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.BaseRepository;
|
using WIDESEAWCS_Core.Enums;
|
using WIDESEAWCS_Core.Helper;
|
using WIDESEAWCS_DTO.Agv;
|
using WIDESEAWCS_IBasicInfoRepository;
|
using WIDESEAWCS_ITaskInfoRepository;
|
using WIDESEAWCS_ITaskInfoService;
|
using WIDESEAWCS_Model.Models;
|
using WIDESEAWCS_QuartzJob;
|
using WIDESEAWCS_Tasks;
|
using WIDESEAWCS_Tasks.ConveyorLineJob;
|
using static Dm.net.buffer.ByteArrayBuffer;
|
|
namespace WIDESEAWCS_Server.Controllers
|
{
|
[Route("api/[controller]")]
|
[ApiController]
|
public class CTU_AGVController : ControllerBase
|
{
|
private readonly IStationMangerRepository _stationMangerRepository;
|
private readonly ITaskService _taskService;
|
private readonly ITaskRepository _taskRepository;
|
private readonly IUnitOfWorkManage _unitOfWorkManage;
|
|
public CTU_AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository,IUnitOfWorkManage unitOfWorkManage)
|
{
|
_stationMangerRepository = stationMangerRepository;
|
_taskService = taskService;
|
_taskRepository = taskRepository;
|
_unitOfWorkManage = unitOfWorkManage;
|
}
|
[HttpPost, HttpGet, Route("AGVFinish"), AllowAnonymous]
|
public WebResponseContent AGVFinish(string barcode)
|
{
|
WebResponseContent content = new WebResponseContent();
|
try
|
{
|
var task = _taskRepository.QueryFirst(x => x.PalletCode == barcode);
|
if (task == null) throw new Exception($"未找到任务,托盘号【{barcode}】");
|
AgvUpdateDTO updateDTO = new AgvUpdateDTO()
|
{
|
TaskCode = task.AgvTaskNum,
|
Method = "end"
|
};
|
var agvResponseContent = CtuCallback(updateDTO);
|
if (agvResponseContent.Code == "1") throw new Exception(agvResponseContent.Message);
|
content.OK();
|
}
|
catch (Exception ex)
|
{
|
content.Error(ex.Message);
|
}
|
return content;
|
}
|
|
#region 安全信号申请
|
/// <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 = PutRequest(task.NextAddress, task.PalletType);
|
}
|
else
|
{
|
var content = TakeRequest(task.CurrentAddress);
|
}
|
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);
|
}
|
#endregion
|
/// <summary>
|
/// 料箱判断
|
/// </summary>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("AgvCallbackBoxNo"), AllowAnonymous]
|
public AgvResponseContent AgvCallbackBoxNo([FromBody] AgvCallbackBoxNoDTO agvCallbackBox)
|
{
|
AgvResponseContent agvResponseContent = new AgvResponseContent();
|
try
|
{
|
var task = _taskRepository.QueryFirst(x => agvCallbackBox.TaskNo == x.AgvTaskNum);
|
if (task==null)
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = $"未找到任务{agvCallbackBox.TaskNo}";
|
return agvResponseContent;
|
}
|
if (task.PalletCode!= agvCallbackBox.ContainerCode)
|
{
|
string Address = task?.CurrentAddress switch
|
{
|
"5206" => "5105",
|
"5212" => "5111",
|
"5218" => "5117",
|
"8005" => "8001",
|
"5135" => "5236",
|
_ => throw new Exception("未找到地址信息"),
|
};
|
AgvCTUCancelDTO agvCTUCancel=new AgvCTUCancelDTO()
|
{
|
ForceCancel="1",
|
MatterArea= task.CurrentAddress,
|
TaskCode=task.AgvTaskNum,
|
ReqCode = DateTime.Now.ToString("yyyyMMddHHmmss") + task.AgvTaskNum,
|
ReqTime= DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
|
};
|
WebResponseContent content = _taskService.AgvBoxApplyPass(agvCTUCancel);
|
//取消任务
|
if (content.Status)
|
{
|
agvResponseContent.Code = "0";
|
agvResponseContent.Message = $"取消{task.AgvTaskNum}成功";
|
task.ExceptionMessage = $"实际箱号{task.PalletCode}扫描箱{agvCallbackBox.ContainerCode}";
|
_taskService.UpdateTask(task, TaskStatusEnum.Cancel);
|
}
|
else
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = content.Message;
|
}
|
}
|
else
|
{
|
agvResponseContent.Code = "0";
|
agvResponseContent.Message = "成功";
|
}
|
}
|
catch (Exception ex)
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = ex.Message;
|
}
|
return agvResponseContent;
|
}
|
/// <summary>
|
/// CtuAGV任务更新/完成
|
/// </summary>
|
/// <param name="agvUpdateModel"></param>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("CtuCallback"), AllowAnonymous]
|
public AgvResponseContent CtuCallback([FromBody] AgvUpdateDTO agvUpdateModel)
|
{
|
AgvResponseContent agvResponseContent = new AgvResponseContent();
|
try
|
{
|
if (agvUpdateModel == null) throw new Exception("未获取到请求参数");
|
agvResponseContent.ReqCode = agvUpdateModel.ReqCode;
|
var task = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum) ?? throw new Exception($"未找到任务,任务号【{agvUpdateModel.TaskCode}】");
|
switch (agvUpdateModel.Method.ToUpper())
|
{
|
case "END":
|
if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt() || task.TaskType == TaskTypeEnum.OutEmpty.ObjToInt()
|
|| task.TaskType == TaskTypeEnum.OutAllocate.ObjToInt() || task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
|
PutFinish(task.NextAddress);
|
_taskService.TaskCompleted(task.TaskNum);
|
break;
|
case "APPLYTOAGV":
|
//更改成品入库AGV取货任务状态
|
if (task.TaskType == TaskTypeEnum.InProduct.ObjToInt() || task.TaskType == TaskTypeEnum.InProductBack.ObjToInt())
|
{
|
|
//是否存在输送线体待AGV搬运任务
|
var taskExecutes = _taskRepository.QueryData(x => x.NextAddress == task.CurrentAddress && x.TaskState == TaskStatusEnum.Line_Executing.ObjToInt() && x.TaskType == TaskTypeEnum.InProduct.ObjToInt());
|
if (taskExecutes.Count > 0)
|
{
|
string address = task.CurrentAddress switch
|
{
|
"5206" => "5105",
|
"5212" => "5111",
|
"5218" => "5117"
|
};
|
//调用AGV预调度接口
|
AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
|
{
|
PositionCode = address,
|
NextTask = "90",
|
UseableLayers = "1",
|
CacheCount = "1",
|
Update = "0",
|
AgvTyp = "11",
|
PreTaskQty = "1",
|
ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
|
ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
|
};
|
WebResponseContent content = _taskService.AgvPreScheduleTask(agvScheduleTask);
|
if (!content.Status)
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = content.Message;
|
return agvResponseContent;
|
}
|
}
|
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == task.CurrentAddress);
|
if (stationManger==null)
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = "未找到站台";
|
return agvResponseContent;
|
}
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
|
if (device == null)
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = $"未找设备{stationManger.StationDeviceCode}";
|
return agvResponseContent;
|
}
|
OtherDevice otherDevice = (OtherDevice)device;
|
short canTake = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
|
if (canTake == 1)
|
{
|
//获取调入参数
|
AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
|
{
|
ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
|
ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
|
TaskCode = task.AgvTaskNum
|
};
|
if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
|
{
|
boxApplyPassDTO.Type = "1";
|
}
|
else
|
{
|
boxApplyPassDTO.Type = "2";
|
}
|
//请求料箱回调接口
|
WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
|
if (content.Status && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
|
{
|
_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
|
}
|
else
|
{
|
task.ExceptionMessage = content.Message;
|
_taskService.UpdateTask(task, TaskStatusEnum.Exception);
|
}
|
}
|
else
|
{
|
task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
|
task.Remark = task.TaskState.ToString();
|
_taskRepository.UpdateData(task);
|
}
|
}
|
else //更改辅料取货
|
{
|
//是否存在输送线体待AGV搬运任务
|
var taskExecutesFL = _taskRepository.QueryData(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && x.DeviceCode == "AGV_FL" && !string.IsNullOrEmpty(x.DeviceCode));
|
if (taskExecutesFL.Count > 0)
|
{
|
//调用AGV预调度接口
|
AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
|
{
|
PositionCode = "8001",
|
NextTask = "60",
|
UseableLayers = "1",
|
CacheCount = "1",
|
Update = "0",
|
AgvTyp = "10",
|
PreTaskQty = "1",
|
ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
|
ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
|
};
|
WebResponseContent contentFL = _taskService.AgvPreScheduleTask(agvScheduleTask);
|
if (!contentFL.Status)
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = contentFL.Message;
|
return agvResponseContent;
|
}
|
}
|
else //线体无任务
|
{
|
//调用AGV预调度接口
|
AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
|
{
|
PositionCode = "8001",
|
NextTask = "15",
|
UseableLayers = "1",
|
CacheCount = "1",
|
Update = "0",
|
AgvTyp = "10",
|
PreTaskQty = "1",
|
ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
|
ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
|
};
|
WebResponseContent contentFL = _taskService.AgvPreScheduleTask(agvScheduleTask);
|
if (!contentFL.Status)
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = contentFL.Message;
|
return agvResponseContent;
|
}
|
}
|
//获取调入参数
|
AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
|
{
|
ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
|
ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
|
TaskCode = task.AgvTaskNum
|
};
|
boxApplyPassDTO.Type = "1";
|
//请求料箱回调接口
|
WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
|
if (content.Status && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
|
{
|
_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
|
}
|
else
|
{
|
task.ExceptionMessage = content.Message;
|
_taskService.UpdateTask(task, TaskStatusEnum.Exception);
|
}
|
}
|
break;
|
case "APPLYFROMAGV":
|
//更改成品出AGV放货任务状态
|
//if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
|
//{
|
_taskService.UpdateTask(task, TaskStatusEnum.AGV_WaitToExecute);
|
//}
|
break;
|
case "OUTBIN":
|
if (task.TaskType == TaskTypeEnum.InProduct.ObjToInt() || task.TaskType == TaskTypeEnum.InProductBack.ObjToInt())
|
{
|
TakeFinish(task.CurrentAddress);
|
//_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
|
}
|
else if(task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
|
{
|
_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
|
}
|
break;
|
default:
|
throw new Exception($"方法{agvUpdateModel.Method}参数不存在");
|
}
|
agvResponseContent.Code = "0";
|
agvResponseContent.Message = "成功";
|
}
|
catch (Exception ex)
|
{
|
agvResponseContent.Code = "1";
|
agvResponseContent.Message = ex.Message;
|
}
|
return agvResponseContent;
|
}
|
|
/// <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($"放货申请中");
|
}
|
}
|
}
|
catch (Exception ex)
|
{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
}
|
|
//[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
|
/// <summary>
|
/// 放货完成
|
/// </summary>
|
/// <param name="code"></param>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
|
public WebResponseContent PutFinish(string code,string barCode="",string taskNum="")
|
{
|
try
|
{
|
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
|
if (stationManger == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到站台配置");
|
}
|
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
|
if (device == null)
|
{
|
return WebResponseContent.Instance.Error($"未找到对应设备");
|
}
|
|
OtherDevice otherDevice = (OtherDevice)device;
|
|
if (!barCode.IsNullOrEmpty() && !taskNum.IsNullOrEmpty())
|
{
|
otherDevice.SetValue(W_ConveyorLineFLDB.Barcode, barCode, stationManger.StationCode);
|
Thread.Sleep(500);
|
otherDevice.SetValue(W_ConveyorLineFLDB.TaskNum, taskNum, stationManger.StationCode);
|
Thread.Sleep(500);
|
}
|
otherDevice.SetValue(GroundStationDBName.W_PutFinish, true, stationManger.StationCode);
|
return WebResponseContent.Instance.OK();
|
}
|
catch (Exception ex)
|
{
|
return WebResponseContent.Instance.Error(ex.Message);
|
}
|
}
|
|
//[HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
|
/// <summary>
|
/// 取货请求
|
/// </summary>
|
/// <param name="code"></param>
|
/// <returns></returns>
|
[HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
|
public WebResponseContent TakeRequest(string code)
|
{
|
try
|
{
|
Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
|
if (stationManger == null)
|
{
|
return WebResponseContent.Instance.Error($"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);
|
}
|
}
|
}
|
}
|
