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

using System.Net.Http.Json;
using Microsoft.Extensions.Logging;
using Seyounth.Hyosung.Core.Agv.HikModels;
using Seyounth.Hyosung.Data.Entities;

namespace Seyounth.Hyosung.Core.Agv;

public class HikAgv(ILogger<HikAgv> logger)
{
    private const string Url = "http://192.168.30.161:8181/rcms/services/rest/hikRpcService/";

    private const string CancelTaskUri = "cancelTask";

    private const string SchedulingTaskUri = "genAgvSchedulingTask";

    private string GetRequestCode()
    {
        return $"Syc_{DateTimeOffset.Now.Ticks}";
    }

    /// <summary>
    /// 取消任务
    /// </summary>
    /// <param name="taskCode"></param>
    public async Task CancelTaskAsync(string taskCode)
    {
        var url = Url + CancelTaskUri;
        var input = new
        {
            reqCode = GetRequestCode(),
            taskCode
        };
        var result = await PostAsync<string>(url, input);
        if (result is null)
        {
            logger.LogWarning($"task {taskCode} cancel error: result is null");
            return;
        }

        if (result.Code != "0")
        {
            logger.LogWarning($"task {taskCode} cancel error: code is {result.Code}");
            return;
        }

        logger.LogInformation($"task {taskCode} cancel succeed.");
    }

    public async Task<string> CarryToAsync(AgvPosition start, AgvPosition end, string ctnrType, int priority,
        string taskType)
    {
        var url = Url + SchedulingTaskUri;
        var input = new
        {
            reqCode = GetRequestCode(),
            ctnrTyp = ctnrType,
            taskTyp = taskType,
            priority,
            agvCode = "4083",
            positionCodePath = new object[]
            {
                new { positionCode = start.PositionCode, type = start.Type },
                new { positionCode = end.PositionCode, type = end.Type }
            }
        };
        var rs = await PostAsync<string>(url, input);
        if (rs is null)
        {
            throw new NullReferenceException($"{start.PositionCode} carry to {end.PositionCode} error: result is null");
        }

        if (rs.Code != "0")
        {
            throw new Exception(
                $"{start.PositionCode} carry to {end.PositionCode} error: code is {rs.Code} message is {rs.Message}");
        }

        return rs.Data;
    }

    public async Task WaitingForTaskCompletedAsync(string taskCode)
    {
        while (true)
        {
            var input = new
            {
                reqCode = GetRequestCode(),
                taskCodes = new List<string> { taskCode }
            };
            var rs = await PostAsync<List<TaskStatusModel>>(Url + "queryTaskStatus", input);
            if (rs is null)
            {
                throw new NullReferenceException($"task {taskCode} wait completed error: result is null");
            }

            if (rs.Code != "0")
            {
                throw new Exception($"task {taskCode} wait completed error: code is {rs.Code} message is {rs.Message}");
            }

            // 检查是否有符合条件的任务状态为 9
            var task = rs.Data.FirstOrDefault(t => t.taskCode == taskCode);
            if (task is { taskStatus: "9" })
            {
                logger.LogInformation($"task {taskCode} wait completed succeed");
                break; // 退出循环
            }

            // 可以添加适当的延迟，避免频繁请求
            await Task.Delay(1000);
        }
    }

    public async Task UnBin(AgvBinEntity bin)
    {
        var url = Url + "bindCtnrAndBin";
        var input = new
        {
            reqCode = GetRequestCode(),
            stgBinCode = bin.CtnrCode,
            ctnrTyp = bin.HeightCode,
            indBind = "0"
        };
        var rs = await PostAsync<string>(url, input);
        if (rs is null)
        {
            logger.LogWarning($"agv unbin {bin.CtnrCode}  error: result is null");
            return;
        }

        if (rs.Code != "0")
        {
            logger.LogWarning($"agv unbin {bin.CtnrCode} error: code is {rs.Code} message:{rs.Message}");
            return;
        }

        logger.LogInformation($"agv unbin {bin.CtnrCode} succeed");
    }

    public async Task MovingToAsync(AgvPosition des, string taskType)
    {
        var url = Url + SchedulingTaskUri;
        var input = new
        {
            reqCode = GetRequestCode(),
            taskType,
            priority = 1,
            positionCodePath =
                new object[]
                {
                    new { positionCode = des.PositionCode, type = des.Type }
                }
        };
        var rs = await PostAsync<string>(url, input);
        if (rs is null)
        {
            logger.LogWarning($"agv move to {des.PositionCode} error: result is null");
            return;
        }

        if (rs.Code != "0")
        {
            logger.LogWarning($"agv move to {des.PositionCode} error: code is {rs.Code}");
            return;
        }

        logger.LogInformation($"agv move to {des.PositionCode} succeed");
    }

    public async Task<AgvStatusInfo?> GetAgvStatus(string mapCode, string agvCode)
    {
        var url = "http://192.168.30.161:8181/rcms-dps/rest/queryAgvStatus";
        var q = new
        {
            reqCode = GetRequestCode(),
            mapCode
        };
        var rs = await PostAsync<List<AgvStatusInfo>>(url, q);
        if (rs is null)
        {
            logger.LogWarning($"get agv {agvCode} from map {mapCode} error: result is null");
            return null;
        }

        if (rs.Code == "0") return rs.Data.First(t => t.RobotCode == agvCode);
        logger.LogWarning($"get agv {agvCode} from map {mapCode} error: code is {rs.Code}");
        return null;
    }

    private async Task<HikApiResult<T>?> PostAsync<T>(string url, object content)
    {
        try
        {
            using var client = new HttpClient();
            var json = JsonContent.Create(content);
            var response = await client.PostAsync(url, json);
            response.EnsureSuccessStatusCode();
            return await response.Content.ReadFromJsonAsync<HikApiResult<T>>();
        }
        catch (Exception e)
        {
            logger.LogError(e, $"post error");
            return null;
        }
    }
}