From d09a1552e45e6cfc8f83c0249cd296b8706c0dc2 Mon Sep 17 00:00:00 2001
From: zhaowc <526854230@qq.com>
Date: 星期二, 20 五月 2025 09:33:27 +0800
Subject: [PATCH] 修改下发AGV任务接口，修改条码增加功能
---
Wms/WMS.BLL/BllTransServer/RcsServer.cs | 6
Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs | 285 +++++++++++++-------
HTML/views/HouseWithinSetting/HopperTransport.html | 6
Wms/Wms/Tools/ApiUrlConfig.cs | 11
Wms/Model/InterFaceModel/AgvModel.cs | 24 +
HTML/views/WareHouseSetting/PalletsPrintFrom.html | 4
Wms/Wms/DailyTaskService.cs | 6
Wms/Utility/Tools/RcsHelper.cs | 105 +++++++
Wms/WMS.BLL/BllCheckServer/StockCheckServer.cs | 1
Wms/WMS.BLL/BllQualityServer/InspectionRequestServer.cs | 2
Wms/Wms/Startup.cs | 4
Wms/Wms/Properties/launchSettings.json | 18
Wms/Wms/appsettings.json | 14
Wms/Wms/Controllers/SysController.cs | 2
Wms/WMS.BLL/BllPdaServer/PdaSoServer.cs | 1
Wms/WMS.IBLL/IBllTransServer/IHopperTransportServer.cs | 8
Wms/Model/InterFaceModel/HttpModel.cs | 167 +++++------
Wms/WMS.BLL/SysServer/PalletsServer.cs | 69 +++-
Wms/WMS.IBLL/ISysServer/IPalletsServer.cs | 2
Wms/Wms/Controllers/DownApiController.cs | 67 +++-
20 files changed, 531 insertions(+), 271 deletions(-)
diff --git a/HTML/views/HouseWithinSetting/HopperTransport.html b/HTML/views/HouseWithinSetting/HopperTransport.html
index 9ad2288..6c075df 100644
--- a/HTML/views/HouseWithinSetting/HopperTransport.html
+++ b/HTML/views/HouseWithinSetting/HopperTransport.html
@@ -100,9 +100,9 @@
<label class="layui-form-label" style="width: 80px;">瑙勬牸</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>
diff --git a/HTML/views/WareHouseSetting/PalletsPrintFrom.html b/HTML/views/WareHouseSetting/PalletsPrintFrom.html
index 0b9a541..a0c4fce 100644
--- a/HTML/views/WareHouseSetting/PalletsPrintFrom.html
+++ b/HTML/views/WareHouseSetting/PalletsPrintFrom.html
@@ -24,9 +24,9 @@
</div>
</div>
<div class="layui-form-item">
- <label class="layui-form-label">鎵�灞炴帴鏂欒澶�</label>
+ <label class="layui-form-label">妗惰鏍�(L)</label>
<div class="layui-input-block">
- <input type="text" name="DeviceCode" placeholder="璇疯緭鍏ユ墍灞炴帴鏂欒澶�" lay-verify="" autocomplete="off" class="layui-input">
+ <input type="text" name="DeviceCode" placeholder="璇疯緭鍏ユ《瑙勬牸" lay-verify="required" autocomplete="off" class="layui-input">
</div>
</div>
<div class="layui-form-item layui-hide">
diff --git a/Wms/Model/InterFaceModel/AgvModel.cs b/Wms/Model/InterFaceModel/AgvModel.cs
index 876dd22..a875472 100644
--- a/Wms/Model/InterFaceModel/AgvModel.cs
+++ b/Wms/Model/InterFaceModel/AgvModel.cs
@@ -146,18 +146,32 @@
}
public class carrierInfo
{
- /// <summary>
- /// 杞藉叿绫诲瀷
- /// </summary>
- public string carrierType { get; set; }
+ ///// <summary>
+ ///// 杞藉叿绫诲瀷
+ ///// </summary>
+ //public string carrierType { get; set; }
/// <summary>
/// 杞藉叿缂栧彿
/// </summary>
public string carrierCode { get; set; }
+
+ /// <summary>
+ /// 绔欑偣缂栧彿
+ /// </summary>
+ public string siteCode { get; set; }
/// <summary>
/// 灞傚彿锛� 浠� 0 寮�濮嬨�佷粠涓嬪線涓婄紪鍙�
/// </summary>
- public int layer { get; set; }
+ //public int layer { get; set; }
+ /// <summary>
+ /// 绔欑偣缂栧彿
+ /// </summary>
+ public int? carrierDir { get; set; }
+
+ /// <summary>
+ /// 绔欑偣缂栧彿
+ /// </summary>
+ public object extra { get; set; }
}
/// <summary>
diff --git a/Wms/Model/InterFaceModel/HttpModel.cs b/Wms/Model/InterFaceModel/HttpModel.cs
index a2e2dc4..2cb35e1 100644
--- a/Wms/Model/InterFaceModel/HttpModel.cs
+++ b/Wms/Model/InterFaceModel/HttpModel.cs
@@ -655,154 +655,122 @@
public class AgvTaskDto
{
/// <summary>
- /// 璇锋眰缂栧彿锛屾瘡涓姹傞兘瑕佷竴涓敮涓�缂栧彿
- /// 鍚屼竴涓姹傞噸澶嶆彁浜� 浣跨敤鍚屼竴缂栧彿
- /// 鏄惁蹇呭～锛氭槸
+ /// 浠诲姟鍙�
/// </summary>
- public string reqCode { get; set; }
+ public string robotTaskCode { get; set; }
/// <summary>
- /// 璇锋眰鏃堕棿鎴�
- /// 鏍煎紡: 鈥測yyy-MM-ddHH:mm:ss鈥�
- /// 鏄惁蹇呭～锛氭槸
+ /// 褰撳墠鎵ц浠诲姟鐨勬満鍣ㄤ汉鍞竴鏍囪瘑
/// </summary>
- public string reqTime { get; set; }
+ public string singleRobotCode { get; set; }
+
+ public int currentSeq { get; set; }
/// <summary>
- /// 鍦扮爜 X 鍧愭爣(mm)锛氫换鍔″畬鎴愭椂鏈夊��
- /// 鏄惁蹇呭～锛氬惁
+ /// 鑷畾涔夋墿灞曞瓧娈�
/// </summary>
- public double cooX { get; set; }
+ public ExtraModel extra { get; set; }
+ }
+
+
+ public class ExtraModel
+ {
+ public string async { get; set; } = "0";
/// <summary>
- /// 鍦扮爜 Y 鍧愭爣(mm)锛氫换鍔″畬鎴愭椂鏈夊��
- /// 鏄惁蹇呭～锛氬惁
+ /// 鍥炶皟鏁版嵁瀵硅薄
/// </summary>
- public double cooY { get; set; }
+ public ExtraModelView values { get; set; }
- /// <summary>
- /// 褰撳墠浣嶇疆缂栧彿
- /// 浠诲姟寮�濮嬶細璇ヤ綅缃负浠诲姟璧风偣
- /// 璧板嚭鍌ㄤ綅锛氳浣嶇疆涓轰换鍔¤捣鐐�
- /// 浠诲姟鍗曞彇娑堬細璇ヤ綅缃负宸ヤ綔浣嶇紪鍙�
- /// 浠诲姟缁撴潫锛氳浣嶇疆涓轰换鍔＄粓鐐�
- /// 鍙栨斁鐢宠锛氬彇鏀炬枡绠辩殑鐐�
- /// 鏄惁蹇呭～锛氭槸
- /// </summary>
- public string currentPositionCode { get; set; }
+ }
- /// <summary>
- /// 鑷畾涔夊瓧娈碉紝涓嶈秴杩� 2000 涓瓧绗�
- /// 鏄惁蹇呭～锛氬惁
- /// </summary>
- public string data { get; set; }
+ /// <summary>
+ /// 鍥炶皟鍙傛暟
+ /// </summary>
+ public class ExtraModelView
+ {
/// <summary>
/// 鍦板浘缂栧彿
- /// 鏄惁蹇呭～锛氬惁
/// </summary>
public string mapCode { get; set; }
/// <summary>
- /// 鍦扮爜缂栧彿锛氫换鍔″畬鎴愭椂鏈夊��
- /// 鏄惁蹇呭～锛氬惁
- /// </summary>
- public string mapDataCode { get; set; }
-
- /// <summary>
- /// 浠撲綅缂栧彿锛氬弶杞︿笌 CTU 浠诲姟鏃舵湁鍊�
- /// 鏄惁蹇呭～锛氬惁
- /// </summary>
- public string stgBinCode { get; set; }
-
- /// <summary>
- /// 鏂规硶鍚�, 鍙娇鐢ㄤ换鍔＄被鍨嬪仛涓烘柟娉曞悕
- /// 鐢� RCS-2000 浠诲姟妯℃澘閰嶇疆鍚庡苟鍛婄煡涓婂眰绯荤粺
- /// 榛樿浣跨敤鏂瑰紡:
- /// start : 浠诲姟寮�濮�
- /// outbin : 璧板嚭鍌ㄤ綅
- /// end : 浠诲姟缁撴潫
- /// cancel : 浠诲姟鍗曞彇娑�
- /// apply锛欳TU 鏂欑鍙栨斁鐢宠
- /// 鏄惁蹇呭～锛氭槸
+ /// 鍥炶皟浠诲姟
+ /// <para> start:浠诲姟寮�濮�,outbin:璧板嚭鍌ㄤ綅,end:浠诲姟瀹屾垚</para>
/// </summary>
public string method { get; set; }
/// <summary>
- /// 璐ф灦缂栧彿锛氳儗璐ф灦鏃舵湁鍊�
- /// 鏄惁蹇呭～锛氬惁
+ /// 杞藉叿缂栧彿
/// </summary>
- public string podCode { get; set; }
+ public string carrierCode { get; set; }
/// <summary>
- /// 鍒搴斿湴鍥剧殑浠诲姟瀹屾垚鏃舵湁鍊�
- /// 宸�: 180
- /// 鍙�: 0
- /// 涓�: 90
- /// 涓�: -90
- /// 鏄惁蹇呭～锛氬惁
+ /// 杞藉叿鍚嶇О
/// </summary>
- public string podDir { get; set; }
+ public string carrierName { get; set; }
/// <summary>
- /// 鐗╂枡缂栧彿
- /// 鏄惁蹇呭～锛氬惁
+ /// 杞藉叿绫诲瀷
/// </summary>
- public string materialLot { get; set; }
+ public string carrierType { get; set; }
/// <summary>
- /// AGV 缂栧彿锛堝悓 agvCode 锛�
- /// 鏄惁蹇呭～锛氬惁
+ /// 杞藉叿绉嶇被
/// </summary>
- public string robotCode { get; set; }
+ public string carrierCategory { get; set; }
+
/// <summary>
- /// 褰撳墠浠诲姟鍗曞彿
- /// 鏄惁蹇呭～锛氭槸
+ /// 褰撳墠绔欑偣缂栧彿
/// </summary>
- public string taskCode { get; set; }
+ public string slotCode { get; set; }
/// <summary>
- /// 宸ヤ綔浣嶏紝涓� RCS-2000 绔厤缃殑浣嶇疆鍚嶇О涓�鑷淬�備换鍔″畬鎴愭椂鏈夊�硷紝涓庣敓鎴愪换鍔″崟鎺ュ彛涓殑 wbCode 涓�鑷�
- /// 鏄惁蹇呭～锛氬惁
+ /// 绔欑偣鍒悕
+ /// <para>1.璧板嚭鍌ㄤ綅:璧风偣銆�2.浠诲姟瀹屾垚:鐩爣鐐�</para>
/// </summary>
- public string wbCode { get; set; }
+ public string slotName { get; set; }
/// <summary>
- /// 瀹瑰櫒缂栧彿
- /// 鏄惁蹇呭～锛氬惁
+ /// 瀛樺偍绫诲瀷(BIN:浠撲綅,SITE:绔欑偣)
/// </summary>
- public string ctnrCode { get; set; }
+ public string slotCategory { get; set; }
/// <summary>
- /// 瀹瑰櫒绫诲瀷
- /// 鏄惁蹇呭～锛氬惁
+ /// x鍧愭爣
/// </summary>
- public string ctnrType { get; set; }
+ public decimal? x { get; set; }
/// <summary>
- /// 宸烽亾缂栧彿
- /// 鏄惁蹇呭～锛氬惁
+ /// y鍧愭爣
/// </summary>
- public string roadWayCode { get; set; }
+ public decimal? y { get; set; }
/// <summary>
- /// 宸烽亾鍐呴『搴忓彿
- /// 宸烽亾灏炬槸 0锛屽埌宸烽亾澶翠緷娆￠�掑 1
- /// 鏄惁蹇呭～锛氬惁
+ /// 鏈哄櫒浜虹绫�
/// </summary>
- public string seq { get; set; }
+ public string amrCategory { get; set; }
/// <summary>
- /// 璁惧缂栧彿锛屽姊抽娇寮忓伐浣滅珯銆佽緭閫佺嚎绛夛紝涓�鑸娇鐢ㄤ簬 CTU 鍦烘櫙銆傜郴缁熸牴鎹粨浣嶅畾浣嶅埌鍏宠仈鐨勮澶囩紪鍙枫��
- /// 鏄惁蹇呭～锛氬惁
+ /// 鏈哄櫒浜虹被鍨�
/// </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鍥炲簲AGV淇℃伅
- /// </summary>
- public class OutCommanAgvDto
+}
+
+
+/// <summary>
+/// WMS鍥炲簲AGV淇℃伅
+/// </summary>
+public class OutCommanAgvDto
{
/// <summary>
/// 杩斿洖鐮�
@@ -853,5 +821,18 @@
public string data { get; set; }
public string reqCode { get; set; }
}
+
+/// <summary>
+/// agv璇锋眰鎺ュ彛搴旂瓟
+/// </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
}
diff --git a/Wms/Utility/Tools/RcsHelper.cs b/Wms/Utility/Tools/RcsHelper.cs
index 0cd9b43..568bfda 100644
--- a/Wms/Utility/Tools/RcsHelper.cs
+++ b/Wms/Utility/Tools/RcsHelper.cs
@@ -1,15 +1,19 @@
锘縰sing 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>
/// 涓嬪彂浠诲姟
/// </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";
+
+ //璺ㄦゼ灞備换鍔asktype鍊艰祴鍊尖�︹��
+ //tasktype = "";
List<targetRoute> pahtList = new List<targetRoute>();
//璧峰浣嶇疆
targetRoute royte1 = new targetRoute();
royte1.seq = 0;
- royte1.type = "ZONE";
+ royte1.type = "SITE";
royte1.code = taskDetial.Startport;
pahtList.Add(royte1);
@@ -34,18 +42,23 @@
//鐩爣浣嶇疆
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浠诲姟涓嬪彂鏃跺鍔爃earder:X-LR-REQUEST-ID,鍊间负闅忔満鏁�
+ long ran = DateTime.Now.Ticks;
+ Dictionary<string, string> key = new Dictionary<string, string>();
+ key.Add("X-LR-REQUEST-ID", ran.ToString());
// 姝ｅ紡杩愯绋嬪簭鏀惧紑
var jsonData = JsonConvert.SerializeObject(taskModel);
- string response = HttpHelper.DoPost(url, jsonData, "涓嬪彂缁橝GV杞繍鍛戒护", "AGV");
+ string response = HttpHelper.DoPost(url, jsonData, "涓嬪彂缁橝GV杞繍鍛戒护", "AGV", key);
//瑙ｆ瀽杩斿洖鏁版嵁
var agvModel = JsonConvert.DeserializeObject<OutCommanAgvDto>(response);
if (agvModel.Code == "0")
@@ -64,5 +77,89 @@
return result;
}
+ /// <summary>
+ /// 涓嬪彂AGV缁戝畾杞藉叿鍜岀珯鐐�
+ /// </summary>
+ /// <param name="palletNo">妗跺彿L</param>
+ /// <param name="url">璇锋眰鍦板潃</param>
+ /// <param name="agvMsg">杩斿洖淇℃伅</param>
+ /// <param name="locateNo">杩斿洖淇℃伅</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浠诲姟涓嬪彂鏃跺鍔爃earder:X-LR-REQUEST-ID,鍊间负闅忔満鏁�
+ long ran = DateTime.Now.Ticks;
+ Dictionary<string, string> key = new Dictionary<string, string>();
+ key.Add("X-LR-REQUEST-ID", ran.ToString());
+
+ // 姝ｅ紡杩愯绋嬪簭鏀惧紑
+ var jsonData = JsonConvert.SerializeObject(carrierInfo);
+ string response = HttpHelper.DoPost(url, jsonData, "涓嬪彂缁橝GV缁戝畾杞藉叿鍛戒护", "AGV", key);
+ //瑙ｆ瀽杩斿洖鏁版嵁
+ var agvModel = JsonConvert.DeserializeObject<OutCommanAgvDto>(response);
+ if (agvModel.Code == "0")
+ {
+ result = true;//缁欎笅杞︿笅鍙戜换鍔℃垚鍔�
+
+ agvMsg = "";
+ }
+ else
+ {
+ var logStr = $@".\log\AGV\涓嬪彂缁橝GV缁戝畾杞藉叿鍛戒护" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
+ LogFile.SaveLogToFile($"涓嬪彂缁橝GV缁戝畾杞藉叿鍛戒护寮傚父锛�( {agvModel.Message} ),", logStr);
+
+ agvMsg = agvModel.Message;
+ }
+
+ return result;
+ }
+
+ /// <summary>
+ /// 涓嬪彂AGV瑙ｇ粦杞藉叿鍜岀珯鐐�
+ /// </summary>
+ /// <param name="palletType">瀹瑰櫒绫诲瀷1锛�400L锛�2锛�800/1000L</param>
+ /// <param name="url">璇锋眰鍦板潃</param>
+ /// <param name="agvMsg">杩斿洖淇℃伅</param>
+ /// <param name="locateNo">杩斿洖淇℃伅</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浠诲姟涓嬪彂鏃跺鍔爃earder:X-LR-REQUEST-ID,鍊间负闅忔満鏁�
+ long ran = DateTime.Now.Ticks;
+ Dictionary<string, string> key = new Dictionary<string, string>();
+ key.Add("X-LR-REQUEST-ID", ran.ToString());
+
+ // 姝ｅ紡杩愯绋嬪簭鏀惧紑
+ var jsonData = JsonConvert.SerializeObject(carrierInfo);
+ string response = HttpHelper.DoPost(url, jsonData, "涓嬪彂缁橝GV缁戝畾杞藉叿鍛戒护", "AGV", key);
+ //瑙ｆ瀽杩斿洖鏁版嵁
+ var agvModel = JsonConvert.DeserializeObject<OutCommanAgvDto>(response);
+ if (agvModel.Code == "0")
+ {
+ result = true;//缁欎笅杞︿笅鍙戜换鍔℃垚鍔�
+
+ agvMsg = "";
+ }
+ else
+ {
+ var logStr = $@".\log\AGV\涓嬪彂缁橝GV瑙ｇ粦杞藉叿鍛戒护" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
+ LogFile.SaveLogToFile($"涓嬪彂缁橝GV瑙ｇ粦杞藉叿鍛戒护寮傚父锛�( {agvModel.Message} ),", logStr);
+
+ agvMsg = agvModel.Message;
+ }
+
+ return result;
+ }
}
}
diff --git a/Wms/WMS.BLL/BllCheckServer/StockCheckServer.cs b/Wms/WMS.BLL/BllCheckServer/StockCheckServer.cs
index 24196ca..c7e5489 100644
--- a/Wms/WMS.BLL/BllCheckServer/StockCheckServer.cs
+++ b/Wms/WMS.BLL/BllCheckServer/StockCheckServer.cs
@@ -1435,6 +1435,7 @@
try
{
+
//绋嬪簭姝ｅ紡鍙戝竷鍚庢斁寮�
var time1 = DateTime.Now;//鍙戦�佹椂闂� .ToString("yyyy-MM-dd HH:mm:ss")
var response = HttpHelper.DoPost(url, jsonData, "涓嬪彂缁橶CS鍑哄簱鍛戒护", "WCS");
diff --git a/Wms/WMS.BLL/BllPdaServer/PdaSoServer.cs b/Wms/WMS.BLL/BllPdaServer/PdaSoServer.cs
index 6526b6b..dca0979 100644
--- a/Wms/WMS.BLL/BllPdaServer/PdaSoServer.cs
+++ b/Wms/WMS.BLL/BllPdaServer/PdaSoServer.cs
@@ -1177,6 +1177,7 @@
try
{
+
var time1 = DateTime.Now;//鍙戦�佹椂闂� .ToString("yyyy-MM-dd HH:mm:ss")
response = HttpHelper.DoPost(url, jsonData, "涓嬪彂缁橶CS鍑哄簱鍛戒护", "WCS");
var time2 = DateTime.Now;//杩斿洖鏃堕棿 .ToString("yyyy-MM-dd HH:mm:ss")
diff --git a/Wms/WMS.BLL/BllQualityServer/InspectionRequestServer.cs b/Wms/WMS.BLL/BllQualityServer/InspectionRequestServer.cs
index 19db4a1..874db24 100644
--- a/Wms/WMS.BLL/BllQualityServer/InspectionRequestServer.cs
+++ b/Wms/WMS.BLL/BllQualityServer/InspectionRequestServer.cs
@@ -209,6 +209,7 @@
string response = "";
try
{
+
var time1 = DateTime.Now;//鍙戦�佹椂闂� .ToString("yyyy-MM-dd HH:mm:ss")
response = HttpHelper.DoPost(url, jsonData, "涓婁紶ERP鍙栨牱娑堣�楅噺杩囪处", "ERP");
var time2 = DateTime.Now;//杩斿洖鏃堕棿 .ToString("yyyy-MM-dd HH:mm:ss")
@@ -480,6 +481,7 @@
try
{
+
var time1 = DateTime.Now;//鍙戦�佹椂闂� .ToString("yyyy-MM-dd HH:mm:ss")
response = HttpHelper.DoPost(url, jsonData, "涓嬪彂缁橶CS鍑哄簱鍛戒护", "WCS");
var time2 = DateTime.Now;//杩斿洖鏃堕棿 .ToString("yyyy-MM-dd HH:mm:ss")
diff --git a/Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs b/Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs
index 1c4763c..f497068 100644
--- a/Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs
+++ b/Wms/WMS.BLL/BllTransServer/HopperTransportServer.cs
@@ -217,7 +217,7 @@
/// <param name="lotNo">鎵规</param>
/// <param name="userId">鎿嶄綔浜�</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("鏈壘鍒板搴旀《淇℃伅");
}
- resultYi = YikuTask(palletModel.PalletNo, taskNo, url);
+ resultYi = YikuTask(palletModel.PalletNo, taskNo, url,bindUrl);
}
#endregion
//璧峰鍌ㄤ綅鍦板潃淇℃伅
@@ -358,29 +358,41 @@
string agvMsg = string.Empty;
//缁欎笅杞︿笅鍙戜换鍔�
logTaskEntry.SendDate = DateTime.Now;//鍙戦�佹椂闂�
- var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
- if (agvResult)//鎴愬姛
+ //涓嬪彂杞藉叿绫诲瀷
+ var bind = RcsHelper.BindPalletAndSite(palletModel.PalletNo, palletModel.LocatNo, url, out string agvBindMsg);
+ if (bind)
{
- //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
- logTaskEntry.IsSuccess = 1;
- logTaskEntry.IsSend = 0;
- //logTaskEntry.IsCancel = 0;
- logTaskEntry.BackDate = DateTime.Now;
- logTaskEntry.Status = "1";//姝ｅ湪鎵ц
- Db.Insertable(logTaskEntry).ExecuteCommand();
+ var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
+ if (agvResult)//鎴愬姛
+ {
+ //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
+ logTaskEntry.IsSuccess = 1;
+ logTaskEntry.IsSend = 0;
+ //logTaskEntry.IsCancel = 0;
+ logTaskEntry.BackDate = DateTime.Now;
+ logTaskEntry.Status = "1";//姝ｅ湪鎵ц
+ Db.Insertable(logTaskEntry).ExecuteCommand();
- startLoction.Status = "3";//鍑哄簱涓�
- Db.Updateable(startLoction).ExecuteCommand();
+ startLoction.Status = "3";//鍑哄簱涓�
+ Db.Updateable(startLoction).ExecuteCommand();
- endLocateInfo.Status = "2";//鍏ュ簱涓�
- Db.Updateable(endLocateInfo).ExecuteCommand();
+ endLocateInfo.Status = "2";//鍏ュ簱涓�
+ Db.Updateable(endLocateInfo).ExecuteCommand();
+ }
+ else//澶辫触
+ {
+ logTaskEntry.IsSuccess = 0;
+ logTaskEntry.Information = agvMsg;
+ Db.Insertable(logTaskEntry).ExecuteCommand();
+ }
}
- else//澶辫触
+ else
{
logTaskEntry.IsSuccess = 0;
- logTaskEntry.Information = agvMsg;
+ logTaskEntry.Information = "璐ф灦涓庤揣浣嶇粦瀹氬け璐ワ紝鍘熷洜锛�"+agvBindMsg;
Db.Insertable(logTaskEntry).ExecuteCommand();
}
+
}
//鎻愪氦浜嬪姟
Db.CommitTran();
@@ -405,7 +417,7 @@
/// <param name="lotNo">鎵规</param>
/// <param name="userId">鎿嶄綔浜�</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;
//缁欎笅杞︿笅鍙戜换鍔�
logTaskEntry.SendDate = DateTime.Now;//鍙戦�佹椂闂�
- var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
- if (agvResult)//鎴愬姛
+ //涓嬪彂杞藉叿涓庤揣浣嶇粦瀹�
+ var bind = RcsHelper.BindPalletAndSite(plnNo, StartLocate, bindUrl, out string agvBindMsg);
+ if (bind)
{
- //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
- logTaskEntry.IsSuccess = 1;
- logTaskEntry.IsSend = 0;
- //logTaskEntry.IsCancel = 0;
- logTaskEntry.BackDate = DateTime.Now;
- logTaskEntry.Status = "1";//姝ｅ湪鎵ц
- Db.Insertable(logTaskEntry).ExecuteCommand();
+ var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
+ if (agvResult)//鎴愬姛
+ {
+ //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
+ logTaskEntry.IsSuccess = 1;
+ logTaskEntry.IsSend = 0;
+ //logTaskEntry.IsCancel = 0;
+ logTaskEntry.BackDate = DateTime.Now;
+ logTaskEntry.Status = "1";//姝ｅ湪鎵ц
+ Db.Insertable(logTaskEntry).ExecuteCommand();
- startLoction.Status = "3";//鍑哄簱涓�
- Db.Updateable(startLoction).ExecuteCommand();
+ startLoction.Status = "3";//鍑哄簱涓�
+ Db.Updateable(startLoction).ExecuteCommand();
- endLocatInfo.Status = "2";//鍏ュ簱涓�
- Db.Updateable(endLocatInfo).ExecuteCommand();
+ endLocatInfo.Status = "2";//鍏ュ簱涓�
+ Db.Updateable(endLocatInfo).ExecuteCommand();
+ }
+ else//澶辫触
+ {
+ logTaskEntry.IsSuccess = 0;
+ logTaskEntry.Information = agvMsg;
+ Db.Insertable(logTaskEntry).ExecuteCommand();
+ }
+
}
- else//澶辫触
+ else
{
logTaskEntry.IsSuccess = 0;
- logTaskEntry.Information = agvMsg;
+ logTaskEntry.Information = "璐ф灦涓庤揣浣嶇粦瀹氬け璐ワ紝鍘熷洜锛�"+agvBindMsg;
Db.Insertable(logTaskEntry).ExecuteCommand();
}
+
//鎻愪氦浜嬪姟
Db.CommitTran();
@@ -727,7 +752,7 @@
/// <param name="deviceStation">鍙枡鐐逛綅锛氣�漣nput鈥�-鍏ュ彛锛堝彨鑴忔《锛夛紝鈥漮utput鈥�-鍑哄彛锛堝噣妗剁敵璇峰偍浣嶏級</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;
//缁欎笅杞︿笅鍙戜换鍔�
logTaskEntry.SendDate = DateTime.Now;//鍙戦�佹椂闂�
- var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
- if (agvResult)//鎴愬姛
+ //涓嬪彂杞藉叿涓庤揣浣嶇粦瀹�
+ var bind = RcsHelper.BindPalletAndSite(palletModel.PalletNo, palletModel.LocatNo, bindUrl, out string agvBindMsg);
+ if (bind)
{
- //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
- logTaskEntry.IsSuccess = 1;
- logTaskEntry.IsSend = 0;
- //logTaskEntry.IsCancel = 0;
- logTaskEntry.BackDate = DateTime.Now;
- logTaskEntry.Status = "1";//姝ｅ湪鎵ц
- Db.Insertable(logTaskEntry).ExecuteCommand();
+ var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
+ if (agvResult)//鎴愬姛
+ {
+ //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
+ logTaskEntry.IsSuccess = 1;
+ logTaskEntry.IsSend = 0;
+ //logTaskEntry.IsCancel = 0;
+ logTaskEntry.BackDate = DateTime.Now;
+ logTaskEntry.Status = "1";//姝ｅ湪鎵ц
+ Db.Insertable(logTaskEntry).ExecuteCommand();
- startLoction.Status = "3";//鍑哄簱涓�
- Db.Updateable(startLoction).ExecuteCommand();
+ startLoction.Status = "3";//鍑哄簱涓�
+ Db.Updateable(startLoction).ExecuteCommand();
- endLoction.Status = "2";//鍏ュ簱涓�
- Db.Updateable(endLoction).ExecuteCommand();
+ endLoction.Status = "2";//鍏ュ簱涓�
+ Db.Updateable(endLoction).ExecuteCommand();
+ }
+ else//澶辫触
+ {
+ logTaskEntry.IsSuccess = 0;
+ logTaskEntry.Information = agvMsg;
+ Db.Insertable(logTaskEntry).ExecuteCommand();
+ }
}
- else//澶辫触
+ else
{
logTaskEntry.IsSuccess = 0;
- logTaskEntry.Information = agvMsg;
+ logTaskEntry.Information = agvBindMsg;
Db.Insertable(logTaskEntry).ExecuteCommand();
}
+
//鎻愪氦浜嬪姟
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;
//缁欎笅杞︿笅鍙戜换鍔�
logTaskEntry.SendDate = DateTime.Now;//鍙戦�佹椂闂�
- var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg, "70");
- if (agvResult)//鎴愬姛
+ //涓嬪彂杞藉叿涓庤揣浣嶇粦瀹�
+ var bind = RcsHelper.BindPalletAndSite(palletInfoYi.LocatNo, palletInfoYi.PalletNo, bindUrl, out string agvBindMsg);
+ if (bind)
{
- //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
- logTaskEntry.IsSuccess = 1;
- logTaskEntry.IsSend = 0;
- //logTaskEntry.IsCancel = 0;
- logTaskEntry.BackDate = DateTime.Now;
- logTaskEntry.Status = "1";//姝ｅ湪鎵ц
- Db.Insertable(logTaskEntry).ExecuteCommand();
+ var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg, "70");
+ if (agvResult)//鎴愬姛
+ {
+ //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
+ logTaskEntry.IsSuccess = 1;
+ logTaskEntry.IsSend = 0;
+ //logTaskEntry.IsCancel = 0;
+ logTaskEntry.BackDate = DateTime.Now;
+ logTaskEntry.Status = "1";//姝ｅ湪鎵ц
+ Db.Insertable(logTaskEntry).ExecuteCommand();
- //淇敼绉诲嚭鍌ㄤ綅鐘舵��
- locatInfo.Status = "5";//绉诲嚭涓�
- Db.Updateable(locatInfo).ExecuteCommand();
+ //淇敼绉诲嚭鍌ㄤ綅鐘舵��
+ locatInfo.Status = "5";//绉诲嚭涓�
+ Db.Updateable(locatInfo).ExecuteCommand();
- //淇敼绉诲叆鍌ㄤ綅鐘舵��
- transferLocat.Status = "4";//绉诲叆涓�
- Db.Updateable(transferLocat).ExecuteCommand();
+ //淇敼绉诲叆鍌ㄤ綅鐘舵��
+ transferLocat.Status = "4";//绉诲叆涓�
+ Db.Updateable(transferLocat).ExecuteCommand();
+ }
+ else//澶辫触
+ {
+ logTaskEntry.IsSuccess = 0;
+ logTaskEntry.Information = agvMsg;
+ Db.Insertable(logTaskEntry).ExecuteCommand();
+
+ throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿palletInfoYi.PalletNo}");
+ }
}
- else//澶辫触
+ else
{
logTaskEntry.IsSuccess = 0;
- logTaskEntry.Information = agvMsg;
+ logTaskEntry.Information = agvBindMsg;
Db.Insertable(logTaskEntry).ExecuteCommand();
throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿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;
//缁欎笅杞︿笅鍙戜换鍔�
logTaskInfoZ.SendDate = DateTime.Now;//鍙戦�佹椂闂�
- var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg, "70");
- if (agvResult)//鎴愬姛
+ //涓嬪彂杞藉叿涓庤揣浠粦瀹�
+ var bind = RcsHelper.BindPalletAndSite(logTaskInfoZ.PalletNo, logTaskInfoZ.StartLocat, bindUrl, out string agvBindMsg);
+ if (bind)
{
- //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
- logTaskInfoZ.IsSuccess = 1;
- logTaskInfoZ.IsSend = 0;
- //logTaskEntry.IsCancel = 0;
- logTaskInfoZ.BackDate = DateTime.Now;
- logTaskInfoZ.Status = "1";//姝ｅ湪鎵ц
- Db.Insertable(logTaskInfoZ).ExecuteCommand();
+ var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg, "70");
+ if (agvResult)//鎴愬姛
+ {
+ //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
+ logTaskInfoZ.IsSuccess = 1;
+ logTaskInfoZ.IsSend = 0;
+ //logTaskEntry.IsCancel = 0;
+ logTaskInfoZ.BackDate = DateTime.Now;
+ logTaskInfoZ.Status = "1";//姝ｅ湪鎵ц
+ Db.Insertable(logTaskInfoZ).ExecuteCommand();
- //淇敼绉诲嚭鍌ㄤ綅鐘舵��
- startLocatInfoZ.Status = "5";//绉诲嚭涓�
- Db.Updateable(startLocatInfoZ).ExecuteCommand();
+ //淇敼绉诲嚭鍌ㄤ綅鐘舵��
+ startLocatInfoZ.Status = "5";//绉诲嚭涓�
+ Db.Updateable(startLocatInfoZ).ExecuteCommand();
- //淇敼绉诲叆鍌ㄤ綅鐘舵��
- endLocatInfoZ.Status = "4";//绉诲叆涓�
- Db.Updateable(endLocatInfoZ).ExecuteCommand();
+ //淇敼绉诲叆鍌ㄤ綅鐘舵��
+ endLocatInfoZ.Status = "4";//绉诲叆涓�
+ Db.Updateable(endLocatInfoZ).ExecuteCommand();
+ }
+ else//澶辫触
+ {
+ logTaskInfoZ.IsSuccess = 0;
+ logTaskInfoZ.Information = agvMsg;
+ Db.Insertable(logTaskInfoZ).ExecuteCommand();
+
+ throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿logTaskInfoZ.PalletNo}");
+ }
}
- else//澶辫触
+ else
{
logTaskInfoZ.IsSuccess = 0;
- logTaskInfoZ.Information = agvMsg;
+ logTaskInfoZ.Information = agvBindMsg;
Db.Insertable(logTaskInfoZ).ExecuteCommand();
throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿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;
//缁欎笅杞︿笅鍙戜换鍔�
logTaskEntry.SendDate = DateTime.Now;//鍙戦�佹椂闂�
- var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
- if (agvResult)//鎴愬姛
+ //涓嬪彂杞藉叿涓庤揣浣嶇粦瀹�
+ var bind = RcsHelper.BindPalletAndSite(detailInfo.PalletNo, detailInfo.LocatNo, bindUrl, out string agvBindMsg);
+ if (bind)
{
- //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
- logTaskEntry.IsSuccess = 1;
- logTaskEntry.IsSend = 0;
- //logTaskEntry.IsCancel = 0;
- logTaskEntry.BackDate = DateTime.Now;
- logTaskEntry.Status = "1";//姝ｅ湪鎵ц
- Db.Insertable(logTaskEntry).ExecuteCommand();
+ var agvResult = RcsHelper.CreateTaskForAgv(task, url, out agvMsg);
+ if (agvResult)//鎴愬姛
+ {
+ //璇锋眰鎴愬姛淇敼浠诲姟琛ㄧ浉搴斿瓧娈电姸鎬�
+ logTaskEntry.IsSuccess = 1;
+ logTaskEntry.IsSend = 0;
+ //logTaskEntry.IsCancel = 0;
+ logTaskEntry.BackDate = DateTime.Now;
+ logTaskEntry.Status = "1";//姝ｅ湪鎵ц
+ Db.Insertable(logTaskEntry).ExecuteCommand();
- //淇敼绉诲嚭鍌ㄤ綅鐘舵��
- locatModel.Status = "5";//绉诲嚭涓�
- Db.Updateable(locatModel).ExecuteCommand();
+ //淇敼绉诲嚭鍌ㄤ綅鐘舵��
+ locatModel.Status = "5";//绉诲嚭涓�
+ Db.Updateable(locatModel).ExecuteCommand();
- //淇敼绉诲叆鍌ㄤ綅鐘舵��
- endLocatInfo.Status = "4";//绉诲叆涓�
- Db.Updateable(endLocatInfo).ExecuteCommand();
+ //淇敼绉诲叆鍌ㄤ綅鐘舵��
+ endLocatInfo.Status = "4";//绉诲叆涓�
+ Db.Updateable(endLocatInfo).ExecuteCommand();
+ }
+ else//澶辫触
+ {
+ logTaskEntry.IsSuccess = 0;
+ logTaskEntry.Information = agvMsg;
+ Db.Insertable(logTaskEntry).ExecuteCommand();
+
+ throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿detailInfo.PalletNo}");
+ }
}
- else//澶辫触
+ else
{
logTaskEntry.IsSuccess = 0;
- logTaskEntry.Information = agvMsg;
+ logTaskEntry.Information = agvBindMsg;
Db.Insertable(logTaskEntry).ExecuteCommand();
throw new Exception($"缁欏皬杞︿笅鍙戠Щ搴撲换鍔″け璐ワ紝妗跺彿锛歿detailInfo.PalletNo}");
}
+
}
}
//鎻愪氦浜嬪姟
diff --git a/Wms/WMS.BLL/BllTransServer/RcsServer.cs b/Wms/WMS.BLL/BllTransServer/RcsServer.cs
index 08815b0..0417f22 100644
--- a/Wms/WMS.BLL/BllTransServer/RcsServer.cs
+++ b/Wms/WMS.BLL/BllTransServer/RcsServer.cs
@@ -1294,8 +1294,12 @@
}
// 姝ｅ紡杩愯绋嬪簭鏀惧紑
+ //AGV浠诲姟涓嬪彂鏃跺鍔爃earder:X-LR-REQUEST-ID,鍊间负闅忔満鏁�
+ 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, "涓嬪彂缁橝GV杞繍鍛戒护", "AGV");
+ string response = HttpHelper.DoPost(url, jsonData, "涓嬪彂缁橝GV杞繍鍛戒护", "AGV",key);
//瑙ｆ瀽杩斿洖鏁版嵁
var agvModel = JsonConvert.DeserializeObject<OutCommanAgvDto>(response);
if (agvModel.Code == "0")
diff --git a/Wms/WMS.BLL/SysServer/PalletsServer.cs b/Wms/WMS.BLL/SysServer/PalletsServer.cs
index d43f570..dc5f08f 100644
--- a/Wms/WMS.BLL/SysServer/PalletsServer.cs
+++ b/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("鏂版坊鍔犵殑妗跺彧鑳界粦瀹氬噣妗跺尯");
}
+ //if (!string.IsNullOrEmpty(deviceCode))
+ //{
+ // var areaInfo = db.Queryable<SysStorageArea>().First(w => w.IsDel == "0" && w.DeviceCode.Contains(deviceCode));
+ // if (areaInfo == null)
+ // {
+ // throw new Exception("鏈煡鍒拌澶囨墍灞炲尯鍩熶俊鎭�");
+ // }
+ // //125璁惧鏄帴鏂欏拰娣锋枡涓�浣撴満
+ // if (deviceCode != "125")
+ // {
+ // if (!areaInfo.AreaName.Contains("鎺ユ枡璁惧"))
+ // {
+ // throw new Exception("鍙兘缁戝畾鎺ユ枡璁惧");
+ // }
+ // if (areaInfo.WareHouseNo != "M03")
+ // {
+ // throw new Exception("鍙湁澶у崟浣撹溅闂存墠鑳界粦瀹氳澶�");
+ // }
+ // }
+ //}
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("鏈煡鍒拌澶囨墍灞炲尯鍩熶俊鎭�");
+ case "400":
+ deviceCode = "400L";
+ break;
+ case "800":
+ deviceCode = "800L";
+ break;
+ case "1000":
+ deviceCode = "1000L";
+ break;
+ default:
+ throw new Exception("涓嶈兘褰曞叆400锛�800锛�1000浠ュ鐨勫��");
}
- //125璁惧鏄帴鏂欏拰娣锋枡涓�浣撴満
- if (deviceCode != "125")
- {
- if (!areaInfo.AreaName.Contains("鎺ユ枡璁惧"))
- {
- throw new Exception("鍙兘缁戝畾鎺ユ枡璁惧");
- }
- if (areaInfo.WareHouseNo != "M03")
- {
- throw new Exception("鍙湁澶у崟浣撹溅闂存墠鑳界粦瀹氳澶�");
- }
- }
+
}
//寮�鍚簨鍔�
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",//鍑�妗�
- UDF1 = deviceCode,
+ Standard = deviceCode, //瑙勬牸
IsDel = "0",
CreateUser = userId,
@@ -235,6 +256,20 @@
locatModel.Status = "1";//鏈夌墿鍝�
db.Updateable(locatModel).ExecuteCommand();
+ //涓嬪彂AGV缁戝畾杞藉叿鎺ュ彛
+ //璋冪敤AGV鎺ュ彛涓嬪彂浠诲姟
+ //string agvMsg = string.Empty;
+ ////缁欎笅杞︿笅鍙戜换鍔�
+ //var agvResult = RcsHelper.BindPalletAndSite(palletNo, locatNo,url, out agvMsg);
+ //if (agvResult)//鎴愬姛
+ //{
+ // //澧炲姞鏃ュ織
+ //}
+ //else//澶辫触
+ //{
+ // throw new Exception("灏忚溅杞藉叿鍜屽簱浣嶅叧绯荤粦瀹氬け璐ワ紝鍘熷洜锛�"+agvMsg);
+ //}
+
//鎻愪氦浜嬪姟
db.CommitTran();
}
diff --git a/Wms/WMS.IBLL/IBllTransServer/IHopperTransportServer.cs b/Wms/WMS.IBLL/IBllTransServer/IHopperTransportServer.cs
index cdda1bb..aa4329b 100644
--- a/Wms/WMS.IBLL/IBllTransServer/IHopperTransportServer.cs
+++ b/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>
/// 灏忚溅璧板嚭鍌ㄤ綅鍥炰紶浜嬩欢
@@ -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>
/// 灏忚溅鍙嶉浠诲姟瀹屾垚
@@ -44,6 +44,6 @@
/// <param name="deviceStation">鍙枡鐐逛綅锛氣�漣nput鈥�-鍏ュ彛锛堝彨鑴忔《锛夛紝鈥漮utput鈥�-鍑哄彛锛堝噣妗剁敵璇峰偍浣嶏級</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);
}
}
diff --git a/Wms/WMS.IBLL/ISysServer/IPalletsServer.cs b/Wms/WMS.IBLL/ISysServer/IPalletsServer.cs
index cfb445e..c9982c9 100644
--- a/Wms/WMS.IBLL/ISysServer/IPalletsServer.cs
+++ b/Wms/WMS.IBLL/ISysServer/IPalletsServer.cs
@@ -33,6 +33,6 @@
/// <param name="groupCount">缁勬暟</param>
/// <param name="userId">鎿嶄綔浜�</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);
}
}
diff --git a/Wms/Wms/Controllers/DownApiController.cs b/Wms/Wms/Controllers/DownApiController.cs
index 4656c21..5b12903 100644
--- a/Wms/Wms/Controllers/DownApiController.cs
+++ b/Wms/Wms/Controllers/DownApiController.cs
@@ -858,7 +858,7 @@
{
//璁板綍log
var logStr = $@".\log\AGV\浠诲姟鎵ц閫氱煡" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
- AgvResultModel resultModel = null;//杩斿洖淇℃伅
+ AgvResultModel2 resultModel = null;//杩斿洖淇℃伅
try
{
var jsonData = JsonConvert.SerializeObject(model);
@@ -868,7 +868,9 @@
- resultModel = new AgvResultModel { code = "0", message = "鎴愬姛", reqCode = model.reqCode };
+ resultModel.code = "0";
+ resultModel.message = "鎴愬姛";
+ resultModel.da.robotTaskCode = model.robotTaskCode;
var jsonData2 = JsonConvert.SerializeObject(resultModel);
LogFile.SaveLogToFile($"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);
@@ -877,7 +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);
@@ -893,17 +897,24 @@
{
//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.taskCode, _config.AgvHost + _config.GenAgvSchedulingTask);
+ _hopper.OutBinAgv(model.robotTaskCode, _config.AgvHost + _config.GenAgvSchedulingTask,_config.AgvHost+_config.AGVBindPallets);
-
- 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($"AGV浠诲姟鎵ц閫氱煡-璧板嚭鍌ㄤ綅-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -912,7 +923,10 @@
{
LogFile.SaveLogToFile($"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 };
+
+ 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-璧板嚭鍌ㄤ綅-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -928,16 +942,25 @@
{
//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
- _hopper.RCSFinishTask(model.taskCode, "1", "AGV");
+ _hopper.RCSFinishTask(model.robotTaskCode, "1", "AGV");
- 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($"AGV浠诲姟鎵ц閫氱煡-浠诲姟缁撴潫-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -946,7 +969,9 @@
{
LogFile.SaveLogToFile($"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 };
+ 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-浠诲姟缁撴潫-杩斿洖鎶ユ枃锛�( {jsonData2} ),", logStr);
return Ok(resultModel);
@@ -962,7 +987,7 @@
{
//璁板綍log
var logStr = $@".\log\AGV\浠诲姟鎵ц閫氱煡" + DateTime.Now.ToString("yyyyMMdd") + ".txt";
- AgvResultModel resultModel = null;//杩斿洖淇℃伅
+ AgvResultModel2 resultModel = null;//杩斿洖淇℃伅
try
{
var jsonData = JsonConvert.SerializeObject(model);
@@ -972,7 +997,9 @@
- resultModel = new AgvResultModel { code = "0", message = "鎴愬姛", reqCode = model.reqCode };
+ resultModel.code = "0";
+ resultModel.message = "鎴愬姛";
+ resultModel.da.robotTaskCode = model.robotTaskCode;
var jsonData2 = JsonConvert.SerializeObject(resultModel);
LogFile.SaveLogToFile($"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);
@@ -981,7 +1008,9 @@
{
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);
@@ -1271,7 +1300,7 @@
{
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 +1331,7 @@
{
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 = "" });
}
@@ -1327,7 +1356,7 @@
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);
+ _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);
diff --git a/Wms/Wms/Controllers/SysController.cs b/Wms/Wms/Controllers/SysController.cs
index cbf1f6a..594879f 100644
--- a/Wms/Wms/Controllers/SysController.cs
+++ b/Wms/Wms/Controllers/SysController.cs
@@ -1327,7 +1327,7 @@
{
return Ok(new { code = 1, msg = "涓鸿幏鍙栧埌褰撳墠鎿嶄綔浜轰俊鎭�" });
}
- _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 = "娣诲姞鎴愬姛", data = "" });
diff --git a/Wms/Wms/DailyTaskService.cs b/Wms/Wms/DailyTaskService.cs
index 70c64b9..7df1213 100644
--- a/Wms/Wms/DailyTaskService.cs
+++ b/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;
}
//鍒涘缓瀹氭椂浠诲姟
@@ -60,7 +62,7 @@
{
HopperTransportServer _stockDetail = new HopperTransportServer();
//浠诲姟閫昏緫
- _stockDetail.TransferBackTimer(_agvUrl);
+ _stockDetail.TransferBackTimer(_agvUrl,_agvBindUrl);
}
catch (Exception ex)
{
diff --git a/Wms/Wms/Properties/launchSettings.json b/Wms/Wms/Properties/launchSettings.json
index 5db9873..93e8fe8 100644
--- a/Wms/Wms/Properties/launchSettings.json
+++ b/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
+ }
}
}
\ No newline at end of file
diff --git a/Wms/Wms/Startup.cs b/Wms/Wms/Startup.cs
index 93f1405..8b470a4 100644
--- a/Wms/Wms/Startup.cs
+++ b/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 =>
diff --git a/Wms/Wms/Tools/ApiUrlConfig.cs b/Wms/Wms/Tools/ApiUrlConfig.cs
index fe5f1ff..dcb129a 100644
--- a/Wms/Wms/Tools/ApiUrlConfig.cs
+++ b/Wms/Wms/Tools/ApiUrlConfig.cs
@@ -86,6 +86,17 @@
/// </summary>
public string GenPreScheduleTask { get; set; }
+
+ /// <summary>
+ /// 杞藉叿涓庡簱浣嶇粦瀹氭帴鍙�
+ /// </summary>
+ public string AGVBindPallets { get; set; }
+
+ /// <summary>
+ /// 杞藉叿涓庡簱浣嶈В缁戞帴鍙�
+ /// </summary>
+ public string AGVUnBindPallets { get; set; }
+
#endregion
#endregion
diff --git a/Wms/Wms/appsettings.json b/Wms/Wms/appsettings.json
index 2d3d5f6..37d4dc2 100644
--- a/Wms/Wms/appsettings.json
+++ b/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 搴撹繛鎺ュ瓧绗︿覆
//"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", //涓嬪彂鍛戒护(鍑哄簱銆佺Щ搴�)
"IssueComApiUrl2": "/api/WCSApi/AddTask", //閲嶆柊涓嬪彂鍛戒护(鍑哄簱銆佺Щ搴�)
@@ -43,8 +43,10 @@
// AGV
- "GenAgvSchedulingTask": "/rcms/services/rest/hikRpcService/genAgvSchedulingTask", //鐢熸垚浠诲姟鍗曟帴鍙�
- "ContinueTask": "/rcms/services/rest/hikRpcService/continueTask", //缁х画鎵ц浠诲姟鎺ュ彛
- "GenPreScheduleTask": "/rcms/services/rest/hikRpcService/genPreScheduleTask" // 棰勮皟搴﹀澶栨帴鍙�
+ "GenAgvSchedulingTask": "/rcs/rtas/api/robot/controller/task/submit", //鐢熸垚浠诲姟鍗曟帴鍙�
+ "ContinueTask": "/rcs/rtas/api/robot/controller/task/extend/continue", //缁х画鎵ц浠诲姟鎺ュ彛
+ "GenPreScheduleTask": "/rcms/services/rest/hikRpcService/genPreScheduleTask", // 棰勮皟搴﹀澶栨帴鍙�
+ "AGVBindPallets": "/rcs/rtas/api/robot/controller/carrier/bind", //杞藉叿涓庡簱浣嶇粦瀹氭帴鍙�
+ "AGVUnBindPallets": "/rcs/rtas/api/robot/controller/carrier/bind" //杞藉叿涓庡簱浣嶈В缁戞帴鍙�
}
}
--
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