库卡哈尔滨CTU库项目
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xiazhengtongxue
2026-03-17 4f3b0a6727ecfa555892ebea64bd76e5a07cd6fb 
 项目代码/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs


@@ -3,6 +3,7 @@


using Microsoft.AspNetCore.Http;


using Microsoft.AspNetCore.Mvc;


using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;


using Org.BouncyCastle.Asn1.Ocsp;


using System.Text;


using System.Text.RegularExpressions;


using WIDESEA_DTO.Agv;


@@ -25,6 +26,7 @@


using WIDESEAWCS_QuartzJob.DTO;


using WIDESEAWCS_QuartzJob.Models;


using WIDESEAWCS_QuartzJob.Repository;


using WIDESEAWCS_TaskInfoService;


using WIDESEAWCS_Tasks;


using WIDESEAWCS_Tasks.DBNames;


using static Dm.net.buffer.ByteArrayBuffer;


@@ -57,6 +59,7 @@


            WebResponseContent content = new WebResponseContent();


            try


            {


                WriteLog.Write_Log("AGV浠诲姟鏇存柊鎺ュ彛", "AGV浠诲姟鏇存柊鎺ュ彛", "鏇存柊浠诲姟", $"浠诲姟锛歿agvUpdateDTO.ToJson()}");


                if (agvUpdateDTO.Message != null && agvUpdateDTO.Message == "ROBOT_ERROR-haiUnknownError")


                {


                    var task1 = _taskRepository.QueryFirst(x => (agvUpdateDTO.MissionCode ?? "") == x.GroupId);


@@ -153,6 +156,7 @@


            AgvTaskReqContent content = new AgvTaskReqContent();


            try


            {


                WriteLog.Write_Log("AGV浠诲姟璇锋眰", "AGV浠诲姟璇锋眰鎺ュ彛", "浠诲姟", $"浠诲姟锛歿agvTaskRequestDTO.ToJson()}");


                //鑾峰彇浠诲姟


                Dt_Task? taskExist = _taskRepository.QueryFirst(x=>x.PalletCode==agvTaskRequestDTO.ContainerCode) ?? throw new Exception($"鏈壘鍒版枡绠眥agvTaskRequestDTO.ContainerCode}浠诲姟");


                //鑾峰彇绔欏彴


@@ -189,6 +193,7 @@


            AgvTaskReqContent content = new AgvTaskReqContent();


            try


            {


                WriteLog.Write_Log("AGV浣滀笟瀹屾垚", "AGV浣滀笟瀹屾垚鎺ュ彛", "浠诲姟", $"浠诲姟锛歿agvTaskRequestDTO.ToJson()}");


                //鑾峰彇绔欏彴


                Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == agvTaskRequestDTO.PositionId) ?? throw new Exception($"鏈壘鍒皗agvTaskRequestDTO.PositionId}绔欏彴浣嶇疆");


                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode) ?? throw new Exception($"鏈壘鍒板搴旇澶噞stationManger.StationDeviceCode}");