using Hanhe.iWCS.Business;
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using Hanhe.iWCS.Common;
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using Hanhe.iWCS.DeviceDriver;
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using Hanhe.iWCS.Model;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace Hanhe.iWCS.TaizhouGEMTwoProtocol
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{
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public class TSHelper
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{
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/// <summary>
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/// AGV进入
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/// </summary>
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/// <param name="taskNo">任务号</param>
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/// <param name="orderNo">序号</param>
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/// <param name="param1">新的agv终点</param>
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//public static bool GoToAGV(string taskNo, int orderNo, int param1 = 1) {
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public static bool GoToAGV(string taskNo, int orderNo, int param1)
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{
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bool bResult = false;
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//TN_I_TASK_DTL_ACTION GoToAction = WorkFlowAction.GetActionNode(taskNo, orderNo, 0);
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//TN_I_TASK_DTL_ACTION GoToAction = WorkFlowAction.GetActionNode(taskNo, 1, 0);
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//if (GoToAction != null) {
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//HardwareAccessObject GoToAGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO(GoToAction.CN_S_PROGRAM_CODE);
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HardwareAccessObject GoToAGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO("1");
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if (GoToAGVHao != null) {
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//发送行走指令 到AGV
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CMMLog.Info($"【杭叉AGV】GoToAGVHao:{GoToAGVHao}");
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Console.WriteLine($"【杭叉AGV】GoToAGVHao:{GoToAGVHao}");
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StringBuilder sbMsg = new StringBuilder();
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sbMsg.Append("<Req>");
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sbMsg.Append("<Order No='" + taskNo + "_" + "1" + "' Param1='" + param1 + "' ParamNo='" + orderNo + "' />");
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sbMsg.Append("</Req>");
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try {
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object[] args = new object[1];
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args[0] = sbMsg.ToString();
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object errObject = GoToAGVHao._WebServiceInstance.Invoke("ChangeOrder", args);
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string errMsg = string.Empty;
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int errCode = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)errObject, out errMsg);
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if (errCode == 0) {
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CMMLog.Info("【杭叉AGV】通知AGV行走成功！请求参数=" + sbMsg.ToString());
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Console.WriteLine("【杭叉AGV】通知AGV行走成功！请求参数=" + sbMsg.ToString());
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bResult = true;
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}
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else {
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CMMLog.Info("【杭叉AGV】占用失败;通知AGV行走失败！errCode=" + errCode + ";请求参数=" + sbMsg.ToString());
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Console.WriteLine("【杭叉AGV】占用失败;通知AGV行走失败！errCode=" + errCode + ";请求参数=" + sbMsg.ToString());
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}
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}
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catch (Exception ex) {
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CMMLog.Info("【杭叉AGV】通知AGV异常！Exception=" + ex.Message + ";请求参数=" + sbMsg.ToString());
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Console.WriteLine("【杭叉AGV】通知AGV异常！Exception=" + ex.Message + ";请求参数=" + sbMsg.ToString());
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}
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}
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else
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{
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CMMLog.Info($"【杭叉AGV】GoToAGVHao==null!");
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Console.WriteLine($"【杭叉AGV】GoToAGVHao==null!");
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}
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//}
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//else
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//{
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// CMMLog.Info($"【杭叉AGV】GoToAction==null!");
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// Console.WriteLine($"【杭叉AGV】GoToAction==null!");
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//}
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return bResult;
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}
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//ams下发充电任务，TS99，参数0填写车号即可。
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//当充电开始时，会发送s消息，带的三个参数分别为： 车号；81；99
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//当充电结束或者任务被取消，会发送s消息，三个参数分别为： 车号，82，99
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internal static int SendChargeTask(string agvNo, bool charge, bool full = false)
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{
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CMMLog.Info("推送充电任务：执行开始！");
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Console.WriteLine("推送充电任务：执行开始！");
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var command = charge ? "AddNewOrder" : "CancelOrder";
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int code = -1;
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try
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{
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CMMLog.Info("推送充电任务：full=" + full);
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int to = full ? 1000 : 0;
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StringBuilder sbMsg = new StringBuilder();
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sbMsg.Append("<Req>");
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if (charge)
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{
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sbMsg.Append("<Order TS='99' Pri='20' ExtDeviceNo='" + agvNo + "' FRow='' TRow='' No='" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss:fff:ffffff") + "' />");
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CMMLog.Info($"推送充电任务：{sbMsg}");
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}
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else
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{
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sbMsg.Append("<Order Pri='20' TS='101' IsForce='1' ExtDeviceNo='" + agvNo + "' IsForce='1' From='" + agvNo + "' To='4' />");
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CMMLog.Info($"推送充电任务：{sbMsg}");
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}
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sbMsg.Append("</Req>");
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HardwareAccessObject AGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO("1");
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if (AGVHao != null)
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{
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object[] args = new object[1];
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string errMsg = string.Empty;
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args[0] = sbMsg.ToString();
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object xmlData = AGVHao._WebServiceInstance.Invoke(command, args);
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code = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)xmlData, out errMsg);
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CMMLog.Info("推送充电任务：param=" + sbMsg.ToString() + ";cmd=" + command + ";code=" + code + ";errMsg=" + errMsg);
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if (code == 60050)
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{
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code = 0;
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}
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}
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}
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catch (Exception ex)
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{
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CMMLog.Info("推送充电任务：异常：【agv=" + agvNo + ";cmd=" + command + "】charge task err：" + ex.Message.ToString());
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}
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CMMLog.Info("推送充电任务：执行结束！");
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return code;
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}
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/// <summary>
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/// 小车安全门交互
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/// </summary>
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/// <param name="lockNo"></param>
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/// <returns></returns>
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public static bool Traffic(string lockNo)
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{
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bool bResult = false;
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HardwareAccessObject AGVhao = HardwareAccessHelper.Instance.GetEquipmentsHAO("1");
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if (AGVhao != null)
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{
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//发送行走指令 到AGV
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StringBuilder sbMsg = new StringBuilder();
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sbMsg.Append("<Req>");
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//sbMsg.Append("<Order TS='164' From='2' To='2' ExtDeviceNo='" + lockNo + "' No='" + DateTime.Now.Ticks.ToString() + "' />");
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sbMsg.Append("<Order TS='164' ExtDeviceNo='" + lockNo + "' No='" + DateTime.Now.Ticks.ToString() + "' />");
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sbMsg.Append("</Req>");
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var msg = string.Empty;
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try
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{
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object[] args = new object[1];
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args[0] = sbMsg.ToString();
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object errObject = AGVhao._WebServiceInstance.Invoke("StartNewOrderWithQCmd", args);
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string errMsg = string.Empty;
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int errCode = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)errObject, out errMsg);
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if (errCode == 0)
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{
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bResult = true;
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}
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msg = string.Format($"【推送小车进入安全门】：" + "notice agv go errCode={0} errMsg={1} request={2}", errCode, errMsg, sbMsg.ToString());
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//Console.WriteLine(msg);
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CMMLog.Debug(msg);
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}
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catch (Exception ex)
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{
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msg = string.Format($"【推送小车进入安全门：异常】：" + "notice agv go errMsg={0} request={1}", ex.Message, sbMsg.ToString());
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//Console.WriteLine(msg);
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CMMLog.Debug(msg);
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}
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}
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return bResult;
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}
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/// <summary>
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/// 发送和取消充电任务
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/// </summary>
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/// <param name="taskNo">任务号</param>
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/// <param name="agvNo">车号</param>
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/// <param name="command">指令方法</param>
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/// <returns></returns>
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//internal static int SendChargeTask(string taskNo, string agvNo, bool charge, bool full = false) {
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// Console.WriteLine("SendChargeTask");
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// var command = charge ? "AddNewOrder" : "CancelOrder";
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// // int code = SendAGVTaskInfo(taskNo, agvNo, "AddNewOrder");
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// // int code = SendAGVTaskInfo(taskNo, agvNo, "CancelOrder");
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// int code = -1;
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// try {
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// CMMLog.Info("full=" + full);
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// int to = full ? 1000 : 0;
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// StringBuilder sbMsg = new StringBuilder();
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// sbMsg.Append("<Req>");
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// if (charge) {
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// sbMsg.Append("<Order Pri='15' TS='99' No='" + taskNo + "' From='" + agvNo + "' />");
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// }
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// else {
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// sbMsg.Append("<Order Pri='15' TS='101' IsForce='1' No='" + taskNo + "' IsForce='1' From='" + agvNo + "' To='4' />");
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// }
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// sbMsg.Append("</Req>");
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// HardwareAccessObject AGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO("1");
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// if (AGVHao != null) {
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// object[] args = new object[1];
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// string errMsg = string.Empty;
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// args[0] = sbMsg.ToString();
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// object xmlData = AGVHao._WebServiceInstance.Invoke(command, args);
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// code = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)xmlData, out errMsg);
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// CMMLog.Info("send charge task：param=" + sbMsg.ToString() + ";cmd=" + command + ";code=" + code + ";errMsg=" + errMsg);
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// if (code == 60050) {
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// code = 0;
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// }
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// }
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// }
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// catch (Exception ex) {
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// CMMLog.Info("【agv=" + agvNo + ";cmd=" + command + "】charge task err：" + ex.Message.ToString());
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// }
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// return code;
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//}
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public static bool ChangeParam(string taskNo, int paramNo, params int[] param) {
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bool bResult = false;
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TN_I_TASK_DTL_ACTION GoToAction = WorkFlowAction.GetActionNode(taskNo, 1, 0);
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if (GoToAction != null) {
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HardwareAccessObject GoToAGVHao = HardwareAccessHelper.Instance.GetEquipmentsHAO(GoToAction.CN_S_PROGRAM_CODE);
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if (GoToAGVHao != null) {
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//发送行走指令 到AGV
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var req = $"<Req><Order No = '{taskNo}_1' ParamNo = '{paramNo}' Param1='{param[0]}'/></Req> ";
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if (param.Length > 1) {
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req = $"<Req><Order No = '{taskNo}_1' ParamNo = '{paramNo}' Param1='{param[0]}' Param2='{param[1]}'/></Req> ";
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}
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try
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{
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object[] args = new object[1];
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args[0] = req;
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object errObject = GoToAGVHao._WebServiceInstance.Invoke("ChangeOrder", args);
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string errMsg = string.Empty;
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int errCode = Hanhe.iWCS.AGVWebService.AGVHelper.Instance.AGVXmlResult((string)errObject, out errMsg);
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if (errCode == 0) {
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CMMLog.Info("【杭叉AGV】通知AGV行走成功！请求参数=" + req);
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bResult = true;
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}
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else {
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CMMLog.Info("【杭叉AGV】占用失败;通知AGV行走失败！errCode=" + errCode + ";请求参数=" + req);
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}
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}
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catch (Exception ex) {
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CMMLog.Info("【杭叉AGV】通知AGV异常！Exception=" + ex.Message + ";请求参数=" + req);
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}
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}
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}
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return bResult;
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}
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}
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}
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