1

dengjunjie

2026-03-10 aa75f3cbdcfce80d7ebd3c4f2bcfeea850949209

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

@@ -1,4 +1,5 @@
using Magicodes.IE.Core;
using Autofac.Core;
using Magicodes.IE.Core;
using NetTaste;
using System;
using System.Collections.Generic;
@@ -14,7 +15,11 @@
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO;
using WIDESEAWCS_DTO.AGV.HIKROBOT;
using WIDESEAWCS_DTO.RGV.FOURBOT;
using WIDESEAWCS_DTO.WMS;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;

namespace WIDESEAWCS_TaskInfoService
{
@@ -34,11 +39,13 @@

            WebResponseContent content = new WebResponseContent();
            GALAXISUpdateTaskStatus gALAXIS = new();
            RGVReturnInfo Rgv = new();//四向车任务状态通知
            HIKROBOTTaskProcessReport hIKROBOT = new();//海康机器人
            try
            {
                if (deviceTypeEnum == DeviceTypeEnum.GALAXIS)
                {
                    //GALAXISUpdateTaskStatus? gALAXIS = TaskDTO.Serialize().DeserializeObject<GALAXISUpdateTaskStatus>();
                    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);
                    if (task == null) throw new Exception($"未找到任务,任务编号【{gALAXIS.taskId}】");
@@ -52,28 +59,106 @@
                            break;
                        default:
                            task.TaskState = ReturnTaskStatus(gALAXIS.taskStatus, deviceTypeEnum);
                            BaseDal.UpdateData(task);
                            if (gALAXIS.taskStatus == 10) TaskFeedback(task, 1);
                            else BaseDal.UpdateData(task);
                            break;
                    }
                }
                else if (deviceTypeEnum == DeviceTypeEnum.HIKROBOT)
                {

                    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;
                        default:
                            task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
                            BaseDal.UpdateData(task);
                            break;
                    }
                }
                else
                else //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 (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 ?? throw new Exception("未找到1楼质检门设备信息");
                            device.SetValue(QualityInspectionCommandEnum.StartqualityInspection, true, task.SourceAddress);
                        }
                        else
                        {
                            TaskFromCompleted(task, deviceTypeEnum);
                        }
                    }
                    else if (Rgv.messageType == 10)
                    {
                        if (Rgv.content.status == 4)
                        {
                            if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.TakeFinish)
                            {
                                task.TaskState = (int)TaskStatusEnum.CheckShapeing;
                                BaseDal.UpdateData(task);
                            }
                            else if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Puting)
                            {
                                TaskCompleted(task, deviceTypeEnum);
                            }
                            else if (task.TaskType == (int)TaskTypeEnum.CPOutbound || task.TaskType == (int)TaskTypeEnum.CPMoveInventory)//出库、移库完成
                            {
                                TaskCompleted(task, deviceTypeEnum);
                            }
                        }
                    }
                }
                return WebResponseContent.Instance.OK();
                content.OK();
            }
            catch (Exception ex)
            {
                return WebResponseContent.Instance.Error(ex.Message);
                content.Error(ex.Message);
            }
            finally
            {
                _trackloginfoService.AddTrackLog(gALAXIS, content, "下发凯乐士AGV任务", "", "");
                // 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", "", "");
                }
            }
            return content;
        }
        #endregion

@@ -131,10 +216,11 @@
            try
            {
                dt_Task.TaskState = TaskStatusEnum.TakeFinish.ObjToInt();
                Db.Ado.BeginTran();
                UpdateLocationStatus(dt_Task.SourceAddress, deviceTypeEnum, LocationStatusEnum.Free);
                BaseDal.UpdateData(dt_Task);
                Db.Ado.CommitTran();
                TaskFeedback(dt_Task, 4);
                //Db.Ado.BeginTran();
                UpdateLocationStatus(dt_Task.SourceAddress, dt_Task.PalletCode, deviceTypeEnum, LocationStatusEnum.Free);
                //BaseDal.UpdateData(dt_Task);
                //Db.Ado.CommitTran();
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
@@ -157,15 +243,16 @@
            try
            {
                dt_Task.TaskState = TaskStatusEnum.Finish.ObjToInt();
                Db.Ado.BeginTran();
                UpdateLocationStatus(dt_Task.TargetAddress, deviceTypeEnum, LocationStatusEnum.InStock);
                BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                Db.Ado.CommitTran();
                TaskFeedback(dt_Task, 2);
                //Db.Ado.BeginTran();
                UpdateLocationStatus(dt_Task.TargetAddress, dt_Task.PalletCode, deviceTypeEnum, LocationStatusEnum.InStock);

                //Db.Ado.CommitTran();
                return WebResponseContent.Instance.OK();
            }
            catch (Exception ex)
            {
                Db.Ado.RollbackTran();
                //Db.Ado.RollbackTran();
                throw new Exception(ex.Message);
            }
        }
@@ -179,38 +266,64 @@
        /// <param name="deviceTypeEnum"></param>
        /// <param name="locationStatusEnum"></param>
        /// <returns></returns>
        public WebResponseContent UpdateLocationStatus(string LocationCode, DeviceTypeEnum deviceTypeEnum, LocationStatusEnum locationStatusEnum)
        public WebResponseContent UpdateLocationStatus(string locationCode, string palletCode, DeviceTypeEnum deviceTypeEnum, LocationStatusEnum locationStatusEnum)
        {
            try
            {
                if (deviceTypeEnum == DeviceTypeEnum.GALAXIS)
                {
                    Dt_KLSLocationInfo? dt_KLSLocationInfo = _kLSLocationInfoService.Repository.QueryFirst(x => x.LocationCode == LocationCode);
                    Dt_KLSLocationInfo? dt_KLSLocationInfo = _kLSLocationInfoService.Repository.QueryFirst(x => x.LocationCode == locationCode);
                    if (dt_KLSLocationInfo != null)
                    {
                        if (locationStatusEnum == LocationStatusEnum.Free) //如果起点完成就给货位赋值托盘号
                        {
                            dt_KLSLocationInfo.PalletCode = "";
                        }
                        else
                        {
                            dt_KLSLocationInfo.PalletCode = palletCode;
                        }
                        dt_KLSLocationInfo.LocationStatus = locationStatusEnum.ObjToInt();
                        _kLSLocationInfoService.Repository.UpdateData(dt_KLSLocationInfo);
                    }
                }
                else if (deviceTypeEnum == DeviceTypeEnum.HIKROBOT)
                {
                    Dt_HKLocationInfo? dt_HKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == LocationCode);
                    Dt_HKLocationInfo? dt_HKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == locationCode);
                    if (dt_HKLocationInfo != null)
                    {
                        if (locationStatusEnum == LocationStatusEnum.Free) //如果起点完成就给货位赋值托盘号
                        {
                            dt_HKLocationInfo.PalletCode = "";
                        }
                        else
                        {
                            dt_HKLocationInfo.PalletCode = palletCode;
                        }
                        dt_HKLocationInfo.LocationStatus = locationStatusEnum.ObjToInt();
                        _hKLocationInfoService.Repository.UpdateData(dt_HKLocationInfo);
                    }
                }
                else if (deviceTypeEnum == DeviceTypeEnum.YuanLiJuHe)
                {
                    Dt_RGVLocationInfo dt_RGVLocationInfo = _rGVLocationInfoService.Repository.QueryFirst(x => x.LocationCode == LocationCode);
                    Dt_RGVLocationInfo dt_RGVLocationInfo = _rGVLocationInfoService.Repository.QueryFirst(x => x.LocationCode == locationCode);
                    //这里将任务的托盘号给货位表中的PalletCode字段。

                    if (dt_RGVLocationInfo != null)
                    {
                        if (locationStatusEnum == LocationStatusEnum.Free) //如果起点完成就给货位赋值托盘号
                        {
                            dt_RGVLocationInfo.PalletCode = "";
                        }
                        else
                        {
                            dt_RGVLocationInfo.PalletCode = palletCode;
                        }
                        dt_RGVLocationInfo.LocationStatus = locationStatusEnum.ObjToInt();
                        _rGVLocationInfoService.Repository.UpdateData(dt_RGVLocationInfo);
                    }
                }
                else//库外站台
                else//平库库位
                {

                }
@@ -222,5 +335,45 @@
            }
        }
        #endregion

        #region ä¸ŠæŠ¥WMS
        public WebResponseContent TaskFeedback(Dt_Task dt_Task, int Status)
        {
            WebResponseContent content = new WebResponseContent();
            WMSInOutBoundCompleteFeedback boundCompleteFeedback = new WMSInOutBoundCompleteFeedback();
            WMSReturn agvContent = null;
            try
            {
                Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(WMSInOutBoundCompleteFeedback));
                if (apiInfo == null) dt_Task.ExceptionMessage = "未找到出入库完成反馈WMS接口配置信息！请检查接口配置";
                else
                {
                    boundCompleteFeedback.taskCode = dt_Task.WMSTaskNum;
                    boundCompleteFeedback.containerCode = dt_Task.PalletCode;
                    boundCompleteFeedback.fromStationCode = dt_Task.SourceAddress;
                    boundCompleteFeedback.toLocationCode = dt_Task.TargetAddress;
                    boundCompleteFeedback.status = Status;
                    boundCompleteFeedback.custStatus = "";
                    string response = HttpHelper.Post(apiInfo.ApiAddress, boundCompleteFeedback.Serialize());
                    agvContent = response.DeserializeObject<WMSReturn>();
                    content.Data = agvContent;
                    if (agvContent.code != 0) dt_Task.ExceptionMessage = agvContent.msg;
                }
            }
            catch (Exception ex)
            {
                dt_Task.ExceptionMessage = ex.Message;
            }
            finally
            {
                _trackloginfoService.AddTrackLog(boundCompleteFeedback, content, "出入库任务状态反馈WMS", "", "");
                if (agvContent != null && agvContent.code == 0 && Status == 2)
                    BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.自动完成);
                else
                    BaseDal.UpdateData(dt_Task);
            }
            return WebResponseContent.Instance.OK();
        }
        #endregion
    }
}