RCS / RCS_Differential_Slam_Changsha · Files

using RCS.Model.Comm;
using RCS.Model.Entity.PrimaryKey;
using System.Collections;
using System.ComponentModel;
using System.ComponentModel.DataAnnotations.Schema;
using System.Runtime.InteropServices.JavaScript;
using System.Text.Json.Serialization;
using static RCS.Model.Comm.EnumMsg;



namespace RCS.Model.Entity
{
    [Table("t_base_agv")]

    public class Base_Agv : IdEntity, IComparable
    {
        #region 基础实体类

        #region AGV上报信息
        /// <summary>
        /// AGV上报的地标二维码
        /// </summary>
        [NotMapped]
        [Description("小车扫描二维码")]
        public string AGVBarcode
        {
            get => agvBarcode;
            set
            {
                agvBarcode = value; NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// AGV上报的推断二维码
        /// </summary>
        [NotMapped]
        [Description("小车推测地标")]
        public ushort RCSBarcode
        {
            get => rcsBarcode;
            set
            {
                rcsBarcode = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车当前的电量
        /// </summary>
        [Description("小车电量")]
        public byte Voltage
        {
            get => voltage;
            set
            {
                voltage = value; NotifyPropertyChanged();
            }
        }


        /// <summary>
        /// 小车状态
        /// </summary>
        [NotMapped]
        [Description("小车状态")]
        public EnumMsg.AGVState AgvState
        {
            get
            {
                return agvState;
            }
            set
            {
                agvState = value; NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车车头方向
        /// </summary>
        [NotMapped]
        [Description("车头方向")]
        public EnumMsg.Direction AgvDirection
        {
            get
            {

                if (AgvNo == "A003")
                {
                    switch (agvDirection)
                    {
                        case Direction.X正方向:
                            return Direction.X负方向;
                        case Direction.Y正方向:
                            return Direction.Y负方向;

                        case Direction.X负方向:
                            return Direction.X正方向;

                        case Direction.Y负方向:
                            return Direction.Y正方向;


                        default:
                            return Direction.无方向;
                    };
                }
                else {
                    switch (agvDirection)
                    {
                        case Direction.X正方向:
                            return Direction.Y负方向;
                        case Direction.Y正方向:
                            return Direction.X正方向;

                        case Direction.X负方向:
                            return Direction.Y正方向;

                        case Direction.Y负方向:
                            return Direction.X正方向;


                        default:
                            return Direction.无方向;
                    };
                }

            }
            set
            {
                agvDirection = value;
                NotifyPropertyChanged();
                NotifyPropertyChanged("AgvDirectionByMap");
            }
        }

        /// <summary>
        /// 基于地图的车头方向
        /// </summary>
        [NotMapped]
        [Description("基于地图的车头方向")]
        public EnumMsg.Direction AgvDirectionByMap
        {
            get
            {
                return agvDirection;
            }
        }

        /// <summary>
        /// 小车转盘方向
        /// </summary>
        [NotMapped]
        [Description("转盘方向")]
        public EnumMsg.Direction DialDirection
        {
            get
            {
                var temp = 0;
                //保持与车头方向相同
                if (Math.Abs(dialAngle - 0) <= 3)
                {
                    temp = (int)agvDirection;
                }
                else if (Math.Abs(dialAngle - 90) <= 3)
                {
                    temp = agvDirection - 1 == 0 ? 4 : (int)agvDirection - 1;
                }
                else if (Math.Abs(dialAngle - 180) <= 3)
                {
                    temp = ((int)agvDirection + 2) % 4;
                }
                else if (Math.Abs(dialAngle - 0) <= 3)
                {
                    dialDirection = agvDirection - 1;
                }
                dialDirection = (EnumMsg.Direction)temp;
                return dialDirection;
            }
            set
            {
                dialDirection = value; NotifyPropertyChanged();
            }
        }
        /// <summary>
        /// 小车转盘角度
        /// </summary>
        [NotMapped]
        [Description("转盘角度")]
        public short DialAngle
        {
            get => dialAngle;
            set
            {
                dialAngle = value; NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车顶升状态
        /// </summary>
        [Description("顶升方向")]
        public EnumMsg.HeightState HeightState
        {
            get => heightState;
            set
            {
                heightState = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 错误代码
        /// </summary>
        //[NotMapped]
        //public BitArray ErrorList
        //{
        //    get => errorList;
        //    set
        //    {
        //        errorList = value;
        //        NotifyPropertyChanged();
        //    }
        //}

        [NotMapped]
        [Description("错误代码")]
        public AGVErrorCode ErrorList
        {
            get => errorList;
            set
            {
                errorList = value;
                NotifyPropertyChanged();
            }
        }
        /// <summary>
        /// 行驶距离
        /// </summary>
        [NotMapped]
        [Description("行驶距离")]
        public int RunDistance
        {
            get => runDistance;
            set
            {
                runDistance = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 动作的状态
        /// </summary>
        [NotMapped]
        [Description("动作状态")]
        public EnumMsg.ActState ActState
        {
            get => actState;
            set
            {
                actState = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// X坐标
        /// </summary>
        [NotMapped]
        [Description("X坐标")]
        public int XLength
        {
            get => xLength;
            set
            {
                xLength = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// Y坐标
        /// </summary>
        [NotMapped]
        [Description("Y坐标")]
        public int YLength
        {
            get => yLength;
            set
            {
                yLength = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 位置可信度
        /// </summary>
        [NotMapped]
        [Description("置信度")]
        public byte Reliability
        {
            get => reliability;
            set
            {
                reliability = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 车头角度
        /// </summary>
        [NotMapped]
        [Description("车头角度")]
        public short Angle
        {
            get => angle;
            set
            {
                angle = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 顶升高度
        /// </summary>
        [NotMapped]
        [Description("顶升高度")]
        public ushort AgvHeight
        {
            get => agvHeight;
            set
            {
                agvHeight = value;
                NotifyPropertyChanged();
            }
        }

        ///// <summary>
        ///// AGV货物状态，用于工装为滚筒AGV
        ///// </summary>
        //[NotMapped]
        //[Description("货物状态")]
        //public EnumMsg.InStock InStock
        //{
        //    get => inStock;
        //    set
        //    {
        //        inStock = value;
        //        NotifyPropertyChanged();
        //    }
        //}

        /// <summary>
        /// AGV滚筒状态，用于工装为滚筒AGV
        /// </summary>
        [NotMapped]
        [Description("滚筒状态")]
        public EnumMsg.RollerState RollerState
        {
            get => rollerState;
            set
            {
                rollerState = value;
                NotifyPropertyChanged();
            }
        }

        #endregion

        #region 数据库操作数据

        /// <summary>
        /// 小车编号
        /// </summary>
        [Description("Agv编号")]
        [JsonPropertyOrder(1)]
        public string AgvNo
        {
            get => agvNo;
            set
            {
                agvNo = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车类型
        /// </summary> 
        public EnumMsg.AgvType AgvType
        {
            get => agvType;
            set
            {
                agvType = value;
                NotifyPropertyChanged();
            }
        }
        /// <summary>
        /// 导航方式
        /// </summary>
        [NotMapped]
        public AGVNavigationMode AGVNavigationMode { get; set; }

        /// <summary>
        /// AGV群组
        /// </summary>
        public string Group
        {
            get => group;
            set
            {
                group = value;
                NotifyPropertyChanged();
            }
        }


        /// <summary>
        /// RCS上一个地标
        /// </summary>
        [Description("RCS上一个地标")]
        [JsonPropertyOrder(2)]
        public string FrontBarcode { get; set; }

        /// <summary>
        /// RCS地标
        /// </summary>
        [Description("RCS地标")]
        [JsonPropertyOrder(3)]
        public string Barcode
        {
            get => barcode;
            set
            {
                barcode = value; NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// AGV车头长度
        /// </summary>
        public int HeadLength
        {
            get => headLength;
            set
            {
                headLength = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// AGV车尾长度
        /// </summary>
        public int TailLength
        {
            get => tailLength;
            set
            {
                tailLength = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// AGV车宽
        /// </summary>
        public int Width
        {
            get => width;
            set
            {
                width = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// AGV开始充电电量
        /// </summary>
        public int StartVoltage
        {
            get => startVoltage;
            set
            {
                startVoltage = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车匹配的充电桩
        /// </summary>
        [NotMapped]
        public Base_Station? LockStation
        {
            get => lockStation;
            set
            {
                lockStation = value;
                chooseStation = lockStation?.Name;
                NotifyPropertyChanged();
            }
        }
        public string? ChooseStation
        {
            get => chooseStation;
            set
            {
                chooseStation = value;
                NotifyPropertyChanged();
            }
        }






        /// <summary>
        /// 车配置的充电站台
        /// </summary>
        public string ChargeStation
        {
            get => chargeStation;
            set
            {
                chargeStation = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车当前是否可用
        /// </summary>
        public bool IsEnable
        {
            get => isEnable;
            set
            {
                isEnable = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车是否载货
        /// </summary>
        public bool IsCarry
        {
            get => isOnline;
            set
            {
                isOnline = value;
                NotifyPropertyChanged();
            }
        }

        private DateTime heart;
        /// <summary>
        /// 小车发送最新心跳的时间
        /// </summary>
        public DateTime Heart
        {
            get { return heart; }
            set
            {
                heart = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// agv当前任务里程
        /// </summary>
        public int Milage
        {
            get => milage;
            set
            {
                milage = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车异常信息
        /// </summary>
        public string Error
        {
            get => error;
            set
            {
                error = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车异常时间
        /// </summary>
        public DateTime? ErrorTime
        {
            get => errorTime;
            set
            {
                errorTime = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// AGV所在地图
        /// </summary>
        [Description("AGV所在地图")]
        public string CurrMap
        {
            get => currMap;
            set
            {
                currMap = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// agvIP地址
        /// </summary>
        public string IP
        {
            get => ip;
            set
            {
                ip = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 设备序列号
        /// </summary>
        public string SN { get; set; }

        [NotMapped]
        public ActionType LastActionType { get; set; }
        #endregion 数据库操作数据

        #region 缓存数据

        /// <summary>
        /// 小车动作
        /// </summary>
        [NotMapped]
        [Description("小车动作")]
        [JsonPropertyOrder(4)]
        public EnumMsg.ActionType Action
        {
            get => action;
            set
            {
                action = value;
                NotifyPropertyChanged();
            }
        }
        /// <summary>
        /// 传感器状态
        /// </summary>
        [NotMapped]
        public SensorStatus SensorStatus
        {
            get => sensorStatus;
            set { sensorStatus = value; NotifyPropertyChanged(); }
        }

        /// <summary>
        /// 小车空闲时间
        /// </summary>
        [NotMapped]
        public DateTime FreeTime
        {
            get => freeTime;
            set
            {
                freeTime = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车充电时间
        /// </summary>
        [NotMapped]
        public DateTime ChargeTime
        {
            get => chargeTime;
            set
            {
                chargeTime = value;
                NotifyPropertyChanged();
            }
        }


        /// <summary>
        /// 小车当前是否在线
        /// </summary>
        [NotMapped]
        public bool IsOnline
        {
            get => isOnline;
            set
            {
                isOnline = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// 小车当前的执行的任务
        /// </summary>
        [NotMapped]
        public Base_Task? AgvTask { get; set; }
        /// <summary>
        /// 小车停止原因
        /// </summary>
        [NotMapped]
        public string StopReason
        {
            get => stopReason;
            set
            {
                stopReason = value;
                NotifyPropertyChanged();
            }
        }

        /// <summary>
        /// AGV路径点
        /// </summary>
        [NotMapped]
        public List<Base_PathPoint> PathPointList { get; set; } = new List<Base_PathPoint>();

        /// <summary>
        /// 获取充电桩名称
        /// </summary>
        [NotMapped]
        public string ChargeName
        {
            get; set;
        }

        /// <summary>
        /// WEB操作类型（增删改）
        /// </summary>
        [NotMapped]
        public string Type { get; set; }

        /// <summary>
        /// 速度（毫米）
        /// </summary>
        [NotMapped]
        public byte Speed { get; set; }

        /// <summary>
        /// 雷达状态
        /// </summary>
        [NotMapped]
        public byte RadarStatus { get; set; }

        /// <summary>
        /// 雷达区域
        /// </summary>
        [NotMapped]
        public byte RadarArea { get; set; }

        /// <summary>
        /// 载重
        /// </summary>
        [NotMapped]
        public float LoadWeight { get; set; }
        [NotMapped]

        public uint SubTaskNo { get; set; }

        #region 变量
        private string barcode;
        private string agvBarcode;
        private byte voltage;
        private EnumMsg.AGVState agvState;
        private EnumMsg.Direction agvDirection;
        private EnumMsg.Direction dialDirection;
        private short dialAngle;
        private EnumMsg.HeightState heightState;
        private EnumMsg.ActState actState;
        private byte reliability;
        private short angle;
        private ushort agvHeight;
        private EnumMsg.InStock inStock;
        private Base_Station? lockStation;
        private string? chooseStation;
        private bool isEnable;
        private string error;
        private string stopReason = "";
        private int xLength;
        private int yLength;
        private ushort rcsBarcode;
        private string agvNo;
        private bool isOnline;
        private string ip;
        private DateTime freeTime;
        private DateTime? errorTime;
        private string currMap;
        private DateTime chargeTime;
        private int startVoltage;
        private int tailLength;
        private int headLength;
        private string group;
        private EnumMsg.RollerState rollerState;
        //private BitArray errorList;
        private AGVErrorCode errorList;
        private int runDistance;
        private EnumMsg.AgvType agvType;
        private int milage;
        private EnumMsg.ActionType action;
        private int width;
        private string chargeStation;
        private SensorStatus sensorStatus;
        #endregion

        #endregion 缓存数据
        /// <summary>
        /// rcs发送给agv的信息
        /// </summary>
        [NotMapped]
        public RCSToAGV RCSToAGV { get; set; }
        #endregion 基础实体类

        /// <summary>
        /// 电量排序
        /// </summary>
        /// <param name="obj"></param>
        /// <returns></returns>
        public int CompareTo(object? obj)
        {
            var agv = obj as Base_Agv;
            if (agv == null)
            {
                throw new NotImplementedException();
            }
            //return AgvVoltage.CompareTo(agv.AgvVoltage);
            return AgvNo.CompareTo(agv.AgvNo);
        }



        /// <summary>
        /// 计算两个角度的差值
        /// </summary>
        /// <param name="ori1">方向1</param>
        /// <param name="ori2"></param>
        /// <param name="accuracy">精度</param>
        /// <returns></returns>
        public static int GetDirectionDifference(int ori1, int ori2)
        {
            var res = ori1 + ori2;
            if (res < 0)

                res = 4 - res % 4;
            else
                res = res % 4 == 0 ? 4 : res % 4;
            return res;
        }

    }
}