1

dengjunjie

2026-03-10 60fd2ba8490c131220db2bbcfc545e154888efd3

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

@@ -95,11 +95,12 @@
                    {
                        content = TaskHelpMethods.isOkTaskInfo(task, true, true);
                        if (!content.Status) throw new Exception(content.Message);
                        if (BaseDal.QueryFirst(x => x.WMSTaskNum == task.taskCode || x.PalletCode == task.containerCode) != null)
                        {
                            throw new Exception($"任务号【{task.taskCode}】/托盘号【{task.containerCode}】已存在任务");
                            //continue;
                        }
                        if (BaseDal.QueryFirst(x => x.WMSTaskNum == task.taskCode) != null)
                            throw new Exception($"任务号【{task.taskCode}】已存在任务");
                        if (BaseDal.QueryFirst(x => x.PalletCode == task.containerCode) != null)
                            throw new Exception($"托盘号【{task.containerCode}】已存在任务");
                        if (BaseDal.QueryFirst(x => x.SourceAddress == task.fromLocationCode) != null)
                            throw new Exception($"起点位置【{task.containerCode}】已存在任务");
                        switch (item.taskType)
                        {
                            case (int)TaskTypeEnum.MLInbound:
@@ -168,7 +169,7 @@
                #region å‡¯ä¹å£«
                if (isGALAXISTask)
                {
                     KLS = new CancelGALAXISTask
                    KLS = new CancelGALAXISTask
                    {
                        taskId = dt_Task.WMSTaskNum,
                        reportTime = DateTime.Now.ToString()
@@ -181,7 +182,7 @@
                    {
                        //直接移入历史
                        BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                         content.OK($"取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                        content.OK($"取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                    }
                    else
                    {
@@ -194,7 +195,7 @@
                #region å››å‘车
                if (isAGV)
                {
                     cancelSXCTake = new CancelSXCTake
                    cancelSXCTake = new CancelSXCTake
                    {
                        taskID = dt_Task.RGVTaskId,
                        withoutRunning = 1
@@ -207,7 +208,7 @@
                    {
                        //直接移入历史
                        BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                         content.OK($"取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                        content.OK($"取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                    }
                    else
                    {
@@ -218,7 +219,7 @@
                #region æµ·åº·
                if (isHK)
                {
                     cancelHIKROBOTTask = new CancelHIKROBOTTask
                    cancelHIKROBOTTask = new CancelHIKROBOTTask
                    {
                        robotTaskCode = dt_Task.WMSTaskNum,
                        cancelType = "CANCEL"//原软取消，DROP人工介入（原硬取消）
@@ -231,11 +232,11 @@
                    {
                        //直接移入历史
                        BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                         content.OK("取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                        content.OK("取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                    }
                    else
                    {
                         content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息：{hIKROBOTReturn.data}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息：{hIKROBOTReturn.data}");
                    }

                }
@@ -252,17 +253,17 @@
                object logObject = null;
                string deviceName = "";

                if (KLS != null )
                if (KLS != null)
                {
                    logObject = KLS;
                    deviceName = "凯乐士AGV";
                }
                else if (cancelHIKROBOTTask != null )
                else if (cancelHIKROBOTTask != null)
                {
                    logObject = cancelHIKROBOTTask;
                    deviceName = "海康机器人";
                }
                else if (cancelSXCTake != null )
                else if (cancelSXCTake != null)
                {
                    logObject = cancelSXCTake;
                    deviceName = "四向车";
@@ -321,11 +322,11 @@
                    {

                        BaseDal.UpdateData(dt_Task);
                         content.OK($"修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                        content.OK($"修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                    }
                    else
                    {
                         content.Error($"{dt_Task.WMSTaskNum}任务失败,错误信息：{agvContent.data.returnInfo}");
                        content.Error($"{dt_Task.WMSTaskNum}任务失败,错误信息：{agvContent.data.returnInfo}");
                    }
                }
                #endregion
@@ -333,7 +334,7 @@
                #region å››å‘车
                if (isAGV)
                {
                     request = new UpdateAgvSXCTake
                    request = new UpdateAgvSXCTake
                    {
                        taskID = dt_Task.RGVTaskId,
                        priority = updateTaskPriority.taskPriority
@@ -345,11 +346,11 @@
                    if (fOURBOTReturn.returnCode == 0 && fOURBOTReturn.returnUserMsg == "成功")
                    {
                        BaseDal.UpdateData(dt_Task);
                         content.OK("修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                        content.OK("修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                    }
                    else
                    {
                         content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息：{fOURBOTReturn.data}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息：{fOURBOTReturn.data}");
                    }
                }

@@ -357,7 +358,7 @@
                #region æµ·åº·
                if (isHK)
                {
                     Hkrequest = new HIKROBOTTaskGrade
                    Hkrequest = new HIKROBOTTaskGrade
                    {
                        robotTaskCode = dt_Task.WMSTaskNum,//任务号
                        initPriority = updateTaskPriority.taskPriority//优先级
@@ -369,11 +370,11 @@
                    if (hIKROBOTReturn.code == "SUCCESS0" && hIKROBOTReturn.message == "成功")
                    {
                        BaseDal.UpdateData(dt_Task);
                         content.OK("修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                        content.OK("修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                    }
                    else
                    {
                         content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息{hIKROBOTReturn.data}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息{hIKROBOTReturn.data}");
                    }
                }
                #endregion
@@ -388,7 +389,7 @@
                object logObject = null;
                string deviceName = "";

                if (updateGALAXISTaskGrade != null )
                if (updateGALAXISTaskGrade != null)
                {
                    logObject = updateGALAXISTaskGrade;
                    deviceName = "凯乐士AGV";
@@ -398,7 +399,7 @@
                    logObject = Hkrequest;
                    deviceName = "海康机器人";
                }
                else if (request != null )
                else if (request != null)
                {
                    logObject = request;
                    deviceName = "四向车";
@@ -1119,33 +1120,33 @@
                };
                string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOToccupyStation.Serialize());
                FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                if (fOURBOTReturn.returnCode != 0 && fOURBOTReturn.returnUserMsg != $"站点已被占用,(podID={iQC.ContainerCode})")
                if (fOURBOTReturn.returnCode != 0 /*&& fOURBOTReturn.returnUserMsg != $"站点已被占用,(podID={iQC.ContainerCode})"*/)
                    throw new Exception(fOURBOTReturn.returnUserMsg);
                #endregion

                #region åˆ›å»ºå››å‘车任务
                var task = BaseDal.QueryFirst(x => x.PalletCode == iQC.ContainerCode && x.SourceAddress == iQC.StationCode && x.TaskState == (int)TaskStatusEnum.New);
                //var task = BaseDal.QueryFirst(x => x.PalletCode == iQC.ContainerCode && x.SourceAddress == iQC.StationCode && x.TaskState == (int)TaskStatusEnum.New);
                #endregion
                #region å‘¼å«å››å‘车
                apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(FOURBOTnewMovePodTask)) ?? throw new Exception("未找到四向车任务下发接口配置信息！请检查接口配置");
                FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new()
                {
                    priority = task.Grade,
                    podID = task.PalletCode,
                    //desNodeID = task.SourceAddress,
                    desExt = new
                    {
                        unload = 0//是否放下容器,0否1是
                    },
                    desStationCodes = task.SourceAddress,
                    desType = 5
                };
                response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                content.Data = fOURBOTReturn;
                if (fOURBOTReturn.returnCode != 0) throw new Exception(fOURBOTReturn.returnUserMsg);
                task.TaskState = (int)TaskStatusEnum.Execut;
                BaseDal.UpdateData(task);
                //apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(FOURBOTnewMovePodTask)) ?? throw new Exception("未找到四向车任务下发接口配置信息！请检查接口配置");
                //FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new()
                //{
                //    priority = task.Grade,
                //    podID = task.PalletCode,
                //    //desNodeID = task.SourceAddress,
                //    desExt = new
                //    {
                //        unload = 0//是否放下容器,0否1是
                //    },
                //    desStationCodes = task.SourceAddress,
                //    desType = 5
                //};
                //response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                //fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                //content.Data = fOURBOTReturn;
                //if (fOURBOTReturn.returnCode != 0) throw new Exception(fOURBOTReturn.returnUserMsg);
                //task.TaskState = (int)TaskStatusEnum.Execut;
                //BaseDal.UpdateData(task);
                #endregion
                return WebResponseContent.Instance.OK();
            }