wcs_core/Sln.Wcs.HikRoBotDispatcher/HikRoBotDispatchHub.cs

#region << 版 本 注 释 >>

/*--------------------------------------------------------------------
* 版权所有 (c) 2026 WenJY 保留所有权利。
* CLR版本：4.0.30319.42000
* 机器名称：Mr.Wen's MacBook Pro
* 命名空间：Sln.Wcs.HikRoBotDispatcher
* 唯一标识：6AC4C0D5-77AA-4910-A11B-6F2E1A242AAF
*
* 创建者：WenJY
* 电子邮箱：
* 创建时间：2026-06-06 11:33:24
* 版本：V1.0.0
* 描述：
*
*--------------------------------------------------------------------
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* 时间：
* 修改说明：
*
* 版本：V1.0.0
*--------------------------------------------------------------------*/

#endregion << 版 本 注 释 >>

using Sln.Wcs.HikRoBotAdapter.Domain.Dto.GbContinueTask;
using Sln.Wcs.HikRoBotAdapter.Domain.Dto.GbTaskSubmit;
using Sln.Wcs.HikRoBotAdapter.Domain.Dto.QueryTask;
using Sln.Wcs.HikRoBotAdapter.Enum;
using Sln.Wcs.HikRoBotAdapter.Service;
using Sln.Wcs.Model.Domain;
using Sln.Wcs.Serilog;
using TargetRoute = Sln.Wcs.HikRoBotAdapter.Domain.Dto.GbTaskSubmit.TargetRoute;

namespace Sln.Wcs.HikRoBotDispatcher;

public class HikRoBotDispatchHub
{
    private readonly SerilogHelper _logger;
    
    private readonly IHikRoBotService _hikRobotAdapter;

    public HikRoBotDispatchHub(SerilogHelper logger, IHikRoBotService hikRobotAdapter)
    {
        _logger = logger;
        _hikRobotAdapter = hikRobotAdapter;
    }
    
    /// <summary>
    /// 接收调度任务=> 下发至AGVS
    /// </summary>
    /// <param name="taskDetail"></param>
    public bool ReciveTask(LiveTaskDetail taskDetail)
    {
        string startType = taskDetail.startPoint.Length > 12 ? "SITE" : "STORAGE";
        string endType = taskDetail.endPoint.Length > 12 ? "SITE" : "STORAGE";
        GbTaskSubmitResultDto submitResultDto = _hikRobotAdapter.GbTaskSubmit(new GbTaskSubmitDto()
        {
            RobotTaskCode = taskDetail.taskCode,
            TaskType = taskDetail.endPoint.Length > 12 ? "F07" : "PF-FMR-COMMON",
            TargetRoute = new List<TargetRoute>()
            {
                new TargetRoute()
                {
                    Type = startType,
                    Code = taskDetail.startPoint
                },
                new TargetRoute()
                {
                    Type = endType,
                    Code = taskDetail.endPoint
                }
            }
            
        });
        if (submitResultDto.code == HikRoBotStatusEnum.成功 && submitResultDto.data.code == "SUCCESS")
        {
            _logger.Info($"调度任务{taskDetail.taskCode}下发成功");
            
            return true;
        }
        else
        {
            _logger.Info($"调度任务{taskDetail.taskCode}下发失败:{submitResultDto.msg}");
            return false;
        }
    }

    /// <summary>
    /// 继续执行任务=> 通知AGVS继续执行
    /// </summary>
    /// <param name="taskDetail"></param>
    public bool ContinueTask(LiveTaskDetail taskDetail)
    {
        GbContinueTaskResultDto result = _hikRobotAdapter.GbContinueTask(new GbContinueTaskDto()
        {
            TriggerType = "TASK",
            TriggerCode = taskDetail.taskCode,
            TargetRoute = new HikRoBotAdapter.Domain.Dto.GbContinueTask.TargetRoute()
            {
                Type = "SITE",
                Code = taskDetail.execDevice
            }
        });
        if (result.code == HikRoBotStatusEnum.成功)
        {
            _logger.Info($"调度任务{taskDetail.taskCode}继续执行成功");
            return true;
        }
        else
        {
            _logger.Info($"调度任务{taskDetail.taskCode}继续执行失败:{result.msg}");
            return false;
        }
    }

    /// <summary>
    /// 获取任务状态
    /// </summary>
    /// <param name="taskDetail"></param>
    /// <returns></returns>
    public string GetTaskStatus(string taskCode)
    {
        string result = string.Empty;
        QueryTaskResultDto taskStatus = _hikRobotAdapter.QueryTaskStatus(new QueryTaskDto()
        {
            RobotTaskCode = taskCode,
        });

        if (taskStatus.code == HikRoBotStatusEnum.成功)
        {
            _logger.Info($"调度任务{taskCode}状态获取成功:{taskStatus.data.TaskStatus}");
            result = taskStatus.data.TaskStatus;
        }
        else
        {
            _logger.Info($"调度任务{taskCode}状态获取失败:{taskStatus.msg}");
        }
        return result;
    }
    
    
}