1

huangxiaoqiang

2025-10-20 63dcb7fc55d32960f643f4040900ce9a0e33536d

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/AGV/CommonAGVJob.cs

@@ -1,6 +1,7 @@
using HslCommunication;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
using Quartz;
using System;
using System.Collections.Generic;
@@ -39,6 +40,22 @@

        public Task Execute(IJobExecutionContext context)
        {
            var RelocationTask = _taskRepository.QueryData(x => _taskService.TaskAcrossFloorboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            if (RelocationTask.Count > 0)
            {
                foreach (var item in RelocationTask)
                {
                    AGVSendTask(item);
                }
            }

            var taskCarry = _taskRepository.QueryData(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
            #region å‡ºåº“任务

            AGVOutTask(taskCarry.Where(x => x.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup).ToList());
            
            #endregion

            #region AGV跨楼层任务
            var AcrossFloorTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
            if (AcrossFloorTask != null)
@@ -83,16 +100,8 @@

            #region AGV同层搬运任务

            var CarryTask = _taskRepository.QueryData(x => x.TaskType == (int)TaskAGVCarryTypeEnum.CarryReloction && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            var Carry = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            if (CarryTask .Count>0)
            {
                foreach (var item in CarryTask)
                {
                    AGVSendTask(item);
                }
            }

            Dt_Task Carry = null;
            if (Carry != null)
            {
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew);
@@ -205,6 +214,33 @@

            return Task.CompletedTask;
        }

        /// <summary>
        /// AGV出库任务
        /// </summary>
        /// <param name="tasks"></param>
        public void AGVOutTask(List<Dt_Task> tasks)
        {
            if(tasks.Count > 0)
            {
                var OutTaskOneFloor = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState < (int)TaskOutStatusEnum.AGV_OutExecuting && x.Floor=="1F");
                var OutTaskTwoFloor = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState < (int)TaskOutStatusEnum.AGV_OutExecuting && x.Floor=="1F");
                if(OutTaskOneFloor == null)
                {
                    var task = tasks.Where(x => x.Floor == "1F").OrderByDescending(x => x.Grade).FirstOrDefault();
                    if (task != null)
                        Relocation(task);
                }
                if (OutTaskTwoFloor == null)
                {
                    var task = (tasks.Where(x => x.Floor == "2F").OrderBy(x => x.Grade).FirstOrDefault());
                    if (task != null)
                        Relocation(task);
                }
            }
        }


        public void AGVSendTask(Dt_Task task)
        {
            if (task.SourceAddress.Contains("XB001") || task.TargetAddress.Contains("XB001"))
@@ -226,5 +262,75 @@
                _taskRepository.UpdateData(task);
            }
        }


        public void Relocation(Dt_Task? task)
        {
            var taskDto = new RequestTaskDto()
            {
                Position = task.SourceAddress,
                PalletCode = task.PalletCode,
                TaskNum = task.TaskNum
            };

            // èŽ·å–WMSip地址
            var configz = _sys_ConfigService.GetConfigsByCategory(CateGoryConst.CONFIG_SYS_IPAddress);
            var wmsBasez = configz.Where(x => x.ConfigKey == SysConfigKeyConst.WMSIP_BASE).FirstOrDefault()?.ConfigValue;
            var requestLocation = configz.Where(x => x.ConfigKey == SysConfigKeyConst.AGVIsNeedRelocation).FirstOrDefault()?.ConfigValue;
            if (wmsBasez == null || requestLocation == null)
            {
                throw new InvalidOperationException("WMS IP æœªé…ç½®");
            }
            var wmsIpAddrss = wmsBasez + requestLocation;

            var result = HttpHelper.PostAsync(wmsIpAddrss, taskDto.ToJsonString()).Result;

            WebResponseContent content = JsonConvert.DeserializeObject<WebResponseContent>(result);

            if (!content.Status)
            {
                task.ExceptionMessage = content.Message;
                _taskRepository.UpdateData(task);
                return;
            }

            // ååºåˆ—化任务数据
            var taskDTO = JsonConvert.DeserializeObject<List<WMSTaskDTO>>(content.Data.ToString());
            bool IsAddTask = false;
            foreach (var t in taskDTO)
            {
                if (t.TaskNum == task.TaskNum)
                {
                    IsAddTask = false;
                    break;
                }
                else
                {
                    IsAddTask = true;
                }
            }
            if (IsAddTask)
                _taskService.ReceiveWMSTask(taskDTO);

            var taskNew = _taskRepository.QueryData(x => _taskService.TaskRelocationboundTypes.Contains(x.TaskType) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            if (taskNew.Count > 0)
            {
                if (taskNew[0].Floor == "2F")
                {
                    foreach (var item in taskNew.OrderBy(x => x.Grade).ToList())
                    {
                        //AGVSendTask(item);
                    }
                }
                else
                {
                    foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
                    {
                        //AGVSendTask(item);
                    }
                }
            }
            //AGVSendTask(task);
        }
    }
}