AcsWebApiController.cs
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using Microsoft.AspNetCore.Mvc;
using Newtonsoft.Json;
using RCS.Model.Comm;
using RCS.Model.Entity;
using RCS.Model.PLC;
using RCS.Model.WebApi.Request;
using RCS.Model.WebApi.Respose;
using RCS.WinClient.Common;
using RCS.WinClient.Service;
namespace RCS.WinClient.WebApi.Service
{
[ApiController]
[Route("api/[controller]/[action]")]
public class AcsWebApiController : ControllerBase
{
/// <summary>
/// 上层系统下发
/// </summary>
/// <param name="fTask"></param>
/// <returns></returns>
[HttpPost]
public BllResult TaskAssign([FromBody] ReqTaskAssign fTask)
{
try
{
if (fTask != null)
{
string json = JsonConvert.SerializeObject(fTask);
App.ExFile.MessageWebApi("TaskAssign", "接口(TaskAssign)，" + json + "\r");
if (string.IsNullOrEmpty(fTask.TaskNo))
{
return BllResult.Error("任务号字段不允许为空！");
}
Base_Station? startStation;
Base_Station? endStation;
startStation = App.StationList.Find(t => t.Code == fTask.fromPort);
endStation = App.StationList.Find(t => t.Code == fTask.toPort);
var fromPoint = App.PointList.FirstOrDefault(x => x.Barcode == startStation?.Barcode);
var toPoint = App.PointList.FirstOrDefault(x => x.Barcode == endStation?.Barcode);
if (startStation == null)
{
return BllResult.Error("任务起点站台编码不存在！");
}
if (endStation == null)
{
var endBarcode = App.LoctionList.Find(x => x.LoctionCode == fTask.toPort)?.LoctionBarcode;
if (string.IsNullOrEmpty(endBarcode))
return BllResult.Error("任务终点站台编码不存在！");
toPoint = App.PointList.Find(x => x.Barcode == endBarcode);
if (toPoint == null)
{
return BllResult.Error("任务终点站台编码不存在！");
}
if (!ComnMethod.IsGroundPoint(toPoint))
{
return BllResult.Error("终点站台对应点位不是地面库！");
}
}
if (fromPoint == null || toPoint == null)
{
return BllResult.Error($"货架【{fTask.fromPort}】和【{fTask.toPort}】，配置的点位【{startStation.Barcode}】【{endStation?.Barcode}】在点位列表中不存在！");
}
var taskType = TaskManage.GetTaskType(fromPoint, toPoint);
if (taskType.IsNullOrEmpty())
{
return BllResult.Error("任务类型获取异常");
}
var taskGroup = EnumMsg.TaskGroup.WMS任务.ToString();
var result = TaskManage.TaskBuild(taskType, taskGroup, fTask.containerCode, fTask.priority, "", fromPoint.Barcode, toPoint.Barcode, fTask.TaskNo, startStation.Name, endStation?.Name ?? toPoint.Barcode);//startStation?.Name, endStation?.Name);
if (!result.IsSuccess)
return BllResult.Error($"创建{fTask.TaskNo}任务失败!，原因：{result.Message}");
}
else
{
return BllResult.Error("未获取到TaskAssign函数的参数，请检查Json数据");
}
}
catch (Exception ex)
{
var msg = $"接口【TaskAssign】发生异常，原因：{ex.Message}，堆栈：{ex.StackTrace}";
App.ExFile.MessageWebApi("AcsWebApiError", msg);
return BllResult.Error(msg);
}
return BllResult.Success("建立成功");
}
/// <summary>
/// 任务删除
/// </summary>
/// <param name="taskCancel"></param>
/// <returns></returns>
[HttpPost]
public BllResult TaskCancel([FromBody] ReqTaskCancel taskCancel)
{
try
{
if (taskCancel != null)
{
string json = JsonConvert.SerializeObject(taskCancel);
App.ExFile.MessageWebApi("TaskCancel", $"接口(TaskCancel)，{json} \r");
var strResult = TaskManage.TaskDelete(taskCancel.TaskNo, -1);
return strResult;
}
else
{
return BllResult.Error($"未获取到TaskCancel函数的数据，请检查Json数据");
}
}
catch (Exception ex)
{
var msg = $"接口【TaskCancel】发生异常，原因：{ex.StackTrace}，堆栈：{ex.StackTrace}";
App.ExFile.MessageWebApi("AcsWebApiError", msg);
return BllResult.Error(msg);
}
}
/// <summary>
/// 任务确认完成
/// </summary>
/// <param name="taskFinish"></param>
/// <returns></returns>
[HttpPost]
public BllResult TaskFinish([FromBody] ReqTaskFinish taskFinish)
{
try
{
if (taskFinish != null)
{
string json = JsonConvert.SerializeObject(taskFinish);
App.ExFile.MessageWebApi("TaskFinish", $"接口(TaskFinish)，{json} \r");
var result = App.TaskList.FirstOrDefault(a => a.TaskPallet == taskFinish.PalletNo);
if (result == null)
{
return BllResult.Error("没有当前托盘号任务！");
}
}
else
{
return BllResult.Error($"未获取到TaskFinish函数的数据，请检查Json数据");
}
}
catch (Exception ex)
{
var msg = $"接口【TaskFinish】发生异常，原因：{ex.StackTrace}，堆栈：{ex.StackTrace}";
App.ExFile.MessageWebApi("AcsWebApiError", msg);
return BllResult.Error(msg);
}
return BllResult.Success($"确认成功");
}
/// <summary>
/// AGV信息查询
/// </summary>
/// <returns></returns>
[HttpGet]
public BllResult<IEnumerable<object>> AgvInfoList()
{
try
{
var agvInfoList = App.AgvList.Select(_agv => new
{
AgvNumber = _agv.AgvNo,
TaskNo = _agv.AgvTask?.TaskNo,
Landmark = _agv.Barcode,
StartLandmark = _agv.AgvTask?.SubTaskList == null ? null : _agv.AgvTask?.SubTaskList.FirstOrDefault()?.StartBarcode,
EndLandmark = _agv.AgvTask?.SubTaskList == null ? null : _agv.AgvTask?.SubTaskList.FirstOrDefault()?.StartBarcode,
Status = _agv.AgvState.ToString(),
Speed = _agv.Speed,
Battery = _agv.Voltage
});
return BllResult<IEnumerable<object>>.Success(agvInfoList);
}
catch (Exception ex)
{
var msg = $"接口【AgvInfoList】发生异常，原因：{ex.StackTrace}，堆栈：{ex.StackTrace}";
App.ExFile.MessageWebApi("AgvInfoList", msg);
return BllResult<IEnumerable<object>>.Error(msg);
}
}
/// <summary>
/// 继续任务
/// </summary>
/// <param name="taskFinish"></param>
/// <returns></returns>
[HttpPost]
public BllResult ContinueTask([FromBody] ReqContinueTask continueTask)
{
try
{
if (continueTask != null)
{
string json = JsonConvert.SerializeObject(continueTask);
App.ExFile.MessageWebApi("AcsWebApiMsg", $"接口(ContinueTask)，{json} \r");
//获取任务号所属任务
var task = App.TaskList.FirstOrDefault(a => a.TaskNo == continueTask.TaskNo);
if (task == null) { return BllResult.Error($"未获取到任务"); }
var agv = App.AgvList.FirstOrDefault(a => a.AgvNo == task.TaskAgvNo);
var sonTask = task.SubTaskList[0];
if (continueTask.TaskStatus != (int)sonTask.RequestType)
{
return BllResult.Error($"中控返回任务状态和AGV当前状态不匹配");
}
//if (task.SubTaskList.Count() == 1 && sonTask.TaskRequestType == EnumMsg.TaskRequestType.等待MES回复已经出来终点光栅)
//{
// sonTask.TaskRequestType = EnumMsg.TaskRequestType.任务完成信号;
// sonTask.SubTaskState = EnumMsg.SubTaskState.动作完成;
//}
//else
//{
// sonTask.TaskRequestType = EnumMsg.TaskRequestType.信号发送完成;
//}
}
else
{
return BllResult.Error($"未获取到ContinueTask函数的数据，请检查Json数据");
}
}
catch (Exception ex)
{
var msg = $"接口【ContinueTask】发生异常，原因：{ex.StackTrace}，堆栈：{ex.StackTrace}";
App.ExFile.MessageWebApi("AcsWebApiError", msg);
return BllResult.Error(msg);
}
return BllResult.Success($"确认成功");
}
[HttpPost]
public BllResult PlaceholderTask()
{
try
{
List<ResPlaceholderTask> Rpt = new List<ResPlaceholderTask>();
var equipmentProps = App.EquipmentList.Where(t => t.Type == EnumPLC.EquipmentType.HuaHengStation.ToString())
//.SelectMany(t => t.EquipmentProps)
//.Where(t => t.Code == EnumPLC.PLCHuaHengProps.Placeholder.ToString())
.ToList();
//1-true有货,0-false无货
foreach (var equipmentProp in equipmentProps)
{
ResPlaceholderTask content = new ResPlaceholderTask();
//content.StationCode = equipmentProp.Equipment.Code;
//content.Placeholder = equipmentProp.Value;
Rpt.Add(content);
}
return BllResult.Success(Rpt, "发送成功");
}
catch (Exception ex)
{
var msg = $"接口【PlaceholderTask】发生异常，原因：{ex.StackTrace}，堆栈：{ex.StackTrace}";
App.ExFile.MessageWebApi("AcsWebApiError", msg);
return BllResult.Error(msg);
}
}
#region 兼容Java版Rcs接口
/// <summary>
/// 上层系统下发
/// </summary>
/// <param name="fTask"></param>
/// <returns></returns>
[HttpPost]
public BllResult CreateAGVTask([FromBody] ReqTaskAssign fTask)
{
try
{
if (fTask != null)
{
string json = JsonConvert.SerializeObject(fTask);
App.ExFile.MessageWebApi("TaskAssign", "接口(TaskAssign)，" + json + "\r");
if (string.IsNullOrEmpty(fTask.TaskNo))
{
return BllResult.Error("任务号字段不允许为空！");
}
Base_Station? startStation;
Base_Station? endStation;
startStation = App.StationList.Find(t => t.Code == fTask.fromPort);
endStation = App.StationList.Find(t => t.Code == fTask.toPort);
var fromPoint = App.PointList.FirstOrDefault(x => x.Barcode == startStation?.Barcode);
var toPoint = App.PointList.FirstOrDefault(x => x.Barcode == endStation?.Barcode);
if (startStation == null)
{
return BllResult.Error("任务起点站台编码不存在！");
}
if (endStation == null)
{
return BllResult.Error("任务终点站台编码不存在！");
}
if (fromPoint == null || toPoint == null)
{
return BllResult.Error($"货架【{fTask.fromPort}】和【{fTask.toPort}】，配置的点位【{startStation.Barcode}】【{endStation.Barcode}】在点位列表中不存在！");
}
var taskType = TaskManage.GetTaskType(fromPoint, toPoint);
var taskGroup = EnumMsg.TaskGroup.WMS任务.ToString();
var result = TaskManage.TaskBuild(taskType, taskGroup, fTask.containerCode, fTask.priority, "", fromPoint.Barcode, toPoint.Barcode, fTask.TaskNo, startStation.Name, endStation?.Name ?? toPoint.Barcode);//startStation?.Name, endStation?.Name);
if (!result.IsSuccess)
return BllResult.Error($"创建{fTask.TaskNo}任务失败!，原因：{result.Message}");
}
else
{
return BllResult.Error("未获取到TaskAssign函数的参数，请检查Json数据");
}
}
catch (Exception ex)
{
var msg = $"接口【TaskAssign】发生异常，原因：{ex.Message}，堆栈：{ex.StackTrace}";
App.ExFile.MessageWebApi("AcsWebApiError", msg);
return BllResult.Error(msg);
}
return BllResult.Success("建立成功");
}
/// <summary>
/// 任务删除
/// </summary>
/// <param name="taskCancel"></param>
/// <returns></returns>
[HttpPost]
public BllResult CancelAGVTask([FromBody] ReqTaskCancel taskCancel)
{
try
{
if (taskCancel != null)
{
string json = JsonConvert.SerializeObject(taskCancel);
App.ExFile.MessageWebApi("TaskCancel", $"接口(TaskCancel)，{json} \r");
var strResult = TaskManage.TaskDelete(taskCancel.TaskNo);
return strResult;
}
else
{
return BllResult.Error($"未获取到TaskCancel函数的数据，请检查Json数据");
}
}
catch (Exception ex)
{
var msg = $"接口【TaskCancel】发生异常，原因：{ex.StackTrace}，堆栈：{ex.StackTrace}";
App.ExFile.MessageWebApi("AcsWebApiError", msg);
return BllResult.Error(msg);
}
}
#endregion
}
}