From 5368df4e3ab0f1ca849b550a9fcbd0338e7f859d Mon Sep 17 00:00:00 2001
From: wangxinhui <wangxinhui@hnkhzn.com>
Date: 星期二, 09 十二月 2025 15:01:09 +0800
Subject: [PATCH] 优化
---
项目代码/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs | 121 +++++++++++++++++++++++++++++++++++++++
1 files changed, 119 insertions(+), 2 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 6a3c278..51c7860 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"
@@ -1,10 +1,12 @@
-锘縰sing Microsoft.AspNetCore.Authorization;
+锘縰sing Autofac.Core;
+using Microsoft.AspNetCore.Authorization;
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;
using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
@@ -13,6 +15,7 @@
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_DTO;
using WIDESEAWCS_DTO.Agv;
+using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
@@ -43,7 +46,121 @@
_taskRepository = taskRepository;
_routerRepository = routerRepository;
}
+ /// <summary>
+ /// AGV浠诲姟鏇存柊
+ /// </summary>
+ /// <returns></returns>
+ [HttpPost, HttpGet, Route("Callback"), AllowAnonymous]
+ public WebResponseContent? Callback([FromBody]AgvUpdateDTO agvUpdateDTO)
+ {
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "")==x.PalletCode);
+ switch (agvUpdateDTO.MissionStatus)
+ {
+ case nameof(AGVStatusEnum.PICKER_RECEIVE):
+ if (task == null) throw new Exception($"鏈壘鍒版枡绠便�恵agvUpdateDTO.ContainerCode}銆戜换鍔�");
+ _taskService.UpdateTask(task, TaskStatusEnum.AGV_TakeFinish);
+ break;
+ case nameof(AGVStatusEnum.PICKER_SEND):
+ if (task == null) throw new Exception($"鏈壘鍒版枡绠便�恵agvUpdateDTO.ContainerCode}銆戜换鍔�");
+ _taskService.TaskCompleted(task.TaskNum);
+ 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))
+ {
+ WebResponseContent responseContent = _taskService.AgvTaskFlow(agvUpdateDTO.MissionCode);
+ if (!responseContent.Status) throw new Exception($"{responseContent.Message}");
+ }
+ break;
+ default:
+ break;
+ }
+ content.OK();
+ }
+ catch (Exception ex)
+ {
+ content.Error(ex.Message);
+ }
+ return content;
+ }
+ /// <summary>
+ /// AGV浠诲姟璇锋眰
+ /// </summary>
+ /// <returns></returns>
+ [HttpPost, HttpGet, Route("WorkRequest"), AllowAnonymous]
+ public AgvTaskReqContent WorkRequest([FromBody] AgvTaskRequestDTO agvTaskRequestDTO)
+ {
+ AgvTaskReqContent content = new AgvTaskReqContent();
+ try
+ {
+ //鑾峰彇浠诲姟
+ Dt_Task? taskExist = _taskRepository.QueryFirst(x=>x.PalletCode==agvTaskRequestDTO.ContainerCode) ?? throw new Exception($"鏈壘鍒版枡绠眥agvTaskRequestDTO.ContainerCode}浠诲姟");
+ //鑾峰彇绔欏彴
+ 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}");
-
+ OtherDevice commonConveyorLine = (OtherDevice)device;
+
+ if (stationManger.StationType==StationTypeEnum.StationType_OnlyOutbound.ObjToInt())
+ {
+ short IsPut = commonConveyorLine.Communicator.Read<short>("0");
+ if (IsPut != 256) throw new Exception($"{agvTaskRequestDTO.PositionId}绂佹鏀剧");
+ }
+ else
+ {
+ short IsTake = commonConveyorLine.Communicator.Read<short>("11");
+ if (IsTake != 256) throw new Exception($"{agvTaskRequestDTO.PositionId}绂佹鍙栫");
+ }
+ content.OK();
+ }
+ catch (Exception ex)
+ {
+ content.Error(ex.Message);
+ }
+ return content;
+ }
+ /// <summary>
+ /// AGV浣滀笟瀹屾垚
+ /// </summary>
+ /// <returns></returns>
+ [HttpPost, HttpGet, Route("WorkFinish"), AllowAnonymous]
+ public AgvTaskReqContent WorkFinish([FromBody] AgvTaskRequestDTO agvTaskRequestDTO)
+ {
+ AgvTaskReqContent content = new AgvTaskReqContent();
+ try
+ {
+ //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}");
+
+ OtherDevice commonConveyorLine = (OtherDevice)device;
+
+ if (stationManger.StationType == StationTypeEnum.StationType_OnlyOutbound.ObjToInt())
+ {
+ commonConveyorLine.Communicator.Write("21", (short)256);
+ }
+ else
+ {
+ commonConveyorLine.Communicator.Write("23", (short)256);
+ }
+ content.OK();
+ }
+ catch (Exception ex)
+ {
+ if (ex.Message.Contains("鏁版嵁鍐欏叆锛屽湴鍧�锛氥��23銆戯紝鍐欏叆鐨勬暟鎹細銆�256銆�") || ex.Message.Contains("鏁版嵁鍐欏叆锛屽湴鍧�锛氥��21銆戯紝鍐欏叆鐨勬暟鎹細銆�256銆�"))
+ {
+ content.OK();
+ }
+ else
+ {
+ content.Error(ex.Message);
+ }
+ }
+ return content;
+ }
}
}
--
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