308 lines
13 KiB
C#
308 lines
13 KiB
C#
using System.Dynamic;
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using JNPF;
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using JNPF.Common.Extension;
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using Microsoft.AspNetCore.Mvc;
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using Microsoft.Extensions.Hosting;
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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.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 Dictionary<string, Func<BackgroundService, bool>> _fetchStartedStausValue = new();
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private bool isFrontDoorBit = false; //是否到前门位
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public ElevatorControlService()
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{
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_elevatorCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
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//_agvHeartbeatMonitor = agvHeartbeatMonitorService;
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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]
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public async Task<dynamic> CallLiftTest(string devName, int floor)
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{
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var isSuccefuly = false;
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(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, 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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var 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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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 async Task<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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var tcs = new TaskCompletionSource<object>();
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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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var parameters = new Dictionary<string, string>()
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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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var dynamicDic = obj as IDictionary<string, object>;
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if (dynamicDic != null)
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{
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foreach (var (k, 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="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 dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
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dicCommand["DevName"] = devName;
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dicCommand["token"] = _elevatorCtlCfg.token;
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dicCommand["TagName"] = "DoorExecute";
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dicCommand["Value"] = value.ToString();
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try
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{
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await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
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}
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catch (Exception)
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{
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return false;
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}
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return true;
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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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var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
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dicCommand["DevName"] = _elevatorCtlCfg.DevName;
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dicCommand["TagName"] = "AGVControl";
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dicCommand["Value"] = value.ToString();
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dicCommand["token"] = _elevatorCtlCfg.token;
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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="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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var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
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dicCommand["DevName"] = devName;
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dicCommand["token"] = _elevatorCtlCfg.token;
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dicCommand["TagName"] = tagName;
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dicCommand["Value"] = value.ToString();
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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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/// 根据标签名称获取标签值
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/// </summary>
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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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var dicCommand = new Dictionary<string, string>();
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dicCommand["DevName"] = devName;
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dicCommand["token"] = _elevatorCtlCfg.token;
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dicCommand["TagName"] = tagName;
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var 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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}
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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="token"></param>
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/// <returns></returns>
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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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var pars = new Dictionary<string, string>();
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pars["DevName"] = devName;
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pars["Pos"] = "1";
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pars["Count"] = "11";
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pars["token"] = _elevatorCtlCfg.token;
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var url = _elevatorCtlCfg.GetTagListUrl;
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var systemInfo = await HttpClientHelper.GetAsync(url, pars: pars);
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var jo = JObject.Parse(systemInfo);
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var 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[9].Value<int>("V"));
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}
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}
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return multi;
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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="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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var isInAgvStatus = false;
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var 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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var 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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var isSuccefuly = false;
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(int sysStatus, int runStatus, int floorNo, int doorStatus, int agvStatus) = await GetElevatorStatus(devName, 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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var 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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return isSuccefuly;
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}
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}
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public class ElevatorData
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{
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public string name { get; set; }
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public string value { get; set; }
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}
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}
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