using System;
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using System.Threading.Tasks;
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using HH.WCS.Mobox3.DSZSH.Consts;
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using HH.WCS.Mobox3.DSZSH.Devices;
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using HH.WCS.Mobox3.DSZSH.Helpers;
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using HH.WCS.Mobox3.DSZSH.Models;
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using HH.WCS.Mobox3.DSZSH.ServiceCore;
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using Newtonsoft.Json;
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using static HH.WCS.Mobox3.DSZSH.Dtos.Request.AgvRequest;
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using static HH.WCS.Mobox3.DSZSH.Dtos.Response.AgvResponse;
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namespace HH.WCS.Mobox3.DSZSH.Services {
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public class AgvService {
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public static ReturnResult OperateAgvTaskStatus(AgvTaskState model) {
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var result = new ReturnResult();
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try {
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switch (model.state) {
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case 1023:
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case 1025:
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break;
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case 1012:
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break;
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case 1004:
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break;
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case 1103:
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break;
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default:
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// AGV 执行任务的逻辑处理
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if (!AgvTaskProcessOk(model)) {
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// 执行不OK，说明没有找到任务
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result.ResultCode = 1;
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result.ResultMsg = $"根据Model.No未找到对应的任务，{model.task_no}";
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LogHelper.Info(result.ResultMsg, "API");
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return result;
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}
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break;
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}
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result.ResultCode = 0;
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result.ResultMsg = "success";
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LogHelper.Info(result.ResultMsg, "API");
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return result;
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}
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catch (Exception ex) {
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result.ResultCode = -1;
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result.ResultMsg = $"发生了异常：+{ex.Message}";
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LogHelper.Info(result.ResultMsg, "Error");
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return result;
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}
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}
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/// <summary>
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/// 执行 AGV 任务，查询不到任务返回 <see langword="false"/>
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/// </summary>
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/// <param name="model"></param>
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/// <returns></returns>
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private static bool AgvTaskProcessOk(AgvTaskState model) {
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var TN_Task = TaskHelper.GetTask(model.task_no); // 根据当前model编号查询任务
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if (TN_Task == null) { return false; }
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if (model.state > 7) {
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//安全请求等
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TaskHelper.OperateReq(model.task_no, model.state, model.forklift_no, model.ext_data);
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return true;
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}
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// AGV 任务 134562(7) 状态处理
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switch (model.state) {
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case AgvStateCode.执行:
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TaskHelper.Begin(TN_Task, model.forklift_no); // 已推送的任务的状态改成执行
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break;
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case AgvStateCode.开始取货:
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TaskHelper.UpdateStatus(TN_Task, "开始取货"); // 任务状态改成开始取货
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break;
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case AgvStateCode.取货完成:
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TaskHelper.UpdateStatus(TN_Task, "取货完成"); // 任务状态改成取货完成
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TaskHelper.OperateStatus(TN_Task, 4); // 起点容器货位解绑,解锁起点
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if (TN_Task.S_TYPE == TaskName.成品胶出库) {
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var nextOutboundTask = Task.Run(() => {
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OutboundCore.UpdateTaskState(SpotStateCode.任务执行完成);
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});
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}
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break;
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case AgvStateCode.开始卸货:
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TaskHelper.UpdateStatus(TN_Task, "开始卸货"); // 任务状态改成开始卸货
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break;
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case AgvStateCode.卸货完成:
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TaskHelper.UpdateStatus(TN_Task, "卸货完成"); // 任务状态改成卸货完成
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TaskHelper.OperateStatus(TN_Task, 6); // 终点容器货位绑定,解锁终点
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break;
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case AgvStateCode.完成:
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TaskHelper.End(TN_Task); // 任务状态改成结束
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if (TN_Task.S_TYPE == TaskName.抽检_出库) {
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var checkCompleteTask = Task.Run(() => {
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CheckCore.UpdateTaskState(SpotStateCode.任务执行完成);
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});
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}
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break;
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case AgvStateCode.异常:
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TaskHelper.OperateStatus(TN_Task, 7); // 异常处理
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TaskHelper.Fail(TN_Task); // 任务状态改成错误
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break;
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}
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// 将AGV执行状态，加入TN_Task_Action表中
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TaskHelper.AddActionRecord(model.task_no, model.state, model.forklift_no, model.ext_data);
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//调用第三方接口（如果有）TaskProcess.ReportStatus，添加任务动作关系表
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return true;
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}
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public static ReturnResult SafetyInteraction(SafetyInteractionInfo model) {
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var gzResult = new ReturnResult();
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var db = DbHelper.GetDbClient();
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ModbusHelper.Relink();
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try {
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var prodLineInfo = AppStart.Settings.Config.ProductionLines[0];
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var prodLineDevice = new ProductionLineDevice(prodLineInfo.PlcIp, prodLineInfo.PlcPort);
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if (!prodLineDevice.LoadDeviceStateOk()) {
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LogHelper.Info("加载设备信息失败");
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}
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var tn_task = db.Queryable<TN_Task>().First(a => a.S_CODE == model.TaskNo);
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if (tn_task == null) {
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LogHelper.Info($"任务号 '{model.TaskNo}' 不存在");
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}
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// 待修改：补充不同分支AGV判断
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if (prodLineDevice.SystemState == 1) {
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if (prodLineDevice.FullOffline == 1 && tn_task.S_TYPE == TaskName.托盘_满托下线入库) {
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prodLineDevice.AgvPicking = 1;
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}
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if (prodLineDevice.AllowAgvPlacePallet == 1 && tn_task.S_TYPE == TaskName.托盘_空托上线) {
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prodLineDevice.AgvPlacingPallet = 1;
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}
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}
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LogHelper.Info(JsonConvert.SerializeObject(prodLineDevice, Formatting.Indented));
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return gzResult;
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}
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catch (Exception ex) {
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LogHelper.Info($"发生了异常：{ex.Message}");
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return gzResult;
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}
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}
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}
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}
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