ZT_1C/盘条库/WCS.WorkEngineering/WebApi/Controllers/AgvController.cs

using Microsoft.AspNetCore.Mvc;
using NetTaste;
using Newtonsoft.Json;
using PlcSiemens.Core.Extension;
using ServiceCenter.Attributes;
using ServiceCenter.Logs;
using ServiceCenter.Redis;
using ServiceCenter.SqlSugars;
using WCS.Core;
using WCS.Entity;
using WCS.WorkEngineering.Extensions;
using WCS.WorkEngineering.Protocol.Station;
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
        /// </summary>
        /// <param name="type">任务类型</param>
        /// <param name="code">agv任务号</param>
        /// <param name="startPos">起始位置</param>
        /// <param name="endPos">目标位置</param>
        /// <param name="nextPos">下个位置</param>
        /// <param name="barCode">容器编码</param> 
        /// <returns></returns>
        [HttpPost]
        public string AgvDebug(int type, string code, string startPos,string endPos,string nextPos,string barCode)
        {
            try
            {
                switch (type)
                {
                    case 1:
                        AgvApi.盘条入库(startPos,nextPos,endPos,barCode, code, "1");
                        break;

                    //case 2:
                        //AgvApi.机台补满();
                        //break;

                    case 3:
                        AgvApi.ContinueTask(code, nextPos);

                        break;
                    case 4:
                        AgvApi.搬运(barCode,startPos,endPos,code, "1");

                        break;

                    case 5:
                        AgvApi.搬运_wmsStart(barCode, startPos,endPos, code, "1");

                        break;

                    case 6:
                        AgvApi.出库搬运_wms(barCode, startPos, endPos, code, "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([FromBody] AgvCallbackRequest reqDto)
        {
            var key = $"WCS:Lock:AGV:{nameof(AgvCallback)}";
            var res = new AgvCallbackResponse() { code = AgvResponseCode.Fail, message = "失败" };
            try
            {
                if (RedisHub.Default.Get(key) != null)
                {
                    res.code = AgvResponseCode.Error;
                    res.message = $"[{nameof(AgvCallback)}]--触发并发管控";
                }
                else
                {
                    RedisHub.Default.Set(key, nameof(AgvCallback));
                    WCS_TaskInfo taskInfo = null;
                    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(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";

                            }
                            else
                            {
                                switch (reqDto.method)
                                {
                                    //case "start": //表示请求巷道
                                    //    agvTask.Status = AGVTaskStatus.RequestOrPermission1;
                                    //    break;

                                    //case "end": //表示请求巷道
                                    //    agvTask.Status = AGVTaskStatus.RequestOrPermission1;
                                    //    break;
                                    //入库任务、叫料任务、搬运任务
                                    case "outbin": //入库小车取货后退出取货位
                                        agvTask.AgvStatus = AGVTaskStatus.LeaveGet;
                                        break;

                                    case "applyContinue": //表示请求巷道
                                        agvTask.AgvStatus = AGVTaskStatus.RequestOrPermission1;
                                        break;

                                    case "applyQuqGet": //表示请求取货
                                        agvTask.AgvStatus = AGVTaskStatus.RequestOrPermission2;
                                        break;

                                    case "applyQuqPut": //表示请求放货
                                        agvTask.AgvStatus = AGVTaskStatus.PutRequestOrPermission;
                                        break;

                                    case "finishIn": //入库任务完成
                                        agvTask.AgvStatus = AGVTaskStatus.MissionCompleted;
                                        break;

                                    case "finishOut": //出库任务完成
                                        agvTask.AgvStatus = AGVTaskStatus.MissionCompleted;
                                        break;

                                    case "finishMove": //搬运任务完成
                                        agvTask.AgvStatus = AGVTaskStatus.MissionCompleted;
                                        break;

                                    case "tcEnd": //机台补空任务完成
                                        agvTask.AgvStatus = AGVTaskStatus.MissionCompleted;
                                        break;

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

                                    

                                    case "cancel": //取消任务
                                                   //agvTask.AgvStatus = AGVTaskStatus.Cancel;
                                        break;

                                    default:
                                        break;
                                }
                                db.Default.Updateable(agvTask).SplitTable().ExecuteCommand();
                                res.code = AgvResponseCode.Success;
                                res.message = "成功";
                            }


                        });
                    }
                    catch (Exception ex)
                    {
                        res.code = AgvResponseCode.Error;
                        res.message = ex.Message;
                    }
                }
            }
            finally
            {
                RedisHub.Default.Del(key);
            }
            return res;
        }
    }
}