更新

wangxinhui

2026-01-28 821af8301009019a0f0e81a3ea2a0ae7952b5025

 ÏîÄ¿´úÂë/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs

@@ -2,6 +2,7 @@
using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Http;
using Microsoft.AspNetCore.Mvc;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
using System.Text;
using System.Text.RegularExpressions;
using WIDESEA_DTO.Agv;
@@ -56,28 +57,80 @@
            WebResponseContent content = new WebResponseContent();
            try
            {
                var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "")==x.PalletCode);
                var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "") == x.PalletCode);
                switch (agvUpdateDTO.MissionStatus)
                {
                    case nameof(AGVStatusEnum.PICKER_RECEIVE):
                        if (task == null) throw new Exception($"未找到料箱【{agvUpdateDTO.ContainerCode}】任务");
                        _taskService.UpdateTask(task, TaskStatusEnum.AGV_TakeFinish);
                        Dt_ErrorInfo e1 = new Dt_ErrorInfo()
                        {
                            RobotCode = agvUpdateDTO.RobotId,
                            Message = agvUpdateDTO.Message,
                            ErrorType = 0
                        };
                        _taskService.AgvSearchStatus1(e1);

                        break;
                    case nameof(AGVStatusEnum.PICKER_SEND):
                        if (task == null) throw new Exception($"未找到料箱【{agvUpdateDTO.ContainerCode}】任务");
                        _taskService.TaskCompleted(task.TaskNum);
                        Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);
                        if (task.IsCancel > 0 && stationManger != null && stationManger.StationCode != agvUpdateDTO.CurrentPosition)
                        {
                            _taskService.TaskCancelCompleted(task.TaskNum);
                        }
                        else
                        {
                            _taskService.TaskCompleted(task.TaskNum);
                        }
                        Dt_ErrorInfo e2 = new Dt_ErrorInfo()
                        {
                            RobotCode = agvUpdateDTO.RobotId,
                            Message = agvUpdateDTO.Message,
                            ErrorType = 0
                        };
                        _taskService.AgvSearchStatus1(e2);
                        break;
                    case nameof(AGVStatusEnum.WAITFEEDBACK):
                        //AGV放行
                        List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x=>x.StationType==StationTypeEnum.StationType_OnlyInbound.ObjToInt());
                        if (!stationMangers.Select(x=>x.StationCode).Contains(agvUpdateDTO.CurrentPosition))
                        List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x => x.StationType == StationTypeEnum.StationType_OnlyInbound.ObjToInt());
                        if (!stationMangers.Select(x => x.StationCode).Contains(agvUpdateDTO.CurrentPosition))
                        {
                            WebResponseContent responseContent = _taskService.AgvTaskFlow(agvUpdateDTO.MissionCode);
                            if (!responseContent.Status) throw new Exception($"{responseContent.Message}");
                        }
                        Dt_ErrorInfo e3 = new Dt_ErrorInfo()
                        {
                            RobotCode = agvUpdateDTO.RobotId,
                            Message = agvUpdateDTO.Message,
                            ErrorType = 0
                        };
                        _taskService.AgvSearchStatus1(e3);
                        break;
                    default:
                        break;
                }
                if (agvUpdateDTO.Message != null && agvUpdateDTO.Message == "ROBOT_ERROR-haiUnknownError")
                {
                    var task1 = _taskRepository.QueryFirst(x => (agvUpdateDTO.MissionCode ?? "") == x.GroupId);
                    if (task1 == null) throw new Exception($"未找到料箱【{agvUpdateDTO.ContainerCode}】任务");
                    Dt_ErrorInfo errorInfo = new Dt_ErrorInfo()
                    {
                        RobotCode = agvUpdateDTO.RobotId,
                        Message = agvUpdateDTO.Message,
                        ErrorType = 2
                    };
                    if (task1.TaskType == 500)
                    {
                        errorInfo.Message = "入库异常";
                        errorInfo.StationCode = task1.CurrentAddress;
                    }
                    else
                    {
                        errorInfo.Message = "出库异常";
                        errorInfo.StationCode = task1.NextAddress;
                    }
                    _taskService.AgvSearchStatus1(errorInfo);
                }
                content.OK();
            }
@@ -155,5 +208,14 @@
            }
            return content;
        }
        /// <summary>
        /// AGV作业完成
        /// </summary>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("AgvSearchStatus"), AllowAnonymous]
        public void AgvSearchStatus()
        {
            _taskService.AgvSearchStatus();
        }
    }
}