1

xiazhengtongxue

2 天以前 5b34a1458e74f8902d01ebd844c2954f554c9e74

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/Task/RobotTaskController.cs

@@ -3,6 +3,7 @@
using Microsoft.AspNetCore.Authorization;

using Microsoft.AspNetCore.Mvc;

using System.Threading.Tasks;

using WIDESEAWCS_Common.TaskEnum;

using WIDESEAWCS_Core;

using WIDESEAWCS_Core.BaseController;

using WIDESEAWCS_Core.Enums;

@@ -30,67 +31,11 @@
            return WebResponseContent.Instance.Error();

        }



        // 暂时创建换盘机械手任务

        [HttpGet, HttpPost, Route("AddRobotTask"), AllowAnonymous]

        public WebResponseContent AddRobotTask([FromBody] RobotMoveRequest request) 
        // 手动机械手任务

        [HttpGet, HttpPost, Route("CreateRobotTaskManually"), AllowAnonymous]

        public WebResponseContent CreateRobotTaskManually([FromBody] ManualRobotTaskDto request) 
        {

            try

            {

                Dt_RobotTask robotTask = new Dt_RobotTask();

                robotTask.RobotTaskNum = Random.Shared.StrictNext();

                robotTask.RobotRoadway = "换盘机械手";

                robotTask.RobotTaskType = 510;

                robotTask.RobotTaskState = 300;

                robotTask.RobotTaskTotalNum = 48;

                robotTask.RobotGrade = 1;

                robotTask.RobotDispatchertime = DateTime.Now;

                robotTask.RobotRemark = "人工手动创建";

                robotTask.RobotSourceAddressPalletCode = request.robotSourceAddressPalletCode;

                robotTask.RobotTargetAddressPalletCode = request.robotTargetAddressPalletCode;

                // 根据方向设置源和目标

                switch (request.Forward)

                {

                    case 1:

                        robotTask.RobotSourceAddress = "1";

                        robotTask.RobotSourceAddressLineCode = "11010";

                        robotTask.RobotTargetAddress = "3";

                        robotTask.RobotTargetAddressLineCode = "2103";

                        break;

                    case 2:

                        robotTask.RobotSourceAddress = "2";

                        robotTask.RobotSourceAddressLineCode = "11001";

                        robotTask.RobotTargetAddress = "4";

                        robotTask.RobotTargetAddressLineCode = "2101";

                        break;

                    case 3:

                        robotTask.RobotSourceAddress = "3";

                        robotTask.RobotSourceAddressLineCode = "2103";

                        robotTask.RobotTargetAddress = "1";

                        robotTask.RobotTargetAddressLineCode = "11010";

                        break;

                    case 4:

                        robotTask.RobotSourceAddress = "4";

                        robotTask.RobotSourceAddressLineCode = "2101";

                        robotTask.RobotTargetAddress = "2";

                        robotTask.RobotTargetAddressLineCode = "11001";

                        break;

                    default:

                        return WebResponseContent.Instance.Error($"添加机器人任务失败");

                }



                return Service.AddData(robotTask);

            }

            catch (Exception ex)

            {

                return WebResponseContent.Instance.Error($"添加机器人任务失败: {ex.Message}");

            }

            return Service.CreateRobotTaskManually(request);

        }



    }

}

public class RobotMoveRequest

{

    public int Forward { get; set; }

    public String robotSourceAddressPalletCode { get; set; }

    public String robotTargetAddressPalletCode { get; set; }

}