521 lines
22 KiB
C#
521 lines
22 KiB
C#
using System.Diagnostics.CodeAnalysis;
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using System.Dynamic;
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using DingTalk.Api.Request;
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using JNPF;
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using JNPF.Common.Extension;
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using JNPF.Common.Manager;
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using Microsoft.AspNetCore.Authorization;
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using Microsoft.AspNetCore.Mvc;
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using Microsoft.Extensions.DependencyInjection;
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using Microsoft.Extensions.Hosting;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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using Tnb.Common.Extension;
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using Tnb.Common.Utils;
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using Tnb.WarehouseMgr.Entities.Configs;
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using Tnb.WarehouseMgr.Entities.Consts;
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using Tnb.WarehouseMgr.Entities.Dto.Inputs;
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using Tnb.WarehouseMgr.Entities.Enums;
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using Tnb.WarehouseMgr.Interfaces;
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namespace Tnb.WarehouseMgr
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{
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/// <summary>
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/// 电梯控制业务服务类
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/// </summary>
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public class ElevatorControlService : BaseWareHouseService, IElevatorControlService
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{
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private readonly ElevatorControlConfiguration _elevatorCtlCfg = new();
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private readonly BackgroundService _agvHeartbeatMonitor;
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private static readonly Dictionary<string, Func<BackgroundService, bool>> _fetchStartedStausValue = new();
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private readonly bool isFrontDoorBit = false; //是否到前门位
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private readonly IServiceProvider _sp;
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private readonly BackgroundService _backgudSvc;
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private readonly ICacheManager _cacheMgr;
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public ElevatorControlService(IServiceProvider sp, BackgroundService bgSvc, ICacheManager cacheMgr)
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{
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_elevatorCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
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_sp = sp;
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_backgudSvc = bgSvc;
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_cacheMgr = cacheMgr;
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}
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/// <summary>
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/// 呼梯测试
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/// </summary>
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/// <returns></returns>
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[HttpPost, AllowAnonymous]
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public async Task<dynamic> CallLiftTest()
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{
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bool isSuccefuly = false;
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//var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
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//(int sysStatus, int runStatus, _, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, tags, CancellationToken.None);
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////判断当前楼层是否是放货楼层,如不是则呼叫电梯到当前楼层
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//if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯 &&
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// agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
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//{
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// if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持)
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// {
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// _ = await SendOpenCloseCmd(devName, (int)EnumAgvControl.前门关门);
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// }
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// dynamic result = await WriteTagAsync(devName, ElevatorConsts.FloorExecute, floor); //呼叫电梯到指定楼层
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// if (!string.IsNullOrEmpty(result))
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// {
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// JObject jo = JObject.Parse(result);_
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// isSuccefuly = jo?.Value<string>("Result")?.Equals("Ok", StringComparison.OrdinalIgnoreCase) ?? false;
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// }
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//}
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var value = "";
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var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
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try
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{
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var statusMap = await RedisHelper.HGetAllAsync("Elevator3");
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foreach (var tag in tags)
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{
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if (statusMap.ContainsKey(tag))
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{
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var cacheItem = statusMap[tag];
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var jo = JObject.Parse(cacheItem);
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var v = jo.Value<int>("V");
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}
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}
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//value = await _cacheMgr.GetAsync("Elevator3");
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}
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catch (Exception ex)
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{
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throw;
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}
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return isSuccefuly;
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}
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/// <summary>
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/// 三楼电梯操作流程
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/// </summary>
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/// <returns></returns>
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[HttpPost]
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public dynamic ThreeFloorElevatorFlow()
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{
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//test by close door
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//_agvHeartbeatMonitor.StartAsync(CancellationToken.None);
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//await SendOpenCloseCmd(4);
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//await SetAgvControlStatus(1);
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//监听电梯门是否为关闭的状态
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//var dataStatus = 0;
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//do
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//{
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// dataStatus = await GetTagAsync("DoorStatus");
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//} while (dataStatus != 4);
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//if (dataStatus == 4)
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//{
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// //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
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// await WriteTagAsync("FloorExecute", 1);
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// //获取电梯到达3楼的到位信号
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// (_, int runStatus, int floorNo) = (-1, -1, -1);
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// do
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// {
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// var multi = await GetElevatorStatus(CancellationToken.None);
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// runStatus = multi.sysStatus; floorNo = multi.floorNo;
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// } while (runStatus != 0 && floorNo != 3);
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// // 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
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// 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
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// {
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// //向电梯发送前门开门指令
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// await SendOpenCloseCmd(3);
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// //获取门状态 是否为 开门到位保持
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// var doorStatus = await GetTagAsync("DoorStatus");
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// if (doorStatus == 3) //开门到位保持状态
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// {
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// //通知Agv进入电梯，取货
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// //向电梯发送关门指令
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// await SendOpenCloseCmd(4);
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// doorStatus = await GetTagAsync("DoorStatus");
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// if (doorStatus == 4) //门状态，为关门到位保持
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// {
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// //解锁，Agv状态，将其至为
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// var agvStatus = await GetTagAsync("AGVStatus");
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// if (agvStatus != 2)
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// {
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// await SetAgvControlStatus(0);
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// }
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// }
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// }
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// }
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//}
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return Task.FromResult(0);
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}
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private Task<object> SetRequestParameter(string tagName, object value)
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{
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TaskCompletionSource<object> tcs = new();
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dynamic reqParam = new ExpandoObject();
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//reqParam.DevName = _elevatorCtlCfg.DevName;
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reqParam.TagName = tagName;
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reqParam.value = value;
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reqParam.token = _elevatorCtlCfg.token;
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tcs.SetResult(reqParam);
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return tcs.Task;
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}
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private Task<Dictionary<string, string>> SetParameter(dynamic obj)
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{
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Dictionary<string, string> parameters = new()
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{
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//["DevName"] = _elevatorCtlCfg.DevName,
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["token"] = _elevatorCtlCfg.token,
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};
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if (obj is IDictionary<string, object> dynamicDic)
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{
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foreach ((string k, object v) in dynamicDic)
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{
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parameters[k] = v?.ToString() ?? string.Empty;
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}
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}
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return Task.FromResult(parameters);
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}
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/// <summary>
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/// 向系统发送开关门指令
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/// </summary>
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/// <param name="devName"></param>
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/// <param name="value">开关门指令</param>
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/// <returns></returns>
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public async Task<bool> SendOpenCloseCmd(string devName, int value)
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{
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var flag = false;
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Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
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{
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["DevName"] = devName,
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["token"] = _elevatorCtlCfg.token,
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["TagName"] = "DoorExecute",
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["Value"] = value.ToString()
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};
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var eleStatusMap = await RedisHelper.HGetAllAsync(devName);
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try
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{
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(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, CancellationToken.None);//elevator.elevator_code
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Logger.Information($"【SendOpenCloseCmd】 电梯当前状态->系统状态:{sysStatus.ToEnum<EnumSysStatus>()},运行状态:{runStatus},门状态:{doorStatus},Agv状态:{agvStatus},当前楼层：{floorNo}");
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//判断Agv电梯是否进入状态
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if (agvStatus != (int)EnumAgvStatus.AGV运行状态)
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_ = await WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
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Logger.Information($"【SendOpenCloseCmd】 向系统发送开关门指令 {_elevatorCtlCfg.WriteTagUrl} {JsonConvert.SerializeObject(dicCommand)}");
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var res = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
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Logger.Information($"【SendOpenCloseCmd】 向系统发送开关门指令 结果：{res}");
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flag = true;
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//flag = await RedisHelper.HSetAsync(devName, ElevatorConsts.DoorExecute, value);
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}
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catch (Exception ex)
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{
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Logger.Information($"【SendOpenCloseCmd】 向系统发送开关门指令发生异常 {ex}");
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return false;
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}
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return flag;
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}
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/// <summary>
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/// 设置Agv控制请求状态
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/// </summary>
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/// <param name="value"></param>
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/// <returns></returns>
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private async Task<dynamic> SetAgvControlStatus(int value)
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{
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Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
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{
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//["DevName"] = _elevatorCtlCfg.DevName,
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["TagName"] = "AGVControl",
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["Value"] = value.ToString(),
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["token"] = _elevatorCtlCfg.token
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};
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return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
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}
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/// <summary>
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/// 向指定的标签属性写入值
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/// </summary>
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/// <param name="devName"></param>
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/// <param name="tagName"></param>
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/// <param name="value"></param>
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/// <returns></returns>
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public async Task<dynamic> WriteTagAsync(string devName, string tagName, int value)
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{
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Dictionary<string, string> dicCommand = new(StringComparer.OrdinalIgnoreCase)
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{
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["DevName"] = devName,
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["token"] = _elevatorCtlCfg.token,
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["TagName"] = tagName,
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["Value"] = value.ToString()
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};
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Logger.Information($"【WriteTagAsync】 呼梯指令开始发送 {_elevatorCtlCfg.WriteTagUrl} {JsonConvert.SerializeObject(dicCommand)}");
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return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
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//return await RedisHelper.HSetAsync(devName, tagName, value);
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}
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/// <summary>
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/// 根据标签名称获取标签值
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/// </summary>
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/// <param name="devName"></param>
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/// <param name="tagName"></param>
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/// <returns></returns>
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public async Task<int> GetTagAsync(string devName, string tagName)
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{
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/*Dictionary<string, string> dicCommand = new()
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{
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["DevName"] = devName,
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["token"] = _elevatorCtlCfg.token,
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["TagName"] = tagName
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};
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string result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
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JObject jo = JObject.Parse(result);
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return jo.Value<int>("V");*/
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var eleStatusMap = await RedisHelper.HGetAllAsync(devName);
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if (eleStatusMap.ContainsKey(tagName))
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{
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JObject jo = JObject.Parse(eleStatusMap[tagName]);
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return jo.Value<int>("Value");
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}
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return -1;
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}
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/// <summary>
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/// 获取电梯状态
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/// </summary>
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/// <param name="devName"></param>
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/// <param name="token"></param>
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/// <returns></returns>
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[HttpGet]
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public async Task<(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus)> GetElevatorStatus(string devName, CancellationToken token)
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{
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(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) multi = (-1, -1, -1, -1, -1);
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try
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{
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Dictionary<string, string> pars = new()
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{
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["DevName"] = devName,
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["Pos"] = "1",
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["Count"] = "11",
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["token"] = _elevatorCtlCfg.token
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};
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string url = _elevatorCtlCfg.GetTagListUrl;
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string systemInfo = await HttpClientHelper.GetAsync(url, pars: pars);
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JObject jo = JObject.Parse(systemInfo);
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List<JObject?> objs = jo["Items"].Values<JObject>().ToList();
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//if (objs?.Count == 4)
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{
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if (objs[0].Value<string>("Name").Equals("SysStatus")
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&& objs[1].Value<string>("Name").Equals("RunStatus")
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&& objs[3].Value<string>("Name").Equals("FloorNo"))
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{
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multi = (objs[0].Value<int>("V"), objs[1].Value<int>("V"), objs[3].Value<int>("V"), objs[2].Value<int>("V"), objs[10].Value<int>("V"));
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}
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}
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}
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catch (Exception ex)
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{
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Logger.Error("获取电梯状态错误", ex);
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throw;
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}
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return multi;
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}
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/// <summary>
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/// 获取电梯状态
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/// </summary>
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/// <param name="devName"></param>
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/// <param name="tags"></param>
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/// <param name="token"></param>
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/// <returns></returns>
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[HttpPost("GetElevatorStatus")]
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public async Task<(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus)> GetElevatorStatus([NotNull] string devName, [FromBody] IEnumerable<string> tags, CancellationToken token)
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{
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/* async Task<string> GetTag(string tag)
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{
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var dicCommand = new Dictionary<string, string>
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{
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["DevName"] = devName,
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["token"] = _elevatorCtlCfg.token,
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["TagName"] = tag
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};
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return await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
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}
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*/
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await s_elevatorStatusSemaphore.WaitAsync(token);
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var (sysStatus, runStatus, floorNo, doorStatus, agvStatus) = (0, 0, 0, 0, 0);
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try
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{
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//var tasks = tags.Select(tag => GetTag(tag));
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//var results = await Task.WhenAll(tasks.Select(task => task));
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var statusMap = await RedisHelper.HGetAllAsync(devName);
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List<JObject> jos = new();
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foreach (var tag in tags)
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{
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if (statusMap.ContainsKey(tag))
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{
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jos.Add(JObject.Parse(statusMap[tag]));
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}
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}
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var propertyMap = new Dictionary<string, Action<int>>()
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{
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{ ElevatorConsts.SysStatus, v => sysStatus = v },
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{ ElevatorConsts.RunStatus, v => runStatus = v },
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{ ElevatorConsts.FloorNo, v => floorNo = v },
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{ ElevatorConsts.DoorStatus, v => doorStatus = v },
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{ ElevatorConsts.AGVStatus, v => agvStatus = v },
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};
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if (jos?.Count > 0)
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{
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foreach (var jo in jos)
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{
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if (jo == null)
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{
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continue;
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}
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string? tagName = jo!.Value<string>("TagName");
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int value = jo!.Value<int>("Value");
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if (propertyMap.TryGetValue(tagName!, out var setProperty))
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{
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setProperty(value);
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}
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}
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}
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}
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finally
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{
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s_elevatorStatusSemaphore.Release();
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}
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return (sysStatus, runStatus, floorNo, doorStatus, agvStatus);
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}
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public async Task<Dictionary<string, int>> GetELevatorStatusMap(string devName, IEnumerable<string> tags, CancellationToken token)
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{
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Task<string> GetTag(string tag)
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{
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var dicCommand = new Dictionary<string, string>
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{
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["DevName"] = devName,
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["token"] = _elevatorCtlCfg.token,
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["TagName"] = tag
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};
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return HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
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}
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var tasks = tags.Select(tag => GetTag(tag));
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var results = await Task.WhenAll(tasks);
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var statusMap = results?.Select(x => JObject.Parse(x)).ToDictionary(x => x.Value<string>("Name"), x => x.Value<int>("V")) ?? default;
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return statusMap;
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}
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/// <summary>
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/// 检查Agv状态
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/// </summary>
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/// <param name="devName"></param>
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/// <param name="cancellationToken"></param>
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/// <returns></returns>
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public async Task<bool> CheckAgvStatus(string devName, CancellationToken cancellationToken)
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{
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bool isInAgvStatus = false;
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int agvStatus = await GetTagAsync(devName, ElevatorConsts.AGVStatus);
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if (agvStatus.ToEnum<EnumAgvStatus>() != EnumAgvStatus.AGV运行状态)
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{
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dynamic result = await WriteTagAsync(devName, ElevatorConsts.AGVControl, 1);
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JObject jo = JObject.Parse(result);
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if (jo != null && jo!.Value<string>("Result")!.Equals("Ok", StringComparison.OrdinalIgnoreCase))
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{
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isInAgvStatus = true;
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}
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}
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return isInAgvStatus;
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}
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/// <summary>
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/// 呼梯操作
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/// </summary>
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/// <param name="devName">设备名称</param>
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/// <param name="floor">呼叫楼层</param>
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/// <param name="cancellationToken">取消令牌</param>
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/// <returns></returns>
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public async Task<bool> CallLift(string devName, int floor, CancellationToken cancellationToken)
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{
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bool isSuccefuly = false;
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var tags = new[] { "SysStatus", "RunStatus", "FloorNo", "DoorStatus", "AGVStatus" };
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(int sysStatus, int runStatus, _, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, tags, CancellationToken.None);
|
||
Logger.Information($"【CallLift】 开始呼梯(FloorExecute)到{floor}(此楼层编号经实际楼层转换)，当前{devName.Match(@"\d+")}#梯,sysStatus:{sysStatus.ToEnum<EnumSysStatus>().ToString()},runStatus:{runStatus.ToEnum<EnumRunStatus>().ToString()},doorStatus:{doorStatus.ToEnum<EnumDoorStatus>().ToString()},agvStatus:{agvStatus.ToEnum<EnumAgvStatus>().ToString()}");
|
||
//判断当前楼层是否是放货楼层,如不是则呼叫电梯到当前楼层
|
||
if (sysStatus.ToEnum<EnumSysStatus>() == EnumSysStatus.正常状态 && runStatus.ToEnum<EnumRunStatus>() == EnumRunStatus.停梯 &&
|
||
agvStatus.ToEnum<EnumAgvStatus>() == EnumAgvStatus.AGV运行状态)
|
||
{
|
||
if (doorStatus.ToEnum<EnumDoorStatus>() != EnumDoorStatus.关门到位保持)
|
||
{
|
||
_ = await SendOpenCloseCmd(devName, (int)EnumAgvControl.前门关门);
|
||
}
|
||
dynamic result = await WriteTagAsync(devName, ElevatorConsts.FloorExecute, floor); //呼叫电梯到指定楼层
|
||
Logger.Information($"【CallLift】 呼梯结果：{JsonConvert.SerializeObject(result)}");
|
||
if (!string.IsNullOrEmpty(result))
|
||
{
|
||
JObject jo = JObject.Parse(result);
|
||
isSuccefuly = jo?.Value<string>("Result")?.Equals("Ok", StringComparison.OrdinalIgnoreCase) ?? false;
|
||
}
|
||
}
|
||
return isSuccefuly;
|
||
}
|
||
|
||
private List<Task<dynamic>> ParallelWriteTagAsync(CloseElevatorInput input)
|
||
{
|
||
var tasks = new List<Task<dynamic>>(input.devNames.Count());
|
||
foreach (var devName in input.devNames)
|
||
{
|
||
tasks.Add(WriteTagAsync(devName, ElevatorConsts.AGVControl, input.value));
|
||
}
|
||
return tasks;
|
||
|
||
|
||
|
||
}
|
||
|
||
public async Task CloseElevatorControl(CloseElevatorInput input)
|
||
{
|
||
if (input.devNames == null || !input.devNames.Any())
|
||
{
|
||
throw new ArgumentNullException(nameof(input.devNames));
|
||
}
|
||
var tasks = ParallelWriteTagAsync(input);
|
||
var writeRes = await Task.WhenAll(tasks);
|
||
var timedTaskSvc = _backgudSvc as TimedTaskBackgroundService;
|
||
if (timedTaskSvc != null)
|
||
{
|
||
if (input.flag.Equals("close", StringComparison.OrdinalIgnoreCase))
|
||
{
|
||
_ = timedTaskSvc.CloseAgvHeartbeat(input.devNames);
|
||
}
|
||
else
|
||
{
|
||
_ = timedTaskSvc.OpenAgvHeartbeat(input.devNames);
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
}
|
||
}
|