库卡哈尔滨CTU库项目
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1
xiazhengtongxue
2026-03-27 5d55a31d8ce95e511ffb408f38ed06e81742b67e 
 ÏîÄ¿´úÂë/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任务更新接口", "AGV任务更新接口", "更新任务", $"任务：{agvUpdateDTO.ToJson()}");


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


                {


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


@@ -98,6 +101,7 @@


                        break;


                    case nameof(AGVStatusEnum.PICKER_SEND):


                        if (task == null) throw new Exception($"未找到料箱【{agvUpdateDTO.ContainerCode}】任务");


                        if (task.TaskState <= TaskStatusEnum.AGV_Execute.ObjToInt()) throw new Exception($"料箱【{agvUpdateDTO.ContainerCode}】任务{task.TaskNum}状态{task.TaskState}");


                        Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);


                        if (task.IsCancel > 0 && stationManger != null && stationManger.StationCode != agvUpdateDTO.CurrentPosition)


                        {


@@ -153,6 +157,7 @@


            AgvTaskReqContent content = new AgvTaskReqContent();


            try


            {


                WriteLog.Write_Log("AGV任务请求", "AGV任务请求接口", "任务", $"任务：{agvTaskRequestDTO.ToJson()}");


                //获取任务


                Dt_Task? taskExist = _taskRepository.QueryFirst(x=>x.PalletCode==agvTaskRequestDTO.ContainerCode) ?? throw new Exception($"未找到料箱{agvTaskRequestDTO.ContainerCode}任务");


                //获取站台


@@ -189,6 +194,7 @@


            AgvTaskReqContent content = new AgvTaskReqContent();


            try


            {


                WriteLog.Write_Log("AGV作业完成", "AGV作业完成接口", "任务", $"任务：{agvTaskRequestDTO.ToJson()}");


                //获取站台


                Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == agvTaskRequestDTO.PositionId) ?? throw new Exception($"未找到{agvTaskRequestDTO.PositionId}站台位置");


                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode) ?? throw new Exception($"未找到对应设备{stationManger.StationDeviceCode}");