1

dengjunjie

2025-02-18 b2ad000e07e1c87d3561b5aa94fdc88c779872f0

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

@@ -15,6 +15,7 @@
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;

namespace WIDESEAWCS_Tasks
@@ -38,7 +39,49 @@
        {
            try
            {
                List<Dt_Task> UpTasks = new List<Dt_Task>();

                #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();
                foreach (var Task in Tasks)
                {
                    var ResultData = HttpHelper.PostAsync(AGVInterfaceAddress.taskResult + Task.TaskNum, null, headers: new Dictionary<string, string>());
                    if (ResultData.Result != null)
                    {
                        var content = JsonConvert.DeserializeObject<AGVReturnInfo>(ResultData.Result);
                        if (content.code == "20000")
                        {
                            switch (content.status)
                            {
                                case "01":
                                    break;
                                case "02":
                                    Task.TaskState = TaskInStatusEnum.AGV_InExecuting.ObjToInt();
                                    break;
                                case "08":
                                    {
                                        Task.TaskState = (int)TaskInStatusEnum.AGV_InFinish;
                                        Task.CurrentAddress = Task.NextAddress;
                                        List<Dt_Router> routers = _routerService.QueryNextRoutes(Task.CurrentAddress, Task.TargetAddress);
                                        if (routers.Count > 0)
                                        {
                                            Task.NextAddress = routers.FirstOrDefault().ChildPosi;
                                        }
                                    }
                                    break;
                                case "09":
                                    break;
                                default:
                                    break;
                            }
                        }
                    }
                    Thread.Sleep(1000);
                }
                _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 == (int)TaskInStatusEnum.InNew).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var agvTaskDTO in GetAGVTaskDTOs(newTasks))
                {
@@ -49,17 +92,18 @@
                    {
                        var task = newTasks.Where(x => x.TaskNum == agvTaskDTO.outID.ObjToInt()).First();
                        task.TaskState = TaskInStatusEnum.AGV_InSend.ObjToInt();
                        UpTasks.Add(task);
                        UpnewTasks.Add(task);
                    }
                    else
                    {
                        var task = newTasks.Where(x => x.TaskNum == agvTaskDTO.outID.ObjToInt()).First();
                        task.ExceptionMessage = content.message;
                        UpTasks.Add(task);
                        UpnewTasks.Add(task);
                    }
                    Thread.Sleep(1000);
                }
                var count = _taskService.Db.Updateable(UpTasks).ExecuteCommand();
                if (UpnewTasks.Count > 0) _taskService.Db.Updateable(UpnewTasks).ExecuteCommand();
                #endregion
            }
            catch (Exception ex)
            {