From ff006f77f6267fc0d2c4ee810d897a85165f5b8f Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 30 四月 2026 22:08:29 +0800
Subject: [PATCH] Merge branch 'xiaoyang' into dev
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs | 196 +++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 190 insertions(+), 6 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
index 3502c79..915f224 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
@@ -17,13 +17,17 @@
#endregion << 鐗� 鏈� 娉� 閲� >>
+using Autofac.Core;
using MapsterMapper;
+using Masuit.Tools;
using Microsoft.Extensions.Configuration;
using Newtonsoft.Json;
+using Newtonsoft.Json.Linq;
using Serilog;
using SqlSugar;
using System.Diagnostics;
using System.Diagnostics.CodeAnalysis;
+using System.Text;
using WIDESEA_Core;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.HttpEnum;
@@ -73,6 +77,7 @@
_taskExecuteDetailService = taskExecuteDetailService;
_logger = logger;
}
+
public override WebResponseContent DeleteData(object[] keys)
{
List<int> taskKeys = new List<int>();
@@ -83,8 +88,8 @@
List<Dt_RobotTask> tasks = BaseDal.QueryData(x => taskKeys.Contains(x.RobotTaskId));
BaseDal.DeleteAndMoveIntoHty(tasks, OperateTypeEnum.浜哄伐鍒犻櫎);
return WebResponseContent.Instance.OK($"鎴愬姛鍒犻櫎{tasks.Count}鏉℃暟鎹�");
-
}
+
public bool DeleteRobotTask(int id)
{
Dt_RobotTask task = BaseDal.QueryFirst(x => x.RobotTaskId == id);
@@ -133,7 +138,7 @@
public Dt_RobotTask? QueryRobotCraneTask(string deviceCode)
{
- return BaseDal.QueryFirst(x => x.RobotRoadway == deviceCode && x.RobotTaskState != (int)TaskRobotStatusEnum.RobotExecuting, TaskOrderBy);
+ return BaseDal.QueryFirst(x => x.RobotRoadway == deviceCode, TaskOrderBy);
}
public Dt_RobotTask? QueryRobotCraneExecutingTask(string deviceCode)
@@ -240,10 +245,108 @@
}
/// <summary>
+ /// 妫�鏌ユ簮绾夸綋鏄惁鏈夋墭鐩樺彿锛屽苟鏍规嵁缁撴灉鍒涘缓鏈烘鎵嬩换鍔°��
+ /// </summary>
+ /// <param name="task">鍑哄簱浠诲姟瀹炰綋</param>
+ /// <returns>
+ /// 鏈夋墭鐩樺彿鏃惰繑鍥� CreateLocalRobotTask 缁撴灉锛�
+ /// 鏃犳墭鐩樺彿鏃惰繑鍥� GetWMSOutboundTrayTask 缁撴灉銆�
+ /// </returns>
+ public WebResponseContent CheckSourceLineAndCreateRobotTask(Dt_Task task)
+ {
+ // 1. 鑾峰彇婧愮嚎浣撶紪鍙凤紙澶嶇敤宸叉湁閫昏緫锛�
+ string configKey = ResolveRobotTaskConfigKey(task.TargetAddress);
+ StockDTO stock = BuildRobotTaskStock(task, configKey);
+ string sourceLineNo = stock.SourceLineNo;
+
+ if (string.IsNullOrWhiteSpace(sourceLineNo))
+ {
+ return GetWMSOutboundTrayTaskFromWMS(task);
+ }
+
+ // 2. 閫氳繃璁惧閫氫俊璇诲彇绾夸綋鎵樼洏鍙�
+ string? palletCode = ReadLineBarcode(sourceLineNo);
+
+ if (!string.IsNullOrWhiteSpace(palletCode))
+ {
+ // 鏈夋墭鐩樺彿锛屾湰鍦板垱寤烘満姊版墜浠诲姟
+ return CreateLocalRobotTask(task);
+ }
+
+ // 鏃犳墭鐩樺彿锛屼粠 WMS 鑾峰彇浠诲姟
+ return GetWMSOutboundTrayTaskFromWMS(task);
+ }
+
+ /// <summary>
+ /// 浠嶹MS鑾峰彇绌烘墭鐩樺嚭搴撲换鍔°��
+ /// </summary>
+ /// <param name="task">浠诲姟瀹炰綋銆�</param>
+ /// <returns>璋冪敤缁撴灉銆�</returns>
+ private WebResponseContent GetWMSOutboundTrayTaskFromWMS(Dt_Task task)
+ {
+ int warehouseId = MapWarehouseIdConfigKey(task.TargetAddress);
+ string sourceLineNo = ResolveRobotRuleValue(task.TargetAddress, "AddressSourceLineNoMap", task.TargetAddress);
+ string configKey = nameof(ConfigKey.GetOutBoundTrayTaskAsync);
+ string requestParam = new CreateTaskDto { WarehouseId = warehouseId, TargetAddress = sourceLineNo }.ToJson();
+ DateTime startTime = DateTime.Now;
+
+ var result = _httpClientHelper.Post<WebResponseContent>(configKey, requestParam);
+
+ if (!result.IsSuccess || !result.Data.Status)
+ {
+ QuartzLogHelper.LogError(_logger, $"璋冪敤WMS鎺ュ彛澶辫触,鎺ュ彛:銆恵configKey}銆�,璇锋眰鍙傛暟:銆恵requestParam}銆�,閿欒淇℃伅:銆恵result.Data?.Message}銆�", "RobotTaskService");
+ return WebResponseContent.Instance.Error($"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�");
+ }
+
+ QuartzLogHelper.LogInfo(_logger, $"璋冪敤WMS鎺ュ彛鎴愬姛,鎺ュ彛:銆恵configKey}銆�,鍝嶅簲鏁版嵁:銆恵result.Data?.Data}銆�,鑰楁椂:{(DateTime.Now - startTime).TotalMilliseconds}ms", "RobotTaskService");
+
+ WMSTaskDTO? wMSTask = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.Data?.ToString() ?? string.Empty);
+ if (wMSTask == null)
+ return WebResponseContent.Instance.Error($"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:銆怶MS鏈繑鍥炴湁鏁堜换鍔℃暟鎹��");
+
+ // 鏋勫缓StockDTO骞惰皟鐢≧eceiveWMSTask鍒涘缓鏈湴鍏ュ簱浠诲姟
+ var stockDto = new StockDTO
+ {
+ Roadway = task.Roadway,
+ SourceLineNo = sourceLineNo,
+ TargetLineNo = task.TargetAddress,
+ SourcePalletNo = string.Empty,
+ TargetPalletNo = string.Empty
+ };
+ return ReceiveWMSTask(wMSTask, stockDto);
+ }
+
+ /// <summary>
+ /// 璇诲彇鎸囧畾绾夸綋鐨勬墭鐩樺彿銆�
+ /// </summary>
+ /// <param name="sourceLineNo">婧愮嚎浣撶紪鍙�</param>
+ /// <returns>鎵樼洏鍙凤紝濡傛湁寮傚父杩斿洖 null</returns>
+ private string? ReadLineBarcode(string sourceLineNo)
+ {
+ try
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x =>
+ x.DeviceProDTOs.Any(d => d.DeviceChildCode == sourceLineNo));
+
+ if (device == null)
+ return null;
+
+ CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
+ return conveyorLine.GetValue<ConveyorLineDBNameNew, string>(
+ ConveyorLineDBNameNew.Barcode, sourceLineNo);
+ }
+ catch (Exception ex)
+ {
+ _logger.Error(ex, $"璇诲彇绾夸綋[{sourceLineNo}]鎵樼洏鍙峰紓甯�");
+ return null;
+ }
+ }
+
+ /// <summary>
/// 鑾峰彇鏈烘鎵嬩换鍔℃�绘暟閲忋��
/// 缁勭洏浠诲姟鍥哄畾48锛屾崲鐩樺拰鎷嗙洏浠诲姟閫氳繃鎵樼洏鍙锋煡璇MS搴撳瓨鏄庣粏鏁伴噺銆�
/// </summary>
- private int GetRobotTaskTotalNum(int taskType, string? palletCode)
+ public int GetRobotTaskTotalNum(int taskType, string? palletCode)
{
if (taskType == (int)RobotTaskTypeEnum.GroupPallet)
return 48;
@@ -253,8 +356,10 @@
try
{
+ QuartzLogHelper.LogInfo(_logger, $"寮�濮嬭皟鐢╓MS鎺ュ彛鑾峰彇搴撳瓨鏄庣粏鏁伴噺,鎵樼洏鍙�:銆恵palletCode}銆�", "RobotTaskService");
string url = $"{BaseAPI.WMSBaseUrl}Stock/GetStockDetailCount?palletCode={Uri.EscapeDataString(palletCode)}";
var result = _httpClientHelper.Get(url);
+ QuartzLogHelper.LogInfo(_logger, $"璋冪敤WMS鑾峰彇搴撳瓨鏄庣粏鏁伴噺鎺ュ彛,璇锋眰URL:銆恵url}銆�,鍝嶅簲鏁版嵁:銆恵result.Content}銆�,鑰楁椂:{result.Duration}ms", "RobotTaskService");
if (!result.IsSuccess || string.IsNullOrEmpty(result.Content))
return 1;
@@ -262,8 +367,8 @@
if (response == null || !response.Status)
return 1;
- var detailCount = response.Data?.GetType().GetProperty("DetailCount")?.GetValue(response.Data);
- return detailCount is int count and > 0 ? count : 1;
+ var detailCount = (response.Data as JObject)?["detailCount"]?.Value<int>();
+ return detailCount.HasValue && detailCount.Value > 0 ? detailCount.Value : 1;
}
catch
{
@@ -368,8 +473,10 @@
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
DeviceProDTO? devicePro = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == nameof(ConveyorLineDBNameNew.Barcode) && x.DeviceChildCode == sourceLineNo);
+ //conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 20);
//ConveyorLineTaskCommandNew command = conveyorLine.ReadCustomer<ConveyorLineTaskCommandNew>(sourceLineNo); // 娴嬭瘯鐢�
- var barcode = conveyorLine.GetValue<ConveyorLineDBNameNew, string>(ConveyorLineDBNameNew.Barcode, sourceLineNo);
+ var bytes = conveyorLine.Communicator.Read(devicePro.DeviceProAddress, 20);
+ var barcode = Encoding.Default.GetString(bytes).Trim();
stock.SourcePalletNo = string.IsNullOrEmpty(barcode) ? string.Empty : barcode;
}
}
@@ -448,5 +555,82 @@
.Where(x => !string.IsNullOrWhiteSpace(x.Key) && !string.IsNullOrWhiteSpace(x.Value))
.ToDictionary(x => x.Key.Trim(), x => x.Value!.Trim());
}
+
+ public WebResponseContent CreateRobotTaskManually(ManualRobotTaskDto request)
+ {
+ try
+ {
+ Dt_RobotTask robotTask = new Dt_RobotTask();
+ robotTask.RobotTaskNum = Random.Shared.StrictNext();
+ robotTask.RobotRoadway = request.RobotRoadway;
+ if (request.RobotRoadway == RobotTaskTypeEnum.GroupPallet.ToString())
+ {
+ robotTask.RobotTaskType = (int)RobotTaskTypeEnum.GroupPallet;
+ robotTask.RobotTaskState = (int)TaskRobotStatusEnum.RobotNew;
+ robotTask.RobotTaskTotalNum = request.RobotTaskTotalNum;
+ robotTask.RobotDispatchertime = DateTime.Now;
+ robotTask.RobotRemark = "浜哄伐鎵嬪姩鍒涘缓";
+ robotTask.RobotTargetAddressPalletCode = request.RobotTargetAddressPalletCode;
+ robotTask.RobotTargetAddressLineCode = "11068";
+ }
+ else if (request.RobotRoadway == RobotTaskTypeEnum.ChangePallet.ToString())
+ {
+ switch (request.Forward)
+ {
+ case 1:
+ robotTask.RobotSourceAddress = "1";
+ robotTask.RobotSourceAddressLineCode = "11010";
+ robotTask.RobotTargetAddress = "3";
+ robotTask.RobotTargetAddressLineCode = "2103";
+ break;
+ case 2:
+ robotTask.RobotSourceAddress = "2";
+ robotTask.RobotSourceAddressLineCode = "11001";
+ robotTask.RobotTargetAddress = "4";
+ robotTask.RobotTargetAddressLineCode = "2101";
+ break;
+ case 3:
+ robotTask.RobotSourceAddress = "3";
+ robotTask.RobotSourceAddressLineCode = "2103";
+ robotTask.RobotTargetAddress = "1";
+ robotTask.RobotTargetAddressLineCode = "11010";
+ break;
+ case 4:
+ robotTask.RobotSourceAddress = "4";
+ robotTask.RobotSourceAddressLineCode = "2101";
+ robotTask.RobotTargetAddress = "2";
+ robotTask.RobotTargetAddressLineCode = "11001";
+ break;
+ default:
+ return WebResponseContent.Instance.Error($"娣诲姞鏈哄櫒浜轰换鍔″け璐�,鏂瑰悜涓嶅");
+ }
+ robotTask.RobotTaskType = (int)RobotTaskTypeEnum.ChangePallet;
+ robotTask.RobotTaskState = (int)TaskRobotStatusEnum.RobotNew;
+ robotTask.RobotTaskTotalNum = request.RobotTaskTotalNum;
+ robotTask.RobotDispatchertime = DateTime.Now;
+ robotTask.RobotRemark = "浜哄伐鎵嬪姩鍒涘缓";
+ robotTask.RobotSourceAddressPalletCode = request.RobotSourceAddressPalletCode;
+ robotTask.RobotTargetAddressPalletCode = request.RobotTargetAddressPalletCode;
+ }
+ else if (request.RobotRoadway == RobotTaskTypeEnum.SplitPallet.ToString())
+ {
+ robotTask.RobotTaskType = (int)RobotTaskTypeEnum.SplitPallet;
+ robotTask.RobotTaskState = (int)TaskRobotStatusEnum.RobotNew;
+ robotTask.RobotTaskTotalNum = request.RobotTaskTotalNum;
+ robotTask.RobotDispatchertime = DateTime.Now;
+ robotTask.RobotRemark = "浜哄伐鎵嬪姩鍒涘缓";
+ robotTask.RobotSourceAddressPalletCode = request.RobotSourceAddressPalletCode;
+ }
+ else
+ {
+ return WebResponseContent.Instance.Error($"娣诲姞鏈哄櫒浜轰换鍔″け璐ワ紝鏈哄櫒浜哄悕绉伴敊璇瘂request.RobotRoadway}");
+ }
+ return base.AddData(robotTask);
+ }
+ catch (Exception ex)
+ {
+ return WebResponseContent.Instance.Error($"娣诲姞鏈哄櫒浜轰换鍔″け璐�: {ex.Message}");
+ }
+ }
}
}
\ No newline at end of file
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