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helongyang

2025-06-12 25cb7cd50d12f48e93d6cde47420ca3458e9c47a

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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_DTO.Agv;
using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks.StackerCraneJob;
 
namespace WIDESEAWCS_Tasks
{
    public partial class AGV_ZHJob
    {
        /// <summary>
        /// 下发任务
        /// </summary>
        public void SendAGVTask()
        {
            try
            {
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt() && !string.IsNullOrEmpty(x.DeviceCode) && nameof(AGV_ZHJob).Contains(x.DeviceCode)).OrderByDescending(x => x.Grade).OrderBy(x => x.CreateDate).ToList();
                if (newTasks.Count > 0)
                {
                    foreach (var agvTask in newTasks)
                    {
                        try
                        {
                            AgvTaskDTO taskDTO = new AgvTaskDTO()
                            {
                                ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                                TaskTyp = "22",
                                PositionCodePath = new List<CodePath>()
                            {
                            new CodePath()
                            {
                                type="00",
                                positionCode=agvTask.CurrentAddress
                            },
                            new CodePath()
                            {
                                type="04",
                                positionCode=agvTask.NextAddress
                            }
                            },
                                TaskCode = agvTask.AgvTaskNum,
                                PodTyp = agvTask.PalletType < 2 ? "XX" : "DD",
                            };
                            WebResponseContent content = _taskService.AgvSendTask(taskDTO);
                            if (content.Status)
                            {
                                agvTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                                //agvTask.Remark = content.Data.ObjToString();
                                _taskService.UpdateTask(agvTask, TaskStatusEnum.AGV_Executing);
                            }
                            else
                            {
                                agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                                //agvTask.Remark = content.Data.ObjToString();
                                agvTask.ExceptionMessage = content.Message;
                            }
                        }
                        catch (Exception ex)
                        {
                            agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                            //agvTask.Remark = content.Data.ObjToString();
                            agvTask.ExceptionMessage = ex.Message;
                            WriteError(nameof(AGV_ZHJob), ex.Message, ex);
                        }
                    }
                    _taskService.UpdateData(newTasks);
                }
            }
            catch (Exception ex)
            {
                WriteError(nameof(AGV_FLJob), ex.Message, ex);
            }
        }
        /// <summary>
        /// 下发AGV继续执行任务
        /// </summary>
        public void SendAGVWaitToTask()
        {
            try
            {
                var WaitToTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt() && nameof(AGV_ZHJob).Contains(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var WaitToTask in WaitToTasks)
                {
                    AgvSecureReplyDTO replyDTO = new AgvSecureReplyDTO();
                    if (WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        if (WaitToTasks.FirstOrDefault(x => x.TaskState == TaskStatusEnum.AGV_Puting.ObjToInt() || x.TaskState == TaskStatusEnum.Finish.ObjToInt()) != null)
                        {
                            continue;
                        }
                        Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == WaitToTask.NextAddress);
                        if (stationManger == null)
                        {
                            continue;
                        }
                        IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                        if (device == null)
                        {
                            continue;
                        }
                        OtherDevice otherDevice = (OtherDevice)device;
                        bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
                        bool requestPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.W_PutRequest, stationManger.StationCode);
                        if (!requestPut)
                        {
                            otherDevice.SetValue(GroundStationDBName.W_PutRequest, true, stationManger.StationCode);
                            continue;
                        }
                        else if (!canPut)
                        {
                            continue;
                        }
                        otherDevice.SetValue(GroundStationDBName.W_PutPalletType, WaitToTask.PalletType, stationManger.StationCode);
 
                        replyDTO.ReqCode = Guid.NewGuid().ToString().Replace("-", "");//WaitToTask.TaskNum.ToString(),
                        replyDTO.taskCode = WaitToTask.AgvTaskNum;
                        replyDTO.nextPositionCode = new CodePath()
                        {
                            type="00",
                            positionCode= stationManger.AGVStationCode
                        };
                    }
                    else
                    {
                        Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == WaitToTask.CurrentAddress);
                        if (stationManger == null)
                        {
                            continue;
                        }
                        IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                        if (device == null)
                        {
                            continue;
                        }
                        OtherDevice otherDevice = (OtherDevice)device;
                        bool canTake = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
                        bool requestTake = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.W_TakeRequest, stationManger.StationCode);
                        if (!requestTake)
                        {
                            otherDevice.SetValue(GroundStationDBName.W_TakeRequest, true, stationManger.StationCode);
                            continue;
                        }
                        else if (!canTake)
                        {
                            continue;
                        }
                        replyDTO.ReqCode = Guid.NewGuid().ToString().Replace("-", "");//WaitToTask.TaskNum.ToString(),
                        replyDTO.taskCode = WaitToTask.AgvTaskNum;
                    }
                    WebResponseContent content = _taskService.AgvSecureReply(replyDTO);
                    if (content.Status && WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        WaitToTask.TaskState = TaskStatusEnum.AGV_Puting.ObjToInt();
                        _taskService.UpdateTask(WaitToTask, TaskStatusEnum.AGV_Puting);
                        break;
                    }
                    else if (content.Status && WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        WaitToTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                        _taskService.UpdateTask(WaitToTask, TaskStatusEnum.AGV_Executing);
                    }
                    else
                    {
                        WaitToTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                        WaitToTask.ExceptionMessage = content.Message;
                        _taskService.UpdateTask(WaitToTask, TaskStatusEnum.Exception);
                    }
                }
                _taskService.UpdateData(WaitToTasks);
            }
            catch (Exception ex)
            {
                Console.Out.WriteLine(nameof(AGV_ZHJob) + ":" + ex.Message);
            }
        }
    }
}