From 761260f2ac0aa211625c8904cc86fc2400a8adfc Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期三, 04 三月 2026 16:56:57 +0800
Subject: [PATCH] 1
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/HKTaskExtend.cs | 64 +++++++++++++++++++++++++++++---
1 files changed, 58 insertions(+), 6 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..2c3ae55 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"
@@ -5,7 +5,10 @@
using System.Text;
using System.Threading.Tasks;
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
@@ -13,25 +16,73 @@
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 = SendHIKROBOTTask(item);
+ }
+ }
+ #endregion
+
+ #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 = SendHIKROBOTTask(item);
}
}
#endregion
#region 涓嬪彂娴峰悍AGV浠诲姟
- public void SendHIKROBOTTask(Dt_Task task)
+ public WebResponseContent SendHIKROBOTTask(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;
+ 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)
{
@@ -41,6 +92,7 @@
{
}
+ return content;
}
#endregion
}
--
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