优化海康跨楼层任务，处理设备信息写入失败任务

dengjunjie

7 天以前 3b7569285434bb38736627821f7d7eb34fabca28

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

@@ -14,6 +14,7 @@
using WIDESEAWCS_DTO.AGV.HIKROBOT;
using System.Diagnostics.CodeAnalysis;
using System.Reflection.PortableExecutable;
using WIDESEAWCS_QuartzJob;

namespace WIDESEAWCS_TaskInfoService
{
@@ -43,6 +44,23 @@
                //获取货位信息
                else
                    hKLocationInfo = _hKLocationInfoService.GetFreeLocationInfo(taskDTO.toAreaCode) ?? throw new Exception($"未找到终点库区【{taskDTO.toAreaCode}】可用空货位！");
                if (taskType == (int)TaskTypeEnum.Q1TSJ4)
                {
                    var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
                    if (device.IsConnected)
                    {
                        var reslu = device.GetValue<HoistEnum, string>(HoistEnum.Emptycontainernumber);
                        var result = reslu?.TrimEnd('\0')?.Substring(2);
                        if (reslu == taskDTO.containerCode && result != null)
                        {
                            throw new Exception($"当前的料箱号为{reslu}与{taskDTO.containerCode}料箱号不匹配");
                        }
                    }
                    else
                    {
                        throw new Exception("提升机信息设备连接失败");
                    }
                }
                Dt_Task dt_Task = new Dt_Task()
                {
                    TaskNum = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
@@ -111,6 +129,8 @@
                Dt_HKLocationInfo? hKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.fromLocationCode) ?? throw new Exception($"未找到起点库位【{taskDTO.fromLocationCode}】！");
                if (hKLocationInfo.LocationStatus != LocationStatusEnum.InStock.ObjToInt()) throw new Exception($"起点库位【{taskDTO.fromLocationCode}】当前库位状态不可出库！");
                if (hKLocationInfo.PalletCode != taskDTO.containerCode) throw new Exception($"起点库位【{taskDTO.fromLocationCode}】绑定料箱号【{hKLocationInfo.PalletCode}】与任务料箱号【{taskDTO.containerCode}】不匹配！");
                //库内到库外的点到点任务，是否需要判断货位状态？

                Dt_Task dt_Task = new Dt_Task()
                {
                    TaskNum = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
@@ -181,7 +201,7 @@
                // åˆ›å»ºHeaders字典
                var headers = new Dictionary<string, string>
                {
                    { "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString() }
                    { "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString()+task.TaskNum }
                    // å¦‚果需要其他Header，可以继续添加
                    // { "Content-Type", "application/json" }
                };
@@ -221,18 +241,21 @@
            HIKROBOTTaskSubmit hIKROBOTTaskSubmit = new HIKROBOTTaskSubmit();
            try
            {
                var tasktype = (TaskTypeEnum)Enum.GetValues(typeof(TaskTypeEnum)).GetValue(task.TaskType-1);
                var tasktype = (TaskTypeEnum)Enum.GetValues(typeof(TaskTypeEnum)).GetValue(task.TaskType - 1);

                hIKROBOTTaskSubmit.initPriority = task.Grade;
                hIKROBOTTaskSubmit.robotTaskCode = task.WMSTaskNum;
                hIKROBOTTaskSubmit.taskType = tasktype.ToString(); ExtraDto extraDto = new ExtraDto();
                CarrierInfoDto carrierInfoDto = new CarrierInfoDto()
                if (task.TaskType != (int)TaskTypeEnum.MOVE && task.TaskType != (int)TaskTypeEnum.Q3RK && task.TaskType != (int)TaskTypeEnum.Q3CK && task.TaskType != (int)TaskTypeEnum.F01)
                {
                    carrierCode = task.PalletCode,
                    carrierType = task.PalletCode.Contains("LXM") ? "DX" : "SX"
                };
                extraDto.carrierInfo.Add(carrierInfoDto);
                hIKROBOTTaskSubmit.extra = extraDto;
                    CarrierInfoDto carrierInfoDto = new CarrierInfoDto()
                    {
                        carrierCode = task.PalletCode,
                        carrierType = task.PalletCode.Contains("LXM") ? "DX" : "SX"
                    };
                    extraDto.carrierInfo.Add(carrierInfoDto);
                    hIKROBOTTaskSubmit.extra = extraDto;
                }
                switch (tasktype)
                {
                    case TaskTypeEnum.CPInbound:
@@ -240,11 +263,11 @@
                    case TaskTypeEnum.MLInbound:
                    case TaskTypeEnum.MLOutbound:
                        break;
                    case TaskTypeEnum.F01:
                        break;
                    case TaskTypeEnum.RK3F:
                    case TaskTypeEnum.CK3F:
                    case TaskTypeEnum.F02:
                    case TaskTypeEnum.F03:
                    case TaskTypeEnum.F04:
                        {
                            TargetRouteDto target = new TargetRouteDto()
                            {
@@ -264,6 +287,7 @@
                            hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
                        }
                        break;
                    case TaskTypeEnum.STURR:
                    case TaskTypeEnum.Q1TSJ4:
                        {
                            TargetRouteDto target = new TargetRouteDto()
@@ -306,10 +330,27 @@
                        }
                        break;
                    case TaskTypeEnum.Q3RK:
                        break;
                    case TaskTypeEnum.Q3CK:
                        break;
                    case TaskTypeEnum.Move:
                    case TaskTypeEnum.MOVE:
                    case TaskTypeEnum.F01:
                        {
                            TargetRouteDto target = new TargetRouteDto()
                            {
                                code = task.CurrentAddress,
                                operation = "DELIVERY",//取货
                                seq = 0,
                                type = "SITE",
                            };
                            TargetRouteDto targetRoute = new TargetRouteDto()
                            {
                                code = task.NextAddress,
                                operation = "DELIVERY",//送货
                                seq = 1,
                                type = "SITE",
                            };
                            hIKROBOTTaskSubmit.targetRoute.Add(target);
                            hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
                        }
                        break;
                    case TaskTypeEnum.CPMoveInventory:
                        break;
@@ -330,11 +371,11 @@
        /// </summary>
        /// <param name="TaskCode">任务号</param>
        /// <returns></returns>
        public WebResponseContent Hikvisiontaskscontinue(string TaskCode,string Address=null)
        public WebResponseContent Hikvisiontaskscontinue(string TaskCode, string Address = null)
        {
            WebResponseContent content = new WebResponseContent();
            HIKROBOTReturn hIKROBOTReturn = null;
            HIKROBOTTaskContinue hIKROBOTTaskContinue =null;
            HIKROBOTTaskContinue hIKROBOTTaskContinue = null;
            try
            {
                // 1. å‚数验证
@@ -346,8 +387,8 @@
                hIKROBOTTaskContinue = new HIKROBOTTaskContinue()
                {
                    triggerCode = TaskCode,
                    triggerType="TASK",//固定值
                    targetRoute=string.IsNullOrEmpty(Address)?null:
                    triggerType = "TASK",//固定值
                    targetRoute = string.IsNullOrEmpty(Address) ? null :
                    new TargetRouteDto()
                    {
                        code = Address,
@@ -356,11 +397,11 @@
                };
                var headers = new Dictionary<string, string>
                {
                    { "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString() }
                    { "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString()+TaskCode }
                };
                string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskContinue.Serialize(),headers: headers);
                string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskContinue.Serialize(), headers: headers);
                hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
              

                if (hIKROBOTReturn.code == "SUCCESS")
                {
                    var data = hIKROBOTReturn.data.ToString().DeserializeObject<HIKROBOTReturnData>();