1

yanjinhui

7 天以前 4d2b6fea8d08c95bd6bb2b8c2b1228383110457e

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs

@@ -1,6 +1,7 @@
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
@@ -46,12 +47,12 @@
                        desStationCodes = task.SourceAddress,
                        desType = 5
                    };
                    fOURBOTnewMovePodTask.requestID += i;
                    fOURBOTnewMovePodTask.requestID += task.TaskId;
                    try
                    {
                        string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                        FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                        content.Data = fOURBOTReturn;
                        content.OK(data: fOURBOTReturn);
                        if (fOURBOTReturn.returnCode != 0) throw new Exception(fOURBOTReturn.returnUserMsg);

                        string dataJson = fOURBOTReturn.data.ToString();
@@ -64,13 +65,23 @@
                        task.RGVTaskId = fOURBO.taskID;
                        task.ExceptionMessage = "";
                        task.TaskState = (int)TaskStatusEnum.Execut;
                        task.Dispatchertime=DateTime.Now;
                    }
                    catch (Exception ex)
                    {
                        task.ExceptionMessage = ex.Message;
                    }
                }
                _taskService.UpdateData(tasks);
                var uptasks = tasks.Where(task => string.IsNullOrEmpty(task.ExceptionMessage)).ToList();
                if (uptasks.Count() > 0) _taskService.UpdateData(uptasks);
                var errortasks = tasks.Where(task => !string.IsNullOrEmpty(task.ExceptionMessage)).ToList();
                if (errortasks.Count() > 0)
                {
                    foreach (var item in errortasks)
                    {
                        _taskService.ErrorTaskFeedback(item, true);
                    }
                }
                content.OK();
            }
            catch (Exception ex)
@@ -109,11 +120,12 @@
                        keepRobot = 1,
                        keepRobotTimeout = 1
                    };
                    fOURBOTnewMovePodTask.requestID += item.TaskId;
                    fOURBOTnewMovePodTask.desType = 1;
                    fOURBOTnewMovePodTask.desNodeID = item.NextAddress;
                    string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                    FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                    content.Data = fOURBOTReturn;
                    content.OK(data: fOURBOTReturn);
                    if (fOURBOTReturn.returnCode == 0)
                    {
                        string dataJson = fOURBOTReturn.data.ToString();
@@ -124,6 +136,7 @@
                        }
                        //FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("未获取到四向车返回的任务ID");
                        item.RGVTaskId = fOURBO.taskID;
                        item.Dispatchertime = DateTime.Now;
                        item.TaskState = (int)TaskStatusEnum.TakeFinish;
                    }
                }
@@ -136,7 +149,7 @@
            }
            finally
            {
                _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "下发四向车新建入库任务", "", "");
                _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "下发四向车外形检测任务", "", "");
            }
        }
        #endregion
@@ -172,7 +185,7 @@
                //content.candidatePodIDs = tasks.Select(x => x.PalletCode).ToList();
                string response = HttpHelper.Post(apiInfo.ApiAddress, request.Serialize());
                FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                content.Data = fOURBOTReturn;
                content.OK(data: fOURBOTReturn);
                if (fOURBOTReturn.returnCode == 0)
                {
                    //ReturnBlockPodResultDto getBlockPod = fOURBOTReturn.data as ReturnBlockPodResultDto ?? throw new Exception("未获取到阻碍托盘关系数据");
@@ -188,10 +201,18 @@
                        {
                            var task = tasks.First(x => x.PalletCode == item.outPod);
                            if (item.blockPods != null && item.blockPods.Count > 0)
                                item.blockPods = item.blockPods.Except(PalletCodes).ToList();
                            if (item.blockPods != null && item.blockPods.Count > 0)
                            {
                                #region åˆ¤æ–­é˜»ç¢æ‰˜æ˜¯å¦ä¸ºå‡ºåº“任务
                                //var except = item.blockPods.Except(PalletCodes).ToList();
                                #endregion
                                var responseContent = AddMoveTask(item.blockPods, task);//添加移库任务
                                if (!responseContent.Status) task.ExceptionMessage = responseContent.Message;
                                else task.TaskState = (int)TaskStatusEnum.RGV_WaitMoveToExecute;
                                else
                                {
                                    task.TaskState = (int)TaskStatusEnum.RGV_WaitMoveToExecute;
                                }
                                dt_Tasks.Add(task);
                            }
                            else
@@ -259,6 +280,7 @@
                            {
                                autoToRest = 1
                            };
                            fOURBOTnewMovePodTask.requestID = DateTime.Now.ToString("yyyyMMddHHmmssfff") + item.TaskId;
                            item.CurrentAddress = item.NextAddress;
                            item.NextAddress = rGVLocationInfo.LocationCode;
                            item.TargetAddress = rGVLocationInfo.LocationCode;
@@ -266,24 +288,24 @@

                            string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                            var fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                            content.Data = fOURBOTReturn;
                            content.OK(data: fOURBOTReturn);
                            if (fOURBOTReturn.returnCode == 0)
                            {
                                var data = fOURBOTReturn.data.ToString();
                                var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();
                                item.RGVTaskId = fOURBO.taskID;
                                item.TaskState = (int)TaskStatusEnum.Puting;

                                rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
                                item.Dispatchertime = DateTime.Now;
                                locationsToUpdate.Add(rGVLocationInfo);

                                #region é‡Šæ”¾å…¥åº“站台
                                var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
                                if (stationManger != null)
                                {
                                    stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
                                    stationsToUpdate.Add(stationManger);
                                }
                                //var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
                                //if (stationManger != null)
                                //{
                                //    stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
                                //    stationsToUpdate.Add(stationManger);
                                //}
                                content.OK();
                                #endregion
                            }
@@ -301,6 +323,10 @@
                        item.ExceptionMessage = $"处理任务异常：{ex.Message}";
                        //WriteError($"{nameof(TaskJob)}-{item.TaskId}", ex.Message, ex);
                        content.Error($"四向车接口返回错误：{ex.Message}");
                    }
                    finally
                    {

                    }
                }
                #region MyRegion
@@ -386,8 +412,8 @@
                            _taskService.UpdateData(tasksToUpdate);
                        if (locationsToUpdate.Any())
                            _rGVLocationInfoService.UpdateData(locationsToUpdate);
                        if (stationsToUpdate.Any())
                            _stationMangerService.UpdateData(stationsToUpdate);
                        //if (stationsToUpdate.Any())
                        //    _stationMangerService.UpdateData(stationsToUpdate);

                        _unitOfWorkManage.CommitTran();
                    }
@@ -406,7 +432,7 @@
            }
            finally
            {
                _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "下发外形检测任务失败", "", "");
                _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "下发外形检测成功任务", "", "");
            }
        }
        #endregion
@@ -445,12 +471,14 @@
                        //FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("未获取到四向车返回的任务ID");
                        string dataJson = fOURBOTReturn.data.ToString();
                        FOURBOTnewMovePodTaskResponseData? fOURBO = JsonConvert.DeserializeObject<FOURBOTnewMovePodTaskResponseData>(dataJson);
                        content.OK(data: fOURBO);
                        if (fOURBO == null || fOURBO.taskID == 0)
                        {
                            throw new Exception($"未获取到四向车返回的任务ID，返回数据：{response}");
                        }
                        item.RGVTaskId = fOURBO.taskID;
                        item.TaskState = (int)TaskStatusEnum.Puting;
                        item.Dispatchertime = DateTime.Now;
                    }
                }
                _taskService.UpdateData(tasks);
@@ -483,7 +511,7 @@
                tasks.ForEach(x =>
                {
                    x.TaskNum = _taskService.GetTaskNum(nameof(SequenceEnum.SeqTaskNum));
                    x.WMSTaskNum = task.WMSTaskNum;
                    //x.WMSTaskNum = task.WMSTaskNum;
                });
                rGVLocationInfos.ForEach(x =>
                {
@@ -537,7 +565,7 @@
                }
                string response = HttpHelper.Post(apiInfo.ApiAddress, moveBlock.Serialize());
                FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                content.Data = fOURBOTReturn;
                content.OK(data: fOURBOTReturn);
                if (fOURBOTReturn.returnCode == 0)
                {
                    string dataJson = fOURBOTReturn.data.ToString();
@@ -555,6 +583,7 @@
                        var task = tasks.First(x => x.PalletCode == item.podID);
                        task.RGVTaskId = item.taskID;
                        task.TaskState = TaskStatusEnum.RGV_MoveTaskSend.ObjToInt();
                        task.Dispatchertime = DateTime.Now;
                        dt_Tasks.Add(task);
                    }
                    _taskService.UpdateData(dt_Tasks);
@@ -583,6 +612,7 @@
                    if (takes == null)
                    {
                        item.TaskState = (int)TaskStatusEnum.RGV_WaitSend;
                        item.Dispatchertime = DateTime.Now;
                    }
                }
                _taskService.UpdateData(tasks);
@@ -607,8 +637,12 @@
                {
                    i++;
                    var stationManger = _stationMangerService.GetOutStationInfo(item.TargetAddress);
                    //if (stationManger.IsOccupied != LocationStatusEnum.Free.ObjToInt())
                    //{
                    //    item.ExceptionMessage = $"出库站台【{stationManger.StationCode}】被占用";
                    //    continue;
                    //}
                    item.NextAddress = stationManger.StationCode;
                    if (stationManger.IsOccupied != LocationStatusEnum.Free.ObjToInt()) continue;
                    #region ä¸‹å‘出库任务
                    fOURBOTnewMovePodTask.priority = item.Grade;
                    fOURBOTnewMovePodTask.podID = item.PalletCode;
@@ -623,10 +657,10 @@
                        autoToRest = 1
                    };
                    fOURBOTnewMovePodTask.desType = 5;
                    fOURBOTnewMovePodTask.requestID = DateTime.Now.ToString("yyyyMMddHHmmss") + i;
                    fOURBOTnewMovePodTask.requestID = DateTime.Now.ToString("yyyyMMddHHmmssfff") + item.TaskId;
                    string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                    FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                    content.Data = fOURBOTReturn;
                    content.OK(data: fOURBOTReturn);
                    if (fOURBOTReturn.returnCode == 0)
                    {
                        string dataJson = fOURBOTReturn.data.ToString();
@@ -637,8 +671,9 @@
                        }
                        item.RGVTaskId = fOURBO.taskID;
                        item.TaskState = (int)TaskStatusEnum.Execut;
                        stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
                        _stationMangerService.UpdateData(stationManger);
                        item.Dispatchertime = DateTime.Now;
                        //stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
                        //_stationMangerService.UpdateData(stationManger);
                    }
                    #endregion
                }