From a7201e4eadc6fcf56351a5f2cd6923a18c23bb78 Mon Sep 17 00:00:00 2001
From: yanjinhui <3306209981@qq.com>
Date: 星期四, 09 四月 2026 17:59:17 +0800
Subject: [PATCH] 优化任务上报中处理plc异常
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs | 308 ++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 292 insertions(+), 16 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 bec86f6..661f39d 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"
@@ -21,6 +21,7 @@
using WIDESEAWCS_DTO.WMS;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
+using WIDESEAWCS_QuartzJob.DTO;
namespace WIDESEAWCS_TaskInfoService
{
@@ -76,20 +77,233 @@
if (task == null) throw new Exception($"鏈壘鍒颁换鍔�,浠诲姟缂栧彿銆恵hIKROBOT.robotTaskCode}銆�");
switch (hIKROBOT.extra.values.method)
{
- case "end":
- TaskCompleted(task, deviceTypeEnum);
- break;
- case "outbin":
- TaskFromCompleted(task, deviceTypeEnum);
- break;
case "start":
- task.TaskState = (int)TaskStatusEnum.Takeing;
- TaskFeedback(task, 1);
+ if (task.TaskState == (int)TaskStatusEnum.CallingHKtransportation && task.TaskType == (int)TaskTypeEnum.MOVE)
+ {
+ task.TaskState = (int)TaskStatusEnum.HktransportIng;
+ BaseDal.UpdateData(task);
+ }
+ else
+ {
+ task.TaskState = (int)TaskStatusEnum.Takeing;
+ TaskFeedback(task, 1);
+ }
+ break;
+ case "outbin"://绂诲紑璧风偣
+ {
+ 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�
+ {
+ //鍏ユ彁鍗囨満
+ if (task.TaskType == TaskTypeEnum.RK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish)
+ {
+ 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
+ {
+ bool Work = false;
+ if (device.IsConnected)
+ {
+ int i = 0;
+ while (!Work && i <= 3)
+ {
+ i++;
+ Work = device.SetValue(HoistEnum.Inboundboxon, 1, task.TargetAddress);
+ Thread.Sleep(500);
+ }
+ }
+ if (!Work)
+ {
+ task.ExceptionMessage = $"銆恵task.TargetAddress}銆戝啓鍏�3妤煎叆搴撶鏀惧埌浣嶅け璐�";
+ task.Remark = $"{device.DeviceCode}_Inboundboxon_{1}_{task.TargetAddress}";
+ }
+ }
+ BaseDal.UpdateData(task);
+ }
+
+ //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";
+ else
+ {
+ bool Work = false;
+ if (device.IsConnected)
+ {
+ int i = 0;
+ while (!Work && i <= 3)
+ {
+ i++;
+ Work = device.SetValue(HoistEnum.Outboundboxon, 1, task.SourceAddress);//鍑哄簱瀹屾垚
+ Thread.Sleep(500);
+ }
+ }
+ if (!Work)
+ {
+ task.ExceptionMessage = $"銆恵task.SourceAddress}銆戝啓鍏�3妤煎嚭搴撶鏀惧埌浣嶅け璐�";
+ task.Remark = $"{device.DeviceCode}_Outboundboxon_{1}_{task.SourceAddress}";
+ }
+ }
+ 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)
+ {
+ 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
+ {
+ bool Work = false;
+ if (device.IsConnected)
+ {
+ int i = 0;
+ while (!Work && i <= 3)
+ {
+ i++;
+ Work = device.SetValue(HoistEnum.Emptyboxplacedinposition, 1, task.TargetAddress);
+ Thread.Sleep(500);
+ }
+ }
+ if (!Work)
+ {
+ task.ExceptionMessage = $"銆恵task.TargetAddress}銆戝啓鍏�4妤肩┖绠辨斁鍒颁綅澶辫触";
+ task.Remark = $"{device.DeviceCode}_Emptyboxplacedinposition_{1}_{task.TargetAddress}";
+ }
+ }
+ BaseDal.UpdateData(task);
+ }
+ // //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
+ else 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";
+ else
+ {
+ bool Work = false;
+ if (device.IsConnected)
+ {
+ int i = 0;
+ while (!Work && i <= 3)
+ {
+ i++;
+ Work = device.SetValue(HoistEnum.Outboundboxretrievalcompleted, 1, task.SourceAddress);
+ Thread.Sleep(500);
+ }
+ }
+ if (!Work)
+ {
+ task.ExceptionMessage = $"銆恵task.SourceAddress}銆戝啓鍏�4妤煎嚭搴撳彇绠卞畬鎴愬け璐�";
+ task.Remark = $"{device.DeviceCode}_Outboundboxretrievalcompleted_{1}_{task.SourceAddress}";
+ }
+ }
+ BaseDal.UpdateData(task);
+ }
+ //璺ㄦゼ灞�
+ else if (task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() || task.TaskType == TaskTypeEnum.Q3CK.ObjToInt()/* && task.TaskState == (int)TaskStatusEnum.TakeFinish*/)
+ {
+ 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
+ {
+ bool Wok = false;
+ var Address = task.TaskType == TaskTypeEnum.Q3RK.ObjToInt() ? task.TargetAddress : task.SourceAddress;
+ if (device.IsConnected)
+ {
+ int i = 0;
+ while (!Wok && i <= 3)
+ {
+ i++;
+ Wok = device.SetValue(QualityInspectionCommandEnum.RequestToEnter, false, Address);
+ Thread.Sleep(500);
+ }
+ }
+ if (!Wok)
+ {
+ task.ExceptionMessage = $"銆恵Address}銆戝叧闂姹傝繘鍏ュけ璐ワ紒";
+ task.Remark = $"{device.DeviceCode}_RequestToEnter_{false}_{Address}";
+ }
+ }
+ BaseDal.UpdateData(task);
+ }
+ }
+ break;
+ case "into"://鐢宠杩涘叆鎻愬崌鏈�
+ {
+ task.TaskState = (int)TaskStatusEnum.AGV_WaitToExecute;
+ BaseDal.UpdateData(task);
+ }
+ 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
+ {
+ bool Wok = false;
+ if (device.IsConnected)
+ {
+ int i = 0;
+ while (!Wok && i <= 3)
+ {
+ i++;
+ Wok = device.SetValue<HoistEnum, short>(HoistEnum.Codereadingtriggered, 1, "TSJR3F");
+ Thread.Sleep(500);
+ }
+ }
+ if (!Wok)
+ {
+ task.ExceptionMessage = $"銆怲SJR3F銆�3妤艰鐮佽Е鍙戝け璐ワ紒";
+ task.Remark = $"{device.DeviceCode}_Codereadingtriggered_{1}_TSJR3F";
+ }
+ }
+ 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 = TaskStatusEnum.Finish.ObjToInt();
+ BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
+ var Task = BaseDal.QueryFirst(x => task.WMSTaskNum.Contains(x.WMSTaskNum));
+ Task.TaskState = TaskStatusEnum.HkTransportCompleted.ObjToInt();
+ BaseDal.UpdateData(Task);
+ }
+ else
+ {
+ 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;
default:
- task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
- BaseDal.UpdateData(task);
- break;
+ throw new Exception("鏈畾涔夌殑鏂规硶鍚嶏紒");
+ //task.TaskState = ReturnTaskStatus(hIKROBOT.extra.values.method, deviceTypeEnum);
+ //BaseDal.UpdateData(task);
+ //break;
}
}
else //鍥涘悜杞�
@@ -167,12 +381,12 @@
}
else if (task.TaskType == (int)TaskTypeEnum.CPInbound && task.TaskState == (int)TaskStatusEnum.Puting)
{
- if (!string.IsNullOrEmpty(task.ExceptionMessage))
+ if (!string.IsNullOrEmpty(task.ExceptionMessage) && !task.ExceptionMessage.Contains("鐢变簬鐩爣璁＄畻鏈虹Н鏋佹嫆缁濓紝鏃犳硶杩炴帴"))
ErrorTaskFeedback(task, true/*!task.ExceptionMessage.Contains("澶栨澶辫触")*/);
else
TaskCompleted(task, deviceTypeEnum);
}
- else if (task.TaskType == (int)TaskTypeEnum.CPOutbound )//鍑哄簱瀹屾垚
+ else if (task.TaskType == (int)TaskTypeEnum.CPOutbound)//鍑哄簱瀹屾垚
{
TaskCompleted(task, deviceTypeEnum);
}
@@ -275,7 +489,7 @@
try
{
dt_Task.TaskState = TaskStatusEnum.Finish.ObjToInt();
- TaskFeedback(dt_Task, 2);
+ TaskFeedback(dt_Task, 2, string.IsNullOrEmpty(dt_Task.Remark));
//Db.Ado.BeginTran();
UpdateLocationStatus(dt_Task.TargetAddress, dt_Task.PalletCode, deviceTypeEnum, LocationStatusEnum.InStock);
@@ -335,6 +549,35 @@
dt_HKLocationInfo.LocationStatus = locationStatusEnum.ObjToInt();
_hKLocationInfoService.Repository.UpdateData(dt_HKLocationInfo);
}
+ Dt_StationInfo? stationInfo = _stationInfo.Repository.QueryFirst(x => x.StationCode == locationCode);
+ if (stationInfo != 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
+ {
+ stationInfo.PalletCode = "";
+ }
+ else
+ {
+ stationInfo.PalletCode = palletCode;
+ }
+ stationInfo.StationStatus = locationStatusEnum.ObjToInt();
+ _stationInfo.UpdateData(stationInfo);
+ }
+ Dt_StationManger stationManger = _stationMangerService.Repository.QueryFirst(x => x.StationCode == locationCode);
+ 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.Remark = "";
+ stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
+ }
+ else
+ {
+ stationManger.Remark = palletCode;
+ stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
+ }
+ _stationMangerService.UpdateData(stationManger);
+ }
}
else if (deviceTypeEnum == DeviceTypeEnum.YuanLiJuHe)
{
@@ -368,8 +611,36 @@
}
#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)
+ public WebResponseContent TaskFeedback(Dt_Task dt_Task, int Status, bool Del = true)
{
WebResponseContent content = new WebResponseContent();
WMSInOutBoundCompleteFeedback boundCompleteFeedback = new WMSInOutBoundCompleteFeedback();
@@ -403,7 +674,7 @@
finally
{
_trackloginfoService.AddTrackLog(boundCompleteFeedback, content, "鍑哄叆搴撲换鍔＄姸鎬佸弽棣圵MS", "", "");
- if (agvContent != null && agvContent.code == 200 && Status == 2)
+ if (agvContent != null && agvContent.code == 200 && Del)
BaseDal.DeleteAndMoveIntoHty(dt_Task, OperateTypeEnum.鑷姩瀹屾垚);
else
BaseDal.UpdateData(dt_Task);
@@ -433,6 +704,7 @@
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;
@@ -454,5 +726,9 @@
return content;
}
#endregion
+
+
+
+
}
}
--
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