From 4f3b0a6727ecfa555892ebea64bd76e5a07cd6fb Mon Sep 17 00:00:00 2001
From: xiazhengtongxue <133085197+xiazhengtongxue@users.noreply.github.com>
Date: 星期二, 17 三月 2026 10:01:38 +0800
Subject: [PATCH] feat: 新增WMS异常上报自动恢复异常按钮
---
项目代码/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs | 63 +++++++++++++++++++++++++++++--
1 files changed, 58 insertions(+), 5 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs"
index 8207280..a49db76 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs"
@@ -2,6 +2,8 @@
using Microsoft.AspNetCore.Authorization;
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;
@@ -24,6 +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;
@@ -56,17 +59,50 @@
WebResponseContent content = new WebResponseContent();
try
{
- var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "")==x.PalletCode);
+ WriteLog.Write_Log("AGV浠诲姟鏇存柊鎺ュ彛", "AGV浠诲姟鏇存柊鎺ュ彛", "鏇存柊浠诲姟", $"浠诲姟锛歿agvUpdateDTO.ToJson()}");
+ if (agvUpdateDTO.Message != null && agvUpdateDTO.Message == "ROBOT_ERROR-haiUnknownError")
+ {
+ var task1 = _taskRepository.QueryFirst(x => (agvUpdateDTO.MissionCode ?? "") == x.GroupId);
+ if (task1 != null)
+ {
+ Dt_ErrorInfo errorInfo = new Dt_ErrorInfo()
+ {
+ RobotCode = agvUpdateDTO.RobotId,
+ Message = agvUpdateDTO.Message,
+ ErrorType = 2
+ };
+ if (task1.TaskType == 500)
+ {
+ errorInfo.Message = "鍏ュ簱寮傚父";
+ errorInfo.StationCode = task1.CurrentAddress;
+ }
+ else
+ {
+ errorInfo.Message = "鍑哄簱寮傚父";
+ errorInfo.StationCode = task1.NextAddress;
+ }
+ _taskService.AgvSearchStatus1(errorInfo);
+ }
+ }
+ var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "") == x.PalletCode);
switch (agvUpdateDTO.MissionStatus)
{
case nameof(AGVStatusEnum.PICKER_RECEIVE):
if (task == null) throw new Exception($"鏈壘鍒版枡绠便�恵agvUpdateDTO.ContainerCode}銆戜换鍔�");
_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($"鏈壘鍒版枡绠便�恵agvUpdateDTO.ContainerCode}銆戜换鍔�");
- Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x=>x.PickStationCode==task.NextAddress);
- if (task.IsCancel>0 && stationManger!=null && stationManger.StationCode!= agvUpdateDTO.CurrentPosition)
+ Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);
+ if (task.IsCancel > 0 && stationManger != null && stationManger.StationCode != agvUpdateDTO.CurrentPosition)
{
_taskService.TaskCancelCompleted(task.TaskNum);
}
@@ -74,19 +110,34 @@
{
_taskService.TaskCompleted(task.TaskNum);
}
+ Dt_ErrorInfo e2 = new Dt_ErrorInfo()
+ {
+ RobotCode = agvUpdateDTO.RobotId,
+ Message = agvUpdateDTO.Message,
+ ErrorType = 0
+ };
+ _taskService.AgvSearchStatus1(e2);
break;
case nameof(AGVStatusEnum.WAITFEEDBACK):
//AGV鏀捐
- List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x=>x.StationType==StationTypeEnum.StationType_OnlyInbound.ObjToInt());
- if (!stationMangers.Select(x=>x.StationCode).Contains(agvUpdateDTO.CurrentPosition))
+ List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x => x.StationType == StationTypeEnum.StationType_OnlyInbound.ObjToInt());
+ if (!stationMangers.Select(x => x.StationCode).Contains(agvUpdateDTO.CurrentPosition))
{
WebResponseContent responseContent = _taskService.AgvTaskFlow(agvUpdateDTO.MissionCode);
if (!responseContent.Status) throw new Exception($"{responseContent.Message}");
}
+ Dt_ErrorInfo e3 = new Dt_ErrorInfo()
+ {
+ RobotCode = agvUpdateDTO.RobotId,
+ Message = agvUpdateDTO.Message,
+ ErrorType = 0
+ };
+ _taskService.AgvSearchStatus1(e3);
break;
default:
break;
}
+
content.OK();
}
catch (Exception ex)
@@ -105,6 +156,7 @@
AgvTaskReqContent content = new AgvTaskReqContent();
try
{
+ WriteLog.Write_Log("AGV浠诲姟璇锋眰", "AGV浠诲姟璇锋眰鎺ュ彛", "浠诲姟", $"浠诲姟锛歿agvTaskRequestDTO.ToJson()}");
//鑾峰彇浠诲姟
Dt_Task? taskExist = _taskRepository.QueryFirst(x=>x.PalletCode==agvTaskRequestDTO.ContainerCode) ?? throw new Exception($"鏈壘鍒版枡绠眥agvTaskRequestDTO.ContainerCode}浠诲姟");
//鑾峰彇绔欏彴
@@ -141,6 +193,7 @@
AgvTaskReqContent content = new AgvTaskReqContent();
try
{
+ WriteLog.Write_Log("AGV浣滀笟瀹屾垚", "AGV浣滀笟瀹屾垚鎺ュ彛", "浠诲姟", $"浠诲姟锛歿agvTaskRequestDTO.ToJson()}");
//鑾峰彇绔欏彴
Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == agvTaskRequestDTO.PositionId) ?? throw new Exception($"鏈壘鍒皗agvTaskRequestDTO.PositionId}绔欏彴浣嶇疆");
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode) ?? throw new Exception($"鏈壘鍒板搴旇澶噞stationManger.StationDeviceCode}");
--
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