflection;
using System.Text;
using WIDESEA_Common;
using WIDESEA_Core;
using WIDESEA_Core.BaseServices;
using WIDESEA_Core.Enums;
using WIDESEA_Core.Helper;
using WIDESEA_Core.Middlewares;
using WIDESEA_DTO.AGV;
using WIDESEA_DTO;
using WIDESEA_IServices;
using WIDESEA_IStorageBasicRepository;
using WIDESEA_IStorageSocketServices;
using WIDESEA_IStorageTaskRepository;
using WIDESEA_IStorageTaskServices;
using WIDESEA_Model.Models.AGV;
using WIDESEA_Model.Models;
using WIDESEAWCS_BasicInfoRepository;
//using static MailKit.Telemetry;
using WIDESEAWCS_Model.Models;
using static Microsoft.EntityFrameworkCore.DbLoggerCategory.Database;
using WIDESEA_Core.BaseRepository;
using AutoMapper;
using Mapster;
@@ -55,11 +44,10 @@
        private readonly ILocationInfoRepository _locationRepository;


        public SocketClientService(/*IDt_TaskService taskService*/IDt_TaskRepository TaskRepository, IDt_StationManagerRepository stationManagerRepository, ILogger<SocketClientService> logger)
        public SocketClientService(IDt_TaskRepository TaskRepository, IDt_StationManagerRepository stationManagerRepository, ILogger<SocketClientService> logger)
        {
            //_taskService = taskService;
            BaseDal= TaskRepository;
            _stationManagerRepository= stationManagerRepository;
            BaseDal = TaskRepository;
            _stationManagerRepository = stationManagerRepository;
            _logger = logger;
        }

@@ -153,7 +141,7 @@
                    }
                    else
                    {
                         LogFactory.GetLog("Socket接收数据").Error(true, "无效报文格式");
                        LogFactory.GetLog("Socket接收数据").Error(true, $"无效报文格式:{JsonConvert.SerializeObject(Y)}");
                    }
                }
                catch
@@ -172,13 +160,13 @@
                    ReceiveCommandResponse(x);
                    break;
                case "906":
                    AGVJobStartOrEndResponse(x.Substring(21, 1),x.Substring(22,1));
                    AGVJobStartOrEndResponse(x.Substring(21, 1), x.Substring(22, 1));
                    break;
                case "902":
                    DataReportResponse(x.Substring(21, 1));
                    break;
                case "935":
                    DeviceStationStatusInvite();
                    DeviceStationStatusInvite(x.Substring(15, 5));
                    break;
                case "103":
                    HOSTOutBoundTask(x);
@@ -240,7 +228,7 @@
        public void clientSend(byte[] buffer)
        {
            var Y = Encoding.UTF8.GetString(buffer);
            LogFactory.GetLog("Socket发送数据").Error(true, Y);
            LogFactory.GetLog("Socket发送数据").Info(true, Y);
            socket.Send(buffer);
        }

@@ -249,7 +237,7 @@
            int sum = 0;
            try
            {
                for (int i = 0; i < x.Length-2; i++)
                for (int i = 0; i < x.Length - 2; i++)
                {
                    sum += x[i];
                }
@@ -285,7 +273,7 @@
        /// <summary>
        /// è®¾å¤‡ç¼–号
        /// </summary>
        public const string DeviceID = "0000000001";
        public const string DeviceID = "0013130010";
        /// <summary>
        /// å‘送不需要回复
        /// </summary>
@@ -348,7 +336,7 @@
        {
            try
            {
                string str = SendandReply + "101" + BaseDal.GetSeqNo().Result.ToString() + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) + "1" + GetFieldsAsString(inStation);
                string str = SendandReply + "101" + BaseDal.GetSeqNo().Result.ToString("D5") + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) + "1" + GetFieldsAsString(inStation);
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -366,7 +354,7 @@
        {
            try
            {
                string str = SendandReply + "925" + BaseDal.GetSeqNo().Result.ToString();
                string str = SendandReply + "925" + BaseDal.GetSeqNo().Result.ToString("D5");
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -384,7 +372,7 @@
        {
            try
            {
                string str = SendNotReply + "915" + BaseDal.GetSeqNo().Result.ToString() + Command;
                string str = SendNotReply + "915" + BaseDal.GetSeqNo().Result.ToString("D5") + Command;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -403,7 +391,7 @@
        {
            try
            {
                string str = SendNotReply + "913" + BaseDal.GetSeqNo().Result.ToString() + Status;
                string str = SendNotReply + "913" + BaseDal.GetSeqNo().Result.ToString("D5") + Status;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -422,7 +410,7 @@
        {
            try
            {
                string str = SendNotReply + "917" + BaseDal.GetSeqNo().Result.ToString() + Status;
                string str = SendNotReply + "917" + BaseDal.GetSeqNo().Result.ToString("D5") + Status;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -444,7 +432,7 @@
        {
            try
            {
                string str = SendandReply + "905" + BaseDal.GetSeqNo().Result.ToString() + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                string str = SendandReply + "905" + BaseDal.GetSeqNo().Result.ToString("D5") + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -467,7 +455,7 @@
        {
            try
            {
                string str = SendNotReply + "907" + BaseDal.GetSeqNo().Result.ToString() + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                string str = SendNotReply + "907" + BaseDal.GetSeqNo().Result.ToString("D5") + Status + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -489,7 +477,7 @@
        {
            try
            {
                string str = SendandReply + "901" + BaseDal.GetSeqNo().Result.ToString() + "0" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                string str = SendandReply + "901" + BaseDal.GetSeqNo().Result.ToString("D5") + "0" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -507,11 +495,14 @@
        /// <param name="TaskType">任务类型 I入库、O出库、S站台到站台、R移库</param>
        /// <param name="PallteCode">托盘号</param>
        /// <returns></returns>
        public void DeviceStationStatusReport(HOSTAGVStatus Agvstatus, List<OutStationStatus> outStations, List<InStationStatus> inStation)
        public void DeviceStationStatusReport(HOSTAGVStatus Agvstatus, List<OutStationStatus> outStations, List<InStationStatus> inStation, string sGetSeqNo)
        {
            try
            {
                string str = SendNotReply + "936" + BaseDal.GetSeqNo().Result.ToString() + GetFieldsAsString(Agvstatus) + GetListStringOutStation(outStations) + GetListStringInStation(inStation);
                var agvstatus = GetFieldsAsString(Agvstatus);
                var outstation = GetListStringOutStation(outStations);
                var instation = GetListStringInStation(inStation);
                string str = SendNotReply + "936" + sGetSeqNo + agvstatus + outstation + OutStationSpare2 + "2" + instation;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -532,7 +523,7 @@
        {
            try
            {
                string str = SendandReply + "105" + BaseDal.GetSeqNo().Result.ToString() + "R" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                string str = SendandReply + "105" + BaseDal.GetSeqNo().Result.ToString("D5") + "R" + JobOrderID + priority + FormLocation + ToLocation + TaskType + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -552,7 +543,7 @@
        {
            try
            {
                string str = SendNotReply + "985" + BaseDal.GetSeqNo().Result.ToString() + Trouble + Level + Location;
                string str = SendNotReply + "985" + BaseDal.GetSeqNo().Result.ToString("D5") + Trouble + Level + Location;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -571,7 +562,7 @@
        {
            try
            {
                string str = SendNotReply + "104" + BaseDal.GetSeqNo().Result.ToString() + Statues;
                string str = SendNotReply + "104" + BaseDal.GetSeqNo().Result.ToString("D5") + Statues;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -592,7 +583,7 @@
        {
            try
            {
                string str = SendandReply + "107" + BaseDal.GetSeqNo().Result.ToString() + "1" + JobOrderID + priority + FormLocation + ToLocation + "O" + TrayCnt + PallteCode;
                string str = SendandReply + "107" + BaseDal.GetSeqNo().Result.ToString("D5") + "1" + JobOrderID + priority + FormLocation + ToLocation + "O" + TrayCnt + PallteCode;
                clientSend(MakeStringToByteMsg(str));
            }
            catch (Exception ex)
@@ -608,7 +599,8 @@
        /// <param name="AgvStatus"></param>
        public void DeviceStatusReportResponse(HOSTAGVStatus AgvStatus, string X, string Y)
        {
            string str = SendNotReply + "910" + BaseDal.GetSeqNo().Result.ToString() + "1" + GetFieldsAsString(AgvStatus) + X + Y;
            string str = SendNotReply + "910" + BaseDal.GetSeqNo().Result.ToString("D5") + GetFieldsAsString(AgvStatus) + X + Y;
            clientSend(MakeStringToByteMsg(str));
        }

        #endregion
@@ -626,12 +618,24 @@
            {
                //OK
                case "0":
                    //UpdateTaskLocation(parseMessage);
                    InsertWMSTask(parseMessage);
                    Thread.Sleep(500);
                    //915
                    JobReady("0");
                    break;
                    var location = _locationRepository.QueryFirst(x => x.LocationCode == parseMessage.body.ToLocation);
                    if (location == null)
                    {
                        return;
                    }
                    if (location.LocationStatus == (int)LocationEnum.Free)
                    {
                        InsertWMSTask(parseMessage);
                        Thread.Sleep(500);
                        //915
                        JobReady("0");
                        return;
                    }
                    else
                    {
                        //todo货位有货重复入库
                        return;
                    }
                //NG
                case "1":
                    break;
@@ -696,7 +700,7 @@
                        {
                            JobStartOrEnd("E", task.SourceAddress, task.TargetAddress, "O", task.PalletCode);
                        }
                       CompleteInboundTask(task);
                        CompleteInboundTask(task);
                        break;
                    case (int)TaskOutboundTypeEnum.Outbound:
                        //出库
@@ -742,15 +746,29 @@
                {
                    //OK
                    case "0":
                        var task = InsertWMSTask(parseMessage);
                        BaseDal.AddData(task);
                        InsertAGVTask(task);
                        Thread.Sleep(500);
                        //915
                        JobReady("0");
                        Thread.Sleep(500);
                        //104
                        DeviceReceiveJobResponse("0");
                        var location = _locationRepository.QueryFirst(x => x.LocationCode == parseMessage.body.ToLocation);
                        if (location == null)
                        {
                            return;
                        }
                        if (location.LocationStatus == (int)LocationEnum.InStock)
                        {
                            var task = InsertWMSTask(parseMessage);
                            BaseDal.AddData(task);
                            InsertAGVTask(task);
                            Thread.Sleep(500);
                            //915
                            JobReady("0");
                            Thread.Sleep(500);
                            //104
                            DeviceReceiveJobResponse("0");
                        }
                        else
                        {
                            //todo货位无货空出库
                            return;
                        }

                        break;
                    default:
                        break;
@@ -767,44 +785,47 @@
        /// HOST设备状态获取  å·¥åº935
        /// </summary>
        /// <param name="message"></param>
        public void DeviceStationStatusInvite()
        public void DeviceStationStatusInvite(string sSeqNo)
        {
            try
            {
                //回复936
                List<Dt_StationManager> Instation = _stationManagerRepository.QueryData(x => x.stationType == 1).ToList();
                List<Dt_StationManager> Outstation = _stationManagerRepository.QueryData(x => x.stationType == 2).ToList();
                List<OutStationStatus> outStationStatus = new List<OutStationStatus>();
                List<InStationStatus> inStationStatus = new List<InStationStatus>();
                foreach (var item in Instation)
                StationStatus stationIn = GetStationStatus("B002");

                inStationStatus.Add(new InStationStatus()
                {
                    inStationStatus.Add(new InStationStatus()
                    {
                        StationName = item.stationName,
                        StationEnable = item.stationStatus,
                        IsDistributionTask = item.stationHasTask,
                        PallteCode = "0000000000",
                    });
                }
                foreach (var item in Outstation)
                    StationName = "02",
                    StationEnable = stationIn.WorkstationO == "1" ? "0" : "1",
                    IsDistributionTask = "0",
                    PallteCode = "0000000000",
                });
                inStationStatus.Add(new InStationStatus()
                {
                    StationStatus station = GetStationStatus(item.stationName);
                    var taskStation = BaseDal.QueryFirst(x => x.SourceAddress == item.stationName || x.TargetAddress == item.stationName);
                    outStationStatus.Add(new OutStationStatus()
                    {
                        StationName = item.stationName,
                        StationEnable = station.StationEnable == "1" ? "0" : "1",
                        IsDistributionTask = taskStation == null ? "0" : "1",
                        Spare1 = "00"
                    });
                    //outStationStatus.Add(new OutStationStatus()
                    //{
                    //    StationName = item.stationName,
                    //    StationEnable = item.stationStatus,
                    //    IsDistributionTask = item.stationHasTask,
                    //    Spare1 = "00"
                    //});
                }
                    StationName = "01",
                    StationEnable = stationIn.WorkstationT == "1" ? "0" : "1",
                    IsDistributionTask = "0",
                    PallteCode = "0000000000",
                });

                StationStatus stationOut = GetStationStatus("B001");
                var taskOutStationO = BaseDal.QueryFirst(x => x.SourceAddress == "B001::1" || x.TargetAddress == "B001::1");
                var taskOutStationT = BaseDal.QueryFirst(x => x.SourceAddress == "B001::2" || x.TargetAddress == "B001::2");
                outStationStatus.Add(new OutStationStatus()
                {
                    StationName = "04",
                    StationEnable = stationOut.WorkstationO == "1" ? "0" : "1",
                    IsDistributionTask = taskOutStationO == null ? "0" : "1",
                    Spare1 = "00"
                });
                outStationStatus.Add(new OutStationStatus()
                {
                    StationName = "03",
                    StationEnable = stationOut.WorkstationT == "1" ? "0" : "1",
                    IsDistributionTask = taskOutStationT == null ? "0" : "1",
                    Spare1 = "00"
                });
                AGVStatusRespone status = GetAGVStatus();
                HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
                {
@@ -812,7 +833,7 @@
                    AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",
                    Ready = status.AutoStatus == "MaintenanceMode" ? "0" : "1",
                };
                DeviceStationStatusReport(AgvStatus, outStationStatus, inStationStatus);
                DeviceStationStatusReport(AgvStatus, outStationStatus, inStationStatus, sSeqNo);
            }
            catch (Exception)
            {
@@ -875,13 +896,16 @@
        /// </summary>
        public void DeviceStatusReportRequest()
        {
            AGVStatusRespone status = GetAGVStatus();

            HOSTAGVStatus AgvStatus = new HOSTAGVStatus()
            {
                RuntimeStatus = "R",
                AutoStatus = "1",
                Ready = "1"
                RuntimeStatus = CapitalizeFirstLetter(status.RuntimeStatus),
                AutoStatus = status.AutoStatus == "MaintenanceMode" ? "1" : "0",
                Ready = status.AutoStatus == "MaintenanceMode" ? "0" : "1",
            };
            string axis = "000000";

            DeviceStatusReportResponse(AgvStatus, axis, axis);
        }
        #endregion
@@ -899,7 +923,6 @@
            {
                byte[] byt = Encoding.UTF8.GetBytes(Message);  // ä½¿ç”¨ UTF-8 é¿å…ç¼–码问题

                LogFactory.GetLog("请求托盘任务").Error(true, BitConverter.ToString(byt));
                string checksum = GetCheckSum(byt);

                string str = Message + checksum;
@@ -921,6 +944,8 @@
                // å¤åˆ¶åŽŸå§‹æ•°ç»„的所有数据到新数组的中间部分
                Array.Copy(buffer, 0, newArray, 1, buffer.Length);

                //var parseMessage = GetParse(str);
                LogFactory.GetLog("Socket发送报文").Info(true, str);
                return newArray;
            }
            catch (Exception ex)
@@ -928,17 +953,13 @@
                throw new Exception(ex.Message);
            }
        }
        //public bool IsOnline()
        //{

        //}
        public string GetListStringOutStation(List<OutStationStatus> outStationStatus)
        {
            return string.Join("", outStationStatus.Select(status => $"{status.StationName}{status.StationEnable}{status.IsDistributionTask}{status.Spare1}"));
        }
        public string GetListStringInStation(List<InStationStatus> inStationStatus)
        {
            return string.Join("", inStationStatus.Select(status => $"{status.StationName}{status.StationEnable}{status.IsDistributionTask}{status.Spare1}"));
            return string.Join("", inStationStatus.Select(status => $"{status.StationName}{status.StationEnable}{status.IsDistributionTask}{status.IsHasPallte}{status.Spare1}{status.StationPallteCount}{status.PallteCode}{status.Spare2}"));
        }
        /// <summary>
        /// å°†å¯¹è±¡å€¼å‡­æ‹¼æŽ¥
@@ -1032,6 +1053,8 @@
                }
                else
                {


                    Console.WriteLine("校验失败！");
                    return null;
                }
@@ -1113,12 +1136,32 @@
        /// <returns></returns>
        private int InsertAGVTask(Dt_Task task)
        {
            string SourceAddress = string.Empty;
            string TargetAddress = string.Empty;
            if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
            {
                TargetAddress = InsertHyphenEveryTwoChars(task.TargetAddress);
            }
            else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
            {
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
            }
            else if (task.TaskType == (int)TaskRelocationTypeEnum.Relocation)
            {
                TargetAddress = InsertHyphenEveryTwoChars(task.TargetAddress);
                SourceAddress = InsertHyphenEveryTwoChars(task.SourceAddress);
            }
            else if (task.TaskType == (int)TaskStationTypeEnum.StationToStation)
            {
                TargetAddress = task.TargetAddress;
                SourceAddress = task.SourceAddress;
            }
            task_call task_Call = new task_call()
            {
                d_task_type = task.TaskType == (int)TaskTypeEnum.Inbound ? 1 : 2,
                d_floor = 1,
                d_involed1 = task.SourceAddress,
                d_involed2 = task.TargetAddress,
                d_involed1 = SourceAddress,
                d_involed2 = TargetAddress,
                d_involed5 = task.TaskNum,
            };

@@ -1148,7 +1191,7 @@
        }
        public AGVStatusRespone GetAGVStatus()
        {
            string urlnew = url + "/ilns/AGV/getAgvState";
            string urlnew = url + "/ilns/AGV/getState";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { getStatus = "1" }.ToJson())).Result;

            return JsonConvert.DeserializeObject<AGVStatusRespone>(result.ToString());
@@ -1156,8 +1199,8 @@

        public StationStatus GetStationStatus(string stationName)
        {
            string urlnew = url + "/ilns/strl/getStat";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { strlName = stationName }.ToJson())).Result;
            string urlnew = url + "/ilns/ctrl/getState";
            var result = HttpsClient.PostAsync(urlnew, JsonConvert.DeserializeObject<Dictionary<string, object>>(new { ctrlName = "B001" }.ToJson())).Result;
            return JsonConvert.DeserializeObject<StationStatus>(result.ToString());
        }
        public string CapitalizeFirstLetter(string s)
@@ -1170,7 +1213,29 @@
            char firstChar = s[0];
            return char.ToUpper(firstChar).ToString();
        }
        public string InsertHyphenEveryTwoChars(string input)
        {
            if (string.IsNullOrEmpty(input))
            {
                return input;
            }

            StringBuilder result = new StringBuilder();

            for (int i = 0; i < input.Length; i += 2)
            {
                // æ·»åŠ ä¸¤ä¸ªå­—符
                result.Append(input.Substring(i, 2));

                // å¦‚果不是最后两个字符，添加一个连字符
                if (i + 2 < input.Length)
                {
                    result.Append('-');
                }
            }

            return result.ToString();
        }
        #region å¤–部接口方法

        public WebResponseContent CompleteInboundTask(Dt_Task task)