api服务开发

BPASmartClient.AGV/Enums/BinTask.cs

@@ -1,36 +1,37 @@
 namespace BPASmartClient.AGV.Enums
-    /// <summary>
-    /// 纯料箱任务枚举
-    /// </summary>
-public enum BinTask
 {
     /// <summary>
-    /// 开始移动（仅单插臂或单夹报,2.8.1后）
-    /// </summary>
-    MOVE_BEGIN,
-    /// <summary>
-    /// 到站
-    /// </summary>
-    ENTER_STATION,
-    /// <summary>
-    /// 任务完成
-    /// </summary>
-    DONE,
-    /// <summary>
-    /// 取料完成
-    /// </summary>
-    LOAD_COMPLETED,
-    /// <summary>
-    /// 放料完成
-    /// </summary>
-    UNLOAD_COMPLETED,
-    /// <summary>
-    /// 任务异常取消
-    /// </summary>
-    ABNORMAL_CANCEL,
-    /// <summary>
-    /// 任务异常完成
+    /// 纯料箱任务枚举
     /// </summary>
-    ABNORMAL_COMPLETED,
-}
+    public enum BinTask
+    {
+        /// <summary>
+        /// 开始移动（仅单插臂或单夹报,2.8.1后）
+        /// </summary>
+        MOVE_BEGIN,
+        /// <summary>
+        /// 到站
+        /// </summary>
+        ENTER_STATION,
+        /// <summary>
+        /// 任务完成
+        /// </summary>
+        DONE,
+        /// <summary>
+        /// 取料完成
+        /// </summary>
+        LOAD_COMPLETED,
+        /// <summary>
+        /// 放料完成
+        /// </summary>
+        UNLOAD_COMPLETED,
+        /// <summary>
+        /// 任务异常取消
+        /// </summary>
+        ABNORMAL_CANCEL,
+        /// <summary>
+        /// 任务异常完成
+        /// </summary>
+        ABNORMAL_COMPLETED,
+    }
 }

BPASmartClient.AGV/Enums/CTC.cs

@@ -1,32 +1,33 @@
 namespace BPASmartClient.AGV.Enums
-    /// <summary>
-    /// 货位到货位/点到点辊筒料箱搬运任务枚举
-    /// </summary>
-public enum CTC
 {
     /// <summary>
-    /// 正在上料
-    /// </summary>
-    ROLLER_LOAD_DOING,
-    /// <summary>
-    /// 上料完成
-    /// </summary>
-    ROLLER_LOAD_FINISH,
-    /// <summary>
-    /// 正在下料
-    /// </summary>
-    ROLLER_UNLOAD_DOING,
-    /// <summary>
-    /// 下料完成
-    /// </summary>
-    DONE,
-    /// <summary>
-    /// 任务异常取消
-    /// </summary>
-    ABNORMAL_CANCEL,
-    /// <summary>
-    /// 任务异常完成
+    /// 货位到货位/点到点辊筒料箱搬运任务枚举
     /// </summary>
-    ABNORMAL_COMPLETED,
-}
+    public enum CTC
+    {
+        /// <summary>
+        /// 正在上料
+        /// </summary>
+        ROLLER_LOAD_DOING,
+        /// <summary>
+        /// 上料完成
+        /// </summary>
+        ROLLER_LOAD_FINISH,
+        /// <summary>
+        /// 正在下料
+        /// </summary>
+        ROLLER_UNLOAD_DOING,
+        /// <summary>
+        /// 下料完成
+        /// </summary>
+        DONE,
+        /// <summary>
+        /// 任务异常取消
+        /// </summary>
+        ABNORMAL_CANCEL,
+        /// <summary>
+        /// 任务异常完成
+        /// </summary>
+        ABNORMAL_COMPLETED,
+    }
 }

BPASmartClient.AGV/Feedback/AGVToUpSystem.cs

@@ -0,0 +1,41 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV.Feedback
+{
+    public class AGVToUpSystem
+    {
+        /// <summary>
+        /// 上游系统任务号，全局唯一
+        /// </summary>
+        public string robotJobId { get; set; }
+
+        /// <summary>
+        /// 仓库编号
+        /// </summary>
+        public int warehouseId { get; set; }
+
+        /// <summary>
+        /// 任务快仓系统编号
+        /// </summary>
+        public string jobId { get; set; }
+
+        /// <summary>
+        /// 任务状态
+        /// </summary>
+        public string state { get; set; }
+
+        /// <summary>
+        /// 内部任务类型
+        /// </summary>
+        public string jobType { get; set; }
+
+        /// <summary>
+        /// 数据字段
+        /// </summary>
+        public JobData jobData { get; set; } = new JobData();
+    }
+}

BPASmartClient.AGV/Feedback/JobData.cs

@@ -8,16 +8,39 @@ namespace BPASmartClient.AGV.Feedback
 {
     public class JobData
     {
+        /// <summary>
+        /// AGV编号
+        /// </summary>
         public string agvCode { get; set; }
 
+        /// <summary>
+        /// 容器编号
+        /// </summary>
         public string containerCode { get; set; }
 
+        /// <summary>
+        /// 上料点位
+        /// </summary>
         public string startPointCode { get; set; }
 
+        /// <summary>
+        /// 上料货位编号
+        /// </summary>
         public string startSlotCode { get; set; }
+
+        /// <summary>
+        /// 下料点位
+        /// </summary>
         public string targetPointCode { get; set; }
+
+        /// <summary>
+        /// 下料货位编号
+        /// </summary>
         public string targetSlotCode { get; set; }
 
+        /// <summary>
+        /// 是否需要上料交互
+        /// </summary>
         public bool loadInteractive { get; set; }
     }
 }

BPASmartClient.AGV/Feedback/Upstreamrequest.cs

@@ -0,0 +1,54 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV.Feedback
+{
+    public class Upstreamrequest
+    {
+        /// <summary>
+        /// AGV编号
+        /// </summary>
+        public string agvCode { get; set; }
+
+        /// <summary>
+        /// 容器编号，如果一次上/下多个容器，则多个容器用英文逗号分隔
+        /// </summary>
+        public string containerCode { get; set; }
+
+        /// <summary>
+        /// 上游设备ID  本字段适用于只有一个辊筒设备的时候使用
+        /// </summary>
+        public long equipmentId { get; set; }
+
+        /// <summary>
+        /// 上游设备ID，多个用英文逗号分隔 本字段适用于多辊筒同时上下料的时候使用
+        /// </summary>
+        public string equipmentIds { get; set; }
+
+        /// <summary>
+        /// 快仓任务编号
+        /// </summary>
+        public string jobId { get; set; }
+
+        /// <summary>
+        /// 消息ID
+        /// </summary>
+        public string msgId { get; set; }
+
+        /// <summary>
+        /// 交互阶段
+        /// LOAD：上料阶段
+        /// UNLOAD：下料阶段
+        /// </summary>
+        public string command { get; set; }
+
+        /// <summary>
+        /// 上游任务号
+        /// </summary>
+        public string robotJobId { get; set; }
+
+    }
+}

BPASmartClient.AGV/Feedback/event.cs

@@ -1,22 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace BPASmartClient.AGV.Feedback
-{
-    public class @event
-    {
-        public string robotJobId { get; set; }
-
-        public int warehouseId { get; set; }
-
-        public string jobId { get; set; }
-
-        public string state { get; set; }
-        public string jobType { get; set; }
-
-        public JobData jobData { get; set; } = new JobData();
-    }
-}

BPASmartClient.AgvApi/BPASmartClient.AgvApi.csproj

@@ -10,4 +10,8 @@
     <PackageReference Include="Swashbuckle.AspNetCore" Version="6.2.3" />
   </ItemGroup>
 
+  <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.AGV\BPASmartClient.AGV.csproj" />
+  </ItemGroup>
+
 </Project>

BPASmartClient.AgvApi/Controllers/AgvStatusController.cs

@@ -1,16 +0,0 @@
-using Microsoft.AspNetCore.Mvc;
-
-namespace BPASmartClient.AgvApi.Controllers
-{
-    [ApiController]
-    [Route("apicallback/quicktron/[Controller]")]
-    public class AgvStatusController : ControllerBase
-    {
-
-        [HttpPost("AgvCallback")]
-        public string AgvCallback(Sign sign)
-        {
-            return "SUCCESS";
-        }
-    }
-}

BPASmartClient.AgvApi/Controllers/robotjobController.cs

@@ -0,0 +1,42 @@
+using BPASmartClient.AGV.Feedback;
+using Microsoft.AspNetCore.Mvc;
+using Microsoft.AspNetCore.SignalR;
+using Newtonsoft.Json;
+
+namespace BPASmartClient.AgvApi.Controllers
+{
+    [ApiController]
+    [Route("apicallback/quicktron/[Controller]")]
+    public class robotjobController : ControllerBase
+    {
+        /// <summary>
+        /// 搬运任务状态上报
+        /// </summary>
+        /// <param name="sign"></param>
+        /// <returns></returns>
+        [HttpPost("report")]
+        public string report(AGVToUpSystem ent)
+        {
+            if (ent != null)
+            {
+                Factory.GetInstance.SendReport(ent);
+            }
+            return "SUCCESS";
+        }
+
+        /// <summary>
+        /// AGV上下料交互请求接口
+        /// </summary>
+        /// <param name="upstreamrequest"></param>
+        /// <returns></returns>
+        [HttpPost("upstreamrequest")]
+        public string upstreamrequest(Upstreamrequest upstreamrequest)
+        {
+            if (upstreamrequest != null)
+            {
+                Factory.GetInstance.SendUpstreamrequest(upstreamrequest);
+            }
+            return "SUCCESS";
+        }
+    }
+}

BPASmartClient.AgvApi/Factory.cs

@@ -0,0 +1,25 @@
+using Microsoft.AspNetCore.SignalR;
+
+namespace BPASmartClient.AgvApi
+{
+    public class Factory
+    {
+
+        private volatile static Factory _Instance;
+        public static Factory GetInstance => _Instance ?? (_Instance = new Factory());
+        private Factory() { }
+
+        public IHubCallerClients HubCallerClient { get; set; }
+
+        public Task SendReport(object obj)
+        {
+            return HubCallerClient?.Caller.SendAsync("Report", obj);
+        }
+
+        public Task SendUpstreamrequest(object obj)
+        {
+            return HubCallerClient?.Caller.SendAsync("Upstreamrequest", obj);
+        }
+
+    }
+}

BPASmartClient.AgvApi/PersonHub.cs

@@ -4,9 +4,11 @@ namespace BPASmartClient.AgvApi
 {
     public class PersonHub : Hub
     {
+
         public override Task OnConnectedAsync()
         {
             Console.WriteLine($"{Context.ConnectionId}:= 连接成功");
+            Factory.GetInstance.HubCallerClient = Clients;
             return base.OnConnectedAsync();
         }
 
@@ -21,9 +23,12 @@ namespace BPASmartClient.AgvApi
         /// </summary>
         /// <param name="str"></param>
         /// <returns></returns>
-        public Task Send(string str)
+        public Task Send(object str)
         {
             return Clients.Caller.SendAsync("SendMessage", str);
         }
+
+
+
     }
 }

BPASmartClient.AgvApi/Program.cs

@@ -1,4 +1,5 @@
 using BPASmartClient.AgvApi;
+using Microsoft.AspNetCore.Cors.Infrastructure;
 
 var builder = WebApplication.CreateBuilder(args);
 
@@ -28,6 +29,7 @@ app.Use(async (context, next) =>
     await next();
 });
 
+
 app.UseAuthorization();
 
 app.MapControllers();

BPASmartClient.AgvApi/Sign.cs

@@ -1,10 +0,0 @@
-namespace BPASmartClient.AgvApi
-{
-    public class Sign
-    {
-        public int a { get; set; }
-        public int b { get; set; }
-        public string c { get; set; }
-        public string d { get; set; }
-    }
-}

BPASmartClient.Business/BPASmartClient.Business.csproj

@@ -8,7 +8,7 @@
 
   <ItemGroup>
     <PackageReference Include="BPA.ApolloClient" Version="1.0.12" />
-    <PackageReference Include="BPA.Message" Version="1.0.45" />
+    <PackageReference Include="BPA.Message" Version="1.0.46" />
     <PackageReference Include="Microsoft.Extensions.Configuration" Version="6.0.1" />
     <PackageReference Include="Microsoft.Extensions.Configuration.FileExtensions" Version="6.0.0" />
     <PackageReference Include="System.Configuration.ConfigurationManager" Version="6.0.0" />

BPASmartClient.CustomResource/BPASmartClient.CustomResource.csproj

@@ -242,7 +242,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Message" Version="1.0.45" />
+    <PackageReference Include="BPA.Message" Version="1.0.46" />
     <PackageReference Include="Microsoft.Toolkit.Mvvm" Version="7.1.2" />
   </ItemGroup>
 

BPASmartClient.Device/BPASmartClient.Device.csproj

@@ -7,7 +7,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Message" Version="1.0.45" />
+    <PackageReference Include="BPA.Message" Version="1.0.46" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient.Model/BPASmartClient.Model.csproj

@@ -17,7 +17,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Message" Version="1.0.45" />
+    <PackageReference Include="BPA.Message" Version="1.0.46" />
     <PackageReference Include="Microsoft.Toolkit.Mvvm" Version="7.1.2" />
   </ItemGroup>
 

DosingSystem/BPASmartClient.DosingSystem.csproj

@@ -15,7 +15,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Message" Version="1.0.45" />
+    <PackageReference Include="BPA.Message" Version="1.0.46" />
     <PackageReference Include="Microsoft.Toolkit.Mvvm" Version="7.1.2" />
     <PackageReference Include="Newtonsoft.Json" Version="13.0.1" />
   </ItemGroup>

FryPot_DosingSystem/Helper/HubHelper.cs

@@ -20,7 +20,12 @@ namespace FryPot_DosingSystem.Helper
             hubConnection = new HubConnectionBuilder().WithAutomaticReconnect().WithUrl("http://localhost:5175/personhub").Build();//连接
 
 
-            hubConnection.On<string>("", (s) =>
+            hubConnection.On<object>("Report", (s) =>
+            {
+                //注册接收消息的委托
+            });
+
+            hubConnection.On<object>("Upstreamrequest", (s) =>
             {
                 //注册接收消息的委托
             });