1.任务状态等信息同步回wcs 2.货架绑定解绑接入rcs

WCS.BLL/Manager/AGVManager.cs

@@ -1,4 +1,5 @@
-using System;
+using SqlSugar;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -25,7 +26,7 @@ namespace WCS.BLL.Manager
                 while (true)
                 {
                     //每5秒同步一次
-                    Thread.Sleep(5000);
+                    Thread.Sleep(3000);
                     try
                     {
                         var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/queryTaskStatus";
@@ -61,6 +62,23 @@ namespace WCS.BLL.Manager
                                             Enum.TryParse<TaskStatusEnum>(responseData.taskStatus, out TaskStatusEnum status);
                                             isUpdate = true;
                                             tasks[i].TaskStatus = status;
+
+                                            //取消任务时 货架数据需要更新
+                                            if (status == TaskStatusEnum.取消完成)
+                                            {
+                                                var shelf = DbHelp.db.Queryable<ShelfInfo>()
+                                                                     .Where(t => t.ShelfCode == tasks[i].ShelfCode)
+                                                                     .Where(t => t.CurrentLocationId == tasks[i].StratLocationId && t.DestinationLocationId == tasks[i].EndLocationId)
+                                                                     .First();
+                                                if (shelf != null)
+                                                {
+                                                    shelf.DestinationLocationId = 0;
+                                                    shelf.DestinationLocaiotnCode = string.Empty;
+                                                    shelf.TransStatus = TransStatusEnum.静止;
+                                                    DbHelp.db.Updateable(shelf).ExecuteCommand();
+                                                }
+                                            }
+
                                         }
                                         if (isUpdate) 
                                         {
@@ -136,6 +154,11 @@ namespace WCS.BLL.Manager
             }
         }
 
+        /// <summary>
+        /// RCS取消任务
+        /// </summary>
+        /// <param name="agvTask"></param>
+        /// <returns></returns>
         public static AGVResponseModel CancelTask(AgvTask agvTask)
         {
             try
@@ -153,8 +176,10 @@ namespace WCS.BLL.Manager
                     var response = ApiHelp.GetDataFromHttp<AGVResponseModel>(url, body, "POST", true);
                     if (response.code == "0" && response.message == "成功")
                     {
-                        agvTask.TaskStatus = Model.ApiModel.AGV.TaskStatusEnum.取消完成;
+                        //取消会统一在后台线程更新
-                        DbHelp.db.Updateable(agvTask).ExecuteCommand();
+
+                        //agvTask.TaskStatus = Model.ApiModel.AGV.TaskStatusEnum.取消完成;
+                        //DbHelp.db.Updateable(agvTask).ExecuteCommand();
                     }
                     return response;
                 }
@@ -168,5 +193,55 @@ namespace WCS.BLL.Manager
                 };
             }
         }
+
+
+        /// <summary>
+        /// RCS货架绑定 解绑
+        /// </summary>
+        /// <param name="agvTask"></param>
+        /// <returns></returns>
+        public static AGVResponseModel BindPodAndBerth(string shelfCode,string locationCode , BindPodAndBerthMethod bindPodAndBerthMethod)
+        {
+            try
+            {
+                //货架绑定解绑地址
+                var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/bindPodAndBerth";
+
+                //任务只允许一个一个发送
+                lock (lockFlag)
+                {
+                    var body = new AGVBindPodAndBerthRequest()
+                    {
+                        podCode = shelfCode,
+                        positionCode = locationCode,
+                        pointCode = locationCode,
+                        indBind = ((int)bindPodAndBerthMethod).ToString(),
+                    };
+                    var response = ApiHelp.GetDataFromHttp<AGVResponseModel>(url, body, "POST", true);
+                    //if (response.code == "0" && response.message == "成功")
+                    //{
+                        
+                    //}
+                    return response;
+                }
+            }
+            catch (Exception ex)
+            {
+                return new AGVResponseModel()
+                {
+                    code = "-1",
+                    message = $"发生异常：{ex.Message}"
+                };
+            }
+        }
+    }
+
+    /// <summary>
+    /// 解绑或者绑定
+    /// </summary>
+    public enum BindPodAndBerthMethod
+    {
+        解绑 = 0,
+        绑定 = 1,
     }
 }

WCS.BLL/Services/IService/IPDAMatBindService.cs

@@ -0,0 +1,19 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using WCS.Model;
+using WCS.Model.ApiModel.PDAMatBind;
+using WCS.Model.WebSocketModel;
+
+namespace WCS.BLL.Services.IService
+{
+    /// <summary>
+    /// Pda物料绑定
+    /// </summary>
+    public interface IPDAMatBindService
+    {
+        public Task<ResponseCommon> callEmptyShelf(BindMatDetailRequest request);
+    }
+}

WCS.BLL/Services/Service/PDAMatBindService.cs

@@ -0,0 +1,125 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using WCS.BLL.Manager;
+using WCS.BLL.Services.IService;
+using WCS.DAL.Db;
+using WCS.DAL.DbModels;
+using WCS.Model;
+using WCS.Model.ApiModel.PDAMatBind;
+
+namespace WCS.BLL.Services.Service
+{
+    public class PDAMatBindService : IPDAMatBindService
+    {
+        public async Task<ResponseCommon> callEmptyShelf(BindMatDetailRequest request)
+        {
+            try
+            {
+                #region 参数校验
+                //判断参数
+                if (request.LocationId == 0 || string.IsNullOrEmpty(request.LocationCode))
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = "工位或工位编码为空！\r\n请重新扫工位码",
+                        Data = null,
+                    };
+                }
+                #endregion
+
+                #region 数据校验
+                //获取是否存在当前工位
+                var endLocation = await DbHelp.db.Queryable<LocationInfo>()
+                                              .Where(t => t.Id == request.LocationId)
+                                              .Where(t => t.IsEnable == true)
+                                              .FirstAsync();
+                if (endLocation == null)
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = $"工位[{request.LocationCode}]不存在或已被禁用!\r\n请联系系统管理人员维护工位信息！",
+                        Data = null,
+                    };
+                }
+
+                //获取当前工位的货架
+                var shelf = await DbHelp.db.Queryable<ShelfInfo>()
+                                           .Where(t => t.CurrentLocationId == endLocation.Id && t.TransStatus == TransStatusEnum.静止
+                                                     || t.DestinationLocationId == endLocation.Id && t.TransStatus == TransStatusEnum.运输中)//解决产线人员 呼叫后货架未到的时候绑定的问题
+                                           .Where(t => t.IsEnable == true)
+                                           .FirstAsync();
+                if (shelf != null)
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 205,
+                        Message = $"货架【{shelf.ShelfCode}】在工位上或即将在工位上，请勿重复呼叫！",
+                        Data = null,
+                    };
+                }
+                #endregion
+
+                //获取空货架进行呼叫
+                shelf = await DbHelp.db.Queryable<ShelfInfo>()
+                                           .Where(t => t.TransStatus == TransStatusEnum.静止 && t.CurrentLocationId != 0)
+                                           .Where(t => t.IsEnable == true)
+                                           .FirstAsync();
+                if (shelf == null)
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = $"不存在空货架！",
+                        Data = null,
+                    };
+                }
+
+                var startLocation = await DbHelp.db.Queryable<LocationInfo>()
+                                           .Where(t => t.Id == shelf.CurrentLocationId)
+                                           .Where(t => t.IsEnable == true)
+                                           .FirstAsync();
+
+                var response = AGVManager.GenAgvSchedulingTask(startLocation, endLocation, shelf.ShelfCode, request.UserName);
+                if (response.code == "0" && response.message == "成功")
+                {
+                    //更新货架位置信息
+                    shelf.TransStatus = TransStatusEnum.运输中;
+                    shelf.DestinationLocationId = endLocation.Id;
+                    shelf.DestinationLocaiotnCode = endLocation.LocationCode;
+                    DbHelp.db.Updateable(shelf).ExecuteCommand();
+
+                    return new ResponseCommon()
+                    {
+                        Code = 200,
+                        Message = "success",
+                        Data = null,
+                    };
+                }
+                else
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = $"海康RCS返回：{response.message}",
+                        Data = null,
+                    };
+                }
+
+            }
+            catch (Exception ex)
+            {
+                return new ResponseCommon()
+                {
+                    Code = 201,
+                    Message = ex.Message,
+                    Data = null,
+                };
+            }
+        }
+    }
+}

WCS.BLL/Services/Service/PDAShelfLocationBindUnbindService.cs

@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using WCS.BLL.Manager;
 using WCS.BLL.Services.IService;
 using WCS.DAL.Db;
 using WCS.DAL.DbModels;
@@ -146,19 +147,35 @@ namespace WCS.BLL.Services.Service
                     };
                 }
 
-                //开始绑定
+                //调用RCS绑定
-                shelfInfo.CurrentLocaiotnCode = locationInfo.LocationCode;
+                var rcsResponse = AGVManager.BindPodAndBerth(shelfInfo.ShelfCode, locationInfo.LocationCode, BindPodAndBerthMethod.绑定);
-                shelfInfo.CurrentLocationId = locationInfo.Id;
+                if (rcsResponse.code == "0")
-                shelfInfo.TransStatus = TransStatusEnum.静止;
-                DbHelp.db.Updateable(shelfInfo).ExecuteCommand();
-
-                //返回成功
-                return new ResponseCommon()
                 {
-                    Code = 200,
+                    //开始绑定
-                    Message = "success",
+                    shelfInfo.CurrentLocaiotnCode = locationInfo.LocationCode;
-                    Data = null,
+                    shelfInfo.CurrentLocationId = locationInfo.Id;
-                };
+                    shelfInfo.DestinationLocationId = 0;
+                    shelfInfo.DestinationLocaiotnCode = string.Empty;
+                    shelfInfo.TransStatus = TransStatusEnum.静止;
+                    DbHelp.db.Updateable(shelfInfo).ExecuteCommand();
+
+                    //返回成功
+                    return new ResponseCommon()
+                    {
+                        Code = 200,
+                        Message = "success",
+                        Data = null,
+                    };
+                }
+                else
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = $"RCS返回：{rcsResponse.message}",
+                        Data = null,
+                    };
+                }
             }
             catch (Exception ex)
             {
@@ -198,21 +215,35 @@ namespace WCS.BLL.Services.Service
                     };
                 }
 
-                //开始解绑
+                //调用RCS解绑
-                shelfInfo.CurrentLocationId = 0;
+                var rcsResponse = AGVManager.BindPodAndBerth(shelfInfo.ShelfCode, shelfInfo.CurrentLocaiotnCode, BindPodAndBerthMethod.解绑);
-                shelfInfo.CurrentLocaiotnCode = string.Empty;
+                if (rcsResponse.code == "0")
-                shelfInfo.DestinationLocationId = 0;
-                shelfInfo.DestinationLocaiotnCode = string.Empty;
-                shelfInfo.TransStatus = TransStatusEnum.静止;
-                DbHelp.db.Updateable(shelfInfo).ExecuteCommand();
-
-                //返回成功
-                return new ResponseCommon()
                 {
-                    Code = 200,
+                    //开始解绑
-                    Message = "success",
+                    shelfInfo.CurrentLocationId = 0;
-                    Data = null,
+                    shelfInfo.CurrentLocaiotnCode = string.Empty;
-                };
+                    shelfInfo.DestinationLocationId = 0;
+                    shelfInfo.DestinationLocaiotnCode = string.Empty;
+                    shelfInfo.TransStatus = TransStatusEnum.静止;
+                    DbHelp.db.Updateable(shelfInfo).ExecuteCommand();
+
+                    //返回成功
+                    return new ResponseCommon()
+                    {
+                        Code = 200,
+                        Message = "success",
+                        Data = null,
+                    };
+                }
+                else
+                {
+                    return new ResponseCommon()
+                    {
+                        Code = 201,
+                        Message = $"RCS返回：{rcsResponse.message}",
+                        Data = null,
+                    };
+                }
             }
             catch (Exception ex)
             {

WCS.Model/ApiModel/AGV/AGVBindPodAndBerthRequest.cs

@@ -0,0 +1,34 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace WCS.Model.ApiModel.AGV
+{
+    public class AGVBindPodAndBerthRequest
+    {
+        /// <summary>
+        /// 请求码 每一次请求唯一
+        /// </summary>
+        public string reqCode { get; set; } = Guid.NewGuid().ToString().Replace("-", "");
+
+        /// <summary>
+        /// 货架编号
+        /// </summary>
+        public string podCode { get; set; }
+
+        /// <summary>
+        /// 点位码
+        /// </summary>
+        public string pointCode { get; set; }
+
+        /// <summary>
+        /// 解绑或者绑定 "1"：绑定， "0"：解绑
+        /// </summary>
+        public string indBind { get; set; }
+
+        /// <summary>
+        /// 位置编号
+        /// </summary>
+        public string positionCode { get; set; }
+    }
+}

WCS.WebApi/Controllers/PDAMatBindController.cs

@@ -19,11 +19,11 @@ namespace WCS.WebApi.Controllers
     [Route("[controller]")]
     public class PDAMatBindController : ControllerBase
     {
-        public IWarningService _warningService { get; set; }
+        public IPDAMatBindService _PDAMatBindService { get; set; }
 
-        public PDAMatBindController(IWarningService warningService)
+        public PDAMatBindController(IPDAMatBindService PDAMatBindService)
         {
-            _warningService = warningService;
+            _PDAMatBindService = PDAMatBindService;
         }
 
         [Route("getShelfInfoByLocationCode")]
@@ -275,98 +275,7 @@ namespace WCS.WebApi.Controllers
         {
             try
             {
-                #region 参数校验
+                return await _PDAMatBindService.callEmptyShelf(request);
-                //判断参数
-                if (request.LocationId == 0 || string.IsNullOrEmpty(request.LocationCode))
-                {
-                    return new ResponseCommon()
-                    {
-                        Code = 201,
-                        Message = "工位或工位编码为空！\r\n请重新扫工位码",
-                        Data = null,
-                    };
-                }
-                #endregion
-
-                #region 数据校验
-                //获取是否存在当前工位
-                var endLocation = await DbHelp.db.Queryable<LocationInfo>()
-                                              .Where(t => t.Id == request.LocationId)
-                                              .Where(t => t.IsEnable == true)
-                                              .FirstAsync();
-                if (endLocation == null)
-                {
-                    return new ResponseCommon()
-                    {
-                        Code = 201,
-                        Message = $"工位[{request.LocationCode}]不存在或已被禁用!\r\n请联系系统管理人员维护工位信息！",
-                        Data = null,
-                    };
-                }
-
-                //获取当前工位的货架
-                var shelf = await DbHelp.db.Queryable<ShelfInfo>()
-                                           .Where(t => t.CurrentLocationId == endLocation.Id && t.TransStatus == TransStatusEnum.静止
-                                                     || t.DestinationLocationId == endLocation.Id && t.TransStatus == TransStatusEnum.运输中)//解决产线人员 呼叫后货架未到的时候绑定的问题
-                                           .Where(t => t.IsEnable == true)
-                                           .FirstAsync();
-                if (shelf != null)
-                {
-                    return new ResponseCommon()
-                    {
-                        Code = 205,
-                        Message = $"货架【{shelf.ShelfCode}】在工位上或即将在工位上，请勿重复呼叫！",
-                        Data = null,
-                    };
-                }
-                #endregion
-
-                //获取空货架进行呼叫
-                shelf = await DbHelp.db.Queryable<ShelfInfo>()
-                                           .Where(t => t.TransStatus == TransStatusEnum.静止 && t.CurrentLocationId != 0)
-                                           .Where(t => t.IsEnable == true)
-                                           .FirstAsync();
-                if (shelf == null)
-                {
-                    return new ResponseCommon()
-                    {
-                        Code = 201,
-                        Message = $"不存在空货架！",
-                        Data = null,
-                    };
-                }
-
-                var startLocation = await DbHelp.db.Queryable<LocationInfo>()
-                                           .Where(t => t.Id == shelf.CurrentLocationId)
-                                           .Where(t => t.IsEnable == true)
-                                           .FirstAsync();
-
-                var response = AGVManager.GenAgvSchedulingTask(startLocation, endLocation,shelf.ShelfCode,request.UserName);
-                if (response.code == "0" && response.message == "成功")
-                {
-                    //更新货架位置信息
-                    shelf.TransStatus = TransStatusEnum.运输中;
-                    shelf.DestinationLocationId = endLocation.Id;
-                    shelf.DestinationLocaiotnCode = endLocation.LocationCode;
-                    DbHelp.db.Updateable(shelf).ExecuteCommand();
-
-                    return new ResponseCommon()
-                    {
-                        Code = 200,
-                        Message = "success",
-                        Data = null,
-                    };
-                }
-                else
-                {
-                    return new ResponseCommon()
-                    {
-                        Code = 201,
-                        Message = $"海康RCS返回：{response.message}",
-                        Data = null,
-                    };
-                }
-
             }
             catch (Exception ex)
             {

WCS.WebApi/Program.cs

@@ -92,6 +92,8 @@ namespace WebApi
                 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>롢<EFBFBD><EBA1A2><EFBFBD>ɵ<EFBFBD><C9B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><C3B5><EFBFBD>ģʽ
                 builder.Services.AddSingleton<IGenerateService, GenerateService>();
 
+                builder.Services.AddSingleton<IPDAMatBindService, PDAMatBindService>();
+
                 var app = builder.Build();
 
                 app.UseMiddleware<RequestResponseLoggingMiddleware>();