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Merge branch 'dev' of ssh://git.tuotong-tech.com:9105/tnb/tnb.server into dev

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潘飞
2023-09-26 17:55:31 +08:00
parent ccebc3dea1 c34762b0b3
commit b340064db4
7 changed files with 427 additions and 6 deletions
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6
Tnb.Server.sln
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@@ -163,15 +163,12 @@ Global
{9FA1FB84-71AB-42A7-9570-F856A4B1EBAB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{9FA1FB84-71AB-42A7-9570-F856A4B1EBAB}.Debug|Any CPU.Build.0 = Debug|Any CPU
{9FA1FB84-71AB-42A7-9570-F856A4B1EBAB}.Release|Any CPU.ActiveCfg = Release|Any CPU
{9FA1FB84-71AB-42A7-9570-F856A4B1EBAB}.Release|Any CPU.Build.0 = Release|Any CPU
{135D0C0A-9B95-45F2-BE5F-01286F6BB234}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{135D0C0A-9B95-45F2-BE5F-01286F6BB234}.Debug|Any CPU.Build.0 = Debug|Any CPU
{135D0C0A-9B95-45F2-BE5F-01286F6BB234}.Release|Any CPU.ActiveCfg = Release|Any CPU
{135D0C0A-9B95-45F2-BE5F-01286F6BB234}.Release|Any CPU.Build.0 = Release|Any CPU
{D1135D42-7CD0-4579-82B3-D2B121FCE954}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{D1135D42-7CD0-4579-82B3-D2B121FCE954}.Debug|Any CPU.Build.0 = Debug|Any CPU
{D1135D42-7CD0-4579-82B3-D2B121FCE954}.Release|Any CPU.ActiveCfg = Release|Any CPU
{D1135D42-7CD0-4579-82B3-D2B121FCE954}.Release|Any CPU.Build.0 = Release|Any CPU
{8D3E0381-4B3D-4F44-81C8-535E28418A1B}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{8D3E0381-4B3D-4F44-81C8-535E28418A1B}.Debug|Any CPU.Build.0 = Debug|Any CPU
{8D3E0381-4B3D-4F44-81C8-535E28418A1B}.Release|Any CPU.ActiveCfg = Release|Any CPU
@@ -283,15 +280,12 @@ Global
{EE11B516-1B20-44E0-8691-A532B6F7B2EC}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{EE11B516-1B20-44E0-8691-A532B6F7B2EC}.Debug|Any CPU.Build.0 = Debug|Any CPU
{EE11B516-1B20-44E0-8691-A532B6F7B2EC}.Release|Any CPU.ActiveCfg = Release|Any CPU
{EE11B516-1B20-44E0-8691-A532B6F7B2EC}.Release|Any CPU.Build.0 = Release|Any CPU
{461075DC-9C3A-45BB-97CC-939A2EBCEA4E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{461075DC-9C3A-45BB-97CC-939A2EBCEA4E}.Debug|Any CPU.Build.0 = Debug|Any CPU
{461075DC-9C3A-45BB-97CC-939A2EBCEA4E}.Release|Any CPU.ActiveCfg = Release|Any CPU
{461075DC-9C3A-45BB-97CC-939A2EBCEA4E}.Release|Any CPU.Build.0 = Release|Any CPU
{3CCF286D-4C49-49E3-8AB1-2B1216E0ACFA}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{3CCF286D-4C49-49E3-8AB1-2B1216E0ACFA}.Debug|Any CPU.Build.0 = Debug|Any CPU
{3CCF286D-4C49-49E3-8AB1-2B1216E0ACFA}.Release|Any CPU.ActiveCfg = Release|Any CPU
{3CCF286D-4C49-49E3-8AB1-2B1216E0ACFA}.Release|Any CPU.Build.0 = Release|Any CPU
{CA896F39-32F4-44C9-B512-A21A0363EB95}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{CA896F39-32F4-44C9-B512-A21A0363EB95}.Debug|Any CPU.Build.0 = Debug|Any CPU
{CA896F39-32F4-44C9-B512-A21A0363EB95}.Release|Any CPU.ActiveCfg = Release|Any CPU

30
WarehouseMgr/Tnb.WarehouseMgr.Entities/Configs/ElevatorControlConfiguration.cs Normal file
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@@ -0,0 +1,30 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Tnb.WarehouseMgr.Entities.Configs
{
public class ElevatorControlConfiguration
{
/// <summary>
/// 设备名称
/// </summary>
public string DevName { get; set; }
public string token { get; set; }
/// <summary>
/// 获取设备标签列表url
/// </summary>
public string GetTagListUrl { get; set; }
/// <summary>
/// 获取设备单个标签url
/// </summary>
public string GetTagUrl { get; set; }
/// <summary>
/// 写入设备标签属性url
/// </summary>
public string WriteTagUrl { get; set; }
}
}

59
WarehouseMgr/Tnb.WarehouseMgr/AgvHeartbeatMonitorService.cs Normal file
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@@ -0,0 +1,59 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using JNPF;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Tnb.Common.Extension;
using Tnb.Common.Utils;
using Tnb.WarehouseMgr.Entities.Configs;
namespace Tnb.WarehouseMgr
{
/// <summary>
/// Agv心跳检测服务
/// </summary>
public class AgvHeartbeatMonitorService : BackgroundService
{
private readonly ElevatorControlConfiguration _elevatorControlConfiguration;
public bool IsStarted { get; set; }
public AgvHeartbeatMonitorService()
{
_elevatorControlConfiguration = App.Configuration.Build<ElevatorControlConfiguration>();
}
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
IsStarted = true;
var parameter = new Dictionary<string, string>();
parameter["DevName"] = _elevatorControlConfiguration.DevName;
parameter["TagName"] = "AGVKeepalive";
parameter["Value"] = "123";
parameter["token"] = _elevatorControlConfiguration.token;
while (!stoppingToken.IsCancellationRequested)
{
await HttpClientHelper.GetAsync(_elevatorControlConfiguration.WriteTagUrl, parameter);
await Task.Delay(TimeSpan.FromMinutes(1));
}
}
public override Task StopAsync(CancellationToken cancellationToken)
{
IsStarted = false;
return Task.CompletedTask;
}
}
public static class AgvHeartbeatMonitorServiceExtenstions
{
public static IServiceCollection AddAgvHeartbeatMonitor(this IServiceCollection services)
{
return services.AddSingleton<BackgroundService, AgvHeartbeatMonitorService>();
}
}
}

328
WarehouseMgr/Tnb.WarehouseMgr/ElevatorControlService.cs Normal file
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@@ -0,0 +1,328 @@
using System;
using System.Collections.Generic;
using System.Dynamic;
using System.Linq;
using System.Linq.Expressions;
using System.Text;
using System.Threading.Tasks;
using JNPF;
using JNPF.DependencyInjection;
using Microsoft.AspNetCore.Mvc;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.Hosting;
using MimeKit.Cryptography;
using Newtonsoft.Json.Linq;
using Tnb.Common.Extension;
using Tnb.Common.Utils;
using Tnb.WarehouseMgr.Entities.Configs;
namespace Tnb.WarehouseMgr
{
/// <summary>
/// 电梯控制业务服务类
/// </summary>
public class ElevatorControlService : BaseWareHouseService
{
private readonly ElevatorControlConfiguration _elevatorCtlCfg = new();
private readonly BackgroundService _agvHeartbeatMonitor;
private static Dictionary<string, Func<BackgroundService, bool>> _fetchStartedStausValue = new();
private bool isFrontDoorBit = false; //是否到前门位
public ElevatorControlService(BackgroundService agvHeartbeatMonitorService)
{
_elevatorCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
_agvHeartbeatMonitor = agvHeartbeatMonitorService;
}
/// <summary>
/// 一楼电梯操作流程
/// </summary>
/// <returns></returns>
[HttpPost]
public async Task<dynamic> FirstFloorElevatorFlow(string value)
{
CancellationTokenSource cts = new CancellationTokenSource();//扩展用
//获取电梯状态
(int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
do
{
multi = await GetElevatorStatus(CancellationToken.None);
await Task.Delay(2000);
} while (multi.sysStatus != 3 && multi.runStatus != 0);
if (multi.sysStatus == 3 && multi.runStatus == 0 && multi.floorNo != 1)
{
//如果不是1楼,判断电梯状态，如果电梯是空闲的向电梯发送一个到一楼的指令
var wirteRes = await SetAgvControlStatus(0);
JObject jo = JObject.Parse(wirteRes);
if (true) //此处为Agv到一楼开门位，通知操作目前默认为true
{
var propName = "IsStarted";
if (!_fetchStartedStausValue.TryGetValue(propName, out var func))
{
var isStartedProp = _agvHeartbeatMonitor.GetType().GetProperty(propName);
var paramExp = Expression.Parameter(typeof(BackgroundService), "_agvHeartbeatMonitor");
var propExp = Expression.Property(Expression.ConvertChecked(paramExp, isStartedProp.DeclaringType), isStartedProp);
var body = Expression.Lambda<System.Func<BackgroundService, Boolean>>(propExp, paramExp);
func = body.Compile();
_fetchStartedStausValue[propName] = func;
}
var isStarted = func(_agvHeartbeatMonitor);
if (!isStarted)
{
_agvHeartbeatMonitor.StartAsync(cts.Token);
}
//向电梯发送前门开门指令
await SendOpenCloseCmd(3);
//获取门状态 是否为 开门到位保持
var doorStatus = await GetTagAsync("DoorStatus");
if (doorStatus == 3)
{
//通知Agv进入电梯，放货,默认为true
if (true)
{
//向电梯发送关门指令
await SendOpenCloseCmd(4);
}
}
}
}
return Task.FromResult(0);
}
/// <summary>
/// 三楼电梯操作流程
/// </summary>
/// <returns></returns>
[HttpPost]
public async Task<dynamic> ThreeFloorElevatorFlow()
{
//监听电梯门是否为关闭的状态
var dataStatus = 0;
do
{
dataStatus = await GetTagAsync("DoorStatus");
} while (dataStatus != 4);
if (dataStatus == 4)
{
//根据状态确认关闭后，向电梯发送指令从1~3楼 //FloorExecute 楼层触发
await WriteTagAsync("FloorExecute", 48);
//获取电梯到达3楼的到位信号
(_, int runStatus, int floorNo) = (-1, -1, -1);
do
{
var multi = await GetElevatorStatus(CancellationToken.None);
runStatus = multi.sysStatus; floorNo = multi.floorNo;
} while (runStatus != 0 && floorNo != 3);
// 控制电梯到达指定楼层默认开门的行为，改为默认不开门 条件：Agv 到达3楼开门位时，为true
if (true)//3楼Agv到达开门位后，向电梯发送开门指令, 默认true 当前
{
//向电梯发送前门开门指令
await SendOpenCloseCmd(3);
//获取门状态 是否为 开门到位保持
var doorStatus = await GetTagAsync("DoorStatus");
if (doorStatus == 3) //开门到位保持状态
{
//通知Agv进入电梯，取货
//向电梯发送关门指令
await SendOpenCloseCmd(4);
doorStatus = await GetTagAsync("DoorStatus");
if (doorStatus == 4) //门状态，为关门到位保持
{
//解锁，Agv状态，将其至为
var agvStatus = await GetTagAsync("AGVStatus");
if (agvStatus != 2)
{
await SetAgvControlStatus(0);
}
}
}
}
}
return Task.FromResult(0);
}
/// <summary>
/// x2server测试
/// </summary>
/// <returns></returns>
[HttpGet]
public async Task<dynamic> X2ServerTest()
{
//var r = new Random();
int currentValue = 0;
while (true)
{
var readRes = await GetElevatorStatus(CancellationToken.None);
await Console.Out.WriteLineAsync($"接收结果：{readRes}");
currentValue = 1 - currentValue; // 切换为0或1
dynamic obj = new ExpandoObject();
obj.TagName = "AGVControl";
obj.Value = currentValue;
var parameter = await SetParameter(obj);
var wirteRes = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: parameter);
await Console.Out.WriteLineAsync($"写入结果：{wirteRes}");
await Task.Delay(1000);
}
}
private Task<object> SetRequestParameter(string tagName, object value)
{
var tcs = new TaskCompletionSource<object>();
dynamic reqParam = new ExpandoObject();
reqParam.DevName = _elevatorCtlCfg.DevName;
reqParam.TagName = tagName;
reqParam.value = value;
reqParam.token = _elevatorCtlCfg.token;
tcs.SetResult(reqParam);
return tcs.Task;
}
private Task<Dictionary<string, string>> SetParameter(dynamic obj)
{
var parameters = new Dictionary<string, string>()
{
["DevName"] = _elevatorCtlCfg.DevName,
["token"] = _elevatorCtlCfg.token,
};
var dynamicDic = obj as IDictionary<string, object>;
if (dynamicDic != null)
{
foreach (var (k, v) in dynamicDic)
{
parameters[k] = v?.ToString() ?? string.Empty;
}
}
return Task.FromResult(parameters);
}
/// <summary>
/// 向系统发送开关门指令
/// </summary>
/// <param name="value">开关门指令</param>
/// <returns></returns>
private async Task SendOpenCloseCmd(int value)
{
var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
dicCommand["DevName"] = _elevatorCtlCfg.DevName;
dicCommand["token"] = _elevatorCtlCfg.token;
dicCommand["TagName"] = "DoorExecute";
dicCommand["Value"] = value.ToString();
await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
}
/// <summary>
/// 设置Agv控制请求状态
/// </summary>
/// <param name="value"></param>
/// <returns></returns>
private async Task<dynamic> SetAgvControlStatus(int value)
{
var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
dicCommand["DevName"] = _elevatorCtlCfg.DevName;
dicCommand["token"] = _elevatorCtlCfg.token;
dicCommand["TagName"] = "AGVControl";
dicCommand["Value"] = value.ToString();
return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
}
/// <summary>
/// 向指定的标签属性写入值
/// </summary>
/// <param name="tagName"></param>
/// <param name="value"></param>
/// <returns></returns>
private async Task<dynamic> WriteTagAsync(string tagName, int value)
{
var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
dicCommand["DevName"] = _elevatorCtlCfg.DevName;
dicCommand["token"] = _elevatorCtlCfg.token;
dicCommand["TagName"] = tagName;
dicCommand["Value"] = value.ToString();
return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
}
/// <summary>
/// 根据标签名称获取标签值
/// </summary>
/// <param name="tagName"></param>
/// <returns></returns>
private async Task<int> GetTagAsync(string tagName)
{
var dicCommand = new Dictionary<string, string>();
dicCommand["DevName"] = _elevatorCtlCfg.DevName;
dicCommand["token"] = _elevatorCtlCfg.token;
dicCommand["TagName"] = tagName;
var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
JObject jo = JObject.Parse(result);
return jo.Value<int>("V");
}
/// <summary>
/// 获取Agv状态 0：正常状态 1：等待进入 AGV 状态 2： AGV 运行状态
/// </summary>
/// <returns></returns>
//private async Task<int> GetAgvStatus()
//{
// var dicCommand = new Dictionary<string, string>();
// dicCommand["DevName"] = _elevatorCtlCfg.DevName;
// dicCommand["token"] = _elevatorCtlCfg.token;
// dicCommand["TagName"] = "AGVStatus";
// var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
// JObject jo = JObject.Parse(result);
// return jo.Value<int>("V");
//}
/// <summary>
/// 获取门状态
/// </summary>
/// <returns></returns>
//private async Task<int> GetDoorStatus()
//{
// var doorStatusParam = new Dictionary<string, string>();
// doorStatusParam["DevName"] = _elevatorCtlCfg.DevName;
// doorStatusParam["token"] = _elevatorCtlCfg.token;
// doorStatusParam["TagName"] = "DoorStatus";
// var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: doorStatusParam);
// JObject jo = JObject.Parse(result);
// return jo.Value<int>("V");
//}
/// <summary>
/// 获取电梯状态
/// </summary>
/// <param name="token"></param>
/// <returns></returns>
private async Task<(int sysStatus, int runStatus, int floorNo)> GetElevatorStatus(CancellationToken token)
{
(int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
var pars = new Dictionary<string, string>();
pars["DevName"] = _elevatorCtlCfg.DevName;
pars["Pos"] = "1";
pars["Count"] = "4";
pars["token"] = _elevatorCtlCfg.token;
var url = _elevatorCtlCfg.GetTagListUrl;
var systemInfo = await HttpClientHelper.GetAsync(url, pars: pars);
var jo = JObject.Parse(systemInfo);
var objs = jo["Items"].Values<JObject>().ToList();
if (objs?.Count == 4)
{
if (objs[0].Value<string>("Name").Equals("SysStatus")
&& objs[1].Value<string>("Name").Equals("RunStatus")
&& objs[3].Value<string>("Name").Equals("FloorNo"))
{
multi = ((objs[0].Value<int>("V")), objs[1].Value<int>("V"), objs[2].Value<int>("V"));
}
}
return multi;
}
}
}

7
apihost/Tnb.API.Entry/Configurations/ElevatorControlSettings.json Normal file
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@@ -0,0 +1,7 @@
{
"DevName": "Elevator1",
"token": "780BE4144636CF47DDF3920B0F1D069B",
"GetTagListUrl": "http://192.168.11.110:9100/Dev/GetTagList",
"GetTagUrl": "http://192.168.11.110:9100/Dev/GetTag",
"WriteTagUrl": "http://192.168.11.110:9100/Dev/writeTag"
}

2
apihost/Tnb.API.Entry/Startup.cs
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@@ -67,6 +67,8 @@ public class Startup : AppStartup
//定时任务
services.AddTimedTaskService();
//Agv心跳监听服务
services.AddAgvHeartbeatMonitor();
//services.AddHostedService<TimedTaskBackgroundService>();
}

1
common/Tnb.Common/Utils/HttpClientHelper.cs
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@@ -114,6 +114,7 @@ namespace Tnb.Common.Utils
if (pars?.Count > 0)
{
reqUri = QueryHelpers.AddQueryString(url, pars);
//await Console.Out.WriteLineAsync(reqUri);
}
if (headers?.Count > 0)
{