From 5108f663523ad79c165a6ba3f10be098dc07e67b Mon Sep 17 00:00:00 2001
From: anerx <512464164@qq.com>
Date: Sun, 23 Mar 2025 13:55:15 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0AGV=E4=BB=BB=E5=8A=A1?=
 =?UTF-8?q?=E5=88=A4=E6=96=AD?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Seyounth.Hyosung.Core/Agv/HikAgv.cs           | 44 ++++++++++++++++---
 .../Agv/HikModels/TaskStatusModel.cs          |  8 ++++
 .../Agv/HyosungAgvService.cs                  | 13 +++---
 3 files changed, 52 insertions(+), 13 deletions(-)
 create mode 100644 Seyounth.Hyosung.Core/Agv/HikModels/TaskStatusModel.cs

diff --git a/Seyounth.Hyosung.Core/Agv/HikAgv.cs b/Seyounth.Hyosung.Core/Agv/HikAgv.cs
index 294be19..a622275 100644
--- a/Seyounth.Hyosung.Core/Agv/HikAgv.cs
+++ b/Seyounth.Hyosung.Core/Agv/HikAgv.cs
@@ -46,7 +46,8 @@ public class HikAgv(ILogger<HikAgv> logger)
         logger.LogInformation($"task {taskCode} cancel succeed.");
     }
 
-    public async Task CarryToAsync(AgvPosition start, AgvPosition end, string ctnrType, int priority, string taskType)
+    public async Task<string> CarryToAsync(AgvPosition start, AgvPosition end, string ctnrType, int priority,
+        string taskType)
     {
         var url = Url + SchedulingTaskUri;
         var input = new
@@ -65,19 +66,50 @@ public class HikAgv(ILogger<HikAgv> logger)
         var rs = await PostAsync<string>(url, input);
         if (rs is null)
         {
-            logger.LogWarning($"{start.PositionCode} carry to {end.PositionCode} error: result is null");
-            return;
+            throw new NullReferenceException($"{start.PositionCode} carry to {end.PositionCode} error: result is null");
         }
 
         if (rs.Code != "0")
         {
-            logger.LogWarning($"{start.PositionCode} carry to {end.PositionCode} error: code is {rs.Code} message is {rs.Message}");
-            return;
+            throw new Exception(
+                $"{start.PositionCode} carry to {end.PositionCode} error: code is {rs.Code} message is {rs.Message}");
         }
 
-        logger.LogInformation($"{start.PositionCode} carry to {end.PositionCode} succeed");
+        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)
     {
diff --git a/Seyounth.Hyosung.Core/Agv/HikModels/TaskStatusModel.cs b/Seyounth.Hyosung.Core/Agv/HikModels/TaskStatusModel.cs
new file mode 100644
index 0000000..60eeb59
--- /dev/null
+++ b/Seyounth.Hyosung.Core/Agv/HikModels/TaskStatusModel.cs
@@ -0,0 +1,8 @@
+namespace Seyounth.Hyosung.Core.Agv.HikModels;
+
+public class TaskStatusModel
+{
+    public string taskCode { get; set; }
+    
+    public string taskStatus { get; set; }
+}
\ No newline at end of file
diff --git a/Seyounth.Hyosung.Core/Agv/HyosungAgvService.cs b/Seyounth.Hyosung.Core/Agv/HyosungAgvService.cs
index 9c6c30b..1ec3295 100644
--- a/Seyounth.Hyosung.Core/Agv/HyosungAgvService.cs
+++ b/Seyounth.Hyosung.Core/Agv/HyosungAgvService.cs
@@ -24,7 +24,7 @@ public class HyosungAgvService(
         } while (status is null);
 
         var tray = await trayService.GetByCode(trayCode);
-        var height = (int)Math.Ceiling((double)((tray.StackHeight??0) / 10.0)!);
+        var height = (int)Math.Ceiling((double)((tray.StackHeight ?? 0) / 10.0)!);
         var bin = await agvBinService.GetAvailableBin(height);
         AgvPosition start = new AgvPosition()
         {
@@ -36,17 +36,16 @@ public class HyosungAgvService(
             PositionCode = bin.CtnrCode,
             Type = "05"
         };
-        if(!string.IsNullOrEmpty(bin.HeightCode))
-            await UnBin(bin);      
+        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;
-      
-        await _agv.CarryToAsync(start, stop, ctnrType, 120, "1");
+
+        var taskCode = await _agv.CarryToAsync(start, stop, ctnrType, 120, "1");
+        await _agv.WaitingForTaskCompletedAsync(taskCode);
         await agvBinService.BindAsync(bin);
-        //�ȴ�30�� ȷ��AGV�Ѿ��Ѳ�Ʒ���
-        await Task.Delay(30 * 1000);
     }
 
     public async Task UnBin(AgvBinEntity bin)