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
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/HKTaskMethods.cs | 240 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 225 insertions(+), 15 deletions(-)
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;
+ }
}
}
--
Gitblit v1.9.3