RuiShengZhiNeng/GaoPuLiTiKu.git

			@@ -37,15 +37,21 @@
			{
			fOURBOTnewMovePodTask.priority = item.Grade;
			fOURBOTnewMovePodTask.podID = item.PalletCode;
			fOURBOTnewMovePodTask.destination = item.NextAddress;
			//fOURBOTnewMovePodTask.destination = item.NextAddress;
			fOURBOTnewMovePodTask.desExt = new
			{
			unload = 0//æ¯å¦æ¾ä¸å®¹å¨,0å¦1æ¯
			};
			fOURBOTnewMovePodTask.desType = 2;
			fOURBOTnewMovePodTask.taskExt = new
			{
			keepRobot = 1,
			keepRobotTimeout = 1
			};
			fOURBOTnewMovePodTask.desType = 1;
			fOURBOTnewMovePodTask.desNodeID = item.NextAddress;
			string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
			FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
			content.Data= fOURBOTReturn;
			content.Data = fOURBOTReturn;
			if (fOURBOTReturn.returnCode == 0)
			{
			string dataJson = fOURBOTReturn.data.ToString();
			@@ -56,7 +62,7 @@
			}
			//FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("æªè·åå°ååè½¦è¿åçä»»å¡ID");
			item.RGVTaskId = fOURBO.taskID;
			item.TaskState = (int)TaskStatusEnum.Execut;
			item.TaskState = (int)TaskStatusEnum.TakeFinish;
			}
			}
			_taskService.UpdateData(tasks);
			@@ -68,7 +74,7 @@
			}
			finally
			{
			_trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "ä¸åååè½¦æ°å»ºå¥åºä»»å¡", "","");
			_trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "ä¸åååè½¦æ°å»ºå¥åºä»»å¡", "", "");
			}
			}
			#endregion
			@@ -82,10 +88,10 @@
			{

			object requestData = null; // æ·»å åéè®°å½è¯·æ±æ°æ®
			WebResponseContent content =new WebResponseContent();
			WebResponseContent content = new WebResponseContent();
			try
			{
			Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(GetBlockPodContentDto)) ?? throw new Exception("æªæ¾å°ååè½¦ä»»å¡ä¸åæ¥å£éç½®ä¿¡æ¯ï¼è¯·æ£æ¥æ¥å£éç½®");
			Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(GetBlockPodContentDto)) ?? throw new Exception("æªæ¾å°æ¹éè·åé»ç¢æçå³ç³»æ¥å£éç½®ä¿¡æ¯ï¼è¯·æ£æ¥æ¥å£éç½®");
			List<Dt_Task> dt_Tasks = new List<Dt_Task>();
			var PalletCodes = tasks.Select(x => x.PalletCode).ToList();
			//GetBlockPodContentDto content = new GetBlockPodContentDto();
			@@ -104,13 +110,13 @@
			//content.candidatePodIDs = tasks.Select(x => x.PalletCode).ToList();
			string response = HttpHelper.Post(apiInfo.ApiAddress, request.Serialize());
			FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
			content.Data= fOURBOTReturn;
			content.Data = fOURBOTReturn;
			if (fOURBOTReturn.returnCode == 0)
			{
			//ReturnBlockPodResultDto getBlockPod = fOURBOTReturn.data as ReturnBlockPodResultDto ?? throw new Exception("æªè·åå°é»ç¢æçå³ç³»æ°æ®");
			var dataJson = fOURBOTReturn.data.ToString();
			ReturnBlockPodResultDto? getBlockPod = JsonConvert.DeserializeObject<ReturnBlockPodResultDto>(dataJson);
			if (getBlockPod.Result.Count==0)
			if (getBlockPod.Result.Count == 0)
			{
			throw new Exception("æªè·åå°é»ç¢æçå³ç³»æ°æ®");
			}
			@@ -119,7 +125,7 @@
			foreach (var item in Result.outPods)
			{
			var task = tasks.First(x => x.PalletCode == item.outPod);
			if (item.blockPods.Count > 0)
			if (item.blockPods != null && item.blockPods.Count > 0)
			{
			task.TaskState = (int)TaskStatusEnum.RGV_WaitMoveToExecute;
			dt_Tasks.Add(task);
			@@ -163,58 +169,68 @@
			var locationsToUpdate = new List<Dt_RGVLocationInfo>();
			var stationsToUpdate = new List<Dt_StationManger>();
			#region ä»»å¡ä¸å
			foreach (var item in tasks)
			var item = tasks.FirstOrDefault();
			if (item != null)
			{
			try
			{
			#region è·åè´§ä½
			var rGVLocationInfo = _rGVLocationInfoService.GetFreeLocationInfo(item.Roadway);
			var rGVLocationInfo = _rGVLocationInfoService.GetInFreeLocationInfo(item.Roadway);
			if (rGVLocationInfo == null)
			{
			item.ExceptionMessage = $"æªæ¾å°ç»ç¹åºåºã{item.Roadway}ãå¯ç¨ç©ºè´§ä½ï¼";
			continue;
			}
			#endregion
			fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
			{
			priority = item.Grade,
			podID = item.PalletCode,
			destination = rGVLocationInfo.LocationCode,
			desExt = new { unload = 1 }, // æ¯å¦æ¾ä¸å®¹å¨,0å¦1æ¯
			desType = 2
			};
			item.CurrentAddress = item.NextAddress;
			item.NextAddress = rGVLocationInfo.LocationCode;
			item.Roadway = rGVLocationInfo.RoadwayNo;

			string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
			var fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
			content.Data = fOURBOTReturn;
			if (fOURBOTReturn.returnCode == 0)
			{
			var data = fOURBOTReturn.data.ToString();
			var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();
			item.RGVTaskId = fOURBO.taskID;
			item.TaskState = (int)TaskStatusEnum.Puting;

			rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
			locationsToUpdate.Add(rGVLocationInfo);

			#region éæ¾å¥åºç«å°
			var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
			if (stationManger != null)
			{
			stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
			stationsToUpdate.Add(stationManger);
			}
			content.OK();
			#endregion
			}
			else
			{
			item.ExceptionMessage = $"ååè½¦æ¥å£è¿åéè¯¯ï¼{fOURBOTReturn.returnMsg}";
			// è®°å½å¤±è´¥çä»»å¡
			content.Error($"ååè½¦æ¥å£è¿åéè¯¯ï¼{fOURBOTReturn.returnMsg}");
			fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
			{
			priority = item.Grade,
			podID = item.PalletCode,
			desStorageID = rGVLocationInfo.LocationCode,
			//destination = rGVLocationInfo.LocationCode,
			desExt = new { unload = 1 }, // æ¯å¦æ¾ä¸å®¹å¨,0å¦1æ¯
			desType = 2
			};
			fOURBOTnewMovePodTask.taskExt = new
			{
			autoToRest = 1
			};
			item.CurrentAddress = item.NextAddress;
			item.NextAddress = rGVLocationInfo.LocationCode;
			item.TargetAddress = rGVLocationInfo.LocationCode;
			item.Roadway = rGVLocationInfo.RoadwayNo;

			string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
			var fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
			content.Data = fOURBOTReturn;
			if (fOURBOTReturn.returnCode == 0)
			{
			var data = fOURBOTReturn.data.ToString();
			var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();
			item.RGVTaskId = fOURBO.taskID;
			item.TaskState = (int)TaskStatusEnum.Puting;

			rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
			locationsToUpdate.Add(rGVLocationInfo);

			#region éæ¾å¥åºç«å°
			var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
			if (stationManger != null)
			{
			stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
			stationsToUpdate.Add(stationManger);
			}
			content.OK();
			#endregion
			}
			else
			{
			item.ExceptionMessage = $"ååè½¦æ¥å£è¿åéè¯¯ï¼{fOURBOTReturn.returnMsg}";
			// è®°å½å¤±è´¥çä»»å¡
			content.Error($"ååè½¦æ¥å£è¿åéè¯¯ï¼{fOURBOTReturn.returnMsg}");
			}
			tasksToUpdate.Add(item);
			}
			}
			catch (Exception ex)
			@@ -223,8 +239,77 @@
			//WriteError($"{nameof(TaskJob)}-{item.TaskId}", ex.Message, ex);
			content.Error($"ååè½¦æ¥å£è¿åéè¯¯ï¼{ex.Message}");
			}
			tasksToUpdate.Add(item);
			}
			}
			#region MyRegion
			//foreach (var item in tasks)
			//{
			// try
			// {
			// #region è·åè´§ä½
			// var rGVLocationInfo = _rGVLocationInfoService.GetFreeLocationInfo(item.Roadway);
			// if (rGVLocationInfo == null)
			// {
			// item.ExceptionMessage = $"æªæ¾å°ç»ç¹åºåºã{item.Roadway}ãå¯ç¨ç©ºè´§ä½ï¼";
			// continue;
			// }
			// #endregion
			// fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
			// {
			// priority = item.Grade,
			// podID = item.PalletCode,
			// desStorageID = rGVLocationInfo.LocationCode,
			// //destination = rGVLocationInfo.LocationCode,
			// desExt = new { unload = 1 }, // æ¯å¦æ¾ä¸å®¹å¨,0å¦1æ¯
			// desType = 2
			// };
			// fOURBOTnewMovePodTask.taskExt = new
			// {
			// autoToRest = 1
			// };
			// item.CurrentAddress = item.NextAddress;
			// item.NextAddress = rGVLocationInfo.LocationCode;
			// item.TargetAddress = rGVLocationInfo.LocationCode;
			// item.Roadway = rGVLocationInfo.RoadwayNo;

			// string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
			// var fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
			// content.Data = fOURBOTReturn;
			// if (fOURBOTReturn.returnCode == 0)
			// {
			// var data = fOURBOTReturn.data.ToString();
			// var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();
			// item.RGVTaskId = fOURBO.taskID;
			// item.TaskState = (int)TaskStatusEnum.Puting;

			// rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
			// locationsToUpdate.Add(rGVLocationInfo);

			// #region éæ¾å¥åºç«å°
			// var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
			// if (stationManger != null)
			// {
			// stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
			// stationsToUpdate.Add(stationManger);
			// }
			// content.OK();
			// #endregion
			// }
			// else
			// {
			// item.ExceptionMessage = $"ååè½¦æ¥å£è¿åéè¯¯ï¼{fOURBOTReturn.returnMsg}";
			// // è®°å½å¤±è´¥çä»»å¡
			// content.Error($"ååè½¦æ¥å£è¿åéè¯¯ï¼{fOURBOTReturn.returnMsg}");
			// }
			// }
			// catch (Exception ex)
			// {
			// item.ExceptionMessage = $"å¤çä»»å¡å¼å¸¸ï¼{ex.Message}";
			// //WriteError($"{nameof(TaskJob)}-{item.TaskId}", ex.Message, ex);
			// content.Error($"ååè½¦æ¥å£è¿åéè¯¯ï¼{ex.Message}");
			// }
			// tasksToUpdate.Add(item);
			//}
			#endregion
			#endregion
			#region æ´æ°æ°æ®
			// å¦ææéè¦æ´æ°çæ°æ®ï¼ææ§è¡äºå¡
			@@ -248,7 +333,7 @@
			_unitOfWorkManage.RollbackTran();
			WriteError(nameof(TaskJob), ex.Message, ex);
			}
			}
			}
			#endregion
			}
			catch (Exception ex)
			@@ -275,15 +360,20 @@
			{
			Dt_StationManger stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
			item.CurrentAddress = item.NextAddress;
			item.NextAddress = stationManger.RGVStationCode;
			item.NextAddress = stationManger.StationCode;
			fOURBOTnewMovePodTask.priority = item.Grade;
			fOURBOTnewMovePodTask.podID = item.PalletCode;
			fOURBOTnewMovePodTask.destination = item.NextAddress;
			//fOURBOTnewMovePodTask.desNodeID = item.NextAddress;
			fOURBOTnewMovePodTask.desStationCodes = item.NextAddress;
			fOURBOTnewMovePodTask.desExt = new
			{
			unload = 1//æ¯å¦æ¾ä¸å®¹å¨,0å¦1æ¯
			};
			fOURBOTnewMovePodTask.desType = 2;
			fOURBOTnewMovePodTask.taskExt = new
			{
			autoToRest = 1
			};
			fOURBOTnewMovePodTask.desType = 5;
			string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
			FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
			content.Data = fOURBOTReturn;
			@@ -326,7 +416,7 @@
			if (FreeLocationInfos.Count < 1) throw new Exception($"æååºåå»ºç§»åºä»»å¡æ å¯ç¨ç©ºè´§ä½");
			foreach (var item in rGVLocationInfos)
			{
			Dt_RGVLocationInfo? rGVLocationInfo = FreeLocationInfos.Where(x => x.Layer == item.Layer).OrderBy(n => Math.Abs(n.Row - item.Row)).FirstOrDefault();
			Dt_RGVLocationInfo? rGVLocationInfo = FreeLocationInfos.Where(x => x.Layer == item.Layer && x.RoadwayNo != item.RoadwayNo).OrderBy(n => Math.Abs(n.Row - item.Row)).FirstOrDefault();
			rGVLocationInfo ??= FreeLocationInfos.First();
			Dt_Task dt_Task = new()
			{
			@@ -366,21 +456,21 @@
			{
			WebResponseContent content = new WebResponseContent();
			List<Dt_Task> dt_Tasks = new List<Dt_Task>();
			List<MoveBlockPodContentDto> moveBlocks = new List<MoveBlockPodContentDto>();
			MoveBlockPodContentDto moveBlock = new MoveBlockPodContentDto();
			try
			{


			Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(MoveBlockPodContentDto)) ?? throw new Exception("æªæ¾å°ååè½¦æ¹éæ¬è¿é»ç¢æä»»å¡æ¥å£éç½®ä¿¡æ¯ï¼è¯·æ£æ¥æ¥å£éç½®");
			foreach (var item in tasks)
			{
			MoveBlockPodContentDto moveBlock = new MoveBlockPodContentDto()
			MoveBlockPodContentDtoInfo moveBlockInfo = new MoveBlockPodContentDtoInfo()
			{
			podID = item.PalletCode,
			des = item.TargetAddress
			};
			moveBlocks.Add(moveBlock);
			moveBlock.content.Add(moveBlockInfo);
			}
			string response = HttpHelper.Post(apiInfo.ApiAddress, moveBlocks.Serialize());
			string response = HttpHelper.Post(apiInfo.ApiAddress, moveBlock.Serialize());
			FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
			content.Data = fOURBOTReturn;
			if (fOURBOTReturn.returnCode == 0)
			@@ -412,7 +502,7 @@
			}
			finally
			{
			_trackloginfoService.AddTrackLog(moveBlocks, content, "ä¸åååè½¦æ¹éç§»åºä»»å¡", "", "");
			_trackloginfoService.AddTrackLog(moveBlock, content, "ä¸åååè½¦æ¹éç§»åºä»»å¡", "", "");
			}
			}
			#endregion
			@@ -427,7 +517,7 @@
			var takes = _taskService.Repository.QueryFirst(x => x.Roadway == item.Roadway && x.TaskType == (int)TaskTypeEnum.CPMoveInventory);
			if (takes == null)
			{
			item.TaskState = (int)TaskStatusEnum.RGV_WaitSend;
			item.TaskState = (int)TaskStatusEnum.RGV_WaitSend;
			}
			}
			_taskService.UpdateData(tasks);
			@@ -447,22 +537,31 @@
			try
			{
			Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(FOURBOTnewMovePodTask)) ?? throw new Exception("æªæ¾å°ååè½¦ä»»å¡ä¸åæ¥å£éç½®ä¿¡æ¯ï¼è¯·æ£æ¥æ¥å£éç½®");
			var i = 0;
			foreach (var item in tasks)
			{
			i++;
			var stationManger = _stationMangerService.GetOutStationInfo(item.TargetAddress);
			item.NextAddress = stationManger.StationCode;
			if (stationManger.IsOccupied != LocationStatusEnum.Free.ObjToInt()) continue;
			#region ä¸ååºåºä»»å¡
			fOURBOTnewMovePodTask.priority = item.Grade;
			fOURBOTnewMovePodTask.podID = item.PalletCode;
			fOURBOTnewMovePodTask.destination = item.NextAddress;
			//fOURBOTnewMovePodTask.desNodeID = item.NextAddress;
			fOURBOTnewMovePodTask.desStationCodes = item.NextAddress;
			fOURBOTnewMovePodTask.desExt = new
			{
			unload = 0//æ¯å¦æ¾ä¸å®¹å¨,0å¦1æ¯
			unload = 1//æ¯å¦æ¾ä¸å®¹å¨,0å¦1æ¯
			};
			fOURBOTnewMovePodTask.desType = 2;
			fOURBOTnewMovePodTask.taskExt = new
			{
			autoToRest = 1
			};
			fOURBOTnewMovePodTask.desType = 5;
			fOURBOTnewMovePodTask.requestID = DateTime.Now.ToString("yyyyMMddHHmmss") + i;
			string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
			FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
			content.Data= fOURBOTReturn;
			content.Data = fOURBOTReturn;
			if (fOURBOTReturn.returnCode == 0)
			{
			string dataJson = fOURBOTReturn.data.ToString();