From d06e44eb1c8818c8d19709602631eb7888d4f0e9 Mon Sep 17 00:00:00 2001
From: chengsc <11752@DESKTOP-DS49RCP>
Date: 星期二, 06 五月 2025 08:53:01 +0800
Subject: [PATCH] 修改程序，AGV交互
---
Admin.NET/WCS.Application/OpenApi/OpenApi.cs | 205 ++++++++++++++++++---------------------------------
1 files changed, 72 insertions(+), 133 deletions(-)
diff --git a/Admin.NET/WCS.Application/OpenApi/OpenApi.cs b/Admin.NET/WCS.Application/OpenApi/OpenApi.cs
index c394ccf..cdf71f7 100644
--- a/Admin.NET/WCS.Application/OpenApi/OpenApi.cs
+++ b/Admin.NET/WCS.Application/OpenApi/OpenApi.cs
@@ -34,24 +34,29 @@
/// <param name="models">浠诲姟淇℃伅</param>
/// <returns>鍙嶉淇℃伅</returns>
[AllowAnonymous]
- public async Task AddAssignTasks(ResponseTasksModel models)
+ public async Task<ResponseAgvDto> AddAssignTasks(AgvTaskSend models)
{
- // 楠岃瘉浠诲姟鏄惁宸插瓨鍦�
- var taskInfo = await _db.Queryable<WcsTask>().FirstAsync(w => w.TaskNo == models.TaskNo);
- if (taskInfo == null)
- {
- throw Oops.Bah("浠诲姟:" + models.TaskNo + ";涓嶅瓨鍦�!");
- }
- var data1 = FourWayCarUtil.GetCarPath("090501", "080501","0");
- if (data1 == null) //|| data1.Count == 0
- {
- throw Oops.Bah("鍒嗛厤璺緞涓嶅瓨鍦�!");
- }
- // 鏍规嵁浠诲姟鐘舵�� 琛ュ厖璧峰缁撴潫鑺傜偣鐘舵��
- var data2 = FourWayCarUtil.GetCarPathUp(data1, 0);
- var path = "";
- var executionPath1 = "";
+ var response = await new HttpService().GenAgvSendTask(models);
+ //var response2 = await new HttpService().GenAgvContinueTask("Tk20250503000001");
+ //var response3 = await new HttpService().GenAgvUnbind("models", "B010101");
+ return response;
+ // 楠岃瘉浠诲姟鏄惁宸插瓨鍦�
+ //var taskInfo = await _db.Queryable<WcsTask>().FirstAsync(w => w.TaskNo == models.TaskNo);
+ //if (taskInfo == null)
+ //{
+ // throw Oops.Bah("浠诲姟:" + models.TaskNo + ";涓嶅瓨鍦�!");
+ //}
+ //var data1 = FourWayCarUtil.GetCarPath("091501", "091601","0");
+ //if (data1 == null) //|| data1.Count == 0
+ //{
+ // throw Oops.Bah("鍒嗛厤璺緞涓嶅瓨鍦�!");
+ //}
+
+ //// 鏍规嵁浠诲姟鐘舵�� 琛ュ厖璧峰缁撴潫鑺傜偣鐘舵��
+ //var data2 = FourWayCarUtil.GetCarPathUp(data1, 0);
+ //var path = "";
+ //var executionPath1 = "";
//foreach (var item in data1)
//{
// //璺緞鑺傜偣
@@ -425,35 +430,6 @@
{
case "end"://浠诲姟瀹屾垚
{
-
- //璐у搧鎷夊埌瀵嗛泦搴撳叆搴撳彛闇�瑕佸悜杈撻�佺嚎鍐欏叆鍊�
- if (modTask.EndLocate == AGVStaionEnum.A1.ToString())
- {
- var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Text == "杈撻�佺嚎");
- var modConn = new PLCUtil(modPlc);
- var modDevice = PLCTaskAction.plcDevices.First(s => s.Text == "C鍙�");
- var modStation = PLCTaskAction.plcPositions.First(s => s.Text == "C鍙ｇ敵璇峰叆搴�");
- var plcResult = modConn.SetPlcDBValue(modStation.PosType, modDevice.DbNumber, modStation.PlcPos, "100");
- if (plcResult.IsSucceed)
- {
- WcsTaskMonitor modTaskMonitorPLC = new WcsTaskMonitor()
- {
- TaskNo = modTask.TaskNo,
- PlcId = modDevice.PlcId,
- PlcName = modStation.PlcPos,
- StartLocat = modTask.StartLocate,
- EndLocat = modTask.EndLocate,
- Status = TaskStatusEnum.Doing,
- InteractiveMsg = $"鍚憑modStation.Text}鍐欏叆鎸囦护100锛岀粨鏋渰plcResult.IsSucceed}",
- };
- _db.Insertable(modTaskMonitorPLC).ExecuteCommand();
- HubUtil.PublicTaskMonitor(modTaskMonitorPLC.Adapt<WcsTaskMonitorOutput>());
- }
- else
- {
- Log.Error("C鍙ｇ敵璇峰叆搴撳啓鍏ュ��100澶辫触");
- }
- }
modTask.Status = TaskStatusEnum.Complete;
modTask.FinishDate = DateTime.Now;
await _db.Updateable(modTask).ExecuteCommandAsync();
@@ -477,14 +453,14 @@
var inputs = new TaskRequestWMS();
inputs.TaskNo = modTask.TaskNo;
inputs.PalletNo = modTask.PalletNo;
- inputs.TaskType = "2";
+ inputs.TaskType = modTask.TaskType.ToString();
inputs.TaskStatus = "2";
var modResponseTask = httpService.RequestTask(inputs).Result;
}
}
break;
- case "outbin"://璧板嚭鍌ㄤ綅
+ case "admin"://璧板嚭鍌ㄤ綅
{
//鍙嶉WMS浠诲姟鍙栬揣瀹屾垚銆乄MS鍒ゆ柇鏄钩搴撳偍浣嶅氨鏇存柊鍌ㄤ綅鐘舵��
if (modTask.Origin == "WMS")
@@ -500,67 +476,31 @@
}
break;
- case "apply"://鏀捐揣鐢宠
+ case "continue"://鏀捐揣鐢宠
{
- //todo:鍘荤爜鍨涘伐浣嶅彇璐э紝闇�瑕佸啓PLC淇″彿鍏抽棴鍏夊箷
- if ((modTask.StartLocate == AGVStaionEnum.B1.ToString() || modTask.StartLocate == AGVStaionEnum.B2.ToString())
- && (modTask.EndLocate == AGVStaionEnum.C1.ToString() || modTask.EndLocate == AGVStaionEnum.C2.ToString()))
+ if (modTask.EndLocate != "B010101")//9鍙峰伐浣嶅湴鍧�
{
- var no = modTask.StartLocate.Substring(1, 1);
- var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Type == PLCTypeEnum.RobotPalletizer && s.WareHouseNo == no);
- var modConn = new PLCUtil(modPlc);
- var modDevice = PLCTaskAction.plcDevices.FirstOrDefault(s => s.PlcId == modPlc.Id && s.Level == DeviceLevelEnum.DB);
- var modPos = PLCTaskAction.plcPositions.FirstOrDefault(s => s.DeviceId == modDevice.Id && s.Text == "鍏抽棴鍏夊箷");
- var res = modConn.SetPlcDBValue(modPos.PosType, modDevice.DbNumber, modPos.PlcPos, "1");
- var modTaskMonitor = new WcsTaskMonitor()
- {
- TaskNo = modTask.TaskNo,
- PlcId = modDevice.PlcId,
- PlcName = modPos.PlcPos,
- Status = TaskStatusEnum.Doing,
- InteractiveMsg = $"鍚憑modDevice.Text}鍐欏叆鍏抽棴鍏夊箷1锛岀粨鏋渰res.IsSucceed}",
- };
- _db.Insertable(modTaskMonitor).ExecuteCommand();
- HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
- Task.Run(() =>
- {
- Thread.Sleep(1000);
- modConn.SetPlcDBValue(modPos.PosType, modDevice.DbNumber, modPos.PlcPos, "0");
- var modTaskMonitor = new WcsTaskMonitor()
- {
- TaskNo = modTask.TaskNo,
- PlcId = modDevice.PlcId,
- PlcName = modPos.PlcPos,
- Status = TaskStatusEnum.Doing,
- InteractiveMsg = $"鍚憑modDevice.Text}鍐欏叆寮�鍚厜骞�0锛岀粨鏋渰res.IsSucceed}",
- };
- _db.Insertable(modTaskMonitor).ExecuteCommand();
- HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
- });
- modConn.Close();
+ result.Code = "1";
+ result.Message = "鎵句笉鍒拌浠诲姟";
+ return result;
}
- }
- break;
- case "start"://浠诲姟寮�濮�
- {
- //寮�濮嬪悜鎷嗘墭鏈烘斁鍏ユ墭鐩樹换鍔�
- if (modTask.EndLocate == AGVStaionEnum.D1.ToString())
- {
- var modPlc = PLCTaskAction.plcs.FirstOrDefault(s => s.Type == PLCTypeEnum.PalletMachine);
- var modConn = new PLCUtil(modPlc);
- var modDevice = PLCTaskAction.plcDevices.FirstOrDefault(s => s.Text == "鎷嗘墭鏈�");
- var res = modConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "1");
- modConn.Close();
- }
-
- var taskMonitor = new WcsTaskMonitor()
+ modTask.Status = TaskStatusEnum.Complete;
+ modTask.IsComple = "1";
+ await _db.Updateable(modTask).ExecuteCommandAsync();
+ WcsTaskMonitor modTaskMonitor = new WcsTaskMonitor()
{
TaskNo = modTask.TaskNo,
- PlcName = input.Method,
- InteractiveMsg = $"AGV灏忚溅鍙嶉浠诲姟寮�濮�"
+ //PlcId = modDevice.PlcId,
+ PlcName = "AGV",
+ StartLocat = modTask.StartLocate,
+ EndLocat = modTask.EndLocate,
+ Status = TaskStatusEnum.Complete,
+ InteractiveMsg = $"AGV灏忚溅鍙嶉浠诲姟鍒拌揪9宸ヤ綅",
};
- await _db.Insertable(taskMonitor).ExecuteCommandAsync();
- HubUtil.PublicTaskMonitor(taskMonitor.Adapt<WcsTaskMonitorOutput>());
+ await _db.Insertable(modTaskMonitor).ExecuteCommandAsync();
+ HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
+ HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());
+
}
break;
case "cancel"://浠诲姟鍙栨秷
@@ -612,8 +552,7 @@
return result;
}
-
-
+
/// <summary>
/// 鑾峰彇鍘熸潗鏂欎粨鐘舵��
/// </summary>
@@ -673,35 +612,35 @@
/// </summary>
/// <param name="input"></param>
/// <returns></returns>
- [HttpPost]
- [UnitOfWork]
- public async Task ProductStorage(RequestStorage input)
- {
- var intProduct = AGVStorageUtil.ProductCount();
- var intTask = await _db.Queryable<WcsTask>().Where(s => s.TaskType == TaskTypeEnum.Move
- && s.Type == PLCTypeEnum.AGV && s.Status <= TaskStatusEnum.Doing
- && s.StartLocate.StartsWith("Z") && s.EndLocate == AGVStaionEnum.A1.ToString()).CountAsync();
- if (input.Qty > intProduct)
- throw Oops.Bah($"杈撳叆鏁伴噺澶т簬鍙嚭鏁伴噺{intProduct}");
- var listTask = new List<WcsTask>();
- var TaskNo = GetTaskCode("WCS");
- for (int i = 0; i < input.Qty; i++)
- {
- listTask.Add(new WcsTask()
- {
- TaskNo = "WCS" + DateTime.Now.ToString("yyyyMMdd") + (TaskNo++).ToString().PadLeft(4, '0'),
- TaskType = TaskTypeEnum.Move,
- Type = PLCTypeEnum.AGV,
- StartLocate = AGVStaionEnum.Z11.ToString(),
- EndLocate = AGVStaionEnum.A1.ToString(),
- PalletNo = "",
- Status = TaskStatusEnum.Wait,
- Levels = 10,
- Origin = "PDA"
- });
- }
- await _db.Insertable(listTask).ExecuteCommandAsync();
- }
+ //[HttpPost]
+ //[UnitOfWork]
+ //public async Task ProductStorage(RequestStorage input)
+ //{
+ // var intProduct = AGVStorageUtil.ProductCount();
+ // var intTask = await _db.Queryable<WcsTask>().Where(s => s.TaskType == TaskTypeEnum.Move
+ // && s.Type == PLCTypeEnum.AGV && s.Status <= TaskStatusEnum.Doing
+ // && s.StartLocate.StartsWith("Z") && s.EndLocate == AGVStaionEnum.A1.ToString()).CountAsync();
+ // if (input.Qty > intProduct)
+ // throw Oops.Bah($"杈撳叆鏁伴噺澶т簬鍙嚭鏁伴噺{intProduct}");
+ // var listTask = new List<WcsTask>();
+ // var TaskNo = GetTaskCode("WCS");
+ // for (int i = 0; i < input.Qty; i++)
+ // {
+ // listTask.Add(new WcsTask()
+ // {
+ // TaskNo = "WCS" + DateTime.Now.ToString("yyyyMMdd") + (TaskNo++).ToString().PadLeft(4, '0'),
+ // TaskType = TaskTypeEnum.Move,
+ // Type = PLCTypeEnum.AGV,
+ // StartLocate = AGVStaionEnum.Z11.ToString(),
+ // EndLocate = AGVStaionEnum.A1.ToString(),
+ // PalletNo = "",
+ // Status = TaskStatusEnum.Wait,
+ // Levels = 10,
+ // Origin = "PDA"
+ // });
+ // }
+ // await _db.Insertable(listTask).ExecuteCommandAsync();
+ //}
/// <summary>
/// 鑷姩鐢熸垚浠诲姟鍙�
/// </summary>
--
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