RuiShengZhiNeng/GaoPuLiTiKu.git

			@@ -78,9 +78,10 @@
			switch (hIKROBOT.extra.values.method)
			{
			case "start":
			if (task.TaskState == (int)TaskStatusEnum.CallingHKtransportation && task.TaskType == (int)TaskTypeEnum.Move)
			if (task.TaskState == (int)TaskStatusEnum.CallingHKtransportation && task.TaskType == (int)TaskTypeEnum.MOVE)
			{
			task.TaskState = (int)TaskStatusEnum.HktransportIng;
			BaseDal.UpdateData(task);
			}
			else
			{
			@@ -90,13 +91,11 @@
			break;
			case "outbin"://ç¦»å¼èµ·ç¹
			{
			///å¤æä»»å¡æ¯å¦è·è®¾å¤æå³
			TaskFromCompleted(task, deviceTypeEnum); //ä»»å¡ç¶ä½æ¹ä¸º3åè´§å®æï¼æ´æ°èµ·ç¹è´§ä½ç¶æï¼å¹¶åé¦WMSèµ·ç¹å®æ
			}
			break;
			case "finish"://ç¦»å¼æåæº
			{

			//å¥æåæº
			if (task.TaskType == TaskTypeEnum.RK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish)
			{
			@@ -104,16 +103,17 @@
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			else
			{
			DeviceProDTO? deviceProDTO = device.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == HoistEnum.Inboundboxon.ToString());
			DeviceProDTO? deviceProDTO = device.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == HoistEnum.Inboundboxon.ToString());//æ¾å°ä½äº
			if (device.IsConnected)
			device.SetValue(HoistEnum.Inboundboxon, 1);
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			BaseDal.UpdateData(task);
			}

			//åºæåæº
			else if (task.TaskType == TaskTypeEnum.CK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			//3 åºæåæº ä¹åæ¯AGV_ToExecute
			else if (task.TaskType == TaskTypeEnum.CK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.TakeFinish)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			@@ -124,8 +124,9 @@
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			BaseDal.UpdateData(task);
			}
			//åæ¥¼ åºåº
			//åæ¥¼ åºåº
			else if ((task.TaskType == TaskTypeEnum.CHUKU1.ObjToInt() \|\| task.TaskType == TaskTypeEnum.F04.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			@@ -137,8 +138,9 @@
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			BaseDal.UpdateData(task);
			}
			//åæ¥¼ å¥åº
			// //åæ¥¼åºæåæº å¥åº ä¹åæ¯AGV_ToExecute //è¦åæåè´§å®æç¶æTakeFinish
			else if ((task.TaskType == TaskTypeEnum.Q1TSJ4.ObjToInt() \|\| task.TaskType == TaskTypeEnum.F03.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			@@ -151,19 +153,34 @@
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			BaseDal.UpdateData(task);
			}
			else if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() \|\| task.TaskType == TaskTypeEnum.Q3CK.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
			//è·¨æ¥¼å±
			else if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() \|\| task.TaskType == TaskTypeEnum.Q3CK.ObjToInt()/* && task.TaskState == (int)TaskStatusEnum.TakeFinish*/)
			{
			if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt())
			{
			//å¦ææ¯åæ¥¼å°ä¸æ¥¼å°±åä¸ä¸ªä¿¡å·ç»1æ¥¼plcåè¯ä»ææ¥å¥åºäº

			}
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°è´¨æ£é¨ä¿¡æ¯";
			else
			{
			//è¿ä¸ªå°±åä¸ä¸ªå¤ä½ç¶æï¼åè¯å®æåºåºäº

			bool Wok = false;
			var Address = task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() ? task.TargetAddress : task.SourceAddress;
			if (device.IsConnected)
			{
			int i = 0;
			while (!Wok && i <= 3)
			{
			i++;
			Wok = device.SetValue(QualityInspectionCommandEnum.RequestToEnter, false, Address);
			Thread.Sleep(500);
			}
			}
			if (!Wok)
			{
			task.ExceptionMessage = $"ã{Address}ãå³éè¯·æ±è¿å¥å¤±è´¥ï¼";
			task.Remark = $"{device.DeviceCode}_RequestToEnter_{false}_{Address}";
			}
			}
			BaseDal.UpdateData(task);
			}
			}
			break;
			@@ -175,22 +192,53 @@
			break;
			case "wait"://æ«ç çå¾
			{
			//è¦åå¼å¯æ«ç ä¿¡å·
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°æåæºä¿¡æ¯";
			else
			{
			if (device.IsConnected)
			//æå¼æ«ç å¨
			device.SetValue<HoistEnum, short>(HoistEnum.Codereadingtriggered, 1);
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			task.TaskState = (int)TaskStatusEnum.CheckPalletCodeing;
			BaseDal.UpdateData(task);
			}
			break;
			case "end"://ä»»å¡å®æéç¥
			{
			if (task.TaskType == (int)TaskTypeEnum.Move && task.TaskState == (int)TaskStatusEnum.HkTransportCompleted)
			if (task.TaskType == (int)TaskTypeEnum.MOVE)
			{
			task.TaskState = TaskStatusEnum.Finish.ObjToInt();
			TaskFeedback(task, 2);
			BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.èªå¨å®æ);
			var Task = BaseDal.QueryFirst(x => task.WMSTaskNum.Contains(x.WMSTaskNum));
			Task.TaskState = TaskStatusEnum.HkTransportCompleted.ObjToInt();
			BaseDal.UpdateData(Task);
			}
			else
			{
			///å¤æä»»å¡æ¯å¦è·è®¾å¤æå³
			TaskCompleted(task, deviceTypeEnum);
			}
			}
			break;
			case "intolift": //è¿å¥çµæ¢¯
			{
			//åæ¥¼å°ä¸æ¥¼çå¥åºä»»å¡
			if (task.TaskType == (int)TaskTypeEnum.Q3RK \|\| task.TaskType == (int)TaskTypeEnum.MOVE \|\| task.TaskType == (int)TaskTypeEnum.F01)
			{
			task.TaskState = TaskStatusEnum.Hkintolift.ObjToInt();
			BaseDal.UpdateData(task);
			}
			}
			break;
			case "leavelift": //ç¦»å¼çµæ¢¯
			{
			if (task.TaskType == (int)TaskTypeEnum.Q3RK \|\| task.TaskType == (int)TaskTypeEnum.MOVE \|\| task.TaskType == (int)TaskTypeEnum.F01)
			{
			task.TaskState = TaskStatusEnum.HKleavelift.ObjToInt();
			BaseDal.UpdateData(task);
			}
			}
			break;
			@@ -384,7 +432,7 @@
			try
			{
			dt_Task.TaskState = TaskStatusEnum.Finish.ObjToInt();
			TaskFeedback(dt_Task, 2);
			TaskFeedback(dt_Task, 2, string.IsNullOrEmpty(dt_Task.Remark));
			//Db.Ado.BeginTran();
			UpdateLocationStatus(dt_Task.TargetAddress, dt_Task.PalletCode, deviceTypeEnum, LocationStatusEnum.InStock);

			@@ -458,6 +506,21 @@
			stationInfo.StationStatus = locationStatusEnum.ObjToInt();
			_stationInfo.UpdateData(stationInfo);
			}
			Dt_StationManger stationManger = _stationMangerService.Repository.QueryFirst(x => x.StationCode == locationCode);
			if (stationManger != null)
			{
			if (locationStatusEnum == LocationStatusEnum.Free) //å¦æèµ·ç¹å®æå°±ç»è´§ä½èµå¼æçå·
			{
			stationManger.Remark = "";
			stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
			}
			else
			{
			stationManger.Remark = palletCode;
			stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
			}
			_stationMangerService.UpdateData(stationManger);
			}
			}
			else if (deviceTypeEnum == DeviceTypeEnum.YuanLiJuHe)
			{
			@@ -491,8 +554,36 @@
			}
			#endregion

			#region æ´æ°ä¸æ¥¼ç«å°ç¶æ
			public WebResponseContent UpdateStandStatus(Dt_Task task, string stationCode, LocationStatusEnum locationStatusEnum)
			{
			try
			{
			Dt_StationManger? stationManger = _stationMangerService.Repository.QueryFirst(x => x.StationCode == task.TargetAddress);
			//stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
			if (stationManger != null)
			{
			if (locationStatusEnum == LocationStatusEnum.Free) //å¦æèµ·ç¹å®æå°±ç»è´§ä½èµå¼æçå·
			{
			stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
			}
			else
			{
			stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
			}
			_stationMangerService.UpdateData(stationManger);
			}
			return WebResponseContent.Instance.OK();
			}
			catch (Exception ex)
			{
			throw new Exception(ex.Message);
			}
			}
			#endregion

			#region ä¸æ¥WMS
			public WebResponseContent TaskFeedback(Dt_Task dt_Task, int Status)
			public WebResponseContent TaskFeedback(Dt_Task dt_Task, int Status, bool Del = true)
			{
			WebResponseContent content = new WebResponseContent();
			WMSInOutBoundCompleteFeedback boundCompleteFeedback = new WMSInOutBoundCompleteFeedback();
			@@ -526,7 +617,7 @@
			finally
			{
			_trackloginfoService.AddTrackLog(boundCompleteFeedback, content, "åºå¥åºä»»å¡ç¶æåé¦WMS", "", "");
			if (agvContent != null && agvContent.code == 200 && Status == 2)
			if (agvContent != null && agvContent.code == 200 && Del)
			BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.èªå¨å®æ);
			else
			BaseDal.UpdateData(dt_Task);