编写海康跨楼层接口

yanjinhui

2026-03-31 0128fce75a5e7cc9afc4bd89ce1966eb2231b69f

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskExtend.cs

@@ -1,4 +1,5 @@
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using System;
using System.Collections.Generic;
using System.Linq;
@@ -20,33 +21,40 @@
        /// </summary>
        public void SendNewTask()
        {
            //try
            //{
            //    var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.New).ToList();
            //    if (newTasks.Count > 0)
            //    {
            //        #region æŸ¥æ‰¾å‡¯ä¹å£«ä»»åŠ¡
            //        //var Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.MLInbound || x.TaskType == (int)TaskTypeEnum.MLOutbound).OrderByDescending(x => x.Grade).ToList();
            //        //if (Tasks.Count > 0) SendGALAXISTask(Tasks);
            //        #endregion
            try
            {
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.New).ToList();
                if (newTasks.Count > 0)
                {
                    #region æŸ¥æ‰¾å‡¯ä¹å£«ä»»åŠ¡
                    //var Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.MLInbound || x.TaskType == (int)TaskTypeEnum.MLOutbound).OrderByDescending(x => x.Grade).ToList();
                    //if (Tasks.Count > 0) SendGALAXISTask(Tasks);
                    #endregion

            //        #region æŸ¥æ‰¾RGV任务
            //        var Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound).OrderByDescending(x => x.Grade).ToList();
            //        if (Tasks.Count > 0) SendRGVNewInTask(Tasks);
            //        Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPOutbound).OrderByDescending(x => x.Grade).ToList();
            //        if (Tasks.Count > 0) IsMoveTask(Tasks);
            //        #endregion
                    #region æŸ¥æ‰¾RGV任务
                    var Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendRGVNewInTask(Tasks);
                    Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPOutbound).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) IsMoveTask(Tasks);
                    #endregion

            //        #region æŸ¥æ‰¾æµ·åº·AGV任务
            //        Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.F01 || x.TaskType == (int)TaskTypeEnum.RK3F || x.TaskType == (int)TaskTypeEnum.CK3F || x.TaskType == (int)TaskTypeEnum.Q1TSJ4 || x.TaskType == (int)TaskTypeEnum.STU0003 || x.TaskType == (int)TaskTypeEnum.F02 || x.TaskType == (int)TaskTypeEnum.CHUKU1 || x.TaskType == (int)TaskTypeEnum.Q3RK || x.TaskType == (int)TaskTypeEnum.Q3CK).OrderByDescending(x => x.Grade).ToList();
            //        if (Tasks.Count > 0) HIKROBOTTask(Tasks);
            //        #endregion
            //    }
            //}
            //catch (Exception ex)
            //{
            //    WriteError(nameof(TaskJob), ex.Message, ex);
            //}
                    //#region æŸ¥æ‰¾æµ·åº·AGV任务
                    //Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.F01 || x.TaskType == (int)TaskTypeEnum.RK3F || x.TaskType == (int)TaskTypeEnum.CK3F || x.TaskType == (int)TaskTypeEnum.Q1TSJ4 || x.TaskType == (int)TaskTypeEnum.STU0003 || x.TaskType == (int)TaskTypeEnum.F02 || x.TaskType == (int)TaskTypeEnum.CHUKU1 || x.TaskType == (int)TaskTypeEnum.Q3RK || x.TaskType == (int)TaskTypeEnum.Q3CK).OrderByDescending(x => x.Grade).ToList();
                    //if (Tasks.Count > 0) HIKROBOTTask(Tasks);
                    //#endregion

                    #region ä¸‹å‘海康1到6楼的AGV任务/下发海康6到1楼的AGV任务
                    Tasks = newTasks.Where(x => (x.TaskType == (int)TaskTypeEnum.Q3CK) || x.TaskType == (int)TaskTypeEnum.Q3RK).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendAGVTask(Tasks);


                    #endregion
                }
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
            }
        }
        #endregion

@@ -102,6 +110,14 @@
                    //Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish).OrderByDescending(x => x.Grade).ToList();
                    //if (Tasks.Count > 0) SendAGVWaitToExecuteTask(Tasks);
                    #endregion


                    #region å¤„理agv待空车搬运任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.WaitingHkAGVMovePosition).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendHKWaitTask();
                    #endregion


                }
            }
            catch (Exception ex)