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- using Microsoft.AspNetCore.Mvc;
- using PlcSiemens.Core.Extension;
- using ServiceCenter.SqlSugars;
- using WCS.Core;
- using WCS.Entity;
- using WCS.Entity.Protocol.Station;
- using WCS.WorkEngineering.Extensions;
- using WCS.WorkEngineering.Systems;
- 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>
- /// 背负式agv请求出库任务
- /// </summary>
- /// <param name="reqDto">请求参数</param>
- /// <returns></returns>
- [HttpPost]
- public ApplyEmptySpoolResponse ApplyEmptySpool([FromBody] AgvFillEmptySpaceRequest reqDto)
- {
- ApplyEmptySpoolResponse agvFill = new ApplyEmptySpoolResponse();
- var obj = World.GetSystemInstance<GetDeviceSystem>().Invoke("输送机") as List<Station>;
- // 检测三个站台是否有货
- obj = obj.Where(v => v.Entity.Code is "1012" or "1014" or "1016").Where(v => v.Data3.Status.HasFlag(StatusEunm.PH_Status)).ToList();
- if (!obj.Any())
- {
- agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.DataSaveErr;
- agvFill.ResMsg = "无空轮";
- return agvFill;
- }
- var res = WmsApi.GetTunnelEmptyConCount();
- foreach (var item in res.ResDataList)
- {
- var station = Device.All.Where(v => v.Code == "TY" + item.Tunnel.ToString())
- .Select(v => v.Targets).SelectMany(v => v)
- .Where(v => v.HasProtocol(typeof(IStation520)))
- .Where(v => v.Code is "1012" or "1014" or "1016")
- .FirstOrDefault();
- item.Tunnel = station.ToInt();
- }
- var stationNo = res.ResDataList.OrderBy(v => v.Count).Select(v => v.Tunnel.ToString()).ToList();
- agvFill.ResCode = Models.WMS.Response.ResponseStatusCodeEnum.Sucess;
- agvFill.LocCode = obj.MinBy(v => stationNo.IndexOf(v.Entity.Code)).Entity.Code;
- agvFill.SpoolType = "4";
- agvFill.ResMsg = "";
- return agvFill;
- }
- /// <summary>
- /// AGV执行回调
- /// </summary>
- /// <param name="reqDto"></param>
- /// <returns></returns>
- [HttpPost]
- public AgvCallbackResponse AgvCallback([FromBody] 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(1)).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;
- 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 "tcEnd": //机台补空任务完成
- 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).SplitTable().ExecuteCommand();
- });
- }
- catch (Exception ex)
- {
- code = AgvResponseCode.Error;
- msg = ex.Message;
- }
- var res = new AgvCallbackResponse() { code = code, message = msg };
- return res;
- }
- }
- }
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