From 28a788d3fca51fb4fd2f668b90fa95e87c2633a1 Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期四, 16 四月 2026 19:07:58 +0800
Subject: [PATCH] Merge branch 'master' of http://115.159.85.185:8098/r/RuiShengZhiNeng/GaoPuLiTiKu
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/HKTaskMethods.cs | 127 ++++++++++++++++++++++++++++++++++-------
1 files changed, 104 insertions(+), 23 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 b87085b..606617e 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"
@@ -14,6 +14,7 @@
using WIDESEAWCS_DTO.AGV.HIKROBOT;
using System.Diagnostics.CodeAnalysis;
using System.Reflection.PortableExecutable;
+using WIDESEAWCS_QuartzJob;
namespace WIDESEAWCS_TaskInfoService
{
@@ -33,6 +34,10 @@
try
{
Dt_HKLocationInfo? hKLocationInfo = null;
+ if (taskType==(int)TaskTypeEnum.STURR)
+ {
+ var reslut=_stationInfo.Repository.QueryFirst(x=>x.StationCode==taskDTO.fromLocationCode) ?? throw new Exception($"鏈壘鍒拌捣鐐硅揣浣嶃�恵taskDTO.fromLocationCode}銆�");
+ }
#region 鐐瑰埌鐐�
if (!string.IsNullOrEmpty(taskDTO.toLocationCode))
{
@@ -43,6 +48,23 @@
//鑾峰彇璐т綅淇℃伅
else
hKLocationInfo = _hKLocationInfoService.GetFreeLocationInfo(taskDTO.toAreaCode) ?? throw new Exception($"鏈壘鍒扮粓鐐瑰簱鍖恒�恵taskDTO.toAreaCode}銆戝彲鐢ㄧ┖璐т綅锛�");
+ if (taskType == (int)TaskTypeEnum.Q1TSJ4)
+ {
+ var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
+ if (device.IsConnected)
+ {
+ var reslu = device.GetValue<HoistEnum, string>(HoistEnum.Emptycontainernumber);
+ var result = reslu?.TrimEnd('\0')?.Substring(2);
+ if (reslu == taskDTO.containerCode && result != null)
+ {
+ throw new Exception($"褰撳墠鐨勬枡绠卞彿涓簕reslu}涓巤taskDTO.containerCode}鏂欑鍙蜂笉鍖归厤");
+ }
+ }
+ else
+ {
+ throw new Exception("鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�");
+ }
+ }
Dt_Task dt_Task = new Dt_Task()
{
TaskNum = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
@@ -108,10 +130,20 @@
WebResponseContent content = new WebResponseContent();
try
{
+ //4妤煎簱鍐呭埌鎻愬崌鏈�
Dt_HKLocationInfo? hKLocationInfo = _hKLocationInfoService.Repository.QueryFirst(x => x.LocationCode == taskDTO.fromLocationCode) ?? throw new Exception($"鏈壘鍒拌捣鐐瑰簱浣嶃�恵taskDTO.fromLocationCode}銆戯紒");
if (hKLocationInfo.LocationStatus != LocationStatusEnum.InStock.ObjToInt()) throw new Exception($"璧风偣搴撲綅銆恵taskDTO.fromLocationCode}銆戝綋鍓嶅簱浣嶇姸鎬佷笉鍙嚭搴擄紒");
if (hKLocationInfo.PalletCode != taskDTO.containerCode) throw new Exception($"璧风偣搴撲綅銆恵taskDTO.fromLocationCode}銆戠粦瀹氭枡绠卞彿銆恵hKLocationInfo.PalletCode}銆戜笌浠诲姟鏂欑鍙枫�恵taskDTO.containerCode}銆戜笉鍖归厤锛�");
- Dt_Task dt_Task = new Dt_Task()
+ //搴撳唴鍒扮幇杈圭殑鐐瑰埌鐐逛换鍔★紝鏄惁闇�瑕佸垽鏂揣浣嶇姸鎬侊紵
+ if (taskType == (int)TaskTypeEnum.STU0003)
+ {
+ var reslut = _stationInfo.Repository.QueryFirst(x => x.StationCode == taskDTO.toLocationCode) ?? throw new Exception($"鏈壘鍒扮粓鐐硅揣浣嶃�恵taskDTO.toLocationCode}銆�");
+ if (reslut.StationStatus != (int)LocationStatusEnum.Free)
+ {
+ throw new Exception($"缁堢偣绔欏彴銆恵taskDTO.toLocationCode}銆戠姸鎬佷笉涓虹┖闂诧紒");
+ }
+ }
+ Dt_Task dt_Task = new Dt_Task()
{
TaskNum = GetTaskNum(nameof(SequenceEnum.SeqTaskNum)),
WMSTaskNum = taskDTO.taskCode,
@@ -181,7 +213,7 @@
// 鍒涘缓Headers瀛楀吀
var headers = new Dictionary<string, string>
{
- { "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString() }
+ { "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString()+task.TaskNum }
// 濡傛灉闇�瑕佸叾浠朒eader锛屽彲浠ョ户缁坊鍔�
// { "Content-Type", "application/json" }
};
@@ -221,18 +253,29 @@
HIKROBOTTaskSubmit hIKROBOTTaskSubmit = new HIKROBOTTaskSubmit();
try
{
- var tasktype = (TaskTypeEnum)Enum.GetValues(typeof(TaskTypeEnum)).GetValue(task.TaskType-1);
-
+ var tasktype = (TaskTypeEnum)Enum.GetValues(typeof(TaskTypeEnum)).GetValue(task.TaskType - 1);
hIKROBOTTaskSubmit.initPriority = task.Grade;
- hIKROBOTTaskSubmit.robotTaskCode = task.WMSTaskNum;
- hIKROBOTTaskSubmit.taskType = tasktype.ToString(); ExtraDto extraDto = new ExtraDto();
- CarrierInfoDto carrierInfoDto = new CarrierInfoDto()
+ if (task.PalletCode== "MR-Q3-600LE-D(M)")
{
- carrierCode = task.PalletCode,
- carrierType = task.PalletCode.Contains("LXM") ? "DX" : "SX"
- };
- extraDto.carrierInfo.Add(carrierInfoDto);
- hIKROBOTTaskSubmit.extra = extraDto;
+ hIKROBOTTaskSubmit.robotType = "19"; //娴峰悍 杞繍杞�
+ }
+ else if (task.PalletCode == "MR-Q3-600LE-D(M)(YWGP)")
+ {
+ hIKROBOTTaskSubmit.robotType = "20"; //娴峰悍 绌烘墭鐩樿溅锛屼竴妤煎埌鍏ゼ锛�6妤煎埌涓�妤�
+ }
+ hIKROBOTTaskSubmit.taskType = tasktype.ToString();
+ ExtraDto extraDto = new ExtraDto();
+ hIKROBOTTaskSubmit.robotTaskCode = task.WMSTaskNum;
+ if (task.TaskType != (int)TaskTypeEnum.MOVE && task.TaskType != (int)TaskTypeEnum.Q3RK && task.TaskType != (int)TaskTypeEnum.Q3CK && task.TaskType != (int)TaskTypeEnum.F01)
+ {
+ 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:
@@ -240,11 +283,11 @@
case TaskTypeEnum.MLInbound:
case TaskTypeEnum.MLOutbound:
break;
- case TaskTypeEnum.F01:
- break;
case TaskTypeEnum.RK3F:
case TaskTypeEnum.CK3F:
case TaskTypeEnum.F02:
+ case TaskTypeEnum.F03:
+ case TaskTypeEnum.F04:
{
TargetRouteDto target = new TargetRouteDto()
{
@@ -264,6 +307,7 @@
hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
}
break;
+ case TaskTypeEnum.STURR:
case TaskTypeEnum.Q1TSJ4:
{
TargetRouteDto target = new TargetRouteDto()
@@ -306,10 +350,47 @@
}
break;
case TaskTypeEnum.Q3RK:
- break;
case TaskTypeEnum.Q3CK:
+ case TaskTypeEnum.MOVE:
+ case TaskTypeEnum.F01:
+ {
+ 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.Move:
+ case TaskTypeEnum.STUPTBY:
+ {
+ 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 = "STORAGE",
+ };
+ hIKROBOTTaskSubmit.targetRoute.Add(target);
+ hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
+ }
break;
case TaskTypeEnum.CPMoveInventory:
break;
@@ -330,11 +411,11 @@
/// </summary>
/// <param name="TaskCode">浠诲姟鍙�</param>
/// <returns></returns>
- public WebResponseContent Hikvisiontaskscontinue(string TaskCode,string Address=null)
+ public WebResponseContent Hikvisiontaskscontinue(string TaskCode, string Address = null)
{
WebResponseContent content = new WebResponseContent();
HIKROBOTReturn hIKROBOTReturn = null;
- HIKROBOTTaskContinue hIKROBOTTaskContinue =null;
+ HIKROBOTTaskContinue hIKROBOTTaskContinue = null;
try
{
// 1. 鍙傛暟楠岃瘉
@@ -346,8 +427,8 @@
hIKROBOTTaskContinue = new HIKROBOTTaskContinue()
{
triggerCode = TaskCode,
- triggerType="TASK",//鍥哄畾鍊�
- targetRoute=string.IsNullOrEmpty(Address)?null:
+ triggerType = "TASK",//鍥哄畾鍊�
+ targetRoute = string.IsNullOrEmpty(Address) ? null :
new TargetRouteDto()
{
code = Address,
@@ -356,11 +437,11 @@
};
var headers = new Dictionary<string, string>
{
- { "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString() }
+ { "X-lr-request-id", DateTimeOffset.Now.ToUnixTimeSeconds().ToString()+TaskCode }
};
- string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskContinue.Serialize(),headers: headers);
+ string response = HttpHelper.Post(apiInfo.ApiAddress, hIKROBOTTaskContinue.Serialize(), headers: headers);
hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
-
+
if (hIKROBOTReturn.code == "SUCCESS")
{
var data = hIKROBOTReturn.data.ToString().DeserializeObject<HIKROBOTReturnData>();
--
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