From 4a574cd38860e7260f9349f9770c87d27dfdeeaf Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期三, 01 四月 2026 20:59:27 +0800
Subject: [PATCH] 1
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/HKTaskExtend.cs | 128 +++++++++++++++++++++++++++++++++++++++---
1 files changed, 118 insertions(+), 10 deletions(-)
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 f3da0ab..0dbd942 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"
@@ -4,8 +4,13 @@
using System.Reflection.Metadata;
using System.Text;
using System.Threading.Tasks;
+using WIDESEAWCS_Common;
+using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
+using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_DTO;
using WIDESEAWCS_DTO.AGV.HIKROBOT;
+using WIDESEAWCS_DTO.RGV.FOURBOT;
using WIDESEAWCS_Model.Models;
namespace WIDESEAWCS_Tasks
@@ -13,33 +18,136 @@
public partial class TaskJob
{
#region 澶勭悊娴峰悍AGV浠诲姟
+ /// <summary>
+ /// 澶勭悊娴峰悍涓嶅悓绫诲瀷鐨勪换鍔★紝杩涜涓嶅悓鐨勪笟鍔￠�昏緫澶勭悊锛堥厤濂椾换鍔�:淇敼骞冲簱璐т綅淇℃伅/鎹㈠眰浠诲姟璁板綍灏忚溅淇℃伅(灏忚溅浣嶇疆灞�)锛涘嚭鍏ュ簱浠诲姟澶勭悊搴撲綅淇℃伅锛�
+ /// </summary>
+ /// <param name="tasks"></param>
public void HIKROBOTTask(List<Dt_Task> tasks)
{
foreach (var item in tasks)
{
- SendHIKROBOTTask(item);
+ var content = _taskService.SendHIKROBOTTask(item);
}
}
#endregion
- #region 涓嬪彂娴峰悍AGV浠诲姟
- public void SendHIKROBOTTask(Dt_Task task)
+ #region 澶勭悊娴峰悍寰呯户缁墽琛屼换鍔�
+ public void SendAGVWaitToExecuteTask(List<Dt_Task> tasks)
+ {
+ foreach (var item in tasks)
+ {
+ var content = _taskService.SendHIKROBOTTask(item);
+ }
+
+ }
+ #endregion
+
+ #region 涓嬪彂娴峰悍1-6妤肩殑AGV浠诲姟
+ public void SendAGVTask(List<Dt_Task> tasks)
+ {
+ foreach (var item in tasks)
+ {
+ if (item.TaskState == (int)TaskTypeEnum.Q3CK)
+ {
+ // 璋冪敤鎺ュ彛鑾峰彇灏忚溅淇℃伅
+ var result = _agvcartInfoService.CheckTheCar();
+
+ // 鍒ゆ柇鏄惁鏈� AA 鎴� FF
+ bool hasAAOrFF = false;
+
+ if (item.TaskState == (int)TaskTypeEnum.Q3CK)
+ {
+ if (result != null && result.Status)
+ {
+ var dataList = result.Data as List<HIKROBOTQueryData>;
+ if (dataList != null && dataList.Any())
+ {
+ // 妫�鏌ヨ繑鍥炵殑 mapCode 鍒楄〃涓槸鍚︽湁 AA
+ hasAAOrFF = dataList.Any(d => d.mapCode == "AA");
+ if (hasAAOrFF)
+ {
+ var content = _taskService.SendHIKROBOTTask(item);
+ item.TaskState = (int)TaskStatusEnum.Execut;
+ }
+ else//杩欓噷鎴戝氨瑕佸懠鍙┖杞︽潵
+ {
+ //娣诲姞绌鸿溅杩愯緭浠诲姟
+ AddAGVCartInfo(item);
+ item.TaskState = (int)TaskStatusEnum.WaitingHkAGVMovePosition;
+ }
+ }
+
+ }
+ }
+ else
+ {
+ if (result != null && result.Status)
+ {
+ if (hasAAOrFF)
+ {
+ var content = _taskService.SendHIKROBOTTask(item);
+ item.TaskState = (int)TaskStatusEnum.Execut;
+ }
+ else//杩欓噷鎴戝氨瑕佸懠鍙┖杞︽潵
+ {
+ //娣诲姞绌鸿溅杩愯緭浠诲姟
+ AddAGVCartInfo(item);
+ item.TaskState = (int)TaskStatusEnum.WaitingHkAGVMovePosition;
+ }
+ }
+ }
+ }
+ }
+ _taskService.UpdateData(tasks);
+ }
+ #endregion
+
+
+ #region 澶勭悊娴峰悍agv鎼繍浠诲姟
+ public WebResponseContent AddAGVCartInfo(Dt_Task task)
{
WebResponseContent content = new WebResponseContent();
- HIKROBOTTaskSubmit hIKROBOTTaskSubmit = new HIKROBOTTaskSubmit();
try
{
- hIKROBOTTaskSubmit.taskType = "";
- hIKROBOTTaskSubmit.targetRoute = new List<TargetRouteDto> { new TargetRouteDto() };
- hIKROBOTTaskSubmit.initPriority = task.Grade;
+ task.TaskNum = _taskService.GetTaskNum(nameof(SequenceEnum.SeqTaskNum));
+ task.WMSTaskNum = null;
+ task.TaskType = (int)TaskTypeEnum.Move;//鎹㈠眰浠诲姟
+ task.TaskState = (int)TaskStatusEnum.CallingHKtransportation;
+ var result = _taskService.SendHIKROBOTTask(task);
+ _taskService.AddData(task);
}
catch (Exception ex)
{
- content.Error(ex.Message);
+ content.Error($"鍒涘缓澶辫触锛歿ex.Message}");
}
- finally
- {
+ return content;
+ }
+ #endregion
+ #region 澶勭悊agv寰呯┖杞︽惉杩愪换鍔�
+ public void SendHKWaitTask()
+ {
+ try
+ {
+ List<Dt_Task> reslut = _taskService.Repository.QueryData(x => x.TaskType == (int)TaskTypeEnum.Move);
+ if (reslut.Count<0)
+ {
+ foreach (var item in reslut)
+ {
+ var content = _taskService.SendHIKROBOTTask(item);
+ }
+ reslut.ForEach(x =>
+ {
+ x.TaskState =(int)TaskStatusEnum.Execut;
+ });
+
+ }
+ _taskService.UpdateData(reslut);
+
+ }
+ catch (Exception ex)
+ {
+ WriteError(nameof(TaskJob), ex.Message, ex);
}
}
#endregion
--
Gitblit v1.9.3