优化海康AGV三楼四楼任务

dengjunjie

2026-03-17 0c2124ab83fcc330e9620f02fbf02dedf8980526

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

@@ -22,25 +22,23 @@
        {
            try
            {
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound && x.TaskState == (int)TaskStatusEnum.WaiCheckShape).ToList();
                if (newTasks.Count > 0) SendRGVCheckShapeTask(newTasks);
                newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.New).ToList();
                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).ToList();
                    if (Tasks.Count > 0) SendGALAXISTask(Tasks);
                    //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
                    Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound).ToList();
                    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).ToList();
                    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.Carry || x.TaskType == (int)TaskTypeEnum.CJCarry || x.TaskType == (int)TaskTypeEnum.CJInbound || x.TaskType == (int)TaskTypeEnum.CJOutbound).ToList();
                    Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.Carry || 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
                }
@@ -60,42 +58,51 @@
        {
            try
            {
                #region ä¸‹å‘外形检测通过的四向车任务
                var Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk && string.IsNullOrEmpty(x.ExceptionMessage)).ToList();
                if (Tasks.Count > 0) SendCheckShapeingOkTask(Tasks);
                #endregion
                var ExecutTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState != (int)TaskStatusEnum.New).ToList();
                if (ExecutTasks.Count > 0)
                {
                    #region ä¸‹å‘待外形检测任务
                    var Tasks = ExecutTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound && x.TaskState == (int)TaskStatusEnum.WaiCheckShape).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendRGVCheckShapeTask(Tasks);
                    #endregion

                #region ä¸‹å‘外形检测失败的四向车任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingNG).ToList();
                if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk && x.ExceptionMessage.Contains("未找到终点库区")).ToList();
                if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
                #endregion
                    #region ä¸‹å‘外形检测通过的四向车任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk && string.IsNullOrEmpty(x.ExceptionMessage)).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendCheckShapeingOkTask(Tasks);
                    #endregion

                #region ä¸‹å‘四向车批量移库任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.RGV_NewMoveTask).ToList();
                if (Tasks.Count > 0) SendMoveTasks(Tasks);
                #endregion
                    #region ä¸‹å‘外形检测失败的四向车任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingNG).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk && x.ExceptionMessage.Contains("未找到终点库区")).ToList();
                    if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
                    #endregion

                #region å¤„理待移库后四向车出库任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitMoveToExecute).ToList();
                if (Tasks.Count > 0) MoveToExecuteTask(Tasks);
                #endregion
                    #region ä¸‹å‘四向车批量移库任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.RGV_NewMoveTask).ToList();
                    if (Tasks.Count > 0) SendMoveTasks(Tasks);
                    #endregion

                #region ä¸‹å‘四向车出库任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitSend).ToList();
                if (Tasks.Count > 0) SendOutTask(Tasks);
                #endregion
                    #region å¤„理待移库后四向车出库任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitMoveToExecute).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) MoveToExecuteTask(Tasks);
                    #endregion

                #region ä¸‹å‘外设允许进入的海康AGV任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.AGV_WaitToExecute).ToList();
                if (Tasks.Count > 0) SendAGVWaitToExecuteTask(Tasks);
                #endregion
                    #region ä¸‹å‘四向车出库任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitSend).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendOutTask(Tasks);
                    #endregion

                #region ä¸‹å‘托盘确认完成的海康AGV任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish).ToList();
                if (Tasks.Count > 0) SendAGVWaitToExecuteTask(Tasks);
                #endregion
                    #region ä¸‹å‘外设允许进入的海康AGV任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.AGV_WaitToExecute).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendAGVWaitToExecuteTask(Tasks);
                    #endregion

                    #region ä¸‹å‘托盘确认完成的海康AGV任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendAGVWaitToExecuteTask(Tasks);
                    #endregion
                }
            }
            catch (Exception ex)
            {