ZT_1C/盘条库/WCS.WorkEngineering/WebApi/Controllers/AgvApi.cs

using ServiceCenter.Extensions;
using ServiceCenter.Logs;
using ServiceCenter.Redis;
using ServiceCenter.WebApi;
using WCS.WorkEngineering.WebApi.Models.AGV;
using WCS.WorkEngineering.WebApi.Models.AGV.Request;
using WCS.WorkEngineering.WebApi.Models.AGV.Response;
using WCS.WorkEngineering.WebApi.Models.WCS.Response;
using WCS.WorkEngineering.WebApi.Models.WMS.Request;
using WCS.WorkEngineering.WebApi.Models.WMS.Response;

namespace WCS.WorkEngineering.WebApi.Controllers
{
    /// <summary>
    ///  AGV接口
    /// </summary>
    public static class AgvApi
    {
        private static string _AgvUrl = null!;

        /// <summary>
        /// AGV地址
        /// </summary>
        public static string AgvUrl
        {
            get
            {
                _AgvUrl ??= RedisHub.Default.Check("AgvUrl");
                if (string.IsNullOrEmpty(_AgvUrl))
                {
                    throw new KnownException($"请在Redis配置AgvUrl", LogLevelEnum.High);
                }
                return _AgvUrl;
            }
        }

        #region 任务单生成

        ///// <summary>
        /////  盘条入库
        ///// </summary>
        ///// <param name="position">取货机台</param>
        ///// <param name="ctnrCode">容器编码</param>
        ///// <param name="taskCode">WMS任务号</param>
        ///// <param name="priority">优先级</param>
        ///// <returns></returns>
        //public static GenAgvSchedulingTaskResponse 盘条入库( string position, string ctnrCode, string taskCode, string priority)
        //{
        //    return GenAgvSchedulingTask("iwms_third", ctnrCode,"4",  new List<positionCodeClass>()
        //    {
        //        new positionCodeClass(){ //取货机台
        //            positionCode=position,
        //            type="00"
        //        },
        //        new positionCodeClass(){ //巷道分配点
        //            positionCode="DD3",
        //            type="00"
        //        },
        //        new positionCodeClass(){ //预分配终点
        //            positionCode="JT1",
        //            type="00"
        //        }
        //    }, priority, taskCode, "PT05", "1");
        //}

        //public static GenAgvSchedulingTaskResponse 叫料出库(string ctnrCode, string position, string taskCode, string priority)
        //{
        //    return GenAgvSchedulingTask("iwms_third", ctnrCode, "4", new List<positionCodeClass>()
        //    {
        //        new positionCodeClass(){ //取货机台
        //            positionCode=position,
        //            type="00"
        //        },
        //        new positionCodeClass(){ //巷道分配点
        //            positionCode="DD3",
        //            type="00"
        //        }
        //    }, priority, taskCode, "PT04", "1");
        //}

        //public static GenAgvSchedulingTaskResponse 搬运(string ctnrCode, string position, string taskCode, string priority)
        //{
        //    return GenAgvSchedulingTask("iwms_third", ctnrCode, "4", new List<positionCodeClass>()
        //    {
        //        new positionCodeClass(){ //取货机台
        //            positionCode=position,
        //            type="00"
        //        },
        //        new positionCodeClass(){ //放货站点
        //            positionCode="JT4",
        //            type="00"
        //        }
        //    }, priority, taskCode, "PT04", "1");
        //}

        //public static GenAgvSchedulingTaskResponse 搬运_wms(string ctnrCode, string position, string taskCode, string priority)
        //{
        //    return GenAgvSchedulingTask("iwms_third", ctnrCode, "4", new List<positionCodeClass>()
        //    {
        //        new positionCodeClass(){ //取货机台
        //            positionCode="JT1",
        //            type="00"
        //        },
        //        new positionCodeClass(){ //放货站点
        //            positionCode=position,
        //            type="00"
        //        }
        //    }, priority, taskCode, "PT03", "1");
        //}



        ///// <summary>
        /////  Agv任务单生成接口
        ///// </summary>
        ///// <param name="clienCode">客户端编号</param>
        ///// <param name="ctnrCode">容器编号</param>
        ///// <param name="ctnrTyp">容器类型</param>
        ///// <param name="positionCodePath">路径</param>
        ///// <param name="priority">优先级</param>
        ///// <param name="taskCode">任务单号</param>
        ///// <param name="taskType">任务类型</param>
        ///// <param name="hjTaskTy">合金任务模板</param>
        ///// <returns></returns>
        ///// <exception cref="KnownException"></exception>
        //public static GenAgvSchedulingTaskResponse GenAgvSchedulingTask(string clienCode,string ctnrCode,string ctnrTyp,  List<positionCodeClass> positionCodePath, string priority, string taskCode, string taskType, string hjTaskTy)
        //{
        //    var res = APICaller.CallApi2<GenAgvSchedulingTaskResponse>("http://10.16.237.230:8181/rcms/services/rest/hikRpcService/genAgvSchedulingTask", new GenAgvSchedulingTaskRequest
        //    {
        //        clientCode = clienCode,
        //        ctnrCode = ctnrCode,
        //        ctnrTyp = ctnrTyp,
        //        interfaceName = "genAgvSchedulingTask",
        //        positionCodePath = positionCodePath,
        //        priority = priority,
        //        reqCode = Guid.NewGuid().ToString().Replace("-", ""),
        //        taskCode = taskCode,
        //        taskTyp = taskType,
        //        hjTaskTy = hjTaskTy,
        //        tokenCode = "56898661ea976b748f328cefa6960434",
        //    });
        //    if (res.code != AgvResponseCode.Success)
        //    {
        //        throw new KnownException(res.message, LogLevelEnum.High);
        //    }
        //    return res;
        //}

        #endregion 任务单生成

        #region 任务单生成测试
        /// <summary>
        /// 盘条入库
        /// </summary>
        /// <param name="position1">取货位置</param>
        /// <param name="position2">下个位置</param>
        /// <param name="position3">终点位置</param>
        /// <param name="ctnrCode">容器编码</param>
        /// <param name="taskCode">agv任务号</param>
        /// <param name="priority">优先级</param>
        /// <returns></returns>
        public static GenAgvSchedulingTaskResponse 盘条入库(string position1,string position2,string position3, string ctnrCode, string taskCode, string priority)
        {
            return GenAgvSchedulingTask("iwms_third", ctnrCode, "4", new List<positionCodeClass>()
            {
                new positionCodeClass(){ //取货机台
                    positionCode=position1,
                    type="00"
                },
                new positionCodeClass(){ //巷道分配点
                    positionCode=position2,
                    type="00"
                },
                new positionCodeClass(){ //预分配终点
                    positionCode=position3,
                    type="00"
                }
            }, priority, taskCode, "ZTGT30", "1");
        }

        /// <summary>
        /// 缓存区到出库口
        /// </summary>
        /// <param name="ctnrCode">容器编码</param>
        /// <param name="position1">取货位置</param>
        /// <param name="position2">放货位置</param>
        /// <param name="taskCode">任务号</param>
        /// <param name="priority">优先级</param>
        /// <returns></returns>
        public static GenAgvSchedulingTaskResponse 搬运_wmsEnd(string ctnrCode, string position1, string position2, string taskCode, string priority)
        {
            return GenAgvSchedulingTask("iwms_third", ctnrCode, "4", new List<positionCodeClass>()
            {
                new positionCodeClass(){ //取货机台
                    positionCode=position1,
                    type="00"
                },
                new positionCodeClass(){ //放货站点
                    positionCode=position2,
                    type="00"
                }
            }, priority, taskCode, "PT02", "1");
        }
        public static GenAgvSchedulingTaskResponse 搬运_wmsStart(string ctnrCode, string position1, string position2, string taskCode, string priority)
        {
            return GenAgvSchedulingTask("iwms_third", ctnrCode, "4", new List<positionCodeClass>()
            {
                new positionCodeClass(){ //取货机台
                    positionCode=position1,
                    type="00"
                },
                new positionCodeClass(){ //放货站点
                    positionCode=position2,
                    type="00"
                }
            }, priority, taskCode, "PT03", "1");
        }

        //取放都校验
        public static GenAgvSchedulingTaskResponse 搬运(string ctnrCode, string position1, string position2, string taskCode, string priority)
        {
            return GenAgvSchedulingTask("iwms_third", ctnrCode, "4", new List<positionCodeClass>()
            {
                new positionCodeClass(){ //取货机台
                    positionCode=position1,
                    type="00"
                },
                new positionCodeClass(){ //放货站点
                    positionCode=position2,
                    type="00"
                }
            }, priority, taskCode, "PT04", "1");
        }

        public static GenAgvSchedulingTaskResponse 出库搬运_wms(string ctnrCode, string position1, string position2, string taskCode, string priority)
        {
            return GenAgvSchedulingTask("iwms_third", ctnrCode, "4", new List<positionCodeClass>()
            {
                new positionCodeClass(){ //取货机台
                    positionCode=position1,
                    type="00"
                },
                new positionCodeClass(){ //放货站点
                    positionCode=position2,
                    type="00"
                }
            }, priority, taskCode, "PT05", "1");
        }
        /// <summary>
        /// 叫料出库
        /// </summary>
        /// <param name="ctnrCode">容器编码</param>
        /// <param name="position1">取货位置</param>
        /// <param name="position2">放货位置</param>
        /// <param name="taskCode">任务号</param>
        /// <param name="priority">优先级</param>
        /// <returns></returns>
        public static GenAgvSchedulingTaskResponse 叫料出库(string ctnrCode, string position1, string position2, string taskCode, string priority)
        {
            return GenAgvSchedulingTask("iwms_third", ctnrCode, "4", new List<positionCodeClass>()
            {
                new positionCodeClass(){ //取货机台
                    positionCode=position1,
                    type="00"
                },
                new positionCodeClass(){ //取货机台
                    positionCode="DD4",
                    type="00"
                },
                new positionCodeClass(){ //放货站台
                    positionCode=position2,
                    type="00"
                }
            }, priority, taskCode, "PT05", "1");
        }



        /// <summary>
        ///  Agv任务单生成接口
        /// </summary>
        /// <param name="clienCode">客户端编号</param>
        /// <param name="ctnrCode">容器编号</param>
        /// <param name="ctnrTyp">容器类型</param>
        /// <param name="positionCodePath">路径</param>
        /// <param name="priority">优先级</param>
        /// <param name="taskCode">任务单号</param>
        /// <param name="taskType">任务类型</param>
        /// <param name="hjTaskTy">合金任务模板</param>
        /// <returns></returns>
        /// <exception cref="KnownException"></exception>
        public static GenAgvSchedulingTaskResponse GenAgvSchedulingTask(string clienCode, string ctnrCode, string ctnrTyp, List<positionCodeClass> positionCodePath, string priority, string taskCode, string taskType, string hjTaskTy)
        {
            var res = APICaller.CallApi2<GenAgvSchedulingTaskResponse>("http://10.16.237.230:8181/rcms/services/rest/hikRpcService/genAgvSchedulingTask", new GenAgvSchedulingTaskRequest
            {
                clientCode = clienCode,
                ctnrCode = ctnrCode,
                ctnrTyp = ctnrTyp,
                interfaceName = "genAgvSchedulingTask",
                positionCodePath = positionCodePath,
                priority = priority,
                reqCode = Guid.NewGuid().ToString().Replace("-", ""),
                taskCode = taskCode,
                taskTyp = taskType,
                hjTaskTy = hjTaskTy,
                tokenCode = "56898661ea976b748f328cefa6960434",
            });
            if (res.code != AgvResponseCode.Success)
            {
                throw new KnownException(res.message, LogLevelEnum.High);
            }
            return res;
        }
        #endregion

        #region 继续执行任务

        /// <summary>
        ///  继续执行任务
        /// </summary>
        /// <param name="taskCode">AGV任务号</param>
        /// <param name="nextPositionCode">下一个地址</param>
        /// <returns>接口返回结果</returns>
        /// <exception cref="KnownException"></exception>
        public static ContinueTaskResponse ContinueTask(string taskCode, string nextPositionCode)
        {
            var res = APICaller.CallApi2<ContinueTaskResponse>("http://10.16.237.230:8181/rcms/services/rest/hikRpcService/continueTask", new ContinueTaskRequest
            {
                reqCode = Guid.NewGuid().ToString().Replace("-", ""),
                taskCode = taskCode,
                nextPositionCode = new positionCodeClass()
                {
                    positionCode = nextPositionCode,
                    type = "00"
                }
            });
            if (res.code != AgvResponseCode.Success)
            {
                throw new KnownException(res.message, LogLevelEnum.High);
            }
            return res;
        }

        #endregion 

        /// <summary>
        /// 取消任务
        /// </summary>
        /// <param name="AGVtaskCode">AGV任务号</param>
        /// <returns></returns>
        /// <exception cref="KnownException"></exception>
        public static CancelTaskResponse CancelAgvTask(string AGVtaskCode)
        {
            var res = APICaller.CallApi2<CancelTaskResponse>(AgvUrl + "/rcms/services/rest/hikRpcService/cancelTask", new CancelTaskRequest
            {
                reqCode = Guid.NewGuid().ToString().Replace("-", ""),
                taskCode = AGVtaskCode,
                forceCancel = "0",
            });
            if (res.code != AgvResponseCode.Success)
            {
                throw new KnownException(res.message, LogLevelEnum.High);
            }
            return res;
        }


        /// <summary>
        ///  AGV取消任务验证
        /// </summary>
        /// <param name="sRes"></param>
        /// <param name="id"></param>
        /// <param name="agvTask">需要取消任务的AGV任务号</param>
        /// <returns></returns>
        public static CancelTaskResponse? CancelAgvTask(SRes<HandleTaskResponse> sRes, int id, string agvTask)
        {
            try
            {
                var res = AgvApi.CancelAgvTask(agvTask);
                return res;
            }
            catch (Exception ex)
            {
                sRes.ResDataList.Add(new HandleTaskResponse()
                {
                    IsSuccess = false,
                    TaskNo = id,
                    Message = $"AGV错误:{ex.Message}",
                });
                return null;
            }
        }
    }
}