Merge branch 'master' of http://115.159.85.185:8098/r/RuiShengZhiNeng/GaoPu...

dengjunjie

2026-03-17 644819a289399eff1d5972c3df41ec55cb9d8c95

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

@@ -42,10 +42,12 @@
            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);
@@ -67,64 +69,111 @@
                }
                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);
                            break;
                        default:
                            task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
                            BaseDal.UpdateData(task);
                        case "outbin":
                            {
                                ///判断任务是否跟设备有关
                                TaskFromCompleted(task, deviceTypeEnum);
                            }
                            break;
                        case "into"://申请进入提升机
                            break;
                        case "wait"://扫码等待
                            break;
                        case "end":
                            {
                                ///判断任务是否跟设备有关
                                TaskCompleted(task, deviceTypeEnum);
                            }
                            break;
                        default:
                            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)
@@ -134,7 +183,7 @@
                                    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 +199,7 @@
            }
            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;
        }