优化海康AGV三楼四楼任务

dengjunjie

2026-03-17 0c2124ab83fcc330e9620f02fbf02dedf8980526

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

@@ -76,20 +76,31 @@
                    if (task == null) throw new Exception($"未找到任务,任务编号【{hIKROBOT.robotTaskCode}】");
                    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);
                            break;
                        default:
                            task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
                            BaseDal.UpdateData(task);
                        case "outbin":
                            {
                                ///判断任务是否跟设备有关
                                TaskFromCompleted(task, deviceTypeEnum);
                            }
                            break;
                        case "into"://申请进入提升机
                            break;
                        case "wait"://扫码等待
                            break;
                        case "end":
                            {
                                ///判断任务是否跟设备有关
                                TaskCompleted(task, deviceTypeEnum);
                            }
                            break;
                        default:
                            throw new Exception("未定义的方法名！");
                            //task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
                            //BaseDal.UpdateData(task);
                            //break;
                    }
                }
                else //四向车
@@ -137,11 +148,12 @@
                                    fromStationCode = task.SourceAddress,
                                    toLocationCode = task.TargetAddress
                                };
                                Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(WMSInOutBoundCompleteFeedback));
                                Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(WMSMoveLocationFeedback));
                                WMSReturn agvContent = null;
                                if (apiInfo == null) task.ExceptionMessage = "未找到出入库完成反馈WMS接口配置信息！请检查接口配置";
                                if (apiInfo == null) task.ExceptionMessage = "未找到移库完成反馈WMS接口配置信息！请检查接口配置";
                                else
                                {
                                    task.TaskState = TaskStatusEnum.Finish.ObjToInt();
                                    string response = HttpHelper.Post(apiInfo.ApiAddress, wMSMoveLocationFeedback.Serialize());
                                    agvContent = response.DeserializeObject<WMSReturn>();
                                    content.OK(data: agvContent);
@@ -150,6 +162,8 @@
                                        task.ExceptionMessage = agvContent.message;
                                        content.Error(agvContent.message);
                                    }
                                    UpdateLocationStatus(task.TargetAddress, task.PalletCode, deviceTypeEnum, LocationStatusEnum.InStock);
                                    BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.自动完成);
                                }
                            }
                            else if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.TakeFinish)