queryStatusController.cs
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using DeviceLib.WebApi.Schemas;
using DeviceLibrary;
using DeviceLibrary.AGVService.Schemas;
using log4net.Util;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Web.Http;
using WebApi.Schemas;
namespace WebApi.Controllers
{
[RoutePrefix("api")]
public class queryStatusController : ApiController
{
[HttpGet]
public Result_20861 Get([FromBody] InParam_20861 body)
{
Result_20861 result = new Result_20861();
try
{
var cid = body.cid;
{
if (string.IsNullOrEmpty(cid))
{
result.code = 202;
result.status = "cid is empty";
}
else
{
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";
}
//IS_RECEIVING 正在接收料串
//HAS_STACKER 有料串
//IS_DELIVERING 正在出料串
//EMPTY 无料串
//Error 错误
switch (body.cid)
{
case "B1"://NS200入料口上料任务
if (RobotManage.mainMachine.RightMoveInfo.IsStep(MoveStep.Wait))
{
if (RobotManage.mainMachine.IOValue(IO_Type.RightFornt_Check).Equals(IO_VALUE.HIGH)
|| RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
result.status = "HAS_STACKER";
}
else
{
result.status = "EMPTY";
}
}
else
{
if (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R40_InShelf)
{
result.code = 0;
result.status = "IS_RECEIVING";
}
else if (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R30_OutShelf)
{
result.code = 0;
result.status = "IS_DELIVERING";
}
else if (RobotManage.mainMachine.IOValue(IO_Type.RightFornt_Check).Equals(IO_VALUE.HIGH)
|| RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
result.status = "HAS_STACKER";
}
else
{
result.status = "EMPTY";
}
//{
// result.code = 203;
// result.status = "Error";
//}
}
break;
case "B2"://NS200出料口上料任务
if (RobotManage.mainMachine.LeftMoveInfo.IsStep(MoveStep.Wait))
{
if (RobotManage.mainMachine.IOValue(IO_Type.LeftFornt_Check).Equals(IO_VALUE.HIGH)
|| RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
{
result.status = "HAS_STACKER";
}
else
{
result.status = "EMPTY";
}
}
else
{
if (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L60_InShelf)
{
result.code = 0;
result.status = "IS_RECEIVING";
}
else if (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L50_OutShelf)
{
result.code = 0;
result.status = "IS_DELIVERING";
}
else
{
result.code = 203;
result.status = "Error";
}
}
break;
}
}
}
}
catch (Exception ex)
{
result.code = 204;
result.status = $"parse error：{ex.Message}";
LogUtil.error("QueryStatus", ex);
}
return result;
}
}
}