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;
@@ -43,7 +44,7 @@
                            },
                            new CodePath()
                            {
                                type="00",
                                type="04",
                                positionCode=agvTask.NextAddress
                            }
                            },
@@ -90,6 +91,7 @@
                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)
@@ -119,6 +121,14 @@
                            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
                    {
@@ -144,13 +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)
                    {
@@ -171,6 +177,50 @@
                    }
                }
                _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)
            {