From b466b3135cd7f3b08f570efda0ffb691daff5270 Mon Sep 17 00:00:00 2001
From: wangxinhui <wangxinhui@hnkhzn.com>
Date: 星期五, 05 十二月 2025 18:15:16 +0800
Subject: [PATCH] 一期输送线代码及AGV请求等
---
项目代码/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs | 84 ++++++++++++++++++++++++++++++++++++++++-
1 files changed, 81 insertions(+), 3 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 53a6ca1..8b7602e 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"
@@ -6,6 +6,7 @@
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;
@@ -14,6 +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;
@@ -54,16 +56,25 @@
WebResponseContent content = new WebResponseContent();
try
{
- var task = _taskRepository.QueryFirst(x => agvUpdateDTO.ContainerCode==x.PalletCode) ?? throw new Exception($"鏈壘鍒版枡绠便�恵agvUpdateDTO.ContainerCode}銆戜换鍔�");
+ var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "")==x.PalletCode);
switch (agvUpdateDTO.MissionStatus)
{
case nameof(AGVStatusEnum.PICKER_RECEIVE):
+ if (task == null) throw new Exception($"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):
- //WebResponseContent responseContent = _taskService.AgvTaskFlow(task.PalletCode);
- //if (!responseContent.Status) throw new Exception($"{responseContent.Message}");
+ if (task == null) throw new Exception($"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($"{responseContent.Message}");
+ }
break;
default:
break;
@@ -76,6 +87,73 @@
}
return content;
}
+ /// <summary>
+ /// AGV浠诲姟璇锋眰
+ /// </summary>
+ /// <returns></returns>
+ [HttpPost, HttpGet, Route("WorkRequest"), AllowAnonymous]
+ public AgvTaskReqContent WorkRequest([FromBody] AgvTaskRequestDTO agvTaskRequestDTO)
+ {
+ AgvTaskReqContent content = new AgvTaskReqContent();
+ try
+ {
+ //鑾峰彇浠诲姟
+ Dt_Task? taskExist = _taskRepository.QueryFirst(x=>x.PalletCode==agvTaskRequestDTO.ContainerCode) ?? throw new Exception($"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)
+ {
+ content.Error(ex.Message);
+ }
+ return content;
+ }
}
}
--
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