From 7f078e66be9959d94fc78344f195b7b4656812be Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期日, 29 十二月 2024 11:22:10 +0800
Subject: [PATCH] 任务表添加AGV任务号(AGV-年月日+任务号)，修改测试架仓AGV交互逻辑
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGVController.cs | 43 ++++++++++++++++++++++++++++++++++++-------
1 files changed, 36 insertions(+), 7 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/AGVController.cs"
index 0cf13a6..b4abb72 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/AGVController.cs"
@@ -46,12 +46,18 @@
if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
{
var content = TakeRequest(task.CurrentAddress);
- if (!content.Status) throw new Exception(content.Message);
+ if (!content.Status)
+ {
+ throw new Exception(content.Message);
+ }
}
else
{
var content = PutRequest(task.NextAddress, task.PalletType);
- if (!content.Status) throw new Exception(content.Message);
+ if (!content.Status)
+ {
+ throw new Exception(content.Message);
+ }
}
task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
var up = _taskRepository.UpdateData(task);
@@ -79,8 +85,8 @@
{
if (agvUpdateModel == null) throw new Exception("鏈幏鍙栧埌璇锋眰鍙傛暟");
agvResponseContent.ReqCode = agvUpdateModel.ReqCode;
- var task = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode.ObjToInt() == x.TaskNum);
- if (task == null) throw new Exception("鏈壘鍒颁换鍔�");
+ 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)
{
case "start":
@@ -92,16 +98,37 @@
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.CurrentAddress);
+ var content = PutFinish(task.NextAddress);
if (!content.Status) throw new Exception(content.Message);
+ task.CurrentAddress = task.NextAddress;
+ task.NextAddress = "";
task.TaskState = TaskStatusEnum.SC_Execute.ObjToInt();
var up = _taskRepository.UpdateData(task);
agvResponseContent.Code = up ? "0" : "1";
@@ -134,7 +161,7 @@
/// <param name="code"></param>
/// <param name="palletType"></param>
/// <returns></returns>
- //[HttpPost, HttpGet, Route("PutRequest"), AllowAnonymous]
+ [HttpPost, HttpGet, Route("PutRequest"), AllowAnonymous]
public WebResponseContent PutRequest(string code, int palletType)
{
try
@@ -160,7 +187,6 @@
else
{
otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
- otherDevice.SetValue(GroundStationDBName.W_PutPalletType, (short)palletType, stationManger.StationCode);
Thread.Sleep(1000);
canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
if (canPut)
@@ -185,6 +211,7 @@
/// </summary>
/// <param name="code"></param>
/// <returns></returns>
+ [HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
public WebResponseContent PutFinish(string code)
{
try
@@ -217,6 +244,7 @@
/// </summary>
/// <param name="code"></param>
/// <returns></returns>
+ [HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
public WebResponseContent TakeRequest(string code)
{
try
@@ -266,6 +294,7 @@
/// </summary>
/// <param name="code"></param>
/// <returns></returns>
+ [HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
public WebResponseContent TakeFinish(string code)
{
try
--
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