From c71c0e3e641f54f8c1deec44bb570b4f1b2ee07e Mon Sep 17 00:00:00 2001
From: yanjinhui <3306209981@qq.com>
Date: 星期五, 10 四月 2026 14:44:29 +0800
Subject: [PATCH] 添加海康任务对货位的判断
---
代码管理/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskMethods.cs | 232 ++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 195 insertions(+), 37 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 6241af5..b31be44 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"
@@ -78,9 +78,10 @@
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
{
@@ -90,13 +91,11 @@
break;
case "outbin"://绂诲紑璧风偣
{
- ///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�
{
-
//鍏ユ彁鍗囨満
if (task.TaskType == TaskTypeEnum.RK3F.ObjToInt() && task.TaskState == (int)TaskStatusEnum.CheckPalletCodeFinish)
{
@@ -104,66 +103,130 @@
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());
+ bool Work = false;
if (device.IsConnected)
- device.SetValue(HoistEnum.Inboundboxon, 1);
- else
- task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
+ {
+ 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);
}
- //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";
else
{
+ bool Work = false;
if (device.IsConnected)
- device.SetValue(HoistEnum.Outboundboxon, 1);//鍑哄簱瀹屾垚
- else
- task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
+ {
+ 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
+ //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)
- device.SetValue(HoistEnum.Emptyboxplacedinposition, 1);
- else
- task.ExceptionMessage = "鎻愬崌鏈轰俊鎭澶囪繛鎺ュけ璐�";
+ {
+ 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 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 //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.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)
- //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�";
+ {
+ 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);
}
- 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())
- {
- //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
{
- //杩欎釜灏卞啓涓�涓浣嶇姸鎬侊紝鍛婅瘔瀹冩垜鍑哄簱浜�
-
+ 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;
@@ -175,22 +238,64 @@
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==(int)TaskStatusEnum.HkTransportCompleted)
+ if (task.TaskType == (int)TaskTypeEnum.MOVE)
{
task.TaskState = TaskStatusEnum.Finish.ObjToInt();
- TaskFeedback(task, 2);
- BaseDal.DeleteAndMoveIntoHty(task,OperateTypeEnum.鑷姩瀹屾垚);
+ 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
{
- ///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.TaskType == (int)TaskTypeEnum.MOVE || task.TaskType == (int)TaskTypeEnum.F01 || task.TaskType == (int)TaskTypeEnum.Q3CK)
+ {
+ 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.TaskType == (int)TaskTypeEnum.Q3CK)
+ {
+ task.TaskState = TaskStatusEnum.HKleavelift.ObjToInt();
+ BaseDal.UpdateData(task);
}
}
break;
@@ -284,6 +389,15 @@
else if (task.TaskType == (int)TaskTypeEnum.CPOutbound)//鍑哄簱瀹屾垚
{
TaskCompleted(task, deviceTypeEnum);
+ }
+ }
+ if (Rgv.content.status == 5)
+ {
+ if (task.TaskState == (int)TaskStatusEnum.Execut)
+ {
+ task.TaskState = (int)TaskStatusEnum.New;
+ task.Remark = "鍥涘悜杞﹀弽棣堝け璐�,閲嶆柊涓嬪彂";
+ BaseDal.UpdateData(task);
}
}
}
@@ -384,7 +498,7 @@
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);
@@ -458,6 +572,21 @@
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)
{
@@ -491,8 +620,36 @@
}
#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 = false)
{
WebResponseContent content = new WebResponseContent();
WMSInOutBoundCompleteFeedback boundCompleteFeedback = new WMSInOutBoundCompleteFeedback();
@@ -526,7 +683,7 @@
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);
@@ -556,6 +713,7 @@
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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