添加机器人客户端；更新 WCS 缓存及任务

wanshenmean

2026-03-06 aefdecd0aa3226b7d00d1dc764241b82658b3be8

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -21,12 +21,15 @@
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
using System.Text.Json;
using WIDESEA_Core;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.Http;
using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
@@ -42,6 +45,7 @@
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly IMapper _mapper;
        private readonly HttpClientHelper _httpClientHelper;

        private Dictionary<string, OrderByType> _taskOrderBy = new()
            {
@@ -58,12 +62,13 @@

        public List<int> TaskRobotTypes => typeof(TaskOtherTypeEnum).GetEnumIndexList();

        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper) : base(BaseDal)
        public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, HttpClientHelper httpClientHelper) : base(BaseDal)
        {
            _routerService = routerService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskExecuteDetailRepository = taskExecuteDetailRepository;
            _mapper = mapper;
            _httpClientHelper = httpClientHelper;
        }

        /// <summary>
@@ -98,13 +103,13 @@
                    }
                    else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                    {
                        List<Dt_Router> routers = _routerService.QueryNextRoutes(item.SourceAddress, item.TargetAddress);
                        Dt_Router routers = _routerService.QueryNextRoute(item.SourceAddress);
                        //暂不考虑多路径
                        if (routers.Count > 0)
                        if (!routers.IsNullOrEmpty())
                        {
                            task.TaskState = (int)TaskInStatusEnum.InNew;
                            task.CurrentAddress = item.SourceAddress;
                            task.NextAddress = routers.FirstOrDefault().ChildPosi;
                            task.NextAddress = routers.ChildPosi;
                        }
                    }
                    tasks.Add(task);
@@ -113,7 +118,7 @@

                _taskExecuteDetailService.AddTaskExecuteDetail(tasks.Select(x => x.TaskNum).ToList(), "接收WMS任务");

                content = WebResponseContent.Instance.OK("成功");
                content = WebResponseContent.Instance.OK("成功", tasks);
            }
            catch (Exception ex)
            {
@@ -174,6 +179,9 @@
        /// <returns></returns>
        public Dt_Task QueryExecutingConveyorLineTask(int taskNum, string nextAddress)
        {
            if (string.IsNullOrEmpty(nextAddress))
                throw new ArgumentNullException(nameof(nextAddress), "下一地址不能为空");

            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.NextAddress == nextAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InExecuting || x.TaskState == (int)TaskOutStatusEnum.Line_OutExecuting), TaskOrderBy);
        }

@@ -185,6 +193,9 @@
        /// <returns></returns>
        public Dt_Task QueryCompletedConveyorLineTask(int taskNum, string currentAddress)
        {
            if (string.IsNullOrEmpty(currentAddress))
                throw new ArgumentNullException(nameof(currentAddress), "当前地址不能为空");

            return BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress && (x.TaskState == (int)TaskInStatusEnum.Line_InFinish || x.TaskState == (int)TaskOutStatusEnum.Line_OutFinish), TaskOrderBy);
        }

@@ -268,6 +279,9 @@
            WebResponseContent content = new WebResponseContent();
            try
            {
                if (string.IsNullOrEmpty(message))
                    throw new ArgumentNullException(nameof(message), "异常信息不能为空");

                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
                if (task == null) return WebResponseContent.Instance.Error($"未找到该任务信息,任务号:【{taskNum}】");
                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
@@ -364,20 +378,16 @@
                        // 调用WMS系统接口，获取最终目标地址
                        CreateTaskDto taskDto = new CreateTaskDto()
                        {
                            Roadway = task.TargetAddress,
                            PalletCode = task.PalletCode,
                            SourceAddress = task.SourceAddress,
                            // 目标地址待定
                            TargetAddress = "CLOutAreaA",
                            TaskType = task.TaskType,
                        };
                        content = HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), taskDto.ToString(), nameof(ConfigKey.GetTasksLocation)).Result;
                        if (!content.Status)

                        var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.GetTasksLocation), taskDto.ToJson(), nameof(ConfigKey.GetTasksLocation));
                        if (!result.IsSuccess && !result.Data.Status)
                        {
                            return WebResponseContent.Instance.Error($"调用WMS接口获取任务目标地址失败,任务号:【{task.TaskNum}】,错误信息:【{content.Message}】");
                        }

                        string wmsTargetAddress = content.Data?.ToString() ?? string.Empty;
                        string wmsTargetAddress = result.Data.Data?.ToString() ?? string.Empty;
                        if (string.IsNullOrEmpty(wmsTargetAddress))
                        {
                            return WebResponseContent.Instance.Error($"调用WMS接口获取任务目标地址失败,任务号:【{task.TaskNum}】,错误信息:【未获取到有效的目标地址】");
@@ -386,6 +396,14 @@
                        task.NextAddress = wmsTargetAddress;
                        task.TargetAddress = wmsTargetAddress;
                        task.CurrentAddress = task.NextAddress;
                    }
                    else
                    {
                        //_httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.GetTasksLocation), taskDto.ToJson(), nameof(ConfigKey.GetTasksLocation));
                        //if (!result.IsSuccess && !result.Data.Status)
                        //{
                        //    return WebResponseContent.Instance.Error($"调用WMS接口获取任务目标地址失败,任务号:【{task.TaskNum}】,错误信息:【{content.Message}】");
                        //}
                    }
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
@@ -434,6 +452,9 @@
        {
            try
            {
                if (string.IsNullOrEmpty(currentAddress))
                    throw new ArgumentNullException(nameof(currentAddress), "当前地址不能为空");

                Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum && x.CurrentAddress == currentAddress);
                if (task == null) throw new Exception($"未找到该任务信息,任务号:【{taskNum}】");

@@ -455,6 +476,7 @@
            }
            catch (Exception ex)
            {
                Console.WriteLine($"UpdatePosition 更新任务位置失败,任务号:【{taskNum}】,错误信息:【{ex.Message}】");
            }
            return null;
        }
@@ -486,13 +508,20 @@
                    BaseDal.UpdateData(task);

                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    //todo 同步到WMS

                    //暂不考虑多个出库口
                    var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.OutboundFinishTaskAsync), (new StockInfoDTO() { PalletCode = task.PalletCode, TaskNum = task.TaskNum }).ToJson());
                    if (result.IsSuccess && result.Data.Status)
                    {
                        return content.Error($"通知WMS系统堆垛机出库完成成功,任务号:【{task.TaskNum}】,托盘号:【{task.PalletCode}】");

                    }
                    else
                    {
                        return content.Error($"通知WMS系统堆垛机出库完成失败,任务号:【{task.TaskNum}】,托盘号:【{task.PalletCode}】,错误信息:【{result.Data.Message}】");
                    }
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && task.TaskState == (int)TaskInStatusEnum.SC_InExecuting)
                {
                    //todo
                    int nextStatus = task.TaskState.GetNextNotCompletedStatus<TaskInStatusEnum>();
                    task.TaskState = nextStatus;
                    task.ModifyDate = DateTime.Now;
@@ -500,20 +529,20 @@
                    BaseDal.UpdateData(task);
                    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机入库完成");

                    WMSTaskDTO taskDTO = new WMSTaskDTO()
                    {
                        TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                        Grade = 1,
                        PalletCode = task.PalletCode + "S",
                        RoadWay = "SC01",
                        SourceAddress = task.TargetAddress,
                        TargetAddress = "CLOutAreaA",
                        TaskState = (int)TaskOutStatusEnum.OutNew,
                        Id = 0,
                        TaskType = (int)TaskOutboundTypeEnum.Outbound
                    };

                    content = ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
                    var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.InboundFinishTaskAsync), (new CreateTaskDto()
                    {
                        PalletCode = task.PalletCode,
                    }).ToJson());

                    if (result.IsSuccess && result.Data.Status)
                    {
                        return content.Error($"通知WMS系统堆垛机入库完成成功,任务号:【{task.TaskNum}】,托盘号:【{task.PalletCode}】");
                    }
                    else
                    {
                        return content.Error($"通知WMS系统堆垛机入库完成失败,任务号:【{task.TaskNum}】,托盘号:【{task.PalletCode}】,错误信息:【{result.Data.Message}】");
                    }
                }
                else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
                {