AGV任务下发，AGV任务状态更新

dengjunjie

2024-11-06 36230cd4dd0ebe5d21eede3eff6216908f7f7a8e

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -16,6 +16,7 @@
#endregion << ç‰ˆ æœ¬ æ³¨ é‡Š >>

using AutoMapper;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using SqlSugar;
using System;
@@ -26,10 +27,12 @@
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_DTO.WMSInfo;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
@@ -38,7 +41,7 @@

namespace WIDESEAWCS_TaskInfoService
{
    public class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
    public partial class TaskService : ServiceBase<Dt_Task, ITaskRepository>, ITaskService
    {
        private readonly IRouterService _routerService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
@@ -64,7 +67,6 @@
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _mapper = mapper;
        }

        /// <summary>
        /// æŽ¥æ”¶WMS任务信息
        /// </summary>
@@ -120,32 +122,80 @@
            }
            return content;
        }

        /// <summary>
        /// æ ¹æ®æ‰˜ç›˜å·ã€èµ·å§‹åœ°å€å‘WMS请求任务
        /// è¾“送线入库完成向WMS申请入库/堆垛机申请入库
        /// </summary>
        /// <param name="palletCode">托盘号</param>
        /// <param name="sourceAddress">起始地址</param>
        /// <param name="task"></param>
        /// <returns></returns>
        public WebResponseContent RequestWMSTask(string palletCode, string sourceAddress)
        public WebResponseContent StackerCraneRequestInbound(Dt_Task task)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                WMSTaskDTO taskDTO = new WMSTaskDTO()
                ConveyorLineDTO lineDTO = new ConveyorLineDTO()
                {
                    TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                    Grade = 1,
                    PalletCode = palletCode,
                    RoadWay = "SC01",
                    SourceAddress = sourceAddress,
                    TargetAddress = "SC01",
                    TaskState = (int)TaskInStatusEnum.InNew,
                    Id = 0,
                    TaskType = (int)TaskInboundTypeEnum.Inbound
                    stationCode = task.CurrentAddress,
                    TaskNum = task.TaskNum,
                    Barcode = task.PalletCode
                };
                var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.StackerCraneRequestInbound, lineDTO.ToJson(), headers: new Dictionary<string, string>());
                if (ResultData.Result == null) throw new Exception($"向WMS请求入库分配货位失败!任务号:{task.TaskNum}");
                content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);
                if (content.Status)
                {
                    var receiveWMSInfo = JsonConvert.DeserializeObject<ReceiveWMSInfo>(content.Data.ToJson());
                    task.IsPickPlace = receiveWMSInfo.IsPickPlace;
                    task.TargetAddress = receiveWMSInfo.TargetAddress;
                    task.NextAddress = task.TargetAddress;
                    BaseDal.UpdateData(task);
                }
            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            return content;
        }

                content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
        /// <summary>
        /// è¾“送线检测口向WMS申请入库
        /// </summary>
        /// <param name="palletCode">托盘号</param>
        /// <param name="sourceAddress">起始地址</param>
        /// <returns></returns>
        public WebResponseContent RequestWMSTask(ConveyorLineDTO lineDTO)
        {
            WebResponseContent content = new WebResponseContent();
            try
            {
                #region å‘WMS申请
                var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.ConveyorLineRequestInbound, lineDTO.ToJson(), headers: new Dictionary<string, string>());
                if (ResultData.Result == null) throw new Exception($"向WMS请求入库失败!托盘号:{lineDTO.Barcode}");

                content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);

                #endregion

                #region äº§çº¿ç”³è¯·å…¥åº“任务
                if (content != null && content.Status)//任务转换
                {
                    var task = JsonConvert.DeserializeObject<Dt_Task>(content.Data.ToJson());
                    if (task != null)
                    {
                        List<Dt_Router> routers = _routerService.QueryNextRoutes(task.CurrentAddress, task.TargetAddress);
                        if (routers.Count > 0)
                        {
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                        }
                        task.WMSId = task.TaskId;
                        task.Creater = "WMS";
                        task.Dispatchertime = null;
                        task.CreateDate = DateTime.Now;
                        BaseDal.AddData(task);
                    }
                }
                #endregion

            }
            catch (Exception ex)
            {
@@ -160,9 +210,9 @@
        /// <param name="deviceNo">设备编号</param>
        /// <param name="currentAddress">当前地址</param>
        /// <returns></returns>
        public Dt_Task QueryConveyorLineTask(string deviceNo, string currentAddress)
        public Dt_Task QueryConveyorLineTask(string deviceNo, string currentAddress, string Barcode)
        {
            return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.InNew || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish) && x.CurrentAddress == currentAddress, TaskOrderBy);
            return BaseDal.QueryFirst(x => (TaskInboundTypes.Contains(x.TaskType) && x.NextAddress == currentAddress && x.PalletCode == Barcode && x.TaskState == (int)TaskInStatusEnum.AGV_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.SC_OutFinish) && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
@@ -213,9 +263,9 @@
        public Dt_Task QueryStackerCraneTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Car_OutFinish), TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.CurrentAddress == currentAddress && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && x.CurrentAddress == currentAddress && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.Line_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Car_OutFinish), TaskOrderBy);
        }

        /// <summary>
@@ -241,9 +291,9 @@
        public Dt_Task QueryStackerCraneOutTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew, TaskOrderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Car_OutFinish, TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew && x.CurrentAddress == currentAddress, TaskOrderBy);
                return BaseDal.QueryFirst(x => x.Roadway == deviceNo && TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.Car_OutFinish && x.CurrentAddress == currentAddress, TaskOrderBy);
        }

        /// <summary>
@@ -464,23 +514,35 @@
                    task.TaskState = nextStatus;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库完成");

                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    #region å‘WMS反馈堆垛机任务完成
                    WMSTaskDTO WMStask = _mapper.Map<WMSTaskDTO>(task);
                    var ResultData = HttpHelper.PostAsync(WMSInterfaceAddress.UpdateTaskStatus, WMStask.ToJson(), headers: new Dictionary<string, string>());
                    if (ResultData.Result == null) throw new Exception($"任务状态同步到WMS失败!任务号:{task.TaskNum}");
                    content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);
                    if (content.Status)
                    {
                        TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                        Grade = 1,
                        PalletCode = task.PalletCode + "S",
                        RoadWay = "SC01",
                        SourceAddress = task.TargetAddress,
                        TargetAddress = "CLOutAreaA",
                        TaskState = (int)TaskOutStatusEnum.OutNew,
                        Id = 0,
                        TaskType = (int)TaskOutboundTypeEnum.Outbound
                    };
                        BaseDal.UpdateData(task);
                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库完成");
                    }
                    #endregion

                    content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });


                    //WMSTaskDTO taskDTO = new WMSTaskDTO()
                    //{
                    //    TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                    //    Grade = 1,
                    //    PalletCode = task.PalletCode + "S",
                    //    RoadWay = "SC01",
                    //    SourceAddress = task.TargetAddress,
                    //    TargetAddress = "CLOutAreaA",
                    //    TaskState = (int)TaskOutStatusEnum.OutNew,
                    //    Id = 0,
                    //    TaskType = (int)TaskOutboundTypeEnum.Outbound
                    //};

                    //content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
                {
@@ -593,5 +655,67 @@
            }
            return content;
        }

        public Dt_Task GetTaskInfo(int taskNum)
        {
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum);
        }

        public Dt_Task GetTaskState(int TaskState, int TaskType)
        {
            Dt_Task task = null;
            if (TaskState > 0 && TaskType > 0)
                task = BaseDal.QueryFirst(x => x.TaskState == TaskState && x.TaskType == TaskType);
            else if (TaskState > 0)
                task = BaseDal.QueryFirst(x => x.TaskState == TaskState);
            else if (TaskType > 0)
                task = BaseDal.QueryFirst(x => x.TaskType == TaskType);
            return task;
        }

        /// <summary>
        /// æŸ¥è¯¢ç©¿æ¢­è½¦å‡ºå…¥åº“任务
        /// </summary>
        /// <param name="deviceNo"></param>
        /// <param name="currentAddress"></param>
        /// <returns></returns>
        public Dt_Task QueryShuttleCarTask(string deviceNo, string currentAddress = "")
        {
            if (string.IsNullOrEmpty(currentAddress))
                return BaseDal.QueryFirst(x => x.ShuttleCarCode == deviceNo && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.SC_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
            else
                return BaseDal.QueryFirst(x => x.ShuttleCarCode == deviceNo && x.CurrentAddress == currentAddress && (TaskInboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskInStatusEnum.SC_InFinish || TaskOutboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskOutStatusEnum.OutNew), TaskOrderBy);
        }
        /// <summary>
        /// æ·»åŠ ç§»è½¦ä»»åŠ¡
        /// </summary>
        /// <param name="SourceAddress">起点</param>
        /// <param name="TargetAddress">终点</param>
        /// <param name="ShuttleCarCode">穿梭车号</param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public WebResponseContent AddRelocationCarTask(string SourceAddress, string TargetAddress, string ShuttleCarCode = "", string remark = "")
        {
            #region åˆ›å»ºå †åž›æœºç§»è½¦ä»»åŠ¡
            Dt_Task dt_Task = new Dt_Task()
            {
                TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                Grade = 2,
                Roadway = "SC01",
                TaskType = (int)TaskOtherTypeEnum.RelocationCar,
                SourceAddress = SourceAddress,
                TargetAddress = TargetAddress,
                CurrentAddress = SourceAddress,
                NextAddress = TargetAddress,
                CreateDate = DateTime.Now,
                Creater = "WCS",
                TaskState = (int)TaskCarStatusEnum.CarNew,
                ShuttleCarCode = ShuttleCarCode,
                WMSId = 0,
                Remark = remark
            };
            return AddData(dt_Task);
            #endregion
        }
    }
}