Merge branch 'xiaoyang' into dev

wanshenmean

3 天以前 ff006f77f6267fc0d2c4ee810d897a85165f5b8f

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs

@@ -22,10 +22,12 @@
using Masuit.Tools;

using Microsoft.Extensions.Configuration;

using Newtonsoft.Json;

using Newtonsoft.Json.Linq;

using Serilog;

using SqlSugar;

using System.Diagnostics;

using System.Diagnostics.CodeAnalysis;

using System.Text;

using WIDESEA_Core;

using WIDESEAWCS_Common;

using WIDESEAWCS_Common.HttpEnum;

@@ -75,6 +77,7 @@
            _taskExecuteDetailService = taskExecuteDetailService;

            _logger = logger;

        }



        public override WebResponseContent DeleteData(object[] keys)

        {

            List<int> taskKeys = new List<int>();

@@ -85,8 +88,8 @@
            List<Dt_RobotTask> tasks = BaseDal.QueryData(x => taskKeys.Contains(x.RobotTaskId));

            BaseDal.DeleteAndMoveIntoHty(tasks, OperateTypeEnum.人工删除);

            return WebResponseContent.Instance.OK($"成功删除{tasks.Count}条数据");



        }



        public bool DeleteRobotTask(int id)

        {

            Dt_RobotTask task = BaseDal.QueryFirst(x => x.RobotTaskId == id);

@@ -135,7 +138,7 @@


        public Dt_RobotTask? QueryRobotCraneTask(string deviceCode)

        {

            return BaseDal.QueryFirst(x => x.RobotRoadway == deviceCode && x.RobotTaskState != (int)TaskRobotStatusEnum.RobotExecuting, TaskOrderBy);

            return BaseDal.QueryFirst(x => x.RobotRoadway == deviceCode, TaskOrderBy);

        }



        public Dt_RobotTask? QueryRobotCraneExecutingTask(string deviceCode)

@@ -242,10 +245,108 @@
        }



        /// <summary>

        /// 检查源线体是否有托盘号，并根据结果创建机械手任务。

        /// </summary>

        /// <param name="task">出库任务实体</param>

        /// <returns>

        /// 有托盘号时返回 CreateLocalRobotTask 结果；

        /// 无托盘号时返回 GetWMSOutboundTrayTask 结果。

        /// </returns>

        public WebResponseContent CheckSourceLineAndCreateRobotTask(Dt_Task task)

        {

            // 1. 获取源线体编号（复用已有逻辑）

            string configKey = ResolveRobotTaskConfigKey(task.TargetAddress);

            StockDTO stock = BuildRobotTaskStock(task, configKey);

            string sourceLineNo = stock.SourceLineNo;



            if (string.IsNullOrWhiteSpace(sourceLineNo))

            {

                return GetWMSOutboundTrayTaskFromWMS(task);

            }



            // 2. 通过设备通信读取线体托盘号

            string? palletCode = ReadLineBarcode(sourceLineNo);



            if (!string.IsNullOrWhiteSpace(palletCode))

            {

                // 有托盘号，本地创建机械手任务

                return CreateLocalRobotTask(task);

            }



            // 无托盘号，从 WMS 获取任务

            return GetWMSOutboundTrayTaskFromWMS(task);

        }



        /// <summary>

        /// 从WMS获取空托盘出库任务。

        /// </summary>

        /// <param name="task">任务实体。</param>

        /// <returns>调用结果。</returns>

        private WebResponseContent GetWMSOutboundTrayTaskFromWMS(Dt_Task task)

        {

            int warehouseId = MapWarehouseIdConfigKey(task.TargetAddress);

            string sourceLineNo = ResolveRobotRuleValue(task.TargetAddress, "AddressSourceLineNoMap", task.TargetAddress);

            string configKey = nameof(ConfigKey.GetOutBoundTrayTaskAsync);

            string requestParam = new CreateTaskDto { WarehouseId = warehouseId, TargetAddress = sourceLineNo }.ToJson();

            DateTime startTime = DateTime.Now;



            var result = _httpClientHelper.Post<WebResponseContent>(configKey, requestParam);



            if (!result.IsSuccess || !result.Data.Status)

            {

                QuartzLogHelper.LogError(_logger, $"调用WMS接口失败,接口:【{configKey}】,请求参数:【{requestParam}】,错误信息:【{result.Data?.Message}】", "RobotTaskService");

                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}】");

            }



            QuartzLogHelper.LogInfo(_logger, $"调用WMS接口成功,接口:【{configKey}】,响应数据:【{result.Data?.Data}】,耗时:{(DateTime.Now - startTime).TotalMilliseconds}ms", "RobotTaskService");



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

            if (wMSTask == null)

                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:【WMS未返回有效任务数据】");



            // 构建StockDTO并调用ReceiveWMSTask创建本地入库任务

            var stockDto = new StockDTO

            {

                Roadway = task.Roadway,

                SourceLineNo = sourceLineNo,

                TargetLineNo = task.TargetAddress,

                SourcePalletNo = string.Empty,

                TargetPalletNo = string.Empty

            };

            return ReceiveWMSTask(wMSTask, stockDto);

        }



        /// <summary>

        /// 读取指定线体的托盘号。

        /// </summary>

        /// <param name="sourceLineNo">源线体编号</param>

        /// <returns>托盘号，如有异常返回 null</returns>

        private string? ReadLineBarcode(string sourceLineNo)

        {

            try

            {

                IDevice? device = Storage.Devices.FirstOrDefault(x =>

                    x.DeviceProDTOs.Any(d => d.DeviceChildCode == sourceLineNo));



                if (device == null)

                    return null;



                CommonConveyorLine conveyorLine = (CommonConveyorLine)device;

                return conveyorLine.GetValue<ConveyorLineDBNameNew, string>(

                    ConveyorLineDBNameNew.Barcode, sourceLineNo);

            }

            catch (Exception ex)

            {

                _logger.Error(ex, $"读取线体[{sourceLineNo}]托盘号异常");

                return null;

            }

        }



        /// <summary>

        /// 获取机械手任务总数量。

        /// 组盘任务固定48，换盘和拆盘任务通过托盘号查询WMS库存明细数量。

        /// </summary>

        private int GetRobotTaskTotalNum(int taskType, string? palletCode)

        public int GetRobotTaskTotalNum(int taskType, string? palletCode)

        {

            if (taskType == (int)RobotTaskTypeEnum.GroupPallet)

                return 48;

@@ -255,8 +356,10 @@


            try

            {

                QuartzLogHelper.LogInfo(_logger, $"开始调用WMS接口获取库存明细数量,托盘号:【{palletCode}】", "RobotTaskService");

                string url = $"{BaseAPI.WMSBaseUrl}Stock/GetStockDetailCount?palletCode={Uri.EscapeDataString(palletCode)}";

                var result = _httpClientHelper.Get(url);

                QuartzLogHelper.LogInfo(_logger, $"调用WMS获取库存明细数量接口,请求URL:【{url}】,响应数据:【{result.Content}】,耗时:{result.Duration}ms", "RobotTaskService");

                if (!result.IsSuccess || string.IsNullOrEmpty(result.Content))

                    return 1;



@@ -264,8 +367,8 @@
                if (response == null || !response.Status)

                    return 1;



                var detailCount = response.Data?.GetType().GetProperty("DetailCount")?.GetValue(response.Data);

                return detailCount is int count and > 0 ? count : 1;

                var detailCount = (response.Data as JObject)?["detailCount"]?.Value<int>();

                return detailCount.HasValue && detailCount.Value > 0 ? detailCount.Value : 1;

            }

            catch

            {

@@ -370,8 +473,10 @@
                    CommonConveyorLine conveyorLine = (CommonConveyorLine)device;



                    DeviceProDTO? devicePro = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == nameof(ConveyorLineDBNameNew.Barcode) && x.DeviceChildCode == sourceLineNo);

                    //conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 20);

                    //ConveyorLineTaskCommandNew command = conveyorLine.ReadCustomer<ConveyorLineTaskCommandNew>(sourceLineNo);  // 测试用

                    var barcode = conveyorLine.GetValue<ConveyorLineDBNameNew, string>(ConveyorLineDBNameNew.Barcode, sourceLineNo);

                    var bytes = conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 20);

                    var barcode = Encoding.Default.GetString(bytes).Trim();

                    stock.SourcePalletNo = string.IsNullOrEmpty(barcode) ? string.Empty : barcode;

                }

            }