using Microsoft.AspNetCore.Mvc; using ServiceCenter.Redis; using ServiceCenter.SqlSugars; using WCS.Entity; using WCS.WorkEngineering.WebApi.Models.AGV; using WCS.WorkEngineering.WebApi.Models.AGV.Request; using WCS.WorkEngineering.WebApi.Models.AGV.Response; namespace WCS.WorkEngineering.WebApi.Controllers { /// /// AGV相关接口控制器 /// [ApiController] [Route("api/[controller]/[action]")] public class AgvController : ControllerBase { /// /// AGV任务下发测试 /// /// 任务类型 /// RFID /// 目标位置 /// [HttpPost] public string AgvDebug(int type, string code, string pos) { try { switch (type) { case 1: //AgvApi.机台补空(pos, code, "1"); break; case 2: //AgvApi.机台补满(); break; case 3: //AgvApi.满轮入库(code, pos, Guid.NewGuid().ToString().Replace("-", ""), "1"); break; } return "成功"; } catch (Exception ex) { return $"Error-----" + $"{ex.Message}------" + $"{ex.StackTrace}"; } } /// /// AGV执行回调 /// /// /// [HttpPost] public AgvCallbackResponse AgvCallback([FromBody] AgvCallbackRequest reqDto) { var key = $"WCS:Lock:AGV:{nameof(AgvCallback)}"; var res = new AgvCallbackResponse() { code = AgvResponseCode.Success, message = "失败" }; try { RedisHub.Do(key, redis => { SqlSugarHelper.Do(db => { //跟据AGVid找到对应的AGV任务 var agvTask = db.Default.Queryable().SplitTable(tabs => tabs.Take(2)) .First(v => v.AgvID == reqDto.taskCode && v.Status < AGVTaskStatus.MissionCompleted); if (agvTask == null) { res.code = AgvResponseCode.Fail; res.message = "未找到对应的AGV任务"; return; } switch (reqDto.method) { case "applyContinue": //表示请求巷道 agvTask.AgvStatus = AGVTaskStatus.RequestOrPermission1; break; case "outbin": //小车退出取货位 agvTask.AgvStatus = AGVTaskStatus.LeaveGet; break; case "applySecurity": //表示请求放货或取货 agvTask.AgvStatus = AGVTaskStatus.RequestOrPermission2; break; case "applySecurityPut": //表示请求放货或取货 agvTask.AgvStatus = AGVTaskStatus.PutRequestOrPermission; break; case "FJend": //任务完成 agvTask.AgvStatus = AGVTaskStatus.MissionCompleted; break; case "cancel": //取消任务 //agvTask.AgvStatus = AGVTaskStatus.Cancel; break; } db.Default.Updateable(agvTask).SplitTable(x=>x.Take(2)).ExecuteCommand(); res.code = AgvResponseCode.Success; res.message = "成功"; }); }); } catch (Exception ex) { res.code = AgvResponseCode.Error; res.message = ex.Message; } return res; } } }