1

yanjinhui

7 天以前 4d2b6fea8d08c95bd6bb2b8c2b1228383110457e

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

@@ -21,6 +21,7 @@
using WIDESEAWCS_DTO.WMS;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DTO;

namespace WIDESEAWCS_TaskInfoService
{
@@ -42,10 +43,12 @@
            GALAXISUpdateTaskStatus gALAXIS = new();
            RGVReturnInfo Rgv = new();//四向车任务状态通知
            HIKROBOTTaskProcessReport hIKROBOT = new();//海康机器人
            string deviceName = "";
            try
            {
                if (deviceTypeEnum == DeviceTypeEnum.GALAXIS)
                {
                    deviceName = "凯乐士";
                    gALAXIS = TaskDTO.Serialize().DeserializeObject<GALAXISUpdateTaskStatus>();
                    if (gALAXIS == null) throw new Exception("参数转换失败！");
                    var task = BaseDal.QueryFirst(x => x.WMSTaskNum == gALAXIS.taskId);
@@ -67,74 +70,277 @@
                }
                else if (deviceTypeEnum == DeviceTypeEnum.HIKROBOT)
                {
                    deviceName = "海康";
                    hIKROBOT = TaskDTO.Serialize().DeserializeObject<HIKROBOTTaskProcessReport>();
                    if (hIKROBOT == null) throw new Exception("参数转换失败！");
                    var task = BaseDal.QueryFirst(x => x.WMSTaskNum == hIKROBOT.robotTaskCode);
                    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);
                            if (task.TaskState == (int)TaskStatusEnum.CallingHKtransportation && task.TaskType == (int)TaskTypeEnum.MOVE)
                            {
                                task.TaskState = (int)TaskStatusEnum.HktransportIng;
                                BaseDal.UpdateData(task);
                            }
                            else if (task.TaskType == (int)TaskTypeEnum.Q3CK|| task.TaskType == (int)TaskTypeEnum.Q3RK)
                            {
                                //UpdateStandStatus(task, task.SourceAddress, LocationStatusEnum.Lock);
                                task.TaskState = (int)TaskStatusEnum.Takeing;
                                TaskFeedback(task, 1);
                            }
                            else
                            {
                                task.TaskState = (int)TaskStatusEnum.Takeing;
                                TaskFeedback(task, 1);
                            }
                            break;
                        case "outbin"://离开起点
                            {
                                  if (task.TaskType == (int)TaskTypeEnum.Q3RK|| task.TaskType == (int)TaskTypeEnum.Q3CK)
                                {
                                    UpdateStandStatus(task, task.SourceAddress, LocationStatusEnum.Free);
                                    task.TaskState = TaskStatusEnum.TakeFinish.ObjToInt();
                                    BaseDal.UpdateData(task);
                                    TaskFeedback(task, 1);
                                }
                                else
                                {
                                    
                                    TaskFromCompleted(task, deviceTypeEnum); //任务状体改为3取货完成，更新起点货位状态，并反馈WMS起点完成
                                }
                                ///判断任务是否跟设备有关
                            }
                            break;
                        case "finish"://离开提升机
                            {

                                //入提升机
                                if (task.TaskType == TaskTypeEnum.RK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish)
                                {
                                    var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
                                    if (device == null) task.ExceptionMessage = "未找到提升机信息";
                                    else
                                    {
                                        DeviceProDTO? deviceProDTO = device.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == HoistEnum.Inboundboxon.ToString());//放到位了
                                        if (device.IsConnected)
                                            device.SetValue(HoistEnum.Inboundboxon, 1);
                                        else
                                            task.ExceptionMessage = "提升机信息设备连接失败";
                                    }
                                    BaseDal.UpdateData(task);
                                }

                                //3 å‡ºæå‡æœº ä¹‹å‰æ˜¯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 = "未找到提升机信息";
                                    else
                                    {
                                        if (device.IsConnected)
                                            device.SetValue(HoistEnum.Outboundboxon, 1);//出库完成
                                        else
                                            task.ExceptionMessage = "提升机信息设备连接失败";
                                    }
                                    BaseDal.UpdateData(task);
                                }
                                //四楼 å‡ºåº“  
                                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;
                                    if (device == null) task.ExceptionMessage = "未找到提升机信息";
                                    else
                                    {
                                        if (device.IsConnected)
                                            device.SetValue(HoistEnum.Emptyboxplacedinposition, 1);
                                        else
                                            task.ExceptionMessage = "提升机信息设备连接失败";
                                    }
                                    BaseDal.UpdateData(task);
                                }
                                // //四楼出提升机 å…¥åº“ ä¹‹å‰æ˜¯AGV_ToExecute  //要写成取货完成状态TakeFinish
                                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;
                                    if (device == null) task.ExceptionMessage = "未找到提升机信息";
                                    else
                                    {
                                        if (device.IsConnected)
                                            //写以一个出库完成信号
                                            device.SetValue(HoistEnum.Outboundboxretrievalcompleted, 1, task.SourceAddress);
                                        else
                                            task.ExceptionMessage = "提升机信息设备连接失败";
                                    }
                                    BaseDal.UpdateData(task);
                                }
                                //跨楼层
                                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 = "未找到质检门信息";
                                        else
                                        {
                                            if (device.IsConnected)
                                                //写以一个出库完成信号
                                                device.SetValue(QualityInspectionCommandEnum.RequestToEnter, false, task.TargetAddress);
                                            else
                                                task.ExceptionMessage = "质检门信息设备连接失败";
                                        }

                                    }
                                    BaseDal.UpdateData(task);
                                }
                            }
                            break;
                        case "into"://申请进入提升机
                            {
                                task.TaskState = (int)TaskStatusEnum.AGV_WaitToExecute;
                                BaseDal.UpdateData(task);
                            }
                            break;
                        case "wait"://扫码等待
                            {
                                //要先开启扫码信号
                                var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
                                if (device == null) task.ExceptionMessage = "未找到提升机信息";
                                else
                                {
                                    if (device.IsConnected)
                                         //打开扫码器
                                       device.SetValue<HoistEnum, short>(HoistEnum.Codereadingtriggered, 1);
                                    else
                                        task.ExceptionMessage = "提升机信息设备连接失败";
                                }
                                task.TaskState = (int)TaskStatusEnum.CheckPalletCodeing;
                                BaseDal.UpdateData(task);
                            }
                            break;
                        case "end"://任务完成通知
                            {
                                 if (task.TaskType == (int)TaskTypeEnum.Q3RK || task.TaskType == (int)TaskTypeEnum.Q3CK|| task.TaskType == (int)TaskTypeEnum.MOVE)
                                {
                                    task.TaskState = TaskStatusEnum.Finish.ObjToInt();
                                    BaseDal.UpdateData(task);
                                    TaskFeedback(task, 2);
                                    BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.自动完成);
                                }
                                else
                                {
                                    ///判断任务是否跟设备有关
                                    TaskCompleted(task, deviceTypeEnum);
                                }
                            }
                            break;
                        case "intolift": //进入电梯
                            {
                                //六楼到一楼的入库任务
                                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": //离开电梯
                            {
                                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;
                        default:
                            task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
                            BaseDal.UpdateData(task);
                            break;
                            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
                {
                    deviceName = "四向车";
                    Rgv = TaskDTO.Serialize().DeserializeObject<RGVReturnInfo>();
                    if (Rgv == null) throw new Exception("参数转换失败！");
                    //var task = BaseDal.QueryFirst(x => x.RGVTaskId == Rgv.content.taskID);
                    var task = BaseDal.QueryFirst(x => x.PalletCode == Rgv.content.podID);
                    if (task == null) throw new Exception($"未找到任务,任务编号【{Rgv.content.taskID}】");
                    if (task.TaskType == TaskTypeEnum.CPMoveInventory.ObjToInt())
                    //移库
                    if (task.TaskType == TaskTypeEnum.CPMoveInventory.ObjToInt() && Rgv.messageType == 10 && Rgv.content.status == 4)
                    {

                        deviceName += "移库";
                        WMSMoveLocationFeedback wMSMoveLocationFeedback = new WMSMoveLocationFeedback()
                        {
                            containerCode = task.PalletCode,
                            fromStationCode = task.SourceAddress,
                            toLocationCode = task.TargetAddress
                        };
                        Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(WMSMoveLocationFeedback));
                        WMSReturn agvContent = null;
                        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);
                            if (agvContent.code != 200)
                            {
                                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
                    {
                        //站台到质检台
                        if (Rgv.messageType == 72)//小车顶起货物
                        {
                            if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Execut)
                            {
                                task.TaskState = (int)TaskStatusEnum.WaiCheckShape;
                                //BaseDal.UpdateData(task);//给质检门写入启动信号
                                var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice;
                                if (device == null) task.ExceptionMessage = "未找到1楼质检门设备信息";
                                else
                                {
                                    if (device.IsConnected)
                                        device.SetValue(QualityInspectionCommandEnum.StartqualityInspection, true, task.SourceAddress);
                                    else
                                        task.ExceptionMessage = "1楼质检门设备连接失败";
                                }
                                TaskFeedback(task, 4);
                                var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice ?? throw new Exception("未找到1楼质检门设备信息");
                                device.SetValue(QualityInspectionCommandEnum.StartqualityInspection, true, task.SourceAddress);
                            }
                            else
                            {
                                //这里出库，这个接口中也返回给了wms状态
                                TaskFromCompleted(task, deviceTypeEnum);
                            }
                        }
                        else if (Rgv.messageType == 10)
                        else if (Rgv.messageType == 10)//质检台到目标货位
                        {
                            if (Rgv.content.status == 2) TaskFeedback(task, 1);
                            if (Rgv.content.status == 4)
                            {
                                if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.TakeFinish)
                                {
                                    task.TaskState = (int)TaskStatusEnum.CheckShapeing;
                                    if (!string.IsNullOrEmpty(task.ExceptionMessage)) task.TaskState = TaskStatusEnum.CheckShapeingNG.ObjToInt();
                                    else task.TaskState = (int)TaskStatusEnum.CheckShapeing;
                                    BaseDal.UpdateData(task);
                                }
                                else if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Puting)
                                {
                                    if (!string.IsNullOrEmpty(task.ExceptionMessage))
                                    if (!string.IsNullOrEmpty(task.ExceptionMessage) && !task.ExceptionMessage.Contains("由于目标计算机积极拒绝，无法连接"))
                                        ErrorTaskFeedback(task, true/*!task.ExceptionMessage.Contains("外检失败")*/);
                                    else
                                        TaskCompleted(task, deviceTypeEnum);
                                }
                                else if (task.TaskType == (int)TaskTypeEnum.CPOutbound || task.TaskType == (int)TaskTypeEnum.CPMoveInventory)//出库、移库完成
                                else if (task.TaskType == (int)TaskTypeEnum.CPOutbound)//出库完成
                                {
                                    TaskCompleted(task, deviceTypeEnum);
                                }
@@ -150,30 +356,7 @@
            }
            finally
            {
                // åœ¨ finally ä¸­åˆ¤æ–­å“ªä¸ªå¯¹è±¡è¢«èµ‹å€¼äº†
                object logObject = null;
                string deviceName = "";

                if (gALAXIS != null && gALAXIS.taskId != null)
                {
                    logObject = gALAXIS;
                    deviceName = "凯乐士AGV";
                }
                else if (hIKROBOT != null && hIKROBOT.robotTaskCode != null)
                {
                    logObject = hIKROBOT;
                    deviceName = "海康机器人";
                }
                else if (Rgv != null && Rgv.content.taskID != 0)
                {
                    logObject = Rgv;
                    deviceName = "四向车";
                }

                if (logObject != null)
                {
                    _trackloginfoService.AddTrackLog(logObject, content, $"下发{deviceName}任务", "", "");
                }
                _trackloginfoService.AddTrackLog(TaskDTO, content, $"{deviceName}任务状态反馈", "", "");
            }
            return content;
        }
@@ -320,6 +503,20 @@
                        dt_HKLocationInfo.LocationStatus = locationStatusEnum.ObjToInt();
                        _hKLocationInfoService.Repository.UpdateData(dt_HKLocationInfo);
                    }
                    Dt_StationInfo? stationInfo = _stationInfo.Repository.QueryFirst(x => x.StationCode == locationCode);
                    if (stationInfo != null)
                    {
                        if (locationStatusEnum == LocationStatusEnum.Free) //如果起点完成就给货位赋值托盘号
                        {
                            stationInfo.PalletCode = "";
                        }
                        else
                        {
                            stationInfo.PalletCode = palletCode;
                        }
                        stationInfo.StationStatus = locationStatusEnum.ObjToInt();
                        _stationInfo.UpdateData(stationInfo);
                    }
                }
                else if (deviceTypeEnum == DeviceTypeEnum.YuanLiJuHe)
                {
@@ -353,6 +550,34 @@
        }
        #endregion

        #region æ›´æ–°ä¸€æ¥¼ç«™å°çŠ¶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) //如果起点完成就给货位赋值托盘号
                    {
                        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¸ŠæŠ¥WMS
        public WebResponseContent TaskFeedback(Dt_Task dt_Task, int Status)
        {
@@ -371,7 +596,7 @@
                    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)
@@ -418,6 +643,7 @@
                    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;
@@ -439,5 +665,9 @@
            return content;
        }
        #endregion




    }
}