55 lines
1.7 KiB
C#
55 lines
1.7 KiB
C#
using Microsoft.Extensions.Logging;
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using Seyounth.Hyosung.Core.Agv.HikModels;
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using Seyounth.Hyosung.Data.Entities;
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using Seyounth.Hyosung.Data.Services;
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namespace Seyounth.Hyosung.Core.Agv;
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public class HyosungAgvService(
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ILoggerFactory loggerFactory,
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IAgvBinService agvBinService,
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ITrayService trayService,
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IDictService dictService) : IHyosungAgvService
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{
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private readonly HikAgv _agv = new(loggerFactory.CreateLogger<HikAgv>());
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public async Task StorageAsync(string trayCode)
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{
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AgvStatusInfo? status;
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do
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{
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status = await _agv.GetAgvStatus("BB", "4083");
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await Task.Delay(1000);
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} while (status is null);
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var tray = await trayService.GetByCode(trayCode);
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var height = (int)Math.Ceiling((double)((tray.StackHeight ?? 0) / 10.0)!);
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var bin = await agvBinService.GetAvailableBin(height);
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AgvPosition start = new AgvPosition()
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{
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PositionCode = "A1",
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Type = "00"
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};
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var stop = new AgvPosition()
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{
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PositionCode = bin.CtnrCode,
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Type = "05"
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};
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if (!string.IsNullOrEmpty(bin.HeightCode))
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await UnBin(bin);
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var ctnrType = await dictService.GetKeyAsync("AgvRackType", bin.Height.ToString());
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if (string.IsNullOrEmpty(ctnrType))
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ctnrType = "14";
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bin.HeightCode = ctnrType;
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var taskCode = await _agv.CarryToAsync(start, stop, ctnrType, 120, "1");
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await _agv.WaitingForTaskCompletedAsync(taskCode);
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await agvBinService.BindAsync(bin);
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}
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public async Task UnBin(AgvBinEntity bin)
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{
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await _agv.UnBin(bin);
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}
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} |