From da5d613a85d97ecd826e343eae6d901806120a05 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期三, 18 三月 2026 14:18:36 +0800
Subject: [PATCH] fix: 修复输送线目标地址选择器并完善机械手任务地址映射
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs | 205 +++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 181 insertions(+), 24 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
index c0645bf..adc48a7 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
@@ -18,10 +18,12 @@
#endregion << 鐗� 鏈� 娉� 閲� >>
using MapsterMapper;
+using Microsoft.Extensions.Configuration;
+using Microsoft.IdentityModel.Tokens;
using Newtonsoft.Json;
+using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
-using System.Text.Json;
using WIDESEA_Core;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
@@ -29,13 +31,15 @@
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
-using WIDESEAWCS_Core.Http;
using WIDESEAWCS_DTO;
using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoRepository;
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;
@@ -48,6 +52,7 @@
private readonly ITaskExecuteDetailRepository _taskExecuteDetailRepository;
private readonly IMapper _mapper;
private readonly HttpClientHelper _httpClientHelper;
+ private readonly IRobotTaskService _robotTaskService;
private Dictionary<string, OrderByType> _taskOrderBy = new()
{
@@ -66,13 +71,14 @@
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, HttpClientHelper httpClientHelper, IRobotTaskService robotTaskService) : base(BaseDal)
{
_routerService = routerService;
_taskExecuteDetailService = taskExecuteDetailService;
_taskExecuteDetailRepository = taskExecuteDetailRepository;
_mapper = mapper;
_httpClientHelper = httpClientHelper;
+ _robotTaskService = robotTaskService;
}
/// <summary>
@@ -96,9 +102,16 @@
task.Creater = "WMS";
if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
{
- Dt_Router router = _routerService.QueryNextRoute(item.RoadWay, item.TargetAddress,item.TaskType);
+ int taskType = 0;
+ if (task.TaskType == (int)TaskOutboundTypeEnum.OutEmpty)
+ {
+ taskType = 100;
+ }
+ else
+ taskType = task.TaskType;
+ Dt_Router router = _routerService.QueryNextRoute(item.Roadway, item.TargetAddress, taskType);
//鏆備笉鑰冭檻澶氳矾寰�
- if (router !=null )
+ if (router != null)
{
task.TaskStatus = (int)TaskOutStatusEnum.OutNew;
task.CurrentAddress = item.SourceAddress;
@@ -147,7 +160,7 @@
TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
Grade = 1,
PalletCode = palletCode,
- RoadWay = "SC01",
+ Roadway = "SC01",
SourceAddress = sourceAddress,
TargetAddress = "SC01",
TaskState = (int)TaskInStatusEnum.InNew,
@@ -369,7 +382,14 @@
// 鏇存柊浠诲姟鏁版嵁
task.ModifyDate = DateTime.Now;
task.Modifier = "System";
- BaseDal.UpdateData(task);
+ if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish)
+ {
+ BaseDal.DeleteAndMoveIntoHty(task, OperateTypeEnum.鑷姩鍒犻櫎);
+ }
+ else
+ {
+ BaseDal.UpdateData(task);
+ }
// 璁板綍浠诲姟鎵ц璇︽儏
string logMessage = App.User.UserId > 0
@@ -394,14 +414,20 @@
return WebResponseContent.Instance.Error($"璇ヤ换鍔＄姸鎬佷笉鍙烦杞埌涓嬩竴姝�,浠诲姟鍙�:銆恵task.TaskNum}銆�,浠诲姟鐘舵��:銆恵task.TaskStatus}銆�");
// 鏍规嵁鐘舵�佽皟鐢ㄤ笉鍚岀殑WMS鎺ュ彛
- if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish)
+ if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish && task.TaskType == (int)TaskOutboundTypeEnum.Outbound)
{
- return NotifyWMSOutboundFinish(task);
+ return GetWMSOutboundTrayTask(task);
+ }
+ else if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutFinish && task.TaskType == (int)TaskOutboundTypeEnum.OutEmpty)
+ {
+ return _robotTaskService.GetWMSRobotTask(task);
}
else
{
- // return UpdateWMSTaskStatus(task);
- return WebResponseContent.Instance.OK();
+ if (task.TaskStatus == (int)TaskOutStatusEnum.Line_OutExecuting)
+ return WebResponseContent.Instance.OK();
+ else
+ return UpdateWMSTaskStatus(task);
}
}
@@ -489,6 +515,34 @@
}
/// <summary>
+ /// 鑾峰彇绌烘墭鍑哄簱浠诲姟
+ /// </summary>
+ private WebResponseContent GetWMSOutboundTrayTask(Dt_Task task)
+ {
+ var targetAddress = task.TargetAddress;
+ var warehouseId = _robotTaskService.MapWarehouseIdConfigKey(task.TargetAddress);
+ string sourceLineNo = _robotTaskService.ResolveRobotRuleValue(targetAddress, "AddressSourceLineNoMap", task.TargetAddress);
+
+ var result = _httpClientHelper.Post<WebResponseContent>(
+ nameof(ConfigKey.GetOutBoundTrayTaskAsync),
+ new CreateTaskDto { WarehouseId = warehouseId, TargetAddress = sourceLineNo }.ToJson());
+
+ if (!result.IsSuccess || !result.Data.Status)
+ return WebResponseContent.Instance.Error($"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() ?? string.Empty);
+
+ var tasks = new List<WMSTaskDTO>
+ {
+ wMSTask
+ };
+
+ return ReceiveWMSTask(tasks);
+ }
+
+
+
+ /// <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)
@@ -568,7 +622,8 @@
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($"鏈壘鍒拌澶囪矾鐢变俊鎭�");
task.CurrentAddress = task.NextAddress;
@@ -603,29 +658,45 @@
if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup && task.TaskStatus == (int)TaskOutStatusEnum.SC_OutExecuting)
{
- List<Dt_Router> routers = _routerService.QueryNextRoutes(task.NextAddress, task.TargetAddress);
- if (!routers.Any()) return WebResponseContent.Instance.Error($"鏈壘鍒拌澶囪矾鐢变俊鎭�");
+ int taskType = 0;
+ if (task.TaskType == (int)TaskOutboundTypeEnum.OutEmpty)
+ {
+ taskType = 100;
+ }
+ else
+ taskType = task.TaskType;
+ Dt_Router router = _routerService.QueryNextRoute(task.NextAddress, task.TargetAddress, taskType);
+ if (router == null) 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.NextAddress = router.ChildPosi;
task.ModifyDate = DateTime.Now;
task.Modifier = "System";
- var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.OutboundFinishTaskAsync), (new StockInfoDTO() { PalletCode = task.PalletCode, TaskNum = task.TaskNum }).ToJson());
- if (result.IsSuccess && result.Data.Status)
+ 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�");
+ }
- }
- 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�");
- }
+ //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)
{
@@ -633,8 +704,6 @@
task.TaskStatus = nextStatus;
task.ModifyDate = DateTime.Now;
task.Modifier = "System";
-
-
var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.InboundFinishTaskAsync), (new CreateTaskDto()
{
@@ -817,4 +886,92 @@
return BaseDal.QueryFirst(x => x.TaskNum == taskNum);
}
}
+
+ public enum ConveyorLineDBNameNew
+ {
+ 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; }
+ }
}
--
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