seyounth.hyosung.ty/Seyounth.Hyosung.Core/Agv/HyosungAgvService.cs

using Microsoft.Extensions.Logging;
using Seyounth.Hyosung.Core.Agv.HikModels;
using Seyounth.Hyosung.Data.Entities;
using Seyounth.Hyosung.Data.Services;

namespace Seyounth.Hyosung.Core.Agv;

public class HyosungAgvService(
    ILoggerFactory loggerFactory,
    IAgvBinService agvBinService,
    ITrayService trayService,
    IDictService dictService) : IHyosungAgvService
{
    private readonly HikAgv _agv = new(loggerFactory.CreateLogger<HikAgv>());


    public async Task StorageAsync(string trayCode)
    {
        AgvStatusInfo? status;
        do
        {
            status = await _agv.GetAgvStatus("BB", "4083");
            await Task.Delay(1000);
        } while (status is null);

        var tray = await trayService.GetByCode(trayCode);
        var height = (int)Math.Ceiling((double)((tray.StackHeight ?? 0) / 10.0)!);
        var bin = await agvBinService.GetAvailableBin(height);
        AgvPosition start = new AgvPosition()
        {
            PositionCode = "A1",
            Type = "00"
        };
        var stop = new AgvPosition()
        {
            PositionCode = bin.CtnrCode,
            Type = "05"
        };
        if (!string.IsNullOrEmpty(bin.HeightCode))
            await UnBin(bin);
        var ctnrType = await dictService.GetKeyAsync("AgvRackType", bin.Height.ToString());
        if (string.IsNullOrEmpty(ctnrType))
            ctnrType = "14";
        bin.HeightCode = ctnrType;

        var taskCode = await _agv.CarryToAsync(start, stop, ctnrType, 120, "1");
        await _agv.WaitingForTaskCompletedAsync(taskCode);
        await agvBinService.BindAsync(bin);
    }

    public async Task UnBin(AgvBinEntity bin)
    {
        await _agv.UnBin(bin);
    }
}