1

yanjinhui

7 天以前 4d2b6fea8d08c95bd6bb2b8c2b1228383110457e

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

@@ -78,13 +78,14 @@
                    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 if (task.TaskType == (int)TaskTypeEnum.Q3RK|| task.TaskType == (int)TaskTypeEnum.Q3CK)
                            else if (task.TaskType == (int)TaskTypeEnum.Q3CK|| task.TaskType == (int)TaskTypeEnum.Q3RK)
                            {
                                UpdateStandStatus(task, task.TargetAddress, LocationStatusEnum.Lock);
                                //UpdateStandStatus(task, task.SourceAddress, LocationStatusEnum.Lock);
                                task.TaskState = (int)TaskStatusEnum.Takeing;
                                TaskFeedback(task, 1);
                            }
@@ -98,12 +99,14 @@
                            {
                                  if (task.TaskType == (int)TaskTypeEnum.Q3RK|| task.TaskType == (int)TaskTypeEnum.Q3CK)
                                {
                                    UpdateStandStatus(task, task.TargetAddress, LocationStatusEnum.Free);
                                    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
@@ -125,10 +128,11 @@
                                        else
                                            task.ExceptionMessage = "提升机信息设备连接失败";
                                    }
                                    BaseDal.UpdateData(task);
                                }

                                //出提升机
                                else if (task.TaskType == TaskTypeEnum.CK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
                                //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";
@@ -139,9 +143,10 @@
                                        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)
                                //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";
@@ -152,9 +157,10 @@
                                        else
                                            task.ExceptionMessage = "提升机信息设备连接失败";
                                    }
                                    BaseDal.UpdateData(task);
                                }
                                //四楼 å…¥åº“
                                else if ((task.TaskType == TaskTypeEnum.Q1TSJ4.ObjToInt() || task.TaskType == TaskTypeEnum.F03.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
                                // //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";
@@ -166,14 +172,15 @@
                                        else
                                            task.ExceptionMessage = "提升机信息设备连接失败";
                                    }
                                    BaseDal.UpdateData(task);
                                }
                                else if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() || task.TaskType == TaskTypeEnum.Q3CK.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
                                //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)
@@ -184,7 +191,7 @@
                                        }

                                    }
                                   
                                    BaseDal.UpdateData(task);
                                }
                            }
                            break;
@@ -202,8 +209,8 @@
                                else
                                {
                                    if (device.IsConnected)
                                        //写以一个出库完成信号
                                        device.SetValue(HoistEnum.Outboundboxretrievalcompleted, 1, task.SourceAddress);
                                         //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";
                                }
@@ -213,15 +220,10 @@
                            break;
                        case "end"://任务完成通知
                            {
                                if (task.TaskType==(int)TaskTypeEnum.Move &&task.TaskState==(int)TaskStatusEnum.HKleavelift)
                                 if (task.TaskType == (int)TaskTypeEnum.Q3RK || task.TaskType == (int)TaskTypeEnum.Q3CK|| task.TaskType == (int)TaskTypeEnum.MOVE)
                                {
                                    task.TaskState = TaskStatusEnum.Finish.ObjToInt();
                                    TaskFeedback(task, 2);
                                    BaseDal.DeleteAndMoveIntoHty(task,OperateTypeEnum.自动完成);
                                }
                                else if (task.TaskType == (int)TaskTypeEnum.Q3RK || task.TaskType == (int)TaskTypeEnum.Q3CK)
                                {
                                    task.TaskState = TaskStatusEnum.Finish.ObjToInt();
                                    BaseDal.UpdateData(task);
                                    TaskFeedback(task, 2);
                                    BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.自动完成);
                                }
@@ -235,17 +237,19 @@
                        case "intolift": //进入电梯
                            {
                                //六楼到一楼的入库任务
                                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": //离开电梯
                            {
                                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;
@@ -639,6 +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;