优化四向车入库任务

dengjunjie

2026-02-27 b6a82cb656a6cd045d772274ae927c8ca2c22b06

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using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO;
using WIDESEAWCS_Model.Models;
 
namespace WIDESEAWCS_Tasks
{
    public partial class TaskJob
    {
        #region 下发任务
        /// <summary>
        /// 下发任务
        /// </summary>
        public void SendTask()
        {
            try
            {
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.New).ToList();
                if (newTasks.Count > 0)
                {
                    #region 查找凯乐士任务
                    var Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.MLInbound || x.TaskType == (int)TaskTypeEnum.MLOutbound).ToList();
                    if (Tasks.Count > 0) SendGALAXISTask(Tasks);
                    #endregion
 
                    #region 查找RGV任务
                    Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound || x.TaskType == (int)TaskTypeEnum.CPOutbound).ToList();
                    if (Tasks.Count > 0) SendRGVTask(Tasks);
                    #endregion
 
                    #region 查找海康AGV任务
                    Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.Carry || x.TaskType == (int)TaskTypeEnum.CJCarry || x.TaskType == (int)TaskTypeEnum.CJInbound || x.TaskType == (int)TaskTypeEnum.CJOutbound).ToList();
                    if (Tasks.Count > 0) SendHIKROBOTTask(Tasks);
                    #endregion
                }
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
            }
        }
        #endregion
 
        #region 下发待执行任务
        /// <summary>
        /// 下发待执行任务
        /// </summary>
        public void SendWaitToTask()
        {
            try
            {
                #region 下发外形检测通过的四向车任务
                var Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk).ToList();
                if (Tasks.Count > 0) SendCheckShapeingOkTask(Tasks);
                #endregion
 
                #region 下发外形检测失败的四向车任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingNG).ToList();
                if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk && x.ExceptionMessage.Contains("未找到终点库区")).ToList();
                if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
                #endregion
 
                #region 下发待移库后四向车出库任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitMoveToExecute).ToList();
                if (Tasks.Count > 0) SendMoveToExecuteTask(Tasks);
                #endregion
 
                #region 下发托盘确认的海康AGV任务
 
                #endregion
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
            }
        }
        #endregion
    }
}