增加AGV任务判断

Seyounth.Hyosung.Core/Agv/HikAgv.cs

@@ -46,7 +46,8 @@ public class HikAgv(ILogger<HikAgv> logger)
         logger.LogInformation($"task {taskCode} cancel succeed.");
     }
 
-    public async Task CarryToAsync(AgvPosition start, AgvPosition end, string ctnrType, int priority, string taskType)
+    public async Task<string> CarryToAsync(AgvPosition start, AgvPosition end, string ctnrType, int priority,
+        string taskType)
     {
         var url = Url + SchedulingTaskUri;
         var input = new
@@ -65,19 +66,50 @@ public class HikAgv(ILogger<HikAgv> logger)
         var rs = await PostAsync<string>(url, input);
         if (rs is null)
         {
-            logger.LogWarning($"{start.PositionCode} carry to {end.PositionCode} error: result is null");
+            throw new NullReferenceException($"{start.PositionCode} carry to {end.PositionCode} error: result is null");
-            return;
         }
 
         if (rs.Code != "0")
         {
-            logger.LogWarning($"{start.PositionCode} carry to {end.PositionCode} error: code is {rs.Code} message is {rs.Message}");
+            throw new Exception(
-            return;
+                $"{start.PositionCode} carry to {end.PositionCode} error: code is {rs.Code} message is {rs.Message}");
         }
 
-        logger.LogInformation($"{start.PositionCode} carry to {end.PositionCode} succeed");
+        return rs.Data;
     }
 
+    public async Task WaitingForTaskCompletedAsync(string taskCode)
+    {
+        while (true)
+        {
+            var input = new
+            {
+                reqCode = GetRequestCode(),
+                taskCodes = new List<string> { taskCode }
+            };
+            var rs = await PostAsync<List<TaskStatusModel>>(Url + "queryTaskStatus", input);
+            if (rs is null)
+            {
+                throw new NullReferenceException($"task {taskCode} wait completed error: result is null");
+            }
+
+            if (rs.Code != "0")
+            {
+                throw new Exception($"task {taskCode} wait completed error: code is {rs.Code} message is {rs.Message}");
+            }
+
+            // 检查是否有符合条件的任务状态为 9
+            var task = rs.Data.FirstOrDefault(t => t.taskCode == taskCode);
+            if (task is { taskStatus: "9" })
+            {
+                logger.LogInformation($"task {taskCode} wait completed succeed");
+                break; // 退出循环
+            }
+
+            // 可以添加适当的延迟，避免频繁请求
+            await Task.Delay(1000);
+        }
+    }
 
     public async Task UnBin(AgvBinEntity bin)
     {

Seyounth.Hyosung.Core/Agv/HikModels/TaskStatusModel.cs

@@ -0,0 +1,8 @@
+namespace Seyounth.Hyosung.Core.Agv.HikModels;
+
+public class TaskStatusModel
+{
+    public string taskCode { get; set; }
+    
+    public string taskStatus { get; set; }
+}

Seyounth.Hyosung.Core/Agv/HyosungAgvService.cs

@@ -43,10 +43,9 @@ public class HyosungAgvService(
             ctnrType = "14";
         bin.HeightCode = ctnrType;
 
-        await _agv.CarryToAsync(start, stop, ctnrType, 120, "1");
+        var taskCode = await _agv.CarryToAsync(start, stop, ctnrType, 120, "1");
+        await _agv.WaitingForTaskCompletedAsync(taskCode);
         await agvBinService.BindAsync(bin);
-        //等待30秒 确保AGV已经把产品叉出
-        await Task.Delay(30 * 1000);
     }
 
     public async Task UnBin(AgvBinEntity bin)