AGV调试

ZR.Admin.WebApi/Controllers/mes/mm/MaterialInputController.cs

@@ -133,12 +133,13 @@ namespace ZR.Admin.WebApi.Controllers.mes.mm
         /// <param name="end_point"></param>
         /// <returns></returns>
         [HttpGet("go_workshop")]
-        public IActionResult GoWorkshop(string start_point, string end_point, string agvCode = "1743 ")
+        public IActionResult GoWorkshop(string start_point, string end_point, string agvCode )
         {
-            if (string.IsNullOrEmpty(start_point) || string.IsNullOrEmpty(end_point))
+            if (string.IsNullOrEmpty(start_point) || string.IsNullOrEmpty(end_point)||string.IsNullOrEmpty(agvCode))
             {
                 SUCCESS(null);
             }
+
             var response = materialInputService.AGV_schedule(start_point, end_point, agvCode);
 
             return SUCCESS(response);

ZR.Admin.WebApi/Controllers/mes/mm/MmAgvLocationController.cs

@@ -130,5 +130,23 @@ namespace ZR.Admin.WebApi.Controllers
             return SUCCESS(response);
         }
 
+
+        /// <summary>
+        /// 查询agv状态
+        /// </summary>
+        /// <param name="agvCode"></param>
+        /// <returns></returns>
+        [HttpGet("call_agv_status")]
+        public IActionResult CallagvStatus(int agvCode)
+        {
+            if (agvCode == 0)
+            {
+                return SUCCESS(null);
+            }
+
+            var response= _MmAgvLocationService.CallagvStatus(agvCode);
+            return SUCCESS(response);
+        }
+
     }
 }

ZR.Model/MES/mm/AGVstatus.cs

@@ -0,0 +1,42 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace ZR.Model.MES.mm
+{
+    public enum AGVstatus
+    {
+        任务完成 = 1,
+        任务执行中 = 2,
+        任务异常 = 3,
+        任务空闲 = 4,
+        机器人暂停 = 5,
+        举升货架状态 = 6,
+        充电状态 = 8,
+        弧线行走中 = 9,
+        充满维护 = 10,
+        背货未识别 = 11,
+        货架偏角过大 = 12,
+        运动库异常 = 13,
+        货码无法识别 = 14,
+        货码不匹配 = 15,
+        举升异常 = 16,
+        充电桩异常 = 17,
+        电量无增加 = 18,
+        充电指令角度错误 = 20,
+        平台下发指令错误 = 21,
+        外力下放 = 23,
+        货架位置偏移 = 24,
+        小车不在锁定区 = 25,
+        下放重试失败 = 26,
+        货架摆歪 = 27,
+        举升电池电量太低 = 28,
+        后退角度偏大 = 29,
+        未背货架举升 = 30,
+        区域锁定失败 = 31,
+        旋转申请暂时失败 = 33,
+        地图切换点地码未识 = 34
+    }
+}

ZR.Service/mes/mm/IService/IMmAgvLocationService.cs

@@ -24,5 +24,7 @@ namespace ZR.Service.mes.mm.IService
 
         int Updatestatus(int index, int status);
 
+        AGVstatus  CallagvStatus(int agvCode);
+
     }
 }

ZR.Service/mes/mm/MaterialInputService.cs

@@ -145,7 +145,7 @@ namespace ZR.Service.mes.mm
 
             int skip = ((query.pageNum ?? 1) - 1) * (query.pageSize ?? 10);
             var returndata = WorkorderList
-                .OrderBy(it => it.ClientWorkorder)
+                .OrderBy(it=>it.Sort)
                 .Skip(skip)
                 .Take(query.pageSize ?? 10)
                 .ToList();
@@ -168,6 +168,7 @@ namespace ZR.Service.mes.mm
                 int remian = item.previousNumber - item.previousNumbered;
                 if (remian == 0)
                 {
+                    //更改配料进度为完成
                     int result = Context.Updateable<MmFkWorkorderIngredient>()
                       .Where(it => it.FkWorkorder == item.workorder)
                       .Where(it => it.FkBlanknumber == item.blanknumber)
@@ -179,9 +180,10 @@ namespace ZR.Service.mes.mm
                 }
                 else
                 {
+                    //更改配料进度  修改配料进度
                     Context.Updateable<MmFkWorkorderIngredient>()
                       .Where(it => it.FkWorkorder == item.workorder)
-                         .Where(it => it.FkBlanknumber == item.blanknumber)
+                      .Where(it => it.FkBlanknumber == item.blanknumber)
                       .SetColumns(it => it.Previous_numbered == item.previousNumbered)
                       .SetColumns(it => it.UpdatedTime == DateTime.Now)
                        .SetColumns(it => it.Isingredient == 0)
@@ -267,7 +269,7 @@ namespace ZR.Service.mes.mm
         /// <param name="start_point"></param>
         /// <param name="end_point"></param>
         /// <returns></returns>
-        public string AGV_schedule(string start_point, string end_point,string agvCode= "1743 ")
+        public string AGV_schedule(string start_point, string end_point,string agvCode= "1743")
         {
             // Context.Updateable<MmAgvLocation>().Where(it => it.Coordinate == start_point).SetColumns(it => it.Status == 0).ExecuteCommand();
             // Context.Updateable<MmAgvLocation>().Where(it => it.Coordinate == end_point).SetColumns(it => it.Status == 1).ExecuteCommand();
@@ -277,7 +279,7 @@ namespace ZR.Service.mes.mm
             AGVtask_third task = new AGVtask_third();
             task.reqCode = SnowFlakeSingle.Instance.NextId().ToString();
             task.taskTyp = "F01";
-            task.agvCode = agvCode;
+            task.agvCode = agvCode.Trim();
             // MmAgvLocation start_object = Context.Queryable<MmAgvLocation>().Where(it => it.Coordinate == start_point).First();
             // MmAgvLocation end_object = Context.Queryable<MmAgvLocation>().Where(it => it.Coordinate == end_point).First();
             //判断是否跨楼层

ZR.Service/mes/mm/MmAgvLocationService.cs

@@ -120,5 +120,16 @@ namespace ZR.Service.Business
         {
           return Context.Updateable<MmAgvLocation>().Where(it=>it.Id==index).SetColumns(it=>it.Status==status).ExecuteCommand(); 
         }
+
+        /// <summary>
+        /// 查询agv状态
+        /// </summary>
+        /// <param name="agvCode"></param>
+        /// <returns></returns>
+        public AGVstatus CallagvStatus(int agvCode)
+        {
+            string url = "";
+            return AGVstatus.下放重试失败;
+        }
     }
 }