From c6babb9834248e2bc8fa6c037b3fb3e6ea4dc524 Mon Sep 17 00:00:00 2001
From: wangxinhui <wangxinhui@hnkhzn.com>
Date: 星期五, 03 一月 2025 14:57:52 +0800
Subject: [PATCH] 更新代码
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGVController.cs | 54 +++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 45 insertions(+), 9 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..000b58c 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"
@@ -41,17 +41,23 @@
agvResponseContent.ReqCode = secureApplyModel.ReqCode;
try
{
- var task = _taskRepository.QueryFirst(x => secureApplyModel.TaskCode.ObjToInt() == x.TaskNum);
+ 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);
+ 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($"鏈壘鍒颁换鍔�,浠诲姟鍙枫�恵agvUpdateModel.TaskCode}銆�");
switch (agvUpdateModel.Method)
{
case "start":
@@ -92,17 +98,44 @@
if (!content.Status) throw new Exception(content.Message);
task.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
var up = _taskRepository.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
+ _taskService.TaskCompleted(task.TaskNum);
agvResponseContent.Code = up ? "0" : "1";
agvResponseContent.Message = up ? "鎴愬姛" : "澶辫触";
return agvResponseContent;
}
break;
+ case "getSafetySignal"://瀹夊叏淇″彿鐢宠
+ {
+ if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
+ {
+ var content = TakeRequest(task.CurrentAddress);
+ if (!content.Status) throw new Exception(content.Message);
+ }
+ else
+ {
+ var content = PutRequest(task.NextAddress, task.PalletType);
+ if (!content.Status) throw new Exception(content.Message);
+ }
+ task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
+ var up = _taskRepository.UpdateData(task);
+ agvResponseContent.Code = up ? "0" : "1";
+ agvResponseContent.Message = up ? "鎴愬姛" : "澶辫触";
+ return agvResponseContent;
+ }
case "end"://鍏ュ簱鏍规嵁杩欎釜淇″彿鍒ゆ柇鏀捐揣瀹屾垚
if (task.TaskType != TaskTypeEnum.Outbound.ObjToInt())
{
- var content = PutFinish(task.CurrentAddress);
+ var content = PutFinish(task.NextAddress);
if (!content.Status) throw new Exception(content.Message);
+ Dt_StationManger dt_Station=_stationMangerRepository.QueryFirst(x=>x.AGVStationCode== task.NextAddress);
+ if (dt_Station==null)
+ {
+ throw new Exception($"{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";
@@ -134,7 +167,7 @@
/// <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 +193,6 @@
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 +217,7 @@
/// </summary>
/// <param name="code"></param>
/// <returns></returns>
+ [HttpPost, HttpGet, Route("PutFinish"), AllowAnonymous]
public WebResponseContent PutFinish(string code)
{
try
@@ -217,6 +250,7 @@
/// </summary>
/// <param name="code"></param>
/// <returns></returns>
+ [HttpPost, HttpGet, Route("TakeRequest"), AllowAnonymous]
public WebResponseContent TakeRequest(string code)
{
try
@@ -266,6 +300,7 @@
/// </summary>
/// <param name="code"></param>
/// <returns></returns>
+ [HttpPost, HttpGet, Route("TakeFinish"), AllowAnonymous]
public WebResponseContent TakeFinish(string code)
{
try
@@ -283,7 +318,8 @@
OtherDevice otherDevice = (OtherDevice)device;
otherDevice.SetValue(GroundStationDBName.W_TakeFinish, true, stationManger.StationCode);
-
+ Thread.Sleep(1000);
+ otherDevice.SetValue(GroundStationDBName.W_TakeFinish, false, stationManger.StationCode);
return WebResponseContent.Instance.OK();
}
catch (Exception ex)
--
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