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wangxinhui

2024-12-28 88d52606d0db8fb0343ebcd2d53c8df62fd05f2a

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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.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Model.Models;
 
namespace WIDESEAWCS_Tasks
{
    public partial class AGVJob
    {
        /// <summary>
        /// 下发AGV任务
        /// </summary>
        public void SendAGVTask()
        {
            try
            {
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var agvTask in newTasks)
                {
                    AgvTaskDTO taskDTO = new AgvTaskDTO()
                    {
                        ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                        TaskTyp = AgvTaskType(agvTask.TaskType, agvTask.DeviceCode),
                        PositionCodePath = new List<CodePath>()
                        {
                            new CodePath()
                            {
                                type="00",
                                positionCode=agvTask.CurrentAddress
                            },
                            new CodePath()
                            {
                                type="00",
                                positionCode=agvTask.NextAddress
                            }
                        },
                        TaskCode = agvTask.TaskNum.ToString(),
                        PodTyp = agvTask.PalletType == 1 ? "XX" : "DD",
                    };
                    WebResponseContent content = _taskService.AgvSendTask(taskDTO);
                    if (content.Status)
                    {
                        agvTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                        agvTask.Remark = content.Data.ObjToString();
                    }
                    else
                    {
                        agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                        //agvTask.Remark = content.Data.ObjToString();
                        agvTask.ExceptionMessage = content.Message;
                    }
                }
                _taskService.UpdateData(newTasks);
            }
            catch (Exception ex)
            {
                Console.Out.WriteLine(nameof(AGVJob) + ":" + ex.Message);
            }
        }
        /// <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()).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var WaitToTask in WaitToTasks)
                {
                    AgvSecureReplyDTO replyDTO = new AgvSecureReplyDTO()
                    {
                        ReqCode = Guid.NewGuid().ToString().Replace("-", ""), //WaitToTask.TaskNum.ToString(),
                        taskCode = WaitToTask.Remark,
                    };
                    WebResponseContent content = _taskService.AgvSecureReply(replyDTO);
                    if (content.Status)
                    {
                        WaitToTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                    }
                    else
                    {
                        WaitToTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                        WaitToTask.ExceptionMessage = content.Message;
                    }
                }
                _taskService.UpdateData(WaitToTasks);
            }
            catch (Exception ex)
            {
                Console.Out.WriteLine(nameof(AGVJob) + ":" + ex.Message);
            }
        }
 
        public string AgvTaskType(int TaskType, string DeviceCode)
        {
            switch (DeviceCode)
            {
                case "SC01_CSJ":
                    {
                        return TaskType == TaskTypeEnum.ProductionReturn.ObjToInt() ? "23" : "24";
                    }
                case "SC01_ZH":
                    {
                        if (TaskType == TaskTypeEnum.InboundXB.ObjToInt())
                            return "20";
                        else if (TaskType == TaskTypeEnum.InboundJT.ObjToInt())
                            return "21";
                        else return "22";
                    }
                default:
                    throw new NotImplementedException();
            }
        }
    }
}