From 7e69830653c9be2d675c3fb4c5578ac1efa4b89c Mon Sep 17 00:00:00 2001
From: yanjinhui <3306209981@qq.com>
Date: 星期四, 09 四月 2026 08:58:33 +0800
Subject: [PATCH] 添加跨楼层的接口以及优化
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs | 53 ++++++++++++++++++++++++++++++++---------------------
1 files changed, 32 insertions(+), 21 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 d64c366..5f476de 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"
@@ -78,11 +78,18 @@
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.Q3RK|| task.TaskType == (int)TaskTypeEnum.Q3CK)
+ else if (task.TaskType == (int)TaskTypeEnum.Q3CK)
+ {
+ UpdateStandStatus(task, task.SourceAddress, LocationStatusEnum.Lock);
+ task.TaskState = (int)TaskStatusEnum.Takeing;
+ TaskFeedback(task, 1);
+ }
+ else if (task.TaskType == (int)TaskTypeEnum.Q3RK)
{
UpdateStandStatus(task, task.TargetAddress, LocationStatusEnum.Lock);
task.TaskState = (int)TaskStatusEnum.Takeing;
@@ -98,12 +105,14 @@
{
if (task.TaskType == (int)TaskTypeEnum.Q3RK|| task.TaskType == (int)TaskTypeEnum.Q3CK)
{
- UpdateStandStatus(task, task.TargetAddress, LocationStatusEnum.Free);
+ 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�
@@ -125,10 +134,11 @@
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";
@@ -139,6 +149,7 @@
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)
@@ -152,9 +163,10 @@
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
+ if ((task.TaskType == TaskTypeEnum.Q1TSJ4.ObjToInt() || task.TaskType == TaskTypeEnum.F03.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";
@@ -166,14 +178,15 @@
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()|| task.TaskType == TaskTypeEnum.Q3RK.ObjToInt())
{
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)
@@ -184,7 +197,7 @@
}
}
-
+ BaseDal.UpdateData(task);
}
}
break;
@@ -202,8 +215,8 @@
else
{
if (device.IsConnected)
- //鍐欎互涓�涓嚭搴撳畬鎴愪俊鍙�
- device.SetValue(HoistEnum.Outboundboxretrievalcompleted, 1, task.SourceAddress);
+ //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�";
}
@@ -213,15 +226,10 @@
break;
case "end"://浠诲姟瀹屾垚閫氱煡
{
- if (task.TaskType==(int)TaskTypeEnum.Move &&task.TaskState==(int)TaskStatusEnum.HKleavelift)
+ if (task.TaskType == (int)TaskTypeEnum.Q3RK || task.TaskType == (int)TaskTypeEnum.Q3CK|| task.TaskType == (int)TaskTypeEnum.MOVE)
{
task.TaskState = TaskStatusEnum.Finish.ObjToInt();
- TaskFeedback(task, 2);
- BaseDal.DeleteAndMoveIntoHty(task,OperateTypeEnum.鑷姩瀹屾垚);
- }
- else if (task.TaskType == (int)TaskTypeEnum.Q3RK || task.TaskType == (int)TaskTypeEnum.Q3CK)
- {
- task.TaskState = TaskStatusEnum.Finish.ObjToInt();
+ BaseDal.UpdateData(task);
TaskFeedback(task, 2);
BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
}
@@ -235,17 +243,19 @@
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)
+ if (task.TaskType==(int)TaskTypeEnum.Q3RK||task.TaskType==(int)TaskTypeEnum.MOVE)
{
task.TaskState = TaskStatusEnum.Hkintolift.ObjToInt();
+ BaseDal.UpdateData(task);
}
}
break;
case "leavelift": //绂诲紑鐢垫
{
- if (task.TaskType == (int)TaskTypeEnum.Q3RK)
+ if (task.TaskType == (int)TaskTypeEnum.Q3RK || task.TaskType == (int)TaskTypeEnum.MOVE)
{
task.TaskState = TaskStatusEnum.HKleavelift.ObjToInt();
+ BaseDal.UpdateData(task);
}
}
break;
@@ -639,6 +649,7 @@
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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