修改机器人拆垛请求分配时的判断

zhaowc

2025-01-20 d9af58da144ca8e636881b427b4489bc9cd54371

 Wms/Wms/Controllers/DownApiController.cs

@@ -14,6 +14,10 @@
using WMS.IBLL.ILogServer;
using Wms.Tools;
using System.Collections.Generic;
using Model.ModelVm.PdaVm;
using WMS.IBLL.IPdaServer;
using Model.ModelVm;
using WMS.IBLL.IDataServer;

namespace Wms.Controllers
{
@@ -29,13 +33,20 @@
        private readonly IPalletBindServer _asnPalletBindSvc;//托盘绑定Svc 
        private readonly IStockCheckServer _crCheckSvc;//托盘绑定Svc 
        private readonly ITaskServer _taskSvc;//任务Svc 
        public DownApiController(IOptions<ApiUrlConfig> setting, IExportNoticeServer exNoticeSvc, IPalletBindServer asnPalletBindSvc, IStockCheckServer crCheckSvc, ITaskServer taskSvc)
        private readonly IPdaSoServer _pdaSoSvc;//空托出库Svc
        private readonly IPdaAsnServer _paAsnSvc;//空托跺绑定
        private readonly IStockServer _stockSvc;//AGV任务完成箅

        public DownApiController(IOptions<ApiUrlConfig> setting, IExportNoticeServer exNoticeSvc, IPalletBindServer asnPalletBindSvc, IStockCheckServer crCheckSvc, ITaskServer taskSvc, IPdaSoServer pdaSoSvc,IPdaAsnServer paAsnSvc,IStockServer stockSvc)
        {
            _config = setting.Value;
            _exNoticeSvc = exNoticeSvc;
            _asnPalletBindSvc = asnPalletBindSvc;
            _crCheckSvc = crCheckSvc;
            _taskSvc = taskSvc;
            _pdaSoSvc = pdaSoSvc;
            _paAsnSvc = paAsnSvc;
            _stockSvc = stockSvc; 
        }

        #region WMS接口 调用下游系统接口 
@@ -215,20 +226,34 @@

                var jsonData = JsonConvert.SerializeObject(model);
                LogFile.SaveLogToFile($"WCS申请巷道：( {jsonData} ),", logStr);
                if (model.TaskModel == "1")
                {
                    var list = _asnPalletBindSvc.RequestRoadWayModel(model.PalletNo, model.HouseNo);

                var list = _asnPalletBindSvc.RequestRoadWay(model.PalletNo, model.HouseNo);
                    LogFile.SaveLogToFile($"WCS申请巷道返回：( {JsonConvert.SerializeObject(list)} ),", logStr);
                    new OperationASNServer().AddLogOperationAsn("入库作业", "入库日志", model.PalletNo,
                        "申请巷道", $"申请巷道托盘号：{model.PalletNo}的成功信息", 2);

                LogFile.SaveLogToFile($"WCS申请巷道返回：( {JsonConvert.SerializeObject(list)} ),", logStr);
                new OperationASNServer().AddLogOperationAsn("入库作业", "入库日志", model.PalletNo.Substring(0, 8),
                    "申请巷道", $"申请巷道托盘号：{model.PalletNo.Substring(0, 8)}的成功信息", 2);
                    return Ok(new { Success = 0, Message = "申请巷道成功", TaskList = list });
                }
                else
                {

                return Ok(new { Success = 0, Message = "申请储位成功", TaskList = list });
                    var list = _asnPalletBindSvc.RequestRoadWay(model.PalletNo, model.HouseNo);

                    LogFile.SaveLogToFile($"WCS申请巷道返回：( {JsonConvert.SerializeObject(list)} ),", logStr);
                    new OperationASNServer().AddLogOperationAsn("入库作业", "入库日志", model.PalletNo.Substring(0, 8),
                        "申请巷道", $"申请巷道托盘号：{model.PalletNo.Substring(0, 8)}的成功信息", 2);

                    return Ok(new { Success = 0, Message = "申请巷道成功", TaskList = list });
                }

            }
            catch (Exception e)
            {
                LogFile.SaveLogToFile($"WCS申请巷道返回：( {e.Message} ),", logStr);
                new OperationASNServer().AddLogOperationAsn("入库作业", "入库日志", model.PalletNo.Substring(0, 8),
                    "申请巷道", $"申请巷道托盘号：{model.PalletNo.Substring(0, 8)}的失败信息", 2);
                new OperationASNServer().AddLogOperationAsn("入库作业", "入库日志", model.PalletNo,
                    "申请巷道", $"申请巷道托盘号：{model.PalletNo}的失败信息", 2);

                return Ok(new ErpModel { Success = -1, Message = e.Message });
            }
@@ -278,11 +303,19 @@
                {
                    var jsonData = JsonConvert.SerializeObject(model);
                    LogFile.SaveLogToFile($"WCS申请储位：( {jsonData} ),", logStr);

                }

                string pallet = model.PalletNo.Substring(0, 8);
                var list = _asnPalletBindSvc.RequestLocation(pallet, model.HouseNo, model.RoadwayNo);

                OutCommandDto list;
                if (model.TaskModel == "1")
                {
                    list = _asnPalletBindSvc.RequestLocationModel(pallet, model.HouseNo, model.RoadwayNo);
                }
                else
                {
                    list = _asnPalletBindSvc.RequestLocation(pallet, model.HouseNo, model.RoadwayNo);
                }
                
                if (model.PalletNo.Length == 9)
                {
                    new OperationASNServer().AddLogOperationAsn("入库作业", "入库日志", model.PalletNo.Substring(0, 8), "申请储位", $"申请储位托盘号：{model.PalletNo.Substring(0, 8)}的成功信息", 2);// int.Parse(userId)
@@ -292,11 +325,7 @@
                {
                    LogFile.SaveLogToFile($"WCS申请储位返回：( {JsonConvert.SerializeObject(list)} ),", logStr);
                }
                if (model.PalletNo.Length == 9)
                {

                }

                
                return Ok(new { Success = 0, Message = "申请储位成功", TaskList = list });
            }
            catch (Exception e)
@@ -335,20 +364,20 @@
                }
                //接收时间
                var time1 = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
                var orderType = _taskSvc.GetTaskOrderType(model.TaskNo);// 判断单据类型入出移
                var orderType = _taskSvc.GetTaskOrderType(model.TaskNo,model.TaskType);// 判断单据类型入出移
                switch (orderType)
                {
                    case "0"://入库完成任务
                        if (model.TaskType == "0")//0：入库 1：出库 2：移库
                        {
                            _asnPalletBindSvc.ArrivalSuccess(model.TaskNo, 0);
                            return Ok(new WcsModel { StatusCode = 0, Msg = "入库完成" });
                            return Ok(new WcsModel { StatusCode = 0, Msg = "入库完成" });                                               
                        }
                        break;
                    case "1"://出库完成任务
                        if (model.TaskType == "1")//0：入库 1：出库 2：移库
                        {
                            _exNoticeSvc.ExportSuccess(model.TaskNo, 0);
                            _exNoticeSvc.ExportSuccess(model.TaskNo, 0, _config.AgvHost + _config.GenAgvSchedulingTask);
                            return Ok(new WcsModel { StatusCode = 0, Msg = "出库完成" });
                        }
                        else if (model.TaskType == "2")
@@ -403,7 +432,7 @@
                var bl = _exNoticeSvc.EmptyException(model);

                LogFile.SaveLogToFile($"空取异常：(执行结果成功),", logStr);
                return Ok(new { Success = 0, Message = "" });
                return Ok(new { Success = 0,StatusCode = 0, Message = "" });
            }
            catch (Exception e)
            {
@@ -428,7 +457,7 @@
                var list = _asnPalletBindSvc.FullException(model);

                LogFile.SaveLogToFile($"满入异常：( {JsonConvert.SerializeObject(list)} ),", logStr);
                return Ok(new { Success = 0, Message = "", TaskList = list });
                return Ok(new { Success = 0, StatusCode = 0, Message = "", TaskList = list });
            }
            catch (Exception e)
            {
@@ -482,12 +511,218 @@
                throw new Exception(ex.Message);
            }
        }
        
        /// <summary>
        /// 自动码垛绑定信息返回巷道口
        /// </summary>
        /// <param name="model">入库单信息</param>
        /// <returns></returns>
        [AllowAnonymous]
        [HttpPost]
        public IActionResult BindRequestRoadWay(BoxPalletBindVm model)
        {
            var logStr = $@".\log\WCS\WCS托盘绑定-申请巷道" + DateTime.Now.ToString("yyyyMMdd") + ".txt";

        //托盘箱码信息 自动码垛 (wcs提供)
            try
            {
                var jsonData = JsonConvert.SerializeObject(model);
                LogFile.SaveLogToFile($"WCS托盘绑定-申请巷道：( {jsonData} ),", logStr);

                _asnPalletBindSvc.BindPalletStock(model, 0);
                //申请巷道
                var list = _asnPalletBindSvc.RequestRoadWay(model.PalletNo, "W01");
                LogFile.SaveLogToFile($"WCS托盘绑定-申请巷道返回：( {JsonConvert.SerializeObject(list)} ),", logStr);

                return Ok(new { Success = 0, Message = "托盘绑定-申请巷道成功", TaskList = list });
            }
            catch (Exception e)
            {
                LogFile.SaveLogToFile($"WCS托盘绑定-申请巷道返回：( {e.Message} ),", logStr);

                return Ok(new ErpModel { Success = -1, Message = e.Message });
            }
        }

        /// <summary>
        /// WCS申请空托跺绑定
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [AllowAnonymous]
        [HttpPost]
        public IActionResult BindPlnInHouseWcs(PalletsBind model)
        {
            var logStr = $@".\log\WCS\WCS申请空托跺绑定" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            try
            {
                var strMsg = _paAsnSvc.BindNullPallets(model);

                return Ok(new { Success = 0, Message = "空托跺绑定成功", TaskList = strMsg });
            }
            catch (Exception e)
            {
                LogFile.SaveLogToFile($"WCS申请空托跺绑定异常返回：( {e.Message} ),", logStr);

                return Ok(new ErpModel { Success = -1, Message = e.Message });
            }
        }

        /// <summary>
        /// WCS申请空托出库
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [AllowAnonymous]
        [HttpPost]
        public IActionResult IssuePlnOutHouseWcs(OutModePalletVm model)
        {
            var logStr = $@".\log\WCS\WCS申请空托出库" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            try
            {
                List<OutCommandDto> _list = _pdaSoSvc.IssuePlnOutHouseWcs(model,0);

                return Ok(new { Success = 0, Message = "空托盘出库成功", TaskList = _list });
            }
            catch (Exception e)
            {
                LogFile.SaveLogToFile($"WCS申请空托出库异常返回：( {e.Message} ),", logStr);

                return Ok(new ErpModel { Success = -1, Message = e.Message });
            }
        }

        /// <summary>
        /// WCS申请是否缠膜
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [AllowAnonymous]
        [HttpPost]
        public IActionResult RequestPackWcs(RequesIsBale model)
        {
            var logStr = $@".\log\WCS\WCS申请缠膜拆膜" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            try
            {
               int t = _asnPalletBindSvc.RequestPackWcs(model.PalletNo);
                LogFile.SaveLogToFile($"WCS申请缠膜入库请求，请求托盘呈：( {model.PalletNo} ),", logStr);

                return Ok(new { Success = t, Message = "缠膜指令发送成功" });
            }
            catch (Exception e)
            {
                LogFile.SaveLogToFile($"WCS申请缠膜入库异常返回：( {e.Message} ),", logStr);

                return Ok(new ErpModel { Success = -1, Message = e.Message });
            }
        }

        /// <summary>
        /// WCS申请是否拆膜
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [AllowAnonymous]
        [HttpPost]
        public IActionResult RequestUnPackWcs(RequesIsBale model)
        {
            var logStr = $@".\log\WCS\WCS申请缠膜拆膜" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            try
            {
                int t = _asnPalletBindSvc.RequestUnPackWcs(model.PalletNo);

                return Ok(new { Success = t, Message = "拆膜指令发送成功" });
            }
            catch (Exception e)
            {
                LogFile.SaveLogToFile($"WCS申请拆膜出库异常返回：( {e.Message} ),", logStr);

                return Ok(new ErpModel { Success = -1, Message = e.Message });
            }
        }

        /// <summary>
        /// WCS反馈缠膜完成
        /// </summary>
        /// <param name="model"></param>
        /// <returns></returns>
        [AllowAnonymous]
        [HttpPost]
        public IActionResult RequestPackedWcs(RequesIsBale model)
        {
            var logStr = $@".\log\WCS\WCS申请缠膜拆膜" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            try
            {
                int t = _asnPalletBindSvc.RequestPackedWcs(model.PalletNo);

                return Ok(new { Success = t, Message = "缠膜完成指令发送成功" });
            }
            catch (Exception e)
            {
                LogFile.SaveLogToFile($"WCS申请缠膜完成异常返回：( {e.Message} ),", logStr);

                return Ok(new ErpModel { Success = -1, Message = e.Message });
            }
        }

        ///// <summary>
        ///// 成品箱码拆垛拣货
        ///// </summary>
        ///// <param name="model">入库单信息</param>
        ///// <returns></returns>
        //[AllowAnonymous]
        //[HttpPost]
        //public IActionResult BoxUnstackd(BoxPickList model)
        //{
        //    var logStr = $@".\log\WCS\WCS成品箱码拆垛" + DateTime.Now.ToString("yyyyMMdd") + ".txt";

        //    try
        //    {

        //        var jsonData = JsonConvert.SerializeObject(model);
        //        LogFile.SaveLogToFile($"WCS成品箱码拆垛：( {jsonData} ),", logStr);

        //        _comeSvc.BoxUnstackd(model.PalletNo, model.BoxList);
        //        var list = new { Success = 0, Message = "成品箱码拆垛" };
        //        LogFile.SaveLogToFile($"WCS成品箱码拆垛返回：( {JsonConvert.SerializeObject(list)} ),", logStr);

        //        return Ok(list);
        //    }
        //    catch (Exception e)
        //    {
        //        LogFile.SaveLogToFile($"WCS成品箱码拆垛：( {e.Message} ),", logStr);

        //        return Ok(new ErpModel { Success = -1, Message = e.Message });
        //    }
        //}

        //申请空托(自动码空托时用)

        //车间叫料

        //WCS申请拆垛信息
        /// <summary>
        /// 成品箱码拆垛拣货
        /// </summary>
        /// <param name="model">入库单信息</param>
        /// <returns></returns>
        [AllowAnonymous]
        [HttpPost]
        public IActionResult ResultBoxInfoCheckWcs(BoxInfoCheck model)
        {
            var logStr = $@".\log\WCS\WCS申请拆垛托盘信息" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            try
            {
                RequestBoxInfoCheck list = _exNoticeSvc.BoxInfoCheckWcs(model);
                return Ok(new { Success = 1,Message = "拆垛信息获取成功",data = list});
            }
            catch  (Exception e)
            {
                LogFile.SaveLogToFile($"WCS申请托盘拆垛异常返回：( {e.Message} ),", logStr);

                return Ok(new ErpModel { Success = -1, Message = e.Message});
            }

        }


        #region AGV
@@ -497,10 +732,10 @@
        ///  AGV 执行回调的方法，包含任务开始，走出储位，任务完成及任务取消。
        ///  取消通知为任务单，其他通知为单个任务组或子任务。注意：是否通知需要在任务模板配置
        /// </summary>
        /// <param name="model">入库单信息</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        [HttpPost]
        public IActionResult AgvCallback(AgvContinueTask model)
        public IActionResult AgvCallback(AgvTaskDto model)
        {
            try
            {
@@ -511,20 +746,41 @@

                //接收时间
                var time1 = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
                var orderType = _taskSvc.GetTaskOrderType(model.TaskCode);// 判断单据类型入出移

                //测试接口用
                var orderType = _taskSvc.GetTaskOrderType(model.TaskCode,"0");// 判断单据类型入出移

                var taskType = _taskSvc.GetTaskType(model.TaskCode);//根据任务号获取任务类型
                switch (orderType)
                {
                    case "0"://入库任务执行
                        if (model.TaskTyp == "mid") //AGV到达入库口，请求放货
                        {
                            //下发WCS放货请求
                            
                        }
                        else if (model.TaskTyp == "end")//AGV放货到入库口完成
                        {
                            _stockSvc.ArriveFinish(model.TaskCode);
                        }
                        
                        break;

                    case "1"://出库任务执行
                        _stockSvc.SoFinish(model.TaskCode);
                        break;

                    case "2"://盘库任务执行

                    case "3"://移库任务执行
                        return Ok(new OutCommanAgvDto { Code = "0", Message = "成功", ReqCode = model.ReqCode });
                        _stockSvc.MoveFinish(model.TaskCode);
                        break;
                    // return Ok(new OutCommanAgvDto { Code = "0", Message = "成功", ReqCode = model.ReqCode });

                    default:
                        return Ok(new OutCommanAgvDto { Code = "1", Message = "失败", ReqCode = model.ReqCode });
                }
                return Ok(new OutCommanAgvDto { Code = "0", Message = "成功", ReqCode = model.ReqCode });

            }
            catch (Exception ex)