From 95e39ae7aecd6e1016c71cf5ae70a680d8f569bb Mon Sep 17 00:00:00 2001
From: wangxinhui <wangxinhui@hnkhzn.com>
Date: 星期二, 29 四月 2025 10:48:30 +0800
Subject: [PATCH] 上传最新代码

---
 代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/成品仓/AGV_CPExtend.cs |  176 +++++++++++++++++++++++++++++++++++++++-------------------
 1 files changed, 119 insertions(+), 57 deletions(-)

diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs"
index 3a3dbc3..2a6d1fb 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/\346\210\220\345\223\201\344\273\223/AGV_CPExtend.cs"
@@ -21,51 +21,115 @@
         {
             try
             {
-                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()|| x.TaskState == TaskStatusEnum.New.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
-                foreach (var task in newTasks)
-                {
-                    try
-                    {
-                        if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
-                            task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
-                        else
-                            task.NextAddress = GetAGVAddress(task.NextAddress);
-                        AgvTaskDTO taskDTO = new AgvTaskDTO()
-                        {
-                            TaskCode = task.AgvTaskNum,
-                            ReqCode = DateTime.Now.ToString("yyyyMMdd") + task.AgvTaskNum,
-                            TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
-                            ctnrCode = task.PalletCode,
-                            PositionCodePath = new List<CodePath>()
-                        {
-                            new CodePath()
-                            {
-                                type="05",
-                                positionCode=task.CurrentAddress
-                            },
-                            new CodePath()
-                            {
-                                type="05",
-                                positionCode=task.NextAddress
-                            }
-                        },
-                        };
-                        //鍙戦�丄GV浠诲姟
-                        WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
-                        if (!content.Status)
-                            throw new Exception(content.Message);
-                        task.TaskState = TaskStatusEnum.AGV_Takeing.ObjToInt();
-                        _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
-                    }
-                    catch (Exception ex)
-                    {
-                        task.TaskState = TaskStatusEnum.Exception.ObjToInt();
-                        task.ExceptionMessage = ex.Message;
-                    }
-                }
+                var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_Execute.ObjToInt()|| x.TaskState == TaskStatusEnum.New.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.TaskType!=999).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
+
                 if (newTasks.Count>0)
                 {
-                    _taskService.UpdateData(newTasks);
+                    foreach (var task in newTasks)
+                    {
+                        try
+                        {
+                            if (task.TaskType == TaskTypeEnum.OutProduct.ObjToInt())
+                                task.CurrentAddress = GetAGVAddress(task.CurrentAddress);
+                            else
+                                task.NextAddress = GetAGVAddress(task.NextAddress);
+                            AgvTaskDTO taskDTO = new AgvTaskDTO()
+                            {
+                                TaskCode = task.AgvTaskNum,
+                                ReqCode = DateTime.Now.ToString("yyyyMMdd") + task.AgvTaskNum,
+                                TaskTyp = task.TaskType < TaskTypeEnum.Inbound.ObjToInt() ? "CPC" : "CPR",
+                                ctnrCode = task.PalletCode,
+                                PositionCodePath = new List<CodePath>()
+                                {
+                                    new CodePath()
+                                    {
+                                        type = "05",
+                                        positionCode = task.CurrentAddress
+                                    },
+                                    new CodePath()
+                                    {
+                                        type = "05",
+                                        positionCode = task.NextAddress
+                                    }
+                                }
+                            };
+                            if (taskDTO.TaskTyp== "CPC")
+                            {
+                                taskDTO.Priority = (24 - DateTime.Now.Hour).ToString();
+                            }
+                            if (task.GroupId.IsNotEmptyOrNull())
+                            {
+                                taskDTO.GroupId=task.GroupId;
+                            }
+                            //鍙戦�丄GV浠诲姟
+                            WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
+                            if (!content.Status)
+                                throw new Exception(content.Message);
+                            if (taskDTO.TaskTyp == "CPC")
+                            {
+                                _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
+                            }
+                            else
+                            {
+                                _taskService.UpdateTask(task, TaskStatusEnum.AGV_Takeing);
+                            }
+                            Thread.Sleep(500);
+                        }
+                        catch (Exception ex)
+                        {
+                            task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+                            task.ExceptionMessage = ex.Message;
+                        }
+                    }
+                    if (newTasks.Count > 0)
+                    {
+                        _taskService.UpdateData(newTasks);
+                    }
+                }
+                var newTasksLocations = _taskService.Db.Queryable<Dt_Task>().Where(x => x.TaskState == TaskStatusEnum.New.ObjToInt() && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode) && x.Remark == "娴嬭瘯绌烘").ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
+                if (newTasksLocations.Count>0)
+                {
+                    foreach (var task in newTasksLocations)
+                    {
+                        try
+                        {
+                            string CurrentAddress = GetAGVAddress(task.CurrentAddress);
+                            string NextAddress = GetAGVAddress(task.NextAddress);
+                            AgvTaskDTO taskDTO = new AgvTaskDTO()
+                            {
+                                TaskCode = task.AgvTaskNum,
+                                ReqCode = DateTime.Now.ToString("yyyyMMdd") + task.AgvTaskNum,
+                                TaskTyp = "CP",
+                                ctnrCode = task.PalletCode,
+                                PositionCodePath = new List<CodePath>()
+                                {
+                                    new CodePath()
+                                    {
+                                        type="05",
+                                        positionCode=CurrentAddress
+                                    },
+                                    new CodePath()
+                                    {
+                                        type="05",
+                                        positionCode=NextAddress
+                                    }
+                                },
+                            };
+                            //鍙戦�丄GV浠诲姟
+                            WebResponseContent content = _taskService.AgvSendTask(taskDTO, APIEnum.Agv_CPSendTask);
+                            if (!content.Status)
+                                throw new Exception(content.Message);
+                            task.TaskState = TaskStatusEnum.AGV_Takeing.ObjToInt();
+                            task.CurrentAddress = CurrentAddress;
+                            task.NextAddress = NextAddress;
+                            _taskService.UpdateTask(task, TaskStatusEnum.AGV_Executing);
+                        }
+                        catch (Exception ex)
+                        {
+                            task.TaskState = TaskStatusEnum.Exception.ObjToInt();
+                            task.ExceptionMessage = ex.Message;
+                        }
+                    }
                 }
             }
             catch (Exception ex)
@@ -81,27 +145,27 @@
             try
             {
                 //鑾峰彇鏄惁鏈夊畨鍏ㄧ敵璇蜂腑鐨勪换鍔�
-                var continueTask = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).FirstOrDefault();
-                if (continueTask!=null)
+                var continueTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == TaskStatusEnum.AGV_WaitToExecute.ObjToInt()) && nameof(AGV_CPJob).Contains(x.DeviceCode) && !string.IsNullOrEmpty(x.DeviceCode)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.CreateDate).ToList();
+                foreach (var continueTask in continueTasks)
                 {
                     //鍙栬揣鍥炶皟
                     if (continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
                     {
-                        Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.CurrentAddress || x.StationCode== continueTask.CurrentAddress);
+                        Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.CurrentAddress || x.StationCode == continueTask.CurrentAddress);
                         if (stationManger == null)
                         {
-                            throw new Exception($"鏈壘鍒扮珯鍙皗continueTask.CurrentAddress}淇℃伅");
+                            continue;
                         }
                         IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                         if (device == null)
                         {
-                            throw new Exception($"鏈壘鍒拌澶噞stationManger.StationDeviceCode}淇℃伅");
+                            continue;
                         }
                         OtherDevice otherDevice = (OtherDevice)device;
                         short canTake = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanTake, stationManger.StationCode);
                         if (canTake != 1)
                         {
-                            return;
+                            continue;
                         }
                     }
                     else//鏀捐揣鍥炶皟
@@ -109,18 +173,18 @@
                         Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.AGVStationCode == continueTask.NextAddress);
                         if (stationManger == null)
                         {
-                            throw new Exception($"鏈壘鍒扮珯鍙皗continueTask.NextAddress}淇℃伅");
+                            continue;
                         }
                         IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode);
                         if (device == null)
                         {
-                            throw new Exception($"鏈壘鍒拌澶噞stationManger.StationDeviceCode}淇℃伅");
+                            continue;
                         }
                         OtherDevice otherDevice = (OtherDevice)device;
                         short canPut = otherDevice.GetValue<GroundStationDBName, short>(GroundStationDBName.R_IsCanPut, stationManger.StationCode);
                         if (canPut != 1)
                         {
-                            return;
+                            continue;
                         }
                     }
                     //鑾峰彇璋冨叆鍙傛暟
@@ -140,23 +204,21 @@
                     }
                     //璇锋眰鏂欑鍥炶皟鎺ュ彛
                     WebResponseContent content = _taskService.AgvBoxApplyPass(boxApplyPassDTO);
-                    if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
+                    if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && boxApplyPassDTO.TaskCode == continueTask.AgvTaskNum)
                     {
-                        continueTask.TaskState = TaskStatusEnum.AGV_Executing.ObjToInt();
                         _taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Executing);
                     }
-                    else if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
+                    else if (content.Status && continueTask.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && boxApplyPassDTO.TaskCode== continueTask.AgvTaskNum)
                     {
-                        continueTask.TaskState = TaskStatusEnum.AGV_Puting.ObjToInt();
                         _taskService.UpdateTask(continueTask, TaskStatusEnum.AGV_Puting);
                     }
                     else
                     {
-                        continueTask.TaskState = TaskStatusEnum.Exception.ObjToInt();
                         continueTask.ExceptionMessage = content.Message;
                         _taskService.UpdateTask(continueTask, TaskStatusEnum.Exception);
                     }
                 }
+                    
             }
             catch (Exception ex)
             {

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