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

yanjinhui

7 天以前 aeb971fe12b73d83d31a83b00f0a6e2876b24a00

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

@@ -1,10 +1,14 @@
using System;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO;
using WIDESEAWCS_Model.Models;

namespace WIDESEAWCS_Tasks
@@ -15,14 +19,36 @@
        /// <summary>
        /// ä¸‹å‘任务
        /// </summary>
        public void SendTask()
        public void SendNewTask()
        {
            try
            {
                var newTask = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt()).ToList();
                if (newTask.Count > 0)
                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == (int)TaskStatusEnum.New).ToList();
                if (newTasks.Count > 0)
                {
                    #region æŸ¥æ‰¾å‡¯ä¹å£«ä»»åŠ¡
                    //var Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.MLInbound || x.TaskType == (int)TaskTypeEnum.MLOutbound).OrderByDescending(x => x.Grade).ToList();
                    //if (Tasks.Count > 0) SendGALAXISTask(Tasks);
                    #endregion

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

                    //#region æŸ¥æ‰¾æµ·åº·AGV任务
                    //Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.F01 || x.TaskType == (int)TaskTypeEnum.RK3F || x.TaskType == (int)TaskTypeEnum.CK3F || x.TaskType == (int)TaskTypeEnum.Q1TSJ4 || x.TaskType == (int)TaskTypeEnum.STU0003 || x.TaskType == (int)TaskTypeEnum.F02 || x.TaskType == (int)TaskTypeEnum.CHUKU1 || x.TaskType == (int)TaskTypeEnum.Q3RK || x.TaskType == (int)TaskTypeEnum.Q3CK).OrderByDescending(x => x.Grade).ToList();
                    //if (Tasks.Count > 0) HIKROBOTTask(Tasks);
                    //#endregion

                    #region ä¸‹å‘海康1到6楼的AGV任务/下发海康6到1楼的AGV任务
                    Tasks = newTasks.Where(x => (x.TaskType == (int)TaskTypeEnum.Q3CK) || x.TaskType == (int)TaskTypeEnum.Q3RK||x.TaskType==(int)TaskTypeEnum.F01).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendAGVTask(Tasks);


                    #endregion
                }
            }
            catch (Exception ex)
@@ -40,33 +66,64 @@
        {
            try
            {
                var ExecutTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState != (int)TaskStatusEnum.New).ToList();
                if (ExecutTasks.Count > 0)
                {
                    #region ä¸‹å‘待外形检测任务
                    var Tasks = ExecutTasks.Where(x => x.TaskType == (int)TaskTypeEnum.CPInbound && x.TaskState == (int)TaskStatusEnum.WaiCheckShape).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendRGVCheckShapeTask(Tasks);
                    #endregion

                    #region ä¸‹å‘外形检测通过的四向车任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk && string.IsNullOrEmpty(x.ExceptionMessage)).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendCheckShapeingOkTask(Tasks);
                    #endregion

                    #region ä¸‹å‘外形检测失败的四向车任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingNG).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckShapeingOk && x.ExceptionMessage.Contains("未找到终点库区")).ToList();
                    if (Tasks.Count > 0) SendCheckShapeingNGTask(Tasks);
                    #endregion

                    #region ä¸‹å‘四向车批量移库任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.RGV_NewMoveTask).ToList();
                    if (Tasks.Count > 0) SendMoveTasks(Tasks);
                    #endregion

                    #region å¤„理待移库后四向车出库任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.RGV_WaitMoveToExecute).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) MoveToExecuteTask(Tasks);
                    #endregion

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

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

                    #region ä¸‹å‘托盘确认完成的海康AGV任务
                    //Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish).OrderByDescending(x => x.Grade).ToList();
                    //if (Tasks.Count > 0) SendAGVWaitToExecuteTask(Tasks);
                    #endregion


                    #region å¤„理agv待空车搬运任务
                    Tasks = ExecutTasks.Where(x => x.TaskState == (int)TaskStatusEnum.HkTransportCompleted).OrderByDescending(x => x.Grade).ToList();
                    if (Tasks.Count > 0) SendHKWaitTask(Tasks);
                    #endregion


                }
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
            }
        }
        #endregion

        #region ä¸‹å‘凯乐士AGV任务
        public void SendGALAXISTask(List<Dt_Task> tasks)
        {

        }
        #endregion

        #region ä¸‹å‘四向车任务
        public void SendRGVTask(List<Dt_Task> tasks)
        {

        }
        #endregion

        #region ä¸‹å‘海康AGV任务
        public void SendHIKROBOTTask(List<Dt_Task> tasks)
        {

        }
        #endregion
    }