STATION_COLLECT/Controllers/JgrController.cs

using AmrControl.ADS;
using AmrControl.Common;
using AmrControl.DB.Models;
using AmrControl.Dto;
using AmrControl.JGR;
using AmrControl.services;
using AmrControl.Vo;
using Microsoft.AspNetCore.Mvc;
using NPOI.SS.Formula.Functions;
using Org.BouncyCastle.Asn1.Ocsp;
using System.Threading.Tasks;

namespace AmrControl.Controllers
{
    [ApiController]
    public class JgrController : ControllerBase
    {
        /// <summary>
        /// 给车的命令
        /// </summary>
        /// <returns></returns>
        /// 
        [HttpPost]
        [Route("api/v1/jgr/cmd")]
        public HttpStatus<string> SetCmd([FromBody] JgrDebugDto debugDto)
        {
            string str = JGRManager.GetInstance().SetCmd(debugDto);
            if(str == "0")
            {
                HttpStatus<string> status = new HttpStatus<string>();
                status.Code = Dto.Code.Success;
                return status;
            }
            else
            {
                HttpStatus<string> status = new HttpStatus<string>();
                status.Code = Dto.Code.Error;
                status.Data = str;
                return status;
            }
        }

        [HttpGet]
        [Route("api/v1/jgr/call-car")]
        public HttpStatus<string> CallCar([FromQuery] string stanCode)
        {
            HttpStatus<string> status = new HttpStatus<string>();
            if (!string.IsNullOrEmpty(stanCode) && !string.IsNullOrWhiteSpace(stanCode))
            {
                var station = JGRManager.GetInstance().getStationByNo(stanCode);
                if (station == null || station == default)
                {
                    status.Code = Dto.Code.Error;
                    status.Msg = "非法的工站编号";
                    return status;
                }
                //获取空的地车
                string taskId = TaskExecManager.getInstance().genTaskId();
                Proxy taskProxy = new Proxy(() =>
                {
                    JGRManager.GetInstance().moveCarToDestAsync(JgrType.RailCar, station.positionX, station.positionY);
                });
                TaskExecManager.getInstance().addTask(taskProxy, taskId);
                status.Code = Dto.Code.Success;
                status.Data = taskId;
                return status;
            }
            status.Code = Dto.Code.Error;
            status.Msg = "非法的工站编号";
            return status;
        }
        /// <summary>
        /// 呼叫空闲轨道车到工位
        /// </summary>
        /// <param name="dto"></param>
        /// <returns></returns>
        [HttpPost]
        [Route("/api/v1/jgr/call-amr-car")]
        public HttpStatus<string> CallAmrCar([FromBody] CallAmrCarDTO dto)
        {
            HttpStatus<string> status = new HttpStatus<string>();
            if (!string.IsNullOrEmpty(dto.stanCode) && !string.IsNullOrWhiteSpace(dto.stanCode))
            {
                var station = JGRManager.GetInstance().getStationByNo(dto.stanCode);
                if (station == null || station == default)
                {
                    status.Code = Dto.Code.Error;
                    status.Msg = "非法的工站编号";
                    return status;
                }
                string taskId = TaskExecManager.getInstance().genTaskId();
                Proxy taskProxy = new Proxy(() =>
                {
                    JGRManager.GetInstance().moveCarToDestAsync(JgrType.RailCar, station.positionX, station.positionY);
                });
                TaskExecManager.getInstance().addTask(taskProxy, taskId);
                status.Code = Dto.Code.Success;
                status.Data = taskId;
                return status; 
            }
            status.Code = Dto.Code.Error;
            status.Msg = "非法的工站编号";
            return status;
        }
        /// <summary>
        /// 移动车辆到指定位置
        /// </summary>
        /// <param name="dto"></param>
        /// <returns></returns>
        [HttpPost]
        [Route("/api/v1/jgr/call-car-to-position")]
        public HttpStatus<string> callCarToPosition([FromBody] MoveCarToPosDTO dto)
        {
            HttpStatus<string> status = new();
            if (!string.IsNullOrEmpty(dto.carId) && !string.IsNullOrWhiteSpace(dto.carId))
            {
                //查找车辆信息
                List<JGR_Tc_Model> carStatus = JGRManager.GetInstance().GetJgrs();
                var carInfo = carStatus.Where(m => m.jgrSN == dto.carId).FirstOrDefault();
                if (carInfo == null)
                {
                    status.Code = Dto.Code.Error;
                    status.Msg = "非法的车辆编号信息";
                    return status;
                }
                string taskId = TaskExecManager.getInstance().genTaskId();
                int dx = -1, dy = -1;
                if (!string.IsNullOrEmpty(dto.stanCode) && !string.IsNullOrWhiteSpace(dto.stanCode))
                {
                    var station = JGRManager.GetInstance().getStationByNo(dto.stanCode);
                    if (station == null || station == default)
                    {
                        status.Code = Dto.Code.Error;
                        status.Msg = "非法的工站编号";
                        return status;
                    }
                    dx = station.positionX;
                    dy = station.positionY;
                } else
                {
                    //判断新坐标数据是否存在
                    if(dto.x>0 && dto.y>0)
                    {
                        dx = dto.x;
                        dy = dto.y;
                    } else
                    {
                        status.Code = Dto.Code.Error;
                        status.Msg = "位置坐标异常";
                        return status;
                    }
                }
                if (dx > 0 && dy > 0)
                {
                    Proxy taskProxy = new Proxy(() =>
                    {
                        JGRManager.GetInstance().moveCarToDestAsync(carInfo, dx, dy);
                    });
                    TaskExecManager.getInstance().addTask(taskProxy, taskId);
                    status.Code = Dto.Code.Success;
                    status.Data = taskId;
                    return status;
                }
                else
                {
                    status.Code = Dto.Code.Error;
                    status.Msg = "位置坐标异常";
                    return status;
                }
               
            }
            status.Code = Dto.Code.Error;
            status.Msg = "非法的车辆编号信息";
            return status;
        }

        /// <summary>
        /// 查询指定车辆状态
        /// </summary>
        /// <param name="carId"></param>
        /// <returns></returns>
        [HttpGet]
        [Route("api/v1/jgr/query-car-state")]
        public HttpStatus<JGR_Tc_Model> QueryCarState([FromQuery] string carId)
        {
            return new() { 
                Code = Dto.Code.Success,
                Data = JGRManager.GetInstance().Get_Tc_Models().Where(item => item.jgrSN == carId).First()
            };
        }

            /// <summary>
            /// 设置车或者充电桩的当前位置
            /// </summary>
            /// <param name="pos"></param>
            /// <returns></returns>
            [HttpPost]
        [Route("api/v1/jgr/xy")]
        public HttpStatus<string> SetXY([FromBody] NewJgrDto pos)
        {
            HttpStatus<string> status = new HttpStatus<string>();
            status.Code = Dto.Code.Success;
            status.Data = JGRManager.GetInstance().SetNewXY(pos.SN, pos.positionX, pos.positionY);
            return status;
        }
    }
}