1

wangxinhui

6 天以前 e719f3e5d5d16ee8a9dece97d9889610507628ac

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

@@ -51,7 +51,7 @@
            {
                var task = _taskRepository.QueryFirst(x => secureApplyModel.ReceiveTaskID.ObjToInt() == x.TaskNum);
                if (task == null) throw new Exception("未找到任务");
                if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    var content = TakeRequest(task.CurrentAddress);
                    if (!content.Status)
@@ -200,17 +200,18 @@
                if (task == null) throw new Exception($"未找到任务,任务号【{agvUpdateModel.ReceiveTaskID}】");
                switch (agvUpdateModel.GoodsState)
                {
                    //case 1://出库根据这个信号判断取货完成
                    //    if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
                    //    {
                    //        var content = TakeFinish(task.CurrentAddress);
                    //        if (!content.Status) throw new Exception(content.Message);
                    //        task.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
                    //        var up = _taskRepository.DeleteAndMoveIntoHty(task, OperateTypeEnum.自动完成);
                    //        _taskService.TaskCompleted(task.TaskNum);
                    //    }
                    //    break;
                    case 2://入库根据这个信号判断放货完成
                    case "1"://出库根据这个信号判断取货完成
                        if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                        {
                            var content = TakeFinish(task.CurrentAddress);
                            if (!content.Status) 
                            {
                                throw new Exception(content.Message);
                            };
                            return agvResponse.OK("成功", "0");
                        }
                        break;
                    case "2"://入库根据这个信号判断放货完成
                        if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                        {
                            Dt_StationManger dt_Station = _stationMangerRepository.QueryFirst(x => x.StationCode == task.NextAddress);
@@ -224,6 +225,11 @@
                            task.DeviceCode = dt_Station.StationDeviceCode;
                            var up = _taskRepository.UpdateData(task);
                            return agvResponse.OK("成功","0");
                        }
                        else if(task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                        {
                            _taskService.TaskCompleted(task.TaskNum);
                            return agvResponse.OK("成功", "0");
                        }
                        break;
                    default:
@@ -321,45 +327,36 @@
        [HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
        public WebResponseContent TakeRequest(string code)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
                Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == code);
                if (stationManger == null)
                {
                    return WebResponseContent.Instance.Error($"未找到站台配置");
                    return WebResponseContent.Instance.Error($"未找到站台配置{code}");
                }
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                if (device == null)
                {
                    return WebResponseContent.Instance.Error($"未找到对应设备");
                    return WebResponseContent.Instance.Error($"未找到对应设备{stationManger.StationDeviceCode}");
                }

                OtherDevice otherDevice = (OtherDevice)device;

                bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
                if (canPut)
                short Command = otherDevice.GetValue<R_ConveyorLineCPDB, short>(R_ConveyorLineCPDB.Command, stationManger.StationCode);
                if (Command == 2)
                {
                    otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
                    return WebResponseContent.Instance.OK();
                    content.OK("允许取料");
                }
                else
                {
                    otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
                    Thread.Sleep(1000);
                    canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
                    if (canPut)
                    {
                        return WebResponseContent.Instance.OK();
                    }
                    else
                    {
                        return WebResponseContent.Instance.Error($"取货申请中");
                    }
                    return content.Error("禁止取料");
                }
                return content;
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
                return content.Error(ex.Message);
            }
        }

@@ -374,7 +371,7 @@
        {
            try
            {
                Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == code);
                Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == code);
                if (stationManger == null)
                {
                    return WebResponseContent.Instance.Error($"未找到站台配置");
@@ -386,9 +383,10 @@
                }

                OtherDevice otherDevice = (OtherDevice)device;
                otherDevice.SetValue(GroundStationDBName.W_TakeFinish, true, stationManger.StationCode);
                Thread.Sleep(1000);
                otherDevice.SetValue(GroundStationDBName.W_TakeFinish, false, stationManger.StationCode);
                if (device.DeviceCode.Contains("CP"))
                {
                    otherDevice.SetValue(W_ConveyorLineCPDB.W_Command, 2, stationManger.StationCode);
                }
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)