From 834294889ab62bafaf034b1b87c2ead961c33476 Mon Sep 17 00:00:00 2001
From: wangxinhui <wangxinhui@hnkhzn.com>
Date: 星期五, 05 十二月 2025 09:37:46 +0800
Subject: [PATCH] 更新最新代码
---
项目代码/WCS/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs | 181 ++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 176 insertions(+), 5 deletions(-)
diff --git "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs" "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs"
index ecd627f..362e527 100644
--- "a/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs"
+++ "b/\351\241\271\347\233\256\344\273\243\347\240\201/WCS/WCSServices/WIDESEAWCS_Server/Controllers/AGV/AGVController.cs"
@@ -2,12 +2,16 @@
using Microsoft.AspNetCore.Http;
using Microsoft.AspNetCore.Mvc;
using System.Text;
+using System.Text.RegularExpressions;
using WIDESEA_DTO.Agv;
+using WIDESEA_External.Model;
+using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.LogHelper;
+using WIDESEAWCS_DTO;
using WIDESEAWCS_DTO.Agv;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_ITaskInfoRepository;
@@ -69,7 +73,7 @@
}
else//鍑哄簱鏀捐揣璇锋眰
{
- var content = PutRequest(task.NextAddress, task.PalletType);
+ var content = PutRequest(task.NextAddress, task);
if (!content.Status)
{
throw new Exception(content.Message);
@@ -88,7 +92,7 @@
}
else//鍏ュ簱鏀捐揣璇锋眰
{
- var content = PutRequest(task.NextAddress, task.TaskNum);
+ var content = PutRequest(task.NextAddress, task);
if (!content.Status)
{
throw new Exception(content.Message);
@@ -311,7 +315,7 @@
/// <param name="palletType"></param>
/// <returns></returns>
[HttpPost, HttpGet, Route("PutRequest"), AllowAnonymous]
- public WebResponseContent PutRequest(string code, int taskNum)
+ public WebResponseContent PutRequest(string code, Dt_Task task)
{
WebResponseContent content = new WebResponseContent();
try
@@ -321,6 +325,38 @@
{
return content.Error($"鏈壘鍒扮珯鍙伴厤缃�");
}
+ #region todo:涓存椂閫昏緫
+ if (stationManger.StationDeviceCode=="MES")
+ {
+
+ RequestAGVArriveDTO requestAGVArriveDTO =new RequestAGVArriveDTO()
+ {
+ SD_WorkCentreAgvArriveNoticeInfo=new List<AgvArriveNotice> { new AgvArriveNotice()
+ {
+ DispatchPlanMaterialId=task.DispatchPlanId,
+ WorkCentreCode=task.WorkCentreCode,
+ LocationCode=code,
+ CallId=Guid.NewGuid().ToString().Replace("-","")
+ } }
+ };
+ MESResponse response = _taskService.MESAvgArriveNotice(requestAGVArriveDTO).DeserializeObject<MESResponse>() ?? throw new Exception("鏈幏鍙栧埌杩斿洖淇℃伅");
+ if (!response.Result)
+ {
+ throw new Exception($"璋冪敤MES灏忚溅鍏佽鏀捐揣鎶ラ敊,MES杩斿洖淇℃伅"+ Regex.Replace(response.Msg, @"\\u([0-9a-fA-F]{4})", match => {
+ return ((char)Convert.ToInt32(match.Groups[1].Value, 16)).ToString();
+ }));
+ }
+ if (response.Obj)
+ {
+ return content.Error($"鍏佽鍙栨枡");
+ }
+ else
+ {
+ return content.Error($"绂佹鏀炬枡");
+ }
+
+ }
+ #endregion
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
if (device == null)
{
@@ -362,7 +398,7 @@
bool RequestPut = otherDevice.GetValue<CoveryorDB, bool>(CoveryorDB.C_RequestPut, stationManger.StationDeviceCode);
if (!RequestPut)
{
- otherDevice.SetValue(CoveryorDB.C_InTaskNum, taskNum, stationManger.StationDeviceCode);
+ otherDevice.SetValue(CoveryorDB.C_InTaskNum, task.TaskNum, stationManger.StationDeviceCode);
otherDevice.SetValue(CoveryorDB.C_RequestPut, true, stationManger.StationDeviceCode);
Thread.Sleep(1000);
}
@@ -397,7 +433,21 @@
}
else if (device.DeviceCode.Contains("TrussCarton"))//妗佹灦
{
- content.OK("鍏佽鏀炬枡");
+ bool RequestPut = otherDevice.GetValue<W_TrussCartonDB, bool>(GetCartonRequest(stationManger.StackerCraneStationCode), stationManger.StationDeviceCode);
+ if (!RequestPut)
+ {
+ otherDevice.SetValue(GetCartonRequest(stationManger.StackerCraneStationCode), true, stationManger.StationDeviceCode);
+ Thread.Sleep(1000);
+ }
+ bool AllowFinish = otherDevice.GetValue<R_TrussCartonDB, bool>(GetCarton(stationManger.StackerCraneStationCode), stationManger.StationDeviceCode);
+ if (AllowFinish)
+ {
+ content.OK("鍏佽鏀炬枡");
+ }
+ else
+ {
+ return content.Error("绂佹鏀炬枡");
+ }
}
}
return content;
@@ -477,6 +527,53 @@
return W_TrussCartonDB.W_CartonPut5;
case "6":
return W_TrussCartonDB.W_CartonPut6;
+ default:
+ throw new Exception("鏈畾涔夊伐浣�");
+ }
+ }
+ /// <summary>
+ /// 鑾峰彇妗佹灦璇锋眰淇″彿
+ /// </summary>
+ public W_TrussCartonDB GetCartonRequest(string StationCode)
+ {
+ switch (StationCode)
+ {
+ case "1":
+ return W_TrussCartonDB.W_CartonRequest1;
+ case "2":
+ return W_TrussCartonDB.W_CartonRequest2;
+ case "3":
+ return W_TrussCartonDB.W_CartonRequest3;
+ case "4":
+ return W_TrussCartonDB.W_CartonRequest4;
+ case "5":
+ return W_TrussCartonDB.W_CartonRequest5;
+ case "6":
+ return W_TrussCartonDB.W_CartonRequest6;
+ default:
+ throw new Exception("鏈畾涔夊伐浣�");
+ }
+ }
+
+ /// <summary>
+ /// 鑾峰彇妗佹灦杩涘叆淇″彿
+ /// </summary>
+ public R_TrussCartonDB GetCarton(string StationCode)
+ {
+ switch (StationCode)
+ {
+ case "1":
+ return R_TrussCartonDB.R_CartonAllow1;
+ case "2":
+ return R_TrussCartonDB.R_CartonAllow2;
+ case "3":
+ return R_TrussCartonDB.R_CartonAllow3;
+ case "4":
+ return R_TrussCartonDB.R_CartonAllow4;
+ case "5":
+ return R_TrussCartonDB.R_CartonAllow5;
+ case "6":
+ return R_TrussCartonDB.R_CartonAllow6;
default:
throw new Exception("鏈畾涔夊伐浣�");
}
@@ -617,5 +714,79 @@
return WebResponseContent.Instance.Error(ex.Message);
}
}
+ /// <summary>
+ /// AGV纭瀹屾垚鎺ュ彛(鍙栨斁)
+ /// </summary>
+ /// <param name="code"></param>
+ /// <returns></returns>
+ [HttpPost, HttpGet, Route("AGVFinish"), AllowAnonymous]
+ public WebResponseContent AGVFinish(string address,int taskNum)
+ {
+ try
+ {
+ Dt_Task task = _taskRepository.QueryFirst(x=>x.TaskNum==taskNum && x.DeviceCode=="AGV");
+ if (task==null)
+ {
+ return WebResponseContent.Instance.Error($"{taskNum}AGV浠诲姟涓嶅瓨鍦�");
+ }
+ //鑾峰彇瀵瑰簲鐨勫潗鏍囩偣
+ Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x=>x.AGVStationCode== address);
+ if (stationManger==null)
+ {
+ return WebResponseContent.Instance.Error($"{address}AGV鍦板潃缂栧彿涓嶅瓨鍦�");
+ }
+ if (task.TaskState == TaskStatusEnum.AGV_Executing.ObjToInt())//鍙栬揣
+ {
+ if (task.CurrentAddress != stationManger.StationCode)
+ {
+ return WebResponseContent.Instance.Error($"{taskNum}AGV浠诲姟鍙栬揣鍦板潃缂栧彿涓嶆槸{address}");
+ }
+ AgvFinishDTO agvFinishDTO = new AgvFinishDTO()
+ {
+ ReceiveTaskID = task.TaskNum.ToString(),
+ Variables = new List<PointDetail>()
+ {
+ new PointDetail()
+ {
+ Code="isPick",
+ Value="true"
+ }
+ }
+ };
+ //鍙戦�丄GV瀹屾垚閫氱煡
+ WebResponseContent content = _taskService.AGVFinish(agvFinishDTO);
+ if (!content.Status)
+ throw new Exception(content.Message);
+ }
+ else//鏀捐揣
+ {
+ if (task.NextAddress != stationManger.StationCode)
+ {
+ return WebResponseContent.Instance.Error($"{taskNum}AGV浠诲姟鏀捐揣鍦板潃缂栧彿涓嶆槸{address}");
+ }
+ AgvFinishDTO agvFinishDTO = new AgvFinishDTO()
+ {
+ ReceiveTaskID = task.TaskNum.ToString(),
+ Variables = new List<PointDetail>()
+ {
+ new PointDetail()
+ {
+ Code="isDown",
+ Value="true"
+ }
+ }
+ };
+ //鍙戦�丄GV瀹屾垚閫氱煡
+ WebResponseContent content = _taskService.AGVFinish(agvFinishDTO);
+ if (!content.Status)
+ throw new Exception(content.Message);
+ }
+ return WebResponseContent.Instance.OK();
+ }
+ catch (Exception ex)
+ {
+ return WebResponseContent.Instance.Error(ex.Message);
+ }
+ }
}
}
--
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