From ca08d1f380987254814242e2fe3ea9de28228132 Mon Sep 17 00:00:00 2001
From: wangxinhui <wangxinhui@hnkhzn.com>
Date: 星期六, 04 一月 2025 09:36:21 +0800
Subject: [PATCH] 代码更新
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGVController.cs | 58 ++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 44 insertions(+), 14 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 9b15909..41866de 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"
@@ -29,6 +29,9 @@
_taskService = taskService;
_taskRepository = taskRepository;
}
+
+
+
/// <summary>
/// 瀹夊叏淇″彿鐢宠 AGV-WCS
/// </summary>
@@ -41,23 +44,23 @@
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);
@@ -85,8 +88,8 @@
{
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($"鏈壘鍒颁换鍔�,浠诲姟鍙枫�恵agvUpdateModel.TaskCode}銆�");
switch (agvUpdateModel.Method)
{
case "start":
@@ -104,14 +107,38 @@
return agvResponseContent;
}
break;
+ case "getSafetySignal"://瀹夊叏淇″彿鐢宠
+ {
+ if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
+ {
+ var content = TakeRequest(task.CurrentAddress);
+ //if (!content.Status) throw new Exception(content.Message);
+ }
+ else
+ {
+ var content = PutRequest(task.NextAddress, task.PalletType);
+ //if (!content.Status) throw new Exception(content.Message);
+ }
+ task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
+ var up = _taskRepository.UpdateData(task);
+ agvResponseContent.Code = up ? "0" : "1";
+ agvResponseContent.Message = up ? "鎴愬姛" : "澶辫触";
+ return agvResponseContent;
+ }
case "end"://鍏ュ簱鏍规嵁杩欎釜淇″彿鍒ゆ柇鏀捐揣瀹屾垚
if (task.TaskType != TaskTypeEnum.Outbound.ObjToInt())
{
var content = PutFinish(task.NextAddress);
if (!content.Status) throw new Exception(content.Message);
- task.CurrentAddress = task.NextAddress;
+ Dt_StationManger dt_Station = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == task.NextAddress);
+ if (dt_Station == null)
+ {
+ throw new Exception($"{task.NextAddress}AGV绔欏彴鏈畾涔�");
+ }
+ task.CurrentAddress = dt_Station.StationCode;
task.NextAddress = "";
- task.TaskState = TaskStatusEnum.SC_Execute.ObjToInt();
+ task.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
+ task.DeviceCode = "SC01_CSJ";
var up = _taskRepository.UpdateData(task);
agvResponseContent.Code = up ? "0" : "1";
agvResponseContent.Message = up ? "鎴愬姛" : "澶辫触";
@@ -164,6 +191,7 @@
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
@@ -247,6 +275,7 @@
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
@@ -294,7 +323,8 @@
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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