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using System.Collections.Concurrent;
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using System.Net.Http;
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using System.Net.Http.Json;
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using Sln.Wcs.Model.Domain;
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using Sln.Wcs.Repository.service;
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using Sln.Wcs.Serilog;
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namespace Sln.Wcs.Strategy;
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/// <summary>
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/// 包材入库任务执行器 (taskCategory=1, taskType=1)
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/// 轮询待执行任务 → 多任务并行、单任务内串行逐条下发明细
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/// </summary>
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public class MaterialInStoreExecutor
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{
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private readonly SerilogHelper _logger;
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private readonly ILiveTaskQueueService _taskQueueService;
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private readonly ILiveTaskDetailService _taskDetailService;
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// 每栋楼提升机限 2 台并发，AGV 不限
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private static readonly ConcurrentDictionary<int, SemaphoreSlim> HoistSemaphores = new();
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// DB 写操作互斥锁（SqlSugar Context 共享导致写入不能并发）
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private static readonly object DbWriteLock = new();
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// 最大同时执行任务数
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private static readonly SemaphoreSlim TaskSemaphore = new(10, 10);
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private readonly object _lock = new();
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private CancellationTokenSource? _cts;
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private volatile bool _isRunning;
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public bool IsRunning => _isRunning;
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public MaterialInStoreExecutor(
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SerilogHelper logger,
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ILiveTaskQueueService taskQueueService,
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ILiveTaskDetailService taskDetailService)
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{
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_logger = logger;
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_taskQueueService = taskQueueService;
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_taskDetailService = taskDetailService;
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}
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public void Start()
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{
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lock (_lock)
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{
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if (_isRunning) return;
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_cts = new CancellationTokenSource();
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_isRunning = true;
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}
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Task.Run(() => RunLoopAsync(_cts!.Token));
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_logger.Info("包材入库调度已启动");
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}
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public void Stop()
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{
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CancellationTokenSource? cts;
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lock (_lock)
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{
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if (!_isRunning) return;
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cts = _cts;
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_isRunning = false;
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}
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cts?.Cancel();
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_logger.Info("包材入库调度已停止");
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}
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private async Task RunLoopAsync(CancellationToken ct)
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{
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while (!ct.IsCancellationRequested)
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{
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try { await Task.Run(() => ExecuteAsync(ct), ct); }
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catch (OperationCanceledException) { break; }
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catch (Exception ex) { _logger.Error($"调度异常: {ex.Message}"); }
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try { await Task.Delay(5000, ct); }
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catch (OperationCanceledException) { break; }
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}
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}
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private void ExecuteAsync(CancellationToken ct)
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{
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var tasks = _taskQueueService.getLiveTaskQueues(x =>
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x.taskType == 1 && x.taskCategory == 1 && x.taskStatus == 1);
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if (tasks.Count == 0) return;
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_logger.Info($"查询到 {tasks.Count} 条待执行包材入库任务");
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var threads = new List<Thread>();
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foreach (var task in tasks)
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{
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var captured = task;
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var t = new Thread(() =>
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{
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TaskSemaphore.Wait();
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try
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{
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if (ct.IsCancellationRequested) return;
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_logger.Info($"[线程启动] {captured.taskCode}");
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ProcessOneAsync(captured, ct).GetAwaiter().GetResult();
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}
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catch (Exception ex) { _logger.Error($"任务 {captured.taskCode} 线程异常: {ex.Message}"); }
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finally { TaskSemaphore.Release(); }
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})
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{ IsBackground = true };
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t.Start();
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threads.Add(t);
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}
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foreach (var t in threads)
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t.Join();
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}
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private async Task ProcessOneAsync(LiveTaskQueue task, CancellationToken ct)
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{
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_logger.Info($"开始执行 {task.taskCode}，共 {task.taskDetails.Count} 条明细");
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lock (DbWriteLock) { task.taskStatus = 2; _taskQueueService.Update(task); }
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var sortedDetails = task.taskDetails.OrderBy(d => d.objId).ToList();
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for (int i = 0; i < sortedDetails.Count; i++)
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{
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if (ct.IsCancellationRequested) return;
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var detail = sortedDetails[i];
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if (detail.taskStatus is 2 or 3)
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{
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_logger.Info($" 明细 {detail.objId}-{detail.taskCode} 已处理，跳过");
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continue;
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}
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lock (DbWriteLock) { detail.taskStatus = 2; _taskDetailService.Update(detail); }
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var nextDetail = i + 1 < sortedDetails.Count ? sortedDetails[i + 1] : null;
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var devName = detail.deviceType switch { 1 => "AGV", 2 => "提升机", _ => "输送线" };
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_logger.Info($" → {devName}下发 {detail.taskCode}-{detail.objId}: {detail.startPoint} → {detail.endPoint}");
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var ok = detail.deviceType switch
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{
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1 => await DispatchAgvAsync(detail, nextDetail),
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2 => await DispatchHoistAsync(detail),
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_ => await DispatchConveyorAsync(detail)
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};
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if (ok)
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{
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lock (DbWriteLock) { detail.taskStatus = 3; _taskDetailService.Update(detail); }
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_logger.Info($" ✓ {detail.taskCode}-{detail.objId} 完成");
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}
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else
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{
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lock (DbWriteLock) { detail.taskStatus = 1; _taskDetailService.Update(detail); }
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_logger.Error($" ✗ {detail.taskCode}-{detail.objId} 失败，中断任务");
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return;
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}
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}
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lock (DbWriteLock) { task.taskStatus = 3; _taskQueueService.Update(task); }
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_logger.Info($"任务 {task.taskCode} 执行完成");
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}
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private async Task<bool> DispatchAgvAsync(LiveTaskDetail detail, LiveTaskDetail? nextDetail = null)
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{
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const string agvBaseUrl = "http://localhost:5200";
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const string hoistBaseUrl = "http://localhost:5100";
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const int pollIntervalMs = 2000;
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using var httpClient = new HttpClient { Timeout = TimeSpan.FromSeconds(30) };
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_logger.Info($" [AGV] 下发 {detail.taskCode}-{detail.objId}: {detail.startPoint} → {detail.endPoint}");
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// 1. 调用 /task/receive 下发 AGV 任务
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try
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{
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string[] startPointArray = detail.startPoint.Split("_");
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string[] endPointArray = detail.endPoint.Split("_");
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var res = await httpClient.PostAsJsonAsync($"{agvBaseUrl}/api/task/receive",
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new { taskCode = detail.taskCode, startPoint = startPointArray[2], endPoint = endPointArray[2] });
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res.EnsureSuccessStatusCode();
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var receiveResult = await res.Content.ReadFromJsonAsync<AGVTaskReceiveResponse>();
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if (receiveResult is not { isSuccess: true })
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{
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_logger.Error($" [AGV] {detail.taskCode} 下发失败: AGV 调度中心拒绝任务");
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return false;
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}
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}
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catch (Exception ex)
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{
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_logger.Error($" [AGV] {detail.taskCode} 下发失败: {ex.Message}");
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return false;
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}
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_logger.Info($" [AGV] {detail.taskCode} 下发成功，开始轮询任务状态...");
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// 2. 循环调用 /task/status 获取 AGV 任务状态
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var hoistDispatched = false;
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while (true)
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{
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await Task.Delay(pollIntervalMs);
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try
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{
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var statusRes = await httpClient.GetFromJsonAsync<AGVTaskStatusResponse>(
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$"{agvBaseUrl}/api/task/status?taskCode={Uri.EscapeDataString(detail.taskCode!)}");
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var taskStatus = statusRes?.taskStatus ?? string.Empty;
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_logger.Info($" [AGV] {detail.taskCode} 任务状态: {taskStatus}");
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switch (taskStatus)
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{
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case "FINISHED":
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case "MANUALED":
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_logger.Info($" [AGV] {detail.taskCode} 完成 {detail.startPoint} → {detail.endPoint}");
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return true;
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case "CANCELLED":
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_logger.Error($" [AGV] {detail.taskCode} 任务已取消 {detail.startPoint} → {detail.endPoint}");
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return false;
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case "WAIT":
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_logger.Info($" [AGV] {detail.taskCode} 等待 {detail.startPoint} → {detail.endPoint}");
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if (!hoistDispatched && nextDetail is { deviceType: 2 })
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{
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hoistDispatched = await TryDispatchHoistForWaitAsync(httpClient, hoistBaseUrl, nextDetail);
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if (hoistDispatched)
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await ContinueAgvAsync(httpClient, agvBaseUrl, nextDetail);
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}
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break;
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}
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}
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catch (Exception ex)
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{
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_logger.Error($" [AGV] 状态查询异常: {ex.Message}");
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}
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}
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}
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/// <summary>AGV 等待时筛选空闲提升机并下发提升机任务</summary>
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private async Task<bool> TryDispatchHoistForWaitAsync(HttpClient httpClient, string hoistBaseUrl, LiveTaskDetail detail)
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{
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var hostCode = DetermineHoistCode(detail);
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_logger.Info($" [AGV] 任务等待中，筛选空闲提升机 ({hostCode})...");
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try
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{
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FreeHoistResponse? freeRes;
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while (true)
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{
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freeRes = await httpClient.GetFromJsonAsync<FreeHoistResponse>(
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$"{hoistBaseUrl}/api/hoist/free?hostCode={Uri.EscapeDataString(hostCode!)}");
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if (freeRes is { found: true })
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break;
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_logger.Info($" [AGV] 暂无空闲提升机 ({hostCode})，等待重试...");
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await Task.Delay(1000);
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}
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var dispatchRes = await httpClient.PostAsJsonAsync($"{hoistBaseUrl}/api/task/dispatch",
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new
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{
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hostCode = freeRes.hostCode,
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serialNo = freeRes.deviceSerialNo,
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taskCode = detail.taskCode,
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startPoint = detail.startPoint,
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endPoint = detail.endPoint
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});
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var result = await dispatchRes.Content.ReadFromJsonAsync<ApiResult>();
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if (result is not { success: true })
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{
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_logger.Error($" [AGV] 提升机下发失败: {result?.msg ?? "未知错误"}");
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return false;
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}
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var execDevice = $"{freeRes.hostCode}_{freeRes.deviceSerialNo}";
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_logger.Info($" [AGV] 提升机 {execDevice} 已下发");
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lock (DbWriteLock)
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{
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detail.execDevice = execDevice;
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_taskDetailService.Update(detail);
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}
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return true;
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}
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catch (Exception ex)
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{
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_logger.Error($" [AGV] 提升机调度失败: {ex.Message}");
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return false;
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}
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}
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/// <summary>通知 AGV 调度中心继续执行</summary>
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private async Task ContinueAgvAsync(HttpClient httpClient, string agvBaseUrl, LiveTaskDetail hoistDetail)
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{
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try
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{
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var res = await httpClient.PostAsJsonAsync($"{agvBaseUrl}/api/task/continue",
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new
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{
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taskCode = hoistDetail.taskCode,
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startPoint = hoistDetail.startPoint,
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endPoint = hoistDetail.endPoint,
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execDevice = hoistDetail.execDevice
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});
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res.EnsureSuccessStatusCode();
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var result = await res.Content.ReadFromJsonAsync<AGVTaskReceiveResponse>();
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if (result is { isSuccess: true })
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_logger.Info($" [AGV] 继续执行已下发 (提升机 {hoistDetail.execDevice})");
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else
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_logger.Error($" [AGV] 继续执行下发失败: AGV 调度中心拒绝");
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}
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catch (Exception ex)
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{
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_logger.Error($" [AGV] 继续执行下发异常: {ex.Message}");
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}
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}
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/// <summary>根据 startPoint 确定提升机编号：15栋入库→1#Host, 15栋出库→2#Host, 14栋→3#Host, 13栋→4#Host</summary>
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private static string DetermineHoistCode(LiveTaskDetail detail)
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{
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var pt = detail.startPoint ?? "";
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if (detail.taskType == 2 && detail.taskCategory == 2 && pt.Contains("15#"))
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return "2#Host";
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if (pt.Contains("13#")) return "4#Host";
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if (pt.Contains("14#")) return "3#Host";
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if (pt.Contains("15#")) return "1#Host";
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return "1#Host";
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}
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private async Task<bool> DispatchHoistAsync(LiveTaskDetail detail)
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{
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const string hoistBaseUrl = "http://localhost:5100";
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var building = ExtractBuilding(detail.startPoint);
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var semaphore = HoistSemaphores.GetOrAdd(building, _ => new SemaphoreSlim(2, 2));
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await semaphore.WaitAsync();
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try
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{
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if (string.IsNullOrWhiteSpace(detail.execDevice))
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{
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_logger.Error($" [提升机] {building}#楼 未分配执行设备");
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return false;
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}
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var parts = detail.execDevice.Split('_');
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if (parts.Length != 2 || !int.TryParse(parts[1], out var serialNo))
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{
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_logger.Error($" [提升机] {building}#楼 设备编号格式错误: {detail.execDevice}");
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return false;
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}
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var hostCode = parts[0];
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_logger.Info($" [提升机] {building}#楼 启动 {detail.startPoint} → {detail.endPoint} (设备:{detail.execDevice})");
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using var httpClient = new HttpClient { Timeout = TimeSpan.FromSeconds(10) };
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var res = await httpClient.PostAsJsonAsync($"{hoistBaseUrl}/api/hoist/receive-pallet",
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new
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{
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hostCode = hostCode,
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serialNo = serialNo,
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taskCode = detail.taskCode,
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palletBarcode = detail.palletBarcode ?? "",
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startPoint = detail.startPoint,
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endPoint = detail.endPoint
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});
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var result = await res.Content.ReadFromJsonAsync<ApiResult>();
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if (result is not { success: true })
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{
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_logger.Error($" [提升机] {building}#楼 启动失败: {result?.msg ?? "未知错误"}");
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return false;
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}
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_logger.Info($" [提升机] {building}#楼 已启动 {detail.startPoint} → {detail.endPoint}");
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lock (DbWriteLock)
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{
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detail.taskStatus = 2;
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detail.execDevice = $"{hostCode}_{serialNo}";
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_taskDetailService.Update(detail);
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}
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// 轮询等待提升机任务完成
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_logger.Info($" [提升机] {building}#楼 等待任务完成...");
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using var waitClient = new HttpClient { Timeout = TimeSpan.FromSeconds(10) };
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while (true)
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{
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var waitRes = await waitClient.GetFromJsonAsync<WaitCompleteResponse>(
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$"{hoistBaseUrl}/api/hoist/wait-complete?hostCode={Uri.EscapeDataString(hostCode)}&deviceSerialNo={serialNo}");
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if (waitRes is { isComplete: true })
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{
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_logger.Info($" [提升机] {building}#楼 任务完成 {detail.startPoint} → {detail.endPoint}");
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return true;
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}
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await Task.Delay(2000);
|
|
|
}
|
|
|
}
|
|
|
catch (Exception ex)
|
|
|
{
|
|
|
_logger.Error($" [提升机] {building}#楼 异常: {ex.Message}");
|
|
|
return false;
|
|
|
}
|
|
|
finally
|
|
|
{
|
|
|
semaphore.Release();
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private Task<bool> DispatchConveyorAsync(LiveTaskDetail detail)
|
|
|
{
|
|
|
_logger.Info($" [输送线] {detail.startPoint} → {detail.endPoint}");
|
|
|
return Task.FromResult(true);
|
|
|
}
|
|
|
|
|
|
/// <summary>从接驳位编码中提取楼栋号，如 "13#_L1_HOIST" → 13</summary>
|
|
|
private static int ExtractBuilding(string pointCode)
|
|
|
{
|
|
|
var match = System.Text.RegularExpressions.Regex.Match(pointCode, @"^(\d+)");
|
|
|
return match.Success ? int.Parse(match.Groups[1].Value) : 0;
|
|
|
}
|
|
|
|
|
|
// ---- API 响应 DTO ----
|
|
|
|
|
|
private class AGVTaskReceiveResponse
|
|
|
{
|
|
|
public bool isSuccess { get; set; } = false;
|
|
|
}
|
|
|
|
|
|
private class AGVTaskStatusResponse
|
|
|
{
|
|
|
public string taskStatus { get; set; } = string.Empty;
|
|
|
}
|
|
|
|
|
|
private class FreeHoistResponse
|
|
|
{
|
|
|
public bool found { get; set; }
|
|
|
public string? deviceCode { get; set; }
|
|
|
public string? deviceName { get; set; }
|
|
|
public string? hostCode { get; set; }
|
|
|
public int deviceSerialNo { get; set; }
|
|
|
}
|
|
|
|
|
|
private class WaitCompleteResponse
|
|
|
{
|
|
|
public bool isComplete { get; set; }
|
|
|
}
|
|
|
|
|
|
private class ApiResult
|
|
|
{
|
|
|
public bool success { get; set; }
|
|
|
public string? msg { get; set; }
|
|
|
}
|
|
|
}
|