添加AGV实时状态反馈接口、看板获取AGV状态接口

kazelee

3 天以前 6d2faa6e299bdfe545ee339269e64f2900229147

 process/TaskProcess.cs

@@ -29,7 +29,6 @@
                LogHelper.Info($"任务{mst.S_CODE} 货位{mst.S_END_LOC}卸货完成，终点绑定容器{mst.S_CNTR_CODE}");
                LocationHelper.BindingLoc(mst.S_END_LOC, mst.S_CNTR_CODE.Split(',').ToList());
            }

        }

        /// <summary>
@@ -45,13 +44,10 @@
                LocationHelper.UnLockLoc(mst.S_END_LOC);
            }
            else {

                //起点终点解锁
                LocationHelper.UnLockLoc(mst.S_START_LOC);
                LocationHelper.UnLockLoc(mst.S_END_LOC);

            }

        }

        /// <summary>
@@ -114,15 +110,31 @@
            if (mst.N_B_STATE == 0) {
                // 原代码版本
                //var code = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, JsonConvert.SerializeObject(new { src = mst.S_START_LOC, dst = mst.S_END_LOC }), "p2p");
                // 尊重文档的版本（暂不考虑修改，因为没有终点站点，不合理）
                //var startSite = LocationHelper.GetAgvSite(mst.S_START_LOC);
                //var endSite = LocationHelper.GetAgvSite(mst.S_END_LOC);
                // 尊重文档的版本
                var startSite = LocationHelper.GetAgvSite(mst.S_START_LOC);
                var endSite = LocationHelper.GetAgvSite(mst.S_END_LOC); // 如果找不到会返回0，就是假终点

                var code = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, JsonConvert.SerializeObject(new { src = mst.S_START_LOC, dst = mst.S_END_LOC }), "p2pdst", "pgapi");
                //var code = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, JsonConvert.SerializeObject(new { src = startSite, order_name = $"tet" }), "p2pdst2", "pgapi");

                //var code = -1;
                var code = 0;
                if (taskType == TaskName.产品入库) {
                    //code = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, JsonConvert.SerializeObject(new { src = startSite, order_name = $"{mst.S_CODE}" }), "p2pdst", "pgapi");
                    code = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, JsonConvert.SerializeObject(new { src = startSite, order_name = $"{mst.S_CODE}" }), "p2pdst2", "pgapi");
                }
                else {
                    code = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, JsonConvert.SerializeObject(new { src = startSite, dst = endSite }), "p2pcm", "pgapi");
                }
                //LogHelper.Info($"eq_task_code={code}");
                // car_type 默认为1
                // src_ort 货架排号
                // dst_orc 货架层数（后两个信息应该为国自AGV内部维护，以后面更改的结果为准）

                //var code = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, $"{{\"src\" = \"{startSite}\", \"dst\" = \"{endSite}\", \"car-type\": 1 }}", "p2pdst", "pgapi");
                if (code > 0) {
                    //更新任务状态
                    mst.N_B_STATE = 1;
                    mst.S_B_STATE = TN_Task.GetStateStr(1);
                    mst.S_EQ_TASK_CODE = code.ToString();
                    WCSHelper.UpdateStatus(mst);
                    WCSHelper.UpdateEQNo(mst);
@@ -131,83 +143,6 @@
                else {
                    LogHelper.Info($"国自推送任务失败 {mst.S_CODE};" + JsonConvert.SerializeObject(mst));
                }

                //if (mst.N_SCHEDULE_TYPE == 1)//通过NDC，hosttoagv调度设备
                //{
                //    start = LocationHelper.GetAgvSite(mst.S_START_LOC);
                //    end = LocationHelper.GetAgvSite(mst.S_END_LOC);

                //    //if (mst.S_TYPE == "空托下线堆叠") {
                //    //    end = LocationHelper.GetAgvSite(mst.S_END_LOC, true);
                //    //}

                //    LogHelper.Info($"NDC推送任务 {mst.S_CODE};" + "start=" + start + "end= " + end);
                //    var startLoc = LocationHelper.GetLoc(mst.S_START_LOC);
                //    var endLoc = LocationHelper.GetLoc(mst.S_END_LOC);
                //    var dic = new List<param>();
                //    dic.Add(new param() { name = "IKey", value = "IKey" });
                //    dic.Add(new param() { name = "From", value = start.ToString() });
                //    dic.Add(new param() { name = "To", value = end.ToString() });
                //    dic.Add(new param() { name = "FUNC", value = startLoc.N_LAYER.ToString() });

                //    dic.Add(new param() { name = "Ctype", value = "0" });


                //    //if (mst.S_TYPE == "余料下线入库" || mst.S_TYPE == "人工拆盘入库") {
                //    //    dic.Add(new param() { name = "DATA", value = "1024" });
                //    //}
                //    //else {
                //    //    dic.Add(new param() { name = "DATA", value = "0" });
                //    //}

                //    var res = NDCApi.AddOrderNew(1, 1, mst.S_CODE, dic);//添加新命令
                //    if (res != null && (res.err_code == 0 || res.err_code == 50009)) {
                //        //推送成功，修改任务优先级
                //        mst.N_B_STATE = 1;
                //        mst.S_B_STATE = TN_Task.GetStateStr(1);
                //        WCSHelper.UpdateStatus(mst);//更新任务状态
                //        result = true;
                //        LogHelper.Info($"NDC推送任务成功 {mst.S_CODE}start= {mst.S_START_LOC} + end = {mst.S_END_LOC}");
                //    }
                //    else {
                //        LogHelper.Info($"NDC推送任务失败 {mst.S_CODE};Res:" + JsonConvert.SerializeObject(res));
                //    }
                //}
                //else if (mst.N_SCHEDULE_TYPE == 5)//通过杭奥调度设备 
                //{
                //    //调第三方接口
                //    var model = new HanAo.TaskInfoModel {
                //        requestPk = mst.S_CODE,
                //        frmPos = mst.S_START_LOC,
                //        toPos = mst.S_END_LOC,
                //        trkType = mst.S_OP_NAME == "入库" ? "1" : "2",
                //        contNo = mst.S_CNTR_CODE
                //    };
                //    if (HanAo.CreateOrder(model)) {
                //        mst.N_B_STATE = 1;
                //        WCSHelper.UpdateStatus(mst);
                //        LogHelper.Info($"杭奥推送任务成功 {mst.S_CODE};" + "start=" + model.frmPos + "end= " + model.toPos);
                //    }
                //    else {
                //        LogHelper.Info($"杭奥推送任务失败 {mst.S_CODE};" + JsonConvert.SerializeObject(model));
                //    }
                //}
                //else if (mst.N_SCHEDULE_TYPE == 3) //通过国自调度设备
                //{
                //    var code = GZRobot.CreateOrder(mst.S_CODE, mst.N_PRIORITY, JsonConvert.SerializeObject(new { src = mst.S_START_LOC, dst = mst.S_END_LOC }), "p2p");
                //    if (code > 0) {
                //        //更新任务状态
                //        mst.N_B_STATE = 1;
                //        mst.S_EQ_TASK_CODE = code.ToString();
                //        WCSHelper.UpdateStatus(mst);
                //        WCSHelper.UpdateEQNo(mst);
                //        LogHelper.Info($"国自推送任务成功 {mst.S_CODE};" + "start=" + mst.S_START_LOC + "end= " + mst.S_END_LOC);
                //    }
                //    else {
                //        LogHelper.Info($"国自推送任务失败 {mst.S_CODE};" + JsonConvert.SerializeObject(mst));
                //    }
                //}

            }
            return result;
        }