1

dengjunjie

2026-03-10 0405ca5fd4589200606b5c5a33cadaa0b4dff6b8

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

@@ -16,12 +16,12 @@
#endregion << ç‰ˆ æœ¬ æ³¨ é‡Š >>

using AutoMapper;
using Dm;
using SixLabors.ImageSharp.ColorSpaces;
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
using System.Threading.Tasks;
using WIDESEAWCS_BasicInfoService;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.LocationEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseRepository;
@@ -29,6 +29,7 @@
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO;
using WIDESEAWCS_DTO.AGV.HIKROBOT;
using WIDESEAWCS_DTO.RGV.FOURBOT;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_DTO.WMS;
@@ -70,7 +71,7 @@
        /// </summary>
        public IRepository<Dt_Task> Repository => BaseDal;

        public TaskService(IRepository<Dt_Task> BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, IRepository<Dt_TaskExecuteDetail> taskExecuteDetailRepository, IMapper mapper, IKLSLocationInfoService kLSLocationInfoService, IRGVLocationInfoService rGVLocationInfoService, IHKLocationInfoService hKLocationInfoService, IApiInfoService apiInfoService,ITrackloginfoService trackloginfoService) : base(BaseDal)
        public TaskService(IRepository<Dt_Task> BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, IRepository<Dt_TaskExecuteDetail> taskExecuteDetailRepository, IMapper mapper, IKLSLocationInfoService kLSLocationInfoService, IRGVLocationInfoService rGVLocationInfoService, IHKLocationInfoService hKLocationInfoService, IApiInfoService apiInfoService, ITrackloginfoService trackloginfoService, IStationMangerService stationMangerService) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
@@ -81,6 +82,7 @@
            _hKLocationInfoService = hKLocationInfoService;
            _apiInfoService = apiInfoService;
            _trackloginfoService = trackloginfoService;
            _stationMangerService = stationMangerService;
        }
        public WebResponseContent ReceiveWMSTask([NotNull] List<WMSTasksDTO> taskDTOs)
        {
@@ -93,10 +95,12 @@
                    {
                        content = TaskHelpMethods.isOkTaskInfo(task, true, true);
                        if (!content.Status) throw new Exception(content.Message);
                        if (BaseDal.QueryFirst(x => x.WMSTaskNum == task.taskCode || x.PalletCode == task.containerCode) != null)
                        {
                            continue;
                        }
                        if (BaseDal.QueryFirst(x => x.WMSTaskNum == task.taskCode) != null)
                            throw new Exception($"任务号【{task.taskCode}】已存在任务");
                        if (BaseDal.QueryFirst(x => x.PalletCode == task.containerCode) != null)
                            throw new Exception($"托盘号【{task.containerCode}】已存在任务");
                        if (BaseDal.QueryFirst(x => x.SourceAddress == task.fromLocationCode) != null)
                            throw new Exception($"起点位置【{task.containerCode}】已存在任务");
                        switch (item.taskType)
                        {
                            case (int)TaskTypeEnum.MLInbound:
@@ -145,6 +149,9 @@
        public WebResponseContent CancelWMSTask(WMSCancelTask wMSCancelTask)
        {
            WebResponseContent content = new WebResponseContent();
            var KLS = new CancelGALAXISTask();
            CancelHIKROBOTTask cancelHIKROBOTTask = new CancelHIKROBOTTask();
            CancelSXCTake cancelSXCTake = new CancelSXCTake();
            try
            {
                Dt_Task dt_Task = BaseDal.QueryFirst(x => x.WMSTaskNum == wMSCancelTask.TaskCode);
@@ -159,10 +166,10 @@
                bool isHK = dt_Task.TaskType == (int)TaskTypeEnum.Carry || dt_Task.TaskType == (int)TaskTypeEnum.CJInbound || dt_Task.TaskType == (int)TaskTypeEnum.CJInbound || dt_Task.TaskType == (int)TaskTypeEnum.CJOutbound;
                //这里将状态改变了198取消任务
                dt_Task.TaskType = TaskStatusEnum.WMSCancel.ObjToInt();
                #region
                #region å‡¯ä¹å£«
                if (isGALAXISTask)
                {
                    var KLS = new CancelGALAXISTask
                    KLS = new CancelGALAXISTask
                    {
                        taskId = dt_Task.WMSTaskNum,
                        reportTime = DateTime.Now.ToString()
@@ -175,11 +182,11 @@
                    {
                        //直接移入历史
                        BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                        return content.OK("取消任务成功", dt_Task);
                        content.OK($"取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                    }
                    else
                    {
                        return content.Error($"任务失败{agvContent.data.returnInfo}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败{agvContent.data.returnInfo}");

                    }
                }
@@ -188,9 +195,10 @@
                #region å››å‘车
                if (isAGV)
                {
                    CancelSXCTake cancelSXCTake = new CancelSXCTake
                    cancelSXCTake = new CancelSXCTake
                    {
                        taskID = dt_Task.RGVTaskId
                        taskID = dt_Task.RGVTaskId,
                        withoutRunning = 1
                    };
                    Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(CancelSXCTake));
                    if (apiInfo == null) throw new Exception("未找到四向车AGV任务下发接口配置信息！请检查接口配置");
@@ -200,18 +208,71 @@
                    {
                        //直接移入历史
                        BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                        return content.OK("取消任务成功", dt_Task);
                        content.OK($"取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                    }
                    else
                    {
                        return content.Error($"任务失败{fOURBOTReturn.data}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败{fOURBOTReturn.data}");
                    }
                }
                #endregion
                #region æµ·åº·
                if (isHK)
                {
                    cancelHIKROBOTTask = new CancelHIKROBOTTask
                    {
                        robotTaskCode = dt_Task.WMSTaskNum,
                        cancelType = "CANCEL"//原软取消，DROP人工介入（原硬取消）
                    };
                    Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(CancelHIKROBOTTask));
                    if (apiInfo == null) throw new Exception("未找到四向车AGV任务下发接口配置信息！请检查接口配置");
                    string response = HttpHelper.Post(apiInfo.ApiAddress, cancelHIKROBOTTask.Serialize());
                    HIKROBOTReturn hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
                    if (hIKROBOTReturn.code == "SUCCESS" && hIKROBOTReturn.message == "成功")
                    {
                        //直接移入历史
                        BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                        content.OK("取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                    }
                    else
                    {
                        content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息：{hIKROBOTReturn.data}");
                    }

                }

                #endregion
            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            finally
            {
                // åœ¨ finally ä¸­åˆ¤æ–­å“ªä¸ªå¯¹è±¡è¢«èµ‹å€¼äº†
                object logObject = null;
                string deviceName = "";

                if (KLS != null)
                {
                    logObject = KLS;
                    deviceName = "凯乐士AGV";
                }
                else if (cancelHIKROBOTTask != null)
                {
                    logObject = cancelHIKROBOTTask;
                    deviceName = "海康机器人";
                }
                else if (cancelSXCTake != null)
                {
                    logObject = cancelSXCTake;
                    deviceName = "四向车";
                }

                if (logObject != null)
                {
                    _trackloginfoService.AddTrackLog(logObject, content, $"取消{deviceName}任务,", "", "");
                }
            }
            return content;
        }
@@ -225,11 +286,14 @@
        public WebResponseContent UpdateWMSTaskPriority(WMSUpdateTaskPriority updateTaskPriority)
        {
            WebResponseContent content = new WebResponseContent();
            var updateGALAXISTaskGrade = new UpdateGALAXISTaskGrade();
            var request = new UpdateAgvSXCTake();
            var Hkrequest = new HIKROBOTTaskGrade();
            try
            {
                Dt_Task dt_Task = BaseDal.QueryFirst(x => x.WMSTaskNum == updateTaskPriority.taskCode);
                if (dt_Task == null) throw new Exception("未查询到任务号相关任务");
                

                // åˆ¤æ–­å½“前任务是否为凯乐士任务
                bool isGALAXISTask = dt_Task.TaskType == (int)TaskTypeEnum.MLInbound ||
                                    dt_Task.TaskType == (int)TaskTypeEnum.MLOutbound;
@@ -244,11 +308,10 @@
                #region å‡¯ä¹å£«
                if (isGALAXISTask)
                {
                    var updateGALAXISTaskGrade = new UpdateGALAXISTaskGrade
                    updateGALAXISTaskGrade = new UpdateGALAXISTaskGrade
                    {
                        taskId = dt_Task.WMSTaskNum,
                        reportTime = DateTime.Now.ToString(),
                        district = dt_Task.Roadway,//任务库区
                        priorityCode = updateTaskPriority.taskPriority,
                    };
                    Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(UpdateGALAXISTaskGrade));
@@ -259,10 +322,11 @@
                    {

                        BaseDal.UpdateData(dt_Task);
                        return content.OK("修改任务优先级成功", dt_Task);
                        content.OK($"修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                    }
                    else {
                        return content.Error($"任务失败{agvContent.data.returnInfo}");
                    else
                    {
                        content.Error($"{dt_Task.WMSTaskNum}任务失败,错误信息：{agvContent.data.returnInfo}");
                    }
                }
                #endregion
@@ -270,31 +334,81 @@
                #region å››å‘车
                if (isAGV)
                {
                    var request = new UpdateAgvSXCTake
                    request = new UpdateAgvSXCTake
                    {
                        taskID = dt_Task.RGVTaskId,
                        priority = updateTaskPriority.taskPriority
                    };
                    Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(UpdateAgvSXCTake));
                    if (apiInfo == null) throw new Exception("未找到四向车AGV任务下发接口配置信息！请检查接口配置");
                    if (apiInfo == null) throw new Exception("未找到更新四向车任务优先级接口配置信息！请检查接口配置");
                    string response = HttpHelper.Post(apiInfo.ApiAddress, request.Serialize());
                    FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                    if (fOURBOTReturn.returnCode == 0 && fOURBOTReturn .returnUserMsg== "成功")
                    if (fOURBOTReturn.returnCode == 0 && fOURBOTReturn.returnUserMsg == "成功")
                    {

                        return content.OK("修改任务优先级成功", dt_Task);
                        BaseDal.UpdateData(dt_Task);
                        content.OK("修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                    }
                    else
                    {
                        return content.Error($"任务失败{fOURBOTReturn.data}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息：{fOURBOTReturn.data}");
                    }
                }

                #endregion
                #region æµ·åº·
                if (isHK)
                {
                    Hkrequest = new HIKROBOTTaskGrade
                    {
                        robotTaskCode = dt_Task.WMSTaskNum,//任务号
                        initPriority = updateTaskPriority.taskPriority//优先级
                    };
                    Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(HIKROBOTTaskGrade));
                    if (apiInfo == null) throw new Exception("未找到四向车AGV任务下发接口配置信息！请检查接口配置");
                    string response = HttpHelper.Post(apiInfo.ApiAddress, Hkrequest.Serialize());
                    HIKROBOTReturn hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
                    if (hIKROBOTReturn.code == "SUCCESS0" && hIKROBOTReturn.message == "成功")
                    {
                        BaseDal.UpdateData(dt_Task);
                        content.OK("修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                    }
                    else
                    {
                        content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息{hIKROBOTReturn.data}");
                    }
                }
                #endregion

            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            finally
            {
                // åœ¨ finally ä¸­åˆ¤æ–­å“ªä¸ªå¯¹è±¡è¢«èµ‹å€¼äº†
                object logObject = null;
                string deviceName = "";

                if (updateGALAXISTaskGrade != null)
                {
                    logObject = updateGALAXISTaskGrade;
                    deviceName = "凯乐士AGV";
                }
                else if (Hkrequest != null)
                {
                    logObject = Hkrequest;
                    deviceName = "海康机器人";
                }
                else if (request != null)
                {
                    logObject = request;
                    deviceName = "四向车";
                }

                if (logObject != null)
                {
                    _trackloginfoService.AddTrackLog(logObject, content, $"修改{deviceName}任务优先级", "", "");
                }
            }
            return content;
        }
@@ -309,11 +423,11 @@
            try
            {
                var rgv = new List<Dt_RGVLocationInfo>();
                var kls=new List<Dt_KLSLocationInfo>();
                var hk=new List<Dt_HKLocationInfo>();
                if(wMSUpdateLocationArea.WarehouseId == 1)
                var kls = new List<Dt_KLSLocationInfo>();
                var hk = new List<Dt_HKLocationInfo>();
                if (wMSUpdateLocationArea.WarehouseId == 1)
                {
                     var rgvList = _rGVLocationInfoService.Repository.QueryData(x =>wMSUpdateLocationArea.LocationCodes.Contains(x.LocationCode)).ToList();
                    var rgvList = _rGVLocationInfoService.Repository.QueryData(x => wMSUpdateLocationArea.LocationCodes.Contains(x.LocationCode)).ToList();
                    foreach (var item in rgvList)
                    {
                        item.WarehouseId = wMSUpdateLocationArea.UpdateAreaCode.ObjToInt();
@@ -355,7 +469,7 @@

        private void UpdateLocationCode(object LocationInfo, string updateAreaCode)
        {
           

        }


@@ -898,18 +1012,6 @@
        }

        /// <summary>
        /// å®¹å™¨æµåŠ¨è¯·æ±‚
        /// </summary>
        /// <param name="wMSContainerFlow"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public WebResponseContent ContainerFlow(WMSContainerFlow wMSContainerFlow)
        {
           return WebResponseContent.Instance.Error("该接口暂未实现");
        }


        /// <summary>
        /// åŒºåŸŸåº“位信息查询
        /// </summary>
        /// <param name="AreaCode"></param>
@@ -966,15 +1068,117 @@
        {
            throw new NotImplementedException();
        }

        /// <summary>
        /// å®¹å™¨æµåŠ¨è¯·æ±‚
        /// </summary>
        /// <param name="wMSContainerFlow"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public WebResponseContent ContainerRequest(WMSContainerFlow wMSContainerFlow)
        {
            throw new NotImplementedException();
            try
            {
                Dt_StationManger stationManger = _stationMangerService.Repository.QueryFirst(x => x.StationCode == wMSContainerFlow.slotCode) ?? throw new Exception($"未找到站台【{wMSContainerFlow.slotCode}】信息");
                Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == "releaseStation") ?? throw new Exception("未找到站点容器释放接口配置信息！请检查接口配置");
                if (wMSContainerFlow.direction == "200")
                {
                    stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
                    FOURBOToccupyStation fOURBOToccupyStation = new FOURBOToccupyStation()
                    {
                        stationCode = wMSContainerFlow.slotCode,
                    };
                    string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOToccupyStation.Serialize());
                    FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                    if (fOURBOTReturn.returnCode != 0) throw new Exception(fOURBOTReturn.returnUserMsg);
                    _stationMangerService.UpdateData(stationManger);
                }
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }

        /// <summary>
        /// è´¨æ£€ç»“果反馈
        /// </summary>
        /// <param name="iQC"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public WebResponseContent IQCResult(IQCResultDTO iQC)
        {
            throw new NotImplementedException();
            WebResponseContent content = new WebResponseContent();
            try
            {
                #region å®¹å™¨ä¸Šæž¶
                Dt_StationManger stationManger = _stationMangerService.Repository.QueryFirst(x => x.StationCode == iQC.StationCode) ?? throw new Exception($"未找到站台【{iQC.StationCode}】信息");
                Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(FOURBOToccupyStation)) ?? throw new Exception("未找到站点容器上架接口配置信息！请检查接口配置");
                FOURBOToccupyStation fOURBOToccupyStation = new FOURBOToccupyStation()
                {
                    stationCode = iQC.StationCode,
                    podID = iQC.ContainerCode,
                };
                string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOToccupyStation.Serialize());
                FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                if (fOURBOTReturn.returnCode != 0 && fOURBOTReturn.returnUserMsg != $"站点已被占用,(podID={iQC.ContainerCode})")
                    throw new Exception(fOURBOTReturn.returnUserMsg);
                #endregion

                #region åˆ›å»ºå››å‘车任务
                var task = BaseDal.QueryFirst(x => x.PalletCode == iQC.ContainerCode && x.SourceAddress == iQC.StationCode && x.TaskState == (int)TaskStatusEnum.New);
                #endregion
                #region å‘¼å«å››å‘车
                apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(FOURBOTnewMovePodTask)) ?? throw new Exception("未找到四向车任务下发接口配置信息！请检查接口配置");
                FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new()
                {
                    priority = task.Grade,
                    podID = task.PalletCode,
                    //desNodeID = task.SourceAddress,
                    desExt = new
                    {
                        unload = 0//是否放下容器,0否1是
                    },
                    desStationCodes = task.SourceAddress,
                    desType = 5
                };
                response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                content.Data = fOURBOTReturn;
                if (fOURBOTReturn.returnCode != 0) throw new Exception(fOURBOTReturn.returnUserMsg);
                task.TaskState = (int)TaskStatusEnum.Execut;
                BaseDal.UpdateData(task);
                #endregion
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
            }
        }

        /// <summary>
        /// æ‰¹é‡æ›´æ–°å‚¨ä½çŠ¶æ€
        /// </summary>
        /// <param name="fOURBOTStorageStatusNotify"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException"></exception>
        public WebResponseContent multiSetNodeStatus(FOURBOTStorageStatusNotify fOURBOTStorageStatusNotify)
        {
            try
            {
                var Agvlocation = _rGVLocationInfoService.Repository.QueryData(x => fOURBOTStorageStatusNotify.storageCode.Contains(x.LocationCode));
                foreach (var item in Agvlocation)
                {
                    item.EnableStatus = (int)(fOURBOTStorageStatusNotify.disable == 0 ? EnableStatusEnum.Normal : EnableStatusEnum.Disable);
                }
                _rGVLocationInfoService.UpdateData(Agvlocation);
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {

                return WebResponseContent.Instance.Error(ex.Message);
            }
        }
    }
}