更新优化

helongyang

2025-07-11 291025fa4ada785892cb5b50921132573174e074

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/AGV_CSJExtend.cs

@@ -9,8 +9,10 @@
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Model.Models;
using static Dm.net.buffer.ByteArrayBuffer;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_DTO.Agv;
using SqlSugar;
using static Dm.net.buffer.ByteArrayBuffer;

namespace WIDESEAWCS_Tasks
{
@@ -23,17 +25,19 @@
        {
            try
            {
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt() && nameof(AGV_CSJJob).Contains(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var agvTask in newTasks)
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt() && !string.IsNullOrEmpty(x.DeviceCode) && nameof(AGV_CSJJob).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
                        {
                            ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                            TaskTyp = AgvTaskType(agvTask.TaskType, agvTask.DeviceCode),
                            PositionCodePath = new List<CodePath>()
                        {
                            AgvTaskDTO taskDTO = new AgvTaskDTO()
                            {
                                ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                                TaskTyp = AgvTaskType(agvTask.TaskType, agvTask.DeviceCode),
                                PositionCodePath = new List<CodePath>()
                            {
                            new CodePath()
                            {
                                type="00",
@@ -44,32 +48,52 @@
                                type="00",
                                positionCode=agvTask.NextAddress
                            }
                        },
                            TaskCode = agvTask.AgvTaskNum,
                            PodTyp = agvTask.PalletType < 3 ? "XX" : "DD",
                        };
                        WebResponseContent content = _taskService.AgvSendTask(taskDTO);
                        if (content.Status)
                        {
                            agvTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                            //agvTask.Remark = content.Data.ObjToString();
                            },
                                TaskCode = agvTask.AgvTaskNum,
                                PodTyp = agvTask.PalletType < 3 ? "ZC" : "DX",
                            };
                            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;
                            }
                        }
                        else
                        catch (Exception ex)
                        {
                            agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                            //agvTask.Remark = content.Data.ObjToString();
                            agvTask.ExceptionMessage = content.Message;
                            agvTask.ExceptionMessage = ex.Message;
                            WriteError(nameof(AGV_CSJJob), ex.Message, ex);
                        }
                    }
                    catch (Exception ex)
                    _taskService.UpdateData(newTasks);
                }
                //出库绑定查询
                Dt_Task outBound = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.Exception.ObjToInt() && nameof(AGV_CSJJob).Contains(x.DeviceCode) && x.TaskType==TaskTypeEnum.Outbound.ObjToInt()).ToList().OrderByDescending(x => x.Grade).ThenBy(x=>x.CreateDate).First();
                if (outBound != null)
                {
                    AgvPodBerthAndMatDTO andMatDTO = new AgvPodBerthAndMatDTO()
                    {
                        agvTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                        ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                        PositionCode=outBound.TargetAddress
                    };
                    WebResponseContent content = _taskService.AgvPodBerthAndMat(andMatDTO);
                    if (content.Status)
                    {
                        outBound.TaskState = TaskStatusEnum.AGV_Execute.ObjToInt();
                        outBound.ExceptionMessage = "";
                        //agvTask.Remark = content.Data.ObjToString();
                        agvTask.ExceptionMessage = ex.Message;
                        WriteError(nameof(AGV_CSJJob), ex.Message, ex);
                        _taskService.UpdateTask(outBound, TaskStatusEnum.AGV_Execute);
                    }
                }
                _taskService.UpdateData(newTasks);
            }
            catch (Exception ex)
            {
@@ -83,11 +107,15 @@
        {
            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_CSJJob).Contains(x.DeviceCode)).OrderBy(x => x.CreateDate).ToList();
                foreach (var WaitToTask in WaitToTasks)
                {
                    if (WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        if (WaitToTasks.FirstOrDefault(x=>x.TaskState==TaskStatusEnum.AGV_Puting.ObjToInt() || x.TaskState == TaskStatusEnum.Finish.ObjToInt()) !=null)
                        {
                            continue;
                        }
                        Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == WaitToTask.NextAddress);
                        if (stationManger == null)
                        {
@@ -143,17 +171,44 @@
                        taskCode = WaitToTask.AgvTaskNum,
                    };
                    WebResponseContent content = _taskService.AgvSecureReply(replyDTO);
                    if (content.Status)
                    if (content.Status && WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        WaitToTask.TaskState = TaskStatusEnum.AGV_Puting.ObjToInt();
                        _taskService.UpdateTask(WaitToTask, TaskStatusEnum.AGV_Puting);
                        break;
                    }
                    else if (content.Status && WaitToTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        WaitToTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                        _taskService.UpdateTask(WaitToTask, TaskStatusEnum.AGV_Executing);
                    }
                    else
                    {
                        WaitToTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                        WaitToTask.ExceptionMessage = content.Message;
                        _taskService.UpdateTask(WaitToTask, TaskStatusEnum.Exception);
                    }
                }
                _taskService.UpdateData(WaitToTasks);
                Dt_Task? TakeErroeTask = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.AGV_TakeError.ObjToInt() && nameof(AGV_CSJJob).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);
                    _taskService.TaskCompleted(TakeErroeTask.TaskNum);
                }
            }
            catch (Exception ex)
            {
@@ -168,14 +223,6 @@
                case "AGV_CSJ":
                    {
                        return TaskType == TaskTypeEnum.ProductionReturn.ObjToInt() ? "23" : "24";
                    }
                case "AGV_ZH":
                    {
                        if (TaskType == TaskTypeEnum.InboundXB.ObjToInt())
                            return "20";
                        else if (TaskType == TaskTypeEnum.InboundJT.ObjToInt())
                            return "21";
                        else return "22";
                    }
                default:
                    throw new Exception($"设备编号错误");