1

huanghongfeng

2025-10-28 0b4792ff8245f9eac16e6d02452eb9a091f6f72b

 ´úÂë¹ÜÀí/WCS/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -154,7 +154,7 @@
                        dt_Task.SourceAddress = item.startAddress;
                        dt_Task.TargetAddress = item.endAddress;
                        dt_Task.CurrentAddress = item.startAddress;
                        dt_Task.NextAddress = "1021";   //目前暂无
                        dt_Task.NextAddress = "";   //目前暂无
                        dt_Task.Grade = item.priority;
                        dt_Task.WMSId = 0;   //目前暂无
                        BaseDal.AddData(dt_Task);
@@ -191,7 +191,7 @@
                        dt_Task.TaskType = (int)TaskOutboundTypeEnum.Outbound;
                        dt_Task.RGVTaskType = (int)RGVTaskTypeEnum.TravelingOnly;      //取货
                        dt_Task.RGVCurrentexecution = "0";      //目前暂无
                        dt_Task.TaskState = (int)TaskOutStatusEnum.OutNewLj;      //目前暂无
                        dt_Task.TaskState = (int)TaskOutStatusEnum.OutNew;      //目前暂无
                        dt_Task.SourceAddress = item.startAddress;
                        dt_Task.TargetAddress = "0";
                        dt_Task.CurrentAddress = gVStation.Motherinlaw.ToString();
@@ -355,7 +355,15 @@
        /// <returns></returns>
        public Dt_Task MothermachinemovementTask2(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InMothercarExecuting || x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly), TaskOrderBy);
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InMothercarExecuting && x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly), TaskOrderBy);
        }

        /// <summary>
        /// èŽ·å–母车移动任务和移动中的任务（入库）
        /// </summary>
        public Dt_Task MothermacTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskInStatusEnum.RGV_InZicheReleaseFinish || x.TaskState == (int)TaskInStatusEnum.RGV_InMothercarExecuting || x.TaskState == (int)TaskInStatusEnum.RGV_InMothercarFinish || x.TaskState == (int)TaskInStatusEnum.SC_InExecuting || x.TaskState == (int)TaskInStatusEnum.InFinish && x.RGVTaskType == (int)RGVTaskTypeEnum.TravelingOnly), TaskOrderBy);
        }

        /// <summary>
@@ -364,7 +372,7 @@
        /// <param name="DeviceCode"></param>
        public Dt_Task OutMothermaTask(string DeviceCode)
        {
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskOutStatusEnum.OutNew || x.TaskState == (int)TaskOutStatusEnum.RGV_OutMothercarExecuting || x.RGVTaskType == (int)TaskOutStatusEnum.RGV_OutMothercarFinish), TaskOrderBy);
            return BaseDal.QueryFirst(x => x.Roadway == DeviceCode && (x.TaskState == (int)TaskOutStatusEnum.OutNew || x.TaskState == (int)TaskOutStatusEnum.RGV_OutMothercarExecuting && x.RGVTaskType == (int)TaskOutStatusEnum.RGV_OutMothercarFinish), TaskOrderBy);
        }


@@ -418,12 +426,12 @@
                Dt_Task dt_Task = null;
                if (tasktype == 1)
                {
                    dt_Task = BaseDal.QueryFirst(x => x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.NextAddress == "999");
                    dt_Task = BaseDal.QueryFirst(x => x.TaskType == (int)TaskInboundTypeEnum.Inbound && x.TaskState== (int)TaskInStatusEnum.InexceptionalSelection);

                }
                else
                {
                    dt_Task = BaseDal.QueryFirst(x => x.TaskType == (int)TaskOutboundTypeEnum.Outbound && x.NextAddress == "999");
                    dt_Task = BaseDal.QueryFirst(x => x.TaskType == (int)TaskOutboundTypeEnum.Outbound && x.NextAddress == "");
                }
                if (dt_Task == null) return webResponse.Error("未找到需要修改的任务，无需修改");
                dt_Task.NextAddress = NextAddress;
@@ -522,7 +530,7 @@
                int oldState = task.TaskState;
                if (task.TaskType == (int)TaskInboundTypeEnum.Inbound)
                {
                    if (task.TaskState >= (int)TaskInStatusEnum.RGV_InMothercarFinish)
                    if (task.TaskState >= (int)TaskInStatusEnum.InFinish)
                    {
                        return content = WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{task.TaskNum}】,任务状态:【{task.TaskState}】");
                    }
@@ -530,6 +538,11 @@
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();

                    task.TaskState = nextStatus;
                    /*if (task.TaskState == (int)TaskInStatusEnum.RGV_InPickupExecuting)  //当下发入库口取货中，则调取兰剑接口
                    {
                        TaskResultIn(task.TaskNum.ToString(),"",1,"");
                    }*/

                }
                else if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                {
@@ -643,7 +656,7 @@
                int oldState = task.TaskState;
                Dt_TaskExecuteDetail taskExecuteDetail = null;

                if (task.CurrentAddress == "1061")
                if (task.NextAddress == "1061")
                {
                    taskExecuteDetail = _taskExecuteDetailRepository.QueryFirst(x => x.TaskId == task.TaskId && x.TaskState > task.TaskState && x.TaskState > 0, new Dictionary<string, OrderByType> { { nameof(Dt_TaskExecuteDetail.TaskDetailId), OrderByType.Desc } });
                }
@@ -789,9 +802,9 @@
                    : $"系统自动流程，任务状态从【{oldstaterem}】转到【{afterstaterem}】");


                if (task.TaskState == (int)TaskInStatusEnum.RGV_InMothercarFinish)   //入库任务完成
                if (task.TaskState == (int)TaskInStatusEnum.RGV_InMothercarFinish || task.TaskState == (int)TaskOutStatusEnum.OutFinish)   //入库任务完成
                {
                    //AutomaticTaskCompleted(task);   //任务完成
                    
                    if (task.NextAddress == "1001" || task.NextAddress == "1002")
                    {
                        //异常排除任务时，异常上报
@@ -799,6 +812,10 @@
                    else
                    {
                        //正常任务，正常上报
                        TaskResultIn(task.TaskNum.ToString(), "", 2, "");

                        /*AutomaticTaskCompleted(task);   //任务完成
                        BaseDal.DeleteData(task);*/
                    }

                }
@@ -813,6 +830,19 @@
        }
        #region å…¥åº“

        public WebResponseContent HandleInAbnormal(int taskNum)
        {
            Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
            if (task == null)
                return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");
            task.TaskState = (int)TaskInStatusEnum.InAbnormalFinish;
            task.RGVTaskType = (int)RGVTaskTypeEnum.Placing;
            BaseDal.UpdateData(task);
            return WebResponseContent.Instance.OK();

        }


        private void HandleInboundTask(Dt_Task task)
        {
            switch (task.TaskState)
@@ -820,6 +850,7 @@
                case (int)TaskInStatusEnum.RGV_InPickupExecuting:
                    task.TaskState = (int)TaskInStatusEnum.RGV_InPickupFinish;
                    task.RGVTaskType = (int)RGVTaskTypeEnum.Placing;
                    task.NextAddress = "1021";
                    break;

                case (int)TaskInStatusEnum.RGV_InReleaseExecuting:
@@ -1039,8 +1070,18 @@
                            return rGVstatus;
                        }

                        //有无货状态
                        DeviceProDTO? deviceProFh = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RgvEquipmentStatus" && x.DeviceProParamType == "RgvEquipmentStatus");

                        DeviceProDTO? RgvCraneAutoStatus = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RgvCraneAutoStatus" && x.DeviceProParamType == "RgvCraneAutoStatus");

                        int Itstock = Commonstacker.Communicator.Read<short>(deviceProFh.DeviceProAddress);

                        int RgvCraneAutoStatusValues = Commonstacker.Communicator.Read<short>(RgvCraneAutoStatus.DeviceProAddress);


                        int Currentlocation = Commonstacker.Communicator.Read<short>(deviceProDTO.DeviceProAddress);
                        if (Currentlocation == aGVStation.Motherinlaw)    //是否在取货位
                        if (Currentlocation == aGVStation.Motherinlaw && Itstock == 1 && RgvCraneAutoStatusValues == 1)    //是否在取货位
                        {
                            rGVstatus.code = 0;
                            rGVstatus.data = new List<RgvOperation>
@@ -1062,10 +1103,16 @@
                        AGVStation aGVStation = _gvStationService.Corridorequipment(item.rgvTag);
                        int Currentlocation = Commonstacker.Communicator.Read<short>(deviceProDTO.DeviceProAddress);

                        //有无货状态
                        DeviceProDTO? deviceProFh = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RgvEquipmentStatus" && x.DeviceProParamType == "RgvEquipmentStatus");

                        DeviceProDTO? RgvCraneAutoStatus = Commonstacker.DeviceProDTOs.FirstOrDefault(x => x.DeviceChildCode == item.rgvTag && x.DeviceProParamName == "RgvCraneAutoStatus" && x.DeviceProParamType == "RgvCraneAutoStatus");

                        int Itstock = Commonstacker.Communicator.Read<short>(deviceProFh.DeviceProAddress);

                        if (aGVStation.Motherinlaw== Currentlocation && Itstock==0)
                        int RgvCraneAutoStatusValues = Commonstacker.Communicator.Read<short>(RgvCraneAutoStatus.DeviceProAddress);

                        if (aGVStation.Motherinlaw== Currentlocation && Itstock==0 && RgvCraneAutoStatusValues==1) //Itstock:0为无货    RgvCraneAutoStatusValues： 1为自动
                        {
                            rGVstatus.code = 0;
                            rGVstatus.data = new List<RgvOperation>
@@ -1157,7 +1204,7 @@
                            }
                            dt_Task.TaskState = (int)TaskInStatusEnum.InFinish;
                            AutomaticTaskCompleted(dt_Task);    //有问题,等待优化
                            BaseDal.DeleteData(dt_Task);
                            BaseDal.DeleteData(dt_Task);        //删除任务
                            expoReverse.code = 0;
                        }
                        
@@ -1193,7 +1240,7 @@
        }

        /// <summary>
        /// å †åž›æœºæ•…障信息
        /// èŽ·å–堆垛机故障信息
        /// </summary>
        /// <param name="sCErrorStatus"></param>
        /// <returns></returns>
@@ -1212,24 +1259,21 @@
                List<EquipmentStatus> equipmentdata = new List<EquipmentStatus>();

                List<EquipmentStatus> equipmentList = _equipmentStatus.GetEquipmentStatus();
                string msgeetst = "";
                foreach (var item in sCErrorStatus.data)
                {
                    EquipmentStatus equipment = equipmentList.Find(x => x.Equipment_Number == item.stackerName);

                    msgeetst += $"《设备：{equipment.Equipment_Number}，修改前状态：{equipment.Equipment_Status}，";

                    equipment.Equipment_Status = item.errorStatus;

                    msgeetst += $"<修改后状态：{equipment.Equipment_Status}>》................";
                    equipmentdata.Add(equipment);
                    if (equipment.Equipment_Status != item.errorStatus)
                    {
                        equipment.Equipment_Status = item.errorStatus;
                        equipmentdata.Add(equipment);
                    }
                }

                WriteLog.Write_Log("设备状态更改", "堆垛机状态更改", "正常", msgeetst);
                _equipmentStatus.UpdateData(equipmentdata);     //修改状态
                if (equipmentdata.Count > 0)
                {
                    _equipmentStatus.UpdateData(equipmentdata);     //修改状态
                }
                
                expoReverse.code = 0;


                return expoReverse;
            }
            catch (Exception ex)
@@ -1407,6 +1451,7 @@
                    RGVTaskType = dt_task.RGVTaskType,
                    RGVCurrentexecution = dt_task.RGVCurrentexecution
                });
                
                return WebResponseContent.Instance.OK();

            }
@@ -1610,5 +1655,9 @@
            // åˆ›å»ºå¹¶èµ‹å€¼
            return responseContent;
        }




    }
}