chore: initial commit

Interface_WebAPI/SlMesDbIterface/WebAPI/AGV/AGV_BusinessLogic.cs

@@ -0,0 +1,428 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Configuration;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+using ExternalDataSync;
+using MesServerWork;
+using MisDataSaveDate;
+using System.Net.Http;
+using System.Web.Http;
+using MisDataSaveDate.MOM;
+using System.Data.SqlClient;
+using static MisDataSaveDate.Helper.ApiLogHelper;
+using MisDataSaveDate.Helper;
+using WebApi;
+using System.Security.Policy;
+using System.Data;
+using MisDataFunDll;
+using System.Reflection.Emit;
+
+namespace MisDataSaveDate
+{
+    /// <summary>
+    /// AGV业务处理类
+    /// </summary>
+    public class AGV_BusinessLogic
+    {
+        static string agvBaseUrl = ConfigurationManager.AppSettings["AGV_BaseUrl"];
+
+        /// <summary>
+        /// 处理AGV进入请求业务逻辑
+        /// </summary>
+        /// <param name="url">接口URL</param>
+        /// <param name="jobj">AGV请求数据</param>
+        /// <returns>处理结果</returns>
+        public static string ProcessAGVEnterRequest(string url, [FromBody] JObject jobj)
+        {
+            var result = new AGV_Response();
+            result.code = "0";
+            result.message = "";
+            result.reqCode = "";
+            string errorMessage = "";
+
+            if (jobj == null)
+            {
+                result.code = "1";
+                result.message = "参数格式不正确！";
+                result.reqCode = "";
+                string retString1 = JsonConvert.SerializeObject(result);
+                SaveMesLog("AGV进入请求", "参数格式不正确！", MesLogType.ERROR);
+                MyLog4Net.MyLogHelper.Info("AGV请求进入接口res:", retString1);
+                return retString1;
+            }
+
+            string str = jobj.ToString();
+            //存储请求日志
+            SaveLog_Interface_Request(url, 2, str, out int AID);
+
+            try
+            {
+                // 解析AGV请求内容
+                AGV_EnterRequest enterRequest = JsonConvert.DeserializeObject<AGV_EnterRequest>(str);
+
+                // 必填字段校验
+                if (string.IsNullOrWhiteSpace(enterRequest.reqCode))
+                {
+                    throw new Exception("请求编号(reqCode)不能为空");
+                }
+
+                if (string.IsNullOrWhiteSpace(enterRequest.reqTime))
+                {
+                    throw new Exception("请求时间戳(reqTime)不能为空");
+                }
+
+                if (string.IsNullOrWhiteSpace(enterRequest.currentPositionCode))
+                {
+                    throw new Exception("当前位置编号(currentPositionCode)不能为空");
+                }
+
+                if (string.IsNullOrWhiteSpace(enterRequest.method))
+                {
+                    throw new Exception("方法名(method)不能为空");
+                }
+
+                if (string.IsNullOrWhiteSpace(enterRequest.robotCode))
+                {
+                    throw new Exception("AGV编号(robotCode)不能为空");
+                }
+
+                if (string.IsNullOrWhiteSpace(enterRequest.taskCode))
+                {
+                    throw new Exception("任务编号(taskCode)不能为空");
+                }
+
+                string method = enterRequest.method.Trim().ToLower();
+                if (method != "apply" && method != "release" && method != "lower" && method != "raise")
+                {
+                    throw new Exception($"不支持的method：{enterRequest.method}");
+                }
+
+                //enterRequest.currentPositionCode = RemoveTrailingZero(enterRequest.currentPositionCode);
+
+                // 调用存储过程保存AGV请求数据
+                var param = new SqlParameter[] {
+                    new SqlParameter("@reqCode", enterRequest.reqCode ?? ""),
+                    new SqlParameter("@reqTime", enterRequest.reqTime ?? ""),
+                    new SqlParameter("@cooX", enterRequest.cooX ?? ""),
+                    new SqlParameter("@cooY", enterRequest.cooY ?? ""),
+                    new SqlParameter("@currentPositionCode", enterRequest.currentPositionCode ?? ""),
+                    new SqlParameter("@data", ""),// enterRequest.data ??
+                    new SqlParameter("@mapCode", enterRequest.mapCode ?? ""),
+                    new SqlParameter("@mapDataCode", enterRequest.mapDataCode ?? ""),
+                    new SqlParameter("@stgBinCode", enterRequest.stgBinCode ?? ""),
+                    new SqlParameter("@method", method),
+                    new SqlParameter("@podCode", enterRequest.podCode ?? ""),
+                    new SqlParameter("@podDir", enterRequest.podDir ?? ""),
+                    new SqlParameter("@materialLot", enterRequest.materialLot ?? ""),
+                    new SqlParameter("@robotCode", enterRequest.robotCode ?? ""),
+                    new SqlParameter("@taskCode", enterRequest.taskCode ?? ""),
+                    new SqlParameter("@wbCode", enterRequest.wbCode ?? ""),
+                    new SqlParameter("@ctnrCode", enterRequest.ctnrCode ?? ""),
+                    new SqlParameter("@ctnrType", enterRequest.ctnrType ?? ""),
+                    new SqlParameter("@roadWayCode", enterRequest.roadWayCode ?? ""),
+                    new SqlParameter("@seq", enterRequest.seq ?? ""),
+                    new SqlParameter("@eqpCode", enterRequest.eqpCode ?? "")
+                };
+
+                // 这里定义AGV返回的位置 - 从currentPositionCode获取并去掉尾部_1后缀
+                string OpCode = "";
+                try
+                {
+                    // 从请求的currentPositionCode字段获取位置码
+                    string currentPositionCode = enterRequest.currentPositionCode?.ToString() ?? "";
+                    if (!string.IsNullOrEmpty(currentPositionCode))
+                    {
+                        // 去掉尾部的_1后缀，保留前面的库位号
+                        int lastUnderscoreIndex = currentPositionCode.LastIndexOf('_');
+                        if (lastUnderscoreIndex > 0)
+                        {
+                            OpCode = currentPositionCode.Substring(0, lastUnderscoreIndex);
+                        }
+                        else
+                        {
+                            // 如果没有下划线，直接使用原值
+                            OpCode = currentPositionCode;
+                        }
+                    }
+
+                    // 如果从currentPositionCode获取不到，使用wbCode作为备用
+                    if (string.IsNullOrEmpty(OpCode))
+                    {
+                        OpCode = enterRequest.wbCode?.ToString() ?? "";
+                    }
+                }
+                catch (Exception ex)
+                {
+                    // 解析失败时使用wbCode作为备用
+                    OpCode = enterRequest.wbCode?.ToString() ?? "";
+                    SaveMesLog("AGV进入请求", $"解析currentPositionCode失败，使用wbCode作为备用：{ex.Message}", MesLogType.WARNING);
+                }
+
+                // 跟新Moby表 AGV进入离开、下降举升状态
+                MisDataFun.Location_MIS_MOBY_Insert(OpCode, method, "1");
+
+                // 执行存储过程
+                DataLinkMesWork2.DataAccess2.ExecuteStoredProcedure("AGV_光栅请求记录_增加", ref param, out errorMessage);
+
+                switch (method)
+                {
+                    case "apply":
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "inReq", enterRequest.reqCode);
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "inTask", enterRequest.taskCode);
+                        MisDataFun.Rrunning_AGV_Arrive(OpCode); // 磨合AGV到达
+                        MIS_BASE.WritePLC(301, OpCode, true); // 请求进入
+                        SaveMesLog(OpCode, $"AGV请求进入成功：工位{OpCode}", MesLogType.INFO);
+                        break;
+                    case "release": // 离开在收到后反馈回去 发给PLC
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "outReq", enterRequest.reqCode);
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "outTask", enterRequest.taskCode);
+                        MisDataFun.Rrunning_AGV_Leave(OpCode); // 磨合AGV离开
+                        // 读取一下上一个请求进入的工件编号~~~ 然后传过去 找对应的
+                        //bool agvOutResult = PassAgvInOut(OpCode, "", "release"); // 通知AGV可以离开
+                        //if (!agvOutResult)
+                        //{
+                        //    errorMessage = $"AGV离开通知失败：工位{OpCode}";
+                        //    SaveMesLog("AGV进入请求", errorMessage, "error");
+                        //}
+                        SaveMesLog(OpCode, $"AGV离开通知成功：工位{OpCode}", MesLogType.INFO);
+                        MIS_BASE.WritePLC(301, OpCode, false); // 请求进入
+                        // AGV已离开 - 通知PLC
+                        MIS_BASE.WritePLC(303, OpCode, true);
+                        MIS_BASE.WritePLC(302, OpCode, false); // 托盘到位 器具放置完毕 请求扫描器具码
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "AllowAGVLeave", "1");
+                        break;
+                    case "lower":
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "lowerReq", enterRequest.reqCode);
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "lowerTask", enterRequest.taskCode);
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "当前状态", "AGV请求下降");
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "备注", $"lowerReq={enterRequest.reqCode};lowerTask={enterRequest.taskCode}");
+                        MIS_BASE.WritePLC(500, OpCode, true); // AGV请求下降
+                        SaveMesLog(OpCode, $"AGV请求下降成功：工位{OpCode}", MesLogType.INFO);
+                        break;
+                    case "raise":
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "raiseReq", enterRequest.reqCode);
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "raiseTask", enterRequest.taskCode);
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "当前状态", "AGV请求举升");
+                        MisDataFun.Location_MIS_MOBY_Insert(OpCode, "备注", $"raiseReq={enterRequest.reqCode};raiseTask={enterRequest.taskCode}");
+                        MIS_BASE.WritePLC(501, OpCode, true); // AGV请求举升
+                        SaveMesLog(OpCode, $"AGV请求举升成功：工位{OpCode}", MesLogType.INFO);
+                        break;
+                    default:
+                        break;
+                }
+
+
+                if (!string.IsNullOrEmpty(errorMessage))
+                {
+                    result.code = "500";
+                    result.message = "AGV请求处理失败";
+                    result.reqCode = enterRequest.reqCode;
+                    SaveMesLog("AGV进入请求", errorMessage, MesLogType.ERROR);
+                }
+                else
+                {
+                    result.code = "0";
+                    result.message = "";
+                    result.reqCode = enterRequest.reqCode;
+                }
+            }
+            catch (Exception err)
+            {
+                // 记录错误日志
+                SaveMesLog("AGV进入请求", err.Message, MesLogType.ERROR);
+
+                result.code = "1";
+                result.message = err.Message;
+
+                // 尝试从请求中获取reqCode
+                try
+                {
+                    AGV_EnterRequest tempRequest = JsonConvert.DeserializeObject<AGV_EnterRequest>(str);
+                    result.reqCode = tempRequest?.reqCode ?? "";
+                }
+                catch
+                {
+                    result.reqCode = "";
+                }
+            }
+
+            string retString = JsonConvert.SerializeObject(result);
+            // 存储响应日志
+            SaveLog_Interface_Response(retString, AID);
+            MyLog4Net.MyLogHelper.Info("AGV请求进入接口res:", retString);
+            return retString;
+        }
+
+        public static string RemoveTrailingZero(string input)
+        {
+            if (input != null && input.Contains("-0") && input.Length >= 3)
+            {
+                int dashIndex = input.LastIndexOf("-0");
+                if (dashIndex > 0 && dashIndex == input.Length - 3) // 确保是最后的-0x格式
+                {
+                    return input.Remove(dashIndex + 1, 1); // 去掉"-0"中的0
+                }
+            }
+            return input;
+        }
+
+        /// <summary>
+        /// 发送AGV任务继续执行请求（允许进入、离开、下降或举升）
+        /// </summary>
+        /// <param name="opName">工位号</param>
+        /// <param name="engineID">工件编号</param>
+        /// <param name="type">任务类型</param>
+        /// <returns>操作是否成功</returns>
+        public static bool PassAgvInOut(string opName, string engineID, string type)
+        {
+            try
+            {
+                // 其实没有用 engineID 这玩意正常本工位获取不到
+
+                // 调用存储过程获取AGV任务数据
+                var param = new SqlParameter[] {
+                    new SqlParameter("@opName", opName),
+                    new SqlParameter("@engineID", engineID),
+                    new SqlParameter("@type", type)
+                };
+                DataLinkMesWork2.DataAccess2.ExecuteStoredProcedure("AGV_允许进入离开_查询", ref param, out DataTable dtResult, out string errMessage);
+
+                if (dtResult == null || dtResult.Rows.Count == 0)
+                {
+                    SaveMesLog(opName, $"获取AGV任务数据失败：工位号={opName}, 工件编号={engineID}, 任务类型={type}, 错误信息={errMessage}", MesLogType.ERROR);
+                    return false;
+                }
+
+                // 从数据库获取请求编号和任务号
+                string reqCode = dtResult.Rows[0]["reqCode"].ToString();
+                string taskCode = dtResult.Rows[0]["taskCode"].ToString();
+
+                // 构造AGV反馈请求对象
+                AGV_FeedbackRequest agvFeedbackRequest = new AGV_FeedbackRequest()
+                {
+                    reqCode = reqCode,
+                    taskCode = taskCode
+                };
+
+                // 获取AGV接口地址并发送请求
+                string interfaceUrl = agvBaseUrl.TrimEnd('/') + "/rcms/services/rest/hikRpcService/continueTask";
+                string jsonStr = JsonConvert.SerializeObject(agvFeedbackRequest);
+
+                //存储请求日志
+                SaveLog_Interface_Request(interfaceUrl, 1, jsonStr, out int AID);
+
+                string resultStr = "";
+                try
+                {
+                    resultStr = Post.Post_Auto(interfaceUrl, jsonStr);
+                }
+                catch (Exception httpEx)
+                {
+                    SaveMesLog(opName, $"AGV接口HTTP请求异常：工位号={opName}, 工件编号={engineID}, 任务类型={type}, 异常信息={httpEx.Message}", MesLogType.ERROR);
+                    // 存储响应日志
+                    SaveLog_Interface_Response($"HTTP请求异常：{httpEx.Message}", AID);
+                    return false;
+                }
+
+                // 存储响应日志
+                SaveLog_Interface_Response(resultStr, AID);
+
+                // 解析响应结果
+                if (string.IsNullOrWhiteSpace(resultStr))
+                {
+                    SaveMesLog(opName, "AGV接口返回空响应", MesLogType.ERROR);
+                    return false;
+                }
+
+                // 检查是否为Post.Post_Auto返回的错误格式
+                try
+                {
+                    JObject tempResult = JsonConvert.DeserializeObject<JObject>(resultStr);
+                    if (tempResult != null && tempResult["code"] != null && tempResult["code"].ToString() == "500")
+                    {
+                        string errorMsg = tempResult["message"]?.ToString() ?? "HTTP请求异常";
+                        SaveMesLog(opName, $"AGV接口HTTP异常：工位号={opName}, 工件编号={engineID}, 任务类型={type}, 错误信息={errorMsg}", MesLogType.ERROR);
+                        return false;
+                    }
+                }
+                catch
+                {
+                    // 如果不是标准JSON格式，继续后续处理
+                }
+
+                AGV_Response result = JsonConvert.DeserializeObject<AGV_Response>(resultStr);
+                if (result == null)
+                {
+                    SaveMesLog(opName, "AGV接口返回数据格式错误", MesLogType.ERROR);
+                    return false;
+                }
+
+                // 检查AGV返回码
+                string code = result.code?.ToString();
+                if (code != "0")
+                {
+                    string message = result.message?.ToString() ?? "未知错误";
+                    SaveMesLog(opName, $"允许AGV光栅请求失败：工位号={opName}, 工件编号={engineID}, 任务类型={type}, code={code}, message={message}", MesLogType.ERROR);
+                    return false;
+                }
+
+                // 请求成功后调用存储过程更新送料状态
+                var updateParam = new SqlParameter[] {
+                    new SqlParameter("@opName", opName),
+                    new SqlParameter("@engineID", engineID),
+                    new SqlParameter("@reqCode", reqCode),
+                    new SqlParameter("@taskCode", taskCode)
+                };
+                DataLinkMesWork2.DataAccess2.ExecuteStoredProcedure("AGV_光栅请求记录_允许", ref updateParam, out string updateErrMessage);
+
+                if (!string.IsNullOrEmpty(updateErrMessage))
+                {
+                    SaveMesLog(opName, $"允许AGV光栅请求失败：工位号={opName}, 工件编号={engineID}, 任务类型={type}, 异常信息={updateErrMessage}", MesLogType.ERROR);
+                    return false;
+                }
+
+
+                // 根据任务类型进行后续操作
+                if (type == "apply")
+                {
+                    // AGV已进入
+                    MisDataFun.Location_MIS_MOBY_Insert(opName, "AllowAGVEnter", "1");
+                }
+                else if (type == "release")
+                {
+                    // AGV已离开 - 通知PLC
+                    MIS_BASE.WritePLC(301, opName, false); // 请求进入
+                    MIS_BASE.WritePLC(303, opName, true);
+                    MisDataFun.Location_MIS_MOBY_Insert(opName, "AllowAGVLeave", "1");
+                }
+                else if (type == "lower")
+                {
+                    // AGV允许下降
+                    MIS_BASE.WritePLC(500, opName, false); // AGV请求下降
+                    MisDataFun.Location_MIS_MOBY_Insert(opName, "AllowAGVLower", "1");
+                    MisDataFun.Location_MIS_MOBY_Insert(opName, "当前状态", "允许AGV下降");
+                }
+                else if (type == "raise")
+                {
+                    // AGV允许举升
+                    MIS_BASE.WritePLC(501, opName, false); // AGV请求举升
+                    MisDataFun.Location_MIS_MOBY_Insert(opName, "AllowAGVRaise", "1");
+                    MisDataFun.Location_MIS_MOBY_Insert(opName, "当前状态", "允许AGV举升");
+                }
+
+                SaveMesLog(opName, $"允许AGV光栅请求成功：工件编号={engineID}, 请求编号={reqCode}, 任务号={taskCode}, 工位号={opName}, 任务类型={type}", MesLogType.INFO);
+                return true;
+            }
+            catch (Exception ex)
+            {
+                SaveMesLog(opName, $"允许AGV光栅请求失败：工位号={opName}, 工件编号={engineID}, 任务类型={type}, 异常信息={ex.Message}", MesLogType.ERROR);
+                return false;
+            }
+        }
+    }
+}
+

Interface_WebAPI/SlMesDbIterface/WebAPI/AGV/AGV_Models.cs

@@ -0,0 +1,164 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using Newtonsoft.Json.Linq;
+
+namespace MisDataSaveDate
+{
+    /// <summary>
+    /// AGV进入请求实体类
+    /// </summary>
+    public class AGV_EnterRequest
+    {
+        /// <summary>
+        /// 请求编号，每个请求都要一个唯一编号，同一个请求重复提交，使用同一编号
+        /// </summary>
+        public string reqCode { get; set; }
+
+        /// <summary>
+        /// 请求时间戳，格式: "yyyy-MM-dd HH:mm:ss"
+        /// </summary>
+        public string reqTime { get; set; }
+
+        /// <summary>
+        /// 地码 X 坐标(mm)：任务完成时有值
+        /// </summary>
+        public string cooX { get; set; }
+
+        /// <summary>
+        /// 地码 Y 坐标(mm)：任务完成时有值
+        /// </summary>
+        public string cooY { get; set; }
+
+        /// <summary>
+        /// 当前位置编号
+        /// </summary>
+        public string currentPositionCode { get; set; }
+
+        /// <summary>
+        /// 自定义字段，不超过2000个字符
+        /// </summary>
+        public object data { get; set; }
+
+        /// <summary>
+        /// 地图编号
+        /// </summary>
+        public string mapCode { get; set; }
+
+        /// <summary>
+        /// 地码编号：任务完成时有值
+        /// </summary>
+        public string mapDataCode { get; set; }
+
+        /// <summary>
+        /// 仓位编号：叉车与CTU任务时有值
+        /// </summary>
+        public string stgBinCode { get; set; }
+
+        /// <summary>
+        /// 方法名, apply: 申请进入；release：申请离开
+        /// </summary>
+        public string method { get; set; }
+
+        /// <summary>
+        /// 货架编号：背货架时有值
+        /// </summary>
+        public string podCode { get; set; }
+
+        /// <summary>
+        /// "180","0","90","-90" 分别对应地图的"左","右","上","下"：任务完成时有值
+        /// </summary>
+        public string podDir { get; set; }
+
+        /// <summary>
+        /// 物料编号
+        /// </summary>
+        public string materialLot { get; set; }
+
+        /// <summary>
+        /// AGV编号（同 agvCode）
+        /// </summary>
+        public string robotCode { get; set; }
+
+        /// <summary>
+        /// 当前任务单号
+        /// </summary>
+        public string taskCode { get; set; }
+
+        /// <summary>
+        /// 工作位，与RCS-2000端配置的位置名称一致。任务完成时有值，与生成任务单接口中的wbCode一致
+        /// </summary>
+        public string wbCode { get; set; }
+
+        /// <summary>
+        /// 容器编号
+        /// </summary>
+        public string ctnrCode { get; set; }
+
+        /// <summary>
+        /// 容器类型
+        /// </summary>
+        public string ctnrType { get; set; }
+
+        /// <summary>
+        /// 巷道编号
+        /// </summary>
+        public string roadWayCode { get; set; }
+
+        /// <summary>
+        /// 巷道内顺序号，巷道尾是0，到巷道头依次递增1
+        /// </summary>
+        public string seq { get; set; }
+
+        /// <summary>
+        /// 设备编号，如梳齿式工作站、输送线等，一般使用于CTU场景。系统根据仓位定位到关联的设备编号
+        /// </summary>
+        public string eqpCode { get; set; }
+    }
+
+    /// <summary>
+    /// AGV请求反馈实体类
+    /// </summary>
+    public class AGV_FeedbackRequest
+    {
+        /// <summary>
+        /// 请求编号
+        /// </summary>
+        public string reqCode { get; set; }
+        
+        /// <summary>
+        /// 任务单号
+        /// </summary>
+        public string taskCode { get; set; }
+    }
+
+    /// <summary>
+    /// AGV接口通用响应类
+    /// </summary>
+    public class AGV_Response
+    {
+        /// <summary>
+        /// 返回码 "0"表示成功
+        /// </summary>
+        public string code { get; set; }
+        
+        /// <summary>
+        /// 返回消息
+        /// </summary>
+        public string message { get; set; }
+        
+        /// <summary>
+        /// 请求编号
+        /// </summary>
+        public string reqCode { get; set; }
+
+        public AGV_Response()
+        {
+            code = "0";
+            message = "成功";
+            reqCode = "";
+        }
+    }
+}

Interface_WebAPI/SlMesDbIterface/WebAPI/AGV/ZZAGV_BusinessLogic.cs

@@ -0,0 +1,200 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Configuration;
+using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
+using MisDataSaveDate;
+using System.Web.Http;
+using static MisDataSaveDate.Helper.ApiLogHelper;
+using MisDataSaveDate.Helper;
+
+namespace MisDataSaveDate
+{
+    /// <summary>
+    /// 西开 AGV 业务处理类
+    /// 处理 AGV -> MES 的接收请求
+    /// </summary>
+    public class ZZAGV_BusinessLogic
+    {
+        /// <summary>
+        /// 处理状态更新请求（到达/离开）
+        /// </summary>
+        /// <param name="url">接口URL</param>
+        /// <param name="jobj">请求数据</param>
+        /// <returns>处理结果 JSON 字符串</returns>
+        public static string ProcessStatusUpdate(string url, [FromBody] JObject jobj)
+        {
+            var result = ZZAGV_Response.Success();
+            string str = jobj?.ToString() ?? "";
+
+            // 存储请求日志
+            SaveLog_Interface_Request(url, 2, str, out int AID);
+
+            try
+            {
+                if (jobj == null)
+                {
+                    throw new Exception("请求参数不能为空");
+                }
+
+                ZZAGV_StatusUpdateRequest request = JsonConvert.DeserializeObject<ZZAGV_StatusUpdateRequest>(str);
+
+                // 参数校验
+                if (string.IsNullOrWhiteSpace(request.position))
+                {
+                    throw new Exception("工位编号(position)不能为空");
+                }
+
+                string typeDesc = request.type == 1 ? "到达" : (request.type == 2 ? "离开" : "未知");
+                SaveMesLog("ZZAGV_StatusUpdate", $"AGV状态更新：工位={request.position}, 类型={typeDesc}, AGV={request.agvid}, 物料={request.materialCode}", MesLogType.INFO);
+
+                // TODO: 后续业务逻辑在此添加
+
+            }
+            catch (Exception ex)
+            {
+                result = ZZAGV_Response.Fail(1, ex.Message);
+                SaveMesLog("ZZAGV_StatusUpdate", $"处理异常：{ex.Message}", MesLogType.ERROR);
+            }
+
+            string retString = JsonConvert.SerializeObject(result);
+            SaveLog_Interface_Response(retString, AID);
+            return retString;
+        }
+
+        /// <summary>
+        /// 处理动作完成请求（举升/下降）
+        /// </summary>
+        /// <param name="url">接口URL</param>
+        /// <param name="jobj">请求数据</param>
+        /// <returns>处理结果 JSON 字符串</returns>
+        public static string ProcessActionComplete(string url, [FromBody] JObject jobj)
+        {
+            var result = ZZAGV_Response.Success();
+            string str = jobj?.ToString() ?? "";
+
+            // 存储请求日志
+            SaveLog_Interface_Request(url, 2, str, out int AID);
+
+            try
+            {
+                if (jobj == null)
+                {
+                    throw new Exception("请求参数不能为空");
+                }
+
+                ZZAGV_ActionCompleteRequest request = JsonConvert.DeserializeObject<ZZAGV_ActionCompleteRequest>(str);
+
+                // 参数校验
+                if (string.IsNullOrWhiteSpace(request.position))
+                {
+                    throw new Exception("工位编号(position)不能为空");
+                }
+
+                string typeDesc = request.type == 1 ? "举升完成" : (request.type == 2 ? "下降完成" : "未知");
+                SaveMesLog("ZZAGV_ActionComplete", $"AGV动作完成：工位={request.position}, 类型={typeDesc}", MesLogType.INFO);
+
+                // TODO: 后续业务逻辑在此添加
+
+            }
+            catch (Exception ex)
+            {
+                result = ZZAGV_Response.Fail(1, ex.Message);
+                SaveMesLog("ZZAGV_ActionComplete", $"处理异常：{ex.Message}", MesLogType.ERROR);
+            }
+
+            string retString = JsonConvert.SerializeObject(result);
+            SaveLog_Interface_Response(retString, AID);
+            return retString;
+        }
+
+        /// <summary>
+        /// 处理故障/报警推送请求
+        /// </summary>
+        /// <param name="url">接口URL</param>
+        /// <param name="jobj">请求数据</param>
+        /// <returns>处理结果 JSON 字符串</returns>
+        public static string ProcessAlarmPush(string url, [FromBody] JObject jobj)
+        {
+            var result = ZZAGV_Response.Success();
+            string str = jobj?.ToString() ?? "";
+
+            // 存储请求日志
+            SaveLog_Interface_Request(url, 2, str, out int AID);
+
+            try
+            {
+                if (jobj == null)
+                {
+                    throw new Exception("请求参数不能为空");
+                }
+
+                ZZAGV_AlarmPushRequest request = JsonConvert.DeserializeObject<ZZAGV_AlarmPushRequest>(str);
+
+                string typeDesc = request.type == 1 ? "AGV故障" : (request.type == 2 ? "区域故障" : "未知");
+                SaveMesLog("ZZAGV_AlarmPush", $"AGV故障推送：类型={typeDesc}, AGV={request.agvNo}, 故障码={request.errorCode}, 信息={request.errorMsg}", MesLogType.WARNING);
+
+                // TODO: 后续业务逻辑在此添加
+
+            }
+            catch (Exception ex)
+            {
+                result = ZZAGV_Response.Fail(1, ex.Message);
+                SaveMesLog("ZZAGV_AlarmPush", $"处理异常：{ex.Message}", MesLogType.ERROR);
+            }
+
+            string retString = JsonConvert.SerializeObject(result);
+            SaveLog_Interface_Response(retString, AID);
+            return retString;
+        }
+
+        /// <summary>
+        /// 处理任务执行结果请求
+        /// </summary>
+        /// <param name="url">接口URL</param>
+        /// <param name="jobj">请求数据</param>
+        /// <returns>处理结果 JSON 字符串</returns>
+        public static string ProcessTaskResult(string url, [FromBody] JObject jobj)
+        {
+            var result = ZZAGV_Response.Success();
+            string str = jobj?.ToString() ?? "";
+
+            // 存储请求日志
+            SaveLog_Interface_Request(url, 2, str, out int AID);
+
+            try
+            {
+                if (jobj == null)
+                {
+                    throw new Exception("请求参数不能为空");
+                }
+
+                ZZAGV_TaskResultRequest request = JsonConvert.DeserializeObject<ZZAGV_TaskResultRequest>(str);
+
+                // 参数校验
+                if (string.IsNullOrWhiteSpace(request.requestTaskId))
+                {
+                    throw new Exception("任务ID(requestTaskId)不能为空");
+                }
+
+                string statusDesc = request.status == "success" ? "成功" : "失败";
+                SaveMesLog("ZZAGV_TaskResult", $"AGV任务结果：任务ID={request.requestTaskId}, 状态={statusDesc}, AGV={request.agvNo}, 消息={request.message}", MesLogType.INFO);
+
+                // TODO: 后续业务逻辑在此添加
+
+            }
+            catch (Exception ex)
+            {
+                result = ZZAGV_Response.Fail(1, ex.Message);
+                SaveMesLog("ZZAGV_TaskResult", $"处理异常：{ex.Message}", MesLogType.ERROR);
+            }
+
+            string retString = JsonConvert.SerializeObject(result);
+            SaveLog_Interface_Response(retString, AID);
+            return retString;
+        }
+    }
+}

Interface_WebAPI/SlMesDbIterface/WebAPI/AGV/ZZAGV_Models.cs

@@ -0,0 +1,221 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace MisDataSaveDate
+{
+    #region AGV -> MES 接收请求模型
+
+    /// <summary>
+    /// 状态更新请求（到达/离开）
+    /// AGV 到达或离开工位时通知 MES
+    /// </summary>
+    public class ZZAGV_StatusUpdateRequest
+    {
+        /// <summary>
+        /// 工位编号
+        /// </summary>
+        public string position { get; set; }
+
+        /// <summary>
+        /// 类型：1-到达，2-离开
+        /// </summary>
+        public int type { get; set; }
+
+        /// <summary>
+        /// 物料编码/产品编码
+        /// </summary>
+        public string materialCode { get; set; }
+
+        /// <summary>
+        /// AGV车号
+        /// </summary>
+        public string agvid { get; set; }
+    }
+
+    /// <summary>
+    /// 动作完成请求（举升/下降）
+    /// AGV 完成托盘举升或下降动作后通知 MES
+    /// </summary>
+    public class ZZAGV_ActionCompleteRequest
+    {
+        /// <summary>
+        /// 工位编号
+        /// </summary>
+        public string position { get; set; }
+
+        /// <summary>
+        /// 类型：1-举升完成，2-下降完成
+        /// </summary>
+        public int type { get; set; }
+    }
+
+    /// <summary>
+    /// 故障/报警推送请求
+    /// AGV 上报故障或区域故障
+    /// </summary>
+    public class ZZAGV_AlarmPushRequest
+    {
+        /// <summary>
+        /// AGV车号
+        /// </summary>
+        public string agvNo { get; set; }
+
+        /// <summary>
+        /// 故障代码
+        /// </summary>
+        public string errorCode { get; set; }
+
+        /// <summary>
+        /// 故障信息
+        /// </summary>
+        public string errorMsg { get; set; }
+
+        /// <summary>
+        /// 故障类型：1-AGV故障，2-区域故障
+        /// </summary>
+        public int type { get; set; }
+    }
+
+    /// <summary>
+    /// 任务执行结果请求
+    /// AGV 告知 MES 任务是否执行成功
+    /// </summary>
+    public class ZZAGV_TaskResultRequest
+    {
+        /// <summary>
+        /// 任务唯一ID（与下发任务时的 requestTaskId 对应）
+        /// </summary>
+        public string requestTaskId { get; set; }
+
+        /// <summary>
+        /// 执行状态：success-成功，fail-失败
+        /// </summary>
+        public string status { get; set; }
+
+        /// <summary>
+        /// AGV车号
+        /// </summary>
+        public string agvNo { get; set; }
+
+        /// <summary>
+        /// 失败原因（成功时为空）
+        /// </summary>
+        public string message { get; set; }
+    }
+
+    #endregion
+
+    #region MES -> AGV 发送请求模型
+
+    /// <summary>
+    /// 下发任务请求
+    /// MES 给 AGV 下发搬运任务
+    /// </summary>
+    public class ZZAGV_AddTaskRequest
+    {
+        /// <summary>
+        /// 任务唯一ID（由 MES 生成）
+        /// </summary>
+        public string requestTaskId { get; set; }
+
+        /// <summary>
+        /// 抬货点/取货位置
+        /// </summary>
+        public string startPosition { get; set; }
+
+        /// <summary>
+        /// 卸货点/目标位置
+        /// </summary>
+        public string endPosition { get; set; }
+
+        /// <summary>
+        /// 产品编码/物料编码
+        /// </summary>
+        public string materialCode { get; set; }
+    }
+
+    /// <summary>
+    /// 放行请求
+    /// MES 告知 AGV 可以离开当前位置
+    /// </summary>
+    public class ZZAGV_AllowLeaveRequest
+    {
+        /// <summary>
+        /// 请求ID
+        /// </summary>
+        public string requestId { get; set; }
+
+        /// <summary>
+        /// 当前位置编号
+        /// </summary>
+        public string position { get; set; }
+
+        /// <summary>
+        /// 放行标志（固定为1）
+        /// </summary>
+        public int allowLeave { get; set; } = 1;
+    }
+
+    #endregion
+
+    #region 通用响应模型
+
+    /// <summary>
+    /// 西开 AGV 接口通用响应
+    /// </summary>
+    public class ZZAGV_Response
+    {
+        /// <summary>
+        /// 返回码：0-成功，其他-失败
+        /// </summary>
+        public int code { get; set; }
+
+        /// <summary>
+        /// 返回描述信息
+        /// </summary>
+        public string desc { get; set; }
+
+        /// <summary>
+        /// 是否成功
+        /// </summary>
+        public bool success { get; set; }
+
+        public ZZAGV_Response()
+        {
+            code = 0;
+            desc = "成功";
+            success = true;
+        }
+
+        /// <summary>
+        /// 设置成功响应
+        /// </summary>
+        public static ZZAGV_Response Success(string desc = "成功")
+        {
+            return new ZZAGV_Response
+            {
+                code = 0,
+                desc = desc,
+                success = true
+            };
+        }
+
+        /// <summary>
+        /// 设置失败响应
+        /// </summary>
+        public static ZZAGV_Response Fail(int code, string desc)
+        {
+            return new ZZAGV_Response
+            {
+                code = code,
+                desc = desc,
+                success = false
+            };
+        }
+    }
+
+    #endregion
+}