From e81c782b3e7a632ffb8e32be56fce931a8c89ae6 Mon Sep 17 00:00:00 2001
From: xiazhengtongxue <133085197+xiazhengtongxue@users.noreply.github.com>
Date: 星期一, 09 二月 2026 08:55:42 +0800
Subject: [PATCH] 修复bug
---
项目代码/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs | 86 ++++++++++++++++++++++++++++++++++++-------
1 files changed, 72 insertions(+), 14 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 51c7860..76914e7 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 +2,7 @@
using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Http;
using Microsoft.AspNetCore.Mvc;
+using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
using System.Text;
using System.Text.RegularExpressions;
using WIDESEA_DTO.Agv;
@@ -56,29 +57,84 @@
WebResponseContent content = new WebResponseContent();
try
{
- var task = _taskRepository.QueryFirst(x => (agvUpdateDTO.ContainerCode ?? "")==x.PalletCode);
+ 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�");
- _taskService.TaskCompleted(task.TaskNum);
+ Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);
+ if (task.IsCancel > 0 && stationManger != null && stationManger.StationCode != agvUpdateDTO.CurrentPosition)
+ {
+ _taskService.TaskCancelCompleted(task.TaskNum);
+ }
+ else
+ {
+ _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)
@@ -141,26 +197,28 @@
if (stationManger.StationType == StationTypeEnum.StationType_OnlyOutbound.ObjToInt())
{
- commonConveyorLine.Communicator.Write("21", (short)256);
+ commonConveyorLine.Communicator.Write("21", new byte[] { 1, 0 });
}
else
{
- commonConveyorLine.Communicator.Write("23", (short)256);
+ commonConveyorLine.Communicator.Write("23", new byte[] { 1, 0 });
}
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);
- }
+ content.Error(ex.Message);
}
return content;
}
+ /// <summary>
+ /// AGV浣滀笟瀹屾垚
+ /// </summary>
+ /// <returns></returns>
+ [HttpPost, HttpGet, Route("AgvSearchStatus"), AllowAnonymous]
+ public void AgvSearchStatus()
+ {
+ _taskService.AgvSearchStatus();
+ }
}
}
--
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