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dengjunjie

2025-01-14 e4125ec5b95f6bfa5d7e378639d47673b650298c

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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_Tasks.StackerCraneJob;
 
namespace WIDESEAWCS_Tasks
{
    public partial class AGV_FLJob
    {
        /// <summary>
        /// 下发AGV任务
        /// </summary>
        public void SendAGVTask()
        {
            try
            {
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && nameof(AGV_FLJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var task in newTasks)
                {
                    try
                    {
                        if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt() || task.TaskType == TaskTypeEnum.OutEmpty.ObjToInt())
                            task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
                        else
                            task.NextAddress = GetAGVAddress(task.NextAddress);
                        AgvTaskDTO taskDTO = new AgvTaskDTO()
                        {
                            TaskCode = task.AgvTaskNum,
                            ReqCode = DateTime.Now.ToString("yyyyMMddHHmmss") + task.AgvTaskNum,
                            TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "FLC" : "FLR",
                            ctnrCode = task.PalletCode,
                            PositionCodePath = new List<CodePath>()
                        {
                            new CodePath()
                            {
                                type="05",
                                positionCode=task.CurrentAddress
                            },
                            new CodePath()
                            {
                                type="05",
                                positionCode=task.NextAddress
                            }
                        },
                        };
                        WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_FLSendTask);
                        if (!content.Status) throw new Exception(content.Message);
 
                        task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
 
                    }
                    catch (Exception ex)
                    {
                        task.TaskState = TaskStatusEnum.Exception.ObjToInt();
                        task.ExceptionMessage = ex.Message;
                    }
                }
                _taskService.UpdateData(newTasks);
            }
            catch (Exception ex)
            {
                WriteError(nameof(AGV_FLJob), ex.Message, ex);
            }
        }
        /// <summary>
        /// 获取AGV地址
        /// </summary>
        /// <param name="Address"></param>
        /// <returns></returns>
        public static string GetAGVAddress(string Address)
        {
            string[] targetCodes = Address.Split("-");
            if (targetCodes.Length == 5)
            {
                var Row = Convert.ToInt16(targetCodes[1]);
                var Column = Convert.ToInt16(targetCodes[2]);
                var Layer = Convert.ToInt16(targetCodes[3]);
                var a = Row switch
                {
                    1 => "A1",
                    2 => "B1",
                    3 => "C1",
                    4 => "D1",
                    5 => "E1",
                    _ => throw new Exception($"未定义的排,地址:【{Address}】"),
                };
                var b = Layer > 9 ? "" + Layer : "0" + Layer;
                var c = Column > 9 ? "" + Column : "0" + Column;
                if (Column == 10) c = "010";
                Address = a + b + c;
            }
            else
            {
                throw new Exception($"地址有误,地址:【{Address}】");
            }
            return Address;
        }
    }
}