Merge branch 'master' of http://175.27.215.92:3000/baogq/HightWay_AirPot_WCS

SlnMesnac.Business/base/BaseStateRefreshBusiness.cs

@@ -11,29 +11,34 @@ namespace SlnMesnac.Business.@base
     public class BaseStateRefreshBusiness
     {
         private IAGVStateService _AGVStateService;
-        private IManipulatorStateService _ManipulatorStateService;
         private ILogger<BaseStateRefreshBusiness> _logger;
         private static BaseStateRefreshBusiness instance;
-        public BaseStateRefreshBusiness(ILogger<BaseStateRefreshBusiness> logger, IAGVStateService agvService, IManipulatorStateService manipulatorStateService)
+        private AirPorthttpClient _airPorthttpClient;
+
+        public BaseStateRefreshBusiness(ILogger<BaseStateRefreshBusiness> logger, IAGVStateService agvService, AirPorthttpClient airPorthttpClient)
         {
             _logger = logger;
             _AGVStateService = agvService;
-            _ManipulatorStateService = manipulatorStateService;
+            _airPorthttpClient = airPorthttpClient;
         }
-        public static BaseStateRefreshBusiness GetInstance(ILogger<BaseStateRefreshBusiness> logger, IAGVStateService agvService, IManipulatorStateService manipulatorStateService)
+        public static BaseStateRefreshBusiness GetInstance(ILogger<BaseStateRefreshBusiness> logger, IAGVStateService agvService, AirPorthttpClient airPorthttpClient)
         {
             if (instance == null)
             {
-                instance = new BaseStateRefreshBusiness(logger, agvService, manipulatorStateService);
+                instance = new BaseStateRefreshBusiness(logger, agvService, airPorthttpClient);
             }
             return instance;
         }
 
-        public bool UpdateAGVStateByResposne(AGVStateRequestEntity request) 
+        public bool UpdateAGVStateByResposne() 
         {
             try
             {
-                var response = AirPorthttpClient.AGVStateRequest(request);
+                var response = _airPorthttpClient.AGVAllStateRequest();
+                if(response == null)
+                {
+                    return false;
+                }
                 _AGVStateService.UpdateOrAddByResponse(response);
             }
             catch (Exception e) 
@@ -43,18 +48,5 @@ namespace SlnMesnac.Business.@base
             return true;
         }
 
-        public bool UpdateManipulatorStateByResposne(ManipulatorStateRequestEntity request)
-        {
-            try
-            {
-                var response = AirPorthttpClient.ManipulatorStateRequest(request);
-                _ManipulatorStateService.UpdateOrAddByResponse(response);
-            }
-            catch (Exception e)
-            {
-                _logger.LogError("Error:" + e);
-            }
-            return true;
-        }
     }
 }

SlnMesnac.Config/AppConfig.cs

@@ -74,11 +74,6 @@ namespace SlnMesnac.Config
         /// </summary>
         public string AGVIpConfig { get; set; }
 
-        /// <summary>
-        /// 机械臂地址配置
-        /// </summary>
-        public string ManipulatorIpConfig { get; set; }
-
         /// <summary>
         /// 机械臂地址配置
         /// </summary>

SlnMesnac.Model/domain/AGVState.cs

@@ -24,7 +24,7 @@ namespace SlnMesnac.Repository
            public int id {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:AGV编号
            /// Default:
            /// Nullable:False
            /// </summary>
@@ -32,7 +32,7 @@ namespace SlnMesnac.Repository
            public string agvno {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:AGV类型 1：AMR 2: 机械臂
            /// Default:
            /// Nullable:False
            /// </summary>
@@ -40,7 +40,7 @@ namespace SlnMesnac.Repository
            public string agvtype {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:任务编号
            /// Default:
            /// Nullable:False
            /// </summary>
@@ -48,7 +48,7 @@ namespace SlnMesnac.Repository
            public string taskno {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:AGV报警状态
            /// Default:
            /// Nullable:False
            /// </summary>
@@ -56,7 +56,7 @@ namespace SlnMesnac.Repository
            public string agvalarmstate {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:AGV工作状态
            /// Default:
            /// Nullable:False
            /// </summary>
@@ -64,7 +64,7 @@ namespace SlnMesnac.Repository
            public string agvworkstate {get;set;}
 
            /// <summary>
-           /// Desc:
+           /// Desc:刷新时间
            /// Default:
            /// Nullable:False
            /// </summary>

SlnMesnac.Repository/service/IAGVStateService.cs

@@ -35,7 +35,7 @@ namespace SlnMesnac.Repository.service
         /// </summary>
         /// <param name="response"></param>
         /// <returns></returns>
-        Task<bool> UpdateOrAddByResponse(AGVStateResponseEntity response);
+        Task<bool> UpdateOrAddByResponse(AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>> response);
 
     }
 }

SlnMesnac.Repository/service/IManipulatorStateService.cs

@@ -1,39 +0,0 @@
-using SlnMesnac.Model.AirportApiEntity;
-using SlnMesnac.Model.domain;
-using SlnMesnac.Repository.service.@base;
-using System;
-using System.Collections.Generic;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace SlnMesnac.Repository.service
-{
-    public interface IManipulatorStateService : IBaseService<ManipulatorState>
-    {
-        /// <summary>
-        /// 查询空闲的机械臂信息
-        /// </summary>
-        /// <returns></returns>
-        List<ManipulatorState> GetFreeManipulatorState();
-
-        /// <summary>
-        /// 查询所有机械臂信息
-        /// </summary>
-        /// <returns></returns>
-        List<ManipulatorState> GetAllManipulatorState();
-
-        /// <summary>
-        /// 更新机械臂设备状态信息
-        /// </summary>
-        /// <param name="record"></param>
-        /// <returns></returns>
-        Task<bool> UpdateAsync(ManipulatorState record);
-
-        /// <summary>
-        /// 更新或插入机械臂设备状态信息
-        /// </summary>
-        /// <param name="response"></param>
-        /// <returns></returns>
-        Task<bool> UpdateOrAddByResponse(ManipulatorStateResponseEntity response);
-    }
-}

SlnMesnac.Repository/service/Impl/AGVStateServiceImpl.cs

@@ -26,13 +26,18 @@ namespace SlnMesnac.Repository.service.Impl
             try
             {
                 Expression<Func<AGVState, bool>> exp = x => true;
-                exp = exp.And(x =>(x.agvno != null || x.agvno != "") && (x.taskno == null || x.taskno == "") && x.agvworkstate == "<22><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" && (x.agvalarmstate == null || x.agvalarmstate == "") && x.agvtype == _AgvType);
+                exp = exp.And(x =>
+                (x.agvno != null || x.agvno != "")
+                && (x.taskno == null || x.taskno == "")
+                && x.agvworkstate == "空闲"
+                && (x.agvalarmstate == null || x.agvalarmstate == "")
+                && x.agvtype == _AgvType);
 
                 agvStateInfoList = base._rep.GetList(exp);
             }
             catch (Exception ex)
             {
-                _logger.LogError($"<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>AGV<EFBFBD><EFBFBD>Ϣ<EFBFBD>쳣:{ex.Message}");
+                _logger.LogError($"AGV状态获取错误:{ex.Message}");
             }
             return agvStateInfoList;
         }
@@ -46,7 +51,7 @@ namespace SlnMesnac.Repository.service.Impl
             }
             catch (Exception ex)
             {
-                _logger.LogError($"<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>AGV<EFBFBD><EFBFBD>Ϣ<EFBFBD>쳣:{ex.Message}");
+                _logger.LogError($"所有AGV状态获取错误:{ex.Message}");
             }
             return agvStateInfoList;
         }
@@ -57,34 +62,43 @@ namespace SlnMesnac.Repository.service.Impl
             return result;
         }
 
-        public async Task<bool> UpdateOrAddByResponse(AGVStateResponseEntity response)
+        public async Task<bool> UpdateOrAddByResponse(AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>> response)
+        {
+            List<AGVState> records = new List<AGVState>();
+            foreach (var entity in response.Data)
             {
                 AGVState record = new AGVState()
                 {
-                agvno = response.AGVNo,
+                    agvno = entity.Guid,
-                agvalarmstate = response.AGVAlarmState,
+                    agvalarmstate = entity.AgvMoveStatus != 6 ? "正常" : "异常",
-                agvtype = response.AGVType,
+                    agvtype = entity.Name,
-                agvworkstate = response.AGVWorkState,
+                    agvworkstate = entity.AgvMoveStatus == 1 ? "空闲" : "忙碌",
                     refreshtime = DateTime.Now,
-                taskno = response.TaskNo,
+                    taskno = entity.TaskID,
                 };
+                records.Add(record);
+            }
+
             bool result = false;
             try
             {
                 var list = GetAllAGVState();
-                if (list.Where(x => x.agvno == response.AGVNo).Count() == 0)
+                foreach (var r in records)
                 {
-                    result = _rep.Insert(record);
+                    if (list.Where(x => x.agvno == r.agvno).Count() == 0)
+                    {
+                        result = _rep.Insert(r);
                     }
                     else
                     {
-                    record.id = list.Where(x => x.agvno == response.AGVNo).FirstOrDefault().id;
+                        r.id = list.Where(x => x.agvno == r.agvno).FirstOrDefault().id;
-                    result = await _rep.UpdateAsync(record);
+                        result = await _rep.UpdateAsync(r);
+                    }
                 }
             }
             catch (Exception ex)
             {
-                _logger.LogError($"<EFBFBD><EFBFBD>е<EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>쳣:{ex.Message}");
+                _logger.LogError($"AGV状态更新错误：{ex.Message}");
             }
             return result;
         }

SlnMesnac.Repository/service/Impl/ManipulatorStateServiceImpl.cs

@@ -1,92 +0,0 @@
-using Microsoft.Extensions.Logging;
-using SlnMesnac.Common;
-using SlnMesnac.Model.AirportApiEntity;
-using SlnMesnac.Model.domain;
-using SlnMesnac.Repository.service.@base;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Linq.Expressions;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace SlnMesnac.Repository.service.Impl
-{
-    public class ManipulatorStateServiceImpl : BaseServiceImpl<ManipulatorState>, IManipulatorStateService
-    {
-        private ILogger<ManipulatorStateServiceImpl> _logger;
-
-
-        public ManipulatorStateServiceImpl(Repository<ManipulatorState> rep, ILogger<ManipulatorStateServiceImpl> logger) : base(rep)
-        {
-            _logger = logger;
-        }
-
-        public List<ManipulatorState> GetAllManipulatorState()
-        {
-            var list = new List<ManipulatorState>();
-            try
-            {
-                list = base._rep.GetList();
-            }
-            catch (Exception ex)
-            {
-                _logger.LogError($"所有机械臂状态信息获取异常:{ex.Message}");
-            }
-            return list;
-        }
-
-        public List<ManipulatorState> GetFreeManipulatorState()
-        {
-            var list = new List<ManipulatorState>();
-            try
-            {
-                list = base._rep.GetList()
-                    .Where(x => x.ManipulatorNo != "" && (x.TaskNo == null || x.TaskNo == "") && x.ManipulatorWorkState == "任务空闲")
-                    .ToList();
-            }
-            catch (Exception ex)
-            {
-                _logger.LogError($"空闲机械臂状态信息获取异常:{ex.Message}");
-            }
-            return list;
-        }
-
-        public async Task<bool> UpdateAsync(ManipulatorState record)
-        {
-            bool result = await _rep.UpdateAsync(record);
-            return result;
-        }
-
-        public async Task<bool> UpdateOrAddByResponse(ManipulatorStateResponseEntity response)
-        {
-            ManipulatorState record = new ManipulatorState()
-            {
-                ManipulatorNo = response.ManipulatorNo,
-                ManipulatorAlarmState = response.ManipulatorAlarmState,
-                ManipulatorWorkState = response.ManipulatorWorkState,
-                TaskNo = response.TaskNo,
-                RefreshTime = DateTime.Now,
-            };
-            bool result = false;
-            try
-            {
-                var list = GetAllManipulatorState();
-                if (list.Where(x => x.ManipulatorNo == response.ManipulatorNo).Count() == 0)
-                {
-                    result = _rep.Insert(record);
-                }
-                else
-                {
-                    record.ID = list.Where(x => x.ManipulatorNo == response.ManipulatorNo).FirstOrDefault().ID;
-                    result = await _rep.UpdateAsync(record);
-                }
-            }
-            catch(Exception ex)
-            {
-                _logger.LogError($"机械臂状态信息更新异常:{ex.Message}");
-            }
-            return result;
-        }
-    }
-}

SlnMesnac.TouchSocket/AirPorthttpClient.cs

@@ -15,11 +15,13 @@ using TouchSocket.Rpc;
 using TouchSocket.Sockets;
 using TouchSocket.WebApi;
 using JsonSerializer = System.Text.Json.JsonSerializer;
+using Serilog;
+using Serilog.Events;
 using Microsoft.Extensions.Logging;
 
 namespace SlnMesnac.TouchSocket
 {
-    public class AirPorthttpClient : BackgroundService
+    public class AirPorthttpClient
     {
         private readonly AppConfig _appConfig;
         private readonly ILogger<AirPorthttpClient> _logger;
@@ -31,71 +33,146 @@ namespace SlnMesnac.TouchSocket
         }
 
         public static WebApiClient AirportAGVClient;
-        public static WebApiClient AirportManipulatorClient;
 
         private WebApiClient CreateWebApiClient(string IpHost)
         {
             var client = new WebApiClient();
             try
             {
+                _logger.LogInformation("正在连接：" + IpHost);
                 client.Connect(IpHost);
                 _logger.LogInformation(IpHost + "连接成功");
+                return client;
             }
             catch (Exception ex)
             {
                 _logger.LogError("ERROR: " + ex.Message);
                 return null;
             }
-            return client;
         }
 
-        protected override Task ExecuteAsync(CancellationToken stoppingToken)
+        public void init()
         {
             try
             {
                 AirportAGVClient = CreateWebApiClient(_appConfig.AGVIpConfig);
-                AirportManipulatorClient = CreateWebApiClient(_appConfig.ManipulatorIpConfig);
             }
             catch (Exception ex)
             {
                 _logger.LogError("ERROR: " + ex.Message);
-                return Task.FromException(ex);
             }
-            return Task.CompletedTask;
         }
 
         /// <summary>
-        /// AGV呼叫请求
+        /// 获取到的JToken类型转换为实体类
         /// </summary>
+        /// <typeparam name="T"></typeparam>
+        /// <param name="value"></param>
         /// <returns></returns>
-        public static string AGVCallRequest()
+        public T JTokenToEntity<T>(JToken value) where T : class
         {
-            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:", null, new AGVSingalEntity());
+            if (value == null)
-
+            {
-            return responseValue.ToString();
+                return null;
             }
-
+            string json = value.ToString();
-        /// <summary>
-        /// AGV状态请求
-        /// </summary>
-        /// <param name="aGVStateRequest"></param>
-        /// <returns></returns>
-        public static AGVStateResponseEntity AGVStateRequest(AGVStateRequestEntity aGVStateRequest)
-        {
-            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/m1/5051269-4712337-default/apitest/AGVtest", null, aGVStateRequest);
-            if (responseValue == null)
-            {
-                return new AGVStateResponseEntity();
-            }
-            string json = responseValue.ToString();
             if (string.IsNullOrEmpty(json))
             {
-                return new AGVStateResponseEntity();
+                return null;
             }
-            AGVStateResponseEntity aGVStateResponseEntity = new AGVStateResponseEntity();
+            T ResponseEntity;
-            aGVStateResponseEntity = JsonSerializer.Deserialize<AGVStateResponseEntity>(json);
+            ResponseEntity = JsonSerializer.Deserialize<T>(json);
-            return aGVStateResponseEntity;
+            return ResponseEntity;
+        }
+
+        /// <summary>
+        /// AGV下发任务请求
+        /// </summary>
+        /// <param name="requestValue"></param>
+        /// <returns></returns>
+        public AGVResponseEntity<ResponseAddTaskDataEntity> AGVAddTaskRequest(AGVRequestAddTaskEntity requestValue)
+        {
+            if (AirportAGVClient == null)
+            {
+                return null;
+            }
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/api/task/addTask", null, requestValue);
+            return JTokenToEntity<AGVResponseEntity<ResponseAddTaskDataEntity>>(responseValue);
+        }
+
+        /// <summary>
+        /// 取消/终止任务请求
+        /// </summary>
+        /// <param name="requestValue"></param>
+        /// <returns></returns>
+        public AGVResponseEntity<object> AGVOperationalTaskRequest(AGVRequestOperationalTaskEntity requestValue)
+        {
+            if (AirportAGVClient == null)
+            {
+                return null;
+            }
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("POST:/api/task/operationalTask", null, requestValue);
+            return JTokenToEntity<AGVResponseEntity<object>>(responseValue);
+        }
+
+        /// <summary>
+        /// 查询任务状态请求
+        /// </summary>
+        /// <param name="requestValue"></param>
+        /// <returns></returns>
+        public AGVResponseEntity<ResponseTaskStateDetailDataEntity> AGVGetTaskStateDetailRequest(AGVRequestTaskStateDetailEntity requestValue)
+        {
+            if (AirportAGVClient == null)
+            {
+                return null;
+            }
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("PUT:/api/task/getTaskStateDetail", null, requestValue);
+            return JTokenToEntity<AGVResponseEntity<ResponseTaskStateDetailDataEntity>>(responseValue);
+        }
+
+        /// <summary>
+        /// 获取所有AGV信息请求
+        /// </summary>
+        /// <returns></returns>
+        public AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>> AGVAllStateRequest()
+        {
+            if (AirportAGVClient == null)
+            {
+                return null;
+            }
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/task/robot/getRobot", null);
+            return JTokenToEntity<AGVResponseEntity<List<ResponseRobotAtrributeDataEntity>>>(responseValue);
+        }
+
+        /// <summary>
+        /// 获取当前激活地图信息请求
+        /// </summary>
+        /// <returns></returns>
+        public AGVResponseEntity<ResponseActiveMapDataEntity> AGVMapActiveRequest()
+        {
+            if (AirportAGVClient == null)
+            {
+                return null;
+            }
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/v1.0.0/Maps/mapActive", null);
+            return JTokenToEntity<AGVResponseEntity<ResponseActiveMapDataEntity>>(responseValue);
+        }
+
+        /// <summary>
+        /// 获取当前地图所有位置点请求
+        /// </summary>
+        /// <param name="requestValue"></param>
+        /// <returns></returns>
+        public AGVResponseEntity<List<ResponseMapPositionDataEntity>> AGVMapPositionRequest(string requestValue)
+        {
+            if (AirportAGVClient == null)
+            {
+                return null;
+            }
+            JToken responseValue = AirportAGVClient.InvokeT<JToken>("GET:/api/v1.0.0/Positions?mapId={0}", null, requestValue);
+            return JTokenToEntity<AGVResponseEntity<List<ResponseMapPositionDataEntity>>>(responseValue);
         }
 
     }
+
 }

SlnMesnac.TouchSocket/TcpServer.cs

@@ -93,8 +93,6 @@ namespace SlnMesnac.TouchSocket
 
             ReceiveStackWorkDoneEvent += StackResultSend;
             ReceiveManualExceptionDealDoneEvent += ManualExceptionDealDone;
-
-            
         }
 
         public void Init(int serverPort)

SlnMesnac.TouchSocket/TouchSocketSetup.cs

@@ -5,6 +5,7 @@ using System.Text;
 using Microsoft.AspNetCore.Builder;
 using TouchSocket.Sockets;
 using TouchSocket.WebApi;
+using SlnMesnac.Config;
 
 #region << 版 本 注 释 >>
 /*--------------------------------------------------------------------
@@ -39,8 +40,10 @@ namespace SlnMesnac.TouchSocket
         public static IApplicationBuilder UseTouchSocketExtensions(this IApplicationBuilder app)
         {
             var _server = app.ApplicationServices.GetService<TcpServer>();
-            _server.Init(6001);
+            var _httpclient = app.ApplicationServices.GetService<AirPorthttpClient>();
 
+            _server.Init(6001);
+            _httpclient.init();
             // var _apiServer = app.ApplicationServices.GetService<WebApiServer>();
             // _apiServer.Init();
             return app;

SlnMesnac.WPF/Startup.cs

@@ -46,7 +46,7 @@ namespace SlnMesnac.WPF
             services.AddPlcFactorySetup();
 
             //注册httpClient
-            services.AddHostedService<AirPorthttpClient>();
+            //services.AddHostedService<AirPorthttpClient>();
 
             //注册TCPServer
             //services.AddHostedService<TcpServer>();

SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs

@@ -53,7 +53,6 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
         private ILogger<BaseStateRefreshBusiness> _stateBusinessLogger;
         private IAirportTaskService _taskservice;
         private IAGVStateService _agvstateService;
-        private IManipulatorStateService _monipulatorstateService;
         private BaseTaskInfoBusiness _taskInfoBusiness;
         private BaseStateRefreshBusiness _StateRefreshBusiness;
         private DispatcherTimer _timer;
@@ -110,7 +109,6 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
             #region 测试数据
 
             LoadTaskInfo();
-
             //Thread.Sleep(5000);
 
             //_tcpServer.SendReplyGetManualException(

SlnMesnac.WPF/appsettings.json

@@ -82,8 +82,7 @@
 
 
     "redisConfig": "175.27.215.92:6379,password=redis@2023",
-    "AGVIpConfig": "127.0.0.1:4523",
+    "AGVIpConfig": "http://192.168.40.81:5102",
-    "ManipulatorIpConfig": "127.0.0.1:4523",
     "TCPVisionConfig": "127.0.0.1:6000"
 
   }