HAIManager.cs
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using OnlineStore.Common;
using OnlineStore.DeviceLibrary.ESS;
using System;
using System.Collections.Generic;
namespace OnlineStore.DeviceLibrary
{
public class HAIManager
{
private static string Addr_containerArrived = "/agv/hai/containerArrived";
/// <summary>
/// ESS创建任务接口
/// </summary>
private static string Addr_createTask = "/task/create";
/// <summary>
/// ESS创建任务接口
/// </summary>
private static string Addr_cancelTask = "/task/cancel";
static string Addr_GetRobotState = "/robot/query";
static string splitString(string baseAddr)
{
if (baseAddr.EndsWith("/"))
{
baseAddr = baseAddr.Substring(0, baseAddr.Length - 1);
}
return baseAddr;
}
/// <summary>
/// 获取机器人状态
/// </summary>
/// <returns></returns>
public static RobotStates GetRobotState(string baseAddr)
{
try
{
string path = splitString(baseAddr) + Addr_GetRobotState;
Dictionary<string, object> tmp = new Dictionary<string, object>();
string param = JsonHelper.SerializeObject(tmp);
if (HttpHelper.Post(path, param, out bool isTimueOut, out string outMsg))
{
ResultData resultData = JsonHelper.DeserializeJsonToObject<ResultData>(outMsg);
if (resultData != null)
{
if (resultData.code.Equals(0))
return resultData.data;
}
else
return null;
}
else
{
return null;
}
}
catch (Exception ex)
{
LogUtil.error($"GetRobotState ", ex);
}
return null;
}
/// <summary>
/// 容器到达，发给ESS
/// </summary>
/// <param name="ess_server"></param>
/// <param name="essModel"></param>
public static void ContarinerArrived(string ess_server,EssModel essModel)
{
try
{
string path = splitString(ess_server) + Addr_containerArrived;
string param = JsonHelper.SerializeObject(essModel);
string resultStr = HttpHelper.Post(path, param);
LogUtil.info("容器到达【" + path + "】" + param + "【" + resultStr + "】");
}
catch (Exception ex)
{
LogUtil.error("容器到达 异常", ex);
}
}
/// <summary>
/// 创建入库请求
/// containerCode、slotCode参数必填
/// </summary>
/// <param name="ess_server"></param>
/// <param name="containerInfos"></param>
/// <param name="debug"></param>
/// <returns></returns>
public static bool CreateInStoreOrder(string ess_server, List<ContainerInfo> containerInfos, bool debug = false)
{
try
{
ESS_CreateTaskBody body = new ESS_CreateTaskBody();
body.taskType = "tote_inbound";
body.tasks = new List<ESSTask>();
foreach (var item in containerInfos)
{
item.TaskCode = $"IN-{item.ContainerValidCode}-{DateTime.Now.ToString("yyyyMMddHHmmssff")}";
ESSTask task = new ESSTask();
task.taskCode = item.TaskCode;
task.taskDescribe = new ESSInstoreTaskDesc()
{
containerCode = item.ContainerValidCode,
locationCode = item.InoutParam?.slotCode
};
body.tasks.Add(task);
}
string param = JsonHelper.SerializeObject(body);
string path = splitString(ess_server) + Addr_createTask;
if (HttpHelper.Post(path, param, out bool isTimueOut, out string outMsg))
{
ServerData1 server = JsonHelper.DeserializeJsonToObject<ServerData1>(outMsg);
if (server != null)
{
foreach (var item in containerInfos)
{
if (server.data.ContainsKey(item.TaskCode))
{
if (server.data[item.TaskCode].ToString().ToLower().Equals("ok"))
{
if (!debug)
ContainerManager.UpdateTaskStatus(item.ContainerValidCode, TaskStatus.EXECUTING);
}
}
}
LogUtil.info($"创建入库任务成功【{path}】【{param}】【{outMsg}】");
return true;
}
LogUtil.info($"创建入库任务失败，ESS返回失败【{path}】【{param}】【{outMsg}】");
return false;
}
else
{
LogUtil.error($"创建入库任务失败【{path}】【{param}】【{outMsg}】【{isTimueOut}】");
return false;
}
}
catch (Exception ex)
{
LogUtil.error($"创建入库任务异常", ex);
}
return false;
}
/// <summary>
/// 创建出库请求
/// containerCode参数必填
/// </summary>
/// <param name="containerInfos"></param>
/// <returns></returns>
public static bool CreateOutStoreOrder(string ess_server, List<ContainerInfo> containerInfos, bool debug = false)
{
try
{
ESS_CreateTaskBody body = new ESS_CreateTaskBody();
body.taskType = "tote_outbound";
body.tasks = new List<ESSTask>();
foreach (var item in containerInfos)
{
item.TaskCode = $"OUT-{item.ContainerValidCode}-{DateTime.Now.ToString("yyyyMMddHHmmssff")}";
ESSTask task = new ESSTask();
task.taskCode = item.TaskCode;
task.taskDescribe = new ESSOutstoreTaskDesc()
{
containerCode = item.ContainerValidCode,
toStationCode = new List<string>() { "1" }
};
body.tasks.Add(task);
}
string param = JsonHelper.SerializeObject(body);
string path = splitString(ess_server) + Addr_createTask;
if (HttpHelper.Post(path, param, out bool isTimueOut, out string outMsg))
{
ServerData1 server = JsonHelper.DeserializeJsonToObject<ServerData1>(outMsg);
if (server != null)
{
foreach (var item in containerInfos)
{
if (server.data.ContainsKey(item.TaskCode))
{
if (server.data[item.TaskCode].ToString().ToLower().Equals("ok"))
{
if (!debug)
ContainerManager.UpdateTaskStatus(item.ContainerValidCode, TaskStatus.EXECUTING);
}
}
}
LogUtil.info($"创建出库任务成功【{path}】【{param}】【{outMsg}】");
return true;
}
LogUtil.info($"创建出库任务失败，ESS返回失败【{path}】【{param}】【{outMsg}】");
return false;
}
else
{
LogUtil.error($"创建出库任务失败【{path}】【{param}】【{outMsg}】【{isTimueOut}】");
return false;
}
}
catch (Exception ex)
{
LogUtil.error($"创建出库任务异常:{JsonHelper.SerializeObject(containerInfos)}", ex);
}
return false;
}
/// <summary>
/// 取消出库任务
/// </summary>
/// <param name="containerInfos"></param>
/// <param name="debug"></param>
/// <returns></returns>
public static bool CancelOutStoreOrder(string ess_server, List<ContainerInfo> containerInfos, bool debug = false)
{
try
{
ESS_CancelBody body = new ESS_CancelBody();
body.taskCodes = new List<string>();
foreach (var item in containerInfos)
{
body.taskCodes.Add(item.TaskCode);
}
string param = JsonHelper.SerializeObject(body);
string path = splitString(ess_server) + Addr_cancelTask;
if (HttpHelper.Post(path, param, out bool isTimueOut, out string outMsg))
{
ServerData1 server = JsonHelper.DeserializeJsonToObject<ServerData1>(outMsg);
if (server != null)
{
foreach (var item in containerInfos)
{
if (server.data.ContainsKey(item.TaskCode))
{
if (server.data[item.TaskCode].ToString().ToLower().Equals("ok"))
{
if (!debug)
ContainerManager.UpdateTaskStatus(item.ContainerValidCode, TaskStatus.EXECUTING);
}
}
}
LogUtil.info($"取消出库任务成功【{path}】【{param}】【{outMsg}】");
return true;
}
LogUtil.info($"取消出库任务失败，ESS返回失败【{path}】【{param}】【{outMsg}】");
return false;
}
else
{
LogUtil.error($"取消出库任务失败【{path}】【{param}】【{outMsg}】【{isTimueOut}】");
return false;
}
}
catch (Exception ex)
{
LogUtil.error($"取消出库任务异常:{JsonHelper.SerializeObject(containerInfos)}", ex);
}
return false;
}
}
}