From 5d55a31d8ce95e511ffb408f38ed06e81742b67e Mon Sep 17 00:00:00 2001
From: xiazhengtongxue <133085197+xiazhengtongxue@users.noreply.github.com>
Date: 星期五, 27 三月 2026 16:17:30 +0800
Subject: [PATCH] 1
---
项目代码/WCSServices/WIDESEAWCS_TaskInfoService/InvokeAGVService.cs | 226 +++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 214 insertions(+), 12 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_TaskInfoService/InvokeAGVService.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_TaskInfoService/InvokeAGVService.cs"
index 0b7f032..cb04891 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_TaskInfoService/InvokeAGVService.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCSServices/WIDESEAWCS_TaskInfoService/InvokeAGVService.cs"
@@ -1,7 +1,11 @@
锘縰sing Autofac.Core;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Serialization;
+using Org.BouncyCastle.Asn1.Ocsp;
using System;
using System.Collections.Generic;
using System.Linq;
+using System.Reflection.Metadata;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_DTO.Agv;
@@ -10,24 +14,33 @@
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.Agv;
+using WIDESEAWCS_DTO.TaskInfo;
+using WIDESEAWCS_Model.Models;
namespace WIDESEAWCS_TaskInfoService
{
public partial class TaskService
{
+ // 鍒涘缓涓�涓娇鐢ㄥ皬椹煎嘲鍛藉悕娉曠殑搴忓垪鍖栬缃�
+ JsonSerializerSettings settings = new JsonSerializerSettings
+ {
+ ContractResolver = new CamelCasePropertyNamesContractResolver()
+ };
public WebResponseContent AgvSendTask(AgvTaskSendDTO taskModel, APIEnum SendTask = APIEnum.AgvSendTask)
{
WebResponseContent content = new WebResponseContent();
try
{
- string? apiAddress = apiInfos.FirstOrDefault(x => x.ApiCode == SendTask.ToString())?.ApiAddress;
- if (string.IsNullOrEmpty(apiAddress))
- return WebResponseContent.Instance.Error($"鏈壘鍒板彂閫丄GV浠诲姟鎺ュ彛,璇锋鏌ユ帴鍙ｉ厤缃�");
- string response = HttpHelper.Post(apiAddress, taskModel.Serialize());
- AgvResponseContent agvContent = response.DeserializeObject<AgvResponseContent>();
- if (agvContent.Code == "0")
+
+ string? apiAddress = _apiInfoRepository.QueryFirst(x => x.ApiCode == SendTask.ToString())?.ApiAddress;
+ if (string.IsNullOrEmpty(apiAddress)) throw new Exception($"鏈壘鍒板彂閫丄GV浠诲姟鎺ュ彛,璇锋鏌ユ帴鍙ｉ厤缃�");
+ string request = JsonConvert.SerializeObject(taskModel, settings);
+ string response = HttpHelper.Post(apiAddress, request);
+ WriteLog.Write_Log("AGV鍏ュ簱浠诲姟涓嬪彂", "鍑哄簱浠诲姟涓嬪彂鎺ュ彛", "璇锋眰浠诲姟", $"璇锋眰锛歿request},鍥炰紶锛歿response}");
+ AgvResponseContent agvContent = response.DeserializeObject<AgvResponseContent>() ?? throw new Exception("AGV浠诲姟鍙戦�佹湭杩斿洖缁撴灉");
+ if (agvContent.Success)
{
- content.OK(data: agvContent.Data);
+ content.OK();
}
else
{
@@ -41,13 +54,202 @@
return content;
}
/// <summary>
- /// AGV浠诲姟鐘舵�佸埛鏂�/AGV浠诲姟瀹屾垚
+ /// AGV鏌ヨ璋冪敤鍙奧MS鏁呴殰涓婃姤
/// </summary>
- /// <param name="agvUpdateModel"></param>
- /// <returns></returns>
- public AgvResponseContent AgvUpdateTask(AgvUpdateDTO agvUpdateModel)
+ public void AgvSearchStatus1(Dt_ErrorInfo e2)
{
- return new AgvResponseContent();
+ WriteLog.Write_Log("AGV鏌ヨ璋冪敤鍙奧MS鏁呴殰涓婃姤", "AGV鏌ヨ璋冪敤鍙奧MS鏁呴殰鎺ュ彛", "璇锋眰", $"璇锋眰锛歿e2.ToJson()}");
+ if (e2 != null)
+ {
+ // 鏌ヨ鏄惁鏈夐敊璇病鏈夊氨娣诲姞锛屾湁灏卞彇娑�
+ List<Dt_ErrorInfo> existingErrors = _errorInfoRepository.QueryData(x =>
+ x.RobotCode == e2.RobotCode &&
+ x.ErrorType == 2); // 鍙煡璇㈡晠闅滅被鍨嬩负2鐨勮褰�
+
+ string? ErrorBack = _apiInfoRepository.QueryFirst(x => x.ApiCode == APIEnum.WMSErrorBack.ToString())?.ApiAddress;
+ if (string.IsNullOrEmpty(ErrorBack))
+ {
+ return;
+ }else{
+ // 濡傛灉鏄晠闅滀笂鎶�(e2.ErrorType == 2)
+ if (e2.ErrorType == 2)
+ {
+ // 妫�鏌ユ槸鍚﹀凡瀛樺湪鐩稿悓鏈哄櫒浜虹殑鏁呴殰璁板綍
+ if (existingErrors.Count == 0)
+ {
+ _errorInfoRepository.AddData(e2);
+ // 鍙戦�佺粰WMS - 鏁呴殰涓婃姤
+ TaskError taskError = new TaskError()
+ {
+ MsgID = e2.Id,
+ StationCode = e2.StationCode,
+ MsgCode = 1, // 1琛ㄧず鏁呴殰
+ Msg = e2.Message
+ };
+ string reqErrorBack = JsonConvert.SerializeObject(taskError, settings);
+ HttpHelper.Post(ErrorBack, reqErrorBack);
+ }
+ // 濡傛灉宸插瓨鍦ㄦ晠闅滆褰曪紝鍒欎笉閲嶅娣诲姞
+ }
+ // 濡傛灉鏄甯哥姸鎬�(e2.ErrorType == 0)涓斿瓨鍦ㄦ晠闅滆褰曪紝鍒欐墽琛屾晠闅滄仮澶�
+ else if (e2.ErrorType == 0 && existingErrors.Count > 0)
+ {
+ // 鍒犻櫎鏁呴殰璁板綍
+ if (_errorInfoRepository.DeleteData(existingErrors))
+ {
+ // 鍙戦�佺粰WMS - 鏁呴殰鎭㈠
+ foreach (var error in existingErrors)
+ {
+ TaskError taskError = new TaskError()
+ {
+ MsgID = error.Id,
+ StationCode = error.StationCode,
+ MsgCode = 0, // 0琛ㄧず鎭㈠
+ Msg = "鏁呴殰鎭㈠"
+ };
+ string reqErrorBack = JsonConvert.SerializeObject(taskError, settings);
+ HttpHelper.Post(ErrorBack, reqErrorBack);
+ }
+ }
+ }
+ return;
+ }
+
+ }
+ }
+ /// <summary>
+ /// AGV鐘舵�佹煡璇㈣皟鐢ㄥ強WMS鏁呴殰涓婃姤
+ /// </summary>
+ public void AgvSearchStatus()
+ {
+ try
+ {
+ // 鏌ヨ鏄惁鏈変换鍔�
+ List<Dt_Task> tasks = BaseDal.QueryData();
+ // 濡傛灉娌℃湁浠诲姟锛岀洿鎺ヨ繑鍥�
+ if (tasks == null || tasks.Count == 0)
+ {
+ return;
+ }
+
+ AgvSearchStatusDTO agvSearchStatusDTO = new AgvSearchStatusDTO();
+ string? apiAddress = _apiInfoRepository.QueryFirst(x => x.ApiCode == APIEnum.AgvSearchStatus.ToString())?.ApiAddress;
+ if (string.IsNullOrEmpty(apiAddress)) throw new Exception($"鏈壘鍒癆GV鐘舵�佹煡璇㈡帴鍙�,璇锋鏌ユ帴鍙ｉ厤缃�");
+ string? apiErrorBack = _apiInfoRepository.QueryFirst(x => x.ApiCode == APIEnum.WMSErrorBack.ToString())?.ApiAddress;
+ if (string.IsNullOrEmpty(apiErrorBack)) throw new Exception($"鏈壘鍒癢MS鏁呴殰涓婃姤,璇锋鏌ユ帴鍙ｉ厤缃�");
+ string request = JsonConvert.SerializeObject(agvSearchStatusDTO, settings);
+ string response = HttpHelper.Post(apiAddress, request);
+ AgvStatusContent agvContent = response.DeserializeObject<AgvStatusContent>() ?? throw new Exception("AGV鐘舵�佹煡璇㈡湭杩斿洖缁撴灉");
+
+ //鑾峰彇鎵�鏈夋晠闅滀俊鎭�
+ List <Dt_ErrorInfo> errorInfos = _errorInfoRepository.QueryData(x => x.ErrorType == 1);
+ int errorId = errorInfos.Count > 0 ? errorInfos.Max(x => x.Id) : 0;
+ List<Dt_ErrorInfo> delErrorInfos = new List<Dt_ErrorInfo>();
+ List<Dt_ErrorInfo> addErrorInfos = new List<Dt_ErrorInfo>();
+ //鑾峰彇浠诲姟淇℃伅
+ //List<Dt_Task> tasks = BaseDal.QueryData();
+ if (agvContent.Success)
+ {
+ foreach (var item in agvContent.Data.Where(x => errorInfos.Select(x => x.RobotCode).Contains(x.RobotId) && x.Status != 7))
+ {
+ //涓婃姤鏁呴殰鎭㈠
+ Dt_ErrorInfo errorInfo = errorInfos.FirstOrDefault(x => x.RobotCode == item.RobotId);
+
+ delErrorInfos.Add(errorInfo);
+ }
+ foreach (var item in agvContent.Data.Where(x => !x.MissionCode.IsNullOrEmpty() && !errorInfos.Select(x => x.RobotCode).Contains(x.RobotId) && x.Status == 7))
+ {
+ Dt_Task? task = tasks.FirstOrDefault(x=>x.TaskNum == item.MissionCode.ObjToInt() || x.GroupId==item.MissionCode);
+ if (task != null)
+ {
+ Dt_ErrorInfo errorInfo = new Dt_ErrorInfo()
+ {
+ RobotCode = item.RobotId,
+ Message = "鏁呴殰",
+ ErrorType = 1,
+ };
+ if (task.TaskType==TaskTypeEnum.Inbound.ObjToInt())
+ {
+ errorInfo.StationCode = task.CurrentAddress;
+ }
+ else
+ {
+ errorInfo.StationCode = task.NextAddress;
+ }
+ addErrorInfos.Add(errorInfo);
+ }
+ }
+ }
+ //鏁版嵁搴撴搷浣�
+ _unitOfWorkManage.BeginTran();
+ _errorInfoRepository.DeleteData(delErrorInfos);
+ _errorInfoRepository.AddData(addErrorInfos);
+ _unitOfWorkManage.CommitTran();
+ List<Dt_ErrorInfo> newErrInfos = _errorInfoRepository.QueryData(x=>x.Id > errorId && x.ErrorType == 1);
+ if (delErrorInfos.Count>0)
+ {
+ foreach (var item in delErrorInfos)
+ {
+ TaskError taskError = new TaskError()
+ {
+ MsgID = item.Id,
+ StationCode = item.StationCode,
+ MsgCode = 0,
+ Msg = "鎭㈠"
+ };
+ string reqErrorBack = JsonConvert.SerializeObject(taskError, settings);
+ HttpHelper.Post(apiErrorBack, reqErrorBack);
+
+ }
+ }
+ if (newErrInfos.Count>0)
+ {
+ //涓婁紶鏁呴殰
+ foreach (var item in newErrInfos)
+ {
+ TaskError taskError = new TaskError()
+ {
+ MsgID = item.Id,
+ StationCode = item.StationCode,
+ MsgCode = 1,
+ Msg = item.Message
+ };
+ string reqErrorBack = JsonConvert.SerializeObject(taskError, settings);
+ HttpHelper.Post(apiErrorBack, reqErrorBack);
+ }
+ }
+ }
+ catch (Exception ex)
+ {
+ _unitOfWorkManage.RollbackTran();
+ throw new Exception(ex.Message);
+ }
+
+ }
+ public WebResponseContent AgvCancelTask(AgvTaskCancelDTO taskModel, APIEnum SendTask = APIEnum.AgvTaskCancel)
+ {
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ string? apiAddress = _apiInfoRepository.QueryFirst(x => x.ApiCode == SendTask.ToString())?.ApiAddress;
+ if (string.IsNullOrEmpty(apiAddress)) throw new Exception($"鏈壘鍒板彂閫丄GV浠诲姟鎺ュ彛,璇锋鏌ユ帴鍙ｉ厤缃�");
+ string request = JsonConvert.SerializeObject(taskModel, settings);
+ string response = HttpHelper.Post(apiAddress, request);
+ AgvResponseContent agvContent = response.DeserializeObject<AgvResponseContent>() ?? throw new Exception("AGV浠诲姟鍙戦�佹湭杩斿洖缁撴灉");
+ if (agvContent.Success)
+ {
+ content.OK();
+ }
+ else
+ {
+ content.Error(agvContent.Message);
+ }
+ }
+ catch (Exception ex)
+ {
+ content.Error(ex.Message);
+ }
+ return content;
}
}
}
--
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