1

dengjunjie

2026-03-11 6528710f86a89a0828c90bd43a29ca455e1a30b0

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

@@ -16,6 +16,7 @@
#endregion << ç‰ˆ æœ¬ æ³¨ é‡Š >>

using AutoMapper;
using SixLabors.ImageSharp.ColorSpaces;
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
using WIDESEAWCS_BasicInfoService;
@@ -88,48 +89,99 @@
            WebResponseContent content = new WebResponseContent();
            try
            {
                List<object> objects = new List<object>();
                foreach (var item in taskDTOs)
                {
                    foreach (var task in item.tasks)
                    {
                        #region åˆ¤æ–­
                        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)
                        if (!content.Status)
                        {
                            throw new Exception($"任务号【{task.taskCode}】/托盘号【{task.containerCode}】已存在任务");
                            //continue;
                            objects.Add(new
                            {
                                taskCode = task.taskCode,
                                Message = $"任务号【{task.taskCode}】{content.Message}"
                            });
                            continue;
                            //throw new Exception(content.Message);
                        }
                        if (BaseDal.QueryFirst(x => x.WMSTaskNum == task.taskCode) != null)
                        {
                            objects.Add(new
                            {
                                taskCode = task.taskCode,
                                Message = $"任务号【{task.taskCode}】已存在任务"
                            });
                            continue;
                            //throw new Exception($"任务号【{task.taskCode}】已存在任务");
                        }
                        if (BaseDal.QueryFirst(x => x.PalletCode == task.containerCode) != null)
                        {
                            objects.Add(new
                            {
                                taskCode = task.taskCode,
                                Message = $"托盘号【{task.containerCode}】已存在任务"
                            });
                            continue;
                            //throw new Exception($"托盘号【{task.containerCode}】已存在任务");
                        }
                        if (BaseDal.QueryFirst(x => x.SourceAddress == task.fromLocationCode) != null)
                        {
                            objects.Add(new
                            {
                                taskCode = task.taskCode,
                                Message = $"起点位置【{task.containerCode}】已存在任务"
                            });
                            continue;
                            //throw new Exception($"起点位置【{task.containerCode}】已存在任务");
                        }
                        #endregion
                        switch (item.taskType)
                        {
                            case (int)TaskTypeEnum.MLInbound:
                                CreateKLSNewInTask(task, item.taskType);
                                content = CreateKLSNewInTask(task, item.taskType);
                                objects.Add(content.Data);
                                break;
                            case (int)TaskTypeEnum.MLOutbound:
                                CreateKLSNewOutTask(task, item.taskType);
                                content = CreateKLSNewOutTask(task, item.taskType);
                                objects.Add(content.Data);
                                break;
                            case (int)TaskTypeEnum.CPInbound:
                                CreateRGVNewInTask(task, item.taskType);
                                content = CreateRGVNewInTask(task, item.taskType);
                                objects.Add(content.Data);
                                break;
                            case (int)TaskTypeEnum.CPOutbound:
                                CreateRGVNewOutTask(task, item.taskType);
                                content = CreateRGVNewOutTask(task, item.taskType);
                                objects.Add(content.Data);
                                break;
                            case (int)TaskTypeEnum.CJInbound:
                                CreateHKNewInTask(task, item.taskType);
                                content = CreateHKNewInTask(task, item.taskType);
                                objects.Add(content.Data);
                                break;
                            case (int)TaskTypeEnum.CJOutbound:
                                CreateHKNewOutTask(task, item.taskType);
                                content = CreateHKNewOutTask(task, item.taskType);
                                objects.Add(content.Data);
                                break;
                            case (int)TaskTypeEnum.Carry:
                                CarryTask(task, item.taskType);
                                content = CarryTask(task, item.taskType);
                                objects.Add(content.Data);
                                break;
                            case (int)TaskTypeEnum.CJCarry:
                                CJCarryTaske(task, item.taskType);
                                content = CJCarryTaske(task, item.taskType);
                                objects.Add(content.Data);
                                break;
                            default:
                                objects.Add(new
                                {
                                    taskCode = task.taskCode,
                                    Message = $"未定义的任务类型"
                                });
                                break;
                        }
                    }
                }
                content.Data = objects;
            }
            catch (Exception ex)
            {
@@ -147,6 +199,9 @@
        public WebResponseContent CancelWMSTask(WMSCancelTask wMSCancelTask)
        {
            WebResponseContent content = new WebResponseContent();
            var KLS = new CancelGALAXISTask();
            CancelHIKROBOTTask cancelHIKROBOTTask = new CancelHIKROBOTTask();
            CancelSXCTake cancelSXCTake = new CancelSXCTake();
            try
            {
                Dt_Task dt_Task = BaseDal.QueryFirst(x => x.WMSTaskNum == wMSCancelTask.TaskCode);
@@ -164,7 +219,7 @@
                #region å‡¯ä¹å£«
                if (isGALAXISTask)
                {
                    var KLS = new CancelGALAXISTask
                    KLS = new CancelGALAXISTask
                    {
                        taskId = dt_Task.WMSTaskNum,
                        reportTime = DateTime.Now.ToString()
@@ -177,11 +232,11 @@
                    {
                        //直接移入历史
                        BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                        return content.OK("取消任务成功", dt_Task);
                        content.OK($"取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                    }
                    else
                    {
                        return content.Error($"任务失败{agvContent.data.returnInfo}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败{agvContent.data.returnInfo}");

                    }
                }
@@ -190,7 +245,7 @@
                #region å››å‘车
                if (isAGV)
                {
                    CancelSXCTake cancelSXCTake = new CancelSXCTake
                    cancelSXCTake = new CancelSXCTake
                    {
                        taskID = dt_Task.RGVTaskId,
                        withoutRunning = 1
@@ -203,18 +258,18 @@
                    {
                        //直接移入历史
                        BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                        return content.OK($"取消任务【{dt_Task.WMSTaskNum}】成功", dt_Task);
                        content.OK($"取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                    }
                    else
                    {
                        return content.Error($"任务取消失败【{dt_Task.WMSTaskNum}】{fOURBOTReturn.returnUserMsg}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败{fOURBOTReturn.data}");
                    }
                }
                #endregion
                #region æµ·åº·
                if (isHK)
                {
                    CancelHIKROBOTTask 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）
@@ -227,11 +282,11 @@
                    {
                        //直接移入历史
                        BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                        return content.OK("取消任务成功", dt_Task);
                        content.OK("取消{dt_Task.WMSTaskNum}任务成功", dt_Task);
                    }
                    else
                    {
                        return content.Error($"任务失败{hIKROBOTReturn.data}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息：{hIKROBOTReturn.data}");
                    }

                }
@@ -241,6 +296,33 @@
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            finally
            {
                // åœ¨ finally ä¸­åˆ¤æ–­å“ªä¸ªå¯¹è±¡è¢«èµ‹å€¼äº†
                object logObject = null;
                string deviceName = "";

                if (KLS != null)
                {
                    logObject = KLS;
                    deviceName = "凯乐士AGV";
                }
                else if (cancelHIKROBOTTask != null)
                {
                    logObject = cancelHIKROBOTTask;
                    deviceName = "海康机器人";
                }
                else if (cancelSXCTake != null)
                {
                    logObject = cancelSXCTake;
                    deviceName = "四向车";
                }

                if (logObject != null)
                {
                    _trackloginfoService.AddTrackLog(logObject, content, $"取消{deviceName}任务,", "", "");
                }
            }
            return content;
        }
@@ -254,6 +336,9 @@
        public WebResponseContent UpdateWMSTaskPriority(WMSUpdateTaskPriority updateTaskPriority)
        {
            WebResponseContent content = new WebResponseContent();
            var updateGALAXISTaskGrade = new UpdateGALAXISTaskGrade();
            var request = new UpdateAgvSXCTake();
            var Hkrequest = new HIKROBOTTaskGrade();
            try
            {
                Dt_Task dt_Task = BaseDal.QueryFirst(x => x.WMSTaskNum == updateTaskPriority.taskCode);
@@ -273,11 +358,10 @@
                #region å‡¯ä¹å£«
                if (isGALAXISTask)
                {
                    var updateGALAXISTaskGrade = new UpdateGALAXISTaskGrade
                    updateGALAXISTaskGrade = new UpdateGALAXISTaskGrade
                    {
                        taskId = dt_Task.WMSTaskNum,
                        reportTime = DateTime.Now.ToString(),
                        district = dt_Task.Roadway,//任务库区
                        priorityCode = updateTaskPriority.taskPriority,
                    };
                    Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(UpdateGALAXISTaskGrade));
@@ -288,11 +372,11 @@
                    {

                        BaseDal.UpdateData(dt_Task);
                        return content.OK("修改任务优先级成功", dt_Task);
                        content.OK($"修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                    }
                    else
                    {
                        return content.Error($"任务失败{agvContent.data.returnInfo}");
                        content.Error($"{dt_Task.WMSTaskNum}任务失败,错误信息：{agvContent.data.returnInfo}");
                    }
                }
                #endregion
@@ -300,7 +384,7 @@
                #region å››å‘车
                if (isAGV)
                {
                    var request = new UpdateAgvSXCTake
                    request = new UpdateAgvSXCTake
                    {
                        taskID = dt_Task.RGVTaskId,
                        priority = updateTaskPriority.taskPriority
@@ -312,11 +396,11 @@
                    if (fOURBOTReturn.returnCode == 0 && fOURBOTReturn.returnUserMsg == "成功")
                    {
                        BaseDal.UpdateData(dt_Task);
                        return content.OK("修改任务优先级成功", dt_Task);
                        content.OK("修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                    }
                    else
                    {
                        return content.Error($"任务失败{fOURBOTReturn.data}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息：{fOURBOTReturn.data}");
                    }
                }

@@ -324,23 +408,23 @@
                #region æµ·åº·
                if (isHK)
                {
                    var request = new HIKROBOTTaskGrade
                    Hkrequest = new HIKROBOTTaskGrade
                    {
                        robotTaskCode = dt_Task.WMSTaskNum,//任务号
                        initPriority = updateTaskPriority.taskPriority//优先级
                    };
                    Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(HIKROBOTTaskGrade));
                    if (apiInfo == null) throw new Exception("未找到四向车AGV任务下发接口配置信息！请检查接口配置");
                    string response = HttpHelper.Post(apiInfo.ApiAddress, request.Serialize());
                    string response = HttpHelper.Post(apiInfo.ApiAddress, Hkrequest.Serialize());
                    HIKROBOTReturn hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
                    if (hIKROBOTReturn.code == "SUCCESS0" && hIKROBOTReturn.message == "成功")
                    {
                        BaseDal.UpdateData(dt_Task);
                        return content.OK("修改任务优先级成功", dt_Task);
                        content.OK("修改{dt_Task.WMSTaskNum}任务优先级成功", dt_Task);
                    }
                    else
                    {
                        return content.Error($"任务失败{hIKROBOTReturn.data}");
                        content.Error($"任务{dt_Task.WMSTaskNum}失败，错误信息{hIKROBOTReturn.data}");
                    }
                }
                #endregion
@@ -348,6 +432,33 @@
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            finally
            {
                // åœ¨ finally ä¸­åˆ¤æ–­å“ªä¸ªå¯¹è±¡è¢«èµ‹å€¼äº†
                object logObject = null;
                string deviceName = "";

                if (updateGALAXISTaskGrade != null)
                {
                    logObject = updateGALAXISTaskGrade;
                    deviceName = "凯乐士AGV";
                }
                else if (Hkrequest != null)
                {
                    logObject = Hkrequest;
                    deviceName = "海康机器人";
                }
                else if (request != null)
                {
                    logObject = request;
                    deviceName = "四向车";
                }

                if (logObject != null)
                {
                    _trackloginfoService.AddTrackLog(logObject, content, $"修改{deviceName}任务优先级", "", "");
                }
            }
            return content;
        }
@@ -956,14 +1067,51 @@
        /// <param name="AreaCode"></param>
        /// <returns></returns>
        /// <exception cref="NotImplementedException">区域号</exception>
        public WebResponseContent LocationInquiry(string AreaCode)
        public WebResponseContent LocationInquiry(WMSGetLocationInfo getLocationInfo)
        {
            if (AreaCode == null)
            WebResponseContent content = new WebResponseContent();
            List<object> list = new List<object>();
            try
            {
                //查询输送线空托缓存信息时返回空位数量
            }
            return WebResponseContent.Instance.OK();
                if (getLocationInfo == null) throw new Exception("请求参数不能为空！");
                if (getLocationInfo.AreaCode == null) throw new Exception("库区编号不能为空！");
                if (getLocationInfo.WarehouseId == 0) throw new Exception("仓库ID不能为空！");
                if (getLocationInfo.WarehouseId == 1)
                {
                    List<Dt_RGVLocationInfo> rGVLocationInfos = _rGVLocationInfoService.Repository.QueryData(x => x.WarehouseId == getLocationInfo.AreaCode.ObjToInt());
                    foreach (var item in rGVLocationInfos)
                    {
                        list.Add(new
                        {
                            LoctionCode = item.LocationCode,
                            LocationStatus = item.LocationStatus,
                            EnableStatus = item.EnableStatus
                        });
                    }
                    content.Data = list;
                }
                else if (getLocationInfo.WarehouseId == 2)
                {

                }
                else if (getLocationInfo.WarehouseId == 3)
                {

                }
                else if (getLocationInfo.WarehouseId == 4)
                {

                }
                else if (getLocationInfo.WarehouseId == 5)
                {

                }
            }
            catch (Exception ex)
            {
                content.Error(ex.Message);
            }
            return content;
        }


@@ -1059,33 +1207,33 @@
                };
                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();
            }