1

huangxiaoqiang

2025-10-23 82149871f30f4564d84272649352496a2ab0a38e

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

@@ -49,13 +49,6 @@
                }
            }

            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)
@@ -68,6 +61,7 @@
                    {
                        if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
                        {
                            Relocation(AcrossFloorTask);
                            if (AcrossFloorTask.Floor == "1F")
                            {
                                elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
@@ -101,79 +95,11 @@
            #region AGV同层搬运任务


            Dt_Task Carry = null;
            Dt_Task Carry = _taskRepository.QueryFirst(x => _taskService.TaskAGVCarryboundStates.Contains(x.TaskState) && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
            if (Carry != null)
            {
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAGVCarryStatusEnum.CarryNew);
                if (task == null)
                {
                    var taskDto = new RequestTaskDto()
                    {
                        Position = Carry.SourceAddress,
                        PalletCode = Carry.PalletCode,
                        TaskNum = Carry.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)
                    {
                        Carry.ExceptionMessage = content.Message;
                        _taskRepository.UpdateData(Carry);
                        return null;
                    }

                    // 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 == Carry.TaskNum)
                        {
                            IsAddTask = true;
                            break;
                        }
                        else
                        {
                            IsAddTask = true;
                        }
                    }
                    if (IsAddTask)
                        _taskService.ReceiveWMSTask(taskDTO);

                    var taskNew = _taskRepository.QueryData(x => x.TaskType == (int)TaskAGVCarryTypeEnum.CarryReloction && x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
                    if (taskNew.Count > 0)
                    {
                        if (taskNew[0].Remark == "2")
                        {
                            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);
                            }
                        }
                    }

                Relocation(Carry);
                    AGVSendTask(Carry);
                }
            }

            #endregion
@@ -201,7 +127,7 @@
                            {
                                return Task.CompletedTask;
                            }

                            Relocation(InTask);
                            _taskService.SendAgvTask("LIFANG", InTask.TaskNum);

                            _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
@@ -214,32 +140,6 @@

            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)
        {
@@ -319,18 +219,17 @@
                {
                    foreach (var item in taskNew.OrderBy(x => x.Grade).ToList())
                    {
                        //AGVSendTask(item);
                        AGVSendTask(item);
                    }
                }
                else
                {
                    foreach (var item in taskNew.OrderByDescending(x => x.Grade).ToList())
                    {
                        //AGVSendTask(item);
                        AGVSendTask(item);
                    }
                }
            }
            //AGVSendTask(task);
        }
    }
}