一堆逻辑修改

wangxinhui

2026-02-03 b2b779905bc8a71b52d0e14f91652309d9279878

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

@@ -2,12 +2,16 @@
using Microsoft.AspNetCore.Http;
using Microsoft.AspNetCore.Mvc;
using System.Text;
using System.Text.RegularExpressions;
using WIDESEA_DTO.Agv;
using WIDESEA_External.Model;
using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_DTO;
using WIDESEAWCS_DTO.Agv;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_ITaskInfoRepository;
@@ -69,7 +73,7 @@
                    }
                    else//出库放货请求
                    {
                        var content = PutRequest(task.NextAddress, task.PalletType);
                        var content = PutRequest(task.NextAddress, task);
                        if (!content.Status)
                        {
                            throw new Exception(content.Message);
@@ -88,7 +92,7 @@
                    }
                    else//入库放货请求
                    {
                        var content = PutRequest(task.NextAddress, task.TaskNum);
                        var content = PutRequest(task.NextAddress, task);
                        if (!content.Status)
                        {
                            throw new Exception(content.Message);
@@ -274,6 +278,10 @@
                                _taskService.UpdateTask(task, TaskStatusEnum.AGV_Finish);
                                PutFinish(oldAddress, task.TaskNum);
                            }
                            else if (task.TaskType == TaskTypeEnum.WFBLMYLBackInbound.ObjToInt() || task.TaskType == TaskTypeEnum.WFBYLInbound.ObjToInt())
                            {
                                _taskService.TaskCompleted(task.TaskNum);
                            }
                            else
                            {
                                task.CurrentAddress = dt_Station.StationCode;
@@ -287,7 +295,7 @@
                        else
                        {
                            _taskService.TaskCompleted(task.TaskNum);
                            if (task.TaskType==TaskTypeEnum.PrintYLOutbound.ObjToInt())
                            if (task.TaskType==TaskTypeEnum.PrintYLOutbound.ObjToInt() || task.TaskType == TaskTypeEnum.OutCarton.ObjToInt())
                            {
                                PutFinish(task.NextAddress);
                            }
@@ -311,7 +319,7 @@
        /// <param name="palletType"></param>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("PutRequest"), AllowAnonymous]
        public WebResponseContent PutRequest(string code, int taskNum)
        public WebResponseContent PutRequest(string code, Dt_Task task)
        {
            WebResponseContent content = new WebResponseContent();
            try
@@ -321,6 +329,38 @@
                {
                    return content.Error($"未找到站台配置");
                }
                #region todo:临时逻辑
                if (stationManger.StationDeviceCode=="MES")
                {
                    
                    RequestAGVArriveDTO requestAGVArriveDTO =new RequestAGVArriveDTO()
                    {
                        SD_WorkCentreAgvArriveNoticeInfo=new List<AgvArriveNotice> { new AgvArriveNotice()
                        {
                            DispatchPlanMaterialId=task.DispatchPlanId,
                            WorkCentreCode=task.WorkCentreCode,
                            LocationCode=code,
                            CallId=Guid.NewGuid().ToString().Replace("-","")
                        } }
                    };
                    MESResponse response = _taskService.MESAvgArriveNotice(requestAGVArriveDTO).DeserializeObject<MESResponse>() ?? throw new Exception("未获取到返回信息");
                    if (!response.Result)
                    {
                        throw new Exception($"调用MES小车允许放货报错,MES返回信息"+ Regex.Replace(response.Msg, @"\\u([0-9a-fA-F]{4})", match =>{
                            return ((char)Convert.ToInt32(match.Groups[1].Value, 16)).ToString();
                        }));
                    }
                    if (response.Obj)
                    {
                        return content.Error($"允许取料");
                    }
                    else
                    {
                        return content.Error($"禁止放料");
                    }
                    
                }
                #endregion
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                if (device == null)
                {
@@ -362,7 +402,7 @@
                        bool RequestPut = otherDevice.GetValue<CoveryorDB, bool>(CoveryorDB.C_RequestPut, stationManger.StationDeviceCode);
                        if (!RequestPut)
                        {
                            otherDevice.SetValue(CoveryorDB.C_InTaskNum, taskNum, stationManger.StationDeviceCode);
                            otherDevice.SetValue(CoveryorDB.C_InTaskNum, task.TaskNum, stationManger.StationDeviceCode);
                            otherDevice.SetValue(CoveryorDB.C_RequestPut, true, stationManger.StationDeviceCode);
                            Thread.Sleep(1000);
                        }
@@ -394,6 +434,25 @@
                        {
                            return content.Error("禁止放料");
                        }
                    }
                    else if (device.DeviceCode.Contains("TrussDixieCup"))//桁架
                    {

                            bool RequestPut = otherDevice.GetValue<W_TrussDixieCupDB, bool>(GetTrussDixieCupOutReq(stationManger.StackerCraneStationCode), stationManger.StationDeviceCode);
                            if (!RequestPut)
                            {
                                otherDevice.SetValue(GetTrussDixieCupOutReq(stationManger.StackerCraneStationCode), true, stationManger.StationDeviceCode);
                                Thread.Sleep(1000);
                            }
                            bool AllowFinish = otherDevice.GetValue<R_TrussDixieCupDB, bool>(GetDixieCupPutOut(stationManger.StackerCraneStationCode), stationManger.StationDeviceCode);
                            if (AllowFinish)
                            {
                                content.OK("允许放料");
                            }
                            else
                            {
                                return content.Error("禁止放料");
                            }
                    }
                }
                return content;
@@ -442,12 +501,131 @@
                    {
                        otherDevice.SetValue(RetractDB.Ret_PutFinish, true, stationManger.StationDeviceCode);
                    }
                    else if (device.DeviceCode.Contains("TrussDixieCup"))//纸杯桁架
                    {
                        otherDevice.SetValue(GetTrussDixieCupPuted(stationManger.StackerCraneStationCode), true, stationManger.StationDeviceCode);
                    }
                }
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
        /// <summary>
        /// èŽ·å–桁架放料信号
        /// </summary>
        private W_TrussDixieCupDB GetTrussDixieCupPuted(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return W_TrussDixieCupDB.W_DixieCupPuted1;
                case "2":
                    return W_TrussDixieCupDB.W_DixieCupPuted2;
                case "3":
                    return W_TrussDixieCupDB.W_DixieCupPuted3;
                case "4":
                    return W_TrussDixieCupDB.W_DixieCupPuted4;
                default:
                    throw new Exception("未定义工位");
            }
        }
        /// <summary>
        /// èŽ·å–桁架取料料信号
        /// </summary>
        private W_TrussDixieCupDB GetTrussDixieCupTaked(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return W_TrussDixieCupDB.W_DixieCupTaked1;
                case "2":
                    return W_TrussDixieCupDB.W_DixieCupTaked2;
                case "3":
                    return W_TrussDixieCupDB.W_DixieCupTaked3;
                case "4":
                    return W_TrussDixieCupDB.W_DixieCupTaked4;
                default:
                    throw new Exception("未定义工位");
            }
        }
        /// <summary>
        /// èŽ·å–桁架请求进信号
        /// </summary>
        private W_TrussDixieCupDB GetTrussDixieCupOutReq(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return W_TrussDixieCupDB.W_DixieCupReqPut1;
                case "2":
                    return W_TrussDixieCupDB.W_DixieCupReqPut2;
                case "3":
                    return W_TrussDixieCupDB.W_DixieCupReqPut3;
                case "4":
                    return W_TrussDixieCupDB.W_DixieCupReqPut4;
                default:
                    throw new Exception("未定义工位");
            }
        }
        /// <summary>
        /// èŽ·å–桁架请求进信号
        /// </summary>
        private W_TrussDixieCupDB GetTrussDixieCupInReq(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return W_TrussDixieCupDB.W_DixieCupReqTake1;
                case "2":
                    return W_TrussDixieCupDB.W_DixieCupReqTake2;
                case "3":
                    return W_TrussDixieCupDB.W_DixieCupReqTake3;
                case "4":
                    return W_TrussDixieCupDB.W_DixieCupReqTake4;
                default:
                    throw new Exception("未定义工位");
            }
        }

        /// <summary>
        /// èŽ·å–桁架进入信号
        /// </summary>
        private R_TrussDixieCupDB GetDixieCupPutOut(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return R_TrussDixieCupDB.R_DixieCupPutOut1;
                case "2":
                    return R_TrussDixieCupDB.R_DixieCupPutOut2;
                case "3":
                    return R_TrussDixieCupDB.R_DixieCupPutOut3;
                case "4":
                    return R_TrussDixieCupDB.R_DixieCupPutOut4;
                default:
                    throw new Exception("未定义工位");
            }
        }
        /// <summary>
        /// èŽ·å–桁架进入信号
        /// </summary>
        private R_TrussDixieCupDB GetDixieCupTakeIn(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return R_TrussDixieCupDB.R_DixieCupTakeIn1;
                case "2":
                    return R_TrussDixieCupDB.R_DixieCupTakeIn2;
                case "3":
                    return R_TrussDixieCupDB.R_DixieCupTakeIn3;
                case "4":
                    return R_TrussDixieCupDB.R_DixieCupTakeIn4;
                default:
                    throw new Exception("未定义工位");
            }
        }

@@ -527,6 +705,24 @@
                            return content.Error("禁止取料");
                        }
                    }
                    else if (device.DeviceCode.Contains("TrussDixieCup"))
                    {
                        bool RequestPut = otherDevice.GetValue<W_TrussDixieCupDB, bool>(GetTrussDixieCupInReq(stationManger.StackerCraneStationCode), stationManger.StationDeviceCode);
                        if (!RequestPut)
                        {
                            otherDevice.SetValue(GetTrussDixieCupInReq(stationManger.StackerCraneStationCode), true, stationManger.StationDeviceCode);
                            Thread.Sleep(1000);
                        }
                        bool AllowFinish = otherDevice.GetValue<R_TrussDixieCupDB, bool>(GetDixieCupTakeIn(stationManger.StackerCraneStationCode), stationManger.StationDeviceCode);
                        if (AllowFinish)
                        {
                            content.OK("允许取料");
                        }
                        else
                        {
                            return content.Error("禁止取料");
                        }
                    }
                }
                return content;
            }
@@ -536,7 +732,6 @@
            }
        }

        //[HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
        /// <summary>
        /// å–货完成
        /// </summary>
@@ -578,6 +773,10 @@
                    {
                        otherDevice.SetValue(RetractDB.Ret_TakeFinish, true, stationManger.StationDeviceCode);
                    }
                    else if (device.DeviceCode.Contains("TrussDixieCup"))//纸杯桁架
                    {
                        otherDevice.SetValue(GetTrussDixieCupTaked(stationManger.StackerCraneStationCode), true, stationManger.StationDeviceCode);
                    }
                }

                return WebResponseContent.Instance.OK();
@@ -587,5 +786,79 @@
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
        /// <summary>
        /// AGV确认完成接口(取放)
        /// </summary>
        /// <param name="code"></param>
        /// <returns></returns>
        [HttpPost, HttpGet, Route("AGVFinish"), AllowAnonymous]
        public WebResponseContent AGVFinish(string address,int taskNum)
        {
            try
            {
                Dt_Task task = _taskRepository.QueryFirst(x=>x.TaskNum==taskNum && x.DeviceCode=="AGV");
                if (task==null)
                {
                    return WebResponseContent.Instance.Error($"{taskNum}AGV任务不存在");
                }
                //获取对应的坐标点
                Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x=>x.AGVStationCode== address);
                if (stationManger==null)
                {
                    return WebResponseContent.Instance.Error($"{address}AGV地址编号不存在");
                }
                if (task.TaskState == TaskStatusEnum.AGV_Executing.ObjToInt())//取货
                {
                    if (task.CurrentAddress != stationManger.StationCode)
                    {
                        return WebResponseContent.Instance.Error($"{taskNum}AGV任务取货地址编号不是{address}");
                    }
                    AgvFinishDTO agvFinishDTO = new AgvFinishDTO()
                    {
                        ReceiveTaskID = task.TaskNum.ToString(),
                        Variables = new List<PointDetail>()
                        {
                            new PointDetail()
                            {
                                Code="isPick",
                                Value="true"
                            }
                        }
                    };
                    //发送AGV完成通知
                    WebResponseContent content = _taskService.AGVFinish(agvFinishDTO);
                    if (!content.Status)
                        throw new Exception(content.Message);
                }
                else//放货
                {
                    if (task.NextAddress != stationManger.StationCode)
                    {
                        return WebResponseContent.Instance.Error($"{taskNum}AGV任务放货地址编号不是{address}");
                    }
                    AgvFinishDTO agvFinishDTO = new AgvFinishDTO()
                    {
                        ReceiveTaskID = task.TaskNum.ToString(),
                        Variables = new List<PointDetail>()
                        {
                            new PointDetail()
                            {
                                Code="isDown",
                                Value="true"
                            }
                        }
                    };
                    //发送AGV完成通知
                    WebResponseContent content = _taskService.AGVFinish(agvFinishDTO);
                    if (!content.Status)
                        throw new Exception(content.Message);
                }
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
    }
}