From 0875bfa35d389e238ae82142ce45b71c9715133b Mon Sep 17 00:00:00 2001
From: yanjinhui <3306209981@qq.com>
Date: 星期五, 17 四月 2026 17:37:39 +0800
Subject: [PATCH] Merge branch 'master' of http://115.159.85.185:8098/r/RuiShengZhiNeng/GaoPuLiTiKu
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs | 164 +++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 124 insertions(+), 40 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs"
index d75095a..9c6fff4 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs"
@@ -4,6 +4,7 @@
using System.Collections;
using System.Collections.Generic;
using System.Linq;
+using System.Net.NetworkInformation;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common;
@@ -32,10 +33,8 @@
try
{
Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(FOURBOTnewMovePodTask)) ?? throw new Exception("鏈壘鍒板洓鍚戣溅浠诲姟涓嬪彂鎺ュ彛閰嶇疆淇℃伅锛佽妫�鏌ユ帴鍙ｉ厤缃�");
- int i = 0;
foreach (var task in tasks)
{
- i++;
fOURBOTnewMovePodTask = new()
{
priority = task.Grade,
@@ -65,10 +64,16 @@
task.RGVTaskId = fOURBO.taskID;
task.ExceptionMessage = "";
task.TaskState = (int)TaskStatusEnum.Execut;
+ task.Dispatchertime = DateTime.Now;
}
catch (Exception ex)
{
task.ExceptionMessage = ex.Message;
+ content.Error(ex.Message);
+ }
+ finally
+ {
+ _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "涓嬪彂鍥涘悜杞︽柊寤哄叆搴撲换鍔�", "", "");
}
}
var uptasks = tasks.Where(task => string.IsNullOrEmpty(task.ExceptionMessage)).ToList();
@@ -78,6 +83,7 @@
{
foreach (var item in errortasks)
{
+ Thread.Sleep(500);
_taskService.ErrorTaskFeedback(item, true);
}
}
@@ -86,10 +92,6 @@
catch (Exception ex)
{
content.Error(ex.Message);
- }
- finally
- {
- _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "涓嬪彂鍥涘悜杞︽柊寤哄叆搴撲换鍔�", "", "");
}
}
@@ -119,6 +121,7 @@
keepRobot = 1,
keepRobotTimeout = 1
};
+ fOURBOTnewMovePodTask.requestID += item.TaskId;
fOURBOTnewMovePodTask.desType = 1;
fOURBOTnewMovePodTask.desNodeID = item.NextAddress;
string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
@@ -134,6 +137,7 @@
}
//FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("鏈幏鍙栧埌鍥涘悜杞﹁繑鍥炵殑浠诲姟ID");
item.RGVTaskId = fOURBO.taskID;
+ item.Dispatchertime = DateTime.Now;
item.TaskState = (int)TaskStatusEnum.TakeFinish;
}
}
@@ -158,15 +162,11 @@
/// <param name="tasks"></param>
public void IsMoveTask(List<Dt_Task> tasks)
{
-
- object requestData = null; // 娣诲姞鍙橀噺璁板綍璇锋眰鏁版嵁
WebResponseContent content = new WebResponseContent();
try
{
- Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(GetBlockPodContentDto)) ?? throw new Exception("鏈壘鍒版壒閲忚幏鍙栭樆纰嶆墭鐩樺叧绯绘帴鍙ｉ厤缃俊鎭紒璇锋鏌ユ帴鍙ｉ厤缃�");
- List<Dt_Task> dt_Tasks = new List<Dt_Task>();
+ //List<Dt_Task> dt_Tasks = new List<Dt_Task>();
var PalletCodes = tasks.Select(x => x.PalletCode).ToList();
- //GetBlockPodContentDto content = new GetBlockPodContentDto();
var request = new GetBlockPodContentListDto
{
content = new List<GetBlockPodContentDto>
@@ -178,45 +178,113 @@
}
}
};
- requestData = request; // 淇濆瓨璇锋眰鏁版嵁鐢ㄤ簬鏃ュ織
- //content.candidatePodIDs = tasks.Select(x => x.PalletCode).ToList();
- string response = HttpHelper.Post(apiInfo.ApiAddress, request.Serialize());
- FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
- content.OK(data: fOURBOTReturn);
+ //string response = HttpHelper.Post("http://127.0.0.1:4523/m2/6165241-5857331-default/440906899?apifoxApiId=440906899", request.Serialize());
+ content = _apiInfoService.PostInterfaceRequest(nameof(GetBlockPodContentDto), request.Serialize(), "鎵归噺鑾峰彇闃荤鎵樼洏鍏崇郴");
+ if (!content.Status)
+ {
+ foreach (var item in tasks)
+ {
+ item.ExceptionMessage = content.Message;
+ }
+ _taskService.UpdateData(tasks);
+ return;
+ }
+ FOURBOTReturn fOURBOTReturn = content.Data as FOURBOTReturn;
if (fOURBOTReturn.returnCode == 0)
{
//ReturnBlockPodResultDto getBlockPod = fOURBOTReturn.data as ReturnBlockPodResultDto ?? throw new Exception("鏈幏鍙栧埌闃荤鎵樼洏鍏崇郴鏁版嵁");
var dataJson = fOURBOTReturn.data.ToString();
+ if (string.IsNullOrEmpty(dataJson))
+ {
+ foreach (var item in tasks)
+ {
+ item.ExceptionMessage = "鑾峰彇闃荤鎵樼洏鍏崇郴澶辫触锛�";
+ }
+ _taskService.UpdateData(tasks);
+ return;
+ }
ReturnBlockPodResultDto? getBlockPod = JsonConvert.DeserializeObject<ReturnBlockPodResultDto>(dataJson);
+ if (getBlockPod == null)
+ {
+ foreach (var item in tasks)
+ {
+ item.ExceptionMessage = "闃荤鎵樼洏鍏崇郴鏁版嵁杞崲瀹炰綋澶辫触锛�";
+ }
+ _taskService.UpdateData(tasks);
+ return;
+ }
if (getBlockPod.Result.Count == 0)
{
- throw new Exception("鏈幏鍙栧埌闃荤鎵樼洏鍏崇郴鏁版嵁");
- }
- foreach (var Result in getBlockPod.Result)
- {
- foreach (var item in Result.outPods)
+ foreach (var item in tasks)
{
- var task = tasks.First(x => x.PalletCode == item.outPod);
+ item.ExceptionMessage = "鏈幏鍙栧埌闃荤鎵樼洏鍏崇郴鏁版嵁锛�";
+ }
+ _taskService.UpdateData(tasks);
+ return;
+ }
+ #region 鍒ゆ柇鏄惁闇�瑕佺Щ搴�
+ foreach (var task in tasks)
+ {
+ var item = getBlockPod.Result[0].outPods.FirstOrDefault(x => x.outPod == task.PalletCode);
+ if (item != null)
+ {
if (item.blockPods != null && item.blockPods.Count > 0)
item.blockPods = item.blockPods.Except(PalletCodes).ToList();
if (item.blockPods != null && item.blockPods.Count > 0)
{
- #region 鍒ゆ柇闃荤鎵樻槸鍚︿负鍑哄簱浠诲姟
- //var except = item.blockPods.Except(PalletCodes).ToList();
- #endregion
var responseContent = AddMoveTask(item.blockPods, task);//娣诲姞绉诲簱浠诲姟
if (!responseContent.Status) task.ExceptionMessage = responseContent.Message;
else task.TaskState = (int)TaskStatusEnum.RGV_WaitMoveToExecute;
- dt_Tasks.Add(task);
+ #region 绉诲簱鐘舵�佸弽棣堢粰WMS
+ WMSInOutBoundCompleteFeedback boundCompleteFeedback = new WMSInOutBoundCompleteFeedback();
+ boundCompleteFeedback.taskCode = task.WMSTaskNum;
+ boundCompleteFeedback.containerCode = task.PalletCode;
+ boundCompleteFeedback.fromStationCode = task.SourceAddress;
+ boundCompleteFeedback.toLocationCode = task.TargetAddress;
+ boundCompleteFeedback.status = 5;
+ boundCompleteFeedback.custStatus = "";
+ _apiInfoService.PostInterfaceRequest(nameof(WMSInOutBoundCompleteFeedback), boundCompleteFeedback.Serialize(), "鎴愬搧鍑哄簱浠诲姟绛夊緟绉诲簱涓婃姤WMS");
+ #endregion
}
else
{
task.TaskState = (int)TaskStatusEnum.RGV_WaitSend;
- dt_Tasks.Add(task);
}
}
+ else task.ExceptionMessage = $"RCS鏈弽棣堛�恵task.PalletCode}銆戝彲鍑哄簱鎵樼洏淇℃伅,璇︽儏璇锋煡鐪嬫壒閲忚幏鍙栭樆纰嶆墭鐩樺叧绯绘帴鍙ｆ棩蹇楋紒";
}
- _taskService.UpdateData(dt_Tasks);
+ _taskService.Repository.UpdateData(tasks);
+ #endregion
+ #region MyRegion
+ //foreach (var Result in getBlockPod.Result)
+ //{
+ // foreach (var item in Result.outPods)
+ // {
+ // var task = tasks.First(x => x.PalletCode == item.outPod);
+ // if (item.blockPods != null && item.blockPods.Count > 0)
+ // item.blockPods = item.blockPods.Except(PalletCodes).ToList();
+ // if (item.blockPods != null && item.blockPods.Count > 0)
+ // {
+ // #region 鍒ゆ柇闃荤鎵樻槸鍚︿负鍑哄簱浠诲姟
+ // //var except = item.blockPods.Except(PalletCodes).ToList();
+ // #endregion
+ // var responseContent = AddMoveTask(item.blockPods, task);//娣诲姞绉诲簱浠诲姟
+ // if (!responseContent.Status) task.ExceptionMessage = responseContent.Message;
+ // else
+ // {
+ // task.TaskState = (int)TaskStatusEnum.RGV_WaitMoveToExecute;
+ // }
+ // dt_Tasks.Add(task);
+ // }
+ // else
+ // {
+ // task.TaskState = (int)TaskStatusEnum.RGV_WaitSend;
+ // dt_Tasks.Add(task);
+ // }
+ // }
+ //}
+ //_taskService.UpdateData(dt_Tasks);
+ #endregion
content.OK();
}
}
@@ -226,7 +294,7 @@
}
finally
{
- _trackloginfoService.AddTrackLog(requestData, content, "澶勭悊鍑哄簱浠诲姟鏄惁闇�瑕佺Щ搴�", "", "");
+ //_trackloginfoService.AddTrackLog(requestData, content, "澶勭悊鍑哄簱浠诲姟鏄惁闇�瑕佺Щ搴�", "", "");
}
}
#endregion
@@ -274,6 +342,7 @@
{
autoToRest = 1
};
+ fOURBOTnewMovePodTask.requestID = DateTime.Now.ToString("yyyyMMddHHmmssfff") + item.TaskId;
item.CurrentAddress = item.NextAddress;
item.NextAddress = rGVLocationInfo.LocationCode;
item.TargetAddress = rGVLocationInfo.LocationCode;
@@ -288,17 +357,17 @@
var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();
item.RGVTaskId = fOURBO.taskID;
item.TaskState = (int)TaskStatusEnum.Puting;
-
rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
+ item.Dispatchertime = DateTime.Now;
locationsToUpdate.Add(rGVLocationInfo);
#region 閲婃斁鍏ュ簱绔欏彴
- //var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
- //if (stationManger != null)
- //{
- // stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
- // stationsToUpdate.Add(stationManger);
- //}
+ var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
+ if (stationManger != null)
+ {
+ stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
+ stationsToUpdate.Add(stationManger);
+ }
content.OK();
#endregion
}
@@ -316,6 +385,10 @@
item.ExceptionMessage = $"澶勭悊浠诲姟寮傚父锛歿ex.Message}";
//WriteError($"{nameof(TaskJob)}-{item.TaskId}", ex.Message, ex);
content.Error($"鍥涘悜杞︽帴鍙ｈ繑鍥為敊璇細{ex.Message}");
+ }
+ finally
+ {
+
}
}
#region MyRegion
@@ -401,8 +474,8 @@
_taskService.UpdateData(tasksToUpdate);
if (locationsToUpdate.Any())
_rGVLocationInfoService.UpdateData(locationsToUpdate);
- //if (stationsToUpdate.Any())
- // _stationMangerService.UpdateData(stationsToUpdate);
+ if (stationsToUpdate.Any())
+ _stationMangerService.UpdateData(stationsToUpdate);
_unitOfWorkManage.CommitTran();
}
@@ -467,6 +540,7 @@
}
item.RGVTaskId = fOURBO.taskID;
item.TaskState = (int)TaskStatusEnum.Puting;
+ item.Dispatchertime = DateTime.Now;
}
}
_taskService.UpdateData(tasks);
@@ -490,6 +564,13 @@
try
{
List<Dt_RGVLocationInfo> rGVLocationInfos = _rGVLocationInfoService.Repository.QueryData(x => blockPods.Contains(x.PalletCode));
+ var palletCodes = rGVLocationInfos.Select(x => x.PalletCode).ToList();
+ // 鑾峰彇 blockPods 涓瓨鍦ㄤ絾 palletCodes 涓笉瀛樺湪鐨勬墭鐩樼爜
+ var missingPalletCodes = blockPods.Except(palletCodes).ToList();
+ if (missingPalletCodes.Any())
+ {
+ throw new Exception($"鏈壘鍒颁互涓嬮樆纰嶆墭璐т綅淇℃伅锛歿string.Join(",", missingPalletCodes)}");
+ }
var Items = _rGVLocationInfoService.GetMoveFreeLocationInfo(rGVLocationInfos);
List<Dt_Task> tasks = Items.Item1;
@@ -571,6 +652,7 @@
var task = tasks.First(x => x.PalletCode == item.podID);
task.RGVTaskId = item.taskID;
task.TaskState = TaskStatusEnum.RGV_MoveTaskSend.ObjToInt();
+ task.Dispatchertime = DateTime.Now;
dt_Tasks.Add(task);
}
_taskService.UpdateData(dt_Tasks);
@@ -595,10 +677,11 @@
{
foreach (var item in tasks)
{
- var takes = _taskService.Repository.QueryFirst(x => x.Roadway == item.Roadway && x.TaskType == (int)TaskTypeEnum.CPMoveInventory);
+ var takes = _taskService.Repository.QueryFirst(x => x.Roadway == item.Roadway && x.TaskType == (int)TaskTypeEnum.CPMoveInventory && (x.TaskState == (int)TaskStatusEnum.RGV_NewMoveTask || x.TaskState == (int)TaskStatusEnum.RGV_MoveTaskSend));
if (takes == null)
{
item.TaskState = (int)TaskStatusEnum.RGV_WaitSend;
+ item.Dispatchertime = DateTime.Now;
}
}
_taskService.UpdateData(tasks);
@@ -643,7 +726,7 @@
autoToRest = 1
};
fOURBOTnewMovePodTask.desType = 5;
- fOURBOTnewMovePodTask.requestID = DateTime.Now.ToString("yyyyMMddHHmmss") + item.TaskId;
+ fOURBOTnewMovePodTask.requestID = DateTime.Now.ToString("yyyyMMddHHmmssfff") + item.TaskId;
string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
content.OK(data: fOURBOTReturn);
@@ -657,6 +740,7 @@
}
item.RGVTaskId = fOURBO.taskID;
item.TaskState = (int)TaskStatusEnum.Execut;
+ item.Dispatchertime = DateTime.Now;
//stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
//_stationMangerService.UpdateData(stationManger);
}
--
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