AGV更新

BPASmartClient.AGV/AGVHelper.cs

@@ -0,0 +1,60 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Net;
+using System.Web;
+using Newtonsoft.Json;
+using System.Net.Http;
+
+
+namespace BPASmartClient.AGV
+{
+    public class AGVHelper
+    {
+        public static AGVHelper _Instance { get; set; }
+        public static AGVHelper GetInstance => _Instance ?? (_Instance = new AGVHelper());
+     
+        public AGVHelper() 
+        {
+            
+        }
+
+        public string HttpRequest(string url, string head, string body)
+        { 
+            return PostData(url, head, body);
+        }
+        public string PostData(string url, string head, string body)
+        {
+            HttpWebRequest request = (HttpWebRequest)WebRequest.Create(url);
+            request.Method = "POST";
+            request.Headers["header"] = head;
+            //request.Proxy = new WebProxy("192.168.1.12",80);
+            byte[] bytes = Encoding.UTF8.GetBytes(body);
+            request.ContentType = "application/json; charset=UTF-8"; ;//窗体数据被编码为名称/值对形式
+            //request.ContentType = "application/json";
+            request.ContentLength = bytes.Length;
+            Stream myResponseStream = request.GetRequestStream();
+            myResponseStream.Write(bytes, 0, bytes.Length);
+            HttpWebResponse response = (HttpWebResponse)request.GetResponse();
+            StreamReader myStreamReader = new StreamReader(response.GetResponseStream(), Encoding.UTF8);
+            string retString = myStreamReader.ReadToEnd();
+            myStreamReader.Close();
+            myResponseStream.Close();
+
+            if (response != null)
+            {
+                response.Close();
+            }
+            if (request != null)
+            {
+                request.Abort();
+            }
+            return retString;//返回响应报文
+
+
+        }
+        
+    }
+}

BPASmartClient.AGV/AGVLoadInteracteModel.cs

@@ -0,0 +1,19 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV
+{
+    /// <summary>
+    /// AGV上下料交互反馈接口（上游系统->快仓系统）
+    /// </summary>
+    internal class AGVLoadInteracteModel
+    {
+        public string agvCode { get; set;}
+        public string jobId { get; set; }
+        public string msgId { get; set; }
+        public bool? complete { get; set; }
+    }
+}

BPASmartClient.AGV/AGVModel.cs

@@ -0,0 +1,49 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV
+{
+    /// <summary>
+    /// AGV任务下发
+    /// </summary>
+    internal class AGVModel
+    {
+        /// <summary>
+        /// 必填项
+        /// </summary>
+        public string robotJobId { get; set; }
+        /// <summary>
+        /// 必填项
+        /// </summary>
+        public long warehouseId { get; set; }
+        public string? robotJobGroupId { get; set; }
+        public int? sequence { get; set; }
+        /// <summary>
+        /// 必填项
+        /// </summary>
+        public int jobPriority { get; set; }
+        /// <summary>
+        /// 必填项
+        /// </summary>
+        public int jobPriorityType { get; set; }
+        public string? deadline { get; set; }
+        public string? agvType { get; set; }
+        public string? agvEndPoint { get; set; }
+        public bool? needOperation { get; set; }
+        public string? agvCode { get; set; }
+        public int? taskCountDown { get; set; }
+        public string? businessType { get; set; }
+        /// <summary>
+        /// 必填项
+        /// </summary>
+        public string jobType { get; set; }
+        /// <summary>
+        /// 必填项
+        /// </summary>
+        public IJobData jobData { get; set; } 
+        
+    }
+}

BPASmartClient.AGV/AGVRequestUrl.cs

@@ -0,0 +1,42 @@
+namespace BPASmartClient.AGV
+{
+    public class AGVRequestUrl
+    {      
+        //public string HttpHeader { get; set; }
+        //public string TaskSendBody { get; set; }
+        public AGVRequestUrl(string IpAddress)
+        {
+            TaskSendUrl= $"http://{IpAddress}/api/quicktron/wcs/standardized.robot.job.submit";
+            TaskCancelUrl= $"http://{IpAddress}/api/quicktron/wcs/standardized.robot.job.cancel";
+            TaskCompleteUrl= $"http://{IpAddress}/api/quicktron/wcs/standardized.operation.notice";
+            AGVInteracteUrl= $"http://{IpAddress}/api/quicktron/wcs/standardized.roller.job.upstream.response";
+        }
+
+
+        #region Url汇总
+        //各种AGV的移动及搬运任务。
+        // 本接口请求参数包含公共字段及具体任务字段两部分组成。
+        //支持批量任务下发。
+        public string TaskSendUrl { get; set; }
+
+        //货架搬运任务指令下发后，允许上游系统调用该接口取消移位任务，支持取消策略。不同车型允许取消的任务节点不同,具体信息见API文档
+        public string TaskCancelUrl { get; set; } 
+
+        //工作站任务实操完成后调用该接口。如果bucket有其他任务去执行其他任务。在线工作站货架直接回库，离线工作站分配AGV回库。
+        public string TaskCompleteUrl { get; set; }
+
+        //1.辊筒AGV在手动上下料时请求上游交互后，上游下发的反馈接口
+        //2.料箱AGV在任务下发需要和上游进行交互时调用此接口
+        //3.翻板车AGV在投递点前确认时上游反馈接口
+        public string AGVInteracteUrl { get; set; } 
+        #endregion
+    }
+}
+
+
+
+
+
+
+
+

BPASmartClient.AGV/AGVTaskCancelModel.cs

@@ -0,0 +1,19 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV
+{
+    /// <summary>
+    /// AGV任务取消
+    /// </summary>
+    internal class AGVTaskCancelModel
+    {
+        public string robotJobId { get; set; }
+        public long warehouseId { get; set; }
+        public string? executeMode { get; set; }
+        public string? reason { get; set; }
+    }
+}

BPASmartClient.AGV/AGVTaskCompleteNotifyModel.cs

@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV
+{
+    /// <summary>
+    /// AGV任务完成通知
+    /// </summary>
+    internal class AGVTaskCompleteNotifyModel
+    {
+        public string? robotJobId { get; set; }
+        public string? bucketCode { get; set; }
+        public string? bucketslotCode { get; set; }
+        public long warehouseId { get; set; }
+        public bool? nullFlag { get; set; }
+        public string? jobId { get; set; }
+    }
+}

BPASmartClient.AGV/AGV_PointRollerJobData.cs

@@ -0,0 +1,27 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV
+{
+    /// <summary>
+    /// 辊筒点到点搬运
+    /// </summary>
+    internal class AGV_PointRollerJobData:IJobData
+    {
+        public string? containerCode { get; set; }
+        public string startPoint { get; set; }
+        public string endPoint { get; set; }
+        public bool autoLoad { get; set; }
+        public bool enableIOLoad { get; set; }
+        public bool autoUnload { get; set; }
+        public bool enableIOUnload { get; set; }
+        public long? loadEquipmentId { get; set; } = null;
+        public long? unloadEquipmentId { get; set; } = null;
+        public bool? loadInteractive { get; set; }
+        public int? loadHeight { get; set; }
+        public int? unloadHeight { get; set; } 
+    }
+}

BPASmartClient.AGV/AGV_SlotRollerJobData.cs

@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV
+{
+    /// <summary>
+    /// 辊筒货位到货位搬运
+    /// </summary>
+    internal class AGV_SlotRollerJobData:IJobData
+    {
+        public string? containerCode { get; set; }
+        public string startIotCode { get; set; }
+        public string endSlotCode { get; set; }
+        public bool autoLoad { get; set; }
+        public bool enableIOLoad { get; set; }
+        public bool autoUnload { get; set; }
+        public bool enableIOUnload { get; set; }
+        public long? loadEquipmentId { get; set; } = null;
+        public long? unLoadEquipmentId { get; set; } = null;
+
+        public bool? loadInteractive { get; set; }
+    }
+}

BPASmartClient.AGV/BPASmartClient.AGV.csproj

@@ -0,0 +1,13 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="Newtonsoft.Json" Version="13.0.1" />
+  </ItemGroup>
+
+</Project>

BPASmartClient.AGV/HttpRequestHeaderModel.cs

@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV
+{
+    internal class HttpRequestHeaderModel
+    {
+        public string appKey { get; set; }    
+        public string appSecret { get; set; }
+        public string requestId { get; set; }
+        public string timestamp { get; set; }
+        public string version { get; set; }
+    }
+}

BPASmartClient.AGV/HttpResponseData.cs

@@ -0,0 +1,15 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV
+{
+    internal class HttpResponseData
+    {
+        public string code { get; set; }
+        public bool message { get; set; }
+        public string robotJobId { get; set; }
+    }
+}

BPASmartClient.AGV/HttpResponseModel.cs

@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV
+{
+    internal class HttpResponseModel
+    {
+        public string code { get; set; }
+        public string message { get; set; }
+        public bool success { get; set; }
+        public HttpResponseData data { get; set; }
+    }
+}

BPASmartClient.AGV/JobData.cs

@@ -0,0 +1,13 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.AGV
+{
+    public interface  IJobData
+    {
+
+    }
+}

BPASmartClient.MorkF/Control_MorkF.cs

@@ -411,7 +411,120 @@ namespace BPASmartClient.MorkF
                 {
                     stirFryGoods = stirFry.stirFrymessage.stirFryGoods;
                     MessageLog.GetInstance.Show("接收到小炒流程信息");
-                }
+                    //流程解析
+                    foreach (var item in stirFryGoods)
+                    {
+                        MessageLog.GetInstance.ShowEx($"执行菜谱{item.GoodsKey}");
+                        // morkF.listStirBom.Add(item.StirFryBomInfo);//添加订单制作流程
+                        foreach (var items in item.StirFryBomInfo.StirFryActions)
+                        {
+                            MessageLog.GetInstance.Show($"执行流程{items.Time}");
+                            foreach (var pro in items.RobotActions)
+                            {
+                                switch (pro)
+                                {
+                                    case StirFryRobotAction.等待:
+                                        MessageLog.GetInstance.Show($"等待");
+                                        break;
+                                    case StirFryRobotAction.清洗槽取锅:
+                                        MessageLog.GetInstance.Show($"清洗槽取锅");
+                                        break;
+                                    case StirFryRobotAction.灶放锅:
+                                        MessageLog.GetInstance.Show($"灶放锅");
+                                        break;
+                                    case StirFryRobotAction.清洗槽放锅:
+                                        MessageLog.GetInstance.Show($"清洗槽放锅");
+                                        break;
+                                    case StirFryRobotAction.取A料:
+                                        MessageLog.GetInstance.Show($"取A料");
+                                        break;
+                                    case StirFryRobotAction.取B料:
+                                        MessageLog.GetInstance.Show($"取B料");
+                                        break;
+                                    case StirFryRobotAction.取C料:
+                                        MessageLog.GetInstance.Show($"取C料");
+                                        break;
+                                    case StirFryRobotAction.加入A料:
+                                        MessageLog.GetInstance.Show($"加入A料");
+                                        break;
+                                    case StirFryRobotAction.加入B料:
+                                        MessageLog.GetInstance.Show($"加入B料");
+                                        break;
+                                    case StirFryRobotAction.加入C料:
+                                        MessageLog.GetInstance.Show($"加入C料");
+                                        break;
+                                    case StirFryRobotAction.切换快速:
+                                        MessageLog.GetInstance.Show($"切换快速");
+                                        break;
+                                    case StirFryRobotAction.切换中速:
+                                        MessageLog.GetInstance.Show($"切换中速");
+                                        break;
+                                    case StirFryRobotAction.丢料盒:
+                                        MessageLog.GetInstance.Show($"丢料盒");
+                                        break;
+                                    case StirFryRobotAction.倒菜:
+                                        MessageLog.GetInstance.Show($"倒菜");
+                                        break;
+                                    case StirFryRobotAction.灶取锅:
+                                        MessageLog.GetInstance.Show($"灶取锅");     
+                                        break;
+                                }
+                            }
+                            foreach (var pro in items.PotActions)
+                            {
+                                switch (pro)
+                                {
+                                    case StirFryPotAction.NONE:
+                                        break;
+                                    case StirFryPotAction.加热:
+                                        MessageLog.GetInstance.Show($"加热");
+                                        break;
+                                    case StirFryPotAction.大火t1s:
+                                        MessageLog.GetInstance.Show($"大火1s");
+                                        break;
+                                    case StirFryPotAction.加油:
+                                        MessageLog.GetInstance.Show($"加油");
+                                        break;
+                                    case StirFryPotAction.中火t2s:
+                                        MessageLog.GetInstance.Show($"中火2s");
+                                        break;
+                                    case StirFryPotAction.小火持续:
+                                        MessageLog.GetInstance.Show($"小火持续");
+                                        break;
+                                    case StirFryPotAction.中火持续:
+                                        MessageLog.GetInstance.Show($"中火持续");
+                                        break;
+                                    case StirFryPotAction.大火持续:
+                                        MessageLog.GetInstance.Show($"大火持续");
+                                        break;
+                                    case StirFryPotAction.停止火力:
+                                        MessageLog.GetInstance.Show($"停止火力");
+                                        break;
+                                    case StirFryPotAction.搅拌臂上位:
+                                        MessageLog.GetInstance.Show($"搅拌臂上位");
+                                        break;
+                                    case StirFryPotAction.搅拌臂中位:
+                                        MessageLog.GetInstance.Show($"搅拌臂中位");
+                                        break;
+                                    case StirFryPotAction.搅拌臂下位:
+                                        MessageLog.GetInstance.Show($"搅拌臂下位");
+                                        break;
+                                    case StirFryPotAction.低速旋转:
+                                        MessageLog.GetInstance.Show($"低速旋转");
+                                        break;
+                                    case StirFryPotAction.快速旋转:
+                                        MessageLog.GetInstance.Show($"快速旋转");
+                                        break;
+                                    case StirFryPotAction.停止旋转:
+                                        MessageLog.GetInstance.Show($"停止旋转");
+                                        break;
+                                }
+                            }
+                        }
+                    }
+                    
+                }   
+                    
             });
 
         }

SmartClient.sln

@@ -96,7 +96,9 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkT_HQ", "
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "DosingSystem", "DosingSystem\DosingSystem.csproj", "{4E0B01AD-CFD0-4BD5-BBE6-AD2A4183B4DB}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkTJuicer", "BPASmartClient.MorkTJuicer\BPASmartClient.MorkTJuicer.csproj", "{724087A3-E7E7-4494-B844-414FF5CD1D40}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkTJuicer", "BPASmartClient.MorkTJuicer\BPASmartClient.MorkTJuicer.csproj", "{724087A3-E7E7-4494-B844-414FF5CD1D40}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.AGV", "BPASmartClient.AGV\BPASmartClient.AGV.csproj", "{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -892,6 +894,26 @@ Global
 		{724087A3-E7E7-4494-B844-414FF5CD1D40}.Release|x64.Build.0 = Release|Any CPU
 		{724087A3-E7E7-4494-B844-414FF5CD1D40}.Release|x86.ActiveCfg = Release|Any CPU
 		{724087A3-E7E7-4494-B844-414FF5CD1D40}.Release|x86.Build.0 = Release|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Debug|ARM.Build.0 = Debug|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Debug|ARM64.Build.0 = Debug|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Debug|x64.Build.0 = Debug|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Debug|x86.Build.0 = Debug|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|Any CPU.Build.0 = Release|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|ARM.ActiveCfg = Release|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|ARM.Build.0 = Release|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|ARM64.ActiveCfg = Release|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|ARM64.Build.0 = Release|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|x64.ActiveCfg = Release|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|x64.Build.0 = Release|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|x86.ActiveCfg = Release|Any CPU
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -936,6 +958,7 @@ Global
 		{00C17D87-A323-4A97-BC21-7039E55614DE} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
 		{4E0B01AD-CFD0-4BD5-BBE6-AD2A4183B4DB} = {8712125E-14CD-4E1B-A1CE-4BDE03805942}
 		{724087A3-E7E7-4494-B844-414FF5CD1D40} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
+		{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8} = {3D1D0E04-03FD-480A-8CF8-6E01A2E28625}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {9AEC9B81-0222-4DE9-B642-D915C29222AC}