simAGV/agvtask/agvtasks.py

import httpx
from apscheduler.schedulers.asyncio import AsyncIOScheduler
from pytz import timezone
import time
from conf import setting
from helper.logger import logger
from datetime import datetime
import json
# from models.assignment import Assignment
# from models.warehouse import Vacancy
import os
import codecs
from plc.cmd import readStatus, readCamStatus


scheduler = AsyncIOScheduler(timezone=timezone('Asia/Shanghai'))


# async def genCMD(assignment, cmdStdList, cmdNonStdList):

#     cmdStdl = []
#     cmdNonStdl = []

#     for cmdStd in cmdStdList:
   
#         if 1 == cmdStd["action"]:
#             #1: 归还
#             cmdStdl.append({"Return": cmdStd})
#         elif 3 == cmdStd["action"]:
#             #3: 预约领用
#             #find new Vacancy
#             qs1 = await Vacancy.filter(is_shelf = True, is_valid = True, is_active = True)
#             if len(qs1) > 0:
#                 print("find new Vacancy: ", qs1)
#                 vacancy = qs1[0]
#                 #generate destination with respond to task
#                 cmdStdl.append({vacancy.number: cmdStd})
#                 #update vacancy
#                 vacancy.is_valid = False
#                 vacancy.orderids = []
#                 await vacancy.save()
#             else:
#                 raise Exception("Shelf vacancy is not enough!")

#         elif 5 == cmdStd["action"]:
#             #5: 现场领用
#             qs1 = await Vacancy.filter(is_connect = True, is_valid = True, is_active = True)
#             if len(qs1) > 0:
#                 print("find new Vacancy: ", qs1)
#                 vacancy = qs1[0]
#                 #generate destination with respond to task
#                 cmdStdl.append({vacancy.number: cmdStd})
#                 #update vacancy
#                 vacancy.is_valid = False
#                 vacancy.orderids = []
#                 await vacancy.save()
#             else:
#                 raise Exception("Shelf vacancy is not enough!")

#     for cmdNonStd in cmdNonStdList:

#         if 1 == cmdNonStd["action"]:
#             #1: 归还
#             # cmdNonStdl.append({"Return": cmdNonStd})

#             #where to return after usage
#             # to shelf or stay in connection !!!
            

#             #check if next assignment will use this tray
#             assignmentNext = await Assignment.filter(
#                     is_canceled = False,
#                     is_processing = False,
#                     is_failed = False,
#                     is_done = False,
#                     is_valid = True, 
#                     is_active = True
#                 ).first()

#             if assignmentNext:
#                 subtasksNext = await assignmentNext.subtasks.all()

#                 for subtaskNext in subtasksNext:
#                     if 9 == subtaskNext.typetask:
#                         qs4 = await Vacancy.filter(is_connect = True, is_valid = False, is_active = True, traynum=[subtaskNext.traynum])
#                         if len(qs4) > 0:
#                             print("connection area tray num {}, is used in next assignment {}, don't need to move ".format(subtaskNext.traynum, assignmentNext.id))
#                             cmdStdl.insert(0, {"Skip": cmdNonStd})
#                             return
                        
#             #check if the tray in Schelve
#             qs5 = await Vacancy.filter(is_shelf = True, is_valid = False, is_active = True, traynum=[cmdNonStd["traynum"]])
#             if len(qs5) > 0:
#                 vacancy = qs5[0]
#                 if vacancy.orderids and len(vacancy) > 0:
#                     # update destination to Schelve vacancy
#                     cmdNonStd["coordinates"] = vacancy.number
#                     # insert into beginning of the list
#                     cmdStdl.insert(0, {"Return": cmdNonStd})
#                     return
                
#             # normal return process
#             cmdStdl.append({"Return": cmdNonStd})
#         elif 3 == cmdNonStd["action"]:
#             #3: 预约领用
#             qs1 = await Vacancy.filter(is_shelf = True, is_valid = True, is_active = True)
#             if len(qs1) > 0:
#                 vacancy = qs1[0]

#                 #check if tray already at Vacancy
#                 qs3 = await Vacancy.filter(is_valid = False, is_active = True, traynum=[cmdNonStd["traynum"]])
#                 if len(qs3) > 0:
#                     vacancy3 = qs3[0]
#                     #if exist then change destination to corresponding vacancy
#                     cmdNonStd["coordinates"] = vacancy3.number
#                     #update vacancy
#                     orderids = vacancy3.orderids
#                     if not orderids:
#                         orderids = [ cmdNonStd["orderid"] ]
#                     else:
#                         orderids.append(cmdNonStd["orderid"])

#                     vacancy3.is_valid = False
#                     vacancy3.orderids = orderids
#                     await vacancy3.save()

#                 #generate destination with respond to task
#                 # cmdNonStdl.append({vacancy.number: cmdNonStd})
#                 cmdStdl.append({vacancy.number: cmdNonStd})
#                 #update vacancy
#                 orderids = vacancy.orderids
#                 if not orderids:
#                     orderids = [ cmdNonStd["orderid"] ]
#                 else:
#                     orderids.append(cmdNonStd["orderid"])

#                 vacancy.is_valid = False
#                 vacancy.traynum = cmdNonStd["traynum"]
#                 vacancy.orderids = orderids
#                 await vacancy.save()
#             else:
#                 raise Exception("Shelf vacancy is not enough!")

#         elif 5 == cmdNonStd["action"]:
#             #5: 现场领用
#             qs1 = await Vacancy.filter(is_connect = True, is_valid = True, is_active = True)
#             if len(qs1) > 0:
#                 vacancy = qs1[0]

#                 #check if tray already at Vacancy
#                 qs3 = await Vacancy.filter(is_valid = False, is_active = True, traynum=[cmdNonStd["traynum"]])
#                 if len(qs3) > 0:
#                     vacancy3 = qs3[0]
#                     #if exist then change destination to corresponding vacancy
#                     cmdNonStd["coordinates"] = vacancy3.number
#                     #update vacancy
#                     orderids = vacancy3.orderids

#                     if orderids and len(orderids) > 0:
#                         lstSet = set(orderids)
#                         lstSet.discard( cmdNonStd["orderid"] )
#                         # Converting set back to list
#                         orderids=list(lstSet)
#                     else:
#                         orderids = []

#                     if len(orderids) > 0:
#                         vacancy3.is_valid = False
#                     else:
#                         vacancy3.is_valid = True

#                     vacancy3.orderids = orderids
#                     await vacancy3.save()

#                 #generate destination with respond to task
#                 # cmdNonStdl.append({vacancy.number: cmdNonStd})
#                 # #update vacancy
#                 # orderids = vacancy.orderids
#                 # if not orderids:
#                 #     orderids = [ cmdNonStd["orderid"] ]
#                 # else:
#                 #     orderids.append(cmdNonStd["orderid"])

#                 # vacancy.is_valid = False
#                 # vacancy.traynum = cmdNonStd["traynum"]
#                 # # vacancy.orderids = orderids
#                 # await vacancy.save()

#                 cmdStdl.append({vacancy.number: cmdNonStd})

#             else:
#                 raise Exception("Connect vacancy is not enough!")


#     assignment.cmd = cmdStdl + cmdNonStdl
#     await assignment.save()

# async def agv_asign_job():
#     print("Working ", "{}".format(datetime.now()))

#     # assignments = await Assignment.filter(is_canceled = False, is_valid = True, is_active = True)
#     assignments = await Assignment.filter(
#         is_canceled = False,
#         is_processing = False,
#         is_failed = False,
#         is_done = False,
#         is_valid = True, 
#         is_active = True
#     )

#     path = "agvtask/testdata/test-{}.json".format(datetime.now().strftime("%Y-%m-%d_%H_%M_%S"))
    
#     assignmentsL = []

#     for assignment in assignments:
#         owner = await assignment.owner
#         subtasks = await assignment.subtasks.all()
#         assignmentJ = assignment.as_json()

#         subtasksL = []
#         cmdStdList = []
#         cmdNonStdList = []

#         for subtask in subtasks:
#             if 1 == subtask.typetask \
#                 or 1 == subtask.typetask \
#                 or 3 == subtask.typetask \
#                 or 5 == subtask.typetask \
#                 or 7 == subtask.typetask:
#                 # for standard
#                 cmdStdList.append({
#                     "orderid": subtask.orderid,
#                     "name": subtask.name,
#                     "typetask": subtask.typetask,
#                     "action": subtask.action,
#                     "quantity": subtask.quantity,
#                     "coordinates": subtask.coordinates,
#                     "traynum": subtask.traynum,
#                 })
#             else:
#                 # for non standard
#                 cmdNonStdList.append({
#                     "orderid": subtask.orderid,
#                     "name": subtask.name,
#                     "typetask": subtask.typetask,
#                     "action": subtask.action,
#                     "quantity": subtask.quantity,
#                     "coordinates": subtask.coordinates,
#                     "traynum": subtask.traynum,
#                 })

#             subtasksL.append(subtask.as_json())

#         assignment.is_processing = True
#         await assignment.save()

#         await genCMD(assignment, cmdStdList, cmdNonStdList)

#         assignmentJ["owner"] = owner.as_json()
#         assignmentJ["subtasks"] = subtasksL
#         assignmentJ["cmd"] = assignment.cmd

#         assignmentsL.append(assignmentJ)

#     # print("assignment: ", assignmentJ)
#     with open(path, "w", encoding="utf-8") as fp:
#         json.dump(assignmentsL, fp, ensure_ascii=False)



def getCamStatus():
    status = readCamStatus()

    if 1== status[9]:
        print("Triger {}".format(status[9]))

    print("getCamStatus: ", status)


async def start_scheduler():
    """ """
    second = 2
    # logger.info(f"准备启动AGV小车任务派发定时任务, 间隔时间: {second}")

    # scheduler.add_job(getAgvStatus, 'interval', seconds=int(second))

    # scheduler.add_job(agv_asign_job, 'interval', seconds=int(second))

    # minute = 1
    # logger.info(f"准备启动AGV小车任务派发定时任务, 间隔时间: {minute}")
    # scheduler.add_job(agv_asign_job, 'interval', minutes=int(minute))
    # scheduler.add_job(agv_asign_job, 'cron', hour="8,20")
    # scheduler.start()

    # scheduler.add_job(getCamStatus, 'interval', seconds=int(second))
    # scheduler.start()