fix: 修复输送线目标地址选择器并完善机械手任务地址映射

wanshenmean

2026-03-18 da5d613a85d97ecd826e343eae6d901806120a05

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs

@@ -18,10 +18,12 @@
#endregion << 版 本 注 释 >>

using MapsterMapper;
using Microsoft.Extensions.Configuration;
using Microsoft.IdentityModel.Tokens;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
using System.Text.Json;
using WIDESEA_Core;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
@@ -29,13 +31,15 @@
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.Http;
using WIDESEAWCS_DTO;
using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;

@@ -48,6 +52,7 @@
        private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
        private readonly IMapper _mapper;
        private readonly HttpClientHelper _httpClientHelper;
        private readonly IRobotTaskService _robotTaskService;

        private Dictionary<string, OrderByType> _taskOrderBy = new()
            {
@@ -66,13 +71,14 @@

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

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

        /// <summary>
@@ -96,9 +102,16 @@
                    task.Creater = "WMS";
                    if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                    {
                        Dt_Router router = _routerService.QueryNextRoute(item.RoadWay, item.TargetAddress,item.TaskType);
                        int taskType = 0;
                        if (task.TaskType == (int)TaskOutboundTypeEnum.OutEmpty)
                        {
                            taskType = 100;
                        }
                        else
                            taskType = task.TaskType;
                        Dt_Router router = _routerService.QueryNextRoute(item.Roadway, item.TargetAddress, taskType);
                        //暂不考虑多路径
                        if (router !=null )
                        if (router != null)
                        {
                            task.TaskStatus = (int)TaskOutStatusEnum.OutNew;
                            task.CurrentAddress = item.SourceAddress;
@@ -147,7 +160,7 @@
                    TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                    Grade = 1,
                    PalletCode = palletCode,
                    RoadWay = "SC01",
                    Roadway = "SC01",
                    SourceAddress = sourceAddress,
                    TargetAddress = "SC01",
                    TaskState = (int)TaskInStatusEnum.InNew,
@@ -369,7 +382,14 @@
            // 更新任务数据
            task.ModifyDate = DateTime.Now;
            task.Modifier = "System";
            BaseDal.UpdateData(task);
            if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish)
            {
                BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.自动删除);
            }
            else
            {
                BaseDal.UpdateData(task);
            }

            // 记录任务执行详情
            string logMessage = App.User.UserId > 0
@@ -394,13 +414,20 @@
                return WebResponseContent.Instance.Error($"该任务状态不可跳转到下一步,任务号:【{task.TaskNum}】,任务状态:【{task.TaskStatus}】");

            // 根据状态调用不同的WMS接口
            if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish)
            if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish && task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
            {
                return NotifyWMSOutboundFinish(task);
                return GetWMSOutboundTrayTask(task);
            }
            else if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish && task.TaskType == (int)TaskOutboundTypeEnum.OutEmpty)
            {
                return _robotTaskService.GetWMSRobotTask(task);
            }
            else
            {
                return UpdateWMSTaskStatus(task);
                if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutExecuting)
                    return WebResponseContent.Instance.OK();
                else
                    return UpdateWMSTaskStatus(task);
            }
        }

@@ -488,6 +515,34 @@
        }

        /// <summary>
        /// 获取空托出库任务
        /// </summary>
        private WebResponseContent GetWMSOutboundTrayTask(Dt_Task task)
        {
            var targetAddress = task.TargetAddress;
            var warehouseId = _robotTaskService.MapWarehouseIdConfigKey(task.TargetAddress);
            string sourceLineNo = _robotTaskService.ResolveRobotRuleValue(targetAddress, "AddressSourceLineNoMap", task.TargetAddress);

            var result = _httpClientHelper.Post<WebResponseContent>(
                nameof(ConfigKey.GetOutBoundTrayTaskAsync),
                new CreateTaskDto { WarehouseId = warehouseId, TargetAddress = sourceLineNo }.ToJson());

            if (!result.IsSuccess || !result.Data.Status)
                return WebResponseContent.Instance.Error($"获取WMS系统空托盘出库任务失败,任务号:【{task.TaskNum}】,托盘号:【{task.PalletCode}】,错误信息:【{result.Data?.Message}】");

            var wMSTask = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.Data?.ToString() ?? string.Empty);

            var tasks = new List<WMSTaskDTO>
            {
                wMSTask
            };

            return ReceiveWMSTask(tasks);
        }

       

        /// <summary>
        /// 从WMS系统获取入库目标地址
        /// </summary>
        private WebResponseContent GetWMSInboundLocation(Dt_Task task)
@@ -567,7 +622,8 @@
                string oldCurrentPos = task.CurrentAddress;
                string oldNextPos = task.NextAddress;

                Dt_Router routers = _routerService.QueryNextRoute(task.CurrentAddress);

                Dt_Router routers = _routerService.QueryNextRoute(oldNextPos, task.TargetAddress);
                if (routers == null) throw new Exception($"未找到设备路由信息");

                task.CurrentAddress = task.NextAddress;
@@ -602,29 +658,45 @@

                if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskStatus == (int)TaskOutStatusEnum.SC_OutExecuting)
                {
                    List<Dt_Router> routers = _routerService.QueryNextRoutes(task.NextAddress, task.TargetAddress);
                    if (!routers.Any()) return WebResponseContent.Instance.Error($"未找到设备路由信息");
                    int taskType = 0;
                    if (task.TaskType == (int)TaskOutboundTypeEnum.OutEmpty)
                    {
                        taskType = 100;
                    }
                    else
                        taskType = task.TaskType;
                    Dt_Router router = _routerService.QueryNextRoute(task.NextAddress, task.TargetAddress, taskType);
                    if (router == null) return WebResponseContent.Instance.Error($"未找到设备路由信息");

                    int nextStatus = task.TaskStatus.GetNextNotCompletedStatus<TaskOutStatusEnum>();
                    task.TaskStatus = nextStatus;
                    task.CurrentAddress = task.NextAddress;
                    task.NextAddress = routers.FirstOrDefault().ChildPosi;
                    task.NextAddress = router.ChildPosi;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";

                    var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.OutboundFinishTaskAsync), (new StockInfoDTO() { PalletCode = task.PalletCode, TaskNum = task.TaskNum }).ToJson());
                    if (result.IsSuccess && result.Data.Status)
                    content = NotifyWMSOutboundFinish(task);
                    if (content.Status)
                    {
                        BaseDal.UpdateData(task);

                        _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                        return content.Error($"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}】");
                    }
                    //var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.OutboundFinishTaskAsync), (new StockInfoDTO() { PalletCode = task.PalletCode, TaskNum = task.TaskNum }).ToJson());
                    //if (result.IsSuccess && result.Data.Status)
                    //{
                    //    BaseDal.UpdateData(task);

                    //    _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"堆垛机出库完成");
                    //    return content.Error($"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.TaskStatus == (int)TaskInStatusEnum.SC_InExecuting)
                {
@@ -632,8 +704,6 @@
                    task.TaskStatus = nextStatus;
                    task.ModifyDate = DateTime.Now;
                    task.Modifier = "System";



                    var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.InboundFinishTaskAsync), (new CreateTaskDto()
                    {
@@ -816,4 +886,92 @@
            return BaseDal.QueryFirst(x => x.TaskNum == taskNum);
        }
    }

    public enum ConveyorLineDBNameNew
    {
        Barcode
    }
    public class ConveyorLineTaskCommandNew : DeviceCommand
    {
        /// <summary>
        /// 任务号
        /// </summary>
        public short TaskNo { get; set; }

        /// <summary>
        /// 源位置 开始地址
        /// </summary>
        public short Source { get; set; }

        /// <summary>
        /// 目标位置
        /// </summary>
        public short Target { get; set; }

        /// <summary>
        /// 箱型
        /// </summary>
        public byte BoxType { get; set; }

        /// <summary>
        /// 输送线状态 设备空闲状态
        /// </summary>
        public byte CV_State { get; set; }

        /// <summary>
        /// 输送线错误代码
        /// </summary>
        public byte CV_ERRCode { get; set; }

        /// <summary>
        /// WCS就绪标志 WCS下发完成时，触发为1
        /// </summary>
        public byte WCS_STB { get; set; }

        /// <summary>
        /// WCS应答标志 WCS收到完成时，触发为1
        /// </summary>
        public byte WCS_ACK { get; set; }

        /// <summary>
        /// PLC就绪标志 完成任务时，触发为1
        /// </summary>
        public byte PLC_STB { get; set; }

        /// <summary>
        /// PLC应答标志 收到任务时，触发为1
        /// </summary>
        public byte PLC_ACK { get; set; }

        /// <summary>
        /// PLC请求标志 入库站台，到位写1
        /// </summary>
        public byte PLC_REQ { get; set; }

        /// <summary>
        /// WCS错误代码
        /// </summary>
        public byte WCS_ERRCode { get; set; }

        /// <summary>
        /// WCS特殊标志 (旋转标识、强制放行、循环、特殊申请、是否叠盘、是否堵塞)
        /// </summary>
        public byte WCS_Special { get; set; }

        /// <summary>
        /// 设备自动模式 手动1，自动2
        /// </summary>
        public byte Equ_Auto { get; set; }

        /// <summary>
        /// 尾板标志
        /// </summary>
        public byte Last_pallet { get; set; }

        /// <summary>
        /// 条码（22个字符）
        /// </summary>
        [DataLength(22)]
        public string Barcode { get; set; }
    }
}