更新代码

wangxinhui

2025-05-28 b35e72bcf8011cf6e30182b0800e2f6e1a18e149

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/¸¨ÁϲÖ/AGV_FLExtend.cs

@@ -8,7 +8,9 @@
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.Agv;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks.StackerCraneJob;

namespace WIDESEAWCS_Tasks
@@ -22,20 +24,23 @@
        {
            try
            {
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && nameof(AGV_FLJob).Contains(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => ((x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt() && x.TaskType>=TaskTypeEnum.Inbound.ObjToInt()) 
                || (x.TaskState == TaskStatusEnum.New.ObjToInt() && x.TaskType < TaskTypeEnum.Inbound.ObjToInt()))
                && nameof(AGV_FLJob).Contains(x.DeviceCode) 
                && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var task in newTasks)
                {
                    try
                    {
                        if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt())
                        if (task.TaskType == TaskTypeEnum.Outbound.ObjToInt() || task.TaskType == TaskTypeEnum.OutEmpty.ObjToInt() || task.TaskType == TaskTypeEnum.OutAllocate.ObjToInt())
                            task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
                        else
                            task.NextAddress = GetAGVAddress(task.NextAddress);
                        AgvTaskDTO taskDTO = new AgvTaskDTO()
                        {
                            TaskCode = task.AgvTaskNum,
                            ReqCode = DateTime.Now.ToString("yyyyMMddHHmmss"),
                            TaskTyp = task.TaskType == TaskTypeEnum.Outbound.ObjToInt() ? "FLC" : "FLR",
                            ReqCode = DateTime.Now.ToString("yyyyMMdd") + task.AgvTaskNum,
                            TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "FLC" : "FLR",
                            ctnrCode = task.PalletCode,
                            PositionCodePath = new List<CodePath>()
                        {
@@ -51,8 +56,8 @@
                            }
                        },
                        };
                        //WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_FLSendTask);
                        //if (!content.Status) throw new Exception(content.Message);
                        WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_FLSendTask);
                        if (!content.Status) throw new Exception(content.Message);

                        task.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();

@@ -68,6 +73,60 @@
            catch (Exception ex)
            {
                WriteError(nameof(AGV_FLJob), ex.Message, ex);
            }
        }
        /// <summary>
        /// AGV取放货回调
        /// </summary>
        public void ContinueAGVTask()
        {
            try
            {
                //获取是否有安全申请中的任务
                var continueTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt()) && nameof(AGV_FLJob).Contains(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
                foreach (var continueTask in continueTasks)
                {
                    Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.NextAddress);
                    if (stationManger == null)
                    {
                        continue;
                    }
                    IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                    if (device == null)
                    {
                        continue;
                    }
                    OtherDevice otherDevice = (OtherDevice)device;
                    bool canPut = otherDevice.GetValue<GroundStationDBName, bool>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
                    if (!canPut)
                    {
                        continue;
                    }
                    //获取调入参数
                    AGVBoxApplyPassDTO boxApplyPassDTO = new AGVBoxApplyPassDTO()
                    {
                        ReqCode = Guid.NewGuid().ToString().Replace("-", ""),
                        ReqTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
                        TaskCode = continueTask.AgvTaskNum
                    };
                    boxApplyPassDTO.Type = "2";
                    //请求料箱回调接口
                    WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
                    if (content.Status && boxApplyPassDTO.TaskCode == continueTask.AgvTaskNum)
                    {
                        _taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Puting);
                    }
                    else
                    {
                        continueTask.ExceptionMessage = content.Message;
                        _taskService.UpdateTask(continueTask, TaskStatusEnum.Exception);
                    }
                }

            }
            catch (Exception ex)
            {
                WriteError(nameof(AGV_CPJob), ex.Message, ex);
            }
        }
        /// <summary>
@@ -94,6 +153,7 @@
                };
                var b = Layer > 9 ? "" + Layer : "0" + Layer;
                var c = Column > 9 ? "" + Column : "0" + Column;
                if (Column == 10) c = "010";
                Address = a + b + c;
            }
            else