1

helongyang

2025-08-19 257d09aff7ec7b858b037607869d23ec61ac75bc

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/×躸²Ö/AGV_ZHExtend.cs

@@ -7,6 +7,7 @@
using WIDESEAWCS_Common.APIEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
@@ -16,46 +17,64 @@
{
    public partial class AGV_ZHJob
    {
        /// <summary>
        /// ä¸‹å‘任务
        /// </summary>
        public void SendAGVTask()
        {
            try
            {
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()) && nameof(AGV_PPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var task in newTasks)
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt() && !string.IsNullOrEmpty(x.DeviceCode) && nameof(AGV_ZHJob).Contains(x.DeviceCode)).OrderByDescending(x => x.Grade).OrderBy(x => x.CreateDate).ToList();
                if (newTasks.Count > 0)
                {
                    try
                    foreach (var agvTask in newTasks)
                    {
                        AgvTaskDTO TaskDTO = new AgvTaskDTO()
                        try
                        {
                            TaskCode = task.AgvTaskNum,
                            ReqCode = DateTime.Now.ToString("yyyyMMddHHmmss") + task.AgvTaskNum,
                            TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "FLC" : "FLR",
                            ctnrCode = task.PalletCode,
                            PositionCodePath = new List<CodePath>()
                        {
                            AgvTaskDTO taskDTO = new AgvTaskDTO()
                            {
                                ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                                TaskTyp = "22",
                                PositionCodePath = new List<CodePath>()
                            {
                            new CodePath()
                            {
                                type="00",
                                positionCode=task.CurrentAddress
                                positionCode=agvTask.CurrentAddress
                            },
                            new CodePath()
                            {
                                type="00",
                                positionCode=task.NextAddress
                                type="04",
                                positionCode=agvTask.NextAddress
                            }
                        },
                        };
                        WebResponseContent content = _taskService.AgvSendTask(TaskDTO, APIEnum.Agv_ZHSendTask);
                        if (!content.Status) throw new Exception(content.Message);
                        task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                            },
                                TaskCode = agvTask.AgvTaskNum,
                                PodTyp = agvTask.PalletType < 2 ? "XX" : "DD",
                            };
                            WebResponseContent content = _taskService.AgvSendTask(taskDTO);
                            if (content.Status)
                            {
                                agvTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                                //agvTask.Remark = content.Data.ObjToString();
                                _taskService.UpdateTask(agvTask, TaskStatusEnum.AGV_Executing);
                            }
                            else
                            {
                                agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                                //agvTask.Remark = content.Data.ObjToString();
                                agvTask.ExceptionMessage = content.Message;
                            }
                        }
                        catch (Exception ex)
                        {
                            agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                            //agvTask.Remark = content.Data.ObjToString();
                            agvTask.ExceptionMessage = ex.Message;
                            WriteError(nameof(AGV_ZHJob), ex.Message, ex);
                        }
                    }
                    catch (Exception ex)
                    {
                        task.TaskState = TaskStatusEnum.Exception.ObjToInt();
                        task.ExceptionMessage = ex.Message;
                    }
                    _taskService.UpdateData(newTasks);
                }
                _taskService.UpdateData(newTasks);
            }
            catch (Exception ex)
            {
@@ -69,9 +88,10 @@
        {
            try
            {
                var WaitToTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt() && nameof(AGV_CSJJob).Contains(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                var WaitToTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt() && nameof(AGV_ZHJob).Contains(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var WaitToTask in WaitToTasks)
                {
                    AgvSecureReplyDTO replyDTO = new AgvSecureReplyDTO();
                    if (WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        if (WaitToTasks.FirstOrDefault(x => x.TaskState == TaskStatusEnum.AGV_Puting.ObjToInt() || x.TaskState == TaskStatusEnum.Finish.ObjToInt()) != null)
@@ -100,6 +120,15 @@
                        {
                            continue;
                        }
                        otherDevice.SetValue(GroundStationDBName.W_PutPalletType, WaitToTask.PalletType, stationManger.StationCode);

                        replyDTO.ReqCode = Guid.NewGuid().ToString().Replace("-", "");//WaitToTask.TaskNum.ToString(),
                        replyDTO.taskCode = WaitToTask.AgvTaskNum;
                        replyDTO.nextPositionCode = new CodePath()
                        {
                            type="00",
                            positionCode= stationManger.AGVStationCode
                        };
                    }
                    else
                    {
@@ -125,13 +154,9 @@
                        {
                            continue;
                        }
                        replyDTO.ReqCode = Guid.NewGuid().ToString().Replace("-", "");//WaitToTask.TaskNum.ToString(),
                        replyDTO.taskCode = WaitToTask.AgvTaskNum;
                    }

                    AgvSecureReplyDTO replyDTO = new AgvSecureReplyDTO()
                    {
                        ReqCode = Guid.NewGuid().ToString().Replace("-", ""), //WaitToTask.TaskNum.ToString(),
                        taskCode = WaitToTask.AgvTaskNum,
                    };
                    WebResponseContent content = _taskService.AgvSecureReply(replyDTO);
                    if (content.Status && WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
@@ -152,10 +177,54 @@
                    }
                }
                _taskService.UpdateData(WaitToTasks);

                //取放货完成写入异常处理
                Dt_Task? TakeErroeTask = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_TakeError.ObjToInt() && nameof(AGV_ZHJob).Contains(x.DeviceCode)).First();
                if (TakeErroeTask != null)
                {
                    Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == TakeErroeTask.CurrentAddress);
                    if (stationManger == null)
                    {
                        throw new Exception($"未找到站台配置");
                    }
                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                    if (device == null)
                    {
                        throw new Exception($"未找到对应设备");
                    }
                    OtherDevice otherDevice = (OtherDevice)device;
                    otherDevice.SetValue(GroundStationDBName.W_TakeFinish, true, stationManger.StationCode);
                    Thread.Sleep(1000);
                    otherDevice.SetValue(GroundStationDBName.W_TakeFinish, false, stationManger.StationCode);
                    TakeErroeTask.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
                    var up = _taskRepository.DeleteAndMoveIntoHty(TakeErroeTask, OperateTypeEnum.自动完成);
                    _taskService.TaskCompleted(TakeErroeTask.TaskNum);
                }
                Dt_Task? PutErroeTask = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_PutError.ObjToInt() && nameof(AGV_ZHJob).Contains(x.DeviceCode)).First();
                if (PutErroeTask != null)
                {
                    Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == PutErroeTask.NextAddress);
                    if (stationManger == null)
                    {
                        throw new Exception($"未找到站台配置");
                    }
                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                    if (device == null)
                    {
                        throw new Exception($"未找到站台配置");
                    }
                    OtherDevice otherDevice = (OtherDevice)device;
                    otherDevice.SetValue(GroundStationDBName.W_PutFinish, true, stationManger.StationCode);
                    PutErroeTask.CurrentAddress = stationManger.StationCode;
                    PutErroeTask.NextAddress = "";
                    PutErroeTask.TaskState = TaskStatusEnum.AGV_Finish.ObjToInt();
                    PutErroeTask.DeviceCode = "SC01_ZH";
                    var up = _taskRepository.UpdateData(PutErroeTask);
                }
            }
            catch (Exception ex)
            {
                Console.Out.WriteLine(nameof(AGV_CSJJob) + ":" + ex.Message);
                Console.Out.WriteLine(nameof(AGV_ZHJob) + ":" + ex.Message);
            }
        }
    }