基本满足四向车，AGV调试需求

WcsMain/ApiClient/AGV/AGVWebApiAction.cs

@@ -4,6 +4,7 @@ using WcsMain.Constant;
 using WcsMain.DataBase.TableEntity;
 using WcsMain.Constant.WcsAttribute.AutoFacAttribute;
 using WcsMain.Constant.ExtendMethod;
+using System.Collections.Generic;
 
 namespace WcsMain.ApiClient.AGV;
 
@@ -21,26 +22,48 @@ public class AGVWebApiAction(AGVBaseWebApi webApiPost)
     /// <returns></returns>
     public string Send_NO_VERIFY_BUCKET_MOVE(AppWmsTask wmsTask)
     {
-        AGVRequestLayout<AGVTaskRequest<AGVBucketMove>> request = new()
+        //AGVRequestLayout<AGVTaskRequest<AGVBucketMove>> request = new()
-        {
+        //{
-            Header = new()
+        //    Header = new()
-            {
+        //    {
-                AppKey = ApplicationBaseConfig.APP_KEY,
+        //        AppKey = ApplicationBaseConfig.APP_KEY,
-                AppSecret = ApplicationBaseConfig.APP_SECRET,
+        //        AppSecret = ApplicationBaseConfig.APP_SECRET,
-                RequestId = wmsTask.TaskId,
+        //        RequestId = wmsTask.TaskId,
-                TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
+        //        TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
-                version = "2.9"
+        //        version = "2.9"
-            },
+        //    },
-            Body = new()
+        //    Body = new()
+        //    {
+        //        RobotJobId = wmsTask.TaskId,
+        //        WareHouseId = 100,
+        //        RobotJobGroupId = wmsTask.TaskId,
+        //        Sequence = 1,
+        //        RobotJobGroupNum = 1,
+        //        JobPriority = 1,
+        //        JobProorytyType = 0,
+        //        JobType = "NO_VERIFY_BUCKET_MOVE",
+        //        JobData = new()
+        //        {
+        //            StartPoint = wmsTask.Origin,
+        //            StartPointName = null,
+        //            WorkFaces = "0",
+        //            EndArea = wmsTask.Destination,
+        //            EndPoint = wmsTask.Destination,
+        //            EndPointName = null,
+        //            BucketTypeCode = "00",
+        //            LetDownFlag = 2,
+        //        }
+        //    }
+        //};
+        AGVTaskRequest<AGVBucketMove> request = new()
         {
             RobotJobId = wmsTask.TaskId,
-                WareHouseId = 100,
+            WareHouseId = 1,
-                RobotJobGroupId = wmsTask.TaskId,
-                Sequence = 1,
             RobotJobGroupNum = 1,
             JobPriority = 1,
             JobProorytyType = 0,
             JobType = "NO_VERIFY_BUCKET_MOVE",
+            OrderSource = "BK",
             JobData = new()
             {
                 StartPoint = wmsTask.Origin,
@@ -49,24 +72,23 @@ public class AGVWebApiAction(AGVBaseWebApi webApiPost)
                 EndArea = wmsTask.Destination,
                 EndPoint = wmsTask.Destination,
                 EndPointName = null,
-                    BucketTypeCode = "00",
+                BucketTypeCode = "TP",
                 LetDownFlag = 2,
             }
-            }
         };
-        var response = webApiPost.HttpPost<AGVRequestLayout<AGVTaskRequest<AGVBucketMove>>, AGVResponseLayout<AGVTaskResponse>>(request, CommonData.AppApiBaseInfos.GetAddress("AGV_NO_VERIFY_BUCKET_MOVE") ?? "");
+        var response = webApiPost.HttpPost<List<AGVTaskRequest<AGVBucketMove>>, AGVResponseBody<List<AGVTaskResponse>>> ([request], CommonData.AppApiBaseInfos.GetAddress("AGV_NO_VERIFY_BUCKET_MOVE") ?? "");
         var responseData = response.ResponseEntity;
         if (!response.IsSend || responseData == null)
         {
             return "请求失败，网络故障";
         }
 
-        if (responseData.Body!.Success == true && responseData.Body!.Code?.ToLower() == "success")
+        if (responseData.Success == true && responseData.Code?.ToLower() == "success")
         {
             // 发送成功
             return string.Empty;
         }
-        return responseData.Body.Message ?? "请求失败，未知原因";
+        return responseData.Message ?? "请求失败，未知原因";
     }
 
     /// <summary>
@@ -76,54 +98,76 @@ public class AGVWebApiAction(AGVBaseWebApi webApiPost)
     /// <param name="origin"></param>
     /// <param name="destination"></param>
     /// <returns></returns>
-    public string Send_AGV_TASK(string? taskId, string? origin, string? destination)
+    public string Send_AGV_TASK(string? taskId, string? origin, string? destination, int needOut = 0)
     {
-        AGVRequestLayout<AGVTaskRequest<AGVBucketMove>> request = new()
+        //AGVRequestLayout<AGVTaskRequest<AGVBucketMove>> request = new()
-        {
+        //{
-            Header = new()
+        //    Header = new()
-            {
+        //    {
-                AppKey = ApplicationBaseConfig.APP_KEY,
+        //        AppKey = ApplicationBaseConfig.APP_KEY,
-                AppSecret = ApplicationBaseConfig.APP_SECRET,
+        //        AppSecret = ApplicationBaseConfig.APP_SECRET,
-                RequestId = taskId,
+        //        RequestId = taskId,
-                TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
+        //        TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
-                version = "2.9"
+        //        version = "2.9"
-            },
+        //    },
-            Body = new()
+        //    Body = new()
+        //    {
+        //        RobotJobId = taskId,
+        //        WareHouseId = 100,
+        //        RobotJobGroupId = taskId,
+        //        Sequence = 1,
+        //        RobotJobGroupNum = 1,
+        //        JobPriority = 1,
+        //        JobProorytyType = 0,
+        //        JobType = "NO_VERIFY_BUCKET_MOVE",
+        //        JobData = new()
+        //        {
+        //            StartPoint = origin,
+        //            StartPointName = null,
+        //            WorkFaces = "0",
+        //            EndArea = destination,
+        //            EndPoint = destination,
+        //            EndPointName = null,
+        //            BucketTypeCode = "00",
+        //            LetDownFlag = 2,
+        //        }
+        //    }
+        //};
+        AGVTaskRequest<AGVBucketMove> request = new()
         {
             RobotJobId = taskId,
-                WareHouseId = 100,
+            WareHouseId = 1,
-                RobotJobGroupId = taskId,
-                Sequence = 1,
             RobotJobGroupNum = 1,
             JobPriority = 1,
             JobProorytyType = 0,
             JobType = "NO_VERIFY_BUCKET_MOVE",
+            OrderSource = "BK",
             JobData = new()
             {
                 StartPoint = origin,
                 StartPointName = null,
                 WorkFaces = "0",
-                    EndArea = destination,
                 EndPoint = destination,
                 EndPointName = null,
-                    BucketTypeCode = "00",
+                BucketTypeCode = "TP",
                 LetDownFlag = 2,
-                }
+                NeedOut = needOut
             }
         };
-        var response = webApiPost.HttpPost<AGVRequestLayout<AGVTaskRequest<AGVBucketMove>>, AGVResponseLayout<AGVTaskResponse>>(request, CommonData.AppApiBaseInfos.GetAddress("AGV_NO_VERIFY_BUCKET_MOVE") ?? "");
+        
+        var response = webApiPost.HttpPost<List<AGVTaskRequest<AGVBucketMove>>, AGVResponseBody<List<AGVTaskResponse>>>([request], CommonData.AppApiBaseInfos.GetAddress("AGV_NO_VERIFY_BUCKET_MOVE") ?? "");
         var responseData = response.ResponseEntity;
         if (!response.IsSend || responseData == null)
         {
             return "请求失败，网络故障";
         }
 
-        if (responseData.Body!.Success == true && responseData.Body!.Code?.ToLower() == "success")
+        if (responseData.Success == true && responseData.Code?.ToLower() == "success")
         {
             // 发送成功
             return string.Empty;
         }
-        return responseData.Body.Message ?? "请求失败，未知原因";
+        return responseData.Message ?? "请求失败，未知原因";
     }
 
 

WcsMain/ApiClient/AGV/Dto/AGVBucketMove.cs

@@ -46,7 +46,7 @@ public class AGVBucketMove
     /// <summary>
     /// 货架类型编码
     /// </summary>
-    [JsonProperty("buckTypeCode")]
+    [JsonProperty("bucketTypeCode")]
     public string? BucketTypeCode { get; set; }
 
     /// <summary>

WcsMain/ApiClient/AGV/Dto/AGVResponseLayout.cs

@@ -57,7 +57,7 @@ public class AGVResponseHeader
 
 
 }
-
+// {"code":"ERR_PARTIAL_FAILURE","message":"Partial failure","success":false,"data":[{"code":"ERR_ILLEGAL_WHI","message":"ERR_ILLEGAL_WHI","robotJobId":"1731831975323001000"}]}
 /// <summary>
 /// AGV 响应体
 /// </summary>

WcsMain/ApiClient/AGV/Dto/AGVTaskRequest.cs

@@ -97,6 +97,12 @@ public class AGVTaskRequest<T> where T : class, new()
     [JsonProperty("jobType")]
     public string? JobType { get; set; }
 
+    /// <summary>
+    /// 订单来源
+    /// </summary>
+    [JsonProperty("orderSource")]
+    public string? OrderSource {  get; set; }
+
     /// <summary>
     /// 任务数据
     /// </summary>

WcsMain/ApiClient/AGV/Dto/AGVTaskResponse.cs

@@ -25,5 +25,5 @@ public class AGVTaskResponse
     [JsonProperty("robotJobId")]
     public string? RobotJobId { get; set; }
 
-
+    // {"code":"ERR_PARTIAL_FAILURE","message":"Partial failure","success":false,"data":[{"code":"ERR_ILLEGAL_WHI","message":"ERR_ILLEGAL_WHI","robotJobId":"1731831975323001000"}]}
 }

WcsMain/ApiServe/Dto/AGV/AGVRequestBodyLayout.cs

@@ -8,6 +8,19 @@ namespace WcsMain.ApiServe.Dto.AGV;
 public class AGVRequestBodyLayout<T>
 {
     
+    /// <summary>
+    /// 数据
+    /// </summary>
+    [JsonPropertyName("event")]
+    public AGVRequestBodyDataLayout<T>? Event { get; set; }
+
+
+
+}
+
+
+public class AGVRequestBodyDataLayout<T>
+{
     /// <summary>
     /// 上游任务号
     /// </summary>
@@ -18,7 +31,7 @@ public class AGVRequestBodyLayout<T>
     /// 仓库编号
     /// </summary>
     [JsonPropertyName("warehouseId")]
-    public string? WarehouseId { get; set; }
+    public int? WarehouseId { get; set; }
 
     /// <summary>
     /// 快仓系统内部任务号
@@ -44,6 +57,4 @@ public class AGVRequestBodyLayout<T>
     [JsonPropertyName("jobData")]
     public T? JobData { get; set; }
 
-
-
 }

WcsMain/ApiServe/Service/AGVService/AGVService.cs

@@ -26,8 +26,8 @@ public class AGVService(AppWmsTaskDao wmsTaskDao, WCSTaskExecuteEvent taskExecut
                 Body = new() { Code = "ERROR", Success = false, Message = "Body 未能正确解析" }
             };
         }
-        string? wmsTaskId = bodyData.RobotJobId; // 任务号
+        string? wmsTaskId = bodyData.Event?.RobotJobId; // 任务号
-        string? status = bodyData.State; // 状态
+        string? status = bodyData.Event?.State; // 状态
         if(status == default || wmsTaskId == default)
         {
             return new()

WcsMain/CirculationJob/Stacker/ExecuteWmsTask.cs

@@ -86,11 +86,15 @@ public class ExecuteWmsTask(AppWmsTaskDao wmsTaskDao, StackerConveyOperation sta
     /// <param name="wmsTask"></param>
     private void ExecuteInTask(AppWmsTask wmsTask)
     {
+        string? midPoint = wmsTask.MidPoint;
         if (string.IsNullOrEmpty(wmsTask.Origin)) return;
-        string? midPoint = GetEmptyInLift(wmsTask.Destination);
+        if (string.IsNullOrEmpty(midPoint))
+        {
+            midPoint = GetEmptyInLift(wmsTask.Destination);
+        }
         if (string.IsNullOrEmpty(midPoint)) return; // 没有可用的站台
         /* 发送AGV 搬运任务 */
-        string errText = agvAction.Send_AGV_TASK(wmsTask.TaskId, wmsTask.Origin, midPoint);
+        string errText = agvAction.Send_AGV_TASK(wmsTask.TaskId, wmsTask.Origin, midPoint, 1);
         if (!string.IsNullOrEmpty(errText))
         {
             ConsoleLog.Warning($"【警告】入库请求AGV搬运失败，任务号：{wmsTask.TaskId}，异常信息：{errText}");
@@ -161,7 +165,7 @@ public class ExecuteWmsTask(AppWmsTaskDao wmsTaskDao, StackerConveyOperation sta
             (string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
             if (!string.IsNullOrEmpty(errText))
             {
-                ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
+                //ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
                 continue;
             }
             if (model != 2 || allowAction != (short)TrueFalseEnum.TRUE || errCode != 0) continue; // 不满足执行条件
@@ -171,7 +175,7 @@ public class ExecuteWmsTask(AppWmsTaskDao wmsTaskDao, StackerConveyOperation sta
             var task = tasks.First();
             if (string.IsNullOrEmpty(task.Destination)) continue;
             /* 下发任务 */
-            string agvErrText = agvAction.Send_AGV_TASK(task.TaskId, task.MidPoint, task.Destination);
+            string agvErrText = agvAction.Send_AGV_TASK(task.TaskId, GetAgvNo(task.MidPoint), task.Destination);
             if (!string.IsNullOrEmpty(agvErrText))
             {
                 ConsoleLog.Warning($"【警告】AGV出库任务请求AGV服务失败，任务号：{task.TaskId}，异常信息：{agvErrText}");
@@ -201,7 +205,7 @@ public class ExecuteWmsTask(AppWmsTaskDao wmsTaskDao, StackerConveyOperation sta
             (string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
             if (!string.IsNullOrEmpty(errText))
             {
-                ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
+                //ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
                 continue;
             }
             if (model != 1 || allowAction != (short)TrueFalseEnum.TRUE || errCode != 0) continue;
@@ -239,7 +243,7 @@ public class ExecuteWmsTask(AppWmsTaskDao wmsTaskDao, StackerConveyOperation sta
             (string errText, short model, short allowAction, short errCode, string code) = stackerConveyOperation.GetLiftInfo(liftInfo.LiftId ?? "");
             if (!string.IsNullOrEmpty(errText))
             {
-                ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
+                //ConsoleLog.Warning($"【警告】提升机站台信息获取失败，异常信息：{errText}");
                 continue;
             }
             if (model != 2 || allowAction != (short)TrueFalseEnum.FALSE || errCode != 0) continue;
@@ -264,4 +268,15 @@ public class ExecuteWmsTask(AppWmsTaskDao wmsTaskDao, StackerConveyOperation sta
     }
 
 
+
+    private string? GetAgvNo(string? lift)
+    {
+        List<AppLiftInfo>? liftInfos = liftInfoDao.Query(new() { Status = (int)TrueFalseEnum.TRUE });
+        if (liftInfos == default || liftInfos.Count < 1) return default;
+        AppLiftInfo? appLiftInfo = liftInfos.Find(f => f.Tag!.Contains(lift!));
+        if (appLiftInfo == null) return default;
+        return appLiftInfo.Tag?.Split(',')[1];
+    }
+
+
 }

WcsMain/Properties/PublishProfiles/FolderProfile2.pubxml.user

@@ -5,7 +5,7 @@ https://go.microsoft.com/fwlink/?LinkID=208121.
 <Project>
   <PropertyGroup>
     <_PublishTargetUrl>F:\A开发项目\A菲达宝开项目\2024-08_上汽试制仓\应用程序\WcsService\WcsMain\bin\Release\net8.0\publish\</_PublishTargetUrl>
-    <History>True|2024-11-18T12:59:50.6846634Z||;True|2024-11-16T14:31:14.2653894+08:00||;True|2024-11-16T14:16:17.4271635+08:00||;True|2024-11-16T14:16:08.1284507+08:00||;True|2024-11-16T14:08:02.8639352+08:00||;True|2024-11-16T14:07:06.6785776+08:00||;True|2024-11-16T13:14:33.8282571+08:00||;True|2024-11-16T13:14:09.9233077+08:00||;True|2024-11-16T12:49:45.5891890+08:00||;True|2024-11-16T12:19:05.5997384+08:00||;True|2024-11-16T11:49:43.2660430+08:00||;True|2024-11-16T11:49:12.7318514+08:00||;True|2024-11-16T11:43:41.8128931+08:00||;True|2024-11-16T10:39:25.1387254+08:00||;True|2024-11-16T10:24:19.4879139+08:00||;True|2024-11-15T17:47:10.4630939+08:00||;True|2024-11-15T17:42:25.6985733+08:00||;True|2024-11-15T17:39:43.9409305+08:00||;True|2024-11-15T17:26:18.2886475+08:00||;True|2024-11-15T17:23:05.3112513+08:00||;True|2024-11-15T17:16:40.2960771+08:00||;True|2024-11-15T17:14:12.3416383+08:00||;True|2024-11-15T17:09:43.2642034+08:00||;True|2024-11-15T17:05:04.4694932+08:00||;False|2024-11-15T17:04:34.2335564+08:00||;False|2024-11-15T17:04:12.5281280+08:00||;True|2024-11-15T17:01:49.4325408+08:00||;False|2024-11-15T17:01:29.1872712+08:00||;True|2024-11-15T16:00:18.8617729+08:00||;True|2024-11-15T15:56:13.9285180+08:00||;True|2024-11-15T15:50:53.6121456+08:00||;True|2024-11-15T15:17:41.0508047+08:00||;True|2024-11-15T13:50:06.8021767+08:00||;True|2024-11-15T13:17:48.2695650+08:00||;True|2023-12-21T15:04:28.6290873+08:00||;True|2023-12-21T14:59:03.4454135+08:00||;True|2023-12-21T14:51:08.6690406+08:00||;True|2023-12-21T14:26:42.6801144+08:00||;False|2023-12-21T14:26:14.3256943+08:00||;True|2023-12-21T14:13:42.5511801+08:00||;True|2023-12-21T13:56:38.5871005+08:00||;True|2023-12-19T12:19:57.9900187+08:00||;True|2023-12-19T11:53:33.6930379+08:00||;True|2023-12-17T12:51:32.6510827+08:00||;False|2023-12-17T12:49:32.9022541+08:00||;</History>
+    <History>True|2024-11-20T09:08:23.7162943Z||;True|2024-11-20T16:54:01.3629057+08:00||;True|2024-11-20T16:40:49.6894280+08:00||;True|2024-11-20T16:37:47.3670812+08:00||;False|2024-11-20T16:37:04.0777763+08:00||;True|2024-11-20T16:25:26.3145915+08:00||;True|2024-11-20T16:10:13.7558526+08:00||;True|2024-11-20T16:07:37.8681228+08:00||;True|2024-11-20T15:55:28.7196074+08:00||;True|2024-11-20T15:52:40.6653904+08:00||;True|2024-11-20T15:30:21.5138564+08:00||;True|2024-11-20T15:24:40.6286995+08:00||;True|2024-11-18T21:16:47.1821173+08:00||;True|2024-11-18T21:14:40.1209255+08:00||;True|2024-11-18T21:11:32.0010536+08:00||;True|2024-11-18T21:10:56.2142485+08:00||;True|2024-11-18T20:59:50.6846634+08:00||;True|2024-11-16T14:31:14.2653894+08:00||;True|2024-11-16T14:16:17.4271635+08:00||;True|2024-11-16T14:16:08.1284507+08:00||;True|2024-11-16T14:08:02.8639352+08:00||;True|2024-11-16T14:07:06.6785776+08:00||;True|2024-11-16T13:14:33.8282571+08:00||;True|2024-11-16T13:14:09.9233077+08:00||;True|2024-11-16T12:49:45.5891890+08:00||;True|2024-11-16T12:19:05.5997384+08:00||;True|2024-11-16T11:49:43.2660430+08:00||;True|2024-11-16T11:49:12.7318514+08:00||;True|2024-11-16T11:43:41.8128931+08:00||;True|2024-11-16T10:39:25.1387254+08:00||;True|2024-11-16T10:24:19.4879139+08:00||;True|2024-11-15T17:47:10.4630939+08:00||;True|2024-11-15T17:42:25.6985733+08:00||;True|2024-11-15T17:39:43.9409305+08:00||;True|2024-11-15T17:26:18.2886475+08:00||;True|2024-11-15T17:23:05.3112513+08:00||;True|2024-11-15T17:16:40.2960771+08:00||;True|2024-11-15T17:14:12.3416383+08:00||;True|2024-11-15T17:09:43.2642034+08:00||;True|2024-11-15T17:05:04.4694932+08:00||;False|2024-11-15T17:04:34.2335564+08:00||;False|2024-11-15T17:04:12.5281280+08:00||;True|2024-11-15T17:01:49.4325408+08:00||;False|2024-11-15T17:01:29.1872712+08:00||;True|2024-11-15T16:00:18.8617729+08:00||;True|2024-11-15T15:56:13.9285180+08:00||;True|2024-11-15T15:50:53.6121456+08:00||;True|2024-11-15T15:17:41.0508047+08:00||;True|2024-11-15T13:50:06.8021767+08:00||;True|2024-11-15T13:17:48.2695650+08:00||;True|2023-12-21T15:04:28.6290873+08:00||;True|2023-12-21T14:59:03.4454135+08:00||;True|2023-12-21T14:51:08.6690406+08:00||;True|2023-12-21T14:26:42.6801144+08:00||;False|2023-12-21T14:26:14.3256943+08:00||;True|2023-12-21T14:13:42.5511801+08:00||;True|2023-12-21T13:56:38.5871005+08:00||;True|2023-12-19T12:19:57.9900187+08:00||;True|2023-12-19T11:53:33.6930379+08:00||;True|2023-12-17T12:51:32.6510827+08:00||;False|2023-12-17T12:49:32.9022541+08:00||;</History>
     <LastFailureDetails />
   </PropertyGroup>
 </Project>