11

yanjinhui

2026-03-06 c2b54113942b9e31a2a7b19001158b08df268a0a

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

@@ -1,4 +1,5 @@
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using System;
using System.Collections.Generic;
using System.Linq;
@@ -7,6 +8,7 @@
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.LocationEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseRepository;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO;
@@ -27,6 +29,7 @@
        public void SendRGVInTask(List<Dt_Task> tasks)
        {
            FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new();
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_ApiInfo? 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");
@@ -34,14 +37,21 @@
                {
                    fOURBOTnewMovePodTask.priority = item.Grade;
                    fOURBOTnewMovePodTask.podID = item.PalletCode;
                    fOURBOTnewMovePodTask.destination = item.NextAddress;
                    //fOURBOTnewMovePodTask.destination = item.NextAddress;
                    fOURBOTnewMovePodTask.desExt = new
                    {
                        unload = 0//是否放下容器,0否1是
                    };
                    fOURBOTnewMovePodTask.desType = 2;
                    fOURBOTnewMovePodTask.taskExt = new
                    {
                        keepRobot = 1,
                        keepRobotTimeout = 1
                    };
                    fOURBOTnewMovePodTask.desType = 1;
                    fOURBOTnewMovePodTask.desNodeID = item.NextAddress;
                    string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                    FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                    content.Data = fOURBOTReturn;
                    if (fOURBOTReturn.returnCode == 0)
                    {
                        string dataJson = fOURBOTReturn.data.ToString();
@@ -56,10 +66,15 @@
                    }
                }
                _taskService.UpdateData(tasks);
                content.OK();
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
                content.Error(ex.Message);
            }
            finally
            {
                _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "下发四向车新建入库任务", "", "");
            }
        }
        #endregion
@@ -71,6 +86,9 @@
        /// <param name="tasks"></param>
        public void IsMoveTask(List<Dt_Task> tasks)
        {

            object requestData = null;  // æ·»åŠ å˜é‡è®°å½•è¯·æ±‚数据
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(GetBlockPodContentDto)) ?? 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");
@@ -88,12 +106,20 @@
                        }
                    }
                };
                requestData = request;  // ä¿å­˜è¯·æ±‚数据用于日志
                //content.candidatePodIDs = tasks.Select(x => x.PalletCode).ToList();
                string response = HttpHelper.Post(apiInfo.ApiAddress, request.Serialize());
                FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                content.Data = fOURBOTReturn;
                if (fOURBOTReturn.returnCode == 0)
                {
                    ReturnBlockPodResultDto getBlockPod = fOURBOTReturn.data as ReturnBlockPodResultDto ?? throw new Exception("未获取到阻碍托盘关系数据");
                    //ReturnBlockPodResultDto getBlockPod = fOURBOTReturn.data as ReturnBlockPodResultDto ?? throw new Exception("未获取到阻碍托盘关系数据");
                    var dataJson = fOURBOTReturn.data.ToString();
                    ReturnBlockPodResultDto? getBlockPod = JsonConvert.DeserializeObject<ReturnBlockPodResultDto>(dataJson);
                    if (getBlockPod.Result.Count == 0)
                    {
                        throw new Exception("未获取到阻碍托盘关系数据");
                    }
                    foreach (var Result in getBlockPod.Result)
                    {
                        foreach (var item in Result.outPods)
@@ -103,7 +129,7 @@
                            {
                                task.TaskState = (int)TaskStatusEnum.RGV_WaitMoveToExecute;
                                dt_Tasks.Add(task);
                                AddMoveTask(item.blockPods);
                                AddMoveTask(item.blockPods);//添加移库任务
                            }
                            else
                            {
@@ -113,11 +139,16 @@
                        }
                    }
                    _taskService.UpdateData(dt_Tasks);
                    content.OK();
                }
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
                content.Error(ex.Message);
            }
            finally
            {
                _trackloginfoService.AddTrackLog(requestData, content, "处理出库任务是否需要移库", "", "");
            }
        }
        #endregion
@@ -129,6 +160,8 @@
        /// <param name="tasks"></param>
        public void SendCheckShapeingOkTask(List<Dt_Task> tasks)
        {
            FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new();
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_ApiInfo? 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");
@@ -136,7 +169,8 @@
                var locationsToUpdate = new List<Dt_RGVLocationInfo>();
                var stationsToUpdate = new List<Dt_StationManger>();
                #region ä»»åŠ¡ä¸‹å‘
                foreach (var item in tasks)
                var item = tasks.FirstOrDefault();
                if (item != null)
                {
                    try
                    {
@@ -145,57 +179,137 @@
                        if (rGVLocationInfo == null)
                        {
                            item.ExceptionMessage = $"未找到终点库区【{item.Roadway}】可用空货位！";
                            continue;
                        }
                        #endregion
                        var fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
                        {
                            priority = item.Grade,
                            podID = item.PalletCode,
                            destination = rGVLocationInfo.LocationCode,
                            desExt = new { unload = 1 }, // æ˜¯å¦æ”¾ä¸‹å®¹å™¨,0否1是
                            desType = 2
                        };
                        item.CurrentAddress = item.NextAddress;
                        item.NextAddress = rGVLocationInfo.LocationCode;
                        item.Roadway = rGVLocationInfo.RoadwayNo;

                        string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                        var fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();

                        if (fOURBOTReturn.returnCode == 0)
                        {
                            var data = fOURBOTReturn.data.ToString();
                            var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();

                            item.RGVTaskId = fOURBO.taskID;
                            item.TaskState = (int)TaskStatusEnum.Puting;

                            rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
                            locationsToUpdate.Add(rGVLocationInfo);

                            #region é‡Šæ”¾å…¥åº“站台
                            var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
                            if (stationManger != null)
                            {
                                stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
                                stationsToUpdate.Add(stationManger);
                            }
                            #endregion
                        }
                        else
                        {
                            item.ExceptionMessage = $"四向车接口返回错误：{fOURBOTReturn.returnMsg}";
                            // è®°å½•å¤±è´¥çš„任务
                            fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
                            {
                                priority = item.Grade,
                                podID = item.PalletCode,
                                desStorageID = rGVLocationInfo.LocationCode,
                                //destination = rGVLocationInfo.LocationCode,
                                desExt = new { unload = 1 }, // æ˜¯å¦æ”¾ä¸‹å®¹å™¨,0否1是
                                desType = 2
                            };
                            fOURBOTnewMovePodTask.taskExt = new
                            {
                                autoToRest = 1
                            };
                            item.CurrentAddress = item.NextAddress;
                            item.NextAddress = rGVLocationInfo.LocationCode;
                            item.TargetAddress = rGVLocationInfo.LocationCode;
                            item.Roadway = rGVLocationInfo.RoadwayNo;

                            string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                            var fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                            content.Data = fOURBOTReturn;
                            if (fOURBOTReturn.returnCode == 0)
                            {
                                var data = fOURBOTReturn.data.ToString();
                                var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();
                                item.RGVTaskId = fOURBO.taskID;
                                item.TaskState = (int)TaskStatusEnum.Puting;

                                rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
                                locationsToUpdate.Add(rGVLocationInfo);

                                #region é‡Šæ”¾å…¥åº“站台
                                var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
                                if (stationManger != null)
                                {
                                    stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
                                    stationsToUpdate.Add(stationManger);
                                }
                                content.OK();
                                #endregion
                            }
                            else
                            {
                                item.ExceptionMessage = $"四向车接口返回错误：{fOURBOTReturn.returnMsg}";
                                // è®°å½•å¤±è´¥çš„任务
                                content.Error($"四向车接口返回错误：{fOURBOTReturn.returnMsg}");
                            }
                            tasksToUpdate.Add(item);
                        }
                    }
                    catch (Exception ex)
                    {
                        item.ExceptionMessage = $"处理任务异常：{ex.Message}";
                        WriteError($"{nameof(TaskJob)}-{item.TaskId}", ex.Message, ex);
                        //WriteError($"{nameof(TaskJob)}-{item.TaskId}", ex.Message, ex);
                        content.Error($"四向车接口返回错误：{ex.Message}");
                    }
                    tasksToUpdate.Add(item);
                } 
                }
                #region MyRegion
                //foreach (var item in tasks)
                //{
                //    try
                //    {
                //        #region èŽ·å–货位
                //        var rGVLocationInfo = _rGVLocationInfoService.GetFreeLocationInfo(item.Roadway);
                //        if (rGVLocationInfo == null)
                //        {
                //            item.ExceptionMessage = $"未找到终点库区【{item.Roadway}】可用空货位！";
                //            continue;
                //        }
                //        #endregion
                //        fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
                //        {
                //            priority = item.Grade,
                //            podID = item.PalletCode,
                //            desStorageID = rGVLocationInfo.LocationCode,
                //            //destination = rGVLocationInfo.LocationCode,
                //            desExt = new { unload = 1 }, // æ˜¯å¦æ”¾ä¸‹å®¹å™¨,0否1是
                //            desType = 2
                //        };
                //        fOURBOTnewMovePodTask.taskExt = new
                //        {
                //            autoToRest = 1
                //        };
                //        item.CurrentAddress = item.NextAddress;
                //        item.NextAddress = rGVLocationInfo.LocationCode;
                //        item.TargetAddress = rGVLocationInfo.LocationCode;
                //        item.Roadway = rGVLocationInfo.RoadwayNo;

                //        string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                //        var fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                //        content.Data = fOURBOTReturn;
                //        if (fOURBOTReturn.returnCode == 0)
                //        {
                //            var data = fOURBOTReturn.data.ToString();
                //            var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();
                //            item.RGVTaskId = fOURBO.taskID;
                //            item.TaskState = (int)TaskStatusEnum.Puting;

                //            rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
                //            locationsToUpdate.Add(rGVLocationInfo);

                //            #region é‡Šæ”¾å…¥åº“站台
                //            var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
                //            if (stationManger != null)
                //            {
                //                stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
                //                stationsToUpdate.Add(stationManger);
                //            }
                //            content.OK();
                //            #endregion
                //        }
                //        else
                //        {
                //            item.ExceptionMessage = $"四向车接口返回错误：{fOURBOTReturn.returnMsg}";
                //            // è®°å½•å¤±è´¥çš„任务
                //            content.Error($"四向车接口返回错误：{fOURBOTReturn.returnMsg}");
                //        }
                //    }
                //    catch (Exception ex)
                //    {
                //        item.ExceptionMessage = $"处理任务异常：{ex.Message}";
                //        //WriteError($"{nameof(TaskJob)}-{item.TaskId}", ex.Message, ex);
                //        content.Error($"四向车接口返回错误：{ex.Message}");
                //    }
                //    tasksToUpdate.Add(item);
                //} 
                #endregion
                #endregion
                #region æ›´æ–°æ•°æ®
                // å¦‚果有需要更新的数据，才执行事务
@@ -219,12 +333,17 @@
                        _unitOfWorkManage.RollbackTran();
                        WriteError(nameof(TaskJob), ex.Message, ex);
                    }
                } 
                }
                #endregion
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
                content.Error($"下发外形检测任务失败{ex.Message}");
            }
            finally
            {
                _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "下发外形检测任务失败", "", "");
            }
        }
        #endregion
@@ -233,6 +352,7 @@
        public void SendCheckShapeingNGTask(List<Dt_Task> tasks)
        {
            FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new();
            WebResponseContent content = new WebResponseContent();
            try
            {
                Dt_ApiInfo? 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");
@@ -240,7 +360,7 @@
                {
                    Dt_StationManger stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
                    item.CurrentAddress = item.NextAddress;
                    item.NextAddress = stationManger.RGVStationCode;
                    item.NextAddress = stationManger.StationCode;
                    fOURBOTnewMovePodTask.priority = item.Grade;
                    fOURBOTnewMovePodTask.podID = item.PalletCode;
                    fOURBOTnewMovePodTask.destination = item.NextAddress;
@@ -248,21 +368,37 @@
                    {
                        unload = 1//是否放下容器,0否1是
                    };
                    fOURBOTnewMovePodTask.desType = 2;
                    fOURBOTnewMovePodTask.taskExt = new
                    {
                        autoToRest = 1
                    };
                    fOURBOTnewMovePodTask.desType = 5;
                    string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                    FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                    content.Data = fOURBOTReturn;
                    if (fOURBOTReturn.returnCode == 0)
                    {
                        FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("未获取到四向车返回的任务ID");
                        //FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("未获取到四向车返回的任务ID");
                        string dataJson = fOURBOTReturn.data.ToString();
                        FOURBOTnewMovePodTaskResponseData? fOURBO = JsonConvert.DeserializeObject<FOURBOTnewMovePodTaskResponseData>(dataJson);
                        if (fOURBO == null || fOURBO.taskID == 0)
                        {
                            throw new Exception($"未获取到四向车返回的任务ID，返回数据：{response}");
                        }
                        item.RGVTaskId = fOURBO.taskID;
                        item.TaskState = (int)TaskStatusEnum.Puting;
                    }
                }
                _taskService.UpdateData(tasks);
                content.OK();
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
                content.Error(ex.Message);
            }
            finally
            {
                _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "下发外形检测失败任务", "", "");
            }
        }
        #endregion
@@ -317,10 +453,12 @@
        #region ä¸‹å‘四向车批量移库任务
        public void SendMoveTasks(List<Dt_Task> tasks)
        {
            WebResponseContent content = new WebResponseContent();
            List<Dt_Task> dt_Tasks = new List<Dt_Task>();
            List<MoveBlockPodContentDto> moveBlocks = new List<MoveBlockPodContentDto>();
            try
            {
                List<Dt_Task> dt_Tasks = new List<Dt_Task>();
                List<MoveBlockPodContentDto> moveBlocks = new List<MoveBlockPodContentDto>();

                Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(MoveBlockPodContentDto)) ?? throw new Exception("未找到四向车批量搬运阻碍托任务接口配置信息！请检查接口配置");
                foreach (var item in tasks)
                {
@@ -333,23 +471,37 @@
                }
                string response = HttpHelper.Post(apiInfo.ApiAddress, moveBlocks.Serialize());
                FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                content.Data = fOURBOTReturn;
                if (fOURBOTReturn.returnCode == 0)
                {
                    MoveBlockPodsDataDto moveBlockPodsData = fOURBOTReturn.data as MoveBlockPodsDataDto ?? throw new Exception("未获取到四向车批量搬运阻碍托返回的任务ID");
                    string dataJson = fOURBOTReturn.data.ToString();
                    //MoveBlockPodsDataDto moveBlockPodsData = fOURBOTReturn.data as MoveBlockPodsDataDto ?? throw new Exception("未获取到四向车批量搬运阻碍托返回的任务ID");
                    MoveBlockPodsDataDto? moveBlockPodsData = JsonConvert.DeserializeObject<MoveBlockPodsDataDto>(dataJson);
                    if (moveBlockPodsData == null || moveBlockPodsData.succList.Count == 0)
                    {
                        throw new Exception($"未获取到四向车返回的任务ID，返回数据：{response}");
                    }

                    foreach (var item in moveBlockPodsData.succList)
                    {
                        if (item.taskID == 0)
                            continue;  // è·³è¿‡æ— æ•ˆçš„任务ID
                        var task = tasks.First(x => x.PalletCode == item.podID);
                        task.RGVTaskId = item.taskID;
                        task.TaskState = TaskStatusEnum.RGV_MoveTaskSend.ObjToInt();
                        dt_Tasks.Add(task);
                    }
                    _taskService.UpdateData(dt_Tasks);
                    content.OK();
                }
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
                content.Error(ex.Message);
            }
            finally
            {
                _trackloginfoService.AddTrackLog(moveBlocks, content, "下发四向车批量移库任务", "", "");
            }
        }
        #endregion
@@ -361,8 +513,11 @@
            {
                foreach (var item in tasks)
                {
                    if (_taskService.Repository.QueryFirst(x => x.Roadway == item.Roadway && x.TaskType == (int)TaskTypeEnum.CPMoveInventory) == null)
                    var takes = _taskService.Repository.QueryFirst(x => x.Roadway == item.Roadway && x.TaskType == (int)TaskTypeEnum.CPMoveInventory);
                    if (takes == null)
                    {
                        item.TaskState = (int)TaskStatusEnum.RGV_WaitSend;
                    }
                }
                _taskService.UpdateData(tasks);
            }
@@ -376,13 +531,15 @@
        #region ä¸‹å‘出库任务
        public void SendOutTask(List<Dt_Task> tasks)
        {
            FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new();
            WebResponseContent content = new WebResponseContent();
            try
            {
                FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new();
                Dt_ApiInfo? 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");
                foreach (var item in tasks)
                {
                    var stationManger = _stationMangerService.GetOutStationInfo(item.TargetAddress);
                    item.NextAddress = stationManger.StationCode;
                    if (stationManger.IsOccupied != LocationStatusEnum.Free.ObjToInt()) continue;
                    #region ä¸‹å‘出库任务
                    fOURBOTnewMovePodTask.priority = item.Grade;
@@ -392,12 +549,22 @@
                    {
                        unload = 0//是否放下容器,0否1是
                    };
                    fOURBOTnewMovePodTask.desType = 2;
                    fOURBOTnewMovePodTask.taskExt = new
                    {
                        autoToRest = 1
                    };
                    fOURBOTnewMovePodTask.desType = 5;
                    string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
                    FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
                    content.Data = fOURBOTReturn;
                    if (fOURBOTReturn.returnCode == 0)
                    {
                        FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("未获取到四向车返回的任务ID");
                        string dataJson = fOURBOTReturn.data.ToString();
                        FOURBOTnewMovePodTaskResponseData? fOURBO = JsonConvert.DeserializeObject<FOURBOTnewMovePodTaskResponseData>(dataJson);
                        if (fOURBO == null || fOURBO.taskID == 0)
                        {
                            throw new Exception($"未获取到四向车返回的任务ID，返回数据：{response}");
                        }
                        item.RGVTaskId = fOURBO.taskID;
                        item.TaskState = (int)TaskStatusEnum.Execut;
                        stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
@@ -406,10 +573,15 @@
                    #endregion
                }
                _taskService.UpdateData(tasks);
                content.OK();
            }
            catch (Exception ex)
            {
                WriteError(nameof(TaskJob), ex.Message, ex);
                content.Error(ex.Message);
            }
            finally
            {
                _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "下发四向车出库任务", "", "");
            }
        }
        #endregion