Merge branch 'master' of http://115.159.85.185:8098/r/HuaYiZhongHeng/ZhongH...

qinchulong

2025-05-27 c020f31a67fc5aa5644511bddff075f7ecc85234

 ´úÂë¹ÜÀí/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/PartialTaskService_AGV.cs

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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Common;
using WIDESEA_Core;
using WIDESEA_Core.Enums;
using WIDESEA_Core.Helper;
using WIDESEA_Model.Models;

namespace WIDESEA_TaskInfoService
{
    public partial class TaskService
    {
        /// <summary>
        /// ç«‹åº“出库AGV搬运
        /// </summary>
        /// <param name="outTask"></param>
        /// <returns></returns>
        public WebResponseContent ShelfOutboundCarry(Dt_Task outTask)
        {
            Dt_CachePoint cachePoint = GetCachePointByStartPoint(outTask.TargetAddress);

            Dt_Task task = new()
            {
                CurrentAddress = outTask.TargetAddress,
                Grade = 0,
                NextAddress = cachePoint.PointCode,
                OrderNo = outTask.OrderNo,
                PalletCode = outTask.PalletCode + "-AGV",
                Roadway = "",
                SourceAddress = outTask.TargetAddress,
                TargetAddress = cachePoint.PointCode,
                SourceKey = outTask.TaskId,
                TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
                TaskStatus = AGVTaskStatusEnum.AGV_New.ObjToInt(),
                TaskType = TaskTypeEnum.AGVCarry.ObjToInt(),
                CreateDate = DateTime.Now,
                Creater = App.User.UserId > 0 ? App.User.UserName : "System",
            };
            cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();

            _basicService.CachePointService.Repository.UpdateData(cachePoint);
            Repository.AddData(task);
            return WebResponseContent.Instance.OK();
        }

        /// <summary>
        /// å«æ–™
        /// </summary>
        /// <param name="endPoint"></param>
        /// <returns></returns>
        public WebResponseContent CallMateriel(string endPoint)
        {
            try
            {
                Dt_CachePoint cachePoint = GetCachePointByEndPoint(endPoint);

                Dt_Task task = new Dt_Task()
                {
                    CurrentAddress = cachePoint.PointCode,
                    Grade = 0,
                    NextAddress = endPoint,
                    OrderNo = "",
                    PalletCode = cachePoint.Remark,
                    Roadway = "",
                    SourceAddress = cachePoint.PointCode,
                    TargetAddress = endPoint,
                    SourceKey = 0,
                    TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
                    TaskStatus = AGVTaskStatusEnum.AGV_New.ObjToInt(),
                    TaskType = TaskTypeEnum.AGVCarry.ObjToInt(),
                };
                cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();

                _basicService.CachePointService.Repository.UpdateData(cachePoint);
                Repository.AddData(task);
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
            
        }

        /// <summary>
        /// ç‰©æ–™æ¬è¿
        /// </summary>
        /// <param name="startPoint"></param>
        /// <returns></returns>
        public WebResponseContent MaterielCarry(string startPoint)
        {
            try
            {
                Dt_CachePoint cachePoint = GetCachePointByStartPoint(startPoint);

                Dt_Task task = new()
                {
                    CurrentAddress = startPoint,
                    Grade = 0,
                    NextAddress = cachePoint.PointCode,
                    OrderNo = "",
                    PalletCode = startPoint + "-AGV",
                    Roadway = "",
                    SourceAddress = startPoint,
                    TargetAddress = cachePoint.PointCode,
                    SourceKey = 0,
                    TaskNum = BaseDal.GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
                    TaskStatus = AGVTaskStatusEnum.AGV_New.ObjToInt(),
                    TaskType = TaskTypeEnum.AGVCarry.ObjToInt(),
                };
                cachePoint.PointStatus = LocationStatusEnum.Lock.ObjToInt();

                _basicService.CachePointService.Repository.UpdateData(cachePoint);
                Repository.AddData(task);
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
}

        private Dt_CachePoint GetCachePointByStartPoint(string startPoint)
        {
            Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.StartArea == startPoint);
            if (areaRouter == null)
            {
                throw new Exception("未找到路由信息!");
            }
            Dt_AreaInfo areaInfo = _basicService.AreaInfoService.Repository.QueryFirst(x => x.AreaCode == areaRouter.NextArea);
            if (areaInfo == null)
            {
                throw new Exception("未找到下一区域信息!");
            }

            Dt_CachePoint? cachePoint = _basicService.CachePointService.AssignCachePoint(areaInfo.Id);
            if (cachePoint == null)
            {
                throw new Exception("未找到空闲缓存点!");
            }

            return cachePoint;
        }

        private Dt_CachePoint GetCachePointByEndPoint(string endPoint)
        {
            Dt_AreaRouter areaRouter = _basicService.AreaRouterService.Repository.QueryFirst(x => x.NextArea == endPoint);
            if (areaRouter == null)
            {
                throw new Exception("未找到路由信息!");
            }
            Dt_AreaInfo areaInfo = _basicService.AreaInfoService.Repository.QueryFirst(x => x.AreaCode == areaRouter.StartArea);
            if (areaInfo == null)
            {
                throw new Exception("未找到起点缓存区域信息!");
            }

            Dt_CachePoint? cachePoint = _basicService.CachePointService.GetIbStockCachePoint(areaInfo.Id);
            if (cachePoint == null)
            {
                throw new Exception("未找到有货缓存点!");
            }
            return cachePoint;
        }

        public object AGVTaskFeedBack(AGVTaskFeedBackModel model)
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskId == Convert.ToInt32(model.Task_id));
            if (task == null)
            {
                return new { code = 404, message = "未找到该任务!" };
            }

            Dt_CachePoint startCachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == task.SourceAddress);
            if (startCachePoint != null)
            {
                startCachePoint.PointStatus = LocationStatusEnum.Free.ObjToInt();
                _basicService.CachePointService.Repository.UpdateData(startCachePoint);
            }

            Dt_CachePoint endCachePoint = _basicService.CachePointService.Repository.QueryFirst(x => x.PointCode == task.TargetAddress);
            if (endCachePoint != null)
            {
                endCachePoint.PointStatus = LocationStatusEnum.InStock.ObjToInt();
                _basicService.CachePointService.Repository.UpdateData(endCachePoint);
            }
            BaseDal.DeleteAndMoveIntoHty(task, App.User.UserId == 0 ? OperateType.自动完成 : OperateType.人工完成);

            return new { code = 200, message = "成功" };
        }
    }
}