WcsFramework/WCS.WorkEngineering/WebApi/Controllers/AgvController.cs

using Microsoft.AspNetCore.Mvc;
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
{
    /// <summary>
    /// AGV相关接口控制器
    /// </summary>
    [ApiController]
    [Route("api/[controller]/[action]")]
    public class AgvController : ControllerBase
    {
        /// <summary>
        ///  AGV任务下发测试
        /// </summary>
        /// <param name="type">任务类型</param>
        /// <param name="code">RFID</param>
        /// <param name="pos">目标位置</param>
        /// <returns></returns>
        [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;

                    default:
                        break;
                }
                return "成功";
            }
            catch (Exception ex)
            {
                return $"Error-----" +
                      $"{ex.Message}------" +
                      $"{ex.StackTrace}";
            }
        }

        /// <summary>
        /// AGV执行回调
        /// </summary>
        /// <param name="reqDto"></param>
        /// <returns></returns>
        [HttpPost]
        public AgvCallbackResponse AgvCallback(AgvCallbackRequest reqDto)
        {
            var msg = "成功";
            var code = AgvResponseCode.Success;
            try
            {
                SqlSugarHelper.Do(db =>
                {
                    //跟据AGVid找到对应的AGV任务
                    var agvTask = db.Default.Queryable<WCS_AgvTaskInfo>().SplitTable(tabs => tabs.Take(3)).First(v => v.AgvID == reqDto.taskCode);
                    if (agvTask == null)
                    {
                        msg = "未找到对应的AGV任务";
                        code = AgvResponseCode.Fail;
                    }
                    switch (reqDto.method)
                    {
                        case "applyContinue": //表示请求巷道

                            agvTask.Status = AGVTaskStatus.RequestOrPermission1;
                            break;

                        case "applySecurity": //表示请求放货或取货
                            //agvTask.Status = AGVTaskStatus.RequestOrPermission2;
                            AgvApi.ContinueTask(reqDto.taskCode, "1015");
                            break;

                        case "hjend_2": //补空任务完成
                            agvTask.Status = AGVTaskStatus.MissionCompleted;
                            break;

                        case "endhjBM": //取满任务完成
                            agvTask.Status = AGVTaskStatus.MissionCompleted;
                            break;

                        case "applyEmpty": //申请补空任务
                            db.Default.Insertable(new WCS_AgvTaskInfo()
                            {
                                AgvID = reqDto.taskCode,
                                TaskType = AGVTaskType.CallForMaterial,
                                Status = AGVTaskStatus.NewBuild,
                            }).AddQueue();
                            AgvApi.缓存架补空(reqDto.taskCode, "1016");

                            break;

                        case "exc_end": //异常信息上抛-值不匹配
                            agvTask.Status = AGVTaskStatus.MissionCompleted;
                            break;

                        default:
                            break;
                    }
                    db.Default.Updateable(agvTask).AddQueue();
                    db.Default.SaveQueues();
                });
            }
            catch (Exception ex)
            {
                code = AgvResponseCode.Error;
                msg = ex.Message;
            }

            var res = new AgvCallbackResponse() { code = code, message = msg };

            return res;
        }
    }
}