429 lines
20 KiB
C#
429 lines
20 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Configuration;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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using ExternalDataSync;
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using MesServerWork;
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using MisDataSaveDate;
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using System.Net.Http;
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using System.Web.Http;
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using MisDataSaveDate.MOM;
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using System.Data.SqlClient;
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using static MisDataSaveDate.Helper.ApiLogHelper;
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using MisDataSaveDate.Helper;
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using WebApi;
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using System.Security.Policy;
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using System.Data;
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using MisDataFunDll;
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using System.Reflection.Emit;
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namespace MisDataSaveDate
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{
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/// <summary>
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/// AGV业务处理类
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/// </summary>
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public class AGV_BusinessLogic
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{
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static string agvBaseUrl = ConfigurationManager.AppSettings["AGV_BaseUrl"];
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/// <summary>
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/// 处理AGV进入请求业务逻辑
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/// </summary>
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/// <param name="url">接口URL</param>
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/// <param name="jobj">AGV请求数据</param>
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/// <returns>处理结果</returns>
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public static string ProcessAGVEnterRequest(string url, [FromBody] JObject jobj)
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{
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var result = new AGV_Response();
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result.code = "0";
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result.message = "";
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result.reqCode = "";
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string errorMessage = "";
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if (jobj == null)
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{
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result.code = "1";
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result.message = "参数格式不正确！";
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result.reqCode = "";
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string retString1 = JsonConvert.SerializeObject(result);
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SaveMesLog("AGV进入请求", "参数格式不正确！", MesLogType.ERROR);
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MyLog4Net.MyLogHelper.Info("AGV请求进入接口res:", retString1);
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return retString1;
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}
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string str = jobj.ToString();
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//存储请求日志
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SaveLog_Interface_Request(url, 2, str, out int AID);
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try
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{
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// 解析AGV请求内容
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AGV_EnterRequest enterRequest = JsonConvert.DeserializeObject<AGV_EnterRequest>(str);
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// 必填字段校验
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if (string.IsNullOrWhiteSpace(enterRequest.reqCode))
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{
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throw new Exception("请求编号(reqCode)不能为空");
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}
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if (string.IsNullOrWhiteSpace(enterRequest.reqTime))
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{
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throw new Exception("请求时间戳(reqTime)不能为空");
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}
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if (string.IsNullOrWhiteSpace(enterRequest.currentPositionCode))
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{
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throw new Exception("当前位置编号(currentPositionCode)不能为空");
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}
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if (string.IsNullOrWhiteSpace(enterRequest.method))
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{
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throw new Exception("方法名(method)不能为空");
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}
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if (string.IsNullOrWhiteSpace(enterRequest.robotCode))
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{
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throw new Exception("AGV编号(robotCode)不能为空");
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}
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if (string.IsNullOrWhiteSpace(enterRequest.taskCode))
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{
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throw new Exception("任务编号(taskCode)不能为空");
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}
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string method = enterRequest.method.Trim().ToLower();
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if (method != "apply" && method != "release" && method != "lower" && method != "raise")
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{
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throw new Exception($"不支持的method：{enterRequest.method}");
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}
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//enterRequest.currentPositionCode = RemoveTrailingZero(enterRequest.currentPositionCode);
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// 调用存储过程保存AGV请求数据
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var param = new SqlParameter[] {
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new SqlParameter("@reqCode", enterRequest.reqCode ?? ""),
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new SqlParameter("@reqTime", enterRequest.reqTime ?? ""),
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new SqlParameter("@cooX", enterRequest.cooX ?? ""),
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new SqlParameter("@cooY", enterRequest.cooY ?? ""),
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new SqlParameter("@currentPositionCode", enterRequest.currentPositionCode ?? ""),
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new SqlParameter("@data", ""),// enterRequest.data ??
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new SqlParameter("@mapCode", enterRequest.mapCode ?? ""),
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new SqlParameter("@mapDataCode", enterRequest.mapDataCode ?? ""),
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new SqlParameter("@stgBinCode", enterRequest.stgBinCode ?? ""),
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new SqlParameter("@method", method),
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new SqlParameter("@podCode", enterRequest.podCode ?? ""),
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new SqlParameter("@podDir", enterRequest.podDir ?? ""),
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new SqlParameter("@materialLot", enterRequest.materialLot ?? ""),
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new SqlParameter("@robotCode", enterRequest.robotCode ?? ""),
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new SqlParameter("@taskCode", enterRequest.taskCode ?? ""),
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new SqlParameter("@wbCode", enterRequest.wbCode ?? ""),
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new SqlParameter("@ctnrCode", enterRequest.ctnrCode ?? ""),
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new SqlParameter("@ctnrType", enterRequest.ctnrType ?? ""),
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new SqlParameter("@roadWayCode", enterRequest.roadWayCode ?? ""),
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new SqlParameter("@seq", enterRequest.seq ?? ""),
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new SqlParameter("@eqpCode", enterRequest.eqpCode ?? "")
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};
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// 这里定义AGV返回的位置 - 从currentPositionCode获取并去掉尾部_1后缀
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string OpCode = "";
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try
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{
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// 从请求的currentPositionCode字段获取位置码
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string currentPositionCode = enterRequest.currentPositionCode?.ToString() ?? "";
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if (!string.IsNullOrEmpty(currentPositionCode))
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{
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// 去掉尾部的_1后缀，保留前面的库位号
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int lastUnderscoreIndex = currentPositionCode.LastIndexOf('_');
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if (lastUnderscoreIndex > 0)
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{
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OpCode = currentPositionCode.Substring(0, lastUnderscoreIndex);
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}
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else
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{
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// 如果没有下划线，直接使用原值
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OpCode = currentPositionCode;
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}
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}
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// 如果从currentPositionCode获取不到，使用wbCode作为备用
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if (string.IsNullOrEmpty(OpCode))
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{
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OpCode = enterRequest.wbCode?.ToString() ?? "";
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}
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}
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catch (Exception ex)
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{
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// 解析失败时使用wbCode作为备用
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OpCode = enterRequest.wbCode?.ToString() ?? "";
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SaveMesLog("AGV进入请求", $"解析currentPositionCode失败，使用wbCode作为备用：{ex.Message}", MesLogType.WARNING);
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}
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// 跟新Moby表 AGV进入离开、下降举升状态
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, method, "1");
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// 执行存储过程
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DataLinkMesWork2.DataAccess2.ExecuteStoredProcedure("AGV_光栅请求记录_增加", ref param, out errorMessage);
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switch (method)
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{
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case "apply":
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "inReq", enterRequest.reqCode);
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "inTask", enterRequest.taskCode);
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MisDataFun.Rrunning_AGV_Arrive(OpCode); // 磨合AGV到达
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MIS_BASE.WritePLC(301, OpCode, true); // 请求进入
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SaveMesLog(OpCode, $"AGV请求进入成功：工位{OpCode}", MesLogType.INFO);
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break;
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case "release": // 离开在收到后反馈回去 发给PLC
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "outReq", enterRequest.reqCode);
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "outTask", enterRequest.taskCode);
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MisDataFun.Rrunning_AGV_Leave(OpCode); // 磨合AGV离开
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// 读取一下上一个请求进入的工件编号~~~ 然后传过去 找对应的
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//bool agvOutResult = PassAgvInOut(OpCode, "", "release"); // 通知AGV可以离开
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//if (!agvOutResult)
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//{
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// errorMessage = $"AGV离开通知失败：工位{OpCode}";
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// SaveMesLog("AGV进入请求", errorMessage, "error");
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//}
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SaveMesLog(OpCode, $"AGV离开通知成功：工位{OpCode}", MesLogType.INFO);
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MIS_BASE.WritePLC(301, OpCode, false); // 请求进入
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// AGV已离开 - 通知PLC
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MIS_BASE.WritePLC(303, OpCode, true);
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MIS_BASE.WritePLC(302, OpCode, false); // 托盘到位 器具放置完毕 请求扫描器具码
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "AllowAGVLeave", "1");
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break;
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case "lower":
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "lowerReq", enterRequest.reqCode);
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "lowerTask", enterRequest.taskCode);
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "当前状态", "AGV请求下降");
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "备注", $"lowerReq={enterRequest.reqCode};lowerTask={enterRequest.taskCode}");
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MIS_BASE.WritePLC(500, OpCode, true); // AGV请求下降
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SaveMesLog(OpCode, $"AGV请求下降成功：工位{OpCode}", MesLogType.INFO);
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break;
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case "raise":
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "raiseReq", enterRequest.reqCode);
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "raiseTask", enterRequest.taskCode);
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "当前状态", "AGV请求举升");
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MisDataFun.Location_MIS_MOBY_Insert(OpCode, "备注", $"raiseReq={enterRequest.reqCode};raiseTask={enterRequest.taskCode}");
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MIS_BASE.WritePLC(501, OpCode, true); // AGV请求举升
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SaveMesLog(OpCode, $"AGV请求举升成功：工位{OpCode}", MesLogType.INFO);
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break;
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default:
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break;
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}
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if (!string.IsNullOrEmpty(errorMessage))
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{
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result.code = "500";
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result.message = "AGV请求处理失败";
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result.reqCode = enterRequest.reqCode;
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SaveMesLog("AGV进入请求", errorMessage, MesLogType.ERROR);
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}
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else
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{
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result.code = "0";
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result.message = "";
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result.reqCode = enterRequest.reqCode;
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}
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}
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catch (Exception err)
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{
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// 记录错误日志
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SaveMesLog("AGV进入请求", err.Message, MesLogType.ERROR);
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result.code = "1";
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result.message = err.Message;
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// 尝试从请求中获取reqCode
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try
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{
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AGV_EnterRequest tempRequest = JsonConvert.DeserializeObject<AGV_EnterRequest>(str);
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result.reqCode = tempRequest?.reqCode ?? "";
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}
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catch
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{
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result.reqCode = "";
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}
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}
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string retString = JsonConvert.SerializeObject(result);
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// 存储响应日志
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SaveLog_Interface_Response(retString, AID);
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MyLog4Net.MyLogHelper.Info("AGV请求进入接口res:", retString);
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return retString;
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}
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public static string RemoveTrailingZero(string input)
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{
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if (input != null && input.Contains("-0") && input.Length >= 3)
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{
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int dashIndex = input.LastIndexOf("-0");
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if (dashIndex > 0 && dashIndex == input.Length - 3) // 确保是最后的-0x格式
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{
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return input.Remove(dashIndex + 1, 1); // 去掉"-0"中的0
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}
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}
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return input;
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}
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/// <summary>
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/// 发送AGV任务继续执行请求（允许进入、离开、下降或举升）
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/// </summary>
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/// <param name="opName">工位号</param>
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/// <param name="engineID">工件编号</param>
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/// <param name="type">任务类型</param>
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/// <returns>操作是否成功</returns>
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public static bool PassAgvInOut(string opName, string engineID, string type)
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{
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try
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{
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// 其实没有用 engineID 这玩意正常本工位获取不到
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// 调用存储过程获取AGV任务数据
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var param = new SqlParameter[] {
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new SqlParameter("@opName", opName),
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new SqlParameter("@engineID", engineID),
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new SqlParameter("@type", type)
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};
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DataLinkMesWork2.DataAccess2.ExecuteStoredProcedure("AGV_允许进入离开_查询", ref param, out DataTable dtResult, out string errMessage);
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if (dtResult == null || dtResult.Rows.Count == 0)
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{
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SaveMesLog(opName, $"获取AGV任务数据失败：工位号={opName}, 工件编号={engineID}, 任务类型={type}, 错误信息={errMessage}", MesLogType.ERROR);
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return false;
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}
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// 从数据库获取请求编号和任务号
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string reqCode = dtResult.Rows[0]["reqCode"].ToString();
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string taskCode = dtResult.Rows[0]["taskCode"].ToString();
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// 构造AGV反馈请求对象
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AGV_FeedbackRequest agvFeedbackRequest = new AGV_FeedbackRequest()
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{
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reqCode = reqCode,
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taskCode = taskCode
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};
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// 获取AGV接口地址并发送请求
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string interfaceUrl = agvBaseUrl.TrimEnd('/') + "/rcms/services/rest/hikRpcService/continueTask";
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string jsonStr = JsonConvert.SerializeObject(agvFeedbackRequest);
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//存储请求日志
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SaveLog_Interface_Request(interfaceUrl, 1, jsonStr, out int AID);
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string resultStr = "";
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try
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{
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resultStr = Post.Post_Auto(interfaceUrl, jsonStr);
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}
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catch (Exception httpEx)
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{
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SaveMesLog(opName, $"AGV接口HTTP请求异常：工位号={opName}, 工件编号={engineID}, 任务类型={type}, 异常信息={httpEx.Message}", MesLogType.ERROR);
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// 存储响应日志
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SaveLog_Interface_Response($"HTTP请求异常：{httpEx.Message}", AID);
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return false;
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}
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// 存储响应日志
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SaveLog_Interface_Response(resultStr, AID);
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// 解析响应结果
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if (string.IsNullOrWhiteSpace(resultStr))
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{
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SaveMesLog(opName, "AGV接口返回空响应", MesLogType.ERROR);
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return false;
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}
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// 检查是否为Post.Post_Auto返回的错误格式
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try
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{
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JObject tempResult = JsonConvert.DeserializeObject<JObject>(resultStr);
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if (tempResult != null && tempResult["code"] != null && tempResult["code"].ToString() == "500")
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{
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string errorMsg = tempResult["message"]?.ToString() ?? "HTTP请求异常";
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SaveMesLog(opName, $"AGV接口HTTP异常：工位号={opName}, 工件编号={engineID}, 任务类型={type}, 错误信息={errorMsg}", MesLogType.ERROR);
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return false;
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}
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}
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catch
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{
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// 如果不是标准JSON格式，继续后续处理
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}
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AGV_Response result = JsonConvert.DeserializeObject<AGV_Response>(resultStr);
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if (result == null)
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{
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SaveMesLog(opName, "AGV接口返回数据格式错误", MesLogType.ERROR);
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return false;
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}
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// 检查AGV返回码
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string code = result.code?.ToString();
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if (code != "0")
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{
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string message = result.message?.ToString() ?? "未知错误";
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SaveMesLog(opName, $"允许AGV光栅请求失败：工位号={opName}, 工件编号={engineID}, 任务类型={type}, code={code}, message={message}", MesLogType.ERROR);
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return false;
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}
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// 请求成功后调用存储过程更新送料状态
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var updateParam = new SqlParameter[] {
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new SqlParameter("@opName", opName),
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new SqlParameter("@engineID", engineID),
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new SqlParameter("@reqCode", reqCode),
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new SqlParameter("@taskCode", taskCode)
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};
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DataLinkMesWork2.DataAccess2.ExecuteStoredProcedure("AGV_光栅请求记录_允许", ref updateParam, out string updateErrMessage);
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if (!string.IsNullOrEmpty(updateErrMessage))
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{
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SaveMesLog(opName, $"允许AGV光栅请求失败：工位号={opName}, 工件编号={engineID}, 任务类型={type}, 异常信息={updateErrMessage}", MesLogType.ERROR);
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return false;
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}
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// 根据任务类型进行后续操作
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if (type == "apply")
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{
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// AGV已进入
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MisDataFun.Location_MIS_MOBY_Insert(opName, "AllowAGVEnter", "1");
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}
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else if (type == "release")
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{
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// AGV已离开 - 通知PLC
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MIS_BASE.WritePLC(301, opName, false); // 请求进入
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MIS_BASE.WritePLC(303, opName, true);
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MisDataFun.Location_MIS_MOBY_Insert(opName, "AllowAGVLeave", "1");
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}
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else if (type == "lower")
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{
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// AGV允许下降
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MIS_BASE.WritePLC(500, opName, false); // AGV请求下降
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MisDataFun.Location_MIS_MOBY_Insert(opName, "AllowAGVLower", "1");
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MisDataFun.Location_MIS_MOBY_Insert(opName, "当前状态", "允许AGV下降");
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}
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else if (type == "raise")
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{
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// AGV允许举升
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MIS_BASE.WritePLC(501, opName, false); // AGV请求举升
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MisDataFun.Location_MIS_MOBY_Insert(opName, "AllowAGVRaise", "1");
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MisDataFun.Location_MIS_MOBY_Insert(opName, "当前状态", "允许AGV举升");
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}
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SaveMesLog(opName, $"允许AGV光栅请求成功：工件编号={engineID}, 请求编号={reqCode}, 任务号={taskCode}, 工位号={opName}, 任务类型={type}", MesLogType.INFO);
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return true;
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}
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catch (Exception ex)
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{
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SaveMesLog(opName, $"允许AGV光栅请求失败：工位号={opName}, 工件编号={engineID}, 任务类型={type}, 异常信息={ex.Message}", MesLogType.ERROR);
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return false;
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}
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}
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}
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}
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