From 0c2124ab83fcc330e9620f02fbf02dedf8980526 Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期二, 17 三月 2026 16:56:43 +0800
Subject: [PATCH] 优化海康AGV三楼四楼任务
---
/dev/null | 70 -------
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/HKTaskExtend.cs | 61 ------
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskExtend.cs | 2
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/ITaskService.cs | 10
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs | 60 +++++-
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/TargetRouteDto.cs | 10 +
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/KLSTaskMethods.cs | 10
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskJob.cs | 4
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs | 50 +++--
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/HKTaskMethods.cs | 240 +++++++++++++++++++++++++-
10 files changed, 332 insertions(+), 185 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs"
index 77692b4..e9de1a4 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs"
@@ -30,25 +30,61 @@
[Description("闈㈡枡鍑哄簱")]
MLOutbound,
/// <summary>
- /// 璺ㄦゼ灞傝繍杈�
+ /// 杞繍杞︽惉杩�
/// </summary>
- [Description("璺ㄦゼ灞傝繍杈�")]
- Carry,
+ [Description("杞繍杞︽惉杩�")]
+ F01,
/// <summary>
- /// 瑁佸壀閫佽揣
+ /// 涓夋ゼ婊℃墭涓婃彁鍗囨満
/// </summary>
- [Description("瑁佸壀閫佽揣")]
- CJCarry,
+ [Description("涓夋ゼ涓婃彁鍗囨満")]
+ RK3F,
/// <summary>
- /// 瑁佸壀鍏ュ簱
+ /// 涓夋ゼ鎻愬崌鏈哄嚭绌烘墭
/// </summary>
- [Description("瑁佸壀鍏ュ簱")]
- CJInbound,
+ [Description("涓夋ゼ鎻愬崌鏈哄嚭")]
+ CK3F,
/// <summary>
- /// 瑁佸壀鍑哄簱
+ /// 鍥涙ゼ鎻愬崌鏈哄叆搴�
/// </summary>
- [Description("瑁佸壀鍑哄簱")]
- CJOutbound,
+ [Description("鍥涙ゼ鎻愬崌鏈哄叆搴�")]
+ Q1TSJ4,
+
+ /// <summary>
+ /// 鍥涙ゼ搴撳唴鍒扮嚎杈�
+ /// </summary>
+ [Description("鍥涙ゼ搴撳唴鍒扮嚎杈�")]
+ STU0003,
+
+ /// <summary>
+ /// 鍥涙ゼ绾胯竟鍒扮嚎杈�
+ /// </summary>
+ [Description("鍥涙ゼ绾胯竟鍒扮嚎杈�")]
+ F02,
+
+ /// <summary>
+ /// 鍥涙ゼ搴撳唴鍒版彁鍗囨満
+ /// </summary>
+ [Description("鍥涙ゼ搴撳唴鍒版彁鍗囨満")]
+ CHUKU1,
+
+ /// <summary>
+ /// 鍏ゼ鍒颁竴妤�
+ /// </summary>
+ [Description("鍏ゼ鍒颁竴妤�")]
+ Q3RK,
+
+ /// <summary>
+ /// 涓�妤煎埌鍏ゼ
+ /// </summary>
+ [Description("涓�妤煎埌鍏ゼ")]
+ Q3CK,
+
+ /// <summary>
+ /// 绌鸿溅璺ㄦゼ灞�
+ /// </summary>
+ [Description("绌鸿溅璺ㄦゼ灞�")]
+ Move,
/// <summary>
/// 鎴愬搧绉诲簱
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTEqptExecuteNotify.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTEqptExecuteNotify.cs"
deleted file mode 100644
index 0705035..0000000
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTEqptExecuteNotify.cs"
+++ /dev/null
@@ -1,51 +0,0 @@
-锘縰sing Newtonsoft.Json;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace WIDESEAWCS_DTO.AGV.HIKROBOT
-{
- /// <summary>
- /// 娴峰悍澶栬鎵ц閫氱煡
- /// </summary>
- public class HIKROBOTEqptExecuteNotify
- {
- /// <summary>
- /// 璁惧缂栧彿/璁惧鍚嶇О
- /// </summary>
- public string eqptCode { get; set; }
-
- /// <summary>
- /// 浠诲姟鍙�
- /// </summary>
- public string taskCode { get; set; }
- /// <summary>
- /// 浠诲姟鎵ц鐘舵��
- /// 1-鑷姩闂�/椋庢穻闂ㄥ紑闂ㄥ埌浣嶏紱
- /// 2-鑷姩闂�/椋庢穻闂ㄥ叧闂ㄥ埌浣嶏紱
- /// 3-鐢垫寮�闂ㄥ埌浣嶏紱
- /// 4-鐢垫鐗╂枡鍒拌揪鐩爣妤煎眰锛�
- /// 5-瑁呭嵏鏈�/杈撻�佺嚎鍙栬揣锛�
- /// 6-瑁呭嵏鏈�/杈撻�佺嚎鏀捐揣锛�
- /// 7-瑁呭嵏鏈�/杈撻�佺嚎鍒拌揪
- /// </summary>
- public string actionStatus { get; set; }
-
- /// <summary>
- /// 鍒嗛厤鐨勭珯鐐圭紪鍙�
- /// </summary>
- public string siteCode { get; set; }
-
- /// <summary>
- /// 杞藉叿淇℃伅鏁扮粍
- /// </summary>
- public List<CarrierInfoDto> carrierInfo { get; set; } = new List<CarrierInfoDto>();
-
- /// <summary>
- /// 鑷畾涔夋墿灞曞瓧娈�
- /// </summary>
- public object extra { get; set; }
- }
-}
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTEqptRequest.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTEqptRequest.cs"
deleted file mode 100644
index 2592e6b..0000000
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/HIKROBOTEqptRequest.cs"
+++ /dev/null
@@ -1,70 +0,0 @@
-锘縰sing Newtonsoft.Json;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace WIDESEAWCS_DTO.AGV.HIKROBOT
-{
- /// <summary>
- /// 娴峰悍璇锋眰澶栬
- /// </summary>
- public class HIKROBOTEqptRequest
- {
- /// <summary>
- /// 璁惧缂栧彿
- /// </summary>
- public string eqptCode { get; set; }
-
- /// <summary>
- /// 璁惧鍚嶇О
- /// </summary>
- public string eqptName { get; set; }
-
- /// <summary>
- /// 浠诲姟鍙�
- /// </summary>
- public string taskCode { get; set; }
-
- /// <summary>
- /// 浠诲姟鎵ц鏂规硶
- /// 閫氱敤锛欳ANCEL(浠诲姟鍙栨秷)銆丄PPLY_TO_AGV(AGV鐢宠鎺ユ枡)銆丄PPLY_FROM_AGV(AGV鐢宠閫佹枡)銆丄RRIVED(AGV鍒拌揪)銆丷ELEASE(AGV绂诲紑)
- /// 鑷姩闂細APPLY_LOCK(鐢宠寮�闂�)銆丷ELEASE_EQPT(閲婃斁鑷姩闂�)
- /// 鐢垫锛欰PPLY_RESOURCE(鐢宠璧勬簮)銆丒XECUTE_TASK(鎵ц鍒扮洰鏍囨ゼ灞�)銆丷ELEASE_RESOURCE(閲婃斁璧勬簮)
- /// </summary>
- public string method { get; set; }
-
- /// <summary>
- /// 杞藉叿淇℃伅鏁扮粍
- /// </summary>
- public List<CarrierInfoDto> carrierInfo { get; set; } = new List<CarrierInfoDto>();
-
- /// <summary>
- /// 璧峰浣嶇疆缂栧彿
- /// </summary>
- public string srcCode { get; set; }
-
- /// <summary>
- /// 鐩爣浣嶇疆缂栧彿
- /// </summary>
- public string dstCode { get; set; }
-
- /// <summary>
- /// 鑷姩闂ㄩ�氳繃鏂瑰悜/鐢垫鏈濆悜
- /// 鑷姩闂細1=[-180,0)銆�2=(0,180]
- /// </summary>
- public int? srcPathDir { get; set; }
-
- /// <summary>
- /// 鐢垫鏈濆悜
- /// 1=鍓嶉棬銆�2=鍚庨棬
- /// </summary>
- public int? dstPathDir { get; set; }
-
- /// <summary>
- /// 鑷畾涔夋墿灞曞瓧娈�
- /// </summary>
- public object extra { get; set; }
- }
-}
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/TargetRouteDto.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/TargetRouteDto.cs"
index f0122cc..bea3555 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/TargetRouteDto.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/TargetRouteDto.cs"
@@ -12,6 +12,12 @@
public class TargetRouteDto
{
/// <summary>
+ /// 璇ユ楠ゆ槸鍚﹁嚜鍔ㄥ紑濮嬨��0鍚�1鏄�
+ /// </summary>
+ public int autoStart { get; set; } = 1;
+
+ public int seq { get; set; }
+ /// <summary>
/// 鐩爣绫诲瀷
/// ZONE:鐩爣鎵�澶勫尯鍩熺紪鍙�
/// SITE:绔欑偣鍒悕
@@ -40,6 +46,7 @@
/// <summary>
/// 鏈哄櫒浜哄埌杈惧悗鐨勬搷浣�
+ /// COLLECT鍙栬揣DELIVERY閫佽揣
/// </summary>
public string operation { get; set; }
@@ -108,6 +115,7 @@
/// </summary>
public class CarrierInfoDto
{
+ public string binCategory { get; set; } = "A";
/// <summary>
/// 杞藉叿绫诲瀷
/// </summary>
@@ -121,6 +129,6 @@
/// <summary>
/// 灞傚彿
/// </summary>
- public int? layer { get; set; }
+ //public int? layer { get; set; }
}
}
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/ITaskService.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/ITaskService.cs"
index 851e4c9..60494fd 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/ITaskService.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/ITaskService.cs"
@@ -74,14 +74,14 @@
/// </summary>
/// <param name="wMSCancelTask">鍙栨秷浠诲姟瀹炰綋绫�</param>
/// <returns></returns>
- public WebResponseContent CancelWMSTask(WMSCancelTask wMSCancelTask);
+ WebResponseContent CancelWMSTask(WMSCancelTask wMSCancelTask);
/// <summary>
/// 淇敼浠诲姟浼樺厛绾�
/// </summary>
/// <param name="updateTaskPriority"></param>
/// <returns></returns>
- public WebResponseContent UpdateWMSTaskPriority(WMSUpdateTaskPriority updateTaskPriority);
+ WebResponseContent UpdateWMSTaskPriority(WMSUpdateTaskPriority updateTaskPriority);
/// <summary>
/// 鏍规嵁鎵樼洏鍙枫�佽捣濮嬪湴鍧�鍚慦MS璇锋眰浠诲姟
@@ -181,6 +181,12 @@
/// <param name="task">浠诲姟瀹炰綋瀵硅薄</param>
/// <returns></returns>
WebResponseContent UpdateTaskStatusToNext([NotNull] Dt_Task task);
+ /// <summary>
+ /// 涓嬪彂娴峰悍AGV浠诲姟
+ /// </summary>
+ /// <param name="task"></param>
+ /// <returns></returns>
+ WebResponseContent SendHIKROBOTTask([NotNull] Dt_Task task);
/// <summary>
/// 鏍规嵁浠诲姟鍙枫�佸綋鍓嶅湴鍧�鏇存柊浠诲姟浣嶇疆淇℃伅
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/HKTaskMethods.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/HKTaskMethods.cs"
index ad25d35..c7a6a39 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/HKTaskMethods.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/HKTaskMethods.cs"
@@ -10,6 +10,9 @@
using WIDESEAWCS_DTO.WMS;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_DTO;
+using WIDESEAWCS_DTO.AGV.HIKROBOT;
+using System.Diagnostics.CodeAnalysis;
namespace WIDESEAWCS_TaskInfoService
{
@@ -25,10 +28,20 @@
/// <returns></returns>
public WebResponseContent CreateHKNewInTask(TaskDTO taskDTO, int taskType)
{
+ WebResponseContent content = new WebResponseContent();
try
{
+ Dt_HKLocationInfo? hKLocationInfo = null;
+ #region 鐐瑰埌鐐�
+ if (!string.IsNullOrEmpty(taskDTO.toLocationCode))
+ {
+ hKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.toLocationCode) ?? throw new Exception($"鏈壘鍒扮粓鐐硅揣浣嶃�恵taskDTO.toLocationCode}銆�");
+ if (hKLocationInfo.LocationStatus != (int)LocationStatusEnum.Free) throw new Exception($"缁堢偣璐т綅銆恵taskDTO.toLocationCode}銆戣揣浣嶇姸鎬佷笉涓虹┖璐т綅");
+ }
+ #endregion
//鑾峰彇璐т綅淇℃伅
- Dt_HKLocationInfo? hKLocationInfo = _hKLocationInfoService.GetFreeLocationInfo(taskDTO.toAreaCode) ?? throw new Exception($"鏈壘鍒扮粓鐐瑰簱鍖恒�恵taskDTO.toAreaCode}銆戝彲鐢ㄧ┖璐т綅锛�"); ;
+ else
+ hKLocationInfo = _hKLocationInfoService.GetFreeLocationInfo(taskDTO.toAreaCode) ?? throw new Exception($"鏈壘鍒扮粓鐐瑰簱鍖恒�恵taskDTO.toAreaCode}銆戝彲鐢ㄧ┖璐т綅锛�");
Dt_Task dt_Task = new Dt_Task()
{
TaskNum = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
@@ -46,17 +59,42 @@
Creater = "WMS",
};
hKLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
- Db.Ado.BeginTran();
- BaseDal.AddData(dt_Task);
- _hKLocationInfoService.Repository.UpdateData(hKLocationInfo);
- Db.Ado.CommitTran();
- return WebResponseContent.Instance.OK();
+
+ #region 涓嬪彂娴峰悍AGV浠诲姟
+ content = SendHIKROBOTTask(dt_Task);
+ if (!content.Status) throw new Exception(content.Message);
+ dt_Task.TaskState = (int)TaskStatusEnum.Execut;
+ dt_Task.Dispatchertime = DateTime.Now;
+ #endregion
+ try
+ {
+ Db.Ado.BeginTran();
+ BaseDal.AddData(dt_Task);
+ _hKLocationInfoService.Repository.UpdateData(hKLocationInfo);
+ Db.Ado.CommitTran();
+ }
+ catch (Exception ex)
+ {
+ Db.Ado.RollbackTran();
+ throw new Exception(ex.Message);
+ }
+
+ content.OK(data: new
+ {
+ taskCode = taskDTO.taskCode,
+ Message = "鎴愬姛锛�"
+ });
}
catch (Exception ex)
{
- Db.Ado.RollbackTran();
- throw new Exception(ex.Message);
+ content.Data = new
+ {
+ taskCode = taskDTO.taskCode,
+ Message = $"澶辫触锛亄ex.Message}"
+ };
+ content.Error(ex.Message);
}
+ return content;
}
/// <summary>
/// 鍒涘缓娴峰悍AGV鍑哄簱浠诲姟
@@ -66,6 +104,7 @@
/// <returns></returns>
public WebResponseContent CreateHKNewOutTask(TaskDTO taskDTO, int taskType)
{
+ WebResponseContent content = new WebResponseContent();
try
{
Dt_HKLocationInfo? hKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.fromLocationCode) ?? throw new Exception($"鏈壘鍒拌捣鐐瑰簱浣嶃�恵taskDTO.fromLocationCode}銆戯紒");
@@ -88,18 +127,189 @@
Creater = "WMS",
};
hKLocationInfo.LocationStatus = LocationStatusEnum.OutLock.ObjToInt();
- Db.Ado.BeginTran();
- BaseDal.AddData(dt_Task);
- _hKLocationInfoService.Repository.UpdateData(hKLocationInfo);
- Db.Ado.CommitTran();
- return WebResponseContent.Instance.OK();
+ #region 涓嬪彂娴峰悍AGV浠诲姟
+ content = SendHIKROBOTTask(dt_Task);
+ if (!content.Status) throw new Exception(content.Message);
+ dt_Task.TaskState = (int)TaskStatusEnum.Execut;
+ dt_Task.Dispatchertime = DateTime.Now;
+ #endregion
+ try
+ {
+ Db.Ado.BeginTran();
+ BaseDal.AddData(dt_Task);
+ _hKLocationInfoService.Repository.UpdateData(hKLocationInfo);
+ Db.Ado.CommitTran();
+ }
+ catch (Exception ex)
+ {
+ Db.Ado.RollbackTran();
+ throw new Exception(ex.Message);
+ }
+ return content.OK(data: new
+ {
+ taskCode = taskDTO.taskCode,
+ Message = "鎴愬姛锛�"
+ });
}
catch (Exception ex)
{
- Db.Ado.RollbackTran();
- throw new Exception(ex.Message);
+ content.Data = new
+ {
+ taskCode = taskDTO.taskCode,
+ Message = $"澶辫触锛亄ex.Message}"
+ };
+ return content.Error(ex.Message);
}
}
#endregion
+
+ #region 涓嬪彂娴峰悍AGV浠诲姟
+ public WebResponseContent SendHIKROBOTTask([NotNull] Dt_Task task)
+ {
+ WebResponseContent content = new WebResponseContent();
+ HIKROBOTReturn hIKROBOTReturn = null;
+ HIKROBOTTaskSubmit hIKROBOTTaskSubmit = null;
+ try
+ {
+ Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(HIKROBOTTaskSubmit)) ?? throw new Exception("鏈壘鍒版捣搴稟GV浠诲姟涓嬪彂鎺ュ彛閰嶇疆淇℃伅锛佽妫�鏌ユ帴鍙ｉ厤缃�");
+ #region 瀹炰綋绫昏浆鎹�
+ hIKROBOTTaskSubmit = HIKROBOTTask(task);
+ if (hIKROBOTTaskSubmit == null) throw new Exception("娴峰悍AGV浠诲姟瀹炰綋杞崲澶辫触");
+ #endregion
+ string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskSubmit.Serialize());
+ hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
+ if (hIKROBOTReturn.code == "SUCCESS")
+ {
+ var data = hIKROBOTReturn.data.ToString().DeserializeObject<HIKROBOTReturnData>();
+ content.OK(data: data);
+ }
+ else
+ {
+ throw new Exception(hIKROBOTReturn.message);
+ }
+ }
+ catch (Exception ex)
+ {
+ content.Error(ex.Message);
+ }
+ finally
+ {
+ _trackloginfoService.AddTrackLog(hIKROBOTTaskSubmit, content, "涓嬪彂娴峰悍AGV浠诲姟", "", hIKROBOTReturn.message);
+ }
+ return content;
+ }
+ #endregion
+ /// <summary>
+ /// 娴峰悍浠诲姟瀹炰綋绫昏浆鎹�
+ /// </summary>
+ /// <param name="task"></param>
+ /// <returns></returns>
+ public HIKROBOTTaskSubmit HIKROBOTTask(Dt_Task task)
+ {
+ HIKROBOTTaskSubmit hIKROBOTTaskSubmit = new HIKROBOTTaskSubmit();
+ try
+ {
+ var tasktype = (TaskTypeEnum)Enum.GetValues(typeof(TaskTypeEnum)).GetValue(task.TaskType);
+
+ hIKROBOTTaskSubmit.initPriority = task.Grade;
+ hIKROBOTTaskSubmit.robotTaskCode = task.WMSTaskNum;
+ hIKROBOTTaskSubmit.taskType = tasktype.ToString(); ExtraDto extraDto = new ExtraDto();
+ CarrierInfoDto carrierInfoDto = new CarrierInfoDto()
+ {
+ carrierCode = task.PalletCode,
+ carrierType = task.PalletCode.Contains("LXM") ? "DX" : "SX"
+ };
+ extraDto.carrierInfo.Add(carrierInfoDto);
+ hIKROBOTTaskSubmit.extra = extraDto;
+ switch (tasktype)
+ {
+ case TaskTypeEnum.CPInbound:
+ case TaskTypeEnum.CPOutbound:
+ case TaskTypeEnum.MLInbound:
+ case TaskTypeEnum.MLOutbound:
+ break;
+ case TaskTypeEnum.F01:
+ break;
+ case TaskTypeEnum.RK3F:
+ case TaskTypeEnum.CK3F:
+ case TaskTypeEnum.F02:
+ {
+ TargetRouteDto target = new TargetRouteDto()
+ {
+ code = task.CurrentAddress,
+ operation = "DELIVERY",//鍙栬揣
+ seq = 0,
+ type = "SITE",
+ };
+ TargetRouteDto targetRoute = new TargetRouteDto()
+ {
+ code = task.NextAddress,
+ operation = "DELIVERY",//閫佽揣
+ seq = 1,
+ type = "SITE"
+ };
+ hIKROBOTTaskSubmit.targetRoute.Add(target);
+ hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
+ }
+ break;
+ case TaskTypeEnum.Q1TSJ4:
+ {
+ TargetRouteDto target = new TargetRouteDto()
+ {
+ code = task.CurrentAddress,
+ operation = "DELIVERY",//鍙栬揣
+ seq = 0,
+ type = "SITE",
+ };
+ TargetRouteDto targetRoute = new TargetRouteDto()
+ {
+ code = task.NextAddress,
+ operation = "DELIVERY",//閫佽揣
+ seq = 1,
+ type = "STORAGE"
+ };
+ hIKROBOTTaskSubmit.targetRoute.Add(target);
+ hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
+ }
+ break;
+ case TaskTypeEnum.STU0003:
+ case TaskTypeEnum.CHUKU1:
+ {
+ TargetRouteDto target = new TargetRouteDto()
+ {
+ code = task.CurrentAddress,
+ operation = "DELIVERY",//鍙栬揣
+ seq = 0,
+ type = "STORAGE",
+ };
+ TargetRouteDto targetRoute = new TargetRouteDto()
+ {
+ code = task.NextAddress,
+ operation = "DELIVERY",//閫佽揣
+ seq = 1,
+ type = "SITE",
+ };
+ hIKROBOTTaskSubmit.targetRoute.Add(target);
+ hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
+ }
+ break;
+ case TaskTypeEnum.Q3RK:
+ break;
+ case TaskTypeEnum.Q3CK:
+ break;
+ case TaskTypeEnum.Move:
+ break;
+ case TaskTypeEnum.CPMoveInventory:
+ break;
+ default:
+ break;
+ }
+ }
+ catch (Exception ex)
+ {
+
+ }
+ return hIKROBOTTaskSubmit;
+ }
}
}
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/KLSTaskMethods.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/KLSTaskMethods.cs"
index 203a99b..f828a4d 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/KLSTaskMethods.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/KLSTaskMethods.cs"
@@ -27,18 +27,20 @@
public WebResponseContent CreateKLSNewInTask(TaskDTO taskDTO, int taskType)
{
WebResponseContent content = new WebResponseContent();
+ Dt_KLSLocationInfo? kLSLocationInfo = null;
try
{
int containerType = taskDTO.containerCode.Contains("LLM") ? (int)LocationTypeEnum.LargePallet : (int)LocationTypeEnum.SmallPallet;
#region 鐐瑰埌鐐�
if (!string.IsNullOrEmpty(taskDTO.toLocationCode))
{
- var LocationInfo = _kLSLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.toLocationCode) ?? throw new Exception($"鏈壘鍒扮粓鐐硅揣浣嶃�恵taskDTO.toLocationCode}銆�");
- if (LocationInfo.LocationStatus != (int)LocationStatusEnum.Free) throw new Exception($"缁堢偣璐т綅銆恵taskDTO.toLocationCode}銆戣揣浣嶇姸鎬佷笉涓虹┖璐т綅");
+ kLSLocationInfo = _kLSLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.toLocationCode) ?? throw new Exception($"鏈壘鍒扮粓鐐硅揣浣嶃�恵taskDTO.toLocationCode}銆�");
+ if (kLSLocationInfo.LocationStatus != (int)LocationStatusEnum.Free) throw new Exception($"缁堢偣璐т綅銆恵taskDTO.toLocationCode}銆戣揣浣嶇姸鎬佷笉涓虹┖璐т綅");
}
#endregion
//鑾峰彇璐т綅淇℃伅
- Dt_KLSLocationInfo? kLSLocationInfo = _kLSLocationInfoService.GetFreeLocationInfo(taskDTO.toAreaCode, containerType) ?? throw new Exception($"鏈壘鍒扮粓鐐瑰簱鍖恒�恵taskDTO.toAreaCode}銆戝彲鐢ㄧ┖璐т綅锛�");
+ else
+ kLSLocationInfo = _kLSLocationInfoService.GetFreeLocationInfo(taskDTO.toAreaCode, containerType) ?? throw new Exception($"鏈壘鍒扮粓鐐瑰簱鍖恒�恵taskDTO.toAreaCode}銆戝彲鐢ㄧ┖璐т綅锛�");
Dt_Task dt_Task = new()
{
TaskNum = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
@@ -60,6 +62,7 @@
content = SendKLSTask(dt_Task);
if (!content.Status) throw new Exception(content.Message);
dt_Task.TaskState = (int)TaskStatusEnum.Execut;
+ dt_Task.Dispatchertime=DateTime.Now;
#endregion
try
{
@@ -125,6 +128,7 @@
content = SendKLSTask(dt_Task);
if (!content.Status) throw new Exception(content.Message);
dt_Task.TaskState = (int)TaskStatusEnum.Execut;
+ dt_Task.Dispatchertime = DateTime.Now;
#endregion
try
{
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
index a563dd1..12352e6 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
@@ -94,11 +94,11 @@
{
List<object> objects = new List<object>();
foreach (var item in taskDTOs)
- {
+ {
foreach (var task in item.tasks)
{
#region 鍒ゆ柇
- var contentStatus = TaskHelpMethods.isOkTaskInfo(task, true, true);
+ var contentStatus = TaskHelpMethods.isOkTaskInfo(task, true, true);
if (!contentStatus.Status)
{
objects.Add(new
@@ -107,7 +107,6 @@
Message = $"浠诲姟鍙枫�恵task.taskCode}銆憑content.Message}"
});
continue;
- //throw new Exception(content.Message);
}
if (BaseDal.QueryFirst(x => x.WMSTaskNum == task.taskCode && x.TaskType == item.taskType) != null)
{
@@ -142,6 +141,7 @@
#endregion
switch (item.taskType)
{
+ #region 鍑箰澹獳GV闈㈡枡搴�
case (int)TaskTypeEnum.MLInbound:
content = CreateKLSNewInTask(task, item.taskType);
objects.Add(content.Data);
@@ -150,6 +150,8 @@
content = CreateKLSNewOutTask(task, item.taskType);
objects.Add(content.Data);
break;
+ #endregion
+ #region 鏃疯鍥涘悜杞︽垚鍝佸簱
case (int)TaskTypeEnum.CPInbound:
content = CreateRGVNewInTask(task, item.taskType);
objects.Add(content.Data);
@@ -158,22 +160,30 @@
content = CreateRGVNewOutTask(task, item.taskType);
objects.Add(content.Data);
break;
- case (int)TaskTypeEnum.CJInbound:
+ #endregion
+ #region 娴峰悍AGV
+ case (int)TaskTypeEnum.Q1TSJ4:
content = CreateHKNewInTask(task, item.taskType);
objects.Add(content.Data);
break;
- case (int)TaskTypeEnum.CJOutbound:
+ case (int)TaskTypeEnum.STU0003:
+ case (int)TaskTypeEnum.CHUKU1:
content = CreateHKNewOutTask(task, item.taskType);
objects.Add(content.Data);
break;
- case (int)TaskTypeEnum.Carry:
+ case (int)TaskTypeEnum.F01:
+ case (int)TaskTypeEnum.Q3RK:
+ case (int)TaskTypeEnum.Q3CK:
content = CarryTask(task, item.taskType);
objects.Add(content.Data);
break;
- case (int)TaskTypeEnum.CJCarry:
+ case (int)TaskTypeEnum.F02:
+ case (int)TaskTypeEnum.RK3F:
+ case (int)TaskTypeEnum.CK3F:
content = CJCarryTaske(task, item.taskType);
objects.Add(content.Data);
break;
+ #endregion
default:
objects.Add(new
{
@@ -212,7 +222,7 @@
var deviceName = "";
try
{
- Dt_Task dt_Task = BaseDal.QueryFirst(x => x.WMSTaskNum == wMSCancelTask.TaskCode&&x.TaskType!=TaskTypeEnum.CPMoveInventory.ObjToInt());
+ Dt_Task dt_Task = BaseDal.QueryFirst(x => x.WMSTaskNum == wMSCancelTask.TaskCode && x.TaskType != TaskTypeEnum.CPMoveInventory.ObjToInt());
if (dt_Task == null) throw new Exception("鏈煡璇㈠埌浠诲姟鍙风浉鍏充换鍔�");
// 鍒ゆ柇褰撳墠浠诲姟鏄惁涓哄嚡涔愬＋浠诲姟
@@ -221,13 +231,13 @@
//鍥涘悜杞�
bool isAGV = dt_Task.TaskType == (int)TaskTypeEnum.CPInbound || dt_Task.TaskType == (int)TaskTypeEnum.CPOutbound;
//娴峰悍
- bool isHK = dt_Task.TaskType == (int)TaskTypeEnum.Carry || dt_Task.TaskType == (int)TaskTypeEnum.CJInbound || dt_Task.TaskType == (int)TaskTypeEnum.CJInbound || dt_Task.TaskType == (int)TaskTypeEnum.CJOutbound;
+ bool isHK = dt_Task.TaskType == (int)TaskTypeEnum.Carry || dt_Task.TaskType == (int)TaskTypeEnum.RK3F || dt_Task.TaskType == (int)TaskTypeEnum.CK3F || dt_Task.TaskType == (int)TaskTypeEnum.Q1TSJ4 || dt_Task.TaskType == (int)TaskTypeEnum.STU0003 || dt_Task.TaskType == (int)TaskTypeEnum.F02 || dt_Task.TaskType == (int)TaskTypeEnum.CHUKU1 || dt_Task.TaskType == (int)TaskTypeEnum.Q3RK || dt_Task.TaskType == (int)TaskTypeEnum.Q3CK;
//杩欓噷灏嗙姸鎬佹敼鍙樹簡198鍙栨秷浠诲姟
dt_Task.TaskType = TaskStatusEnum.WMSCancel.ObjToInt();
#region 鍑箰澹�
if (isGALAXISTask)
{
- deviceName= "鍑箰澹獳GV";
+ deviceName = "鍑箰澹獳GV";
KLS = new CancelGALAXISTask
{
taskId = dt_Task.WMSTaskNum,
@@ -256,7 +266,7 @@
if (isAGV)
{
deviceName = "鍥涘悜杞�";
- if (dt_Task.RGVTaskId==0)
+ if (dt_Task.RGVTaskId == 0)
{
BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.鑷姩鍒犻櫎);
content.OK($"鍙栨秷{dt_Task.WMSTaskNum}浠诲姟鎴愬姛", dt_Task);
@@ -1127,18 +1137,18 @@
{
//璇诲彇鍏夌數淇″彿
var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice;
- if (device == null) throw new Exception("鏈壘鍒�1妤艰川妫�闂ㄨ澶囦俊鎭�") ;
+ if (device == null) throw new Exception("鏈壘鍒�1妤艰川妫�闂ㄨ澶囦俊鎭�");
if (!device.IsConnected) throw new Exception("PLC1妤艰川妫�闂ㄨ澶囪繛鎺ュけ璐�");
var sta = _stationMangerService.Repository.QueryData(x => x.Remark == "鎴愬搧搴�");
foreach (var item in sta)
{
- bool value = device.GetValue<QualityInspectionCommandEnum,bool>(QualityInspectionCommandEnum.R_StockAvailableSymbol, item.StationCode);
- list.Add(new
- {
- LoctionCode = item.StationCode,
- LocationStatus = value?100:0,
- EnableStatus = 0,
- });
+ bool value = device.GetValue<QualityInspectionCommandEnum, bool>(QualityInspectionCommandEnum.R_StockAvailableSymbol, item.StationCode);
+ list.Add(new
+ {
+ LoctionCode = item.StationCode,
+ LocationStatus = value ? 100 : 0,
+ EnableStatus = 0,
+ });
}
content.OK(data: list);
}
@@ -1332,6 +1342,6 @@
}
-
+
}
}
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/HKTaskExtend.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/HKTaskExtend.cs"
index 2c3ae55..7063598 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/HKTaskExtend.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/HKTaskExtend.cs"
@@ -24,7 +24,7 @@
{
foreach (var item in tasks)
{
- var content = SendHIKROBOTTask(item);
+ var content =_taskService.SendHIKROBOTTask(item);
}
}
#endregion
@@ -34,65 +34,8 @@
{
foreach (var item in tasks)
{
- var content = SendHIKROBOTTask(item);
+ var content = _taskService.SendHIKROBOTTask(item);
}
- }
- #endregion
-
- #region 涓嬪彂娴峰悍AGV浠诲姟
- public WebResponseContent SendHIKROBOTTask(Dt_Task task)
- {
- WebResponseContent content = new WebResponseContent();
- try
- {
- Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(HIKROBOTTaskSubmit)) ?? throw new Exception("鏈壘鍒版捣搴稟GV浠诲姟涓嬪彂鎺ュ彛閰嶇疆淇℃伅锛佽妫�鏌ユ帴鍙ｉ厤缃�");
-
- #region 浠诲姟淇℃伅杞崲
- HIKROBOTTaskSubmit hIKROBOTTaskSubmit = new HIKROBOTTaskSubmit()
- {
- taskType = "",
- initPriority = task.Grade,
- targetRoute = new List<TargetRouteDto>
- {
- new TargetRouteDto
- {
- type= "SITE",
- code=task.CurrentAddress,
- operation="COLLECT",//鍙栬揣
- },
- new TargetRouteDto
- {
- type= "SITE",
- code=task.NextAddress,
- operation="DELIVERY",//閫佽揣
- }
- }
- };
- #endregion
-
- string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskSubmit.Serialize());
- var hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
- if (hIKROBOTReturn.code == "SUCCESS")
- {
- var data = hIKROBOTReturn.data.ToString().DeserializeObject<HIKROBOTReturnData>();
- content.OK(data: data);
- //task.Remark = data.robotTaskCode;
- }
- else
- {
- throw new Exception(hIKROBOTReturn.message);
- }
- //_taskService.UpdateData(task);
- }
- catch (Exception ex)
- {
- content.Error(ex.Message);
- }
- finally
- {
-
- }
- return content;
}
#endregion
}
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskExtend.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskExtend.cs"
index 05caf76..ae2f390 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskExtend.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskExtend.cs"
@@ -38,7 +38,7 @@
#endregion
#region 鏌ユ壘娴峰悍AGV浠诲姟
- Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.Carry || x.TaskType == (int)TaskTypeEnum.CJCarry || x.TaskType == (int)TaskTypeEnum.CJInbound || x.TaskType == (int)TaskTypeEnum.CJOutbound).OrderByDescending(x => x.Grade).ToList();
+ Tasks = newTasks.Where(x => x.TaskType == (int)TaskTypeEnum.Carry || x.TaskType == (int)TaskTypeEnum.RK3F || x.TaskType == (int)TaskTypeEnum.CK3F || x.TaskType == (int)TaskTypeEnum.Q1TSJ4 || x.TaskType == (int)TaskTypeEnum.STU0003 || x.TaskType == (int)TaskTypeEnum.F02 || x.TaskType == (int)TaskTypeEnum.CHUKU1 || x.TaskType == (int)TaskTypeEnum.Q3RK || x.TaskType == (int)TaskTypeEnum.Q3CK).OrderByDescending(x => x.Grade).ToList();
if (Tasks.Count > 0) HIKROBOTTask(Tasks);
#endregion
}
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskJob.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskJob.cs"
index deaccf2..62f4f3c 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskJob.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/TaskJob.cs"
@@ -49,9 +49,9 @@
{
try
{
- //SendNewTask();
+ SendNewTask();
- //SendWaitToTask();
+ SendWaitToTask();
}
catch (Exception ex)
{
--
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