Merge branch 'master' of http://10.2.1.24:10244/BPA_MES/PZTJ.MES

backend/BPA.MES.Base.Application/BPA.MES.Base.Application.xml

@@ -1602,36 +1602,91 @@
             主键
             </summary>
         </member>
-        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVThirdPartyInputBaseDto.robotJobId">
+        <member name="T:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVExecuteReplyDto">
+            <summary>
+            任务完成回报Dto
+            </summary>
+        </member>
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVExecuteReplyDto.robotJobId">
             <summary>
             上游系统任务号，全局唯一
             </summary>
         </member>
-        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVThirdPartyInputBaseDto.warehouseId">
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVExecuteReplyDto.warehouseId">
             <summary>
             仓库编号
             </summary>
         </member>
-        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVThirdPartyInputBaseDto.jobId">
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVExecuteReplyDto.jobId">
             <summary>
             任务快仓系统编号
             </summary>
         </member>
-        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVThirdPartyInputBaseDto.state">
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVExecuteReplyDto.state">
             <summary>
             
             </summary>
         </member>
-        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVThirdPartyInputBaseDto.jobType">
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVExecuteReplyDto.jobType">
             <summary>
             内部任务类型
             </summary>
         </member>
-        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVThirdPartyInputBaseDto.jobData">
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVExecuteReplyDto.jobData">
             <summary>
             数据字段
             </summary>
         </member>
+        <member name="T:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadDto">
+            <summary>
+            上下料交互请求DTO
+            </summary>
+        </member>
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadDto.agvCode">
+            <summary>
+            AGV编号
+            </summary>
+        </member>
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadDto.containerCode">
+            <summary>
+            容器编号，如果一次上/下多个容器，则多个容器用英文逗号分隔
+            </summary>
+        </member>
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadDto.equipmentId">
+            <summary>
+            上游设备ID
+            </summary>
+        </member>
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadDto.equipmentIds">
+            <summary>
+            上游设备ID，多个用英文逗号分隔
+            </summary>
+        </member>
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadDto.jobId">
+            <summary>
+            快仓任务编号
+            </summary>
+        </member>
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadDto.msgId">
+            <summary>
+            消息ID
+            </summary>
+        </member>
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadDto.command">
+            <summary>
+            交互阶段LOAD：上料阶段 UNLOAD：下料阶段
+            </summary>
+        </member>
+        <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadDto.robotJobId">
+            <summary>
+            上游任务号
+            </summary>
+        </member>
+        <member name="T:BPA.MES.Base.Application.Services.AGVService.Dtos.GoodsToGoods">
+            <summary>
+            货到货
+            </summary>
+        </member>
         <member name="P:BPA.MES.Base.Application.Services.AGVService.Dtos.GoodsToGoods.agvCode">
             <summary>
             AGV编号
@@ -1811,6 +1866,48 @@
             <param name="kCCancelRequest"></param>
             <returns></returns>
         </member>
+        <member name="M:BPA.MES.Base.Application.Services.AGVService.Services.AGVThirdPartyService.ExecuteReplyAsync(BPA.MES.Base.Application.Services.AGVService.Dtos.AGVExecuteReplyRequest)">
+            <summary>
+            任务回调
+            </summary>
+            <param name="input"></param>
+            <returns></returns>
+        </member>
+        <member name="M:BPA.MES.Base.Application.Services.AGVService.Services.AGVThirdPartyService.LoadAndUnloadAsync(BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadRequest)">
+            <summary>
+            AGV上下料交互请求
+            </summary>
+            <param name="input"></param>
+            <returns></returns>
+        </member>
+        <member name="M:BPA.MES.Base.Application.Services.AGVService.Services.IAGVThirdPartyService.ExecuteAsync(BPA.AGV.KCExecuteRequest)">
+            <summary>
+            下发任务
+            </summary>
+            <param name="cExecuteRequest"></param>
+            <returns></returns>
+        </member>
+        <member name="M:BPA.MES.Base.Application.Services.AGVService.Services.IAGVThirdPartyService.CancelAsync(BPA.AGV.KCCancelRequest)">
+            <summary>
+            取消任务
+            </summary>
+            <param name="kCCancelRequest"></param>
+            <returns></returns>
+        </member>
+        <member name="M:BPA.MES.Base.Application.Services.AGVService.Services.IAGVThirdPartyService.ExecuteReplyAsync(BPA.MES.Base.Application.Services.AGVService.Dtos.AGVExecuteReplyRequest)">
+            <summary>
+            任务回调
+            </summary>
+            <param name="input"></param>
+            <returns></returns>
+        </member>
+        <member name="M:BPA.MES.Base.Application.Services.AGVService.Services.IAGVThirdPartyService.LoadAndUnloadAsync(BPA.MES.Base.Application.Services.AGVService.Dtos.AGVLoadAndUnloadRequest)">
+            <summary>
+            AGV上下料交互请求
+            </summary>
+            <param name="input"></param>
+            <returns></returns>
+        </member>
         <member name="T:BPA.MES.Base.Application.Services.AgvPointService">
             <summary>
             名    称 ：AGV点位管理  

backend/BPA.MES.Base.Application/Services/AGVService/Dtos/AGVThirdPartyDto.cs

@@ -6,7 +6,21 @@ using System.Threading.Tasks;
 
 namespace BPA.MES.Base.Application.Services.AGVService.Dtos
 {
-    public class AGVThirdPartyInputBaseDto
+
+    public class AGVExecuteReplyRequest
+    {
+        public AGVExecuteReplyDto Event { get; set; }
+    }
+
+    public class AGVLoadAndUnloadRequest
+    {
+        public AGVLoadAndUnloadDto Event { get; set; }
+    }
+
+    /// <summary>
+    /// 任务完成回报Dto
+    /// </summary>
+    public class AGVExecuteReplyDto
     {
         /// <summary>
         /// 上游系统任务号，全局唯一
@@ -31,7 +45,7 @@ namespace BPA.MES.Base.Application.Services.AGVService.Dtos
         /// <summary>
         /// 内部任务类型
         /// </summary>
-        public jobType jobType { get; set; }
+        public string jobType { get; set; }
 
         /// <summary>
         /// 数据字段
@@ -40,7 +54,57 @@ namespace BPA.MES.Base.Application.Services.AGVService.Dtos
 
     }
 
+    /// <summary>
+    /// 上下料交互请求DTO
+    /// </summary>
+    public class AGVLoadAndUnloadDto
+    {
+        /// <summary>
+        /// AGV编号
+        /// </summary>
+        public string agvCode { get; set; }
+
+        /// <summary>
+        /// 容器编号，如果一次上/下多个容器，则多个容器用英文逗号分隔
+        /// </summary>
+        public string containerCode { get; set; }
+
+        /// <summary>
+        /// 上游设备ID
+        /// </summary>
+        public long equipmentId { get; set; }
 
+        /// <summary>
+        /// 上游设备ID，多个用英文逗号分隔
+        /// </summary>
+        public string equipmentIds { get; set; }
+
+        /// <summary>
+        /// 快仓任务编号
+        /// </summary>
+        public string jobId { get; set; }
+
+        /// <summary>
+        /// 消息ID
+        /// </summary>
+        public string msgId { get; set; }
+
+        /// <summary>
+        /// 交互阶段LOAD：上料阶段 UNLOAD：下料阶段
+        /// </summary>
+        public string command { get; set; }
+
+        /// <summary>
+        /// 上游任务号
+        /// </summary>
+        public string robotJobId { get; set; }
+
+    }
+
+
+    /// <summary>
+    /// 货到货
+    /// </summary>
     public class GoodsToGoods
     {
         /// <summary>
@@ -195,6 +259,7 @@ namespace BPA.MES.Base.Application.Services.AGVService.Dtos
         /// 1）	辊筒货位到货位搬运
         /// </summary>
         SLOT_ROLLER_MOVE = 1,
+        POINT_ROLLER_MOVE=2
     }
 
 }

backend/BPA.MES.Base.Application/Services/AGVService/Services/AGVThirdPartyService.cs

@@ -1,4 +1,8 @@
 using BPA.AGV;
+using BPA.MES.Base.Application.Services.AGVService.Dtos;
+using MQTTnet.Client;
+using MQTTnet.Client.Publishing;
+using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -8,12 +12,15 @@ using System.Threading.Tasks;
 namespace BPA.MES.Base.Application.Services.AGVService.Services
 {
 
+    [AllowAnonymous, NonUnify]
     [ApiDescriptionSettings("AGV管理", Name = "AgvThirdParty", Tag = "AGV第三方api", KeepName = true, SplitCamelCase = true, KeepVerb = true)]
     public class AGVThirdPartyService:IAGVThirdPartyService, ITransient, IDynamicApiController
     {
         private readonly AGVHandler _aGVHandler;
-        public AGVThirdPartyService(AGVHandler aGVHandler)
+        private readonly IMqttClient _client;
+        public AGVThirdPartyService(AGVHandler aGVHandler, IMqttClient client)
         {
+            _client = client;
             _aGVHandler = aGVHandler;
         }
 
@@ -54,6 +61,57 @@ namespace BPA.MES.Base.Application.Services.AGVService.Services
             return await _aGVHandler.CancelAsync(kCCancelRequest);
         }
 
-       
+
+        /// <summary>
+        /// 任务回调
+        /// </summary>
+        /// <param name="input"></param>
+        /// <returns></returns>
+        [HttpPost]
+        public async Task<bool> ExecuteReplyAsync(AGVExecuteReplyRequest input)
+        {
+            try
+            {
+                var applicationMessage = new MQTTnet.MqttApplicationMessageBuilder()
+                    .WithTopic("robotjob.report")
+                    .WithPayload(JsonConvert.SerializeObject(input.Event))
+                    .WithAtLeastOnceQoS()
+                    .Build();
+
+                var result = await _client.PublishAsync(applicationMessage);
+                return result.ReasonCode == MqttClientPublishReasonCode.Success;
+            }
+            catch (Exception e)
+            {
+               return false;
+            }
+        }
+
+
+        /// <summary>
+        /// AGV上下料交互请求
+        /// </summary>
+        /// <param name="input"></param>
+        /// <returns></returns>
+        [HttpPost]
+        public async Task<bool> LoadAndUnloadAsync(AGVLoadAndUnloadRequest input)
+        {
+            try
+            {
+                var applicationMessage = new MQTTnet.MqttApplicationMessageBuilder()
+                    .WithTopic("rollerjob.upstreamrequest")
+                    .WithPayload(JsonConvert.SerializeObject(input.Event))
+                    .WithAtLeastOnceQoS()
+                    .Build();
+
+                var result = await _client.PublishAsync(applicationMessage);
+                return result.ReasonCode == MqttClientPublishReasonCode.Success;
+            }
+            catch (Exception e)
+            {
+                return false;
+            }
+        }
+
     }
 }

backend/BPA.MES.Base.Application/Services/AGVService/Services/IAGVThirdPartyService.cs

@@ -1,4 +1,6 @@
-using System;
+using BPA.AGV;
+using BPA.MES.Base.Application.Services.AGVService.Dtos;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -6,7 +8,37 @@ using System.Threading.Tasks;
 
 namespace BPA.MES.Base.Application.Services.AGVService.Services
 {
-    public class IAGVThirdPartyService
+    public interface IAGVThirdPartyService
     {
+
+        /// <summary>
+        /// 下发任务
+        /// </summary>
+        /// <param name="cExecuteRequest"></param>
+        /// <returns></returns>
+       Task<KCResponse> ExecuteAsync(KCExecuteRequest cExecuteRequest);
+
+        /// <summary>
+        /// 取消任务
+        /// </summary>
+        /// <param name="kCCancelRequest"></param>
+        /// <returns></returns>
+        Task<KCResponse> CancelAsync(KCCancelRequest kCCancelRequest);
+
+
+        /// <summary>
+        /// 任务回调
+        /// </summary>
+        /// <param name="input"></param>
+        /// <returns></returns>
+        Task<bool> ExecuteReplyAsync(AGVExecuteReplyRequest input);
+
+
+        /// <summary>
+        /// AGV上下料交互请求
+        /// </summary>
+        /// <param name="input"></param>
+        /// <returns></returns>
+        Task<bool> LoadAndUnloadAsync(AGVLoadAndUnloadRequest input);
     }
 }

backend/BPA.MES.Base.Web.Core/Startup.cs

@@ -45,16 +45,17 @@ public class Startup : AppStartup
         services.AddWebApiClient();
         services.AddAGV(op =>
         {
-            op = new AGVOptions()
+            new AGVOptions()
             {
                 Header=new KCOption()
                 {
-                   AppKey="43",
-                   AppSecret="12",
-                   RequestId= "43",
-                   Timestamp= "2234234324",
-                   Version= "2.9"
-                }
+                    AppKey="43",
+                    AppSecret="12",
+                    RequestId= "43",
+                    Timestamp= "2234234324",
+                    Version= "2.9"
+                },
+                Sign="123456"
             };
         });