修复bug

xiazhengtongxue

2026-02-09 e81c782b3e7a632ffb8e32be56fce931a8c89ae6

 ÏîÄ¿´úÂë/WCSServices/WIDESEAWCS_Tasks/AGV/AGVExtend.cs

@@ -6,6 +6,7 @@
using System.Text;
using System.Threading.Tasks;
using WIDESEA_DTO.Agv;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
@@ -22,75 +23,92 @@
        {
            try
            {
                var newTasksOut = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType==TaskTypeEnum.Outbound.ObjToInt() && x.DeviceCode == "AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                var newTasksIn = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType == TaskTypeEnum.Inbound.ObjToInt() && x.DeviceCode == "AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                var newTasksOut = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType==TaskTypeEnum.Outbound.ObjToInt() && x.DeviceCode == "AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.TaskNum).ToList();
                var newTasksIn = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType == TaskTypeEnum.Inbound.ObjToInt() && x.DeviceCode == "AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.TaskNum).ToList();
                var taskDownOut = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState > TaskStatusEnum.AGV_Execute.ObjToInt()) && x.TaskType == TaskTypeEnum.Outbound.ObjToInt() && x.DeviceCode == "AGV").OrderBy(x => x.TaskNum).ToList();
                #region å‡ºåº“任务下发
                if (newTasksOut.Count>0)
                {
                    List<string> GroupIds = newTasksOut.GroupBy(x => x.GroupId).Select(x => x.Key).ToList();
                    foreach (var GroupId in GroupIds)
                    foreach (var GroupTask in newTasksOut.GroupBy(x=>x.NextAddress))
                    {
                        var tasks = newTasksOut.Where(x => x.GroupId == GroupId).ToList();
                        try
                        int taskCount = 6;
                        if (GroupTask.ObjToInt() > 201)
                        {
                            AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
                            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) && (tasks.Count >= 4 || (int)span.TotalSeconds >= 20))
                        {
                            try
                            {
                                MissionData = new List<MissionDataItem>()
                            };
                            foreach (var task in tasks)
                            {
                                //获取目标点货位
                                Dt_LocationInfo locationInfoStart = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.CurrentAddress);
                                //获取拣选出库站台
                                Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);
                                AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
                                {
                                    MissionData = new List<MissionDataItem>()
                                };
                                string taskGroupId = Guid.NewGuid().ToString().Replace("-", "");
                                
                                foreach (var task in tasks)
                                {
                                    //获取目标点货位
                                    Dt_LocationInfo locationInfoStart = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.CurrentAddress);
                                    //获取拣选出库站台
                                    Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);

                                if (locationInfoStart == null || stationMangerEnd == null) throw new Exception($"未找到任务号${task.TaskNum}起始点{task.CurrentAddress}或目标点{task.NextAddress}位置信息");
                                agvTaskSend.RequestId = GroupId;
                                agvTaskSend.MissionCode = GroupId;
                                if (task.Grade == 0)
                                    if (locationInfoStart == null || stationMangerEnd == null) throw new Exception($"未找到任务号${task.TaskNum}起始点{task.CurrentAddress}或目标点{task.NextAddress}位置信息");
                                    agvTaskSend.RequestId = taskGroupId;
                                    agvTaskSend.MissionCode = taskGroupId;
                                    agvTaskSend.ViewBoardType = "W01";
                                    //料箱子搬运任务
                                    MissionDataItem missionDataItem = new MissionDataItem()
                                    {
                                        Sequence = task.TaskNum,
                                        BinCode = task.PalletCode,
                                        StartPosition = locationInfoStart.AgvPoint,
                                        StartSlotCode = locationInfoStart.LocationCode,
                                        EndPosition = stationMangerEnd.StationCode,
                                        EndSlotCode = stationMangerEnd.CraneStationCode,
                                        TakeActionConfirm = false,
                                        TakeActionInform = false,
                                        PutActionConfirm = true,
                                        PutActionInform = true,
                                    };
                                    agvTaskSend.MissionData.Add(missionDataItem);
                                }
                                if (tasks.OrderByDescending(x => x.Grade).FirstOrDefault()?.Grade == 0)
                                {
                                    agvTaskSend.Priority = 99;
                                }
                                else
                                {
                                    agvTaskSend.Priority = 99 - task.Grade;
                                    agvTaskSend.Priority = 99 - tasks.OrderByDescending(x => x.Grade).FirstOrDefault().Grade;
                                }
                                //料箱子搬运任务
                                MissionDataItem missionDataItem = new MissionDataItem()
                                tasks.ForEach(x =>
                                {
                                    Sequence = task.TaskNum,
                                    BinCode = task.PalletCode,
                                    StartPosition = locationInfoStart.AgvPoint,
                                    StartSlotCode = locationInfoStart.LocationCode,
                                    EndPosition = stationMangerEnd.StationCode,
                                    EndSlotCode = stationMangerEnd.CraneStationCode,
                                    TakeActionConfirm = false,
                                    TakeActionInform = false,
                                    PutActionConfirm = true,
                                    PutActionInform = true,
                                };
                                agvTaskSend.MissionData.Add(missionDataItem);
                                    x.GroupId = taskGroupId;
                                });
                                //发送AGV任务
                                WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
                                if (!content.Status)
                                    throw new Exception(content.Message);
                                tasks.ForEach(x =>
                                {
                                    x.Dispatchertime = DateTime.Now;
                                    x.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                                });
                                _taskService.UpdateData(tasks);
                                Thread.Sleep(500);
                            }
                            //发送AGV任务
                            WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
                            if (!content.Status)
                                throw new Exception(content.Message);
                            tasks.ForEach(x =>
                            catch (Exception ex)
                            {
                                x.Dispatchertime = DateTime.Now;
                                x.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                            });
                            _taskService.UpdateData(tasks);
                            Thread.Sleep(500);
                        }
                        catch (Exception ex)
                        {
                            tasks.ForEach(x =>
                            {
                                x.TaskState = TaskStatusEnum.Exception.ObjToInt();
                                x.ExceptionMessage = ex.Message;
                            });
                            _taskService.UpdateData(tasks);
                                tasks.ForEach(x =>
                                {
                                    x.TaskState = TaskStatusEnum.Exception.ObjToInt();
                                    x.ExceptionMessage = ex.Message;
                                });
                                _taskService.UpdateData(tasks);
                            }
                        }
                    }
                }
@@ -109,10 +127,11 @@
                            //获取目标点货位
                            Dt_LocationInfo locationInfoEnd = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.NextAddress);
                            //获取线体入库站台
                            Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.CurrentAddress);
                            Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x => x.StationCode == task.CurrentAddress);
                            if (locationInfoEnd == null || stationMangerStart == null) throw new Exception($"未找到任务号${task.TaskNum}起始点{task.CurrentAddress}或目标点{task.NextAddress}位置信息");
                            agvTaskSend.RequestId = Guid.NewGuid().ToString().Replace("-", "");
                            agvTaskSend.MissionCode = task.TaskNum.ToString();
                            agvTaskSend.ViewBoardType = "W02";
                            if (task.Grade == 0)
                            {
                                agvTaskSend.Priority = 99;
@@ -130,10 +149,10 @@
                                StartSlotCode = stationMangerStart.CraneStationCode,
                                EndPosition = locationInfoEnd.AgvPoint,
                                EndSlotCode = locationInfoEnd.LocationCode,
                                TakeActionConfirm = false,
                                TakeActionInform = false,
                                PutActionConfirm = true,
                                PutActionInform = true,
                                TakeActionConfirm = true,
                                TakeActionInform = true,
                                PutActionConfirm = false,
                                PutActionInform = false,
                            };
                            agvTaskSend.MissionData.Add(missionDataItem);
                            //发送AGV任务