修改下发AGV任务接口，修改条码增加功能

zhaowc

2025-05-20 d09a1552e45e6cfc8f83c0249cd296b8706c0dc2

修改下发AGV任务接口，修改条码增加功能

 HTML/views/HouseWithinSetting/HopperTransport.html

@@ -100,9 +100,9 @@
                                            <label class="layui-form-label" style="width: 80px;">规格</label>
                                            <div class="layui-input-block">
                                                <select name="Standard" lay-filter="Standard" lay-search>
                                                    <option value="400">400L</option> 
                                                    <option value="800">800L</option> 
                                                    <option value="1000">1000L</option> 
                                                    <option value="400L">400L</option> 
                                                    <option value="800L">800L</option> 
                                                    <option value="1000L">1000L</option> 
                                                </select>
                                            </div>
                                        </div>

 HTML/views/WareHouseSetting/PalletsPrintFrom.html

@@ -24,9 +24,9 @@
                </div>
            </div>
            <div class="layui-form-item">
                <label class="layui-form-label">所属接料设备</label>
                <label class="layui-form-label">桶规格(L)</label>
                <div class="layui-input-block">
                    <input type="text" name="DeviceCode" placeholder="请输入所属接料设备" lay-verify="" autocomplete="off" class="layui-input">
                    <input type="text" name="DeviceCode" placeholder="请输入桶规格" lay-verify="required" autocomplete="off" class="layui-input">
                </div>
            </div>
            <div class="layui-form-item layui-hide">

 Wms/Model/InterFaceModel/AgvModel.cs

@@ -146,18 +146,32 @@
    }
    public class carrierInfo
    {
        /// <summary>
        /// 载具类型
        /// </summary>
        public string carrierType { get; set; }
        ///// <summary>
        ///// 载具类型
        ///// </summary>
        //public string carrierType { get; set; }
        /// <summary>
        /// 载具编号
        /// </summary>
        public string carrierCode { get; set; }

        /// <summary>
        /// 站点编号
        /// </summary>
        public string siteCode { get; set; }
        /// <summary>
        /// 层号： 从 0 开始、从下往上编号
        /// </summary>
        public int layer { get; set; }
        //public int layer { get; set; }
        /// <summary>
        /// 站点编号
        /// </summary>
        public int? carrierDir { get; set; }

        /// <summary>
        /// 站点编号
        /// </summary>
        public object extra { get; set; }
    }

    /// <summary>

 Wms/Model/InterFaceModel/HttpModel.cs

@@ -655,154 +655,122 @@
    public class AgvTaskDto
    {
        /// <summary>
        /// 请求编号，每个请求都要一个唯一编号
        /// 同一个请求重复提交 使用同一编号
        /// 是否必填：是
        /// 任务号
        /// </summary>
        public string reqCode { get; set; }
        public string robotTaskCode { get; set; }

        /// <summary>
        /// 请求时间戳
        /// 格式: “yyyy-MM-ddHH:mm:ss”
        /// 是否必填：是
        /// 当前执行任务的机器人唯一标识
        /// </summary>
        public string reqTime { get; set; }
        public string singleRobotCode { get; set; }

        public int currentSeq { get; set; }

        /// <summary>
        /// 地码 X 坐标(mm)：任务完成时有值
        /// 是否必填：否
        /// 自定义扩展字段
        /// </summary>
        public double cooX { get; set; }
        public ExtraModel extra { get; set; }
    }


    public class ExtraModel
    {
        public string async { get; set; } = "0";

        /// <summary>
        /// 地码 Y 坐标(mm)：任务完成时有值
        /// 是否必填：否
        /// 回调数据对象
        /// </summary>
        public double cooY { get; set; }
        public ExtraModelView values { get; set; }

        /// <summary>
        /// 当前位置编号
        /// 任务开始：该位置为任务起点
        /// 走出储位：该位置为任务起点
        /// 任务单取消：该位置为工作位编号
        /// 任务结束：该位置为任务终点
        /// 取放申请：取放料箱的点
        /// 是否必填：是
        /// </summary>
        public string currentPositionCode { get; set; }
    }

        /// <summary>
        /// 自定义字段，不超过 2000 个字符
        /// 是否必填：否
        /// </summary>
        public string data { get; set; }

    /// <summary>
    /// 回调参数
    /// </summary>
    public class ExtraModelView
    {
        /// <summary>
        /// 地图编号
        /// 是否必填：否
        /// </summary>
        public string mapCode { get; set; }

        /// <summary>
        /// 地码编号：任务完成时有值
        /// 是否必填：否
        /// </summary>
        public string mapDataCode { get; set; }

        /// <summary>
        /// 仓位编号：叉车与 CTU 任务时有值
        /// 是否必填：否
        /// </summary>
        public string stgBinCode { get; set; }

        /// <summary>
        /// 方法名, 可使用任务类型做为方法名
        /// 由 RCS-2000 任务模板配置后并告知上层系统
        /// 默认使用方式:
        /// start : 任务开始
        /// outbin : 走出储位
        /// end : 任务结束
        /// cancel : 任务单取消
        /// apply：CTU 料箱取放申请
        /// 是否必填：是
        /// 回调任务
        /// <para> start:任务开始,outbin:走出储位,end:任务完成</para>
        /// </summary>
        public string method { get; set; }

        /// <summary>
        /// 货架编号：背货架时有值
        /// 是否必填：否
        /// 载具编号
        /// </summary>
        public string podCode { get; set; }
        public string carrierCode { get; set; }

        /// <summary>
        /// 别对应地图的任务完成时有值
        /// 左: 180
        /// 右: 0
        /// 上: 90
        /// 下: -90
        /// 是否必填：否
        /// 载具名称
        /// </summary>
        public string podDir { get; set; }
        public string carrierName { get; set; }

        /// <summary>
        /// 物料编号
        /// 是否必填：否
        /// 载具类型
        /// </summary>
        public string materialLot { get; set; }
        public string carrierType { get; set; }

        /// <summary>
        /// AGV 编号（同 agvCode ）
        /// 是否必填：否
        /// 载具种类
        /// </summary>
        public string robotCode { get; set; }
        public string carrierCategory { get; set; }


        /// <summary>
        /// 当前任务单号
        /// 是否必填：是
        /// 当前站点编号
        /// </summary>
        public string taskCode { get; set; }
        public string slotCode { get; set; }

        /// <summary>
        /// 工作位，与 RCS-2000 端配置的位置名称一致。任务完成时有值，与生成任务单接口中的 wbCode 一致
        /// 是否必填：否
        /// 站点别名
        /// <para>1.走出储位:起点。2.任务完成:目标点</para>
        /// </summary>
        public string wbCode { get; set; }
        public string slotName { get; set; }

        /// <summary>
        /// 容器编号
        /// 是否必填：否
        ///  存储类型(BIN:仓位,SITE:站点)
        /// </summary>
        public string ctnrCode { get; set; }
        public string slotCategory { get; set; }

        /// <summary>
        /// 容器类型
        /// 是否必填：否
        ///  x坐标
        /// </summary>
        public string ctnrType { get; set; }
        public decimal? x { get; set; }

        /// <summary>
        /// 巷道编号
        /// 是否必填：否
        ///  y坐标
        /// </summary>
        public string roadWayCode { get; set; }
        public decimal? y { get; set; }

        /// <summary>
        /// 巷道内顺序号
        /// 巷道尾是 0，到巷道头依次递增 1
        /// 是否必填：否
        ///  机器人种类
        /// </summary>
        public string seq { get; set; }
        public string amrCategory { get; set; }

        /// <summary>
        /// 设备编号，如梳齿式工作站、输送线等，一般使用于 CTU 场景。系统根据仓位定位到关联的设备编号。
        /// 是否必填：否
        ///  机器人类型
        /// </summary>
        public string eqpCode { get; set; }
        public string amrType { get; set; }


        public int? pileCount { get; set; }
        public int? layerNo { get; set; }
        public string amrCode { get; set; }

    }
    /// <summary>
    /// WMS回应AGV信息
    /// </summary>
    public class OutCommanAgvDto
}


/// <summary>
/// WMS回应AGV信息
/// </summary>
public class OutCommanAgvDto
    {
        /// <summary>
        /// 返回码
@@ -853,5 +821,18 @@
        public string data { get; set; }
        public string reqCode { get; set; }
    }

/// <summary>
/// agv请求接口应答
/// </summary>
public class AgvResultModel2
{
    public string code { get; set; }
    public string message { get; set; }
    public Data da { get; set; }
}
public class Data
{
    public string robotTaskCode { get; set; }
    #endregion
}

 Wms/Utility/Tools/RcsHelper.cs

@@ -1,15 +1,19 @@
using Model.InterFaceModel;
using SqlSugar;
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Text;
using ZXing;
using static Model.InterFaceModel.RCSModel;
using WMS.Entity.Context;
using WMS.Entity.SysEntity;

namespace Utility.Tools
{
    public static class RcsHelper
    {
        private static readonly SqlSugarScope Db = DataContext.Db;
        /// <summary>
        /// 下发任务
        /// </summary>
@@ -21,12 +25,16 @@
        public static bool CreateTaskForAgv(TaskDetial taskDetial, string url, out string agvMsg, string priority = null)
        {
            bool result = false;
            var tasktype = "F12";

            //跨楼层任务tasktype值赋值……
            //tasktype = "";

            List<targetRoute> pahtList = new List<targetRoute>();
            //起始位置
            targetRoute royte1 = new targetRoute();
            royte1.seq = 0;
            royte1.type = "ZONE";
            royte1.type = "SITE";
            royte1.code = taskDetial.Startport;

            pahtList.Add(royte1);
@@ -34,18 +42,23 @@
            //目标位置
            targetRoute royte2 = new targetRoute();
            royte2.seq = 0;
            royte2.type = "ZONE";
            royte2.type = "SITE";
            royte2.code = taskDetial.Endport;

            pahtList.Add(royte2);

            AgvCreateTaskModel taskModel = new AgvCreateTaskModel();
            taskModel.taskType = "PF-LMR-COMMON";
            taskModel.taskType = tasktype;
            taskModel.targetRoute = pahtList;

            //AGV任务下发时增加hearder:X-LR-REQUEST-ID,值为随机数
            long ran = DateTime.Now.Ticks;
            Dictionary<string, string> key = new Dictionary<string, string>();
            key.Add("X-LR-REQUEST-ID", ran.ToString());

            // 正式运行程序放开
            var jsonData = JsonConvert.SerializeObject(taskModel);
            string response = HttpHelper.DoPost(url, jsonData, "下发给AGV转运命令", "AGV");
            string response = HttpHelper.DoPost(url, jsonData, "下发给AGV转运命令", "AGV", key);
            //解析返回数据 
            var agvModel = JsonConvert.DeserializeObject<OutCommanAgvDto>(response);
            if (agvModel.Code == "0")
@@ -64,5 +77,89 @@

            return result;
        }
        /// <summary>
        /// 下发AGV绑定载具和站点
        /// </summary>
        /// <param name="palletNo">桶号L</param>
        /// <param name="url">请求地址</param>   
        /// <param name="agvMsg">返回信息</param>
        /// <param name="locateNo">返回信息</param>
        /// <returns></returns>
        public static bool BindPalletAndSite(string palletNo,string locateNo,string url,out string agvMsg)
        {
            
            bool result = false;
            carrierInfo carrierInfo = new carrierInfo();
            carrierInfo.carrierCode = palletNo;
            carrierInfo.siteCode = locateNo;

            //AGV任务下发时增加hearder:X-LR-REQUEST-ID,值为随机数
            long ran = DateTime.Now.Ticks;
            Dictionary<string, string> key = new Dictionary<string, string>();
            key.Add("X-LR-REQUEST-ID", ran.ToString());

            // 正式运行程序放开
            var jsonData = JsonConvert.SerializeObject(carrierInfo);
            string response = HttpHelper.DoPost(url, jsonData, "下发给AGV绑定载具命令", "AGV", key);
            //解析返回数据 
            var agvModel = JsonConvert.DeserializeObject<OutCommanAgvDto>(response);
            if (agvModel.Code == "0")
            {
                result = true;//给下车下发任务成功

                agvMsg = "";
            }
            else
            {
                var logStr = $@".\log\AGV\下发给AGV绑定载具命令" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
                LogFile.SaveLogToFile($"下发给AGV绑定载具命令异常：( {agvModel.Message} ),", logStr);

                agvMsg = agvModel.Message;
            }

            return result;
        }

        /// <summary>
        /// 下发AGV解绑载具和站点
        /// </summary>                              
        /// <param name="palletType">容器类型1：400L，2：800/1000L</param>
        /// <param name="url">请求地址</param> 
        /// <param name="agvMsg">返回信息</param>
        /// <param name="locateNo">返回信息</param>
        /// <returns></returns>
        public static bool UnBindPalletAndSite(string palletType, string locateNo,string url, out string agvMsg)
        {
            bool result = false;
            carrierInfo carrierInfo = new carrierInfo();
            carrierInfo.carrierCode = palletType;
            carrierInfo.siteCode = locateNo;

            //AGV任务下发时增加hearder:X-LR-REQUEST-ID,值为随机数
            long ran = DateTime.Now.Ticks;
            Dictionary<string, string> key = new Dictionary<string, string>();
            key.Add("X-LR-REQUEST-ID", ran.ToString());

            // 正式运行程序放开
            var jsonData = JsonConvert.SerializeObject(carrierInfo);
            string response = HttpHelper.DoPost(url, jsonData, "下发给AGV绑定载具命令", "AGV", key);
            //解析返回数据 
            var agvModel = JsonConvert.DeserializeObject<OutCommanAgvDto>(response);
            if (agvModel.Code == "0")
            {
                result = true;//给下车下发任务成功

                agvMsg = "";
            }
            else
            {
                var logStr = $@".\log\AGV\下发给AGV解绑载具命令" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
                LogFile.SaveLogToFile($"下发给AGV解绑载具命令异常：( {agvModel.Message} ),", logStr);

                agvMsg = agvModel.Message;
            }

            return result;
        }
    }
}

 Wms/WMS.BLL/BllCheckServer/StockCheckServer.cs

@@ -1435,6 +1435,7 @@

                try
                {
                    
                    //程序正式发布后放开
                    var time1 = DateTime.Now;//发送时间 .ToString("yyyy-MM-dd HH:mm:ss")
                    var response = HttpHelper.DoPost(url, jsonData, "下发给WCS出库命令", "WCS");

 Wms/WMS.BLL/BllPdaServer/PdaSoServer.cs

@@ -1177,6 +1177,7 @@

                    try
                    {
                        
                        var time1 = DateTime.Now;//发送时间 .ToString("yyyy-MM-dd HH:mm:ss")
                        response = HttpHelper.DoPost(url, jsonData, "下发给WCS出库命令", "WCS");
                        var time2 = DateTime.Now;//返回时间 .ToString("yyyy-MM-dd HH:mm:ss")

 Wms/WMS.BLL/BllQualityServer/InspectionRequestServer.cs

@@ -209,6 +209,7 @@
                string response = "";
                try
                {
                    
                    var time1 = DateTime.Now;//发送时间 .ToString("yyyy-MM-dd HH:mm:ss")
                    response = HttpHelper.DoPost(url, jsonData, "上传ERP取样消耗量过账", "ERP");
                    var time2 = DateTime.Now;//返回时间 .ToString("yyyy-MM-dd HH:mm:ss")
@@ -480,6 +481,7 @@

                        try
                        {
                            
                            var time1 = DateTime.Now;//发送时间 .ToString("yyyy-MM-dd HH:mm:ss")
                            response = HttpHelper.DoPost(url, jsonData, "下发给WCS出库命令", "WCS");
                            var time2 = DateTime.Now;//返回时间 .ToString("yyyy-MM-dd HH:mm:ss")

 Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs

@@ -217,7 +217,7 @@
        /// <param name="lotNo">批次</param>
        /// <param name="userId">操作人</param>
        /// <exception cref="Exception"></exception>
        public void jiaoLiaoHopper(string areaNo,string endLocate,string plnStatus,string standard,string skuNo,string lotNo,string url,int userId)
        public void jiaoLiaoHopper(string areaNo,string endLocate,string plnStatus,string standard,string skuNo,string lotNo,string url, string bindUrl, int userId)
        {
            try
            {
@@ -306,7 +306,7 @@
                    {
                        throw new Exception("未找到对应桶信息");
                    }
                    resultYi = YikuTask(palletModel.PalletNo, taskNo, url);
                    resultYi = YikuTask(palletModel.PalletNo, taskNo, url,bindUrl);
                }
                #endregion
                //起始储位地址信息
@@ -358,29 +358,41 @@
                    string agvMsg = string.Empty;
                    //给下车下发任务
                    logTaskEntry.SendDate = DateTime.Now;//发送时间
                    var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                    if (agvResult)//成功
                    //下发载具类型
                    var bind = RcsHelper.BindPalletAndSite(palletModel.PalletNo, palletModel.LocatNo, url, out string agvBindMsg);
                    if (bind)
                    {
                        //请求成功修改任务表相应字段状态
                        logTaskEntry.IsSuccess = 1;
                        logTaskEntry.IsSend = 0;
                        //logTaskEntry.IsCancel = 0;
                        logTaskEntry.BackDate = DateTime.Now;
                        logTaskEntry.Status = "1";//正在执行
                        Db.Insertable(logTaskEntry).ExecuteCommand();
                        var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                        if (agvResult)//成功
                        {
                            //请求成功修改任务表相应字段状态
                            logTaskEntry.IsSuccess = 1;
                            logTaskEntry.IsSend = 0;
                            //logTaskEntry.IsCancel = 0;
                            logTaskEntry.BackDate = DateTime.Now;
                            logTaskEntry.Status = "1";//正在执行
                            Db.Insertable(logTaskEntry).ExecuteCommand();

                        startLoction.Status = "3";//出库中
                        Db.Updateable(startLoction).ExecuteCommand();
                            startLoction.Status = "3";//出库中
                            Db.Updateable(startLoction).ExecuteCommand();

                        endLocateInfo.Status = "2";//入库中
                        Db.Updateable(endLocateInfo).ExecuteCommand();
                            endLocateInfo.Status = "2";//入库中
                            Db.Updateable(endLocateInfo).ExecuteCommand();
                        }
                        else//失败
                        {
                            logTaskEntry.IsSuccess = 0;
                            logTaskEntry.Information = agvMsg;
                            Db.Insertable(logTaskEntry).ExecuteCommand();
                        }
                    }
                    else//失败
                    else 
                    {
                        logTaskEntry.IsSuccess = 0;
                        logTaskEntry.Information = agvMsg;
                        logTaskEntry.Information = "货架与货位绑定失败，原因："+agvBindMsg;
                        Db.Insertable(logTaskEntry).ExecuteCommand();
                    }
                   
                }
                //提交事务
                Db.CommitTran();
@@ -405,7 +417,7 @@
        /// <param name="lotNo">批次</param>
        /// <param name="userId">操作人</param>
        /// <exception cref="Exception"></exception>
        public void jiaoCheHopper(string areaNo, string StartLocate, string plnNo, string plnStatus, decimal weight,  string skuNo, string lotNo, string url,int userId)
        public void jiaoCheHopper(string areaNo, string StartLocate, string plnNo, string plnStatus, decimal weight,  string skuNo, string lotNo, string url,string bindUrl,int userId)
        {
            try
            {
@@ -550,29 +562,42 @@
                string agvMsg = string.Empty;
                //给下车下发任务
                logTaskEntry.SendDate = DateTime.Now;//发送时间
                var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                if (agvResult)//成功
                //下发载具与货位绑定
                var bind = RcsHelper.BindPalletAndSite(plnNo, StartLocate, bindUrl, out string agvBindMsg);
                if (bind)
                {
                    //请求成功修改任务表相应字段状态
                    logTaskEntry.IsSuccess = 1;
                    logTaskEntry.IsSend = 0;
                    //logTaskEntry.IsCancel = 0;
                    logTaskEntry.BackDate = DateTime.Now;
                    logTaskEntry.Status = "1";//正在执行
                    Db.Insertable(logTaskEntry).ExecuteCommand();
                    var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                    if (agvResult)//成功
                    {
                        //请求成功修改任务表相应字段状态
                        logTaskEntry.IsSuccess = 1;
                        logTaskEntry.IsSend = 0;
                        //logTaskEntry.IsCancel = 0;
                        logTaskEntry.BackDate = DateTime.Now;
                        logTaskEntry.Status = "1";//正在执行
                        Db.Insertable(logTaskEntry).ExecuteCommand();

                    startLoction.Status = "3";//出库中
                    Db.Updateable(startLoction).ExecuteCommand();
                        startLoction.Status = "3";//出库中
                        Db.Updateable(startLoction).ExecuteCommand();

                    endLocatInfo.Status = "2";//入库中
                    Db.Updateable(endLocatInfo).ExecuteCommand();
                        endLocatInfo.Status = "2";//入库中
                        Db.Updateable(endLocatInfo).ExecuteCommand();
                    }
                    else//失败
                    {
                        logTaskEntry.IsSuccess = 0;
                        logTaskEntry.Information = agvMsg;
                        Db.Insertable(logTaskEntry).ExecuteCommand();
                    }

                }
                else//失败
                else
                {
                    logTaskEntry.IsSuccess = 0;
                    logTaskEntry.Information = agvMsg;
                    logTaskEntry.Information = "货架与货位绑定失败，原因："+agvBindMsg;
                    Db.Insertable(logTaskEntry).ExecuteCommand();
                }
                

                //提交事务
                Db.CommitTran();
@@ -727,7 +752,7 @@
        /// <param name="deviceStation">叫料点位：”input”-入口（叫脏桶），”output”-出口（净桶申请储位）</param>
        /// <param name="status"></param>
        /// <exception cref="Exception"></exception>
        public void RCSCleanRequest(string deviceID,string deviceStation,string status,string url)
        public void RCSCleanRequest(string deviceID,string deviceStation,string status,string url,string bindUrl)
        {
            try
            {
@@ -859,29 +884,41 @@
                string agvMsg = string.Empty;
                //给下车下发任务
                logTaskEntry.SendDate = DateTime.Now;//发送时间
                var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                if (agvResult)//成功
                //下发载具与货位绑定
                var bind = RcsHelper.BindPalletAndSite(palletModel.PalletNo, palletModel.LocatNo, bindUrl, out string agvBindMsg);
                if (bind)
                {
                    //请求成功修改任务表相应字段状态
                    logTaskEntry.IsSuccess = 1;
                    logTaskEntry.IsSend = 0;
                    //logTaskEntry.IsCancel = 0;
                    logTaskEntry.BackDate = DateTime.Now;
                    logTaskEntry.Status = "1";//正在执行
                    Db.Insertable(logTaskEntry).ExecuteCommand();
                    var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                    if (agvResult)//成功
                    {
                        //请求成功修改任务表相应字段状态
                        logTaskEntry.IsSuccess = 1;
                        logTaskEntry.IsSend = 0;
                        //logTaskEntry.IsCancel = 0;
                        logTaskEntry.BackDate = DateTime.Now;
                        logTaskEntry.Status = "1";//正在执行
                        Db.Insertable(logTaskEntry).ExecuteCommand();

                    startLoction.Status = "3";//出库中
                    Db.Updateable(startLoction).ExecuteCommand();
                        startLoction.Status = "3";//出库中
                        Db.Updateable(startLoction).ExecuteCommand();

                    endLoction.Status = "2";//入库中
                    Db.Updateable(endLoction).ExecuteCommand();
                        endLoction.Status = "2";//入库中
                        Db.Updateable(endLoction).ExecuteCommand();
                    }
                    else//失败
                    {
                        logTaskEntry.IsSuccess = 0;
                        logTaskEntry.Information = agvMsg;
                        Db.Insertable(logTaskEntry).ExecuteCommand();
                    }
                }
                else//失败
                else
                {
                    logTaskEntry.IsSuccess = 0;
                    logTaskEntry.Information = agvMsg;
                    logTaskEntry.Information = agvBindMsg;
                    Db.Insertable(logTaskEntry).ExecuteCommand();
                }
                
                //提交事务
                Db.CommitTran();
            }
@@ -893,7 +930,7 @@
            }
        }

        private bool YikuTask(string palletNo, string taskNo, string url)
        private bool YikuTask(string palletNo, string taskNo, string url,string bindUrl)
        {
            try
            {
@@ -985,33 +1022,47 @@
                        string agvMsg = string.Empty;
                        //给下车下发任务
                        logTaskEntry.SendDate = DateTime.Now;//发送时间
                        var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg, "70");
                        if (agvResult)//成功
                                                             //下发载具与货位绑定
                        var bind = RcsHelper.BindPalletAndSite(palletInfoYi.LocatNo, palletInfoYi.PalletNo, bindUrl, out string agvBindMsg);
                        if (bind)
                        {
                            //请求成功修改任务表相应字段状态
                            logTaskEntry.IsSuccess = 1;
                            logTaskEntry.IsSend = 0;
                            //logTaskEntry.IsCancel = 0;
                            logTaskEntry.BackDate = DateTime.Now;
                            logTaskEntry.Status = "1";//正在执行
                            Db.Insertable(logTaskEntry).ExecuteCommand();
                            var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg, "70");
                            if (agvResult)//成功
                            {
                                //请求成功修改任务表相应字段状态
                                logTaskEntry.IsSuccess = 1;
                                logTaskEntry.IsSend = 0;
                                //logTaskEntry.IsCancel = 0;
                                logTaskEntry.BackDate = DateTime.Now;
                                logTaskEntry.Status = "1";//正在执行
                                Db.Insertable(logTaskEntry).ExecuteCommand();

                            //修改移出储位状态
                            locatInfo.Status = "5";//移出中
                            Db.Updateable(locatInfo).ExecuteCommand();
                                //修改移出储位状态
                                locatInfo.Status = "5";//移出中
                                Db.Updateable(locatInfo).ExecuteCommand();

                            //修改移入储位状态
                            transferLocat.Status = "4";//移入中
                            Db.Updateable(transferLocat).ExecuteCommand();
                                //修改移入储位状态
                                transferLocat.Status = "4";//移入中
                                Db.Updateable(transferLocat).ExecuteCommand();
                            }
                            else//失败
                            {
                                logTaskEntry.IsSuccess = 0;
                                logTaskEntry.Information = agvMsg;
                                Db.Insertable(logTaskEntry).ExecuteCommand();

                                throw new Exception($"给小车下发移库任务失败，桶号：{palletInfoYi.PalletNo}");
                            }
                        }
                        else//失败
                        else
                        {
                            logTaskEntry.IsSuccess = 0;
                            logTaskEntry.Information = agvMsg;
                            logTaskEntry.Information = agvBindMsg;
                            Db.Insertable(logTaskEntry).ExecuteCommand();

                            throw new Exception($"给小车下发移库任务失败，桶号：{palletInfoYi.PalletNo}");
                        }
                        
                    }
                }
                return true;
@@ -1027,7 +1078,7 @@
        /// <param name="taskNo"></param>
        /// <param name="url"></param>
        /// <exception cref="Exception"></exception>
        public void OutBinAgv(string taskNo,string url)
        public void OutBinAgv(string taskNo,string url, string bindUrl)
        {
            try
            {
@@ -1080,33 +1131,47 @@
                    string agvMsg = string.Empty;
                    //给下车下发任务
                    logTaskInfoZ.SendDate = DateTime.Now;//发送时间
                    var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg, "70");
                    if (agvResult)//成功
                    //下发载具与货们绑定
                    var bind = RcsHelper.BindPalletAndSite(logTaskInfoZ.PalletNo, logTaskInfoZ.StartLocat, bindUrl, out string agvBindMsg);
                    if (bind)
                    {
                        //请求成功修改任务表相应字段状态
                        logTaskInfoZ.IsSuccess = 1;
                        logTaskInfoZ.IsSend = 0;
                        //logTaskEntry.IsCancel = 0;
                        logTaskInfoZ.BackDate = DateTime.Now;
                        logTaskInfoZ.Status = "1";//正在执行
                        Db.Insertable(logTaskInfoZ).ExecuteCommand();
                        var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg, "70");
                        if (agvResult)//成功
                        {
                            //请求成功修改任务表相应字段状态
                            logTaskInfoZ.IsSuccess = 1;
                            logTaskInfoZ.IsSend = 0;
                            //logTaskEntry.IsCancel = 0;
                            logTaskInfoZ.BackDate = DateTime.Now;
                            logTaskInfoZ.Status = "1";//正在执行
                            Db.Insertable(logTaskInfoZ).ExecuteCommand();

                        //修改移出储位状态
                        startLocatInfoZ.Status = "5";//移出中
                        Db.Updateable(startLocatInfoZ).ExecuteCommand();
                            //修改移出储位状态
                            startLocatInfoZ.Status = "5";//移出中
                            Db.Updateable(startLocatInfoZ).ExecuteCommand();

                        //修改移入储位状态
                        endLocatInfoZ.Status = "4";//移入中
                        Db.Updateable(endLocatInfoZ).ExecuteCommand();
                            //修改移入储位状态
                            endLocatInfoZ.Status = "4";//移入中
                            Db.Updateable(endLocatInfoZ).ExecuteCommand();
                        }
                        else//失败
                        {
                            logTaskInfoZ.IsSuccess = 0;
                            logTaskInfoZ.Information = agvMsg;
                            Db.Insertable(logTaskInfoZ).ExecuteCommand();

                            throw new Exception($"给小车下发移库任务失败，桶号：{logTaskInfoZ.PalletNo}");
                        }
                    }
                    else//失败
                    else
                    {
                        logTaskInfoZ.IsSuccess = 0;
                        logTaskInfoZ.Information = agvMsg;
                        logTaskInfoZ.Information = agvBindMsg;
                        Db.Insertable(logTaskInfoZ).ExecuteCommand();

                        throw new Exception($"给小车下发移库任务失败，桶号：{logTaskInfoZ.PalletNo}");
                    }
                    
                }
            }
            catch (Exception e)
@@ -1122,7 +1187,7 @@
        /// </summary>
        /// <param name="url"></param>
        /// <exception cref="Exception"></exception>
        public void TransferBackTimer(string url)
        public void TransferBackTimer(string url,string bindUrl)
        {
            try
            {
@@ -1197,33 +1262,47 @@
                        string agvMsg = string.Empty;
                        //给下车下发任务
                        logTaskEntry.SendDate = DateTime.Now;//发送时间
                        var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                        if (agvResult)//成功
                        //下发载具与货位绑定
                        var bind = RcsHelper.BindPalletAndSite(detailInfo.PalletNo, detailInfo.LocatNo, bindUrl, out string agvBindMsg);
                        if (bind)
                        {
                            //请求成功修改任务表相应字段状态
                            logTaskEntry.IsSuccess = 1;
                            logTaskEntry.IsSend = 0;
                            //logTaskEntry.IsCancel = 0;
                            logTaskEntry.BackDate = DateTime.Now;
                            logTaskEntry.Status = "1";//正在执行
                            Db.Insertable(logTaskEntry).ExecuteCommand();
                            var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
                            if (agvResult)//成功
                            {
                                //请求成功修改任务表相应字段状态
                                logTaskEntry.IsSuccess = 1;
                                logTaskEntry.IsSend = 0;
                                //logTaskEntry.IsCancel = 0;
                                logTaskEntry.BackDate = DateTime.Now;
                                logTaskEntry.Status = "1";//正在执行
                                Db.Insertable(logTaskEntry).ExecuteCommand();

                            //修改移出储位状态
                            locatModel.Status = "5";//移出中
                            Db.Updateable(locatModel).ExecuteCommand();
                                //修改移出储位状态
                                locatModel.Status = "5";//移出中
                                Db.Updateable(locatModel).ExecuteCommand();

                            //修改移入储位状态
                            endLocatInfo.Status = "4";//移入中
                            Db.Updateable(endLocatInfo).ExecuteCommand();
                                //修改移入储位状态
                                endLocatInfo.Status = "4";//移入中
                                Db.Updateable(endLocatInfo).ExecuteCommand();
                            }
                            else//失败
                            {
                                logTaskEntry.IsSuccess = 0;
                                logTaskEntry.Information = agvMsg;
                                Db.Insertable(logTaskEntry).ExecuteCommand();

                                throw new Exception($"给小车下发移库任务失败，桶号：{detailInfo.PalletNo}");
                            }
                        }
                        else//失败
                        else
                        {
                            logTaskEntry.IsSuccess = 0;
                            logTaskEntry.Information = agvMsg;
                            logTaskEntry.Information = agvBindMsg;
                            Db.Insertable(logTaskEntry).ExecuteCommand();

                            throw new Exception($"给小车下发移库任务失败，桶号：{detailInfo.PalletNo}");
                        }
                        
                    }
                }
                //提交事务

 Wms/WMS.BLL/BllTransServer/RcsServer.cs

@@ -1294,8 +1294,12 @@
            }

            // 正式运行程序放开
            //AGV任务下发时增加hearder:X-LR-REQUEST-ID,值为随机数
            long ran = DateTime.Now.Ticks;
            Dictionary<string, string> key = new Dictionary<string, string>();
            key.Add("X-LR-REQUEST-ID", ran.ToString());
            var jsonData = JsonConvert.SerializeObject(agvTask);
            string response = HttpHelper.DoPost(url, jsonData, "下发给AGV转运命令", "AGV");
            string response = HttpHelper.DoPost(url, jsonData, "下发给AGV转运命令", "AGV",key);
            //解析返回数据 
            var agvModel = JsonConvert.DeserializeObject<OutCommanAgvDto>(response);
            if (agvModel.Code == "0")

 Wms/WMS.BLL/SysServer/PalletsServer.cs

@@ -2,6 +2,7 @@
using System.Collections.Generic;
using System.Linq;
using System.Linq.Expressions;
using System.Security.Policy;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
@@ -9,6 +10,7 @@
using Model.ModelDto.LogDto;
using Model.ModelDto.SysDto;
using SqlSugar;
using Utility.Tools;
using WMS.BLL.LogServer;
using WMS.Entity.Context;
using WMS.Entity.DataEntity;
@@ -121,7 +123,7 @@
        /// <param name="locatNo"></param>
        /// <param name="userId"></param>
        /// <exception cref="Exception"></exception>
        public void AddPallets(string palletNo,string locatNo, string deviceCode, int userId)
        public void AddPallets(string palletNo,string locatNo, string deviceCode, string url, int userId)
        {
            var db = DataContext.Db;
            try
@@ -157,31 +159,50 @@
                {
                    throw new Exception("新添加的桶只能绑定净桶区");
                }
                //if (!string.IsNullOrEmpty(deviceCode))
                //{
                //    var areaInfo = db.Queryable<SysStorageArea>().First(w => w.IsDel == "0" && w.DeviceCode.Contains(deviceCode));
                //    if (areaInfo == null)
                //    {
                //        throw new Exception("未查到设备所属区域信息");
                //    }
                //    //125设备是接料和混料一体机
                //    if (deviceCode != "125")
                //    {
                //        if (!areaInfo.AreaName.Contains("接料设备"))
                //        {
                //            throw new Exception("只能绑定接料设备");
                //        }
                //        if (areaInfo.WareHouseNo != "M03")
                //        {
                //            throw new Exception("只有大单体车间才能绑定设备");
                //        }
                //    }                    
                //}
                if (!string.IsNullOrEmpty(deviceCode))
                {
                    var areaInfo = db.Queryable<SysStorageArea>().First(w => w.IsDel == "0" && w.DeviceCode.Contains(deviceCode));
                    if (areaInfo == null)
                    switch (deviceCode)
                    {
                        throw new Exception("未查到设备所属区域信息");
                        case "400":
                            deviceCode = "400L";
                            break;
                        case "800":
                            deviceCode = "800L";
                            break;
                        case "1000":
                            deviceCode = "1000L";
                            break;
                        default:
                            throw new Exception("不能录入400，800，1000以外的值");
                    }
                    //125设备是接料和混料一体机
                    if (deviceCode != "125")
                    {
                        if (!areaInfo.AreaName.Contains("接料设备"))
                        {
                            throw new Exception("只能绑定接料设备");
                        }
                        if (areaInfo.WareHouseNo != "M03")
                        {
                            throw new Exception("只有大单体车间才能绑定设备");
                        }
                    }                    

                }
                //开启事务
                db.BeginTran();

                palletModel = new SysPallets();
                palletModel.PalletNo = palletNo;
                palletModel.Standard = deviceCode;
                palletModel.Type = "0";
                palletModel.Status = "0";
                palletModel.CreateUser = userId;
@@ -221,7 +242,7 @@

                    PalletStatus = "0",//净桶

                    UDF1 = deviceCode,
                    Standard = deviceCode,  //规格

                    IsDel = "0",
                    CreateUser = userId,
@@ -235,6 +256,20 @@
                locatModel.Status = "1";//有物品
                db.Updateable(locatModel).ExecuteCommand();

                //下发AGV绑定载具接口
                //调用AGV接口下发任务
                //string agvMsg = string.Empty;
                ////给下车下发任务
                //var agvResult = RcsHelper.BindPalletAndSite(palletNo, locatNo,url, out agvMsg);
                //if (agvResult)//成功
                //{
                //     //增加日志
                //}
                //else//失败
                //{
                //    throw new Exception("小车载具和库位关系绑定失败，原因："+agvMsg);
                //}

                //提交事务
                db.CommitTran();
            }

 Wms/WMS.IBLL/IBllTransServer/IHopperTransportServer.cs

@@ -16,8 +16,8 @@
        List<string> GetLotNoBySku(string skuNo);
        List<string> GetSku();

        void jiaoLiaoHopper(string areaNo, string endLocate, string plnStatus, string standard, string skuNo, string lotNo, string url, int userId);
        void jiaoCheHopper(string areaNo, string StartLocate, string plnNo, string plnStatus, decimal weight, string skuNo, string lotNo, string url, int userId);
        void jiaoLiaoHopper(string areaNo, string endLocate, string plnStatus, string standard, string skuNo, string lotNo, string url,string bindUrl, int userId);
        void jiaoCheHopper(string areaNo, string StartLocate, string plnNo, string plnStatus, decimal weight, string skuNo, string lotNo, string url, string bindUrl, int userId);

        /// <summary>
        /// 小车走出储位回传事件
@@ -25,7 +25,7 @@
        /// <param name="taskNo"></param>
        /// <param name="url"></param>
        /// <exception cref="Exception"></exception>
        void OutBinAgv(string taskNo, string url);
        void OutBinAgv(string taskNo, string url,string bindUrl);

        /// <summary>
        /// 小车反馈任务完成
@@ -44,6 +44,6 @@
        /// <param name="deviceStation">叫料点位：”input”-入口（叫脏桶），”output”-出口（净桶申请储位）</param>
        /// <param name="status"></param>
        /// <exception cref="Exception"></exception>
        void RCSCleanRequest(string deviceID, string deviceStation, string status, string url);
        void RCSCleanRequest(string deviceID, string deviceStation, string status, string url,string bindUrl);
    }
}

 Wms/WMS.IBLL/ISysServer/IPalletsServer.cs

@@ -33,6 +33,6 @@
        /// <param name="groupCount">组数</param>
        /// <param name="userId">操作人</param>
        /// <returns></returns>
        void AddPallets(string palletNo, string locatNo,string deviceCode, int userId);
        void AddPallets(string palletNo, string locatNo,string deviceCode,string url, int userId);
    }
}

 Wms/Wms/Controllers/DownApiController.cs

@@ -858,7 +858,7 @@
        {
            //记录log
            var logStr = $@".\log\AGV\任务执行通知" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            AgvResultModel resultModel = null;//返回信息
            AgvResultModel2 resultModel = null;//返回信息
            try
            {
                var jsonData = JsonConvert.SerializeObject(model);
@@ -868,7 +868,9 @@



                resultModel = new AgvResultModel { code = "0", message = "成功", reqCode = model.reqCode };
                resultModel.code = "0";
                resultModel.message = "成功";
                resultModel.da.robotTaskCode = model.robotTaskCode;
                var jsonData2 = JsonConvert.SerializeObject(resultModel);
                LogFile.SaveLogToFile($"AGV任务执行通知-任务开始-返回报文：( {jsonData2} ),", logStr);
                return Ok(resultModel);
@@ -877,7 +879,9 @@
            {
                LogFile.SaveLogToFile($"AGV任务执行通知-任务开始-异常：( {ex.Message} ),", logStr);

                resultModel = new AgvResultModel { code = "1", message = ex.Message, reqCode = model.reqCode };
                resultModel.code = "1";
                resultModel.message = ex.Message;
                resultModel.da.robotTaskCode = model.robotTaskCode;
                var jsonData2 = JsonConvert.SerializeObject(resultModel);
                LogFile.SaveLogToFile($"AGV任务执行通知-任务开始-返回报文：( {jsonData2} ),", logStr);
                return Ok(resultModel);
@@ -893,17 +897,24 @@
        {
            //记录log
            var logStr = $@".\log\AGV\任务执行通知" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            AgvResultModel resultModel = null;//返回信息
            AgvResultModel2 resultModel = null;//返回信息
            try
            {
                var extraValue = new ExtraModel();
                extraValue = model.extra;
                if (!(extraValue.values.method == "outbin"))                                               
                {
                    throw new Exception("小车调用方法错误");
                }
                var jsonData = JsonConvert.SerializeObject(model);
                LogFile.SaveLogToFile($"AGV任务执行通知-走出储位-请求报文：( {jsonData} ),", logStr);

                //具体处理方法
                _hopper.OutBinAgv(model.taskCode, _config.AgvHost + _config.GenAgvSchedulingTask);
                _hopper.OutBinAgv(model.robotTaskCode, _config.AgvHost + _config.GenAgvSchedulingTask,_config.AgvHost+_config.AGVBindPallets);


                resultModel = new AgvResultModel { code = "0", message = "成功", reqCode = model.reqCode };
                resultModel.code = "0";
                resultModel.message = "成功";
                resultModel.da.robotTaskCode = model.robotTaskCode;
                var jsonData2 = JsonConvert.SerializeObject(resultModel);
                LogFile.SaveLogToFile($"AGV任务执行通知-走出储位-返回报文：( {jsonData2} ),", logStr);
                return Ok(resultModel);
@@ -912,7 +923,10 @@
            {
                LogFile.SaveLogToFile($"AGV任务执行通知-走出储位-异常：( {ex.Message} ),", logStr);

                resultModel = new AgvResultModel { code = "1", message = ex.Message, reqCode = model.reqCode };
                
                resultModel.code = "1";
                resultModel.message = ex.Message;
                resultModel.da.robotTaskCode = model.robotTaskCode;
                var jsonData2 = JsonConvert.SerializeObject(resultModel);
                LogFile.SaveLogToFile($"AGV任务执行通知-走出储位-返回报文：( {jsonData2} ),", logStr);
                return Ok(resultModel);
@@ -928,16 +942,25 @@
        {
            //记录log
            var logStr = $@".\log\AGV\任务执行通知" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            AgvResultModel resultModel = null;//返回信息
            AgvResultModel2 resultModel = null;//返回信息
            try
            {
                var extraValue = new ExtraModel();
                extraValue = model.extra;
                if (!(extraValue.values.method == "end"))
                {
                    throw new Exception("小车调用方法错误");
                }
                var jsonData = JsonConvert.SerializeObject(model);
                LogFile.SaveLogToFile($"AGV任务执行通知-任务结束-请求报文：( {jsonData} ),", logStr);

               
                //具体处理方法
                _hopper.RCSFinishTask(model.taskCode, "1", "AGV");
                _hopper.RCSFinishTask(model.robotTaskCode, "1", "AGV");

                resultModel = new AgvResultModel { code = "0", message = "成功", reqCode = model.reqCode };
                resultModel.code = "0";
                resultModel.message = "成功";
                resultModel.da.robotTaskCode = model.robotTaskCode;

                var jsonData2 = JsonConvert.SerializeObject(resultModel);
                LogFile.SaveLogToFile($"AGV任务执行通知-任务结束-返回报文：( {jsonData2} ),", logStr);
                return Ok(resultModel);
@@ -946,7 +969,9 @@
            {
                LogFile.SaveLogToFile($"AGV任务执行通知-任务结束-异常：( {ex.Message} ),", logStr);

                resultModel = new AgvResultModel { code = "1", message = ex.Message, reqCode = model.reqCode };
                resultModel.code = "1";
                resultModel.message = ex.Message;
                resultModel.da.robotTaskCode = model.robotTaskCode;
                var jsonData2 = JsonConvert.SerializeObject(resultModel);
                LogFile.SaveLogToFile($"AGV任务执行通知-任务结束-返回报文：( {jsonData2} ),", logStr);
                return Ok(resultModel);
@@ -962,7 +987,7 @@
        {
            //记录log
            var logStr = $@".\log\AGV\任务执行通知" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
            AgvResultModel resultModel = null;//返回信息
            AgvResultModel2 resultModel = null;//返回信息
            try
            {
                var jsonData = JsonConvert.SerializeObject(model);
@@ -972,7 +997,9 @@



                resultModel = new AgvResultModel { code = "0", message = "成功", reqCode = model.reqCode };
                resultModel.code = "0";
                resultModel.message = "成功";
                resultModel.da.robotTaskCode = model.robotTaskCode;
                var jsonData2 = JsonConvert.SerializeObject(resultModel);
                LogFile.SaveLogToFile($"AGV任务执行通知-任务单取消-返回报文：( {jsonData2} ),", logStr);
                return Ok(resultModel);
@@ -981,7 +1008,9 @@
            {
                LogFile.SaveLogToFile($"AGV任务执行通知-任务单取消-异常：( {ex.Message} ),", logStr);

                resultModel = new AgvResultModel { code = "1", message = ex.Message, reqCode = model.reqCode };
                resultModel.code = "1";
                resultModel.message = ex.Message;
                resultModel.da.robotTaskCode = model.robotTaskCode;
                var jsonData2 = JsonConvert.SerializeObject(resultModel);
                LogFile.SaveLogToFile($"AGV任务执行通知-任务单取消-返回报文：( {jsonData2} ),", logStr);
                return Ok(resultModel);
@@ -1271,7 +1300,7 @@
                {
                    return Ok(new { code = 1, msg = "未获取到当前操作人信息" });
                }
                _hopper.jiaoLiaoHopper(model.AreaNo,model.LocateNo,model.PlnStatus,model.Standard,model.SkuNo,model.LotNo,"", int.Parse(userId));
                _hopper.jiaoLiaoHopper(model.AreaNo,model.LocateNo,model.PlnStatus,model.Standard,model.SkuNo,model.LotNo,_config.AgvHost+_config.GenAgvSchedulingTask,_config.AgvHost+_config.AGVBindPallets, int.Parse(userId));

                return Ok(new { data = model, code = 0, msg = "" });
            }
@@ -1302,7 +1331,7 @@
                {
                    return Ok(new { code = 1, msg = "未获取到当前操作人信息" });
                }
                _hopper.jiaoCheHopper(model.AreaNo, model.LocateNo,model.PlnNo, model.PlnStatus, model.Weight , model.SkuNo, model.LotNo,"", int.Parse(userId));
                _hopper.jiaoCheHopper(model.AreaNo, model.LocateNo,model.PlnNo, model.PlnStatus, model.Weight , model.SkuNo, model.LotNo, _config.AgvHost + _config.GenAgvSchedulingTask,_config.AgvHost+_config.AGVBindPallets, int.Parse(userId));

                return Ok(new { data = model, code = 0, msg = "" });
            }
@@ -1327,7 +1356,7 @@
                LogFile.SaveLogToFile($"清洗机叫料-请求报文：( {jsonData} ),", logStr);

                //具体处理方法
                _hopper.RCSCleanRequest(model.deviceID,model.deviceStation,model.status, _config.AgvHost + _config.GenAgvSchedulingTask);
                _hopper.RCSCleanRequest(model.deviceID,model.deviceStation,model.status, _config.AgvHost + _config.GenAgvSchedulingTask,_config.AgvHost+_config.AGVBindPallets);

                resultModel = new AgvResultModel { code = "0", message = "请求成功!"};
                var jsonData2 = JsonConvert.SerializeObject(resultModel);

 Wms/Wms/Controllers/SysController.cs

@@ -1327,7 +1327,7 @@
                {
                    return Ok(new { code = 1, msg = "为获取到当前操作人信息" });
                }
                _palletSvc.AddPallets(model.PalletNo, model.LocatNo, model.DeviceCode, int.Parse(userId));
                _palletSvc.AddPallets(model.PalletNo, model.LocatNo, model.DeviceCode,_config.AgvHost+_config.AGVBindPallets, int.Parse(userId));

                return Ok(new { code = 0, msg = "添加成功", data = "" });


 Wms/Wms/DailyTaskService.cs

@@ -21,11 +21,13 @@
        private Timer _timer3;
        private string _wcsUrl;
        private string _agvUrl;
        private string _agvBindUrl;
        private Timer _periodicReport;
        public DailyTaskService(string wcsUrl,string agvUrl) 
        public DailyTaskService(string wcsUrl,string agvUrl,string agvBindUrl) 
        {
            _wcsUrl = wcsUrl;
            _agvUrl = agvUrl;
            _agvBindUrl = agvBindUrl;
        }

        //创建定时任务
@@ -60,7 +62,7 @@
            {
                HopperTransportServer _stockDetail = new HopperTransportServer();
                //任务逻辑
                _stockDetail.TransferBackTimer(_agvUrl);
                _stockDetail.TransferBackTimer(_agvUrl,_agvBindUrl);
            }
            catch (Exception ex)
            {

 Wms/Wms/Properties/launchSettings.json

@@ -1,13 +1,4 @@
{
  "iisSettings": {
    "windowsAuthentication": false,
    "anonymousAuthentication": true,
    "iisExpress": {
      "applicationUrl": "http://localhost:50515/",
      "sslPort": 44363
    }
  },
  "$schema": "http://json.schemastore.org/launchsettings.json",
  "profiles": {
    "IIS Express": {
      "commandName": "IISExpress",
@@ -24,5 +15,14 @@
      },
      "applicationUrl": "https://localhost:5001;http://localhost:5000"
    }
  },
  "$schema": "http://json.schemastore.org/launchsettings.json",
  "iisSettings": {
    "windowsAuthentication": false,
    "anonymousAuthentication": true,
    "iisExpress": {
      "applicationUrl": "http://192.168.10.201",
      "sslPort": 44363
    }
  }
}

 Wms/Wms/Startup.cs

@@ -33,9 +33,11 @@
            var url = Configuration.GetSection("ApiUrlConfig:WcsHost").Value + Configuration.GetSection("ApiUrlConfig:IssueComApiUrl").Value;
            //下发AGV路径Str
            var url2 = Configuration.GetSection("ApiUrlConfig:AgvHost").Value + Configuration.GetSection("ApiUrlConfig:IssueComApiUrl").Value;
            //下发AGV路径Str
            var url3 = Configuration.GetSection("ApiUrlConfig:AgvHost").Value + Configuration.GetSection("ApiUrlConfig:AGVBindPallets").Value;
            //调用定时任务
            services.AddHostedService<DailyTaskService>(provider =>
            new DailyTaskService(url,url2));
            new DailyTaskService(url,url2,url3));

            services.AddControllers()
                .AddJsonOptions(options =>

 Wms/Wms/Tools/ApiUrlConfig.cs

@@ -86,6 +86,17 @@
        /// </summary>
        public string GenPreScheduleTask { get; set; }


        /// <summary>
        /// 载具与库位绑定接口
        /// </summary>
        public string AGVBindPallets { get; set; }

        /// <summary>
        /// 载具与库位解绑接口
        /// </summary>
        public string AGVUnBindPallets { get; set; }

        #endregion

        #endregion

 Wms/Wms/appsettings.json

@@ -11,8 +11,8 @@
    //"ConnectionString": "Server=47.95.120.93;Database=WMS_JC09;User ID=sa;password=boxline!@#; Integrated Security=True;",
    //"ConnectionString": "Server=47.95.120.53;Database=WMS_JC09;User ID=sa;Password=boxline!@#;Integrated Security=False;",
    //"ConnectionString": "Server=192.168.62.106;Database=WMS_JC24;User ID=sa;Password=sql2019;Integrated Security=False;",
    "ConnectionString": "Server=192.168.62.200;Database=WMS_JC37;User ID=sa;Password=sql2019;Integrated Security=False;"
    //"ConnectionString": "Server=.;Database=WMS_JC09;User ID=sa;Password=sql2019;Integrated Security=False;"
    //"ConnectionString": "Server=192.168.62.200;Database=WMS_JC37;User ID=sa;Password=sql2019;Integrated Security=False;"
    "ConnectionString": "Server=.;Database=WMS_JC37;User ID=sa;Password=sa@123456;Integrated Security=False;"
    //"ConnectionString": "Data Source=DESKTOP-0EJDG95\\MSSQLSERVER1;Initial Catalog=WMS_V01;Integrated Security=True;"
    //"ConnectionString": "Server=.\\MSSQLSERVER2019;Database=WMS_JC23-2;User Id=sa;Password=admin2023@;" // SqlServer 库连接字符串
    //"ConnectionString": "Server=172.16.105.10;Database=WMS_JC23-2;User ID=sa;Password=sql2019;Integrated Security=False;"
@@ -29,7 +29,7 @@
    "ErpHost": "http://10.110.24.30:8081", //erpIP
    "WcsHost": "http://localhost:57061", //wcsIPhttp://localhost:57061/
    "BoxHost": "http://10.110.24.30:8081", //boxIP
    "AgvHost": "http://172.15.1.74:8182", //agvIP
    "AgvHost": "http://192.168.10.22", //agvIP

    "IssueComApiUrl": "/api/WCSApi/AddTasks", //下发命令(出库、移库)
    "IssueComApiUrl2": "/api/WCSApi/AddTask", //重新下发命令(出库、移库)
@@ -43,8 +43,10 @@


    // AGV
    "GenAgvSchedulingTask": "/rcms/services/rest/hikRpcService/genAgvSchedulingTask", //生成任务单接口
    "ContinueTask": "/rcms/services/rest/hikRpcService/continueTask", //继续执行任务接口
    "GenPreScheduleTask": "/rcms/services/rest/hikRpcService/genPreScheduleTask" // 预调度对外接口
    "GenAgvSchedulingTask": "/rcs/rtas/api/robot/controller/task/submit", //生成任务单接口
    "ContinueTask": "/rcs/rtas/api/robot/controller/task/extend/continue", //继续执行任务接口
    "GenPreScheduleTask": "/rcms/services/rest/hikRpcService/genPreScheduleTask", // 预调度对外接口
    "AGVBindPallets": "/rcs/rtas/api/robot/controller/carrier/bind", //载具与库位绑定接口
    "AGVUnBindPallets": "/rcs/rtas/api/robot/controller/carrier/bind" //载具与库位解绑接口
  }
}