From 4bc0e18b94a2bf17c1b7277910d63ef82fbe616a Mon Sep 17 00:00:00 2001
From: wangxinhui <wangxinhui@hnkhzn.com>
Date: 星期五, 10 一月 2025 09:39:51 +0800
Subject: [PATCH] Merge branch 'master' of http://115.159.85.185:8098/r/MeiRuiAn/HuaiAn
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGV/CTU_AGVController .cs | 118 ++++++++++++++++++++--------------------------------------
1 files changed, 41 insertions(+), 77 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGVController.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGV/CTU_AGVController .cs"
similarity index 69%
copy from "\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGVController.cs"
copy to "\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGV/CTU_AGVController .cs"
index 000b58c..eacf3b7 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGVController.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGV/CTU_AGVController .cs"
@@ -17,18 +17,43 @@
{
[Route("api/[controller]")]
[ApiController]
- public class AGVController : ControllerBase
+ public class CTU_AGVController : ControllerBase
{
private readonly IStationMangerRepository _stationMangerRepository;
private readonly ITaskService _taskService;
private readonly ITaskRepository _taskRepository;
- public AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository)
+ public CTU_AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository)
{
_stationMangerRepository = stationMangerRepository;
_taskService = taskService;
_taskRepository = taskRepository;
}
+ [HttpPost, HttpGet, Route("AGVFinish"), AllowAnonymous]
+ public WebResponseContent AGVFinish(string barcode)
+ {
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ var task = _taskRepository.QueryFirst(x => x.PalletCode == barcode);
+ if (task == null) throw new Exception($"鏈壘鍒颁换鍔�,鎵樼洏鍙枫�恵barcode}銆�");
+ AgvUpdateDTO updateDTO = new AgvUpdateDTO()
+ {
+ TaskCode = task.AgvTaskNum,
+ Method = "end"
+ };
+ var agvResponseContent = CtuCallback(updateDTO);
+ if (agvResponseContent.Code == "1") throw new Exception(agvResponseContent.Message);
+ content.OK();
+ }
+ catch (Exception ex)
+ {
+ content.Error(ex.Message);
+ }
+ return content;
+ }
+
+ #region 瀹夊叏淇″彿鐢宠
/// <summary>
/// 瀹夊叏淇″彿鐢宠 AGV-WCS
/// </summary>
@@ -41,23 +66,15 @@
agvResponseContent.ReqCode = secureApplyModel.ReqCode;
try
{
- var task = _taskRepository.QueryFirst(x => secureApplyModel.TaskCode== x.AgvTaskNum);
+ var task = _taskRepository.QueryFirst(x => secureApplyModel.TaskCode == x.AgvTaskNum);
if (task == null) throw new Exception("鏈壘鍒颁换鍔�");
if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
{
- var content = TakeRequest(task.CurrentAddress);
- if (!content.Status)
- {
- throw new Exception(content.Message);
- }
+ var content = PutRequest(task.NextAddress, task.PalletType);
}
else
{
- var content = PutRequest(task.NextAddress, task.PalletType);
- if (!content.Status)
- {
- throw new Exception(content.Message);
- }
+ var content = TakeRequest(task.CurrentAddress);
}
task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
var up = _taskRepository.UpdateData(task);
@@ -72,13 +89,15 @@
return agvResponseContent;
//return _taskService.AgvSecureApply(secureApplyModel);
}
+ #endregion
+
/// <summary>
- /// AGV浠诲姟鏇存柊/瀹屾垚
+ /// CtuAGV浠诲姟鏇存柊/瀹屾垚
/// </summary>
/// <param name="agvUpdateModel"></param>
/// <returns></returns>
- [HttpPost, HttpGet, Route("AgvCallback"), AllowAnonymous]
- public AgvResponseContent AgvUpdateTask([FromBody] AgvUpdateDTO agvUpdateModel)
+ [HttpPost, HttpGet, Route("CtuCallback"), AllowAnonymous]
+ public AgvResponseContent CtuCallback([FromBody] AgvUpdateDTO agvUpdateModel)
{
AgvResponseContent agvResponseContent = new AgvResponseContent();
try
@@ -87,67 +106,11 @@
agvResponseContent.ReqCode = agvUpdateModel.ReqCode;
var task = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum);
if (task == null) throw new Exception($"鏈壘鍒颁换鍔�,浠诲姟鍙枫�恵agvUpdateModel.TaskCode}銆�");
- switch (agvUpdateModel.Method)
+
+ if (agvUpdateModel.Method == "end")
{
- case "start":
- break;
- case "outbin"://鍑哄簱鏍规嵁杩欎釜淇″彿鍒ゆ柇鍙栬揣瀹屾垚
- if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
- {
- var content = TakeFinish(task.CurrentAddress);
- if (!content.Status) throw new Exception(content.Message);
- task.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
- var up = _taskRepository.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
- _taskService.TaskCompleted(task.TaskNum);
- agvResponseContent.Code = up ? "0" : "1";
- agvResponseContent.Message = up ? "鎴愬姛" : "澶辫触";
- return agvResponseContent;
- }
- break;
- case "getSafetySignal"://瀹夊叏淇″彿鐢宠
- {
- if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
- {
- var content = TakeRequest(task.CurrentAddress);
- if (!content.Status) throw new Exception(content.Message);
- }
- else
- {
- var content = PutRequest(task.NextAddress, task.PalletType);
- if (!content.Status) throw new Exception(content.Message);
- }
- task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
- var up = _taskRepository.UpdateData(task);
- agvResponseContent.Code = up ? "0" : "1";
- agvResponseContent.Message = up ? "鎴愬姛" : "澶辫触";
- return agvResponseContent;
- }
- case "end"://鍏ュ簱鏍规嵁杩欎釜淇″彿鍒ゆ柇鏀捐揣瀹屾垚
- if (task.TaskType != TaskTypeEnum.Outbound.ObjToInt())
- {
- var content = PutFinish(task.NextAddress);
- if (!content.Status) throw new Exception(content.Message);
- Dt_StationManger dt_Station=_stationMangerRepository.QueryFirst(x=>x.AGVStationCode== task.NextAddress);
- if (dt_Station==null)
- {
- throw new Exception($"{task.NextAddress}AGV绔欏彴鏈畾涔�");
- }
- task.CurrentAddress = dt_Station.StationCode;
- task.NextAddress = "";
- task.TaskState = TaskStatusEnum.SC_Execute.ObjToInt();
- task.DeviceCode = "SC01_CSJ";
- var up = _taskRepository.UpdateData(task);
- agvResponseContent.Code = up ? "0" : "1";
- agvResponseContent.Message = up ? "鎴愬姛" : "澶辫触";
- return agvResponseContent;
- }
- break;
- case "cancel":
- task.TaskState = TaskStatusEnum.Cancel.ObjToInt();
- _taskRepository.UpdateData(task);
- break;
- default:
- throw new Exception($"鏈畾涔夋柟娉曞悕銆恵agvUpdateModel.Method}銆�");
+ if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt()) PutFinish(task.NextAddress);
+ _taskService.TaskCompleted(task.TaskNum);
}
agvResponseContent.Code = "0";
agvResponseContent.Message = "鎴愬姛";
@@ -158,7 +121,6 @@
agvResponseContent.Message = ex.Message;
}
return agvResponseContent;
- //return _taskService.AgvUpdateTask(agvUpdateModel);
}
/// <summary>
@@ -188,6 +150,7 @@
bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
if (canPut)
{
+ otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
return WebResponseContent.Instance.OK();
}
else
@@ -271,6 +234,7 @@
bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
if (canPut)
{
+ otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
return WebResponseContent.Instance.OK();
}
else
--
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