wcs/WCS.BLL/Manager/AGVManager.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WCS.BLL.DbModels;
using WCS.BLL.Tool;
using WCS.DAL.Db;
using WCS.DAL.DbModels;
using WCS.Model;
using WCS.Model.ApiModel.AGV;
using WCS.Model.ApiModel.InOutRecord;
using WCS.Model.ApiModel.MXBackgroundThread;

namespace WCS.BLL.Manager
{
    //AGV动作相关
    public static class AGVManager
    {
        public static void InitBackgroundThread()
        {
            #region 定时任务:定时查询任务状态
            Task.Run(() =>
            {
                while (true)
                {
                    //每5秒同步一次
                    Thread.Sleep(5000);
                    try
                    {
                        var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/queryTaskStatus";

                        var tasks = DbHelp.db.Queryable<AgvTask>()
                                                        .Where(t => t.CreateTime > DateTime.Now.AddDays(-7)) //只查询7天内agv任务数据
                                                        .Where(t =>t.TaskStatus != TaskStatusEnum.取消完成 && t.TaskStatus!= TaskStatusEnum.已结束)
                                                        .OrderBy(t => t.Id)
                                                        .ToList();
                        if (tasks != null && tasks.Count > 0)
                        {
                            for (int i = 0; i < tasks.Count; i++)
                            {
                                try
                                {
                                    //请求RCS获取任务状态
                                    var data = new AGVQueryTaskStatusRequest();
                                    data.taskCodes.Add(tasks[i].TaskCode);

                                    var result = ApiHelp.GetDataFromHttp<AGVQueryTaskStatusResponse>(url, data, "POST", true);
                                    if (result != null && result.code == "0" && result.data !=null && result.data.Count > 0)
                                    {
                                        var isUpdate = false;
                                        //获取成功 是否与当前任务状态一致 如果不一致 进行更新
                                        var responseData = result.data.First();
                                        if (responseData.agvCode != tasks[i].AgvCode)
                                        {
                                            isUpdate = true;
                                            tasks[i].AgvCode = responseData.agvCode;
                                        }
                                        if (responseData.taskStatus != tasks[i].TaskStatus.ToString())
                                        {
                                            Enum.TryParse<TaskStatusEnum>(responseData.taskStatus, out TaskStatusEnum status);
                                            isUpdate = true;
                                            tasks[i].TaskStatus = status;
                                        }
                                        if (isUpdate) 
                                        {
                                            DbHelp.db.Updateable(tasks[i]).ExecuteCommand();
                                        }
                                    }
                                }
                                catch (Exception ex)
                                {
                                    Logs.Write("【定时任务】获取任务状态异常：" + ex.Message);
                                }
                                Thread.Sleep(50);
                            }
                        }
                    }
                    catch (Exception ex)
                    {
                        Logs.Write("【定时任务】获取任务状态异常：" + ex.Message);
                    }
                }
            });
            #endregion
        }

        public static object lockFlag = new object();
        /// <summary>
        /// 产生AGV点到点搬运任务
        /// </summary>
        public static AGVResponseModel GenAgvSchedulingTask(LocationInfo startLocation, LocationInfo endLocation, string shelfCode, string createUser)
        {
            var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/genAgvSchedulingTask";
            var startPositionCodePathItem = new PositionCodePathItem()
            {
                positionCode = startLocation.RcsStoreCode,
            };
            var endPositionCodePathItem = new PositionCodePathItem()
            {
                positionCode = endLocation.RcsStoreCode,
            };
            List<PositionCodePathItem> positionCodePathItems = new List<PositionCodePathItem>();

            positionCodePathItems.Add(startPositionCodePathItem);
            positionCodePathItems.Add((endPositionCodePathItem));

            //任务只允许一个一个发送
            lock (lockFlag)
            {
                var body = new GenAgvSchedulingTaskRequest()
                {
                    positionCodePath = positionCodePathItems,
                };

                var response = ApiHelp.GetDataFromHttp<AGVResponseModel>(url, body, "POST", true);
                if (response.code == "0" && response.message == "成功")
                {
                    //生成任务数据
                    var task = new AgvTask()
                    {
                        ShelfCode = shelfCode,
                        RequestCode = body.reqCode,
                        TaskCode = body.taskCode,
                        TaskType = "GenAgvSchedulingTask",
                        StratLocationId = startLocation.Id,
                        StartLocationCode = startLocation.LocationCode,
                        EndLocationId = endLocation.Id,
                        EndLocationCode = endLocation.LocationCode,
                        CreateUser = createUser
                    };
                    DbHelp.db.Insertable(task).ExecuteCommand();
                }

                return response;
            }
        }

        public static AGVResponseModel CancelTask(AgvTask agvTask)
        {
            try
            {
                var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/cancelTask";

                //任务只允许一个一个发送
                lock (lockFlag)
                {
                    var body = new AGVCancelTaskRequest()
                    {
                        taskCode = agvTask.TaskCode,
                    };

                    var response = ApiHelp.GetDataFromHttp<AGVResponseModel>(url, body, "POST", true);
                    if (response.code == "0" && response.message == "成功")
                    {
                        agvTask.TaskStatus = Model.ApiModel.AGV.TaskStatusEnum.取消完成;
                        DbHelp.db.Updateable(agvTask).ExecuteCommand();
                    }
                    return response;
                }
            }
            catch (Exception ex)
            {
                return new AGVResponseModel()
                {
                    code = "-1",
                    message = $"发生异常：{ex.Message}"
                };
            }
        }
    }
}