using Microsoft.AspNetCore.Authorization;
|
using Microsoft.AspNetCore.Http;
|
using Microsoft.AspNetCore.Mvc;
|
using WIDESEA_DTO.Agv;
|
using WIDESEAWCS_Common.TaskEnum;
|
using WIDESEAWCS_Core;
|
using WIDESEAWCS_Core.Enums;
|
using WIDESEAWCS_Core.Helper;
|
using WIDESEAWCS_IBasicInfoRepository;
|
using WIDESEAWCS_ITaskInfoRepository;
|
using WIDESEAWCS_ITaskInfoService;
|
using WIDESEAWCS_Model.Models;
|
using WIDESEAWCS_QuartzJob;
|
using WIDESEAWCS_Tasks;
|
|
namespace WIDESEAWCS_Server.Controllers
|
{
|
[Route("api/[controller]")]
|
[ApiController]
|
public class ZH_AGVController : ControllerBase
|
{
|
private readonly IStationMangerRepository _stationMangerRepository;
|
private readonly ITaskService _taskService;
|
private readonly ITaskRepository _taskRepository;
|
|
public ZH_AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository)
|
{
|
_stationMangerRepository = stationMangerRepository;
|
_taskService = taskService;
|
_taskRepository = taskRepository;
|
}
|
|
|
|
/// <summary>
|
/// 安全信号申请 AGV-WCS
|
/// </summary>
|
/// <param name="secureApplyModel"></param>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("AgvSecureApply"), AllowAnonymous]
|
public AgvResponseContent AgvSecureApply([FromBody] AgvSecureApplyDTO secureApplyModel)
|
{
|
AgvResponseContent agvResponseContent = new AgvResponseContent();
|
agvResponseContent.ReqCode = secureApplyModel.ReqCode;
|
try
|
{
|
var task = _taskRepository.QueryFirst(x => secureApplyModel.TaskCode == x.AgvTaskNum);
|
if (task == null) throw new Exception("未找到任务");
|
if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
|
{
|
var content = TakeRequest(task.CurrentAddress);
|
//if (!content.Status)
|
//{
|
// throw new Exception(content.Message);
|
//}
|
}
|
else
|
{
|
var content = PutRequest(task.NextAddress, task.PalletType);
|
//if (!content.Status)
|
//{
|
// throw new Exception(content.Message);
|
//}
|
}
|
task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
|
var up = _taskRepository.UpdateData(task);
|
agvResponseContent.Code = up ? "0" : "1";
|
agvResponseContent.Message = up ? "成功" : "失败";
|
}
|
catch (Exception ex)
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = ex.Message;
|
}
|
return agvResponseContent;
|
//return _taskService.AgvSecureApply(secureApplyModel);
|
}
|
/// <summary>
|
/// AGV任务更新/完成
|
/// </summary>
|
/// <param name="agvUpdateModel"></param>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("AgvCallback"), AllowAnonymous]
|
public AgvResponseContent AgvUpdateTask([FromBody] AgvUpdateDTO agvUpdateModel)
|
{
|
AgvResponseContent agvResponseContent = new AgvResponseContent();
|
try
|
{
|
if (agvUpdateModel == null) throw new Exception("未获取到请求参数");
|
agvResponseContent.ReqCode = agvUpdateModel.ReqCode;
|
var task = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum);
|
if (task == null && agvUpdateModel.Method!= "begin") throw new Exception($"未找到任务,任务号【{agvUpdateModel.TaskCode}】");
|
switch (agvUpdateModel.Method)
|
{
|
case "begin":
|
WebResponseContent requestZH = _taskService.RequestWMSZHTask(agvUpdateModel.TaskCode, agvUpdateModel.PodCode,agvUpdateModel.PodTyp,agvUpdateModel.MaterialLot);
|
agvResponseContent.Code = requestZH.Status ? "0" : "1";
|
agvResponseContent.Message = requestZH.Status ? "成功" : "失败";
|
return agvResponseContent;
|
case "outbin"://出库根据这个信号判断取货完成
|
if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
|
{
|
var content = TakeFinish(task.CurrentAddress);
|
if (!content.Status) throw new Exception(content.Message);
|
task.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
|
var up = _taskRepository.DeleteAndMoveIntoHty(task, OperateTypeEnum.自动完成);
|
_taskService.TaskCompleted(task.TaskNum);
|
agvResponseContent.Code = up ? "0" : "1";
|
agvResponseContent.Message = up ? "成功" : "失败";
|
return agvResponseContent;
|
}
|
break;
|
case "getSafetySignal"://安全信号申请
|
{
|
if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
|
{
|
var content = TakeRequest(task.CurrentAddress);
|
//if (!content.Status) throw new Exception(content.Message);
|
}
|
else
|
{
|
var content = PutRequest(task.NextAddress, task.PalletType);
|
//if (!content.Status) throw new Exception(content.Message);
|
}
|
task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
|
var up = _taskRepository.UpdateData(task);
|
agvResponseContent.Code = up ? "0" : "1";
|
agvResponseContent.Message = up ? "成功" : "失败";
|
return agvResponseContent;
|
}
|
case "end"://入库根据这个信号判断放货完成
|
if (task.TaskType != TaskTypeEnum.Outbound.ObjToInt())
|
{
|
var content = PutFinish(task.NextAddress);
|
if (!content.Status) throw new Exception(content.Message);
|
Dt_StationManger dt_Station = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == task.NextAddress);
|
if (dt_Station == null)
|
{
|
throw new Exception($"{task.NextAddress}站台未定义");
|
}
|
task.CurrentAddress = dt_Station.StationCode;
|
task.NextAddress = "";
|
task.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
|
task.DeviceCode = "SC01_ZH";
|
var up = _taskRepository.UpdateData(task);
|
agvResponseContent.Code = up ? "0" : "1";
|
agvResponseContent.Message = up ? "成功" : "失败";
|
return agvResponseContent;
|
}
|
break;
|
case "cancel":
|
task.TaskState = TaskStatusEnum.Cancel.ObjToInt();
|
_taskRepository.UpdateData(task);
|
break;
|
default:
|
throw new Exception($"未定义方法名【{agvUpdateModel.Method}】");
|
}
|
agvResponseContent.Code = "0";
|
agvResponseContent.Message = "成功";
|
}
|
catch (Exception ex)
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = ex.Message;
|
}
|
return agvResponseContent;
|
//return _taskService.AgvUpdateTask(agvUpdateModel);
|
}
|
|
/// <summary>
|
/// 放货请求
|
/// </summary>
|
/// <param name="code"></param>
|
/// <param name="palletType"></param>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("PutRequest"), AllowAnonymous]
|
public WebResponseContent PutRequest(string code, int palletType)
|
{
|
try
|
{
|
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
|
if (stationManger == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到站台配置");
|
}
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
|
if (device == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到对应设备");
|
}
|
|
OtherDevice otherDevice = (OtherDevice)device;
|
|
bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
|
if (canPut)
|
{
|
otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
|
return WebResponseContent.Instance.OK();
|
}
|
else
|
{
|
otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
|
Thread.Sleep(1000);
|
canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
|
if (canPut)
|
{
|
return WebResponseContent.Instance.OK();
|
}
|
else
|
{
|
return WebResponseContent.Instance.Error($"放货申请中");
|
}
|
}
|
}
|
catch (Exception ex)
|
{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
}
|
|
//[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
|
/// <summary>
|
/// 放货完成
|
/// </summary>
|
/// <param name="code"></param>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
|
public WebResponseContent PutFinish(string code)
|
{
|
try
|
{
|
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
|
if (stationManger == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到站台配置");
|
}
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
|
if (device == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到对应设备");
|
}
|
|
OtherDevice otherDevice = (OtherDevice)device;
|
otherDevice.SetValue(GroundStationDBName.W_PutFinish, true, stationManger.StationCode);
|
return WebResponseContent.Instance.OK();
|
}
|
catch (Exception ex)
|
{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
}
|
|
//[HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
|
/// <summary>
|
/// 取货请求
|
/// </summary>
|
/// <param name="code"></param>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
|
public WebResponseContent TakeRequest(string code)
|
{
|
try
|
{
|
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
|
if (stationManger == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到站台配置");
|
}
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
|
if (device == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到对应设备");
|
}
|
|
OtherDevice otherDevice = (OtherDevice)device;
|
|
bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
|
if (canPut)
|
{
|
otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
|
return WebResponseContent.Instance.OK();
|
}
|
else
|
{
|
otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
|
Thread.Sleep(1000);
|
canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
|
if (canPut)
|
{
|
return WebResponseContent.Instance.OK();
|
}
|
else
|
{
|
return WebResponseContent.Instance.Error($"取货申请中");
|
}
|
}
|
}
|
catch (Exception ex)
|
{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
}
|
|
//[HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
|
/// <summary>
|
/// 取货完成
|
/// </summary>
|
/// <param name="code"></param>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
|
public WebResponseContent TakeFinish(string code)
|
{
|
try
|
{
|
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
|
if (stationManger == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到站台配置");
|
}
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
|
if (device == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到对应设备");
|
}
|
|
OtherDevice otherDevice = (OtherDevice)device;
|
otherDevice.SetValue(GroundStationDBName.W_TakeFinish, true, stationManger.StationCode);
|
Thread.Sleep(1000);
|
otherDevice.SetValue(GroundStationDBName.W_TakeFinish, false, stationManger.StationCode);
|
return WebResponseContent.Instance.OK();
|
}
|
catch (Exception ex)
|
{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
}
|
|
//阻焊仓出库任务空储位异常手动重发AGV任务
|
[HttpPost, HttpGet,Route("AgvZHTaskResend"),AllowAnonymous]
|
public WebResponseContent AgvZHTaskResend(int taskNum)
|
{
|
try
|
{
|
Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == taskNum);
|
if (task == null)
|
{
|
return WebResponseContent.Instance.Error("未找到相关任务信息");
|
}
|
if (task.TaskState == TaskStatusEnum.Exception.ObjToInt() && task.DeviceCode == "AGV_ZH")
|
{
|
_taskService.UpdateTask(task, TaskStatusEnum.AGV_Execute);
|
}
|
else
|
{
|
return WebResponseContent.Instance.Error("任务设备编号不正确或任务状态非空储位异常");
|
}
|
return WebResponseContent.Instance.OK();
|
}
|
catch(Exception ex)
|
{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
}
|
}
|
}
|
