From b834b2c0977af30a5040c9b8416d930608fc845d Mon Sep 17 00:00:00 2001
From: dengjunjie <dengjunjie@hnkhzn.com>
Date: 星期五, 06 三月 2026 16:27:58 +0800
Subject: [PATCH] 优化四向车接口
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/Task/RGVTaskExtend.cs | 151 +++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 125 insertions(+), 26 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 23e4393..9ca6eda 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"
@@ -1,4 +1,5 @@
锘縰sing Newtonsoft.Json;
+using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using System;
using System.Collections.Generic;
using System.Linq;
@@ -7,6 +8,7 @@
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.LocationEnum;
using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseRepository;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO;
@@ -27,6 +29,7 @@
public void SendRGVInTask(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�");
@@ -34,14 +37,21 @@
{
fOURBOTnewMovePodTask.priority = item.Grade;
fOURBOTnewMovePodTask.podID = item.PalletCode;
- fOURBOTnewMovePodTask.destination = item.NextAddress;
+ //fOURBOTnewMovePodTask.destination = item.NextAddress;
fOURBOTnewMovePodTask.desExt = new
{
unload = 0//鏄惁鏀句笅瀹瑰櫒,0鍚�1鏄�
};
- fOURBOTnewMovePodTask.desType = 2;
+ fOURBOTnewMovePodTask.taskExt = new
+ {
+ keepRobot = 1,
+ keepRobotTimeout = 1
+ };
+ fOURBOTnewMovePodTask.desType = 1;
+ fOURBOTnewMovePodTask.desNodeID = item.NextAddress;
string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
+ content.Data = fOURBOTReturn;
if (fOURBOTReturn.returnCode == 0)
{
string dataJson = fOURBOTReturn.data.ToString();
@@ -56,10 +66,15 @@
}
}
_taskService.UpdateData(tasks);
+ content.OK();
}
catch (Exception ex)
{
- WriteError(nameof(TaskJob), ex.Message, 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�", "", "");
}
}
#endregion
@@ -71,6 +86,9 @@
/// <param name="tasks"></param>
public void IsMoveTask(List<Dt_Task> tasks)
{
+
+ object requestData = null; // 娣诲姞鍙橀噺璁板綍璇锋眰鏁版嵁
+ 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�");
@@ -88,12 +106,20 @@
}
}
};
+ requestData = request; // 淇濆瓨璇锋眰鏁版嵁鐢ㄤ簬鏃ュ織
//content.candidatePodIDs = tasks.Select(x => x.PalletCode).ToList();
string response = HttpHelper.Post(apiInfo.ApiAddress, request.Serialize());
FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
+ content.Data = fOURBOTReturn;
if (fOURBOTReturn.returnCode == 0)
{
- ReturnBlockPodResultDto getBlockPod = fOURBOTReturn.data as ReturnBlockPodResultDto ?? throw new Exception("鏈幏鍙栧埌闃荤鎵樼洏鍏崇郴鏁版嵁");
+ //ReturnBlockPodResultDto getBlockPod = fOURBOTReturn.data as ReturnBlockPodResultDto ?? throw new Exception("鏈幏鍙栧埌闃荤鎵樼洏鍏崇郴鏁版嵁");
+ var dataJson = fOURBOTReturn.data.ToString();
+ ReturnBlockPodResultDto? getBlockPod = JsonConvert.DeserializeObject<ReturnBlockPodResultDto>(dataJson);
+ if (getBlockPod.Result.Count == 0)
+ {
+ throw new Exception("鏈幏鍙栧埌闃荤鎵樼洏鍏崇郴鏁版嵁");
+ }
foreach (var Result in getBlockPod.Result)
{
foreach (var item in Result.outPods)
@@ -103,7 +129,7 @@
{
task.TaskState = (int)TaskStatusEnum.RGV_WaitMoveToExecute;
dt_Tasks.Add(task);
- AddMoveTask(item.blockPods);
+ AddMoveTask(item.blockPods);//娣诲姞绉诲簱浠诲姟
}
else
{
@@ -113,11 +139,16 @@
}
}
_taskService.UpdateData(dt_Tasks);
+ content.OK();
}
}
catch (Exception ex)
{
- WriteError(nameof(TaskJob), ex.Message, ex);
+ content.Error(ex.Message);
+ }
+ finally
+ {
+ _trackloginfoService.AddTrackLog(requestData, content, "澶勭悊鍑哄簱浠诲姟鏄惁闇�瑕佺Щ搴�", "", "");
}
}
#endregion
@@ -129,6 +160,8 @@
/// <param name="tasks"></param>
public void SendCheckShapeingOkTask(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�");
@@ -148,26 +181,31 @@
continue;
}
#endregion
- var fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
+ fOURBOTnewMovePodTask = new FOURBOTnewMovePodTask
{
priority = item.Grade,
podID = item.PalletCode,
- destination = rGVLocationInfo.LocationCode,
+ 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;
@@ -181,21 +219,24 @@
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);
+ //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
#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
@@ -219,12 +260,17 @@
_unitOfWorkManage.RollbackTran();
WriteError(nameof(TaskJob), ex.Message, ex);
}
- }
+ }
#endregion
}
catch (Exception ex)
{
WriteError(nameof(TaskJob), ex.Message, ex);
+ content.Error($"涓嬪彂澶栧舰妫�娴嬩换鍔″け璐ex.Message}");
+ }
+ finally
+ {
+ _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "涓嬪彂澶栧舰妫�娴嬩换鍔″け璐�", "", "");
}
}
#endregion
@@ -233,6 +279,7 @@
public void SendCheckShapeingNGTask(List<Dt_Task> tasks)
{
FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new();
+ WebResponseContent content = new WebResponseContent();
try
{
Dt_ApiInfo? apiInfo = _apiInfoService.Repository.QueryFirst(x => x.ApiCode == nameof(FOURBOTnewMovePodTask)) ?? throw new Exception("鏈壘鍒板洓鍚戣溅浠诲姟涓嬪彂鎺ュ彛閰嶇疆淇℃伅锛佽妫�鏌ユ帴鍙ｉ厤缃�");
@@ -240,7 +287,7 @@
{
Dt_StationManger stationManger = _stationMangerService.GetInStationInfo(item.SourceAddress);
item.CurrentAddress = item.NextAddress;
- item.NextAddress = stationManger.RGVStationCode;
+ item.NextAddress = stationManger.StationCode;
fOURBOTnewMovePodTask.priority = item.Grade;
fOURBOTnewMovePodTask.podID = item.PalletCode;
fOURBOTnewMovePodTask.destination = item.NextAddress;
@@ -248,21 +295,37 @@
{
unload = 1//鏄惁鏀句笅瀹瑰櫒,0鍚�1鏄�
};
- fOURBOTnewMovePodTask.desType = 2;
+ fOURBOTnewMovePodTask.taskExt = new
+ {
+ autoToRest = 1
+ };
+ fOURBOTnewMovePodTask.desType = 5;
string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
+ content.Data = fOURBOTReturn;
if (fOURBOTReturn.returnCode == 0)
{
- FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("鏈幏鍙栧埌鍥涘悜杞﹁繑鍥炵殑浠诲姟ID");
+ //FOURBOTnewMovePodTaskResponseData fOURBO = fOURBOTReturn.data as FOURBOTnewMovePodTaskResponseData ?? throw new Exception("鏈幏鍙栧埌鍥涘悜杞﹁繑鍥炵殑浠诲姟ID");
+ string dataJson = fOURBOTReturn.data.ToString();
+ FOURBOTnewMovePodTaskResponseData? fOURBO = JsonConvert.DeserializeObject<FOURBOTnewMovePodTaskResponseData>(dataJson);
+ if (fOURBO == null || fOURBO.taskID == 0)
+ {
+ throw new Exception($"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}");
+ }
item.RGVTaskId = fOURBO.taskID;
item.TaskState = (int)TaskStatusEnum.Puting;
}
}
_taskService.UpdateData(tasks);
+ content.OK();
}
catch (Exception ex)
{
- WriteError(nameof(TaskJob), ex.Message, ex);
+ content.Error(ex.Message);
+ }
+ finally
+ {
+ _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "涓嬪彂澶栧舰妫�娴嬪け璐ヤ换鍔�", "", "");
}
}
#endregion
@@ -317,10 +380,12 @@
#region 涓嬪彂鍥涘悜杞︽壒閲忕Щ搴撲换鍔�
public void SendMoveTasks(List<Dt_Task> tasks)
{
+ WebResponseContent content = new WebResponseContent();
+ List<Dt_Task> dt_Tasks = new List<Dt_Task>();
+ List<MoveBlockPodContentDto> moveBlocks = new List<MoveBlockPodContentDto>();
try
{
- List<Dt_Task> dt_Tasks = new List<Dt_Task>();
- List<MoveBlockPodContentDto> moveBlocks = new List<MoveBlockPodContentDto>();
+
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)
{
@@ -333,23 +398,37 @@
}
string response = HttpHelper.Post(apiInfo.ApiAddress, moveBlocks.Serialize());
FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
+ content.Data = fOURBOTReturn;
if (fOURBOTReturn.returnCode == 0)
{
- MoveBlockPodsDataDto moveBlockPodsData = fOURBOTReturn.data as MoveBlockPodsDataDto ?? throw new Exception("鏈幏鍙栧埌鍥涘悜杞︽壒閲忔惉杩愰樆纰嶆墭杩斿洖鐨勪换鍔D");
+ string dataJson = fOURBOTReturn.data.ToString();
+ //MoveBlockPodsDataDto moveBlockPodsData = fOURBOTReturn.data as MoveBlockPodsDataDto ?? throw new Exception("鏈幏鍙栧埌鍥涘悜杞︽壒閲忔惉杩愰樆纰嶆墭杩斿洖鐨勪换鍔D");
+ MoveBlockPodsDataDto? moveBlockPodsData = JsonConvert.DeserializeObject<MoveBlockPodsDataDto>(dataJson);
+ if (moveBlockPodsData == null || moveBlockPodsData.succList.Count == 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}");
+ }
foreach (var item in moveBlockPodsData.succList)
{
+ if (item.taskID == 0)
+ continue; // 璺宠繃鏃犳晥鐨勪换鍔D
var task = tasks.First(x => x.PalletCode == item.podID);
task.RGVTaskId = item.taskID;
task.TaskState = TaskStatusEnum.RGV_MoveTaskSend.ObjToInt();
dt_Tasks.Add(task);
}
_taskService.UpdateData(dt_Tasks);
+ content.OK();
}
}
catch (Exception ex)
{
- WriteError(nameof(TaskJob), ex.Message, ex);
+ content.Error(ex.Message);
+ }
+ finally
+ {
+ _trackloginfoService.AddTrackLog(moveBlocks, content, "涓嬪彂鍥涘悜杞︽壒閲忕Щ搴撲换鍔�", "", "");
}
}
#endregion
@@ -361,8 +440,11 @@
{
foreach (var item in tasks)
{
- if (_taskService.Repository.QueryFirst(x => x.Roadway == item.Roadway && x.TaskType == (int)TaskTypeEnum.CPMoveInventory) == null)
+ var takes = _taskService.Repository.QueryFirst(x => x.Roadway == item.Roadway && x.TaskType == (int)TaskTypeEnum.CPMoveInventory);
+ if (takes == null)
+ {
item.TaskState = (int)TaskStatusEnum.RGV_WaitSend;
+ }
}
_taskService.UpdateData(tasks);
}
@@ -376,13 +458,15 @@
#region 涓嬪彂鍑哄簱浠诲姟
public void SendOutTask(List<Dt_Task> tasks)
{
+ FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new();
+ WebResponseContent content = new WebResponseContent();
try
{
- FOURBOTnewMovePodTask fOURBOTnewMovePodTask = new();
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�");
foreach (var item in tasks)
{
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;
@@ -392,12 +476,22 @@
{
unload = 0//鏄惁鏀句笅瀹瑰櫒,0鍚�1鏄�
};
- fOURBOTnewMovePodTask.desType = 2;
+ fOURBOTnewMovePodTask.taskExt = new
+ {
+ autoToRest = 1
+ };
+ fOURBOTnewMovePodTask.desType = 5;
string response = HttpHelper.Post(apiInfo.ApiAddress, fOURBOTnewMovePodTask.Serialize());
FOURBOTReturn fOURBOTReturn = response.DeserializeObject<FOURBOTReturn>();
+ content.Data = fOURBOTReturn;
if (fOURBOTReturn.returnCode == 0)
{
- 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");
+ 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}");
+ }
item.RGVTaskId = fOURBO.taskID;
item.TaskState = (int)TaskStatusEnum.Execut;
stationManger.IsOccupied = LocationStatusEnum.Lock.ObjToInt();
@@ -406,10 +500,15 @@
#endregion
}
_taskService.UpdateData(tasks);
+ content.OK();
}
catch (Exception ex)
{
- WriteError(nameof(TaskJob), ex.Message, ex);
+ content.Error(ex.Message);
+ }
+ finally
+ {
+ _trackloginfoService.AddTrackLog(fOURBOTnewMovePodTask, content, "涓嬪彂鍥涘悜杞﹀嚭搴撲换鍔�", "", "");
}
}
#endregion
--
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