优化AGV和输送线、产线对接逻辑

dengjunjie

2025-03-19 8abc9481eafeb715b39a4f4f8d6f628a642e6b53

 项目代码/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/AGVJob.cs

@@ -39,33 +39,13 @@
        {
            try
            {
                #region 浠诲姟涓嬪彂
                List<Dt_Task> UpnewTasks = new List<Dt_Task>();
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskInStatusEnum.InNew).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var agvTaskDTO in GetAGVTaskDTOs(newTasks))
                {
                    var ResultData = HttpHelper.PostAsync(AGVInterfaceAddress.taskSent, agvTaskDTO.ToJson(), headers: new Dictionary<string, string>());
                    if (ResultData.Result == null) throw new Exception($"AGV浠诲姟涓嬪彂鎺ュ彛璇锋眰瓒呮椂");
                    var content = JsonConvert.DeserializeObject<AGVReturnInfo>(ResultData.Result);
                    if (content.code == "20000")
                    {
                        var task = newTasks.Where(x => x.TaskNum == agvTaskDTO.outID.ObjToInt()).First();
                        task.TaskState = TaskInStatusEnum.AGV_InSend.ObjToInt();
                        UpnewTasks.Add(task);
                    }
                    else
                    {
                        var task = newTasks.Where(x => x.TaskNum == agvTaskDTO.outID.ObjToInt()).First();
                        task.ExceptionMessage = content.message;
                        UpnewTasks.Add(task);
                    }
                    Thread.Sleep(1000);
                }
                if (UpnewTasks.Count > 0) _taskService.Db.Updateable(UpnewTasks).ExecuteCommand();
                #endregion

                #region 浠诲姟鏇存柊
                var Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState > (int)TaskInStatusEnum.InNew && x.TaskState < (int)TaskInStatusEnum.AGV_InFinish).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                var Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x =>
                x.TaskState > (int)TaskInStatusEnum.InNew &&
                x.TaskState < (int)TaskInStatusEnum.AGV_InFinish ||
                x.TaskState > (int)TaskOutStatusEnum.Line_OutFinish &&
                x.TaskState < (int)TaskOutStatusEnum.AGV_OutFinish).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var Task in Tasks)
                {
                    var ResultData = HttpHelper.PostAsync(AGVInterfaceAddress.taskResult + Task.TaskNum, null, headers: new Dictionary<string, string>());
@@ -79,16 +59,16 @@
                                case "01":
                                    break;
                                case "02":
                                    Task.TaskState = TaskInStatusEnum.AGV_InExecuting.ObjToInt();
                                    Task.TaskState = _taskService.TaskInboundTypes.Contains(Task.TaskType) ? TaskInStatusEnum.AGV_InExecuting.ObjToInt() : TaskOutStatusEnum.AGV_OutExecuting.ObjToInt();
                                    break;
                                case "08":
                                    {
                                        Task.TaskState = (int)TaskInStatusEnum.AGV_InFinish;
                                        Task.TaskState = _taskService.TaskInboundTypes.Contains(Task.TaskType) ? (int)TaskInStatusEnum.AGV_InFinish : TaskOutStatusEnum.AGV_OutFinish.ObjToInt();
                                        Task.CurrentAddress = Task.NextAddress;
                                        List<Dt_Router> routers = _routerService.QueryNextRoutes(Task.CurrentAddress, Task.TargetAddress);
                                        if (routers.Count > 0)
                                        {
                                            Task.NextAddress = routers.FirstOrDefault().ChildPosi;
                                            Task.NextAddress = routers.FirstOrDefault()?.ChildPosi ?? "";
                                        }
                                    }
                                    break;
@@ -103,6 +83,31 @@
                }
                _taskService.Db.Updateable(Tasks).ExecuteCommand();
                #endregion

                #region 浠诲姟涓嬪彂
                List<Dt_Task> UpnewTasks = new List<Dt_Task>();
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskInStatusEnum.InNew.ObjToInt() || x.TaskState == TaskOutStatusEnum.Line_OutFinish.ObjToInt()).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var agvTaskDTO in GetAGVTaskDTOs(newTasks))
                {
                    var ResultData = HttpHelper.PostAsync(AGVInterfaceAddress.taskSent, agvTaskDTO.ToJson(), headers: new Dictionary<string, string>());
                    if (ResultData.Result == null) throw new Exception($"AGV浠诲姟涓嬪彂鎺ュ彛璇锋眰瓒呮椂");
                    var content = JsonConvert.DeserializeObject<AGVReturnInfo>(ResultData.Result);
                    if (content.code == "20000")
                    {
                        var task = newTasks.Where(x => x.TaskNum == agvTaskDTO.outID.ObjToInt()).First();
                        task.TaskState = _taskService.TaskInboundTypes.Contains(task.TaskType)? TaskInStatusEnum.AGV_InSend.ObjToInt(): TaskOutStatusEnum.AGV_OutSend.ObjToInt();
                        UpnewTasks.Add(task);
                    }
                    else
                    {
                        var task = newTasks.Where(x => x.TaskNum == agvTaskDTO.outID.ObjToInt()).First();
                        task.ExceptionMessage = content.message;
                        UpnewTasks.Add(task);
                    }
                    Thread.Sleep(1000);
                }
                if (UpnewTasks.Count > 0) _taskService.Db.Updateable(UpnewTasks).ExecuteCommand();
                #endregion
            }
            catch (Exception ex)
            {