From adb4016b5eb5b119a899480c321be996d9bf10bd Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期三, 08 四月 2026 00:55:22 +0800
Subject: [PATCH] feat(robot): 完善机械手任务处理逻辑与状态管理
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs | 642 ++++++++++++++++-----------------------------------------
1 files changed, 185 insertions(+), 457 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
index 64f3c61..02204d3 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
@@ -18,12 +18,10 @@
#endregion << 鐗� 鏈� 娉� 閲� >>
using MapsterMapper;
-using Microsoft.Extensions.Configuration;
-using Newtonsoft.Json;
+using Microsoft.IdentityModel.Tokens;
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
using WIDESEA_Core;
-using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
@@ -36,6 +34,8 @@
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
+using WIDESEAWCS_QuartzJob.DeviceBase;
+using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
@@ -47,7 +47,10 @@
private readonly ITaskExecuteDetailService _taskExecuteDetailService;
private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
private readonly IMapper _mapper;
- private readonly HttpClientHelper _httpClientHelper;
+ private readonly IOutboundTaskFlowService _outboundTaskFlowService;
+ private readonly IInboundTaskFlowService _inboundTaskFlowService;
+ private readonly IRelocationTaskFlowService _relocationTaskFlowService;
+ private readonly IRobotTaskFlowService _robotTaskFlowService;
private Dictionary<string, OrderByType> _taskOrderBy = new()
{
@@ -66,13 +69,25 @@
public List<int> TaskRobotTypes => typeof(TaskOtherTypeEnum).GetEnumIndexList();
- public TaskService(ITaskRepository BaseDal, IRouterService routerService, ITaskExecuteDetailService taskExecuteDetailService, ITaskExecuteDetailRepository taskExecuteDetailRepository, IMapper mapper, HttpClientHelper httpClientHelper) : base(BaseDal)
+ public TaskService(
+ ITaskRepository BaseDal,
+ IRouterService routerService,
+ ITaskExecuteDetailService taskExecuteDetailService,
+ ITaskExecuteDetailRepository taskExecuteDetailRepository,
+ IMapper mapper,
+ IOutboundTaskFlowService outboundTaskFlowService,
+ IInboundTaskFlowService inboundTaskFlowService,
+ IRelocationTaskFlowService relocationTaskFlowService,
+ IRobotTaskFlowService robotTaskFlowService) : base(BaseDal)
{
_routerService = routerService;
_taskExecuteDetailService = taskExecuteDetailService;
_taskExecuteDetailRepository = taskExecuteDetailRepository;
_mapper = mapper;
- _httpClientHelper = httpClientHelper;
+ _outboundTaskFlowService = outboundTaskFlowService;
+ _inboundTaskFlowService = inboundTaskFlowService;
+ _relocationTaskFlowService = relocationTaskFlowService;
+ _robotTaskFlowService = robotTaskFlowService;
}
/// <summary>
@@ -86,44 +101,29 @@
try
{
List<Dt_Task> tasks = new List<Dt_Task>();
+ List<Dt_Task> duplicates = new List<Dt_Task>();
foreach (var item in taskDTOs)
{
- if (BaseDal.QueryFirst(x => x.TaskNum == item.TaskNum || x.PalletCode == item.PalletCode) != null)
+ Dt_Task existingTask = BaseDal.QueryFirst(x => x.TaskNum == item.TaskNum || x.PalletCode == item.PalletCode);
+ if (existingTask != null)
{
+ duplicates.Add(existingTask);
continue;
}
Dt_Task task = _mapper.Map<Dt_Task>(item);
task.Creater = "WMS";
- if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
- {
- var taskType = 100;
- Dt_Router router = _routerService.QueryNextRoute(item.Roadway, item.TargetAddress, taskType);
- //鏆備笉鑰冭檻澶氳矾寰�
- if (router != null)
- {
- task.TaskStatus = (int)TaskOutStatusEnum.OutNew;
- task.CurrentAddress = item.SourceAddress;
- task.NextAddress = router.ChildPosi;
- }
- }
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
- {
- Dt_Router routers = _routerService.QueryNextRoute(item.SourceAddress);
- //鏆備笉鑰冭檻澶氳矾寰�
- if (!routers.IsNullOrEmpty())
- {
- task.TaskStatus = (int)TaskInStatusEnum.InNew;
- task.CurrentAddress = item.SourceAddress;
- task.NextAddress = routers.ChildPosi;
- }
- }
+ InitializeTaskOnReceive(task, item);
tasks.Add(task);
}
+ // TOOD: 杩欓噷娉ㄦ剰娣诲姞閿欒瑕佽繑鍥為敊璇�
BaseDal.AddData(tasks);
_taskExecuteDetailService.AddTaskExecuteDetail(tasks.Select(x => x.TaskNum).ToList(), "鎺ユ敹WMS浠诲姟");
- content = WebResponseContent.Instance.OK("鎴愬姛", tasks);
+ // 灏嗛噸澶嶄换鍔′俊鎭篃涓�骞惰繑鍥�
+ tasks.AddRange(duplicates);
+ var result = tasks;
+ content = WebResponseContent.Instance.OK("鎴愬姛", result);
}
catch (Exception ex)
{
@@ -151,7 +151,7 @@
Roadway = "SC01",
SourceAddress = sourceAddress,
TargetAddress = "SC01",
- TaskState = (int)TaskInStatusEnum.InNew,
+ TaskStatus = (int)TaskInStatusEnum.InNew,
Id = 0,
TaskType = (int)TaskInboundTypeEnum.Inbound
};
@@ -163,6 +163,32 @@
content = WebResponseContent.Instance.Error(ex.Message);
}
return content;
+ }
+
+ /// <summary>
+ /// 鎸変换鍔″垎缁勫垵濮嬪寲浠诲姟鎺ユ敹淇℃伅銆�
+ /// </summary>
+ /// <param name="task">浠诲姟瀹炰綋銆�</param>
+ /// <param name="source">WMS鍘熷浠诲姟瀵硅薄銆�</param>
+ private void InitializeTaskOnReceive(Dt_Task task, WMSTaskDTO source)
+ {
+ switch (task.TaskType.GetTaskTypeGroup())
+ {
+ case TaskTypeGroup.OutbondGroup:
+ _outboundTaskFlowService.InitializeOnReceive(task, source);
+ break;
+ case TaskTypeGroup.InboundGroup:
+ _inboundTaskFlowService.InitializeOnReceive(task, source);
+ break;
+ case TaskTypeGroup.RelocationGroup:
+ _relocationTaskFlowService.InitializeOnReceive(task, source);
+ break;
+ case TaskTypeGroup.OtherGroup:
+ _robotTaskFlowService.InitializeOnReceive(task, source);
+ break;
+ default:
+ break;
+ }
}
/// <summary>
@@ -357,22 +383,30 @@
var result = task.TaskType.GetTaskTypeGroup() switch
{
- TaskTypeGroup.OutbondGroup => ProcessOutboundTaskStatus(task),
- TaskTypeGroup.InboundGroup => ProcessInboundTaskStatus(task),
- TaskTypeGroup.RelocationGroup => ProcessRelocationTaskStatus(task),
- TaskTypeGroup.OtherGroup => ProcessRobotTaskStatus(task),
+ TaskTypeGroup.OutbondGroup => _outboundTaskFlowService.MoveToNextStatus(task),
+ TaskTypeGroup.InboundGroup => _inboundTaskFlowService.MoveToNextStatus(task),
+ TaskTypeGroup.RelocationGroup => _relocationTaskFlowService.MoveToNextStatus(task),
+ TaskTypeGroup.OtherGroup => _robotTaskFlowService.MoveToNextStatus(task),
_ => WebResponseContent.Instance.Error($"浠诲姟绫诲瀷閿欒,鏈壘鍒拌浠诲姟绫诲瀷,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟绫诲瀷:銆恵task.TaskType}銆�")
};
if (!result.Status)
return result;
+ // 鍑哄簱瀹屾垚绾夸綋鑺傜偣鏃讹紝鍙兘闇�瑕佹帴鏀跺叆搴撴柊浠诲姟銆�
+ if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup
+ && result.Data is List<WMSTaskDTO> wmsTasks
+ && wmsTasks.Count > 0)
+ {
+ return ReceiveWMSTask(wmsTasks);
+ }
+
// 鏇存柊浠诲姟鏁版嵁
task.ModifyDate = DateTime.Now;
task.Modifier = "System";
- if(task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish)
+ if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish)
{
- BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩鍒犻櫎);
+ BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
}
else
{
@@ -384,343 +418,6 @@
? $"浜哄伐鎵嬪姩灏嗕换鍔＄姸鎬佷粠銆恵oldState}銆戣烦杞埌銆恵task.TaskStatus}銆�"
: $"绯荤粺鑷姩娴佺▼锛屼换鍔＄姸鎬佷粠銆恵oldState}銆戣浆鍒般�恵task.TaskStatus}銆�";
_taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, logMessage);
-
- return WebResponseContent.Instance.OK();
- }
-
- /// <summary>
- /// 澶勭悊鍑哄簱浠诲姟鐘舵�佽浆鎹�
- /// </summary>
- private WebResponseContent ProcessOutboundTaskStatus(Dt_Task task)
- {
- if (task.TaskStatus >= (int)TaskOutStatusEnum.OutFinish)
- return WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskStatus}銆�");
-
- task.TaskStatus = task.TaskStatus.GetNextNotCompletedStatus<TaskOutStatusEnum>();
-
- if (task.TaskStatus <= 0)
- return WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskStatus}銆�");
-
- // 鏍规嵁鐘舵�佽皟鐢ㄤ笉鍚岀殑WMS鎺ュ彛
- if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish && task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
- {
- return GetWMSOutboundTrayTask(task);
- }
- else if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish && task.TaskType == (int)TaskOutboundTypeEnum.OutEmpty)
- {
- return GetWMSRobotTask(task);
- }
- else
- {
- // return UpdateWMSTaskStatus(task);
- return WebResponseContent.Instance.OK();
- }
- }
-
- /// <summary>
- /// 澶勭悊鍏ュ簱浠诲姟鐘舵�佽浆鎹�
- /// </summary>
- private WebResponseContent ProcessInboundTaskStatus(Dt_Task task)
- {
- if (task.TaskStatus >= (int)TaskInStatusEnum.InFinish)
- return WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskStatus}銆�");
-
- task.TaskStatus = task.TaskStatus.GetNextNotCompletedStatus<TaskInStatusEnum>();
-
- if (task.TaskStatus <= 0)
- return WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskStatus}銆�");
-
- // 鏍规嵁鐘舵�佽皟鐢ㄤ笉鍚岀殑WMS鎺ュ彛
- if (task.TaskStatus == (int)TaskInStatusEnum.Line_InFinish)
- {
- return GetWMSInboundLocation(task);
- }
- else
- {
- return UpdateWMSTaskStatus(task);
- }
- }
-
- /// <summary>
- /// 澶勭悊鏈烘鎵嬩换鍔＄姸鎬佽浆鎹�
- /// </summary>
- private WebResponseContent ProcessRobotTaskStatus(Dt_Task task)
- {
- if (task.TaskStatus >= (int)TaskRobotStatusEnum.RobotFinish)
- return WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskStatus}銆�");
-
- task.TaskStatus = task.TaskStatus.GetNextNotCompletedStatus<TaskRobotStatusEnum>();
-
- if (task.TaskStatus <= 0)
- return WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskStatus}銆�");
-
- return WebResponseContent.Instance.OK();
- }
-
- /// <summary>
- /// 澶勭悊绉诲簱浠诲姟鐘舵�佽浆鎹�
- /// </summary>
- private WebResponseContent ProcessRelocationTaskStatus(Dt_Task task)
- {
- if (task.TaskStatus >= (int)TaskRelocationStatusEnum.RelocationFinish)
- return WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskStatus}銆�");
-
- task.TaskStatus = task.TaskStatus.GetNextNotCompletedStatus<TaskRelocationStatusEnum>();
-
- if (task.TaskStatus <= 0)
- return WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskStatus}銆�");
-
- // 绉诲簱浠诲姟寮�濮嬫椂锛屽悓姝MS浠诲姟鐘舵��
- if (task.TaskStatus == (int)TaskRelocationStatusEnum.SC_RelocationExecuting)
- {
- return UpdateWMSTaskStatus(task);
- }
-
- // 绉诲簱浠诲姟瀹屾垚鏃讹紝璋冪敤WMS绉诲簱瀹屾垚鎺ュ彛
- if (task.TaskStatus == (int)TaskRelocationStatusEnum.RelocationFinish)
- {
- return NotifyWMSRelocationFinish(task);
- }
-
- return WebResponseContent.Instance.OK();
- }
-
- /// <summary>
- /// 閫氱煡WMS绯荤粺鍑哄簱瀹屾垚
- /// </summary>
- private WebResponseContent NotifyWMSOutboundFinish(Dt_Task task)
- {
- var result = _httpClientHelper.Post<WebResponseContent>(
- nameof(ConfigKey.OutboundFinishTaskAsync),
- new StockInfoDTO { PalletCode = task.PalletCode, TaskNum = task.TaskNum }.ToJson());
-
- if (!result.IsSuccess || !result.Data.Status)
- return WebResponseContent.Instance.Error($"閫氱煡WMS绯荤粺鍫嗗灈鏈哄嚭搴撳畬鎴愬け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,閿欒淇℃伅:銆恵result.Data?.Message}銆�");
-
- return WebResponseContent.Instance.OK();
- }
-
- /// <summary>
- /// 鑾峰彇绌烘墭鍑哄簱浠诲姟
- /// </summary>
- private WebResponseContent GetWMSOutboundTrayTask(Dt_Task task)
- {
- var targetAddress = task.TargetAddress;
- var warehouseId = MapWarehouseIdConfigKey(task.TargetAddress);
- string sourceLineNo = ResolveRobotRuleValue(targetAddress, "AddressSourceLineNoMap", task.TargetAddress);
-
- var result = _httpClientHelper.Post<WebResponseContent>(
- nameof(ConfigKey.GetOutBoundTrayTaskAsync),
- new CreateTaskDto { WarehouseId = warehouseId, TargetAddress = sourceLineNo }.ToJson());
-
- if (!result.IsSuccess || !result.Data.Status)
- return WebResponseContent.Instance.Error($"鑾峰彇WMS绯荤粺绌烘墭鐩樺嚭搴撲换鍔″け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,閿欒淇℃伅:銆恵result.Data?.Message}銆�");
-
- var wMSTask = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.Data.ToString());
-
- var tasks = new List<WMSTaskDTO>();
- tasks.Add(wMSTask);
-
-
- return ReceiveWMSTask(tasks);
- }
-
- /// <summary>
- /// 鑾峰彇WMS绯荤粺鏈烘鎵嬩换鍔�
- /// </summary>
- /// <param name="task"></param>
- /// <returns></returns>
- private WebResponseContent GetWMSRobotTask(Dt_Task task)
- {
- string configKey = ResolveRobotTaskConfigKey(task.TargetAddress);
- StockDTO stock = BuildRobotTaskStock(task, configKey);
-
- var result = _httpClientHelper.Post<WebResponseContent>(configKey, stock.ToJson());
-
- if (!result.IsSuccess || !result.Data.Status)
- return WebResponseContent.Instance.Error($"鑾峰彇WMS绯荤粺鏈烘鎵嬩换鍔″け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,鐩爣鍦板潃:銆恵task.TargetAddress}銆�,鎺ュ彛:銆恵configKey}銆�,閿欒淇℃伅:銆恵result.Data?.Message}銆�");
-
- var tasks = JsonConvert.DeserializeObject<List<WMSTaskDTO>>(result.Data.Data?.ToString() ?? string.Empty);
- if (tasks == null || tasks.Count == 0)
- return WebResponseContent.Instance.Error($"鑾峰彇WMS绯荤粺鏈烘鎵嬩换鍔″け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,閿欒淇℃伅:銆怶MS鏈繑鍥炴湁鏁堜换鍔℃暟鎹��");
-
- return ReceiveWMSTask(tasks);
- }
-
- /// <summary>
- /// 鏍规嵁杈撻�佺嚎鐩爣鍦板潃瑙ｆ瀽鏈烘鎵嬩换鍔℃帴鍙ｃ��
- /// 瑙勫垯锛�
- /// 1. 浠庨厤缃鍙栫簿纭湴鍧�鏄犲皠锛圓ddressMap锛�
- /// 2. 鏈懡涓椂榛樿鎹㈢洏
- /// </summary>
- private string ResolveRobotTaskConfigKey(string? targetAddress)
- {
- string address = (targetAddress ?? string.Empty).Trim();
- if (string.IsNullOrWhiteSpace(address))
- return nameof(ConfigKey.CreateRobotChangePalletTask);
-
- var section = App.Configuration.GetSection("RobotTaskAddressRules");
- var addressMap = ReadRobotRuleMap(section.GetSection("AddressMap"));
- if (addressMap.TryGetValue(address, out string? exactTaskType))
- return MapRobotTaskTypeToConfigKey(exactTaskType);
-
- return nameof(ConfigKey.CreateRobotChangePalletTask);
- }
-
- private int MapWarehouseIdConfigKey(string? targetAddress)
- {
- return targetAddress switch
- {
- "11068" => 1,
- "11001" => 3,
- "11010" => 3,
- "10010" => 1,
- "10030" => 1,
- _ => 1
- };
- }
-
- /// <summary>
- /// 灏嗛厤缃换鍔＄被鍨嬭浆鎹负鎺ュ彛閰嶇疆閿��
- /// 鏀寔鍊硷細Split/Group/Change锛堝ぇ灏忓啓涓嶆晱鎰燂級
- /// </summary>
- private string MapRobotTaskTypeToConfigKey(string? taskType)
- {
- string type = (taskType ?? string.Empty).Trim().ToLowerInvariant();
- return type switch
- {
- "split" => nameof(ConfigKey.CreateRobotSplitPalletTask),
- "group" => nameof(ConfigKey.CreateRobotGroupPalletTask),
- _ => nameof(ConfigKey.CreateRobotChangePalletTask)
- };
- }
-
- /// <summary>
- /// 鏍规嵁鎺ュ彛绫诲瀷鏋勫缓鏈烘鎵嬩换鍔″叆鍙傘��
- /// </summary>
- private StockDTO BuildRobotTaskStock(Dt_Task task, string configKey)
- {
- string targetAddress = task.TargetAddress ?? string.Empty;
- string roadway = ResolveRobotRuleValue(targetAddress, "AddressRoadwayMap", task.Roadway);
- string sourceLineNo = ResolveRobotRuleValue(targetAddress, "AddressSourceLineNoMap", task.SourceAddress);
-
- var stock = new StockDTO
- {
- Roadway = roadway,
- SourceLineNo = sourceLineNo,
- TargetLineNo = task.TargetAddress,
- SourcePalletNo = task.PalletCode,
- TargetPalletNo = task.PalletCode
- };
-
- if (configKey == nameof(ConfigKey.CreateRobotSplitPalletTask))
- {
- stock.TargetPalletNo = string.Empty;
- }
- else if (configKey == nameof(ConfigKey.CreateRobotGroupPalletTask))
- {
- stock.SourcePalletNo = string.Empty;
- }
- else if (configKey == nameof(ConfigKey.CreateRobotChangePalletTask))
- {
- IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == sourceLineNo));
- if (device != null)
- {
- CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
- var barcode = conveyorLine.GetValue<ConveyorLineDBNameNew, string>(ConveyorLineDBNameNew.Barcode, sourceLineNo);
- stock.SourcePalletNo = string.IsNullOrEmpty(barcode) ? string.Empty : barcode;
- }
- }
-
- return stock;
- }
-
- /// <summary>
- /// 鏍规嵁鐩爣鍦板潃鎸夈�岀簿纭� > 鍥為��鍊笺�嶈В鏋愯鍒欏�笺��
- /// </summary>
- private string ResolveRobotRuleValue(string? targetAddress, string addressSectionName, string? fallback)
- {
- string address = (targetAddress ?? string.Empty).Trim();
- string defaultValue = fallback ?? string.Empty;
- if (string.IsNullOrWhiteSpace(address))
- return defaultValue;
-
- var section = App.Configuration.GetSection("RobotTaskAddressRules");
- var addressMap = ReadRobotRuleMap(section.GetSection(addressSectionName));
- if (addressMap.TryGetValue(address, out string? value))
- return value;
-
- return defaultValue;
- }
-
- /// <summary>
- /// 璇诲彇瑙勫垯鏄犲皠娈点��
- /// </summary>
- private Dictionary<string, string> ReadRobotRuleMap(IConfigurationSection section)
- {
- return section
- .GetChildren()
- .Where(x => !string.IsNullOrWhiteSpace(x.Key) && !string.IsNullOrWhiteSpace(x.Value))
- .ToDictionary(x => x.Key.Trim(), x => x.Value!.Trim());
- }
-
- /// <summary>
- /// 浠嶹MS绯荤粺鑾峰彇鍏ュ簱鐩爣鍦板潃
- /// </summary>
- private WebResponseContent GetWMSInboundLocation(Dt_Task task)
- {
- var result = _httpClientHelper.Post<WebResponseContent>(
- nameof(ConfigKey.GetTasksLocation),
- new CreateTaskDto { PalletCode = task.PalletCode }.ToJson());
-
- if (!result.IsSuccess || !result.Data.Status)
- return WebResponseContent.Instance.Error($"璋冪敤WMS鎺ュ彛鑾峰彇浠诲姟鐩爣鍦板潃澶辫触,浠诲姟鍙�:銆恵task.TaskNum}銆�,閿欒淇℃伅:銆恵result.Data?.Message}銆�");
-
- var nextAddress = result.Data.Data?.ToString();
- if (string.IsNullOrEmpty(nextAddress))
- return WebResponseContent.Instance.Error($"璋冪敤WMS鎺ュ彛鑾峰彇浠诲姟鐩爣鍦板潃澶辫触,浠诲姟鍙�:銆恵task.TaskNum}銆�,閿欒淇℃伅:銆愭湭鑾峰彇鍒版湁鏁堢殑鐩爣鍦板潃銆�");
-
- task.CurrentAddress = task.NextAddress;
-
- task.NextAddress = nextAddress;
- task.TargetAddress = nextAddress;
-
- return WebResponseContent.Instance.OK();
- }
-
- /// <summary>
- /// 鏇存柊WMS绯荤粺浠诲姟鐘舵��
- /// </summary>
- private WebResponseContent UpdateWMSTaskStatus(Dt_Task task)
- {
- var result = _httpClientHelper.Post<WebResponseContent>(
- nameof(ConfigKey.UpdateTaskByStatus),
- new UpdateTaskDto { Id = task.TaskNum, NewStatus = task.TaskStatus }.ToJson());
-
- if (!result.IsSuccess || !result.Data.Status)
- return WebResponseContent.Instance.Error($"璋冪敤WMS鎺ュ彛鏇存柊浠诲姟鐘舵�佸け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,閿欒淇℃伅:銆恵result.Data?.Message}銆�");
-
- return WebResponseContent.Instance.OK();
- }
-
- /// <summary>
- /// 閫氱煡WMS绯荤粺绉诲簱浠诲姟瀹屾垚
- /// </summary>
- private WebResponseContent NotifyWMSRelocationFinish(Dt_Task task)
- {
- var result = _httpClientHelper.Post<WebResponseContent>(
- nameof(ConfigKey.RelocationFinishTask),
- new CreateTaskDto
- {
- PalletCode = task.PalletCode,
- SourceAddress = task.CurrentAddress,
- TargetAddress = task.TargetAddress,
- Roadway = task.Roadway,
- TaskType = task.TaskType
- }.ToJson());
-
- if (!result.IsSuccess || !result.Data.Status)
- return WebResponseContent.Instance.Error($"閫氱煡WMS绯荤粺绉诲簱瀹屾垚澶辫触,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,閿欒淇℃伅:銆恵result.Data?.Message}銆�");
return WebResponseContent.Instance.OK();
}
@@ -744,7 +441,8 @@
string oldCurrentPos = task.CurrentAddress;
string oldNextPos = task.NextAddress;
- Dt_Router routers = _routerService.QueryNextRoute(task.CurrentAddress);
+
+ Dt_Router routers = _routerService.QueryNextRoute(oldNextPos, task.TargetAddress);
if (routers == null) throw new Exception($"鏈壘鍒拌澶囪矾鐢变俊鎭�");
task.CurrentAddress = task.NextAddress;
@@ -776,94 +474,41 @@
{
Dt_Task task = BaseDal.QueryFirst(x => x.TaskNum == taskNum);
if (task == null) return WebResponseContent.Instance.Error($"鏈壘鍒拌浠诲姟淇℃伅,浠诲姟鍙�:銆恵taskNum}銆�");
-
- if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskStatus == (int)TaskOutStatusEnum.SC_OutExecuting)
+ TaskTypeGroup taskTypeGroup = task.TaskType.GetTaskTypeGroup();
+ content = taskTypeGroup switch
{
- List<Dt_Router> routers = _routerService.QueryNextRoutes(task.NextAddress, task.TargetAddress);
- if (!routers.Any()) return WebResponseContent.Instance.Error($"鏈壘鍒拌澶囪矾鐢变俊鎭�");
-
- int nextStatus = task.TaskStatus.GetNextNotCompletedStatus<TaskOutStatusEnum>();
- task.TaskStatus = nextStatus;
- task.CurrentAddress = task.NextAddress;
- task.NextAddress = routers.FirstOrDefault().ChildPosi;
- task.ModifyDate = DateTime.Now;
- task.Modifier = "System";
-
- content = NotifyWMSOutboundFinish(task);
- if (content.Status)
- {
- BaseDal.UpdateData(task);
-
- _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"鍫嗗灈鏈哄嚭搴撳畬鎴�");
- return content.Error($"閫氱煡WMS绯荤粺鍫嗗灈鏈哄嚭搴撳畬鎴愭垚鍔�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�");
- }
-
- //var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.OutboundFinishTaskAsync), (new StockInfoDTO() { PalletCode = task.PalletCode, TaskNum = task.TaskNum }).ToJson());
- //if (result.IsSuccess && result.Data.Status)
- //{
- // BaseDal.UpdateData(task);
-
- // _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"鍫嗗灈鏈哄嚭搴撳畬鎴�");
- // return content.Error($"閫氱煡WMS绯荤粺鍫嗗灈鏈哄嚭搴撳畬鎴愭垚鍔�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�");
-
- //}
- //else
- //{
- // return content.Error($"閫氱煡WMS绯荤粺鍫嗗灈鏈哄嚭搴撳畬鎴愬け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,閿欒淇℃伅:銆恵result.Data.Message}銆�");
- //}
- }
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup && task.TaskStatus == (int)TaskInStatusEnum.SC_InExecuting)
+ TaskTypeGroup.OutbondGroup => _outboundTaskFlowService.CompleteStackerTask(task),
+ TaskTypeGroup.InboundGroup => _inboundTaskFlowService.CompleteStackerTask(task),
+ TaskTypeGroup.RelocationGroup => _relocationTaskFlowService.CompleteStackerTask(task),
+ TaskTypeGroup.OtherGroup => _robotTaskFlowService.CompleteStackerTask(task),
+ _ => throw new Exception($"浠诲姟绫诲瀷閿欒,鏈壘鍒拌浠诲姟绫诲瀷,浠诲姟鍙�:銆恵taskNum}銆�,浠诲姟绫诲瀷:銆恵task.TaskType}銆�")
+ };
+ if (!content.Status)
{
- int nextStatus = task.TaskStatus.GetNextNotCompletedStatus<TaskInStatusEnum>();
- task.TaskStatus = nextStatus;
- task.ModifyDate = DateTime.Now;
- task.Modifier = "System";
+ return content;
+ }
- var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.InboundFinishTaskAsync), (new CreateTaskDto()
- {
- PalletCode = task.PalletCode,
- }).ToJson());
+ if (taskTypeGroup == TaskTypeGroup.OutbondGroup && task.TaskStatus == (int)TaskOutStatusEnum.SC_OutFinish)
+ {
+ BaseDal.UpdateData(task);
+ _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, "鍫嗗灈鏈哄嚭搴撳畬鎴�");
+ return content;
+ }
- if (result.IsSuccess && result.Data.Status)
- {
- BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
- _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"鍫嗗灈鏈哄叆搴撳畬鎴�");
- return content.Error($"閫氱煡WMS绯荤粺鍫嗗灈鏈哄叆搴撳畬鎴愭垚鍔�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�");
- }
- else
- {
- return content.Error($"閫氱煡WMS绯荤粺鍫嗗灈鏈哄叆搴撳畬鎴愬け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,閿欒淇℃伅:銆恵result.Data.Message}銆�");
- }
- }
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
+ if (taskTypeGroup == TaskTypeGroup.InboundGroup && task.TaskStatus == (int)TaskInStatusEnum.SC_InFinish)
{
- if (task.TaskStatus == (int)TaskRelocationStatusEnum.SC_RelocationExecuting)
- {
- int nextStatus = task.TaskStatus.GetNextNotCompletedStatus<TaskRelocationStatusEnum>();
- task.TaskStatus = nextStatus;
- task.ModifyDate = DateTime.Now;
- task.Modifier = "System";
+ BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
+ _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, "鍫嗗灈鏈哄叆搴撳畬鎴�");
+ return content;
+ }
- WebResponseContent result = NotifyWMSRelocationFinish(task);
- if (result.Status)
- {
- BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
- _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, $"鍫嗗灈鏈虹Щ搴撳畬鎴�");
- return content.Error($"閫氱煡WMS绯荤粺鍫嗗灈鏈虹Щ搴撳畬鎴愭垚鍔�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�");
- }
- else
- {
- return content.Error($"閫氱煡WMS绯荤粺鍫嗗灈鏈虹Щ搴撳畬鎴愬け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,閿欒淇℃伅:銆恵result.Message}銆�");
- }
- }
- }
- else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
+ if (taskTypeGroup == TaskTypeGroup.RelocationGroup && task.TaskStatus == (int)TaskRelocationStatusEnum.RelocationFinish)
{
+ BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩瀹屾垚);
+ _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskId, "鍫嗗灈鏈虹Щ搴撳畬鎴�");
+ return content;
}
- else
- {
- throw new Exception($"浠诲姟绫诲瀷閿欒,鏈壘鍒拌浠诲姟绫诲瀷,浠诲姟鍙�:銆恵taskNum}銆�,浠诲姟绫诲瀷:銆恵task.TaskType}銆�");
- }
+
content = WebResponseContent.Instance.OK();
}
catch (Exception ex)
@@ -1005,4 +650,87 @@
{
Barcode
}
-}
+ public class ConveyorLineTaskCommandNew : DeviceCommand
+ {
+ /// <summary>
+ /// 浠诲姟鍙�
+ /// </summary>
+ public short TaskNo { get; set; }
+
+ /// <summary>
+ /// 婧愪綅缃� 寮�濮嬪湴鍧�
+ /// </summary>
+ public short Source { get; set; }
+
+ /// <summary>
+ /// 鐩爣浣嶇疆
+ /// </summary>
+ public short Target { get; set; }
+
+ /// <summary>
+ /// 绠卞瀷
+ /// </summary>
+ public byte BoxType { get; set; }
+
+ /// <summary>
+ /// 杈撻�佺嚎鐘舵�� 璁惧绌洪棽鐘舵��
+ /// </summary>
+ public byte CV_State { get; set; }
+
+ /// <summary>
+ /// 杈撻�佺嚎閿欒浠ｇ爜
+ /// </summary>
+ public byte CV_ERRCode { get; set; }
+
+ /// <summary>
+ /// WCS灏辩华鏍囧織 WCS涓嬪彂瀹屾垚鏃讹紝瑙﹀彂涓�1
+ /// </summary>
+ public byte WCS_STB { get; set; }
+
+ /// <summary>
+ /// WCS搴旂瓟鏍囧織 WCS鏀跺埌瀹屾垚鏃讹紝瑙﹀彂涓�1
+ /// </summary>
+ public byte WCS_ACK { get; set; }
+
+ /// <summary>
+ /// PLC灏辩华鏍囧織 瀹屾垚浠诲姟鏃讹紝瑙﹀彂涓�1
+ /// </summary>
+ public byte PLC_STB { get; set; }
+
+ /// <summary>
+ /// PLC搴旂瓟鏍囧織 鏀跺埌浠诲姟鏃讹紝瑙﹀彂涓�1
+ /// </summary>
+ public byte PLC_ACK { get; set; }
+
+ /// <summary>
+ /// PLC璇锋眰鏍囧織 鍏ュ簱绔欏彴锛屽埌浣嶅啓1
+ /// </summary>
+ public byte PLC_REQ { get; set; }
+
+ /// <summary>
+ /// WCS閿欒浠ｇ爜
+ /// </summary>
+ public byte WCS_ERRCode { get; set; }
+
+ /// <summary>
+ /// WCS鐗规畩鏍囧織 (鏃嬭浆鏍囪瘑銆佸己鍒舵斁琛屻�佸惊鐜�佺壒娈婄敵璇枫�佹槸鍚﹀彔鐩樸�佹槸鍚﹀牭濉�)
+ /// </summary>
+ public byte WCS_Special { get; set; }
+
+ /// <summary>
+ /// 璁惧鑷姩妯″紡 鎵嬪姩1锛岃嚜鍔�2
+ /// </summary>
+ public byte Equ_Auto { get; set; }
+
+ /// <summary>
+ /// 灏炬澘鏍囧織
+ /// </summary>
+ public byte Last_pallet { get; set; }
+
+ /// <summary>
+ /// 鏉＄爜锛�22涓瓧绗︼級
+ /// </summary>
+ [DataLength(22)]
+ public string Barcode { get; set; }
+ }
+}
\ No newline at end of file
--
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