From 0128fce75a5e7cc9afc4bd89ce1966eb2231b69f Mon Sep 17 00:00:00 2001
From: yanjinhui <3306209981@qq.com>
Date: 星期二, 31 三月 2026 10:55:33 +0800
Subject: [PATCH] 编写海康跨楼层接口
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs | 153 ++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 140 insertions(+), 13 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs"
index bec86f6..6241af5 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs"
@@ -21,6 +21,7 @@
using WIDESEAWCS_DTO.WMS;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
+using WIDESEAWCS_QuartzJob.DTO;
namespace WIDESEAWCS_TaskInfoService
{
@@ -76,20 +77,128 @@
if (task == null) throw new Exception($"鏈壘鍒颁换鍔�,浠诲姟缂栧彿銆恵hIKROBOT.robotTaskCode}銆�");
switch (hIKROBOT.extra.values.method)
{
- case "end":
- TaskCompleted(task, deviceTypeEnum);
- break;
- case "outbin":
- TaskFromCompleted(task, deviceTypeEnum);
- break;
case "start":
- task.TaskState = (int)TaskStatusEnum.Takeing;
- TaskFeedback(task, 1);
+ if (task.TaskState==(int)TaskStatusEnum.CallingHKtransportation&& task.TaskType == (int)TaskTypeEnum.Move)
+ {
+ task.TaskState = (int)TaskStatusEnum.HktransportIng;
+ }
+ else
+ {
+ task.TaskState = (int)TaskStatusEnum.Takeing;
+ TaskFeedback(task, 1);
+ }
+ break;
+ case "outbin"://绂诲紑璧风偣
+ {
+ ///鍒ゆ柇浠诲姟鏄惁璺熻澶囨湁鍏�
+ TaskFromCompleted(task, deviceTypeEnum); //浠诲姟鐘朵綋鏀逛负3鍙栬揣瀹屾垚锛屾洿鏂拌捣鐐硅揣浣嶇姸鎬侊紝骞跺弽棣圵MS璧风偣瀹屾垚
+ }
+ break;
+ case "finish"://绂诲紑鎻愬崌鏈�
+ {
+
+ //鍏ユ彁鍗囨満
+ if (task.TaskType == TaskTypeEnum.RK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish)
+ {
+ var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
+ if (device == null) task.ExceptionMessage = "鏈壘鍒版彁鍗囨満淇℃伅";
+ else
+ {
+ DeviceProDTO? deviceProDTO = device.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == HoistEnum.Inboundboxon.ToString());
+ if (device.IsConnected)
+ device.SetValue(HoistEnum.Inboundboxon, 1);
+ else
+ task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
+ }
+ }
+
+ //鍑烘彁鍗囨満
+ else if (task.TaskType == TaskTypeEnum.CK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
+ {
+ var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
+ if (device == null) task.ExceptionMessage = "鏈壘鍒版彁鍗囨満淇℃伅";
+ else
+ {
+ if (device.IsConnected)
+ device.SetValue(HoistEnum.Outboundboxon, 1);//鍑哄簱瀹屾垚
+ else
+ task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
+ }
+ }
+ //鍥涙ゼ 鍑哄簱
+ else if ((task.TaskType == TaskTypeEnum.CHUKU1.ObjToInt() || task.TaskType == TaskTypeEnum.F04.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
+ {
+ var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
+ if (device == null) task.ExceptionMessage = "鏈壘鍒版彁鍗囨満淇℃伅";
+ else
+ {
+ if (device.IsConnected)
+ device.SetValue(HoistEnum.Emptyboxplacedinposition, 1);
+ else
+ task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
+ }
+ }
+ //鍥涙ゼ 鍏ュ簱
+ else if ((task.TaskType == TaskTypeEnum.Q1TSJ4.ObjToInt() || task.TaskType == TaskTypeEnum.F03.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
+ {
+ var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
+ if (device == null) task.ExceptionMessage = "鏈壘鍒版彁鍗囨満淇℃伅";
+ else
+ {
+ if (device.IsConnected)
+ //鍐欎互涓�涓嚭搴撳畬鎴愪俊鍙�
+ device.SetValue(HoistEnum.Outboundboxretrievalcompleted, 1, task.SourceAddress);
+ else
+ task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
+ }
+ }
+ else if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() || task.TaskType == TaskTypeEnum.Q3CK.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
+ {
+ if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt())
+ {
+ //濡傛灉鏄叚妤煎埌涓�妤煎氨鍐欎竴涓俊鍙风粰1妤紁lc鍛婅瘔浠栨垜鏉ュ叆搴撲簡
+
+ }
+ else
+ {
+ //杩欎釜灏卞啓涓�涓浣嶇姸鎬侊紝鍛婅瘔瀹冩垜鍑哄簱浜�
+
+ }
+ }
+ }
+ break;
+ case "into"://鐢宠杩涘叆鎻愬崌鏈�
+ {
+ task.TaskState = (int)TaskStatusEnum.AGV_WaitToExecute;
+ BaseDal.UpdateData(task);
+ }
+ break;
+ case "wait"://鎵爜绛夊緟
+ {
+ task.TaskState = (int)TaskStatusEnum.CheckPalletCodeing;
+ BaseDal.UpdateData(task);
+ }
+ break;
+ case "end"://浠诲姟瀹屾垚閫氱煡
+ {
+ if (task.TaskType==(int)TaskTypeEnum.Move &&task.TaskState==(int)TaskStatusEnum.HkTransportCompleted)
+ {
+ task.TaskState = TaskStatusEnum.Finish.ObjToInt();
+ TaskFeedback(task, 2);
+ BaseDal.DeleteAndMoveIntoHty(task,OperateTypeEnum.鑷姩瀹屾垚);
+ }
+ else
+ {
+ ///鍒ゆ柇浠诲姟鏄惁璺熻澶囨湁鍏�
+ TaskCompleted(task, deviceTypeEnum);
+ }
+ }
break;
default:
- task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
- BaseDal.UpdateData(task);
- break;
+ throw new Exception("鏈畾涔夌殑鏂规硶鍚嶏紒");
+ //task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
+ //BaseDal.UpdateData(task);
+ //break;
}
}
else //鍥涘悜杞�
@@ -167,12 +276,12 @@
}
else if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Puting)
{
- if (!string.IsNullOrEmpty(task.ExceptionMessage))
+ if (!string.IsNullOrEmpty(task.ExceptionMessage) && !task.ExceptionMessage.Contains("鐢变簬鐩爣璁＄畻鏈虹Н鏋佹嫆缁濓紝鏃犳硶杩炴帴"))
ErrorTaskFeedback(task, true/*!task.ExceptionMessage.Contains("澶栨澶辫触")*/);
else
TaskCompleted(task, deviceTypeEnum);
}
- else if (task.TaskType == (int)TaskTypeEnum.CPOutbound )//鍑哄簱瀹屾垚
+ else if (task.TaskType == (int)TaskTypeEnum.CPOutbound)//鍑哄簱瀹屾垚
{
TaskCompleted(task, deviceTypeEnum);
}
@@ -335,6 +444,20 @@
dt_HKLocationInfo.LocationStatus = locationStatusEnum.ObjToInt();
_hKLocationInfoService.Repository.UpdateData(dt_HKLocationInfo);
}
+ Dt_StationInfo? stationInfo = _stationInfo.Repository.QueryFirst(x => x.StationCode == locationCode);
+ if (stationInfo != null)
+ {
+ if (locationStatusEnum == LocationStatusEnum.Free) //濡傛灉璧风偣瀹屾垚灏辩粰璐т綅璧嬪�兼墭鐩樺彿
+ {
+ stationInfo.PalletCode = "";
+ }
+ else
+ {
+ stationInfo.PalletCode = palletCode;
+ }
+ stationInfo.StationStatus = locationStatusEnum.ObjToInt();
+ _stationInfo.UpdateData(stationInfo);
+ }
}
else if (deviceTypeEnum == DeviceTypeEnum.YuanLiJuHe)
{
@@ -454,5 +577,9 @@
return content;
}
#endregion
+
+
+
+
}
}
--
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