RuiShengZhiNeng/GaoPuLiTiKu.git

			@@ -21,6 +21,7 @@
			using WIDESEAWCS_DTO.WMS;
			using WIDESEAWCS_Model.Models;
			using WIDESEAWCS_QuartzJob;
			using WIDESEAWCS_QuartzJob.DTO;

			namespace WIDESEAWCS_TaskInfoService
			{
			@@ -76,20 +77,128 @@
			if (task == null) throw new Exception($"æªæ¾å°ä»»å¡,ä»»å¡ç¼å·ã{hIKROBOT.robotTaskCode}ã");
			switch (hIKROBOT.extra.values.method)
			{
			case "end":
			TaskCompleted(task, deviceTypeEnum);
			break;
			case "outbin":
			TaskFromCompleted(task, deviceTypeEnum);
			break;
			case "start":
			task.TaskState = (int)TaskStatusEnum.Takeing;
			TaskFeedback(task, 1);
			if (task.TaskState==(int)TaskStatusEnum.CallingHKtransportation&& task.TaskType == (int)TaskTypeEnum.Move)
			{
			task.TaskState = (int)TaskStatusEnum.HktransportIng;
			}
			else
			{
			task.TaskState = (int)TaskStatusEnum.Takeing;
			TaskFeedback(task, 1);
			}
			break;
			case "outbin"://ç¦»å¼èµ·ç¹
			{
			///å¤æä»»å¡æ¯å¦è·è®¾å¤æå³
			TaskFromCompleted(task, deviceTypeEnum); //ä»»å¡ç¶ä½æ¹ä¸º3åè´§å®æï¼æ´æ°èµ·ç¹è´§ä½ç¶æï¼å¹¶åé¦WMSèµ·ç¹å®æ
			}
			break;
			case "finish"://ç¦»å¼æåæº
			{

			//å¥æåæº
			if (task.TaskType == TaskTypeEnum.RK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			else
			{
			DeviceProDTO? deviceProDTO = device.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == HoistEnum.Inboundboxon.ToString());
			if (device.IsConnected)
			device.SetValue(HoistEnum.Inboundboxon, 1);
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			}

			//åºæåæº
			else if (task.TaskType == TaskTypeEnum.CK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			else
			{
			if (device.IsConnected)
			device.SetValue(HoistEnum.Outboundboxon, 1);//åºåºå®æ
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			}
			//åæ¥¼ åºåº
			else if ((task.TaskType == TaskTypeEnum.CHUKU1.ObjToInt() \|\| task.TaskType == TaskTypeEnum.F04.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			else
			{
			if (device.IsConnected)
			device.SetValue(HoistEnum.Emptyboxplacedinposition, 1);
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			}
			//åæ¥¼ å¥åº
			else if ((task.TaskType == TaskTypeEnum.Q1TSJ4.ObjToInt() \|\| task.TaskType == TaskTypeEnum.F03.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			else
			{
			if (device.IsConnected)
			//åä»¥ä¸ä¸ªåºåºå®æä¿¡å·
			device.SetValue(HoistEnum.Outboundboxretrievalcompleted, 1, task.SourceAddress);
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			}
			else if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() \|\| task.TaskType == TaskTypeEnum.Q3CK.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			{
			if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt())
			{
			//å¦ææ¯åæ¥¼å°ä¸æ¥¼å°±åä¸ä¸ªä¿¡å·ç»1æ¥¼plcåè¯ä»ææ¥å¥åºäº

			}
			else
			{
			//è¿ä¸ªå°±åä¸ä¸ªå¤ä½ç¶æï¼åè¯å®æåºåºäº

			}
			}
			}
			break;
			case "into"://ç³è¯·è¿å¥æåæº
			{
			task.TaskState = (int)TaskStatusEnum.AGV_WaitToExecute;
			BaseDal.UpdateData(task);
			}
			break;
			case "wait"://æ«ç çå¾
			{
			task.TaskState = (int)TaskStatusEnum.CheckPalletCodeing;
			BaseDal.UpdateData(task);
			}
			break;
			case "end"://ä»»å¡å®æéç¥
			{
			if (task.TaskType==(int)TaskTypeEnum.Move &&task.TaskState==(int)TaskStatusEnum.HkTransportCompleted)
			{
			task.TaskState = TaskStatusEnum.Finish.ObjToInt();
			TaskFeedback(task, 2);
			BaseDal.DeleteAndMoveIntoHty(task,OperateTypeEnum.èªå¨å®æ);
			}
			else
			{
			///å¤æä»»å¡æ¯å¦è·è®¾å¤æå³
			TaskCompleted(task, deviceTypeEnum);
			}
			}
			break;
			default:
			task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
			BaseDal.UpdateData(task);
			break;
			throw new Exception("æªå®ä¹çæ¹æ³åï¼");
			//task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
			//BaseDal.UpdateData(task);
			//break;
			}
			}
			else //ååè½¦
			@@ -100,77 +209,82 @@
			//var task = BaseDal.QueryFirst(x => x.RGVTaskId == Rgv.content.taskID);
			var task = BaseDal.QueryFirst(x => x.PalletCode == Rgv.content.podID);
			if (task == null) throw new Exception($"æªæ¾å°ä»»å¡,ä»»å¡ç¼å·ã{Rgv.content.taskID}ã");

			if (Rgv.messageType == 72)//å°è½¦é¡¶èµ·è´§ç©
			//ç§»åº
			if (task.TaskType == TaskTypeEnum.CPMoveInventory.ObjToInt() && Rgv.messageType == 10 && Rgv.content.status == 4)
			{
			if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Execut)
			deviceName += "ç§»åº";
			WMSMoveLocationFeedback wMSMoveLocationFeedback = new WMSMoveLocationFeedback()
			{
			task.TaskState = (int)TaskStatusEnum.WaiCheckShape;
			//BaseDal.UpdateData(task);//ç»è´¨æ£é¨åå¥å¯å¨ä¿¡å·
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°1æ¥¼è´¨æ£é¨è®¾å¤ä¿¡æ¯";
			else
			{
			if (device.IsConnected)
			device.SetValue(QualityInspectionCommandEnum.StartqualityInspection, true, task.SourceAddress);
			else
			task.ExceptionMessage = "1æ¥¼è´¨æ£é¨è®¾å¤è¿æ¥å¤±è´¥";
			}
			TaskFeedback(task, 4);
			}
			containerCode = task.PalletCode,
			fromStationCode = task.SourceAddress,
			toLocationCode = task.TargetAddress
			};
			Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(WMSMoveLocationFeedback));
			WMSReturn agvContent = null;
			if (apiInfo == null) task.ExceptionMessage = "æªæ¾å°ç§»åºå®æåé¦WMSæ¥å£éç½®ä¿¡æ¯ï¼è¯·æ£æ¥æ¥å£éç½®";
			else
			{
			TaskFromCompleted(task, deviceTypeEnum);
			task.TaskState = TaskStatusEnum.Finish.ObjToInt();
			string response = HttpHelper.Post(apiInfo.ApiAddress, wMSMoveLocationFeedback.Serialize());
			agvContent = response.DeserializeObject<WMSReturn>();
			content.OK(data: agvContent);
			if (agvContent.code != 200)
			{
			task.ExceptionMessage = agvContent.message;
			content.Error(agvContent.message);
			}
			UpdateLocationStatus(task.TargetAddress, task.PalletCode, deviceTypeEnum, LocationStatusEnum.InStock);
			BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.èªå¨å®æ);
			}
			}
			else if (Rgv.messageType == 10)
			else
			{
			if (Rgv.content.status == 2) TaskFeedback(task, 1);
			if (Rgv.content.status == 4)
			//ç«å°å°è´¨æ£å°
			if (Rgv.messageType == 72)//å°è½¦é¡¶èµ·è´§ç©
			{
			if (task.TaskType == TaskTypeEnum.CPMoveInventory.ObjToInt())
			if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Execut)
			{
			deviceName += "ç§»åº";
			WMSMoveLocationFeedback wMSMoveLocationFeedback = new WMSMoveLocationFeedback()
			{
			containerCode = task.PalletCode,
			fromStationCode = task.SourceAddress,
			toLocationCode = task.TargetAddress
			};
			Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(WMSMoveLocationFeedback));
			WMSReturn agvContent = null;
			if (apiInfo == null) task.ExceptionMessage = "æªæ¾å°ç§»åºå®æåé¦WMSæ¥å£éç½®ä¿¡æ¯ï¼è¯·æ£æ¥æ¥å£éç½®";
			task.TaskState = (int)TaskStatusEnum.WaiCheckShape;
			//BaseDal.UpdateData(task);//ç»è´¨æ£é¨åå¥å¯å¨ä¿¡å·
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°1æ¥¼è´¨æ£é¨è®¾å¤ä¿¡æ¯";
			else
			{
			task.TaskState = TaskStatusEnum.Finish.ObjToInt();
			string response = HttpHelper.Post(apiInfo.ApiAddress, wMSMoveLocationFeedback.Serialize());
			agvContent = response.DeserializeObject<WMSReturn>();
			content.OK(data: agvContent);
			if (agvContent.code != 200)
			{
			task.ExceptionMessage = agvContent.message;
			content.Error(agvContent.message);
			}
			UpdateLocationStatus(task.TargetAddress, task.PalletCode, deviceTypeEnum, LocationStatusEnum.InStock);
			BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.èªå¨å®æ);
			if (device.IsConnected)
			device.SetValue(QualityInspectionCommandEnum.StartqualityInspection, true, task.SourceAddress);
			else
			task.ExceptionMessage = "1æ¥¼è´¨æ£é¨è®¾å¤è¿æ¥å¤±è´¥";
			}
			TaskFeedback(task, 4);
			}
			else if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.TakeFinish)
			else
			{
			if (!string.IsNullOrEmpty(task.ExceptionMessage)) task.TaskState = TaskStatusEnum.CheckShapeingNG.ObjToInt();
			else task.TaskState = (int)TaskStatusEnum.CheckShapeing;
			BaseDal.UpdateData(task);
			//è¿éåºåºï¼è¿ä¸ªæ¥å£ä¸ä¹è¿åç»äºwmsç¶æ
			TaskFromCompleted(task, deviceTypeEnum);
			}
			else if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Puting)
			}
			else if (Rgv.messageType == 10)//è´¨æ£å°å°ç®æ è´§ä½
			{
			if (Rgv.content.status == 2) TaskFeedback(task, 1);
			if (Rgv.content.status == 4)
			{
			if (!string.IsNullOrEmpty(task.ExceptionMessage))
			ErrorTaskFeedback(task, true/!task.ExceptionMessage.Contains("å¤æ£å¤±è´¥")/);
			else
			if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.TakeFinish)
			{
			if (!string.IsNullOrEmpty(task.ExceptionMessage)) task.TaskState = TaskStatusEnum.CheckShapeingNG.ObjToInt();
			else task.TaskState = (int)TaskStatusEnum.CheckShapeing;
			BaseDal.UpdateData(task);
			}
			else if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Puting)
			{
			if (!string.IsNullOrEmpty(task.ExceptionMessage) && !task.ExceptionMessage.Contains("ç±äºç®æ è®¡ç®æºç§¯ææç»ï¼æ æ³è¿æ¥"))
			ErrorTaskFeedback(task, true/!task.ExceptionMessage.Contains("å¤æ£å¤±è´¥")/);
			else
			TaskCompleted(task, deviceTypeEnum);
			}
			else if (task.TaskType == (int)TaskTypeEnum.CPOutbound)//åºåºå®æ
			{
			TaskCompleted(task, deviceTypeEnum);
			}
			else if (task.TaskType == (int)TaskTypeEnum.CPOutbound \|\| task.TaskType == (int)TaskTypeEnum.CPMoveInventory)//åºåºãç§»åºå®æ
			{
			TaskCompleted(task, deviceTypeEnum);
			}
			}
			}
			}
			@@ -330,6 +444,20 @@
			dt_HKLocationInfo.LocationStatus = locationStatusEnum.ObjToInt();
			_hKLocationInfoService.Repository.UpdateData(dt_HKLocationInfo);
			}
			Dt_StationInfo? stationInfo = _stationInfo.Repository.QueryFirst(x => x.StationCode == locationCode);
			if (stationInfo != null)
			{
			if (locationStatusEnum == LocationStatusEnum.Free) //å¦æèµ·ç¹å®æå°±ç»è´§ä½èµå¼æçå·
			{
			stationInfo.PalletCode = "";
			}
			else
			{
			stationInfo.PalletCode = palletCode;
			}
			stationInfo.StationStatus = locationStatusEnum.ObjToInt();
			_stationInfo.UpdateData(stationInfo);
			}
			}
			else if (deviceTypeEnum == DeviceTypeEnum.YuanLiJuHe)
			{
			@@ -449,5 +577,9 @@
			return content;
			}
			#endregion




			}
			}