KuKa/HaErBingCTU.git

			@@ -22,191 +22,137 @@
			{
			try
			{
			var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()\|\| x.TaskState == TaskStatusEnum.New.ObjToInt()) && x.DeviceCode=="AGV").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();

			if (newTasks.Count>0)
			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();
			#region åºåºä»»å¡ä¸å
			if (newTasksOut.Count>0)
			{
			foreach (var task in newTasks)
			List<string> GroupIds = newTasksOut.GroupBy(x => x.GroupId).Select(x => x.Key).ToList();
			foreach (var GroupId in GroupIds)
			{
			var tasks = newTasksOut.Where(x => x.GroupId == GroupId).ToList();
			try
			{
			Guid guid = Guid.NewGuid();
			AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
			{
			SysToken=guid.ToString().Replace("-",""),
			ReceiveTaskID=task.TaskNum.ToString(),
			MapCode="01",
			Variables=new List<PointDetail>()
			MissionData = new List<MissionDataItem>()
			};
			if (task.NextAddress== "ä¸æ¥¼æå°ç å¤´")
			foreach (var task in tasks)
			{
			string? address =_taskService.RequestTargetAddress(task.TaskNum);
			if (address.IsNullOrEmpty())
			//è·åç®æ ç¹è´§ä½
			Dt_LocationInfo locationInfoStart = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.CurrentAddress);
			//è·åæ£éåºåºç«å°
			Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.NextAddress);

			if (locationInfoStart == null \|\| stationMangerEnd == null) throw new Exception($"æªæ¾å°ä»»å¡å·${task.TaskNum}èµ·å§ç¹{task.CurrentAddress}æç®æ ç¹{task.NextAddress}ä½ç½®ä¿¡æ¯");
			agvTaskSend.RequestId = GroupId;
			agvTaskSend.MissionCode = GroupId;
			if (task.Grade == 0)
			{
			task.ExceptionMessage = "æªæ¾å°AGVç«ç¹";
			continue;
			}
			task.NextAddress = address;
			}
			Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x=>x.StationCode==task.CurrentAddress);
			Dt_StationManger stationMangerEnd = _stationMangerRepository.QueryFirst(x => x.StationCode == task.NextAddress);
			//æ·»å ä»»å¡è·¯å¾åé«åº¦
			if (stationMangerStart !=null && stationMangerEnd != null)
			{
			PointDetail pointDetail1 = new PointDetail()
			{
			Code= "GoodPoint",
			Value=stationMangerStart.AGVStationCode
			};
			//å¤ææ¯å¦æåç½®ç¹
			if (!string.IsNullOrEmpty(stationMangerStart.AGVFrontCode))
			{
			PointDetail pointDetail2 = new PointDetail()
			{
			Code = "CostPoint",
			Value = stationMangerStart.AGVFrontCode
			};
			agvTaskSend.Variables.Add(pointDetail2);
			}
			PointDetail pointDetail3 = new PointDetail()
			{
			Code = "PointB",
			Value = stationMangerEnd.AGVStationCode
			};
			//å¤ææ¯å¦æåç½®ç¹
			if (!string.IsNullOrEmpty(stationMangerEnd.AGVFrontCode))
			{
			PointDetail pointDetail4 = new PointDetail()
			{
			Code = "PointA",
			Value = stationMangerEnd.AGVFrontCode
			};
			agvTaskSend.Variables.Add(pointDetail4);
			}
			PointDetail pointDetail5 = new PointDetail()
			{
			Code = "QUQTH",
			Value = stationMangerStart.AGVStationHeight.ToString()
			};
			PointDetail pointDetail6 = new PointDetail()
			{
			Code = "FHMH",
			Value = stationMangerEnd.AGVStationHeight.ToString()
			};
			agvTaskSend.Variables.Add(pointDetail1);
			agvTaskSend.Variables.Add(pointDetail3);
			agvTaskSend.Variables.Add(pointDetail5);
			agvTaskSend.Variables.Add(pointDetail6);
			}
			else
			{
			throw new Exception("æªæ¾å°AGVç«ç¹");
			}
			//åæ¾ä»»å¡æ¨¡ç
			if (stationMangerStart.StationCode.Contains("PNT") && !stationMangerEnd.StationCode.Contains("PNT") && stationMangerEnd.IsManual==0)//è¯·æ±æ¾
			{
			agvTaskSend.TaskCode = "DUIGAO1";
			if (stationMangerStart.StationType == 998 \|\| stationMangerEnd.StationType == 998)//æ½ä¼é¡¶åè½¦
			{
			agvTaskSend.TaskCode = "DUOLUN1";
			}
			}
			else if (!stationMangerStart.StationCode.Contains("PNT") && stationMangerEnd.StationCode.Contains("PNT") && stationMangerStart.IsManual == 0)//è¯·æ±å
			{
			agvTaskSend.TaskCode = "DUIGAO2";
			if (stationMangerStart.StationType==998 \|\| stationMangerEnd.StationType == 998)//æ½ä¼é¡¶åè½¦
			{
			agvTaskSend.TaskCode = "DUOLUN2";
			}
			}
			else if (!stationMangerStart.StationCode.Contains("PNT") && !stationMangerEnd.StationCode.Contains("PNT") && stationMangerStart.IsManual == 0 && stationMangerStart.IsManual == 0)//è¯·æ±åæ¾
			{
			agvTaskSend.TaskCode = "DUIGAO3";
			if (stationMangerStart.StationType == 998 \|\| stationMangerEnd.StationType == 998)//æ½ä¼é¡¶åè½¦
			{
			agvTaskSend.TaskCode = "DUOLUN3";
			}
			}
			else//æ è¯·æ±
			{
			agvTaskSend.TaskCode = "DUIGAO4";
			if (stationMangerStart.StationType == 998 \|\| stationMangerEnd.StationType == 998)//æ½ä¼é¡¶åè½¦
			{
			agvTaskSend.TaskCode = "DUOLUN4";
			}
			}
			if (stationMangerStart.StationType == 998 \|\| stationMangerEnd.StationType == 998)//æ½ä¼é¡¶åè½¦
			{
			agvTaskSend.Variables.FirstOrDefault(x => x.Code == "FHMH").Value = "0";
			agvTaskSend.Variables.FirstOrDefault(x => x.Code == "GoodPoint").Value = "";
			//å¤æäººå·¥æå¨
			PointDetail complete = new();
			if (stationMangerStart.IsManual==1 && stationMangerEnd.IsManual==0)
			{
			complete = new()
			{
			Code = "Complete",
			Value = "1"
			};
			}
			else if (stationMangerStart.IsManual == 0 && stationMangerEnd.IsManual == 1)
			{
			complete = new()
			{
			Code = "Complete",
			Value = "2"
			};
			}
			else if (stationMangerStart.IsManual == 1 && stationMangerEnd.IsManual == 1)
			{
			complete = new()
			{
			Code = "Complete",
			Value = "3"
			};
			agvTaskSend.Priority = 99;
			}
			else
			{
			complete = new()
			{
			Code = "Complete",
			Value = "0"
			};
			agvTaskSend.Priority = 99 - task.Grade;
			}
			//ä¸åä»»å¡AGVä»»å¡éç¾¤
			agvTaskSend.AgvGroupCode = "QianF";
			PointDetail pointDetail2 = new PointDetail()
			//æç®±åæ¬è¿ä»»å¡
			MissionDataItem missionDataItem = new MissionDataItem()
			{
			Code = "CostPoint",
			Value = stationMangerStart.AGVStationCode
			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.Variables.Add(pointDetail2);
			agvTaskSend.Variables.Add(complete);
			}
			if (task.TaskType==TaskTypeEnum.OutCarton.ObjToInt())
			{
			agvTaskSend.AgvGroupCode = "GAOc";
			agvTaskSend.MissionData.Add(missionDataItem);
			}
			//åéAGVä»»å¡
			WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
			if (!content.Status)
			throw new Exception(content.Message);
			task.Dispatchertime = DateTime.Now;
			_taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
			tasks.ForEach(x =>
			{
			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);
			}
			}
			}
			#endregion
			#region å¥åºä»»å¡ä¸å
			if (newTasksIn.Count > 0)
			{
			foreach (var task in newTasksIn)
			{
			try
			{
			AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
			{
			MissionData = new List<MissionDataItem>()
			};
			//è·åç®æ ç¹è´§ä½
			Dt_LocationInfo locationInfoEnd = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.NextAddress);
			//è·åçº¿ä½å¥åºç«å°
			Dt_StationManger stationMangerStart = _stationMangerRepository.QueryFirst(x => x.PickStationCode == task.CurrentAddress);
			if (locationInfoEnd == null \|\| stationMangerStart == null) throw new Exception($"æªæ¾å°ä»»å¡å·${task.TaskNum}èµ·å§ç¹{task.CurrentAddress}æç®æ ç¹{task.NextAddress}ä½ç½®ä¿¡æ¯");
			agvTaskSend.RequestId = Guid.NewGuid().ToString().Replace("-", "");
			agvTaskSend.MissionCode = task.TaskNum.ToString();
			if (task.Grade == 0)
			{
			agvTaskSend.Priority = 99;
			}
			else
			{
			agvTaskSend.Priority = 99 - task.Grade;
			}
			//æç®±åæ¬è¿ä»»å¡
			MissionDataItem missionDataItem = new MissionDataItem()
			{
			Sequence = task.TaskNum,
			BinCode = task.PalletCode,
			StartPosition = stationMangerStart.StationCode,
			StartSlotCode = stationMangerStart.CraneStationCode,
			EndPosition = locationInfoEnd.AgvPoint,
			EndSlotCode = locationInfoEnd.LocationCode,
			TakeActionConfirm = false,
			TakeActionInform = false,
			PutActionConfirm = true,
			PutActionInform = true,
			};
			agvTaskSend.MissionData.Add(missionDataItem);
			//åéAGVä»»å¡
			WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
			if (!content.Status)
			throw new Exception(content.Message);
			task.Dispatchertime = DateTime.Now; task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
			_taskService.UpdateData(task);
			Thread.Sleep(500);
			}
			catch (Exception ex)
			{
			task.TaskState = TaskStatusEnum.Exception.ObjToInt();
			task.ExceptionMessage = ex.Message;
			_taskService.UpdateData(task);
			}
			}
			//æ´æ°ä»»å¡
			if (newTasks.Count > 0)
			{
			_taskService.UpdateData(newTasks);
			}
			}
			}
			#endregion
			}
			catch (Exception ex)
			{