From 219a08427376efdd304e9b11e481ccd8276018bb Mon Sep 17 00:00:00 2001
From: zhaowc <526854230@qq.com>
Date: 星期六, 18 十月 2025 11:14:29 +0800
Subject: [PATCH] 巷道形式存取放物料
---
Wms/Wms/Controllers/DownApiController.cs | 145 ++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 126 insertions(+), 19 deletions(-)
diff --git a/Wms/Wms/Controllers/DownApiController.cs b/Wms/Wms/Controllers/DownApiController.cs
index 5f20b40..93ec264 100644
--- a/Wms/Wms/Controllers/DownApiController.cs
+++ b/Wms/Wms/Controllers/DownApiController.cs
@@ -22,6 +22,7 @@
using ZXing.QrCode.Internal;
using Model.ModelVm.BllCheckVm;
using Model.ModelVm.SysVm;
+using System.Security.Policy;
namespace Wms.Controllers
{
@@ -857,7 +858,7 @@
{
//璁板綍log
var logStr = $@".\log\AGV\浠诲姟鎵ц閫氱煡" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
- AgvResultModel resultModel = null;//杩斿洖淇℃伅
+ AgvResultModel2 resultModel = null;//杩斿洖淇℃伅
try
{
var jsonData = JsonConvert.SerializeObject(model);
@@ -867,7 +868,9 @@
- resultModel = new AgvResultModel { code = "0", message = "鎴愬姛", reqCode = model.reqCode };
+ resultModel.code = "0";
+ resultModel.message = "鎴愬姛";
+ resultModel.da.robotTaskCode = model.robotTaskCode;
var jsonData2 = JsonConvert.SerializeObject(resultModel);
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-浠诲姟寮�濮�-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -876,7 +879,9 @@
{
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-浠诲姟寮�濮�-寮傚父锛�( {ex.Message} ),", logStr);
- resultModel = new AgvResultModel { code = "1", message = ex.Message, reqCode = model.reqCode };
+ resultModel.code = "1";
+ resultModel.message = ex.Message;
+ resultModel.da.robotTaskCode = model.robotTaskCode;
var jsonData2 = JsonConvert.SerializeObject(resultModel);
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-浠诲姟寮�濮�-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -892,17 +897,25 @@
{
//璁板綍log
var logStr = $@".\log\AGV\浠诲姟鎵ц閫氱煡" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
- AgvResultModel resultModel = null;//杩斿洖淇℃伅
+ AgvResultModel2 resultModel = null;//杩斿洖淇℃伅
try
{
+ var extraValue = new ExtraModel();
+ extraValue = model.extra;
+ if (!(extraValue.values.method == "outbin"))
+ {
+ throw new Exception("灏忚溅璋冪敤鏂规硶閿欒");
+ }
var jsonData = JsonConvert.SerializeObject(model);
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-璧板嚭鍌ㄤ綅-璇锋眰鎶ユ枃锛�( {jsonData} ),", logStr);
//鍏蜂綋澶勭悊鏂规硶
+ _hopper.OutBinAgv(model.robotTaskCode, _config.AgvHost + _config.GenAgvSchedulingTask,_config.AgvHost+_config.AGVBindPallets);
-
- resultModel = new AgvResultModel { code = "0", message = "鎴愬姛", reqCode = model.reqCode };
+ Data data = new Data();
+ data.robotTaskCode = model.robotTaskCode;
+ resultModel = new AgvResultModel2 { code = "0", message = "鎴愬姛", da =data };
var jsonData2 = JsonConvert.SerializeObject(resultModel);
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-璧板嚭鍌ㄤ綅-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -911,7 +924,10 @@
{
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-璧板嚭鍌ㄤ綅-寮傚父锛�( {ex.Message} ),", logStr);
- resultModel = new AgvResultModel { code = "1", message = ex.Message, reqCode = model.reqCode };
+ Data data = new Data();
+ data.robotTaskCode = model.robotTaskCode;
+ resultModel = new AgvResultModel2 { code = "1", message = ex.Message, da = data };
+
var jsonData2 = JsonConvert.SerializeObject(resultModel);
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-璧板嚭鍌ㄤ綅-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -927,17 +943,25 @@
{
//璁板綍log
var logStr = $@".\log\AGV\浠诲姟鎵ц閫氱煡" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
- AgvResultModel resultModel = null;//杩斿洖淇℃伅
+ AgvResultModel2 resultModel = null;//杩斿洖淇℃伅
try
{
+ var extraValue = new ExtraModel();
+ extraValue = model.extra;
+ if (!(extraValue.values.method == "end"))
+ {
+ throw new Exception("灏忚溅璋冪敤鏂规硶閿欒");
+ }
var jsonData = JsonConvert.SerializeObject(model);
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-浠诲姟缁撴潫-璇锋眰鎶ユ枃锛�( {jsonData} ),", logStr);
//鍏蜂綋澶勭悊鏂规硶
- _rcsserver.RCSFinishTask(model.taskCode, "1", "AGV");
+ _hopper.RCSFinishTask(model.robotTaskCode, extraValue.values.slotCode, "1", "AGV");
+ Data data = new Data();
+ data.robotTaskCode = model.robotTaskCode;
+ resultModel = new AgvResultModel2 { code = "0", message = "鎴愬姛", da = data };
- resultModel = new AgvResultModel { code = "0", message = "鎴愬姛", reqCode = model.reqCode };
var jsonData2 = JsonConvert.SerializeObject(resultModel);
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-浠诲姟缁撴潫-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -946,7 +970,9 @@
{
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-浠诲姟缁撴潫-寮傚父锛�( {ex.Message} ),", logStr);
- resultModel = new AgvResultModel { code = "1", message = ex.Message, reqCode = model.reqCode };
+ Data data = new Data();
+ data.robotTaskCode = model.robotTaskCode;
+ resultModel = new AgvResultModel2 { code = "1", message = ex.Message, da = data };
var jsonData2 = JsonConvert.SerializeObject(resultModel);
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-浠诲姟缁撴潫-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -962,7 +988,7 @@
{
//璁板綍log
var logStr = $@".\log\AGV\浠诲姟鎵ц閫氱煡" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
- AgvResultModel resultModel = null;//杩斿洖淇℃伅
+ AgvResultModel2 resultModel = null;//杩斿洖淇℃伅
try
{
var jsonData = JsonConvert.SerializeObject(model);
@@ -972,7 +998,9 @@
- resultModel = new AgvResultModel { code = "0", message = "鎴愬姛", reqCode = model.reqCode };
+ resultModel.code = "0";
+ resultModel.message = "鎴愬姛";
+ resultModel.da.robotTaskCode = model.robotTaskCode;
var jsonData2 = JsonConvert.SerializeObject(resultModel);
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-浠诲姟鍗曞彇娑�-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -981,12 +1009,58 @@
{
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-浠诲姟鍗曞彇娑�-寮傚父锛�( {ex.Message} ),", logStr);
- resultModel = new AgvResultModel { code = "1", message = ex.Message, reqCode = model.reqCode };
+ resultModel.code = "1";
+ resultModel.message = ex.Message;
+ resultModel.da.robotTaskCode = model.robotTaskCode;
var jsonData2 = JsonConvert.SerializeObject(resultModel);
LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-浠诲姟鍗曞彇娑�-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
}
- }
+ }
+
+ /// <summary>
+ /// 璧板嚭鍌ㄤ綅
+ /// </summary>
+ /// <param name="model"></param>
+ /// <returns></returns>
+ [HttpPost]
+ public IActionResult AGVCallback(AgvTaskDto model)
+ {
+ //璁板綍log
+ var logStr = $@".\log\AGV\浠诲姟鎵ц閫氱煡" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
+ AgvResultModel2 resultModel = null;//杩斿洖淇℃伅
+ try
+ {
+ var extraValue = new ExtraModel();
+ extraValue = model.extra;
+ switch (extraValue.values.method)
+ {
+ case "outbin":
+ var a = outbin(model);
+ break;
+ case "end":
+ var b = end(model);
+ break;
+ default:
+ break;
+ }
+ Data data = new Data();
+ data.robotTaskCode = model.robotTaskCode;
+ resultModel = new AgvResultModel2 { code = "0", message = "鎴愬姛", da = data };
+ var jsonData2 = JsonConvert.SerializeObject(resultModel);
+ LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
+ return Ok(resultModel);
+ }
+ catch (Exception ex)
+ {
+ Data data = new Data();
+ data.robotTaskCode = model.robotTaskCode;
+ resultModel = new AgvResultModel2 { code = "1", message = ex.Message, da = data };
+ var jsonData2 = JsonConvert.SerializeObject(resultModel);
+ LogFile.SaveLogToFile($"AGV浠诲姟鎵ц閫氱煡-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
+ return Ok(resultModel);
+ }
+ }
#endregion
@@ -1043,7 +1117,7 @@
{
return Ok(new { code = 1, msg = "鏈幏鍙栧埌褰撳墠鎿嶄綔浜轰俊鎭�" });
}
- _rcsserver.DownTask(model.taskNo, int.Parse(userId), _config.AgvHost + _config.GenAgvSchedulingTask);
+ _rcsserver.DownTask(model.taskNo, int.Parse(userId), _config.AgvHost + _config.GenAgvSchedulingTask,_config.AgvHost + _config.AGVBindPallets);
return Ok(new { code = 0, msg = "閲嶆柊涓嬪彂宸插畬鎴�", data = "" });
}
@@ -1077,7 +1151,7 @@
//鍏蜂綋澶勭悊鏂规硶
_rcsserver.RCSFinishTask(model.taskNo, "1", "WMS");
- return Ok(new { code = 0, msg = "閲嶆柊涓嬪彂宸插畬鎴�", data = "" });
+ return Ok(new { code = 0, msg = "浠诲姟宸叉墜鍔ㄥ畬鎴�", data = "" });
}
catch (Exception e)
{
@@ -1271,7 +1345,7 @@
{
return Ok(new { code = 1, msg = "鏈幏鍙栧埌褰撳墠鎿嶄綔浜轰俊鎭�" });
}
- _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 +1376,7 @@
{
return Ok(new { code = 1, msg = "鏈幏鍙栧埌褰撳墠鎿嶄綔浜轰俊鎭�" });
}
- _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 = "" });
}
@@ -1311,8 +1385,41 @@
return Ok(new { data = "", code = 1, msg = e.Message });
}
}
+ /// <summary>
+ /// 娓呮礂鏈哄彨鏂欑姸鎬�
+ /// </summary>
+ /// <param name="model"></param>
+ /// <returns></returns>
+ [HttpPost]
+ public IActionResult RCSCleanRequest(RCSCleanRequestModel model)
+ {
+ var logStr = $@".\log\AGV\娓呮礂鏈哄彨鏂�" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
+ AgvResultModel resultModel = null;//杩斿洖淇℃伅
+ try
+ {
+ var jsonData = JsonConvert.SerializeObject(model);
+ LogFile.SaveLogToFile($"娓呮礂鏈哄彨鏂�-璇锋眰鎶ユ枃锛�( {jsonData} ),", logStr);
+ //鍏蜂綋澶勭悊鏂规硶
+ _hopper.RCSCleanRequest(model.deviceID,model.deviceStation,model.status, _config.AgvHost + _config.GenAgvSchedulingTask,_config.AgvHost+_config.AGVBindPallets);
+ resultModel = new AgvResultModel { code = "0", message = "璇锋眰鎴愬姛!"};
+ var jsonData2 = JsonConvert.SerializeObject(resultModel);
+ LogFile.SaveLogToFile($"娓呮礂鏈哄彨鏂�-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
+ return Ok(resultModel);
+ }
+ catch (Exception e)
+ {
+ LogFile.SaveLogToFile($"娓呮礂鏈哄彨鏂欏紓甯革細( {e.Message} ),", logStr);
+
+ resultModel = new AgvResultModel { code = "1", message = e.Message, data = "", reqCode = "" };
+ var jsonData2 = JsonConvert.SerializeObject(resultModel);
+ LogFile.SaveLogToFile($"娓呮礂鏈哄彨鏂�-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
+ return Ok(resultModel);
+ }
+ }
+
+
#endregion
}
--
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