From 4d2b6fea8d08c95bd6bb2b8c2b1228383110457e Mon Sep 17 00:00:00 2001
From: yanjinhui <3306209981@qq.com>
Date: 星期四, 09 四月 2026 12:48:46 +0800
Subject: [PATCH] 1
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs | 128 ++++++++++++++++++++++++++++++++++++------
1 files changed, 108 insertions(+), 20 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs"
index 6241af5..ac17fd7 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs"
@@ -78,9 +78,16 @@
switch (hIKROBOT.extra.values.method)
{
case "start":
- if (task.TaskState==(int)TaskStatusEnum.CallingHKtransportation&& task.TaskType == (int)TaskTypeEnum.Move)
+ if (task.TaskState == (int)TaskStatusEnum.CallingHKtransportation && task.TaskType == (int)TaskTypeEnum.MOVE)
{
task.TaskState = (int)TaskStatusEnum.HktransportIng;
+ BaseDal.UpdateData(task);
+ }
+ else if (task.TaskType == (int)TaskTypeEnum.Q3CK|| task.TaskType == (int)TaskTypeEnum.Q3RK)
+ {
+ //UpdateStandStatus(task, task.SourceAddress, LocationStatusEnum.Lock);
+ task.TaskState = (int)TaskStatusEnum.Takeing;
+ TaskFeedback(task, 1);
}
else
{
@@ -90,8 +97,19 @@
break;
case "outbin"://绂诲紑璧风偣
{
+ if (task.TaskType == (int)TaskTypeEnum.Q3RK|| task.TaskType == (int)TaskTypeEnum.Q3CK)
+ {
+ UpdateStandStatus(task, task.SourceAddress, LocationStatusEnum.Free);
+ task.TaskState = TaskStatusEnum.TakeFinish.ObjToInt();
+ BaseDal.UpdateData(task);
+ TaskFeedback(task, 1);
+ }
+ else
+ {
+
+ TaskFromCompleted(task, deviceTypeEnum); //浠诲姟鐘朵綋鏀逛负3鍙栬揣瀹屾垚锛屾洿鏂拌捣鐐硅揣浣嶇姸鎬侊紝骞跺弽棣圵MS璧风偣瀹屾垚
+ }
///鍒ゆ柇浠诲姟鏄惁璺熻澶囨湁鍏�
- TaskFromCompleted(task, deviceTypeEnum); //浠诲姟鐘朵綋鏀逛负3鍙栬揣瀹屾垚锛屾洿鏂拌捣鐐硅揣浣嶇姸鎬侊紝骞跺弽棣圵MS璧风偣瀹屾垚
}
break;
case "finish"://绂诲紑鎻愬崌鏈�
@@ -104,16 +122,17 @@
if (device == null) task.ExceptionMessage = "鏈壘鍒版彁鍗囨満淇℃伅";
else
{
- DeviceProDTO? deviceProDTO = device.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == HoistEnum.Inboundboxon.ToString());
+ DeviceProDTO? deviceProDTO = device.DeviceProDTOs.FirstOrDefault((DeviceProDTO x) => x.DeviceProParamName == HoistEnum.Inboundboxon.ToString());//鏀惧埌浣嶄簡
if (device.IsConnected)
device.SetValue(HoistEnum.Inboundboxon, 1);
else
task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
}
+ BaseDal.UpdateData(task);
}
- //鍑烘彁鍗囨満
- else if (task.TaskType == TaskTypeEnum.CK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
+ //3 鍑烘彁鍗囨満 涔嬪墠鏄疉GV_ToExecute
+ else if (task.TaskType == TaskTypeEnum.CK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.TakeFinish)
{
var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
if (device == null) task.ExceptionMessage = "鏈壘鍒版彁鍗囨満淇℃伅";
@@ -124,9 +143,10 @@
else
task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
}
+ BaseDal.UpdateData(task);
}
- //鍥涙ゼ 鍑哄簱
- else if ((task.TaskType == TaskTypeEnum.CHUKU1.ObjToInt() || task.TaskType == TaskTypeEnum.F04.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
+ //鍥涙ゼ 鍑哄簱
+ else if ((task.TaskType == TaskTypeEnum.CHUKU1.ObjToInt() || task.TaskType == TaskTypeEnum.F04.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
{
var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
if (device == null) task.ExceptionMessage = "鏈壘鍒版彁鍗囨満淇℃伅";
@@ -137,9 +157,10 @@
else
task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
}
+ BaseDal.UpdateData(task);
}
- //鍥涙ゼ 鍏ュ簱
- else if ((task.TaskType == TaskTypeEnum.Q1TSJ4.ObjToInt() || task.TaskType == TaskTypeEnum.F03.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
+ // //鍥涙ゼ鍑烘彁鍗囨満 鍏ュ簱 涔嬪墠鏄疉GV_ToExecute //瑕佸啓鎴愬彇璐у畬鎴愮姸鎬乀akeFinish
+ if ((task.TaskType == TaskTypeEnum.Q1TSJ4.ObjToInt() || task.TaskType == TaskTypeEnum.F03.ObjToInt()) && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
{
var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
if (device == null) task.ExceptionMessage = "鏈壘鍒版彁鍗囨満淇℃伅";
@@ -151,19 +172,26 @@
else
task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
}
+ BaseDal.UpdateData(task);
}
- else if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() || task.TaskType == TaskTypeEnum.Q3CK.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
+ //璺ㄦゼ灞�
+ else if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() || task.TaskType == TaskTypeEnum.Q3CK.ObjToInt() && task.TaskState == (int)TaskStatusEnum.TakeFinish)
{
- if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt())
+ if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt()|| task.TaskType == TaskTypeEnum.Q3RK.ObjToInt())
{
- //濡傛灉鏄叚妤煎埌涓�妤煎氨鍐欎竴涓俊鍙风粰1妤紁lc鍛婅瘔浠栨垜鏉ュ叆搴撲簡
+ var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "F1") as OtherDevice;
+ if (device == null) task.ExceptionMessage = "鏈壘鍒拌川妫�闂ㄤ俊鎭�";
+ else
+ {
+ if (device.IsConnected)
+ //鍐欎互涓�涓嚭搴撳畬鎴愪俊鍙�
+ device.SetValue(QualityInspectionCommandEnum.RequestToEnter, false, task.TargetAddress);
+ else
+ task.ExceptionMessage = "璐ㄦ闂ㄤ俊鎭澶囪繛鎺ュけ璐�";
+ }
}
- else
- {
- //杩欎釜灏卞啓涓�涓浣嶇姸鎬侊紝鍛婅瘔瀹冩垜鍑哄簱浜�
-
- }
+ BaseDal.UpdateData(task);
}
}
break;
@@ -175,22 +203,53 @@
break;
case "wait"://鎵爜绛夊緟
{
+ //瑕佸厛寮�鍚壂鐮佷俊鍙�
+ var device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ") as OtherDevice;
+ if (device == null) task.ExceptionMessage = "鏈壘鍒版彁鍗囨満淇℃伅";
+ else
+ {
+ if (device.IsConnected)
+ //鎵撳紑鎵爜鍣�
+ device.SetValue<HoistEnum, short>(HoistEnum.Codereadingtriggered, 1);
+ else
+ task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
+ }
task.TaskState = (int)TaskStatusEnum.CheckPalletCodeing;
BaseDal.UpdateData(task);
}
break;
case "end"://浠诲姟瀹屾垚閫氱煡
{
- if (task.TaskType==(int)TaskTypeEnum.Move &&task.TaskState==(int)TaskStatusEnum.HkTransportCompleted)
+ if (task.TaskType == (int)TaskTypeEnum.Q3RK || task.TaskType == (int)TaskTypeEnum.Q3CK|| task.TaskType == (int)TaskTypeEnum.MOVE)
{
task.TaskState = TaskStatusEnum.Finish.ObjToInt();
+ BaseDal.UpdateData(task);
TaskFeedback(task, 2);
- BaseDal.DeleteAndMoveIntoHty(task,OperateTypeEnum.鑷姩瀹屾垚);
+ BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
}
else
{
///鍒ゆ柇浠诲姟鏄惁璺熻澶囨湁鍏�
TaskCompleted(task, deviceTypeEnum);
+ }
+ }
+ break;
+ case "intolift": //杩涘叆鐢垫
+ {
+ //鍏ゼ鍒颁竴妤肩殑鍏ュ簱浠诲姟
+ if (task.TaskType==(int)TaskTypeEnum.Q3RK||task.TaskType==(int)TaskTypeEnum.MOVE||task.TaskType==(int)TaskTypeEnum.F01)
+ {
+ task.TaskState = TaskStatusEnum.Hkintolift.ObjToInt();
+ BaseDal.UpdateData(task);
+ }
+ }
+ break;
+ case "leavelift": //绂诲紑鐢垫
+ {
+ if (task.TaskType == (int)TaskTypeEnum.Q3RK || task.TaskType == (int)TaskTypeEnum.MOVE || task.TaskType == (int)TaskTypeEnum.F01)
+ {
+ task.TaskState = TaskStatusEnum.HKleavelift.ObjToInt();
+ BaseDal.UpdateData(task);
}
}
break;
@@ -491,6 +550,34 @@
}
#endregion
+ #region 鏇存柊涓�妤肩珯鍙扮姸鎬�
+ public WebResponseContent UpdateStandStatus(Dt_Task task,string stationCode,LocationStatusEnum locationStatusEnum)
+ {
+ try
+ {
+ Dt_StationManger? stationManger = _stationMangerService.Repository.QueryFirst(x => x.StationCode == task.TargetAddress);
+ //stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
+ if (stationManger != null)
+ {
+ if (locationStatusEnum == LocationStatusEnum.Free) //濡傛灉璧风偣瀹屾垚灏辩粰璐т綅璧嬪�兼墭鐩樺彿
+ {
+ stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
+ }
+ else
+ {
+ stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
+ }
+ _stationMangerService.UpdateData(stationManger);
+ }
+ return WebResponseContent.Instance.OK();
+ }
+ catch (Exception ex)
+ {
+ throw new Exception(ex.Message);
+ }
+ }
+ #endregion
+
#region 涓婃姤WMS
public WebResponseContent TaskFeedback(Dt_Task dt_Task, int Status)
{
@@ -509,7 +596,7 @@
boundCompleteFeedback.toLocationCode = dt_Task.TargetAddress;
boundCompleteFeedback.status = Status;
boundCompleteFeedback.custStatus = "";
- string response = HttpHelper.Post(apiInfo.ApiAddress, boundCompleteFeedback.Serialize());
+ string response = HttpHelper.Post(apiInfo.ApiAddress,boundCompleteFeedback.Serialize());
agvContent = response.DeserializeObject<WMSReturn>();
content.OK(data: agvContent);
if (agvContent.code != 200)
@@ -556,6 +643,7 @@
string response = HttpHelper.Post(apiInfo.ApiAddress, boundCompleteFeedback.Serialize());
agvContent = response.DeserializeObject<WMSReturn>();
content.OK(data: agvContent);
+ content.Message = dt_Task.ExceptionMessage;
if (agvContent.code != 200)
{
dt_Task.ExceptionMessage = agvContent.message;
--
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