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;
 
@@ -21,52 +22,73 @@ 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()
+        //    {
+        //        AppKey = ApplicationBaseConfig.APP_KEY,
+        //        AppSecret = ApplicationBaseConfig.APP_SECRET,
+        //        RequestId = wmsTask.TaskId,
+        //        TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
+        //        version = "2.9"
+        //    },
+        //    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()
         {
-            Header = new()
+            RobotJobId = wmsTask.TaskId,
+            WareHouseId = 1,
+            RobotJobGroupNum = 1,
+            JobPriority = 1,
+            JobProorytyType = 0,
+            JobType = "NO_VERIFY_BUCKET_MOVE",
+            OrderSource = "BK",
+            JobData = new()
             {
-                AppKey = ApplicationBaseConfig.APP_KEY,
+                StartPoint = wmsTask.Origin,
-                AppSecret = ApplicationBaseConfig.APP_SECRET,
+                StartPointName = null,
-                RequestId = wmsTask.TaskId,
+                WorkFaces = "0",
-                TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
+                EndArea = wmsTask.Destination,
-                version = "2.9"
+                EndPoint = wmsTask.Destination,
-            },
+                EndPointName = null,
-            Body = new()
+                BucketTypeCode = "TP",
-            {
+                LetDownFlag = 2,
-                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,
-                }
             }
         };
-        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()
+        //    {
+        //        AppKey = ApplicationBaseConfig.APP_KEY,
+        //        AppSecret = ApplicationBaseConfig.APP_SECRET,
+        //        RequestId = taskId,
+        //        TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
+        //        version = "2.9"
+        //    },
+        //    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()
         {
-            Header = new()
+            RobotJobId = taskId,
+            WareHouseId = 1,
+            RobotJobGroupNum = 1,
+            JobPriority = 1,
+            JobProorytyType = 0,
+            JobType = "NO_VERIFY_BUCKET_MOVE",
+            OrderSource = "BK",
+            JobData = new()
             {
-                AppKey = ApplicationBaseConfig.APP_KEY,
+                StartPoint = origin,
-                AppSecret = ApplicationBaseConfig.APP_SECRET,
+                StartPointName = null,
-                RequestId = taskId,
+                WorkFaces = "0",
-                TimeStamp = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
+                EndPoint = destination,
-                version = "2.9"
+                EndPointName = null,
-            },
+                BucketTypeCode = "TP",
-            Body = new()
+                LetDownFlag = 2,
-            {
+                NeedOut = needOut
-                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,
-                }
             }
         };
-        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

@@ -7,7 +7,20 @@ namespace WcsMain.ApiServe.Dto.AGV;
 /// </summary>
 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>
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