stopRollerController.cs
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using DeviceLibrary;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Security.Cryptography;
using System.Web.Http;
using WebApi.Schemas;
namespace WebApi.Controllers
{
[RoutePrefix("api")]
public class stopRollerController : ApiController
{
[HttpPost]
public Result_20861 Get([FromBody] InParam_20861 body)
{
Result_20861 result = new Result_20861();
try
{
var requestData = body;
if (string.IsNullOrEmpty(requestData.cid))
{
result.code = 202;
result.status = "cid is empty";
}
else
{
//IDLE
//ERROR
if (body.cid.Equals("B1") || body.cid.Equals("B2"))
{
if (!RobotManage.isRunning)
{
result.code = 201;
result.status = crc.GetString("Res0079", "机器尚未启动不能呼叫Agv");
return result;
}
}
else
{
result.code = -1;
result.status = $" cid {body.cid} not exist";
}
switch (body.cid)
{
case "B1"://NS200入料口上料任务
if (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R40_InShelf)
{
result.code = 201;
result.status = crc.GetString("Res0109.d647c69c", "入料口正在进料");
}
else if (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R30_OutShelf)
{
result.code = 202;
result.status = crc.GetString("Res0110.97f61551", "入料口正在出料");
}
else
{
RobotManage.mainMachine.IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH, false, 500);
RobotManage.mainMachine.RightMoveInfo.log($"电滚停止");
result.status = "IDLE";
}
break;
case "B2"://NS200出料口上料任务
if (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L60_InShelf)
{
result.code = 201;
result.status = crc.GetString("Res0113.15f652b4", "出料口正在入料");
}
else if (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L50_OutShelf)
{
result.code = 202;
result.status = crc.GetString("Res0114.b6a35f01", "出料口正在出料");
}
else
{
RobotManage.mainMachine.IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH, false, 500);
RobotManage.mainMachine.LeftMoveInfo.log($"电滚停止");
result.status = "IDLE";
}
break;
}
}
LogUtil.info($"AGV请求 滚筒停止：【{JsonHelper.SerializeObject(body)} 】【 {JsonHelper.SerializeObject(result)}】");
}
catch (Exception ex)
{
result.code = 204;
result.status = $"parse error：{ex.Message}";
LogUtil.error("stopRoller", ex);
}
return result;
}
}
}