最新代码上传，优化功能等

wangxinhui

5 天以前 9ec715d2deb18a269dd49c48da91a36632d08c81

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/AGV/CTU_AGVController .cs

@@ -115,13 +115,14 @@
                }
                if (task.PalletCode!= agvCallbackBox.ContainerCode)
                {
                    string Address = task.CurrentAddress switch
                    string Address = task?.CurrentAddress switch
                    {
                        "5206" => "5105",
                        "5212" => "5111",
                        "5218" => "5117",
                        "8005" => "8001",
                        "5135" => "5236",
                        _ => throw new Exception("未找到地址信息"),
                    };
                    AgvCTUCancelDTO agvCTUCancel=new AgvCTUCancelDTO()
                    {
@@ -172,12 +173,7 @@
            {
                if (agvUpdateModel == null) throw new Exception("未获取到请求参数");
                agvResponseContent.ReqCode = agvUpdateModel.ReqCode;
                var task = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum);
                //是否存在输送线体待AGV搬运任务
                var taskExecutes = _taskRepository.QueryData(x => x.NextAddress == task.CurrentAddress && x.TaskState == TaskStatusEnum.Line_Executing.ObjToInt() && x.TaskType == TaskTypeEnum.InProduct.ObjToInt());
                var taskExecutesFL = _taskRepository.QueryData(x => x.TaskState == TaskStatusEnum.New.ObjToInt() &&  x.DeviceCode=="AGV_FL" && !string.IsNullOrEmpty(x.DeviceCode));
                if (task == null) throw new Exception($"未找到任务,任务号【{agvUpdateModel.TaskCode}】");
                
                var task = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum) ?? throw new Exception($"未找到任务,任务号【{agvUpdateModel.TaskCode}】");
                switch (agvUpdateModel.Method.ToUpper())
                {
                    case "END":
@@ -190,27 +186,16 @@
                        //更改成品入库AGV取货任务状态
                        if (task.TaskType == TaskTypeEnum.InProduct.ObjToInt() || task.TaskType == TaskTypeEnum.InProductBack.ObjToInt())
                        {
                            //for (int i = 0; i < 100; i++)
                            //{
                            //    task.TaskState = TaskStatusEnum.AGV_WaitToExecute.ObjToInt();
                            //    task.Remark = task.TaskState.ToString();
                            //    _taskRepository.UpdateData(task);
                            //    var taskOk = _taskRepository.QueryFirst(x => agvUpdateModel.TaskCode == x.AgvTaskNum);
                            //    if (taskOk.TaskState==TaskStatusEnum.AGV_WaitToExecute.ObjToInt() || taskOk.Remark.Contains("320"))
                            //    {
                            //        agvResponseContent.Code = "0";
                            //        agvResponseContent.Message = ""+i;
                            //        break;
                            //    }
                            //}
                            
                            //是否存在输送线体待AGV搬运任务
                            var taskExecutes = _taskRepository.QueryData(x => x.NextAddress == task.CurrentAddress && x.TaskState == TaskStatusEnum.Line_Executing.ObjToInt() && x.TaskType == TaskTypeEnum.InProduct.ObjToInt());
                            if (taskExecutes.Count > 0)
                            {
                                string address = task.CurrentAddress switch
                                {
                                    "5206" => "5105",
                                    "5212" => "5111",
                                    "5218" => "5117",
                                    "5218" => "5117"
                                };
                                //调用AGV预调度接口
                                AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
@@ -288,13 +273,14 @@
                        else //更改辅料取货
                        {
                            //是否存在输送线体待AGV搬运任务
                            var taskExecutesFL = _taskRepository.QueryData(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && x.DeviceCode == "AGV_FL" && !string.IsNullOrEmpty(x.DeviceCode));
                            if (taskExecutesFL.Count > 0)
                            {
                                //调用AGV预调度接口
                                AgvScheduleTaskDTO agvScheduleTask = new AgvScheduleTaskDTO()
                                {
                                    PositionCode = "8001",
                                    NextTask = "90",
                                    NextTask = "60",
                                    UseableLayers = "1",
                                    CacheCount = "1",
                                    Update = "0",