1

dengjunjie

2026-03-04 761260f2ac0aa211625c8904cc86fc2400a8adfc

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

@@ -18,7 +18,7 @@
        /// <summary>
        /// ä¸‹å‘任务
        /// </summary>
        public void SendTask()
        public void SendNewTask()
        {
            try
            {
@@ -31,13 +31,15 @@
                    #endregion

                    #region æŸ¥æ‰¾RGV任务
                    Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound || x.TaskType == (int)TaskTypeEnum.CPOutbound).ToList();
                    if (Tasks.Count > 0) SendRGVTask(Tasks);
                    Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound).ToList();
                    if (Tasks.Count > 0) SendRGVInTask(Tasks);
                    Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPOutbound).ToList();
                    if (Tasks.Count > 0) IsMoveTask(Tasks);
                    #endregion

                    
                    #region æŸ¥æ‰¾æµ·åº·AGV任务
                    Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.Carry || x.TaskType == (int)TaskTypeEnum.CJCarry || x.TaskType == (int)TaskTypeEnum.CJInbound || x.TaskType == (int)TaskTypeEnum.CJOutbound).ToList();
                    if (Tasks.Count > 0) SendHIKROBOTTask(Tasks);
                    if (Tasks.Count > 0) HIKROBOTTask(Tasks);
                    #endregion
                }
            }
@@ -57,7 +59,7 @@
            try
            {
                #region ä¸‹å‘外形检测通过的四向车任务
                var Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk).ToList();
                var Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk && string.IsNullOrEmpty(x.ExceptionMessage)).ToList();
                if (Tasks.Count > 0) SendCheckShapeingOkTask(Tasks);
                #endregion

@@ -68,13 +70,29 @@
                if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
                #endregion

                #region ä¸‹å‘待移库后四向车出库任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitMoveToExecute).ToList();
                if (Tasks.Count > 0) SendMoveToExecuteTask(Tasks);
                #region ä¸‹å‘四向车批量移库任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.RGV_NewMoveTask).ToList();
                if (Tasks.Count > 0) SendMoveTasks(Tasks);
                #endregion

                #region ä¸‹å‘托盘确认的海康AGV任务
                #region å¤„理待移库后四向车出库任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitMoveToExecute).ToList();
                if (Tasks.Count > 0) MoveToExecuteTask(Tasks);
                #endregion

                #region ä¸‹å‘四向车出库任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitSend).ToList();
                if (Tasks.Count > 0) SendOutTask(Tasks);
                #endregion

                #region ä¸‹å‘外设允许进入的海康AGV任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.AGV_WaitToExecute).ToList();
                if (Tasks.Count > 0) SendAGVWaitToExecuteTask(Tasks);
                #endregion

                #region ä¸‹å‘托盘确认完成的海康AGV任务
                Tasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish).ToList();
                if (Tasks.Count > 0) SendAGVWaitToExecuteTask(Tasks);
                #endregion
            }
            catch (Exception ex)