/// <summary>
/// 继续执行给AGV发送任务
/// </summary>
/// <param name="req"></param>
/// <returns></returns>
public SendToAgvResult ContinueTask(ContinueToAgvInfo req)
{
string url = $"http://{ip}:{port}/cms/services/rest/hikRpcService/continueTasl";
string param = JsonConvert.SerializeObject(req);
string result = Post(url, param);
SendToAgvResult sdresult = JsonConvert.DeserializeObject <SendToAgvResult>(result);
return(sdresult);
}
/// <summary>
/// 将信息转化继续执行发送给AGV的实体类
/// </summary>
/// <param name="ds"></param>
/// <param name="desaddress"></param>
/// <returns></returns>
public static ContinueToAgvInfo ContinueToModel(DataSet ds, string desaddress)
{
ContinueToAgvInfo req = new ContinueToAgvInfo
{
ReqCode = Guid.NewGuid().ToString("N"),
ReqTime = "",
ClientCode = "",
TokenCode = "",
InterFaceName = "",
WbCode = "",
PodCode = "",
AgvCode = "",
TaskCode = ds.Tables[0].Rows[0]["TaskId"].ToString(),
TaskSeq = "",
Data = "",
NextPositionCode = new Positioncodepath
{
PositionCode = desaddress,
Type = "00",
},
};
return(req);
}
public string HandleCallBackData(ReciveAgeCallBack agvCallBack)
{
string msg = string.Empty;
//外形检测出到达
if (agvCallBack.Method == Arrive)
{
DataSet ds = DataTrans.D_GetSchByTaskIdArrive(agvCallBack.TaskCode);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
#region 读取外形检测是否报警
bool flag = false;
string ssjid = ds.Tables[0].Rows[0]["SNUMBER"].ToString();
TransportStr ts = lsTransport.Find(si => si.SSJID == ssjid);
if (ts == null)
{
return(string.Empty);
}
int btid = Convert.ToInt32(ts.BTID);
byte[] bty = new byte[2];
BitArray arr = new BitArray(bty);
if (!HsWcsReadalarm(out arr))
{
return("");
}
else
{
for (int i = 0; i < 3; i++)
{
int start = (btid - 1) * 3;
flag = arr[start + i];
if (flag == true)
{
break;
}
}
}
#endregion
string desaddress = string.Empty;
//如果报警返回
if (flag == true)
{
desaddress = ts.VAR5;
}
else
{
TransportStr rkssj = lsTransport.Find(t => t.ALLEYID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
if (rkssj == null)
{
return(string.Empty);
}
desaddress = rkssj.VAR5;
}
ContinueToAgvInfo req = ContinueToModel(ds, desaddress);
SendToAgvResult result = ContinueTask(req);
if (result.Message == "成功" && flag)
{
NotifyEvent?.Invoke("R", $"外形检测不合格，给AGV发送返回起始点成功，任务id为：{agvCallBack.TaskCode}目的地{desaddress}");
log.WriteLog($"外形检测不合格，给AGV发送返回起始点成功，任务id为：{agvCallBack.TaskCode}目的地{desaddress}");
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "1", "5", string.Empty);
}
else if (result.Message == "成功" && !flag)
{
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "3", "3", string.Empty);
NotifyEvent?.Invoke("R", $"外形检测合格，给AGV发送目标巷道成功，任务Id为{agvCallBack.TaskCode}目的地{desaddress}");
log.WriteLog($"外形检测合格，给AGV发送目标巷道成功，任务Id为{agvCallBack.TaskCode}目的地{desaddress}");
msg = "OK";
}
else
{
NotifyEvent?.Invoke("R", $"给AGV发送目标巷道失败，任务id为：{agvCallBack.TaskCode}");
log.WriteLog($"给AGV发送目标巷道失败，任务id为：{agvCallBack.TaskCode}");
msg = "Lost";
}
}
}
//放货完成
else if (agvCallBack.Method == Finish)
{
DataSet ds = DataTrans.D_GetSchByTaskId(agvCallBack.TaskCode);
if (ds != null && ds.Tables[0].Rows.Count > 0)
{
TransportStr ts;
if (ds.Tables[0].Rows[0]["TASKTYPE"].ToString() == "1")
{
ts = lsTransport.Find(si => si.ALLEYID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
}
else
{
ts = lsTransport.Find(si => si.SSJID == ds.Tables[0].Rows[0]["TCARGO_ALLEY_ID"].ToString());
}
if (ts == null)
{
return(string.Empty);
}
ts.TRAYCODE = ds.Tables[0].Rows[0]["TRAYCODE"].ToString();
ts.ZXRWH = ds.Tables[0].Rows[0]["TASKNO"].ToString();
if (crl.HsWriteToSSJ(ts))
{
NotifyEvent?.Invoke("S", $"根据AGV反馈任务与id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务成功");
log.WriteLog($"根据AGV反馈任务id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务成功");
if (ds.Tables[0].Rows[0]["TASKTYPE"].ToString() == "1")
{
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "1", "3", string.Empty);
}
else if (ds.Tables[0].Rows[0]["TASKTYPE"].ToString() == "2")
{
DataTrans.P_UpdatePhase(agvCallBack.TaskCode, "1", "4", string.Empty);
}
msg = "OK";
}
else
{
NotifyEvent?.Invoke("S", $"根据AGV反馈任务id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务失败");
log.WriteLog($"根据AGV反馈任务id{agvCallBack.TaskCode}放货完成，给输送机{ts.SSJID}下发任务失败");
msg = "Lost";
}
}
}
return(msg);
}
