using WIDESEA_Common.TaskEnum;
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using WIDESEA_Core;
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using WIDESEA_DTO.Stock;
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using WIDESEA_DTO.Task;
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using WIDESEA_Model.Models;
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namespace WIDESEA_TaskInfoService
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{
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public partial class TaskService
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{
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#region 机械手任务
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/// <summary>
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/// 创建机械手组盘任务
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/// </summary>
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public async Task<WebResponseContent> CreateRobotGroupPalletTaskAsync(StockDTO stock)
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{
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return await CreateRobotPalletTaskAsync(
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stock,
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"组盘",
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RobotTaskTypeEnum.GroupPallet,
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s => string.IsNullOrWhiteSpace(s.TargetPalletNo) ? s.SourcePalletNo : s.TargetPalletNo,
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requireStockWithoutLocation: false);
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}
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/// <summary>
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/// 创建机械手换盘任务
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/// </summary>
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public async Task<WebResponseContent> CreateRobotChangePalletTaskAsync(StockDTO stock)
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{
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return await CreateRobotPalletTaskAsync(
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stock,
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"换盘",
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RobotTaskTypeEnum.ChangePallet,
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s => s.SourcePalletNo,
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requireStockWithoutLocation: true,
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stockPalletCodeSelector: s => s.SourcePalletNo);
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}
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/// <summary>
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/// 创建机械手拆盘任务
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/// </summary>
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public async Task<WebResponseContent> CreateRobotSplitPalletTaskAsync(StockDTO stock)
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{
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return await CreateRobotPalletTaskAsync(
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stock,
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"拆盘",
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RobotTaskTypeEnum.SplitPallet,
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s => s.SourcePalletNo,
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requireStockWithoutLocation: true,
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stockPalletCodeSelector: s => s.SourcePalletNo);
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}
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/// <summary>
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/// 创建机械手任务的通用方法
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/// </summary>
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/// <param name="stock">库存信息</param>
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/// <param name="taskName">任务名称（组盘/换盘/拆盘）</param>
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/// <param name="taskType">机械手任务类型</param>
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/// <param name="palletCodeSelector">托盘号选择器</param>
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/// <param name="requireStockWithoutLocation">是否要求库存未绑定货位</param>
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/// <param name="stockPalletCodeSelector">库存查询用的托盘号选择器</param>
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/// <returns>创建结果</returns>
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private async Task<WebResponseContent> CreateRobotPalletTaskAsync(
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StockDTO stock,
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string taskName,
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RobotTaskTypeEnum taskType,
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Func<StockDTO, string?> palletCodeSelector,
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bool requireStockWithoutLocation,
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Func<StockDTO, string?>? stockPalletCodeSelector = null)
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{
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try
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{
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if (stock == null)
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return WebResponseContent.Instance.Error("任务参数不能为空");
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var palletCode = palletCodeSelector(stock)?.Trim();
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if (string.IsNullOrWhiteSpace(palletCode))
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return WebResponseContent.Instance.Error("托盘号不能为空");
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var sourceLineNo = stock.SourceLineNo?.Trim();
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var targetLineNo = stock.TargetLineNo?.Trim();
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if (string.IsNullOrWhiteSpace(sourceLineNo) || string.IsNullOrWhiteSpace(targetLineNo))
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return WebResponseContent.Instance.Error("来源线体编号和目标线体编号不能为空");
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var existingTask = await BaseDal.QueryFirstAsync(t =>
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t.PalletCode == palletCode &&
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(t.TaskStatus == TaskRobotStatusEnum.RobotNew.GetHashCode()
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|| t.TaskStatus == TaskRobotStatusEnum.RobotExecuting.GetHashCode()
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|| t.TaskStatus == TaskRobotStatusEnum.RobotPickFinish.GetHashCode()
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|| t.TaskStatus == TaskRobotStatusEnum.RobotPutFinish.GetHashCode()
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|| t.TaskStatus == TaskRobotStatusEnum.RobotPending.GetHashCode()));
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if (existingTask != null)
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return WebResponseContent.Instance.Error($"托盘[{palletCode}]已存在未完成任务");
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Dt_StockInfo? stockInfo = null;
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if (requireStockWithoutLocation)
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{
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var stockPalletCode = (stockPalletCodeSelector ?? palletCodeSelector).Invoke(stock)?.Trim();
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if (string.IsNullOrWhiteSpace(stockPalletCode))
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return WebResponseContent.Instance.Error("源托盘号不能为空");
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stockInfo = await _stockInfoService.GetStockInfoAsync(stockPalletCode);
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if (stockInfo == null)
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return WebResponseContent.Instance.Error($"托盘[{stockPalletCode}]库存不存在");
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if (stockInfo.LocationId > 0 || !string.IsNullOrWhiteSpace(stockInfo.LocationCode))
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return WebResponseContent.Instance.Error($"托盘[{stockPalletCode}]库存已绑定货位，不能创建机械手{taskName}任务");
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}
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var section = App.Configuration.GetSection("RobotTaskAddressRules").GetSection(targetLineNo).GetChildren().Select(c => c.Value).ToArray();
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if (section.Length < 2)
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return WebResponseContent.Instance.Error($"未找到线体[{targetLineNo}]的地址配置");
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var task = new Dt_Task
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{
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TaskNum = await BaseDal.GetTaskNo(),
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PalletCode = palletCode,
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PalletType = stockInfo?.PalletType ?? 0,
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Roadway = stock.Roadway ?? string.Empty,
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TaskType = taskType.GetHashCode(),
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TaskStatus = TaskRobotStatusEnum.RobotNew.GetHashCode(),
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SourceAddress = section[0]!,
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TargetAddress = section[1]!,
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CurrentAddress = targetLineNo,
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NextAddress = targetLineNo,
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WarehouseId = stockInfo?.WarehouseId ?? 1,
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Grade = 1,
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Remark = $"机械手{taskName}",
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Creater = "system"
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};
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var result = await Repository.AddDataAsync(task) > 0;
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if (!result)
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return WebResponseContent.Instance.Error($"机械手{taskName}任务创建失败");
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var wmstaskDto = _mapper.Map<WMSTaskDTO>(task) ?? new WMSTaskDTO();
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return WebResponseContent.Instance.OK($"机械手{taskName}任务创建成功", wmstaskDto);
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}
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catch (Exception ex)
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{
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return WebResponseContent.Instance.Error($"机械手{taskName}任务创建失败: {ex.Message}");
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}
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}
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#endregion 机械手任务
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}
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}
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