From aa75f3cbdcfce80d7ebd3c4f2bcfeea850949209 Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期二, 10 三月 2026 20:22:01 +0800
Subject: [PATCH] 1
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs | 266 ++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 203 insertions(+), 63 deletions(-)
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 9ca6eda..3c049b9 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"
@@ -20,13 +20,75 @@
{
public partial class TaskJob
{
-
- #region 涓嬪彂鍥涘悜杞﹀叆搴撲换鍔�
/// <summary>
/// 涓嬪彂鍥涘悜杞︽柊寤哄叆搴撲换鍔�
/// </summary>
/// <param name="tasks"></param>
- public void SendRGVInTask(List<Dt_Task> tasks)
+ public void SendRGVNewInTask(List<Dt_Task> tasks)
+ {
+ FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new();
+ WebResponseContent content = new WebResponseContent();
+ try
+ {
+ Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(FOURBOTnewMovePodTask)) ?? throw new Exception("鏈壘鍒板洓鍚戣溅浠诲姟涓嬪彂鎺ュ彛閰嶇疆淇℃伅锛佽妫�鏌ユ帴鍙ｉ厤缃�");
+ int i = 0;
+ foreach (var task in tasks)
+ {
+ i++;
+ fOURBOTnewMovePodTask = new()
+ {
+ priority = task.Grade,
+ podID = task.PalletCode,
+ desExt = new
+ {
+ unload = 0//鏄惁鏀句笅瀹瑰櫒,0鍚�1鏄�
+ },
+ desStationCodes = task.SourceAddress,
+ desType = 5
+ };
+ fOURBOTnewMovePodTask.requestID += i;
+ try
+ {
+ string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
+ FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
+ content.Data = fOURBOTReturn;
+ if (fOURBOTReturn.returnCode != 0) throw new Exception(fOURBOTReturn.returnUserMsg);
+
+ string dataJson = fOURBOTReturn.data.ToString();
+ FOURBOTnewMovePodTaskResponseData? fOURBO = JsonConvert.DeserializeObject<FOURBOTnewMovePodTaskResponseData>(dataJson);
+ if (fOURBO == null || fOURBO.taskID == 0)
+ {
+ throw new Exception($"鏈幏鍙栧埌鍥涘悜杞﹁繑鍥炵殑浠诲姟ID锛岃繑鍥炴暟鎹細{response}");
+ }
+ //FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("鏈幏鍙栧埌鍥涘悜杞﹁繑鍥炵殑浠诲姟ID");
+ task.RGVTaskId = fOURBO.taskID;
+ task.ExceptionMessage = "";
+ task.TaskState = (int)TaskStatusEnum.Execut;
+ }
+ catch (Exception ex)
+ {
+ task.ExceptionMessage = ex.Message;
+ }
+ }
+ _taskService.UpdateData(tasks);
+ content.OK();
+ }
+ catch (Exception ex)
+ {
+ content.Error(ex.Message);
+ }
+ finally
+ {
+ _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "涓嬪彂鍥涘悜杞︽柊寤哄叆搴撲换鍔�", "", "");
+ }
+ }
+
+ #region
+ /// <summary>
+ /// 涓嬪彂鍥涘悜杞﹀褰㈡娴嬩换鍔�
+ /// </summary>
+ /// <param name="tasks"></param>
+ public void SendRGVCheckShapeTask(List<Dt_Task> tasks)
{
FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new();
WebResponseContent content = new WebResponseContent();
@@ -62,7 +124,7 @@
}
//FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("鏈幏鍙栧埌鍥涘悜杞﹁繑鍥炵殑浠诲姟ID");
item.RGVTaskId = fOURBO.taskID;
- item.TaskState = (int)TaskStatusEnum.Execut;
+ item.TaskState = (int)TaskStatusEnum.TakeFinish;
}
}
_taskService.UpdateData(tasks);
@@ -91,7 +153,7 @@
WebResponseContent content = new WebResponseContent();
try
{
- Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(GetBlockPodContentDto)) ?? throw new Exception("鏈壘鍒板洓鍚戣溅浠诲姟涓嬪彂鎺ュ彛閰嶇疆淇℃伅锛佽妫�鏌ユ帴鍙ｉ厤缃�");
+ Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(GetBlockPodContentDto)) ?? throw new Exception("鏈壘鍒版壒閲忚幏鍙栭樆纰嶆墭鐩樺叧绯绘帴鍙ｉ厤缃俊鎭紒璇锋鏌ユ帴鍙ｉ厤缃�");
List<Dt_Task> dt_Tasks = new List<Dt_Task>();
var PalletCodes = tasks.Select(x => x.PalletCode).ToList();
//GetBlockPodContentDto content = new GetBlockPodContentDto();
@@ -125,7 +187,7 @@
foreach (var item in Result.outPods)
{
var task = tasks.First(x => x.PalletCode == item.outPod);
- if (item.blockPods.Count > 0)
+ if (item.blockPods != null && item.blockPods.Count > 0)
{
task.TaskState = (int)TaskStatusEnum.RGV_WaitMoveToExecute;
dt_Tasks.Add(task);
@@ -169,64 +231,68 @@
var locationsToUpdate = new List<Dt_RGVLocationInfo>();
var stationsToUpdate = new List<Dt_StationManger>();
#region 浠诲姟涓嬪彂
- foreach (var item in tasks)
+ var item = tasks.FirstOrDefault();
+ if (item != null)
{
try
{
#region 鑾峰彇璐т綅
- var rGVLocationInfo = _rGVLocationInfoService.GetFreeLocationInfo(item.Roadway);
+ var rGVLocationInfo = _rGVLocationInfoService.GetInFreeLocationInfo(item.Roadway);
if (rGVLocationInfo == null)
{
item.ExceptionMessage = $"鏈壘鍒扮粓鐐瑰簱鍖恒�恵item.Roadway}銆戝彲鐢ㄧ┖璐т綅锛�";
- continue;
}
#endregion
- fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
- {
- priority = item.Grade,
- podID = item.PalletCode,
- desStorageID = rGVLocationInfo.LocationCode,
- //destination = rGVLocationInfo.LocationCode,
- desExt = new { unload = 1 }, // 鏄惁鏀句笅瀹瑰櫒,0鍚�1鏄�
- desType = 2
- };
- fOURBOTnewMovePodTask.taskExt = new
- {
- autoToRest = 1
- };
- item.CurrentAddress = item.NextAddress;
- item.NextAddress = rGVLocationInfo.LocationCode;
- item.TargetAddress = rGVLocationInfo.LocationCode;
- item.Roadway = rGVLocationInfo.RoadwayNo;
-
- string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
- var fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
- content.Data = fOURBOTReturn;
- if (fOURBOTReturn.returnCode == 0)
- {
- var data = fOURBOTReturn.data.ToString();
- var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();
- item.RGVTaskId = fOURBO.taskID;
- item.TaskState = (int)TaskStatusEnum.Puting;
-
- rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
- locationsToUpdate.Add(rGVLocationInfo);
-
- #region 閲婃斁鍏ュ簱绔欏彴
- var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
- if (stationManger != null)
- {
- stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
- stationsToUpdate.Add(stationManger);
- }
- content.OK();
- #endregion
- }
else
{
- item.ExceptionMessage = $"鍥涘悜杞︽帴鍙ｈ繑鍥為敊璇細{fOURBOTReturn.returnMsg}";
- // 璁板綍澶辫触鐨勪换鍔�
- content.Error($"鍥涘悜杞︽帴鍙ｈ繑鍥為敊璇細{fOURBOTReturn.returnMsg}");
+ fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
+ {
+ priority = item.Grade,
+ podID = item.PalletCode,
+ desStorageID = rGVLocationInfo.LocationCode,
+ //destination = rGVLocationInfo.LocationCode,
+ desExt = new { unload = 1 }, // 鏄惁鏀句笅瀹瑰櫒,0鍚�1鏄�
+ desType = 2
+ };
+ fOURBOTnewMovePodTask.taskExt = new
+ {
+ autoToRest = 1
+ };
+ item.CurrentAddress = item.NextAddress;
+ item.NextAddress = rGVLocationInfo.LocationCode;
+ item.TargetAddress = rGVLocationInfo.LocationCode;
+ item.Roadway = rGVLocationInfo.RoadwayNo;
+
+ string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
+ var fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
+ content.Data = fOURBOTReturn;
+ if (fOURBOTReturn.returnCode == 0)
+ {
+ var data = fOURBOTReturn.data.ToString();
+ var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();
+ item.RGVTaskId = fOURBO.taskID;
+ item.TaskState = (int)TaskStatusEnum.Puting;
+
+ rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
+ locationsToUpdate.Add(rGVLocationInfo);
+
+ #region 閲婃斁鍏ュ簱绔欏彴
+ var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
+ if (stationManger != null)
+ {
+ stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
+ stationsToUpdate.Add(stationManger);
+ }
+ content.OK();
+ #endregion
+ }
+ else
+ {
+ item.ExceptionMessage = $"鍥涘悜杞︽帴鍙ｈ繑鍥為敊璇細{fOURBOTReturn.returnMsg}";
+ // 璁板綍澶辫触鐨勪换鍔�
+ content.Error($"鍥涘悜杞︽帴鍙ｈ繑鍥為敊璇細{fOURBOTReturn.returnMsg}");
+ }
+ tasksToUpdate.Add(item);
}
}
catch (Exception ex)
@@ -235,8 +301,77 @@
//WriteError($"{nameof(TaskJob)}-{item.TaskId}", ex.Message, ex);
content.Error($"鍥涘悜杞︽帴鍙ｈ繑鍥為敊璇細{ex.Message}");
}
- tasksToUpdate.Add(item);
}
+ #region MyRegion
+ //foreach (var item in tasks)
+ //{
+ // try
+ // {
+ // #region 鑾峰彇璐т綅
+ // var rGVLocationInfo = _rGVLocationInfoService.GetFreeLocationInfo(item.Roadway);
+ // if (rGVLocationInfo == null)
+ // {
+ // item.ExceptionMessage = $"鏈壘鍒扮粓鐐瑰簱鍖恒�恵item.Roadway}銆戝彲鐢ㄧ┖璐т綅锛�";
+ // continue;
+ // }
+ // #endregion
+ // fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
+ // {
+ // priority = item.Grade,
+ // podID = item.PalletCode,
+ // desStorageID = rGVLocationInfo.LocationCode,
+ // //destination = rGVLocationInfo.LocationCode,
+ // desExt = new { unload = 1 }, // 鏄惁鏀句笅瀹瑰櫒,0鍚�1鏄�
+ // desType = 2
+ // };
+ // fOURBOTnewMovePodTask.taskExt = new
+ // {
+ // autoToRest = 1
+ // };
+ // item.CurrentAddress = item.NextAddress;
+ // item.NextAddress = rGVLocationInfo.LocationCode;
+ // item.TargetAddress = rGVLocationInfo.LocationCode;
+ // item.Roadway = rGVLocationInfo.RoadwayNo;
+
+ // string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
+ // var fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
+ // content.Data = fOURBOTReturn;
+ // if (fOURBOTReturn.returnCode == 0)
+ // {
+ // var data = fOURBOTReturn.data.ToString();
+ // var fOURBO = data.DeserializeObject<FOURBOTnewMovePodTaskResponseData>();
+ // item.RGVTaskId = fOURBO.taskID;
+ // item.TaskState = (int)TaskStatusEnum.Puting;
+
+ // rGVLocationInfo.LocationStatus = LocationStatusEnum.InLock.ObjToInt();
+ // locationsToUpdate.Add(rGVLocationInfo);
+
+ // #region 閲婃斁鍏ュ簱绔欏彴
+ // var stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
+ // if (stationManger != null)
+ // {
+ // stationManger.IsOccupied = LocationStatusEnum.Free.ObjToInt();
+ // stationsToUpdate.Add(stationManger);
+ // }
+ // content.OK();
+ // #endregion
+ // }
+ // else
+ // {
+ // item.ExceptionMessage = $"鍥涘悜杞︽帴鍙ｈ繑鍥為敊璇細{fOURBOTReturn.returnMsg}";
+ // // 璁板綍澶辫触鐨勪换鍔�
+ // content.Error($"鍥涘悜杞︽帴鍙ｈ繑鍥為敊璇細{fOURBOTReturn.returnMsg}");
+ // }
+ // }
+ // catch (Exception ex)
+ // {
+ // item.ExceptionMessage = $"澶勭悊浠诲姟寮傚父锛歿ex.Message}";
+ // //WriteError($"{nameof(TaskJob)}-{item.TaskId}", ex.Message, ex);
+ // content.Error($"鍥涘悜杞︽帴鍙ｈ繑鍥為敊璇細{ex.Message}");
+ // }
+ // tasksToUpdate.Add(item);
+ //}
+ #endregion
#endregion
#region 鏇存柊鏁版嵁
// 濡傛灉鏈夐渶瑕佹洿鏂扮殑鏁版嵁锛屾墠鎵ц浜嬪姟
@@ -290,7 +425,8 @@
item.NextAddress = stationManger.StationCode;
fOURBOTnewMovePodTask.priority = item.Grade;
fOURBOTnewMovePodTask.podID = item.PalletCode;
- fOURBOTnewMovePodTask.destination = item.NextAddress;
+ //fOURBOTnewMovePodTask.desNodeID = item.NextAddress;
+ fOURBOTnewMovePodTask.desStationCodes = item.NextAddress;
fOURBOTnewMovePodTask.desExt = new
{
unload = 1//鏄惁鏀句笅瀹瑰櫒,0鍚�1鏄�
@@ -342,7 +478,7 @@
if (FreeLocationInfos.Count < 1) throw new Exception($"鎴愬搧搴撳垱寤虹Щ搴撲换鍔℃棤鍙敤绌鸿揣浣�");
foreach (var item in rGVLocationInfos)
{
- Dt_RGVLocationInfo? rGVLocationInfo = FreeLocationInfos.Where(x => x.Layer == item.Layer).OrderBy(n => Math.Abs(n.Row - item.Row)).FirstOrDefault();
+ Dt_RGVLocationInfo? rGVLocationInfo = FreeLocationInfos.Where(x => x.Layer == item.Layer && x.RoadwayNo != item.RoadwayNo).OrderBy(n => Math.Abs(n.Row - item.Row)).FirstOrDefault();
rGVLocationInfo ??= FreeLocationInfos.First();
Dt_Task dt_Task = new()
{
@@ -382,21 +518,21 @@
{
WebResponseContent content = new WebResponseContent();
List<Dt_Task> dt_Tasks = new List<Dt_Task>();
- List<MoveBlockPodContentDto> moveBlocks = new List<MoveBlockPodContentDto>();
+ MoveBlockPodContentDto moveBlock = new MoveBlockPodContentDto();
try
{
Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(MoveBlockPodContentDto)) ?? throw new Exception("鏈壘鍒板洓鍚戣溅鎵归噺鎼繍闃荤鎵樹换鍔℃帴鍙ｉ厤缃俊鎭紒璇锋鏌ユ帴鍙ｉ厤缃�");
foreach (var item in tasks)
{
- MoveBlockPodContentDto moveBlock = new MoveBlockPodContentDto()
+ MoveBlockPodContentDtoInfo moveBlockInfo = new MoveBlockPodContentDtoInfo()
{
podID = item.PalletCode,
des = item.TargetAddress
};
- moveBlocks.Add(moveBlock);
+ moveBlock.content.Add(moveBlockInfo);
}
- string response = HttpHelper.Post(apiInfo.ApiAddress, moveBlocks.Serialize());
+ string response = HttpHelper.Post(apiInfo.ApiAddress, moveBlock.Serialize());
FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
content.Data = fOURBOTReturn;
if (fOURBOTReturn.returnCode == 0)
@@ -428,7 +564,7 @@
}
finally
{
- _trackloginfoService.AddTrackLog(moveBlocks, content, "涓嬪彂鍥涘悜杞︽壒閲忕Щ搴撲换鍔�", "", "");
+ _trackloginfoService.AddTrackLog(moveBlock, content, "涓嬪彂鍥涘悜杞︽壒閲忕Щ搴撲换鍔�", "", "");
}
}
#endregion
@@ -463,24 +599,28 @@
try
{
Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(FOURBOTnewMovePodTask)) ?? throw new Exception("鏈壘鍒板洓鍚戣溅浠诲姟涓嬪彂鎺ュ彛閰嶇疆淇℃伅锛佽妫�鏌ユ帴鍙ｉ厤缃�");
+ var i = 0;
foreach (var item in tasks)
{
+ i++;
var stationManger = _stationMangerService.GetOutStationInfo(item.TargetAddress);
item.NextAddress = stationManger.StationCode;
if (stationManger.IsOccupied != LocationStatusEnum.Free.ObjToInt()) continue;
#region 涓嬪彂鍑哄簱浠诲姟
fOURBOTnewMovePodTask.priority = item.Grade;
fOURBOTnewMovePodTask.podID = item.PalletCode;
- fOURBOTnewMovePodTask.destination = item.NextAddress;
+ //fOURBOTnewMovePodTask.desNodeID = item.NextAddress;
+ fOURBOTnewMovePodTask.desStationCodes = item.NextAddress;
fOURBOTnewMovePodTask.desExt = new
{
- unload = 0//鏄惁鏀句笅瀹瑰櫒,0鍚�1鏄�
+ unload = 1//鏄惁鏀句笅瀹瑰櫒,0鍚�1鏄�
};
fOURBOTnewMovePodTask.taskExt = new
{
autoToRest = 1
};
fOURBOTnewMovePodTask.desType = 5;
+ fOURBOTnewMovePodTask.requestID = DateTime.Now.ToString("yyyyMMddHHmmss") + i;
string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
content.Data = fOURBOTReturn;
--
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