现场调试新增和修改 agv呼叫 点到点调试

PDA/PDA/pages/bind/bind.vue

@@ -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;">
+				<view style="flex: 30;">
-					<button class="mini-btn" type="warn" size="mini">呼叫货架</button>
+					<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() {

PDA/PDA/unpackage/dist/dev/app-plus/app-service.js

@@ -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",

WCS.BLL/DbModels/STZL/AgvTask.cs

@@ -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
+        [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")]
-        /// </summary>       
+        public string RequestCode { get; set; }
-        [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 = "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>

WCS.BLL/Manager/AGVManager.cs

@@ -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;
         }
     }
 

WCS.BLL/Manager/AGVRequestModel.cs

@@ -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;
+    }
+
+}

WCS.BLL/Manager/AGVResponseModel.cs

@@ -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; }
+    }
+}

WCS.BLL/Manager/DbInit.cs

@@ -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)

WCS.BLL/Services/Service/InstoreService.cs

@@ -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)

WCS.Model/ApiModel/AGV/AGVCallBackRequest.cs

@@ -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; }
+    }
+}

WCS.Model/ApiModel/LocationInfo/LocationInfoModel.cs

@@ -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>

WCS.WebApi/Controllers/AgvCallbackServiceController.cs

@@ -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,
+                };
+            }
+        }
+    }
+}

WCS.WebApi/Controllers/PDAMatBindController.cs

@@ -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
+                                       .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
+                                                 || (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,
+                };
+            }
+        }
     }
 }