库卡哈尔滨CTU库项目
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xiazhengtongxue
2026-03-13 a08829b6f60b2320555e9f560464248cc038cada 
 ÏîÄ¿´úÂë/WCSServices/WIDESEAWCS_Tasks/AGV/AGVExtend.cs


@@ -14,6 +14,7 @@


using WIDESEAWCS_DTO.Agv;


using WIDESEAWCS_Model.Models;


using WIDESEAWCS_QuartzJob;


using WIDESEAWCS_TaskInfoService;




namespace WIDESEAWCS_Tasks


{


@@ -29,12 +30,18 @@


                #region å‡ºåº“任务下发


                if (newTasksOut.Count>0)


                {


                    WriteLog.Write_Log("AGV出库任务下发", "出库任务下发接口", "添加任务", $"任务：{newTasksOut.ToJson()}");


                    foreach (var GroupTask in newTasksOut.GroupBy(x=>x.NextAddress))


                    {


                        var tasks = GroupTask.OrderBy(x => x.TaskNum).ToList();


                        int taskCount = 6;


                        if (GroupTask.ObjToInt() > 201)


                        {


                            taskCount = 4;


                        }


                        var tasks = GroupTask.Take(taskCount).ToList();


                        TimeSpan span = DateTime.Now - tasks.FirstOrDefault().CreateDate;


                        int taskDownCount = taskDownOut.Where(x => x.NextAddress == GroupTask.Key).Count();


                        if (taskDownCount < (GroupTask.ObjToInt() > 201 ? 4 : 6) && (int)span.TotalSeconds > 20)


                        if (taskDownCount < (GroupTask.ObjToInt() > 201 ? 4 : 6) && (tasks.Count >= 4 || (int)span.TotalSeconds >= 20))


                        {


                            try


                            {


@@ -43,6 +50,7 @@


                                    MissionData = new List<MissionDataItem>()


                                };


                                string taskGroupId = Guid.NewGuid().ToString().Replace("-", "");


                                


                                foreach (var task in tasks)


                                {


                                    //获取目标点货位


@@ -110,6 +118,7 @@


                #region å…¥åº“任务下发


                if (newTasksIn.Count > 0)


                {


                    WriteLog.Write_Log("AGV入库任务下发", "出库任务下发接口", "添加任务", $"任务：{newTasksIn.ToJson()}");


                    foreach (var task in newTasksIn)


                    {


                        try