From 952a65217562bf2441dd57d02fbd35bab169cf42 Mon Sep 17 00:00:00 2001
From: yanjinhui <3306209981@qq.com>
Date: 星期四, 02 四月 2026 15:08:59 +0800
Subject: [PATCH] 优化
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/RgvCommand.cs | 13 ++
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskStatusEnum.cs | 14 ++
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/CancelHIKROBOTTask.cs | 48 ++++----
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/TestJob.cs | 33 +++--
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs | 105 +++++++++++++++-
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs | 5
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/TSJJob.cs | 62 ++++++---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs | 4
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs | 8
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/HoistEnum.cs | 14 ++
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/BasicInfo/Dt_HKLocationInfo.cs | 2
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/HKTaskMethods.cs | 1
12 files changed, 233 insertions(+), 76 deletions(-)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/HoistEnum.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/HoistEnum.cs"
index 453d944..569e695 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/HoistEnum.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/HoistEnum.cs"
@@ -74,5 +74,19 @@
/// 4妤煎嚭搴撳彇绠卞畬鎴�
/// </summary>
Outboundboxretrievalcompleted,
+
+
+ /// <summary>
+ /// 3妤煎叆搴撴壂鐮佸畬鎴愪俊鍙�
+ /// </summary>
+ RInScanningCompletionSignal,
+
+
+ /// <summary>
+ /// 4妤煎嚭搴撴壂鐮佸畬鎴愪俊鍙�
+ /// </summary>
+ ROutScanningCompletionSignal
+
+
}
}
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/RgvCommand.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/RgvCommand.cs"
index 7e511ae..7f2c97b 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/RgvCommand.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/RgvCommand.cs"
@@ -64,6 +64,19 @@
/// </summary>
R_Spare,
+
+ /// <summary>
+ /// 璇锋眰杩涘叆
+ /// </summary>
+ RequestToEnter,
+
+
+ /// <summary>
+ /// 灞忚斀涓�
+ /// </summary>
+ Blocking
+
+
}
}
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskStatusEnum.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskStatusEnum.cs"
index e30139c..e79e78a 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskStatusEnum.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskStatusEnum.cs"
@@ -148,6 +148,20 @@
[Description("娴峰悍AGV鎼繍瀹屾垚")]
HkTransportCompleted,
+
+ /// <summary>
+ /// 娴峰悍AGV杩涘叆鐢垫 23
+ /// </summary>
+ [Description("娴峰悍AGV杩涘叆鐢垫")]
+ Hkintolift,
+
+
+ /// <summary>
+ /// 娴峰悍AGV绂诲紑鐢垫 24
+ /// </summary>
+ [Description("娴峰悍AGV绂诲紑鐢垫")]
+ HKleavelift,
+
#endregion
#region 鍥涘悜杞﹀叾浠栦换鍔＄姸鎬�
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs"
index 07b4798..e228198 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs"
@@ -102,6 +102,11 @@
/// </summary>
[Description("鎻愬崌鏈哄埌绾胯竟")]
F03,
+ /// <summary>
+ /// 绾胯竟鍒板簱鍐�
+ /// </summary>
+ [Description("绾胯竟鍒板簱鍐�")]
+ STURR
}
public enum TaskInboundTypeEnum
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/CancelHIKROBOTTask.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/CancelHIKROBOTTask.cs"
index ed908fe..8de75a3 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/CancelHIKROBOTTask.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/AGV/HIKROBOT/CancelHIKROBOTTask.cs"
@@ -23,34 +23,34 @@
/// </summary>
public string cancelType { get; set; }
- /// <summary>
- /// 鍥炲簱鐨勮浇鍏风紪鍙�
- /// </summary>
- public string carrierCode { get; set; }
+ ///// <summary>
+ ///// 鍥炲簱鐨勮浇鍏风紪鍙�
+ ///// </summary>
+ //public string carrierCode { get; set; }
- /// <summary>
- /// 鏈哄櫒浜虹紪鍙�
- /// </summary>
- public string robotCode { get; set; }
+ ///// <summary>
+ ///// 鏈哄櫒浜虹紪鍙�
+ ///// </summary>
+ //public string robotCode { get; set; }
- /// <summary>
- /// 鍙栨秷鍘熷洜
- /// </summary>
- public string reason { get; set; }
+ ///// <summary>
+ ///// 鍙栨秷鍘熷洜
+ ///// </summary>
+ //public string reason { get; set; }
- /// <summary>
- /// 杞彇娑堢殑鍥炲簱浠诲姟绫诲瀷
- /// </summary>
- public string returnTaskType { get; set; }
+ ///// <summary>
+ ///// 杞彇娑堢殑鍥炲簱浠诲姟绫诲瀷
+ ///// </summary>
+ //public string returnTaskType { get; set; }
- /// <summary>
- /// 鍥炲簱鐩爣璺緞
- /// </summary>
- public List<TargetRouteDto> targetRoute { get; set; } = new List<TargetRouteDto>();
+ ///// <summary>
+ ///// 鍥炲簱鐩爣璺緞
+ ///// </summary>
+ //public List<TargetRouteDto> targetRoute { get; set; } = new List<TargetRouteDto>();
- /// <summary>
- /// 鑷畾涔夋墿灞曞瓧娈�
- /// </summary>
- public object extra { get; set; }
+ ///// <summary>
+ ///// 鑷畾涔夋墿灞曞瓧娈�
+ ///// </summary>
+ //public object extra { get; set; }
}
}
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/BasicInfo/Dt_HKLocationInfo.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/BasicInfo/Dt_HKLocationInfo.cs"
index b324011..9e22227 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/BasicInfo/Dt_HKLocationInfo.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/BasicInfo/Dt_HKLocationInfo.cs"
@@ -75,7 +75,7 @@
public int Depth { get; set; }
/// <summary>
- /// 璐т綅绫诲瀷
+ /// 璐т綅绫诲瀷 1澶� 3灏�
/// </summary>
[SugarColumn(IsNullable = true, ColumnDescription = "璐т綅绫诲瀷")]
public int LocationType { get; set; }
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 6aec781..b5d3eb1 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"
@@ -266,6 +266,7 @@
hIKROBOTTaskSubmit.targetRoute.Add(targetRoute);
}
break;
+ case TaskTypeEnum.STURR:
case TaskTypeEnum.Q1TSJ4:
{
TargetRouteDto target = new TargetRouteDto()
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..d64c366 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"
@@ -82,6 +82,12 @@
{
task.TaskState = (int)TaskStatusEnum.HktransportIng;
}
+ else if (task.TaskType == (int)TaskTypeEnum.Q3RK|| task.TaskType == (int)TaskTypeEnum.Q3CK)
+ {
+ UpdateStandStatus(task, task.TargetAddress, LocationStatusEnum.Lock);
+ task.TaskState = (int)TaskStatusEnum.Takeing;
+ TaskFeedback(task, 1);
+ }
else
{
task.TaskState = (int)TaskStatusEnum.Takeing;
@@ -90,8 +96,17 @@
break;
case "outbin"://绂诲紑璧风偣
{
+ if (task.TaskType == (int)TaskTypeEnum.Q3RK|| task.TaskType == (int)TaskTypeEnum.Q3CK)
+ {
+ UpdateStandStatus(task, task.TargetAddress, LocationStatusEnum.Free);
+ task.TaskState = TaskStatusEnum.TakeFinish.ObjToInt();
+ 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�
@@ -104,7 +119,7 @@
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
@@ -154,16 +169,22 @@
}
else if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() || task.TaskType == TaskTypeEnum.Q3CK.ObjToInt() && task.TaskState == (int)TaskStatusEnum.AGV_ToExecute)
{
- 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�
-
- }
+
}
}
break;
@@ -175,22 +196,56 @@
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)
+ //鍐欎互涓�涓嚭搴撳畬鎴愪俊鍙�
+ device.SetValue(HoistEnum.Outboundboxretrievalcompleted, 1, task.SourceAddress);
+ 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.Move &&task.TaskState==(int)TaskStatusEnum.HKleavelift)
{
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();
+ TaskFeedback(task, 2);
+ 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.TaskState = TaskStatusEnum.Hkintolift.ObjToInt();
+ }
+ }
+ break;
+ case "leavelift": //绂诲紑鐢垫
+ {
+ if (task.TaskType == (int)TaskTypeEnum.Q3RK)
+ {
+ task.TaskState = TaskStatusEnum.HKleavelift.ObjToInt();
}
}
break;
@@ -491,6 +546,34 @@
}
#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 +592,7 @@
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)
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
index e51a226..7557685 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs"
@@ -168,6 +168,7 @@
break;
#endregion
#region 娴峰悍AGV
+ case(int)TaskTypeEnum.STURR:
case (int)TaskTypeEnum.Q1TSJ4:
content = CreateHKNewInTask(task, item.taskType);
objects.Add(content.Data);
@@ -183,6 +184,7 @@
content = CarryTask(task, item.taskType);
objects.Add(content.Data);
break;
+ case (int)TaskTypeEnum.F04:
case (int)TaskTypeEnum.F02:
case (int)TaskTypeEnum.RK3F:
case (int)TaskTypeEnum.CK3F:
@@ -237,7 +239,7 @@
//鍥涘悜杞�
bool isAGV = dt_Task.TaskType == (int)TaskTypeEnum.CPInbound || dt_Task.TaskType == (int)TaskTypeEnum.CPOutbound;
//娴峰悍
- bool isHK = dt_Task.TaskType == (int)TaskTypeEnum.F01 || dt_Task.TaskType == (int)TaskTypeEnum.RK3F || dt_Task.TaskType == (int)TaskTypeEnum.CK3F || dt_Task.TaskType == (int)TaskTypeEnum.Q1TSJ4 || dt_Task.TaskType == (int)TaskTypeEnum.STU0003 || dt_Task.TaskType == (int)TaskTypeEnum.F02 || dt_Task.TaskType == (int)TaskTypeEnum.CHUKU1 || dt_Task.TaskType == (int)TaskTypeEnum.Q3RK || dt_Task.TaskType == (int)TaskTypeEnum.Q3CK;
+ bool isHK = dt_Task.TaskType == (int)TaskTypeEnum.F01 || dt_Task.TaskType == (int)TaskTypeEnum.RK3F || dt_Task.TaskType == (int)TaskTypeEnum.CK3F || dt_Task.TaskType == (int)TaskTypeEnum.Q1TSJ4 || dt_Task.TaskType == (int)TaskTypeEnum.STU0003 || dt_Task.TaskType == (int)TaskTypeEnum.F02 || dt_Task.TaskType == (int)TaskTypeEnum.CHUKU1 || dt_Task.TaskType == (int)TaskTypeEnum.Q3RK || dt_Task.TaskType == (int)TaskTypeEnum.Q3CK||dt_Task.TaskType==(int)TaskTypeEnum.STURR;
//杩欓噷灏嗙姸鎬佹敼鍙樹簡198鍙栨秷浠诲姟
dt_Task.TaskType = TaskStatusEnum.WMSCancel.ObjToInt();
#region 鍑箰澹�
@@ -316,7 +318,7 @@
cancelHIKROBOTTask = new CancelHIKROBOTTask
{
robotTaskCode = dt_Task.WMSTaskNum,
- cancelType = "CANCEL"//鍘熻蒋鍙栨秷锛孌ROP浜哄伐浠嬪叆锛堝師纭彇娑堬級
+ cancelType = "DROP"//鍘熻蒋鍙栨秷锛孌ROP浜哄伐浠嬪叆锛堝師纭彇娑堬級
};
var headers = new Dictionary<string, string>
{
@@ -325,7 +327,7 @@
Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(CancelHIKROBOTTask));
if (apiInfo == null) throw new Exception("鏈壘鍒板洓鍚戣溅AGV浠诲姟涓嬪彂鎺ュ彛閰嶇疆淇℃伅锛佽妫�鏌ユ帴鍙ｉ厤缃�");
- string response = HttpHelper.Post(apiInfo.ApiAddress, cancelHIKROBOTTask.Serialize(),headers:headers);
+ string response = HttpHelper.Post(apiInfo.ApiAddress, cancelHIKROBOTTask.Serialize(),headers: headers);
HIKROBOTReturn hIKROBOTReturn = response.DeserializeObject<HIKROBOTReturn>();
content.OK(data: hIKROBOTReturn);
if (hIKROBOTReturn.code == "SUCCESS" && hIKROBOTReturn.message == "鎴愬姛")
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/TSJJob.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/TSJJob.cs"
index d5f3a6b..b2ae635 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/TSJJob.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/TSJJob.cs"
@@ -30,7 +30,7 @@
{
[DisallowConcurrentExecution]
public class TSJJob : JobBase, IJob
- {
+ {
private readonly ITaskService _taskService;
private readonly IStationMangerService _stationMangerService;
public TSJJob(ITaskService taskService, IStationMangerService stationMangerService)
@@ -146,6 +146,15 @@
}
continue;
}
+ if (device.GetValue<HoistEnum, short>(HoistEnum.ROutScanningCompletionSignal, task.SourceAddress) != 1)
+ {
+ if (task.ExceptionMessage != "4妤兼彁鍗囨満鍑哄彛鎵爜瀹屾垚淇″彿娌℃湁瀹屾垚")
+ {
+ task.ExceptionMessage = "4妤兼彁鍗囨満鍑哄彛鎵爜瀹屾垚淇″彿娌℃湁瀹屾垚";
+ Uptasks.Add(task);
+ }
+ continue;
+ }
}
//鐒跺悗璋冪敤杈撻�佺嚎鎺ュ彛锛岄�氱煡杈撻�佺嚎鏈夋枡绠遍渶瑕佸叆搴擄紝浠诲姟涓捐鎵ц
var result = _taskService.Hikvisiontaskscontinue(task.WMSTaskNum);
@@ -174,30 +183,37 @@
var Barcode = device.SetValue<HoistEnum, short>(HoistEnum.Codereadingtriggered, 1);
//妫�鏌�3妤煎叆搴撶鍙锋槸澶氬皯锛岀劧鍚庝紶缁檞ms
var BinNumber = device.GetValue<HoistEnum, string>(HoistEnum.Inboxnumber, RK3FTasks.TargetAddress);
- //鏍规嵁璇诲埌鐨勭鍙疯繘琛屾枡绠辨楠岋紝妫�楠岄�氳繃灏辫Е鍙戣鐮佸櫒璇诲彇锛屽鏋滀笉閫氳繃灏辨姏鍑哄紓甯�
- //var Verification = _taskService.MaterialBoxInspection(RK3FTasks.WMSTaskNum, BinNumber.ToString());
- //if (!Verification.Status)
- //{
- // if (!(RK3FTasks.ExceptionMessage == Verification.Message))
- // {
- // RK3FTasks.ExceptionMessage = Verification.Message;
- // Uptasks.Add(RK3FTasks);
- // }
- // //鏂欑楠岃瘉鍐欏ソ鍚庯紝闇�瑕佹洿鏀�
- // RK3FTasks.TargetAddress = Verification.Data.ToString();
- //}
-
- //濡傛灉鏂欑妫�楠屾垚鍔熷氨鍐欏叆璇荤爜鍣ㄧ殑鍊�
- var result = _taskService.Hikvisiontaskscontinue(RK3FTasks.WMSTaskNum, RK3FTasks.TargetAddress);
- if (result.Status == false)
+ if (device.GetValue<HoistEnum, short>(HoistEnum.RInScanningCompletionSignal, RK3FTasks.TargetAddress ) !=1 )
{
- if (RK3FTasks.ExceptionMessage != result.Message)
- {
- RK3FTasks.ExceptionMessage = result.Message;
- Uptasks.Add(RK3FTasks);
- }
+ RK3FTasks.ExceptionMessage = "3妤兼壂鐮佸畬鎴愪俊鍙锋病鏈夊畬鎴�";
}
- RK3FTasks.TaskState = (int)TaskStatusEnum.CheckPalletCodeFinish;
+ else //瀹屾垚灏辨妸浠诲姟鐘舵�佹敼鎴愭墭鐩樺彿纭瀹屾垚
+ {
+ //鏍规嵁璇诲埌鐨勭鍙疯繘琛屾枡绠辨楠岋紝妫�楠岄�氳繃灏辫Е鍙戣鐮佸櫒璇诲彇锛屽鏋滀笉閫氳繃灏辨姏鍑哄紓甯�
+ //var Verification = _taskService.MaterialBoxInspection(RK3FTasks.WMSTaskNum, BinNumber.ToString());
+ //if (!Verification.Status)
+ //{
+ // if (!(RK3FTasks.ExceptionMessage == Verification.Message))
+ // {
+ // RK3FTasks.ExceptionMessage = Verification.Message;
+ // Uptasks.Add(RK3FTasks);
+ // }
+ // //鏂欑楠岃瘉鍐欏ソ鍚庯紝闇�瑕佹洿鏀�
+ // RK3FTasks.TargetAddress = Verification.Data.ToString();
+ //}
+
+ //濡傛灉鏂欑妫�楠屾垚鍔熷氨鍐欏叆璇荤爜鍣ㄧ殑鍊�
+ var result = _taskService.Hikvisiontaskscontinue(RK3FTasks.WMSTaskNum, RK3FTasks.TargetAddress);
+ if (result.Status == false)
+ {
+ if (RK3FTasks.ExceptionMessage != result.Message)
+ {
+ RK3FTasks.ExceptionMessage = result.Message;
+ Uptasks.Add(RK3FTasks);
+ }
+ }
+ RK3FTasks.TaskState = (int)TaskStatusEnum.CheckPalletCodeFinish;
+ }
Uptasks.Add(RK3FTasks);
}
#endregion
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs"
index c867e26..d75095a 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs"
@@ -47,7 +47,7 @@
desStationCodes = task.SourceAddress,
desType = 5
};
- fOURBOTnewMovePodTask.requestID += i;
+ fOURBOTnewMovePodTask.requestID += task.TaskId;
try
{
string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
@@ -643,7 +643,7 @@
autoToRest = 1
};
fOURBOTnewMovePodTask.desType = 5;
- fOURBOTnewMovePodTask.requestID = DateTime.Now.ToString("yyyyMMddHHmmss") + i;
+ fOURBOTnewMovePodTask.requestID = DateTime.Now.ToString("yyyyMMddHHmmss") + item.TaskId;
string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
content.OK(data: fOURBOTReturn);
diff --git "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/TestJob.cs" "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/TestJob.cs"
index fdf3f1f..9b4d943 100644
--- "a/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/TestJob.cs"
+++ "b/\344\273\243\347\240\201\347\256\241\347\220\206/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/TestJob.cs"
@@ -99,22 +99,31 @@
}
foreach (var item in AGVtaskList)
{
-
- var result = _taskService.Hikvisiontaskscontinue(item.WMSTaskNum);
- if (result.Status == false)
+
+ //into杩涘叆涓�妤间綅缃殑鏃跺�欙紝鍐欏叆杩涘叆淇″彿
+ device.SetValue(QualityInspectionCommandEnum.RequestToEnter, true, item.TargetAddress);
+ if (!device.GetValue<QualityInspectionCommandEnum,bool>(QualityInspectionCommandEnum.Blocking)==true)
+ {
+ item.ExceptionMessage = $"{item.TargetAddress}绔欏彴鍏夋爡涓嶄负true锛�1锛�!";
+ }
+ var result = _taskService.Hikvisiontaskscontinue(item.WMSTaskNum);
+ if (result.Status == false)
+ {
+ if (item.ExceptionMessage != result.Message)
{
- if (item.ExceptionMessage != result.Message)
- {
item.ExceptionMessage = result.Message;
- Uptasks.Add(item);
- }
- continue;
+ Uptasks.Add(item);
}
- item.TaskState = (int)TaskStatusEnum.AGV_ToExecute;
- item.ExceptionMessage = "";
- Uptasks.Add(item);
-
+ continue;
+ }
+ item.TaskState = (int)TaskStatusEnum.AGV_ToExecute;
+ item.ExceptionMessage = "";
+ Uptasks.Add(item);
+
+
}
+
+
_taskService.UpdateData(Uptasks);
WriteInfo(device.DeviceName, "infoLog");
--
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