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

dengjunjie

2026-01-23 db287aceabaa3fae3990660232d560ac249270d2

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

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              "DocumentMoniker": "E:\\gsxm\\GaoPuLiTiKu\\\u4EE3\u7801\u7BA1\u7406\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Server\\Controllers\\AGV\\KHAGVController.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_Server\\Controllers\\AGV\\KHAGVController.cs",
@@ -638,7 +1113,7 @@
            },
            {
              "$type": "Document",
              "DocumentIndex": 9,
              "DocumentIndex": 41,
              "Title": "TaskEnumHelper.cs",
              "DocumentMoniker": "E:\\gsxm\\GaoPuLiTiKu\\\u4EE3\u7801\u7BA1\u7406\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Common\\TaskEnum\\TaskEnumHelper.cs",
              "RelativeDocumentMoniker": "WIDESEAWCS_Common\\TaskEnum\\TaskEnumHelper.cs",
@@ -646,8 +1121,7 @@
              "RelativeToolTip": "WIDESEAWCS_Common\\TaskEnum\\TaskEnumHelper.cs",
              "ViewState": "AgIAAAkAAAAAAAAAAAAAABIAAABHAAAAAAAAAA==",
              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
              "WhenOpened": "2026-01-16T03:29:01.731Z",
              "EditorCaption": ""
              "WhenOpened": "2026-01-16T03:29:01.731Z"
            }
          ]
        }

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/CancelHIKROBOTTask.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,56 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.AGV.HIKROBOT
{
    /// <summary>
    /// å–消海康任务
    /// </summary>
    public class CancelHIKROBOTTask
    {
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public string robotTaskCode { get; set; }


        /// <summary>
        /// ä»»åŠ¡å–消类型
        /// </summary>
        public string cancelType { get; set; }

        /// <summary>
        /// å›žåº“的载具编号
        /// </summary>
        public string carrierCode { get; set; }

        /// <summary>
        /// æœºå™¨äººç¼–号
        /// </summary>
        public string robotCode { get; set; }

        /// <summary>
        /// å–消原因
        /// </summary>
        public string reason { get; set; }

        /// <summary>
        /// è½¯å–消的回库任务类型
        /// </summary>
        public string returnTaskType { get; set; }

        /// <summary>
        /// å›žåº“目标路径
        /// </summary>
        public List<TargetRouteDto> targetRoute { get; set; } = new List<TargetRouteDto>();

        /// <summary>
        /// è‡ªå®šä¹‰æ‰©å±•å­—段
        /// </summary>
        public object extra { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTEqptExecuteNotify.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,51 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.AGV.HIKROBOT
{
    /// <summary>
    /// æµ·åº·å¤–设执行通知
    /// </summary>
    public class HIKROBOTEqptExecuteNotify
    {
        /// <summary>
        /// è®¾å¤‡ç¼–号/设备名称
        /// </summary>
        public string eqptCode { get; set; }

        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public string taskCode { get; set; }
        /// <summary>
        /// ä»»åŠ¡æ‰§è¡ŒçŠ¶æ€
        /// 1-自动门/风淋门开门到位；
        /// 2-自动门/风淋门关门到位；
        /// 3-电梯开门到位；
        /// 4-电梯物料到达目标楼层；
        /// 5-装卸机/输送线取货；
        /// 6-装卸机/输送线放货；
        /// 7-装卸机/输送线到达
        /// </summary>
        public string actionStatus { get; set; }

        /// <summary>
        /// åˆ†é…çš„站点编号
        /// </summary>
        public string siteCode { get; set; }

        /// <summary>
        /// è½½å…·ä¿¡æ¯æ•°ç»„
        /// </summary>
        public List<CarrierInfoDto> carrierInfo { get; set; } = new List<CarrierInfoDto>();

        /// <summary>
        /// è‡ªå®šä¹‰æ‰©å±•å­—段
        /// </summary>
        public object extra { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTEqptRequest.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,70 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.AGV.HIKROBOT
{
    /// <summary>
    /// æµ·åº·è¯·æ±‚外设
    /// </summary>
    public class HIKROBOTEqptRequest
    {
        /// <summary>
        /// è®¾å¤‡ç¼–号
        /// </summary>
        public string eqptCode { get; set; }

        /// <summary>
        /// è®¾å¤‡åç§°
        /// </summary>
        public string eqptName { get; set; }

        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public string taskCode { get; set; }

        /// <summary>
        /// ä»»åŠ¡æ‰§è¡Œæ–¹æ³•
        /// é€šç”¨ï¼šCANCEL(任务取消)、APPLY_TO_AGV(AGV申请接料)、APPLY_FROM_AGV(AGV申请送料)、ARRIVED(AGV到达)、RELEASE(AGV离开)
        /// è‡ªåŠ¨é—¨ï¼šAPPLY_LOCK(申请开门)、RELEASE_EQPT(释放自动门)
        /// ç”µæ¢¯ï¼šAPPLY_RESOURCE(申请资源)、EXECUTE_TASK(执行到目标楼层)、RELEASE_RESOURCE(释放资源)
        /// </summary>
        public string method { get; set; }

        /// <summary>
        /// è½½å…·ä¿¡æ¯æ•°ç»„
        /// </summary>
        public List<CarrierInfoDto> carrierInfo { get; set; } = new List<CarrierInfoDto>();

        /// <summary>
        /// èµ·å§‹ä½ç½®ç¼–号
        /// </summary>
        public string srcCode { get; set; }

        /// <summary>
        /// ç›®æ ‡ä½ç½®ç¼–号
        /// </summary>
        public string dstCode { get; set; }

        /// <summary>
        /// è‡ªåŠ¨é—¨é€šè¿‡æ–¹å‘/电梯朝向
        /// è‡ªåŠ¨é—¨ï¼š1=[-180,0)、2=(0,180]
        /// </summary>
        public int? srcPathDir { get; set; }

        /// <summary>
        /// ç”µæ¢¯æœå‘
        /// 1=前门、2=后门
        /// </summary>
        public int? dstPathDir { get; set; }

        /// <summary>
        /// è‡ªå®šä¹‰æ‰©å±•å­—段
        /// </summary>
        public object extra { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTReturn.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,35 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO
{
    /// <summary>
    /// æµ·åº·è¿”回结果
    /// </summary>
    public class HIKROBOTReturn
    {
        /// <summary>
        /// è¿”回码
        /// </summary>
        public int code {  get; set; }
        public bool message {  get; set; }
        public object data {  get; set; }
    }

    public class HIKROBOTReturnData
    {
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public string robotTaskCode { get; set; }

        /// <summary>
        /// è‡ªå®šä¹‰æ‰©å±•å­—段
        /// </summary>
        public object extra { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTTaskContinue.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,35 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.AGV.HIKROBOT
{
    /// <summary>
    /// æµ·åº·ä»»åŠ¡ç»§ç»­æ‰§è¡Œ
    /// </summary>
    public class HIKROBOTTaskContinue
    {
        /// <summary>
        /// è§¦å‘类型
        /// </summary>
        public string triggerType { get; set; }

        /// <summary>
        /// è§¦å‘编号
        /// </summary>
        public string triggerCode { get; set; }

        /// <summary>
        /// æ‰§è¡Œä»»åŠ¡çš„下一个目标位置
        /// </summary>
        public TargetRouteDto targetRoute { get; set; }

        /// <summary>
        /// è‡ªå®šä¹‰æ‰©å±•å‚æ•°
        /// </summary>
        public object extra { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTTaskGrade.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,35 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.AGV.HIKROBOT
{
    /// <summary>
    /// æµ·åº·ä»»åŠ¡ä¼˜å…ˆçº§
    /// </summary>
    public class HIKROBOTTaskGrade
    {
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public string robotTaskCode { get; set; }

        /// <summary>
        /// ä»»åŠ¡æ‰§è¡Œçš„初始优先顺序
        /// </summary>
        public int initPriority { get; set; }

        /// <summary>
        /// ä»»åŠ¡æˆªæ­¢æ—¶é—´
        /// </summary>
        public string deadline { get; set; }

        /// <summary>
        /// è‡ªå®šä¹‰æ‰©å±•å­—段
        /// </summary>
        public object extra { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTTaskProcessReport.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,30 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.AGV.HIKROBOT
{
    /// <summary>
    /// æµ·åº·ä»»åŠ¡æ‰§è¡Œè¿‡ç¨‹å›žé¦ˆ
    /// </summary>
    public class HIKROBOTTaskProcessReport
    {
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public string robotTaskCode { get; set; }

        /// <summary>
        /// å½“前执行任务的机器人唯一标识
        /// </summary>
        public string singleRobotCode { get; set; }

        /// <summary>
        /// è‡ªå®šä¹‰æ‰©å±•å­—段
        /// </summary>
        public object extra { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTTaskSubmit.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,69 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.AGV.HIKROBOT
{
    /// <summary>
    /// æµ·åº·ä»»åŠ¡ä¸‹å‘
    /// </summary>
    public class HIKROBOTTaskSubmit
    {
        /// <summary>
        /// ä»»åŠ¡ç±»åž‹
        /// </summary>
        public string taskType { get; set; }
        /// <summary>
        /// æ‰§è¡Œæ­¥éª¤é›†åˆ
        /// </summary>
        public List<TargetRouteDto> targetRoute { get; set; } = new List<TargetRouteDto>();

        /// <summary>
        /// ä»»åŠ¡ä¼˜å…ˆçº§
        /// </summary>
        public int? initPriority { get; set; }

        /// <summary>
        /// ä»»åŠ¡æˆªæ­¢æ—¶é—´
        /// </summary>
        public string deadline { get; set; }

        /// <summary>
        /// æœºå™¨äººé€‰æ‹©èŒƒå›´ç±»åž‹
        /// </summary>
        public string robotType { get; set; }

        /// <summary>
        /// æœºå™¨äººèµ„源唯一标识
        /// </summary>
        public List<string> robotCode { get; set; } = new List<string>();

        /// <summary>
        /// èƒ½å¦æ‰“æ–­
        /// 1:可打断；
        /// 0:不可打断
        /// </summary>
        public int? interrupt { get; set; } = 0;

        /// <summary>
        /// å¤–部任务唯一编号
        /// </summary>
        public string robotTaskCode { get; set; }

        /// <summary>
        /// ä»»åŠ¡ç»„编号
        /// </summary>
        public string groupCode { get; set; }

        /// <summary>
        /// è‡ªå®šä¹‰æ‰©å±•å­—段
        /// </summary>
        public object extra { get; set; }
    }


    
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/TargetRouteDto.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,126 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.AGV.HIKROBOT
{
    /// <summary>
    /// æ‰§è¡Œä»»åŠ¡çš„下一个目标位置
    /// </summary>
    public class TargetRouteDto
    {
        /// <summary>
        /// ç›®æ ‡ç±»åž‹
        /// ZONE:目标所处区域编号
        /// SITE:站点别名
        /// STORAGE:仓位别名
        /// MAT_LABEL:物料标签
        /// CARRIER:载具编号
        /// STACK:巷道编号
        /// STACK_LABEL:巷道特征值 
        /// CHANNEL:通道编号
        /// EQPT:外部设备
        /// PTL_WALL:CTU缓存架
        /// CARRIER_TYPE:载具类型
        /// BIN_TYPE:仓位类型
        /// AREA_STATION:区域工作台
        /// PILE_COUNT:一次搬几个
        /// MIX_CONDITION:条件组合
        /// DEGREE:热度
        /// MULTI_BIN_GROUP:多深位组号
        /// </summary>
        public string type { get; set; }

        /// <summary>
        /// ç›®æ ‡ç¼–号
        /// </summary>
        public string code { get; set; }

        /// <summary>
        /// æœºå™¨äººåˆ°è¾¾åŽçš„操作
        /// </summary>
        public string operation { get; set; }

        /// <summary>
        /// æ­¥éª¤çº§æœºå™¨äººé€‰æ‹©èŒƒå›´ç±»åž‹
        /// </summary>
        public string robotType { get; set; }

        /// <summary>
        /// æ­¥éª¤çº§æœºå™¨äººèµ„源唯一标识
        /// </summary>
        public List<string> robotCode { get; set; } = new List<string>();

        /// <summary>
        /// æ­¥éª¤çº§è‡ªå®šä¹‰æ‰©å±•å­—段
        /// </summary>
        public object extra { get; set; }
    }

    /// <summary>
    /// æ‰©å±•å­—段DTO
    /// </summary>
    public class ExtraDto
    {
        /// <summary>
        /// è§’度信息
        /// </summary>
        public AngleInfoDto angleInfo { get; set; }

        /// <summary>
        /// è½½å…·ä¿¡æ¯æ•°ç»„
        /// </summary>
        public List<CarrierInfoDto> carrierInfo { get; set; } = new List<CarrierInfoDto>();

        /// <summary>
        /// æ˜¯å¦ç»è¿‡è§†è§‰é—¨
        /// 0:不经过（默认）；
        /// 1:经过
        /// </summary>
        public string crossVisionDoor { get; set; }

        /// <summary>
        /// æ‹£é€‰ç«™ç¼–号
        /// </summary>
        public string pickStationCode { get; set; }
    }

    /// <summary>
    /// è§’度信息DTO
    /// </summary>
    public class AngleInfoDto
    {
        /// <summary>
        /// è§’度类型
        /// </summary>
        public string type { get; set; }

        /// <summary>
        /// è§’度值
        /// </summary>
        public string code { get; set; }
    }

    /// <summary>
    /// è½½å…·ä¿¡æ¯DTO
    /// </summary>
    public class CarrierInfoDto
    {
        /// <summary>
        /// è½½å…·ç±»åž‹
        /// </summary>
        public string carrierType { get; set; }

        /// <summary>
        /// è½½å…·ç¼–号
        /// </summary>
        public string carrierCode { get; set; }

        /// <summary>
        /// å±‚号
        /// </summary>
        public int? layer { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/RGV/FOURBOT/FOURBOTNewMovePodTask.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,265 @@
using Newtonsoft.Json;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.RGV.FOURBOT
{
    /// <summary>
    /// å››å‘车创建容器搬运任务
    /// </summary>
    public class FOURBOTnewMovePodTask
    {
        /// <summary>
        /// ä¼˜å…ˆçº§
        /// </summary>
        public int priority { get; set; } = 3;

        /// <summary>
        /// æ¬è¿ç±»åž‹
        /// </summary>
        public int srcType { get; set; } = 1;

        /// <summary>
        /// å®¹å™¨å·
        /// </summary>
        public string podID { get; set; }

        /// <summary>
        /// ä¸šåŠ¡ID
        /// </summary>
        public string bizID { get; set; } = "";

        /// <summary>
        /// æ˜¯å¦æ›¿æ¢è¯¥å®¹å™¨çš„其他任务
        /// 0-不替换；
        /// 1-替换
        /// </summary>
        public int replacePodTask { get; set; } = 0;

        /// <summary>
        /// ç›®æ ‡ä½ç½®
        /// </summary>
        public string destination { get; set; }

        /// <summary>
        /// ç›®æ ‡ç±»åž‹
        /// 1-导航点；
        /// 2-储位；
        /// 3-存储区；
        /// 5-工作站；
        /// 6-叠盘；
        /// 7-巷道
        /// </summary>
        public int? desType { get; set; }

        /// <summary>
        /// ç›®æ ‡å¯¼èˆªç‚¹ID
        /// desType=1时必传
        /// </summary>
        public string desNodeID { get; set; }

        /// <summary>
        /// ç›®æ ‡å‚¨ä½å·
        /// desType=2时必传
        /// </summary>
        public string desStorageID { get; set; }

        /// <summary>
        /// ç›®æ ‡åŒºåŸŸç¼–号
        /// desType=3/7时必传
        /// </summary>
        public string desZoneCode { get; set; }

        /// <summary>
        /// ç›®æ ‡ç«™ç‚¹åˆ—表
        /// desType=5/6时必传
        /// </summary>
        public string desStationCodes { get; set; }

        /// <summary>
        /// å‚¨ä½é€‰æ‹©åå¥½
        /// desType=7时有效
        /// </summary>
        public object storagePreference { get; set; }

        /// <summary>
        /// ä»»åŠ¡æ‰©å±•å‚æ•°
        /// </summary>
        public object taskExt { get; set; }

        /// <summary>
        /// ç»ˆç‚¹æ‰©å±•å‚æ•°
        /// </summary>
        public object desExt { get; set; }

        /// <summary>
        /// ä¸šåŠ¡æ‰©å±•å‚æ•°
        /// </summary>
        public object bizExt { get; set; }

    }

    /// <summary>
    /// å‚¨ä½é€‰æ‹©åå¥½DTO
    /// </summary>
    public class StoragePreferenceDto
    {
        /// <summary>
        /// å€™é€‰å‚¨ä½åˆ—表
        /// </summary>
        public List<string> candidateStorageIds { get; set; } = new List<string>();

        /// <summary>
        /// ç‰©æ–™ç±»åž‹
        /// </summary>
        public string materialClass { get; set; }
    }

    /// <summary>
    /// ä»»åŠ¡æ‰©å±•å‚æ•°DTO
    /// </summary>
    public class TaskExtDto
    {
        /// <summary>
        /// æŒ‡å®šè¿åŠ›ç»„中的小车搬运
        /// </summary>
        public string robotGroupId { get; set; }

        /// <summary>
        /// é¡¶ç›˜æ—‹è½¬æ¨¡å¼
        /// 0-异步旋转
        /// 1-同步旋转
        /// </summary>
        public int turnMode { get; set; } = 0;

        /// <summary>
        /// è½½è´§æ—¶æœ€å¤§è½¦é€Ÿ(mm/s)
        /// </summary>
        public int? maxSpeed { get; set; }

        /// <summary>
        /// è½½è´§æ—¶æœ€å¤§åŠ é€Ÿåº¦(mm/s²)
        /// </summary>
        public int? maxAcc { get; set; }

        /// <summary>
        /// ä»»åŠ¡è¶…时失败时间(秒)
        /// </summary>
        public int timeoutFailed { get; set; } = 86400;

        /// <summary>
        /// æ¬è¿å®ŒæˆåŽè¡Œä¸º
        /// 0-不限制
        /// 1-立刻离开
        /// </summary>
        public int autoToRest { get; set; } = 0;

        /// <summary>
        /// æ¬è¿å®ŒæˆåŽæ˜¯å¦ä¿æŒåŽŸåœ°
        /// 0-不限制
        /// 1-保持原地
        /// </summary>
        public int keepRobot { get; set; } = 0;

        /// <summary>
        /// ä¿æŒåŽŸåœ°æœ€é•¿æ—¶é•¿(分钟)
        /// </summary>
        public int keepRobotTimeout { get; set; } = 5;

        /// <summary>
        /// å ç›˜ç±»åž‹
        /// 0-无意义
        /// 2-叠盘或整垛补给
        /// </summary>
        public int? foldType { get; set; }

        /// <summary>
        /// å ç›˜æ•°é‡
        /// 1-叠一个；
        /// >1-整垛补给
        /// </summary>
        public int? foldNum { get; set; }

        /// <summary>
        /// æ˜¯å¦å¤–形检测
        /// 0-无需
        /// 1-检测
        /// </summary>
        public int check { get; set; } = 0;

        /// <summary>
        /// æ˜¯å¦è¦†è†œ
        /// 0-无需
        /// 1-覆膜
        /// </summary>
        public int cover { get; set; } = 0;

        /// <summary>
        /// æ˜¯å¦ç¼ è†œ
        /// 0-无需
        /// 1-缠膜
        /// </summary>
        public int wrap { get; set; } = 0;

        /// <summary>
        /// è´§åž‹ä¿¡æ¯
        /// </summary>
        public string cargoType { get; set; }

        /// <summary>
        /// ç›®æ ‡ç«™ç‚¹ç¦ç”¨æ—¶å¤„理方式
        /// taskFail-任务失败
        /// taskWait-任务等待
        /// </summary>
        public string whenTargetDisabled { get; set; } = "taskWait";

        /// <summary>
        /// ä¿ç•™å­—段
        /// </summary>
        public int? delayDispatch { get; set; }
    }

    /// <summary>
    /// ç»ˆç‚¹æ‰©å±•å‚æ•°DTO
    /// </summary>
    public class DesExtDto
    {
        /// <summary>
        /// æ˜¯å¦æ”¾ä¸‹å®¹å™¨
        /// 0-不放下
        /// 1-放下
        /// </summary>
        public int unload { get; set; } = 0;

        /// <summary>
        /// å°è½¦æ”¾ä¸‹å®¹å™¨åŽå§¿æ€æœå‘
        /// æžšä¸¾ï¼š0(xæ­£)、1.57(yæ­£)、3.14(x负)、4.71(y负)
        /// </summary>
        public float? robotFace { get; set; }

        /// <summary>
        /// å®¹å™¨æ¬è¿åˆ°ä½çš„姿态朝向
        /// æžšä¸¾ï¼š0(xæ­£)、1.57(yæ­£)、3.14(x负)、4.71(y负)
        /// </summary>
        public float? podFace { get; set; }
    }

    /// <summary>
    /// ä¸šåŠ¡æ‰©å±•å‚æ•°DTO
    /// </summary>
    public class BizExtDto
    {
        /// <summary>
        /// ä¸šåŠ¡ç±»åž‹
        /// </summary>
        public string bizType { get; set; } = "";

        /// <summary>
        /// å‡ºåº“波次
        /// </summary>
        public string waveID { get; set; } = "";
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/RGV/FOURBOT/FOURBOTReturn.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,45 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.RGV.FOURBOT
{
    /// <summary>
    /// å››å‘车返回结果
    /// </summary>
    public class FOURBOTReturn
    {
        /// <summary>
        /// è¿”回码，0-成功
        /// </summary>
        public int returnCode { get; set; }

        /// <summary>
        /// è¿”回消息，如：succ
        /// </summary>
        public string returnMsg { get; set; }

        /// <summary>
        /// ç”¨æˆ·ç«¯è¿”回消息，如：成功
        /// </summary>
        public string returnUserMsg { get; set; }

        /// <summary>
        /// å“åº”数据
        /// </summary>
        public object data { get; set; }
    }

    /// <summary>
    /// å››å‘车创建容器搬运任务响应数据DTO
    /// </summary>
    public class FOURBOTnewMovePodTaskResponseData
    {
        /// <summary>
        /// æˆåŠŸåˆ›å»ºçš„任务ID
        /// </summary>
        public int taskID { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/RGV/FOURBOT/FOURBOTStorageStatusNotify.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,31 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.RGV.FOURBOT
{
    /// <summary>
    /// å››å‘车储位状态更新消息通知
    /// </summary>
    public class FOURBOTStorageStatusNotify
    {
        /// <summary>
        /// åº“区号
        /// </summary>
        public string regionCode { get; set; }

        /// <summary>
        /// å‚¨ä½ç¼–号列表
        /// </summary>
        public List<string> storageCode { get; set; } = new List<string>();

        /// <summary>
        /// çŠ¶æ€å€¼
        /// 0-解除禁止通行
        /// 1-禁止通行
        /// </summary>
        public int disable { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/RGV/FOURBOT/FOURBOTTaskStatusNotify.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,116 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.RGV.FOURBOT
{
    /// <summary>
    /// å››å‘车任务状态更新消息
    /// </summary>
    public class FOURBOTTaskStatusNotify
    {
        /// <summary>
        /// ä»»åŠ¡å‘送方，SUPER表示运维后台发送
        /// </summary>
        public string clientCode { get; set; }

        /// <summary>
        /// ä»»åŠ¡ID
        /// </summary>
        public int taskID { get; set; }

        /// <summary>
        /// ä¸šåŠ¡ID
        /// </summary>
        public string bizID { get; set; }

        /// <summary>
        /// ä»»åŠ¡ä¼˜å…ˆçº§(1-99)
        /// </summary>
        public int priority { get; set; }

        /// <summary>
        /// ä»»åŠ¡ç±»åž‹
        ///2-机器人移动；3-容器搬运；4-充电
        /// </summary>
        public int taskType { get; set; }

        /// <summary>
        /// ä»»åŠ¡çŠ¶æ€
        /// 0-无效；1-就绪；2-进行中；3-取消中；4-成功；5-失败；6-已取消；8-已暂停；10-已替换
        /// </summary>
        public int status { get; set; }

        /// <summary>
        /// ä»»åŠ¡å¤±è´¥é”™è¯¯ç (见附录)
        /// </summary>
        public int errorCode { get; set; }

        /// <summary>
        /// ä»»åŠ¡å¤±è´¥ä¿¡æ¯(见附录)
        /// </summary>
        public string errorReason { get; set; }

        /// <summary>
        /// æœ€åŽä¸€ä¸ªæ‰§è¡Œè®¾å¤‡
        /// </summary>
        public string robotID { get; set; }

        /// <summary>
        /// å®¹å™¨å·
        /// </summary>
        public string podID { get; set; }

        /// <summary>
        /// ç›®çš„地类型，同任务下发参数
        /// </summary>
        public int desType { get; set; }

        /// <summary>
        /// ç›®æ ‡ç‚¹ID
        /// </summary>
        public string desNodeID { get; set; }

        /// <summary>
        /// ç›®æ ‡å‚¨ä½ID
        /// </summary>
        public string desStorageID { get; set; }

        /// <summary>
        /// ç›®æ ‡åŒºåŸŸID
        /// </summary>
        public string desZoneCode { get; set; }

        /// <summary>
        /// ç›®æ ‡ç«™ç‚¹ç¼–号
        /// </summary>
        public string desStationCodes { get; set; }

        /// <summary>
        /// ä»»åŠ¡åˆ›å»ºæ—¶é—´
        /// </summary>
        public string createTime { get; set; }

        /// <summary>
        /// ä»»åŠ¡å®Œæˆæ—¶é—´
        /// </summary>
        public string finishTime { get; set; }

        /// <summary>
        /// å®¹å™¨ä½ç½®ä¿¡æ¯
        /// </summary>
        public object podInfo { get; set; }

        /// <summary>
        /// ç»“果（示例中存在，文档未标注）
        /// </summary>
        public string result { get; set; } = "";

        /// <summary>
        /// è®¾å¤‡ç±»åž‹ï¼ˆç¤ºä¾‹ä¸­å­˜åœ¨ï¼Œæ–‡æ¡£æœªæ ‡æ³¨ï¼‰
        /// </summary>
        public string deviceType { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/RGV/FOURBOT/FOURBOToccupyStation.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,115 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.RGV.FOURBOT
{
    /// <summary>
    /// å››å‘车站点容器上架
    /// </summary>
    public class FOURBOToccupyStation
    {
        /// <summary>
        /// ç«™ç‚¹ç¼–码
        /// </summary>
        public string stationCode { get; set; }

        /// <summary>
        /// æ‰˜ç›˜å·
        /// </summary>
        public string podID { get; set; }

        /// <summary>
        /// æ‰˜ç›˜è§„格名称
        /// </summary>
        public string layoutID { get; set; }

        /// <summary>
        /// æ‰˜ç›˜é‡é‡(kg)
        /// </summary>
        public float podWeight { get; set; } = 0.0f;

        /// <summary>
        /// æ‰˜ç›˜é«˜åº¦(mm)
        /// </summary>
        public int podHeight { get; set; } = 0;

        /// <summary>
        /// æ‰˜ç›˜æœå‘（弧度）
        /// </summary>
        public string podFace { get; set; }

        /// <summary>
        /// ç‰©æ–™ä¿¡æ¯
        /// </summary>
        public string podExt { get; set; } = "";

        /// <summary>
        /// å®¹å™¨åˆ—表（JSON序列化）
        /// </summary>
        public object podInfo { get; set; } = "";
    }

    /// <summary>
    /// å®¹å™¨åˆ—表DTO（podInfo嵌套对象）
    /// </summary>
    public class PodInfoDto
    {
        /// <summary>
        /// å®¹å™¨å·
        /// </summary>
        public string podID { get; set; }

        /// <summary>
        /// ä½ç½®ç±»åž‹
        /// 0-储位
        /// 99-库外
        /// </summary>
        public int positionType { get; set; }

        /// <summary>
        /// å‚¨ä½å·
        /// </summary>
        public string storeID { get; set; }

        /// <summary>
        /// è§„格编号
        /// </summary>
        public string layoutID { get; set; }

        /// <summary>
        /// å®¹å™¨ç±»åž‹
        /// 2-托盘
        /// </summary>
        public int podType { get; set; } = 2;

        /// <summary>
        /// é•¿
        /// </summary>
        public int? podLength { get; set; }

        /// <summary>
        /// å®½
        /// </summary>
        public int? podWidth { get; set; }

        /// <summary>
        /// é«˜
        /// </summary>
        public int? podHeight { get; set; }

        /// <summary>
        /// é‡
        /// </summary>
        public int? podWeight { get; set; }

        /// <summary>
        /// æœå‘
        /// </summary>
        public string podFace { get; set; }
    }


}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/RGV/FOURBOT/GetBlockPodContentDto.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,69 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.RGV.FOURBOT
{
    /// <summary>
    /// é˜»ç¢æ‰˜ç›˜æŸ¥è¯¢è¯·æ±‚内容DTO
    /// </summary>
    public class GetBlockPodContentDto
    {
        /// <summary>
        /// å€™é€‰æ‰˜ç›˜å·åˆ—表
        /// </summary>
        public List<string> candidatePodIDs { get; set; } = new List<string>();

        /// <summary>
        /// éœ€è¦å‡ºåº“的数量
        /// 0-表示全部出
        /// éž0-表示从podIDs中取num个阻碍最少的托盘
        /// </summary>
        public int num { get; set; }
    }

    /// <summary>
    /// é˜»ç¢æ‰˜ç›˜æŸ¥è¯¢ç»“æžœDTO
    /// </summary>
    public class GetBlockPodResultDto
    {
        /// <summary>
        /// è¯·æ±‚的托盘列表
        /// </summary>
        public List<string> reqPods { get; set; } = new List<string>();

        /// <summary>
        /// å¯ä»¥å‡ºçš„托盘及阻碍托盘列表
        /// </summary>
        public List<object> outPods { get; set; } = new List<object>();

        /// <summary>
        /// ä¸å¯ç§»åŠ¨æ‰˜ç›˜åˆ—表
        /// </summary>
        public List<string> disablePods { get; set; } = new List<string>();

        /// <summary>
        /// ä¸å­˜åœ¨çš„托盘列表
        /// </summary>
        public List<string> notExistPods { get; set; } = new List<string>();
    }

    /// <summary>
    /// å¯å‡ºåº“托盘信息DTO
    /// </summary>
    public class OutPodInfoDto
    {
        /// <summary>
        /// å¯ä»¥å‡ºçš„托盘号
        /// </summary>
        public string outPod { get; set; }

        /// <summary>
        /// é˜»ç¢æ‰˜ç›˜åˆ—表
        /// </summary>
        public List<string> blockPods { get; set; } = new List<string>();
    }

}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/RGV/FOURBOT/MoveBlockPodContentDto.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,81 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.RGV.FOURBOT
{
    /// <summary>
    /// æ‰¹é‡ç§»åŠ¨é˜»ç¢æ‰˜ç›˜è¯·æ±‚内容DTO
    /// </summary>
    public class MoveBlockPodContentDto
    {
        /// <summary>
        /// æ‰˜ç›˜å·
        /// </summary>
        public string podID { get; set; }

        /// <summary>
        /// ç›®æ ‡å··é“或者储位点
        /// </summary>
        public string des { get; set; }

        /// <summary>
        /// ç‰©æ–™ç§ç±»
        /// </summary>
        public string materialClass { get; set; } = "";

        /// <summary>
        /// ç›®æ ‡åŒºåŸŸç¼–码（示例备注中存在，兼容历史字段）
        /// </summary>
        public string desZoneCode { get; set; } = "";
    }

    /// <summary>
    /// æ‰¹é‡ç§»åŠ¨é˜»ç¢æ‰˜ç›˜å“åº”数据DTO
    /// </summary>
    public class MoveBlockPodsDataDto
    {
        /// <summary>
        /// å¤±è´¥ä»»åŠ¡åˆ—表
        /// </summary>
        public List<object> failList { get; set; } = new List<object>();

        /// <summary>
        /// æˆåŠŸä»»åŠ¡åˆ—表
        /// </summary>
        public List<object> succList { get; set; } = new List<object>();
    }

    /// <summary>
    /// æ‰¹é‡ç§»åŠ¨é˜»ç¢æ‰˜ç›˜ç»“æžœDTO（成功/失败列表通用）
    /// </summary>
    public class MoveBlockPodResultDto
    {
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public int taskID { get; set; }

        /// <summary>
        /// ä¿ç•™å­—段
        /// </summary>
        public string bizID { get; set; } = "";

        /// <summary>
        /// è¯·æ±‚的托盘号
        /// </summary>
        public string podID { get; set; }

        /// <summary>
        /// è¿”回错误码
        /// </summary>
        public string errorCode { get; set; } = "";

        /// <summary>
        /// è¿”回错误消息
        /// </summary>
        public string errorMsg { get; set; } = "";
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/WIDESEAWCS_DTO.csproj

@@ -1,4 +1,4 @@
<Project Sdk="Microsoft.NET.Sdk">
<Project Sdk="Microsoft.NET.Sdk">

    <PropertyGroup>
        <TargetFramework>net6.0</TargetFramework>
@@ -11,9 +11,7 @@
    </ItemGroup>

    <ItemGroup>
      <Folder Include="AGV\HIKROBOT\" />
      <Folder Include="BasicInfo\" />
      <Folder Include="RGV\" />
    </ItemGroup>

</Project>

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/WMS/WMSContainerFlow.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,31 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.WMS
{
    /// <summary>
    /// WMS容器流动请求
    /// </summary>
    public class WMSContainerFlow
    {
        /// <summary>
        /// æ‹£é€‰ä½ç¼–码
        /// ä¸€å·å·¥ä½œç«™ 1-5 æ‹£é€‰ä½ï¼Œ2 å·å·¥ä½œç«™ 2-5 æ‹£é€‰ä½ï¼ˆåŒæ–¹çº¦å®šï¼‰
        /// </summary>
        public string slotCode { get; set; }

        /// <summary>
        /// æ–™ç®±æ¡ç 
        /// </summary>
        public string containerCode { get; set; }

        /// <summary>
        /// æµå‘
        /// 100-流向库内；200-料箱取出
        /// </summary>
        public string direction { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/WMS/WMSInOutBoundCompleteFeedback.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,46 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.WMS
{
    /// <summary>
    /// å‡ºå…¥åº“完成反馈（WCS推送完成状态给WMS）
    /// </summary>
    public class WMSInOutBoundCompleteFeedback
    {
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public string taskCode { get; set; }

        /// <summary>
        /// å®¹å™¨ç¼–码
        /// </summary>
        public string containerCode { get; set; }

        /// <summary>
        /// èµ·ç‚¹ä½ç½®
        /// </summary>
        public string fromStationCode { get; set; }

        /// <summary>
        /// ç»ˆç‚¹ä½ç½®
        /// </summary>
        public string toLocationCode { get; set; }

        /// <summary>
        /// ä¸šåŠ¡ç±»åž‹
        /// 1-面料；2-成品；3-裁剪；4-配套
        /// </summary>
        public int? businessType { get; set; }

        /// <summary>
        /// å®Œæˆç±»åž‹
        /// 1-自动完成；2-手动完成
        /// </summary>
        public int completeType { get; set; } = 1;
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/WMS/WMSMoveLocationFeedback.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,44 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.WMS
{
    /// <summary>
    /// ç§»åº“数据反馈（WCS移库数据回传）
    /// </summary>
    public class WMSMoveLocationFeedback
    {
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public string taskCode { get; set; }

        /// <summary>
        /// å®¹å™¨ç¼–码
        /// </summary>
        public string containerCode { get; set; }

        /// <summary>
        /// èµ·ç‚¹ä½ç½®
        /// </summary>
        public string fromStationCode { get; set; }

        /// <summary>
        /// åŽŸå§‹åˆ†é…çš„终点位置
        /// </summary>
        public string orgLocationCode { get; set; }

        /// <summary>
        /// ç›®æ ‡å®žé™…终点位置
        /// </summary>
        public string toLocationCode { get; set; }

        /// <summary>
        /// å˜æ›´ä½ç½®çš„时间
        /// </summary>
        public string alterLocationTime { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/WMS/WMSReturn.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,29 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.WMS
{
    /// <summary>
    /// WMS返回结果
    /// </summary>
    public class WMSReturn
    {
        /// <summary>
        /// å“åº”码：0-（非空箱）成功，-1-（空箱）失败，其他-异常
        /// </summary>
        public int code { get; set; }

        /// <summary>
        /// å“åº”消息：success-成功，异常返回详细错误原因
        /// </summary>
        public string msg { get; set; }

        /// <summary>
        /// å“åº”数据，固定为空
        /// </summary>
        public object data { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/WMS/WMSTasksDTO.cs

@@ -6,6 +6,9 @@

namespace WIDESEAWCS_DTO.WMS
{
    /// <summary>
    /// WMS出入库任务
    /// </summary>
    public class WMSTasksDTO
    {
        /// <summary>

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/WMS/WMSUpdateLocationArea.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,30 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.WMS
{
    /// <summary>
    /// WMS修改库区布局分区
    /// </summary>
    public class WMSUpdateLocationArea
    {
        /// <summary>
        /// åº“位编号列表
        /// </summary>
        public List<string> LocationCodes { get; set; } = new List<string>();

        /// <summary>
        /// ä¿®æ”¹åŽçš„库区编号
        /// </summary>
        public string UpdateAreaCode { get; set; }

        /// <summary>
        /// ä»“库ID
        /// 1-成品库；2-面料库；4-裁剪库
        /// </summary>
        public int WarehouseId { get; set; }
    }
}

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/WMS/WMSUpdateTaskPriority.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,29 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace WIDESEAWCS_DTO.WMS
{
    /// <summary>
    /// WMS未执行的任务修改优先级
    /// </summary>
    public class WMSUpdateTaskPriority
    {
        /// <summary>
        /// ä»»åŠ¡å·
        /// </summary>
        public string taskCode { get; set; }

        /// <summary>
        /// æ–™ç®±æ¡ç 
        /// </summary>
        public string containerCode { get; set; }

        /// <summary>
        /// ä»»åŠ¡ä¼˜å…ˆçº§
        /// </summary>
        public int taskPriority { get; set; }
    }
}

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