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 | 162 +++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 160 insertions(+), 2 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 bf814b7..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"
@@ -1,8 +1,14 @@
锘縰sing Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Http;
using Microsoft.AspNetCore.Mvc;
+using WIDESEA_DTO.Agv;
+using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
+using WIDESEAWCS_Core.Enums;
+using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_IBasicInfoRepository;
+using WIDESEAWCS_ITaskInfoRepository;
+using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks;
@@ -14,12 +20,147 @@
public class AGVController : ControllerBase
{
private readonly IStationMangerRepository _stationMangerRepository;
+ private readonly ITaskService _taskService;
+ private readonly ITaskRepository _taskRepository;
- public AGVController(IStationMangerRepository stationMangerRepository)
+ public AGVController(IStationMangerRepository stationMangerRepository, ITaskService taskService, ITaskRepository taskRepository)
{
_stationMangerRepository = stationMangerRepository;
+ _taskService = taskService;
+ _taskRepository = taskRepository;
+ }
+ /// <summary>
+ /// 瀹夊叏淇″彿鐢宠 AGV-WCS
+ /// </summary>
+ /// <param name="secureApplyModel"></param>
+ /// <returns></returns>
+ [HttpPost, HttpGet, Route("AgvSecureApply"), AllowAnonymous]
+ public AgvResponseContent AgvSecureApply([FromBody] AgvSecureApplyDTO secureApplyModel)
+ {
+ AgvResponseContent agvResponseContent = new AgvResponseContent();
+ agvResponseContent.ReqCode = secureApplyModel.ReqCode;
+ try
+ {
+ var task = _taskRepository.QueryFirst(x => secureApplyModel.TaskCode.ObjToInt() == x.TaskNum);
+ 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);
+ }
+ }
+ 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";
+ }
+ catch (Exception ex)
+ {
+ agvResponseContent.Code = "1";
+ agvResponseContent.Message = ex.Message;
+ }
+ return agvResponseContent;
+ //return _taskService.AgvSecureApply(secureApplyModel);
+ }
+ /// <summary>
+ /// AGV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)
+ {
+ AgvResponseContent agvResponseContent = new AgvResponseContent();
+ try
+ {
+ 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 == x.AgvTaskNum);
+ if (task == null) throw new Exception($"鏈壘鍒颁换鍔�,浠诲姟鍙枫�恵agvUpdateModel.TaskCode}銆�");
+ switch (agvUpdateModel.Method)
+ {
+ case "start":
+ break;
+ case "outbin"://鍑哄簱鏍规嵁杩欎釜淇″彿鍒ゆ柇鍙栬揣瀹屾垚
+ if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
+ {
+ var content = TakeFinish(task.CurrentAddress);
+ if (!content.Status) throw new Exception(content.Message);
+ task.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
+ var up = _taskRepository.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
+ _taskService.TaskCompleted(task.TaskNum);
+ agvResponseContent.Code = up ? "0" : "1";
+ agvResponseContent.Message = up ? "鎴愬姛" : "澶辫触";
+ return agvResponseContent;
+ }
+ break;
+ case "getSafetySignal"://瀹夊叏淇″彿鐢宠
+ {
+ if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
+ {
+ var content = TakeRequest(task.CurrentAddress);
+ if (!content.Status) throw new Exception(content.Message);
+ }
+ else
+ {
+ var content = PutRequest(task.NextAddress, task.PalletType);
+ if (!content.Status) throw new Exception(content.Message);
+ }
+ task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
+ var up = _taskRepository.UpdateData(task);
+ agvResponseContent.Code = up ? "0" : "1";
+ agvResponseContent.Message = up ? "鎴愬姛" : "澶辫触";
+ return agvResponseContent;
+ }
+ case "end"://鍏ュ簱鏍规嵁杩欎釜淇″彿鍒ゆ柇鏀捐揣瀹屾垚
+ if (task.TaskType != TaskTypeEnum.Outbound.ObjToInt())
+ {
+ var content = PutFinish(task.NextAddress);
+ if (!content.Status) throw new Exception(content.Message);
+ task.CurrentAddress = task.NextAddress;
+ task.NextAddress = "";
+ task.TaskState = TaskStatusEnum.SC_Execute.ObjToInt();
+ var up = _taskRepository.UpdateData(task);
+ agvResponseContent.Code = up ? "0" : "1";
+ agvResponseContent.Message = up ? "鎴愬姛" : "澶辫触";
+ return agvResponseContent;
+ }
+ break;
+ case "cancel":
+ task.TaskState = TaskStatusEnum.Cancel.ObjToInt();
+ _taskRepository.UpdateData(task);
+ break;
+ default:
+ throw new Exception($"鏈畾涔夋柟娉曞悕銆恵agvUpdateModel.Method}銆�");
+ }
+ agvResponseContent.Code = "0";
+ agvResponseContent.Message = "鎴愬姛";
+ }
+ catch (Exception ex)
+ {
+ agvResponseContent.Code = "1";
+ agvResponseContent.Message = ex.Message;
+ }
+ return agvResponseContent;
+ //return _taskService.AgvUpdateTask(agvUpdateModel);
}
+ /// <summary>
+ /// 鏀捐揣璇锋眰
+ /// </summary>
+ /// <param name="code"></param>
+ /// <param name="palletType"></param>
+ /// <returns></returns>
[HttpPost, HttpGet, Route("PutRequest"), AllowAnonymous]
public WebResponseContent PutRequest(string code, int palletType)
{
@@ -46,7 +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)
@@ -65,6 +205,12 @@
}
}
+ //[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
+ /// <summary>
+ /// 鏀捐揣瀹屾垚
+ /// </summary>
+ /// <param name="code"></param>
+ /// <returns></returns>
[HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
public WebResponseContent PutFinish(string code)
{
@@ -92,6 +238,12 @@
}
}
+ //[HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
+ /// <summary>
+ /// 鍙栬揣璇锋眰
+ /// </summary>
+ /// <param name="code"></param>
+ /// <returns></returns>
[HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
public WebResponseContent TakeRequest(string code)
{
@@ -136,6 +288,12 @@
}
}
+ //[HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
+ /// <summary>
+ /// 鍙栬揣瀹屾垚
+ /// </summary>
+ /// <param name="code"></param>
+ /// <returns></returns>
[HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
public WebResponseContent TakeFinish(string code)
{
--
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