RuiShengZhiNeng/GaoPuLiTiKu.git

			@@ -78,15 +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;
			}
			else if (task.TaskType == (int)TaskTypeEnum.Q3RK\|\| task.TaskType == (int)TaskTypeEnum.Q3CK)
			{
			UpdateStandStatus(task, task.TargetAddress, LocationStatusEnum.Lock);
			task.TaskState = (int)TaskStatusEnum.Takeing;
			TaskFeedback(task, 1);
			BaseDal.UpdateData(task);
			}
			else
			{
			@@ -96,22 +91,11 @@
			break;
			case "outbin"://ç¦»å¼èµ·ç¹
			{
			if (task.TaskType == (int)TaskTypeEnum.Q3RK\|\| task.TaskType == (int)TaskTypeEnum.Q3CK)
			{
			UpdateStandStatus(task, task.TargetAddress, LocationStatusEnum.Free);
			task.TaskState = TaskStatusEnum.TakeFinish.ObjToInt();
			TaskFeedback(task, 1);
			}
			else
			{
			TaskFromCompleted(task, deviceTypeEnum); //ä»»å¡ç¶ä½æ¹ä¸º3åè´§å®æï¼æ´æ°èµ·ç¹è´§ä½ç¶æï¼å¹¶åé¦WMSèµ·ç¹å®æ
			}
			///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)
			{
			@@ -125,10 +109,11 @@
			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¯";
			@@ -139,8 +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;
			@@ -152,8 +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;
			@@ -166,25 +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()\|\| task.TaskType == TaskTypeEnum.Q3RK.ObjToInt())
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°è´¨æ£é¨ä¿¡æ¯";
			else
			{
			var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice;
			if (device == null) task.ExceptionMessage = "æªæ¾å°è´¨æ£é¨ä¿¡æ¯";

			else
			bool Wok = false;
			var Address = task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() ? task.TargetAddress : task.SourceAddress;
			if (device.IsConnected)
			{
			if (device.IsConnected)
			//åä»¥ä¸ä¸ªåºåºå®æä¿¡å·
			device.SetValue(QualityInspectionCommandEnum.RequestToEnter, false, task.TargetAddress);
			else
			task.ExceptionMessage = "è´¨æ£é¨ä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			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;
			@@ -202,8 +198,8 @@
			else
			{
			if (device.IsConnected)
			//åä»¥ä¸ä¸ªåºåºå®æä¿¡å·
			device.SetValue(HoistEnum.Outboundboxretrievalcompleted, 1, task.SourceAddress);
			//æå¼æ«ç å¨
			device.SetValue<HoistEnum, short>(HoistEnum.Codereadingtriggered, 1);
			else
			task.ExceptionMessage = "æåæºä¿¡æ¯è®¾å¤è¿æ¥å¤±è´¥";
			}
			@@ -213,21 +209,16 @@
			break;
			case "end"://ä»»å¡å®æéç¥
			{
			if (task.TaskType==(int)TaskTypeEnum.Move &&task.TaskState==(int)TaskStatusEnum.HKleavelift)
			if (task.TaskType == (int)TaskTypeEnum.MOVE)
			{
			task.TaskState = TaskStatusEnum.Finish.ObjToInt();
			TaskFeedback(task, 2);
			BaseDal.DeleteAndMoveIntoHty(task,OperateTypeEnum.èªå¨å®æ);
			}
			else if (task.TaskType == (int)TaskTypeEnum.Q3RK \|\| task.TaskType == (int)TaskTypeEnum.Q3CK)
			{
			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);
			}
			}
			@@ -235,17 +226,19 @@
			case "intolift": //è¿å¥çµæ¢¯
			{
			//åæ¥¼å°ä¸æ¥¼çå¥åºä»»å¡
			if (task.TaskType==(int)TaskTypeEnum.Q3RK)
			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¢¯
			case "leavelift": //ç¦»å¼çµæ¢¯
			{
			if (task.TaskType == (int)TaskTypeEnum.Q3RK)
			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;
			@@ -439,7 +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);

			@@ -513,6 +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)
			{
			@@ -547,7 +555,7 @@
			#endregion

			#region æ´æ°ä¸æ¥¼ç«å°ç¶æ
			public WebResponseContent UpdateStandStatus(Dt_Task task,string stationCode,LocationStatusEnum locationStatusEnum)
			public WebResponseContent UpdateStandStatus(Dt_Task task, string stationCode, LocationStatusEnum locationStatusEnum)
			{
			try
			{
			@@ -575,7 +583,7 @@
			#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();
			@@ -592,7 +600,7 @@
			boundCompleteFeedback.toLocationCode = dt_Task.TargetAddress;
			boundCompleteFeedback.status = Status;
			boundCompleteFeedback.custStatus = "";
			string response = HttpHelper.Post(apiInfo.ApiAddress,boundCompleteFeedback.Serialize());
			string response = HttpHelper.Post(apiInfo.ApiAddress, boundCompleteFeedback.Serialize());
			agvContent = response.DeserializeObject<WMSReturn>();
			content.OK(data: agvContent);
			if (agvContent.code != 200)
			@@ -609,7 +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);
			@@ -639,6 +647,7 @@
			string response = HttpHelper.Post(apiInfo.ApiAddress, boundCompleteFeedback.Serialize());
			agvContent = response.DeserializeObject<WMSReturn>();
			content.OK(data: agvContent);
			content.Message = dt_Task.ExceptionMessage;
			if (agvContent.code != 200)
			{
			dt_Task.ExceptionMessage = agvContent.message;