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现场调试新增和修改 agv呼叫 点到点调试

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This commit is contained in:
hehaibing-1996
2025-02-21 18:32:43 +08:00
parent c7f3889521
commit e1717145a9
12 changed files with 680 additions and 21 deletions
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66
PDA/PDA/pages/bind/bind.vue
View File

@ -36,10 +36,10 @@
<view style="flex: 35;">工位编码：</view>
<view style="flex: 50;overflow:hidden;">{{locationCode}}</view>
<view style="flex: 60;overflow:hidden;">{{locationCode}}</view>
<view style="flex: 40;">
<button class="mini-btn" type="warn" size="mini">呼叫货架</button>
<view style="flex: 30;">
<button class="mini-btn" type="warn" size="mini" @click="callEmptyShelf">呼叫货架</button>
</view>
</view>
@ -370,6 +370,66 @@
this.$refs.proup.show();
}
},
//物料绑定
callEmptyShelf: function() {
this.userName = getConfig('userName', '');
var serverIPAndPort = getServerIPAndPort();
uni.request({
url: 'http://' + serverIPAndPort + '/pdaMatBind/callEmptyShelf', // 请求的接口地址
method: 'POST', // 设置请求方式为 POST
data: {
"locationId": this.locationId,
"locationCode": this.locationCode,
"userName": this.userName,
"deviceType": "PDA"
},
header: {
'Content-Type': 'application/json', // 如果需要以JSON格式发送数据
},
success: (res) => {
// 请求成功的回调函数
if (res.statusCode === 200) {
//接口返回数据为200 表示获取成功！
if (res.data.code == 200) {
uni.showToast({
title: '呼叫成功，请等待!',
icon: 'none',
duration: 1500
});
} else {
uni.showToast({
title: '呼叫失败:' + res.data.message,
icon: 'none',
duration: 1500
});
}
} else {
uni.showToast({
title: '呼叫失败:服务器返回错误状态码' + res.statusCode,
icon: 'none',
duration: 1500
});
}
},
fail: (err) => {
// 请求失败的回调函数
uni.showToast({
title: '呼叫失败:http请求失败' + err,
icon: 'none',
duration: 1500
});
},
complete: (event) => {
// 请求完成的回调函数（无论成功或失败都会调用）
console.log('请求完成', event);
}
});
},
//清空当前界面所有内容
clear: function() {

67
PDA/PDA/unpackage/dist/dev/app-plus/app-service.js vendored
View File

@ -889,6 +889,60 @@ if (uni.restoreGlobal) {
this.$refs.proup.show();
}
},
//物料绑定
callEmptyShelf: function() {
this.userName = getConfig("userName", "");
var serverIPAndPort = getServerIPAndPort();
uni.request({
url: "http://" + serverIPAndPort + "/pdaMatBind/callEmptyShelf",
// 请求的接口地址
method: "POST",
// 设置请求方式为 POST
data: {
"locationId": this.locationId,
"locationCode": this.locationCode,
"userName": this.userName,
"deviceType": "PDA"
},
header: {
"Content-Type": "application/json"
// 如果需要以JSON格式发送数据
},
success: (res) => {
if (res.statusCode === 200) {
if (res.data.code == 200) {
uni.showToast({
title: "呼叫成功，请等待!",
icon: "none",
duration: 1500
});
} else {
uni.showToast({
title: "呼叫失败:" + res.data.message,
icon: "none",
duration: 1500
});
}
} else {
uni.showToast({
title: "呼叫失败:服务器返回错误状态码" + res.statusCode,
icon: "none",
duration: 1500
});
}
},
fail: (err) => {
uni.showToast({
title: "呼叫失败:http请求失败" + err,
icon: "none",
duration: 1500
});
},
complete: (event) => {
formatAppLog("log", "at pages/bind/bind.vue:427", "请求完成", event);
}
});
},
//清空当前界面所有内容
clear: function() {
this.locationId = null;
@ -905,7 +959,7 @@ if (uni.restoreGlobal) {
this.matSpec = "";
},
handlePopupClose() {
formatAppLog("log", "at pages/bind/bind.vue:391", "弹出层已关闭");
formatAppLog("log", "at pages/bind/bind.vue:451", "弹出层已关闭");
}
}
};
@ -971,16 +1025,17 @@ if (uni.restoreGlobal) {
vue.createElementVNode("view", { style: { "flex": "35" } }, "工位编码："),
vue.createElementVNode(
"view",
{ style: { "flex": "50", "overflow": "hidden" } },
{ style: { "flex": "60", "overflow": "hidden" } },
vue.toDisplayString($data.locationCode),
1
/* TEXT */
),
vue.createElementVNode("view", { style: { "flex": "40" } }, [
vue.createElementVNode("view", { style: { "flex": "30" } }, [
vue.createElementVNode("button", {
class: "mini-btn",
type: "warn",
size: "mini"
size: "mini",
onClick: _cache[3] || (_cache[3] = (...args) => $options.callEmptyShelf && $options.callEmptyShelf(...args))
}, "呼叫货架")
])
]),
@ -1056,7 +1111,7 @@ if (uni.restoreGlobal) {
class: "uni-input",
style: { "font-size": "40rpx" },
placeholder: "请输入物料数量",
"onUpdate:modelValue": _cache[3] || (_cache[3] = ($event) => $data.matQty = $event)
"onUpdate:modelValue": _cache[4] || (_cache[4] = ($event) => $data.matQty = $event)
},
null,
512
@ -1067,7 +1122,7 @@ if (uni.restoreGlobal) {
]),
vue.createElementVNode("view", { style: { "flex": "40" } }, [
vue.createElementVNode("button", {
onClick: _cache[4] || (_cache[4] = (...args) => $options.bind && $options.bind(...args)),
onClick: _cache[5] || (_cache[5] = (...args) => $options.bind && $options.bind(...args)),
class: "mini-btn",
style: { "margin-left": "10rpx" },
type: "warn",

18
WCS.BLL/DbModels/STZL/AgvTask.cs
View File

@ -21,11 +21,12 @@ namespace WCS.BLL.DbModels
public int Id { get; set; }
#region 任务属性
/// <summary>
/// 请求任务时的任务号 需要保证唯一性
/// </summary>
[SugarColumn(ColumnName = "request_code", Length = 64, IsNullable = false, ColumnDescription = "请求任务时的任务号 需要保证唯一性")]
public string RequestCode { get; set; } = Guid.NewGuid().ToString();
[SugarColumn(ColumnName = "request_code", Length = 64, IsNullable = false, ColumnDescription = "请求任务时的请求号 需要保证唯一性")]
public string RequestCode { get; set; }
[SugarColumn(ColumnName = "task_code", Length = 64, IsNullable = false, ColumnDescription = "请求任务时的任务号 需要保证唯一性")]
public string TaskCode { get; set; }
/// <summary>
/// 任务类型
@ -55,6 +56,13 @@ namespace WCS.BLL.DbModels
[SugarColumn(ColumnName = "end_location_code", Length = 64, IsNullable = true, ColumnDescription = "终点位置编码")]
public string EndLocationCode { get; set; } = string.Empty;
/// <summary>
/// 货架码
/// </summary>
[SugarColumn(ColumnName = "shelf_Code", Length = 64, IsNullable = true, ColumnDescription = "AGV编号")]
public string ShlefCode { get; set; } = string.Empty;
/// <summary>
/// AGV编号
/// </summary>

48
WCS.BLL/Manager/AGVManager.cs
View File

@ -3,6 +3,10 @@ using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WCS.BLL.DbModels;
using WCS.BLL.Tool;
using WCS.DAL.Db;
using WCS.DAL.DbModels;
namespace WCS.BLL.Manager
{
@ -10,11 +14,49 @@ namespace WCS.BLL.Manager
public static class AGVManager
{
/// <summary>
/// 产生AGV任务
/// 产生AGV点到点搬运任务
/// </summary>
public static AGVResult GenAgvSchedulingTask(int startLocationId,int endLocationId)
public static AGVResponseModel GenAgvSchedulingTask(LocationInfo startLocation,LocationInfo endLocation,string shelfCode,string createUser)
{
return null;
var url = @"http://192.168.18.150:8181/rcms/services/rest/hikRpcService/genAgvSchedulingTask";
var startPositionCodePathItem = new PositionCodePathItem()
{
positionCode = startLocation.RcsStoreCode,
};
var endPositionCodePathItem = new PositionCodePathItem()
{
positionCode = endLocation.RcsStoreCode,
};
List<PositionCodePathItem> positionCodePathItems = new List<PositionCodePathItem>();
positionCodePathItems.Add(startPositionCodePathItem);
positionCodePathItems.Add((endPositionCodePathItem));
var body = new AGVRequestModel()
{
positionCodePath = positionCodePathItems,
};
var response = ApiHelp.GetDataFromHttp<AGVResponseModel>(url,body,"POST",true);
if (response.code == "0" && response.message == "成功")
{
//生成任务数据
var task = new AgvTask()
{
ShlefCode = shelfCode,
RequestCode = body.reqCode,
TaskCode = body.taskCode,
TaskType = "GenAgvSchedulingTask",
StratLocationId = startLocation.Id,
StartLocationCode = startLocation.LocationCode,
EndLocationId = endLocation.Id,
EndLocationCode = endLocation.LocationCode,
CreateUser = createUser
};
DbHelp.db.Insertable(task).ExecuteCommand();
}
return response;
}
}

78
WCS.BLL/Manager/AGVRequestModel.cs Normal file
View File

@ -0,0 +1,78 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace WCS.BLL.Manager
{
//如果好用，请收藏地址，帮忙分享。
public class PositionCodePathItem
{
/// <summary>
///
/// </summary>
public string positionCode { get; set; } = string.Empty;
/// <summary>
///
/// </summary>
public string type { get; set; } = "00";
}
public class AGVRequestModel
{
/// <summary>
/// 请求码 每一次请求唯一
/// </summary>
public string reqCode { get; set; } = Guid.NewGuid().ToString().Replace("-", "");
/// <summary>
/// 请求时间
/// </summary>
public string reqTime { get; set; } = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
/// <summary>
/// 客户端编号
/// </summary>
public string clientCode { get; set; } = "PDA";
public string tokenCode { get; set; } = string.Empty;
/// <summary>
/// 任务类型
/// </summary>
public string taskTyp { get; set; } = "F01";
/// <summary>
///
/// </summary>
public string interfaceName { get; set; } = "genAgvSchedulingTask";
/// <summary>
/// 旋转角度
/// </summary>
public string podDir { get; set; } = string.Empty;
/// <summary>
/// 两个点位 开始点和结束点
/// </summary>
public List<PositionCodePathItem> positionCodePath { get; set; }
/// <summary>
/// 货架编码
/// </summary>
public string podCode { get; set; } = string.Empty;
/// <summary>
/// 优先级
/// </summary>
public string priority { get; set; } = "1";
/// <summary>
///
/// </summary>
public string agvCode { get; set; } = string.Empty;
/// <summary>
/// 任务单号（是我自定义的！）
/// </summary>
public string taskCode { get; set; } = DateTime.Now.ToString("yyyyMMddHHmmfff");
public string data { get; set; } = string.Empty;
}
}

32
WCS.BLL/Manager/AGVResponseModel.cs Normal file
View File

@ -0,0 +1,32 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace WCS.BLL.Manager
{
public class AGVResponseModel
{
/// <summary>
///
/// </summary>
public string code { get; set; }
/// <summary>
///
/// </summary>
public string data { get; set; }
/// <summary>
///
/// </summary>
public string interrupt { get; set; }
/// <summary>
/// 成功
/// </summary>
public string message { get; set; }
/// <summary>
///
/// </summary>
public string reqCode { get; set; }
}
}

2
WCS.BLL/Manager/DbInit.cs
View File

@ -72,7 +72,7 @@ namespace WCS.BLL.Manager
DbHelp.db.CodeFirst.InitTables(typeof(ShelfInfo), typeof(MatBaseInfo), typeof(ShelfTypeInfo)
, typeof(LocationInfo), typeof(LocationAreaInfo), typeof(MatDetailCurrentInfo), typeof(OrderTypeInfo)
, typeof(MatDetailStocktakingInfo)
, typeof(MatDetailStocktakingInfo), typeof(AgvTask)
, typeof(InventoryDetail), typeof(OutOrder), typeof(OutOrderDetail), typeof(OutOrderMatDetail)
, typeof(MatInfo), typeof(StoreInfo)
, typeof(StockTakingOrder), typeof(StockTakingOrderMatDetail), typeof(InOutRecord)

2
WCS.BLL/Services/Service/InstoreService.cs
View File

@ -180,7 +180,7 @@ namespace WCS.BLL.Services.Service
{
materialBar = request.MatSn
};
var Result = ApiHelp.GetDataFromHttp<ResponseCommon<List<queryByBarResponse>>>("http://192.168.2.23:9213/integrate/instock/queryBybar", body, "POST", true);
var Result = Tool.ApiHelp.GetDataFromHttp<ResponseCommon<List<queryByBarResponse>>>("http://192.168.2.23:9213/integrate/instock/queryBybar", body, "POST", true);
//查询到物料信息
if (Result != null && Result.Code == 200 && Result.Data != null && Result.Data.Count > 0)

178
WCS.Model/ApiModel/AGV/AGVCallBackRequest.cs Normal file
View File

@ -0,0 +1,178 @@
using System;
using System.Collections.Generic;
using System.Text;
namespace WCS.Model.ApiModel.AGV
{
public class AGVCallBackRequest
{
/// <summary>
///
/// </summary>
public string action { get; set; }
/// <summary>
///
/// </summary>
public string areaCode { get; set; }
/// <summary>
///
/// </summary>
public string berthCode { get; set; }
/// <summary>
///
/// </summary>
public string callCode { get; set; }
/// <summary>
///
/// </summary>
public string callTyp { get; set; }
/// <summary>
///
/// </summary>
public string clientCode { get; set; }
/// <summary>
///
/// </summary>
public decimal cooX { get; set; }
/// <summary>
///
/// </summary>
public decimal cooY { get; set; }
/// <summary>
///
/// </summary>
public string ctnrCode { get; set; }
/// <summary>
///
/// </summary>
public string ctnrTyp { get; set; }
/// <summary>
///
/// </summary>
public string currentCallCode { get; set; }
/// <summary>
///
/// </summary>
public string currentPositionCode { get; set; }
/// <summary>
///
/// </summary>
public string data { get; set; }
/// <summary>
///
/// </summary>
public string dstBinCode { get; set; }
/// <summary>
///
/// </summary>
public string eqpCode { get; set; }
/// <summary>
///
/// </summary>
public string indBind { get; set; }
/// <summary>
///
/// </summary>
public string layer { get; set; }
/// <summary>
///
/// </summary>
public string mapCode { get; set; }
/// <summary>
///
/// </summary>
public string mapDataCode { get; set; }
/// <summary>
///
/// </summary>
public string mapShortName { get; set; }
/// <summary>
///
/// </summary>
public string materialLot { get; set; }
/// <summary>
///
/// </summary>
public string materialType { get; set; }
/// <summary>
///
/// </summary>
public string method { get; set; }
/// <summary>
///
/// </summary>
public string orgCode { get; set; }
/// <summary>
///
/// </summary>
public string podCode { get; set; }
/// <summary>
///
/// </summary>
public string podDir { get; set; }
/// <summary>
///
/// </summary>
public string podNum { get; set; }
/// <summary>
///
/// </summary>
public string podTyp { get; set; }
/// <summary>
///
/// </summary>
public string relatedArea { get; set; }
/// <summary>
///
/// </summary>
public string reqCode { get; set; }
/// <summary>
///
/// </summary>
public string reqTime { get; set; }
/// <summary>
///
/// </summary>
public string roadWayCode { get; set; }
/// <summary>
///
/// </summary>
public string robotCode { get; set; }
/// <summary>
///
/// </summary>
public string seq { get; set; }
/// <summary>
///
/// </summary>
public string stgBinCode { get; set; }
/// <summary>
///
/// </summary>
public string subTaskNum { get; set; }
/// <summary>
///
/// </summary>
public string taskCode { get; set; }
/// <summary>
///
/// </summary>
public string taskTyp { get; set; }
/// <summary>
///
/// </summary>
public string tokenCode { get; set; }
/// <summary>
///
/// </summary>
public string username { get; set; }
/// <summary>
///
/// </summary>
public string wbCode { get; set; }
/// <summary>
///
/// </summary>
public string whCode { get; set; }
}
}

2
WCS.Model/ApiModel/LocationInfo/LocationInfoModel.cs
View File

@ -38,6 +38,8 @@ namespace WCS.Model.ApiModel.StoreInfo
/// 更新人
/// </summary>
public string ModifyUser { get; set; } = string.Empty;
public List<int> AllowDestinationLocationArea { get; set; } = new List<int>();
/// <summary>
/// 更新时间
/// </summary>

95
WCS.WebApi/Controllers/AgvCallbackServiceController.cs Normal file
View File

@ -0,0 +1,95 @@
using Microsoft.AspNetCore.Mvc;
using Newtonsoft.Json;
using NPOI.SS.Formula.Functions;
using SqlSugar;
using WCS.BLL;
using WCS.BLL.DbModels;
using WCS.BLL.HardWare;
using WCS.BLL.Manager;
using WCS.BLL.Services.IService;
using WCS.BLL.Services.Service;
using WCS.DAL.Db;
using WCS.DAL.DbModels;
using WCS.Model;
using WCS.Model.ApiModel.AGV;
using WCS.Model.ApiModel.Home;
using Mode = WCS.BLL.HardWare.Mode;
namespace WCS.WebApi.Controllers
{
/// <summary>
/// 主页面的接口
/// </summary>
[ApiController]
[Route("[controller]")]
public class AgvCallbackServiceController : ControllerBase
{
public AgvCallbackServiceController(IHomerService homerService, ISelfCheckService selfCheckService)
{
}
/// <summary>
/// agv任务回调
/// </summary>
/// <param name="request"></param>
/// <returns></returns>
[Route("agvCallback")]
[HttpPost(Name = "agvCallback")]
public async Task<object> agvCallback(AGVCallBackRequest request)
{
try
{
Logs.Write("收到AGV回调" + JsonConvert.SerializeObject(request));
//找到任务数据
var task = await DbHelp.db.Queryable<AgvTask>().Where(t => t.TaskCode == request.taskCode)
.FirstAsync();
if (task == null)
{
return new
{
Code = 0,
Message = "成功",
reqCode = "123",
};
}
//判断并更新数据
var shelf = await DbHelp.db.Queryable<ShelfInfo>().Where(t => t.ShelfCode == request.podCode || t.ShelfCode == task.ShlefCode)
.FirstAsync();
if (shelf != null && request.method == "outbin")
{
shelf.CurrentLocationId = 0;
shelf.CurrentLocaiotnCode = string.Empty;
DbHelp.db.Updateable(shelf).ExecuteCommand();
}
if (shelf != null && request.method == "end")
{
shelf.CurrentLocationId = shelf.DestinationLocationId;
shelf.CurrentLocaiotnCode = shelf.DestinationLocaiotnCode;
shelf.DestinationLocationId = 0;
shelf.DestinationLocaiotnCode = string.Empty;
shelf.TransStatus = TransStatusEnum.静止;
DbHelp.db.Updateable(shelf).ExecuteCommand();
}
return new
{
Code = 0,
Message = "成功",
reqCode = "123",
};
}
catch (Exception ex)
{
return new ResponseBase()
{
Code = 300,
Message = "获取失败：" + ex.Message,
};
}
}
}
}

113
WCS.WebApi/Controllers/PDAMatBindController.cs
View File

@ -1,5 +1,6 @@
using Microsoft.AspNetCore.Mvc;
using WCS.BLL.DbModels;
using WCS.BLL.Manager;
using WCS.BLL.Services.IService;
using WCS.DAL.Db;
using WCS.DAL.DbModels;
@ -57,8 +58,8 @@ namespace WCS.WebApi.Controllers
//获取当前工位的货架
var shelf = await DbHelp.db.Queryable<ShelfInfo>()
.Where(t => t.CurrentLocationId == location.Id && t.TransStatus == TransStatusEnum.静止
|| t.DestinationLocationId == location.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.CurrentLocationId == location.Id && t.TransStatus == TransStatusEnum.静止)
|| (t.DestinationLocationId == location.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)
.FirstAsync();
@ -268,6 +269,114 @@ namespace WCS.WebApi.Controllers
}
}
[Route("callEmptyShelf")]
[HttpPost(Name = "callEmptyShelf")]
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,
};
}
}
}
}