using HslCommunication;
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using HslCommunication.WebSocket;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Linq;
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using OfficeOpenXml.FormulaParsing.Excel.Functions.Information;
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using Quartz;
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using SqlSugar;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Linq;
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using System.Reflection;
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using System.Text;
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using System.Threading.Tasks;
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using WIDESEA_Common.Log;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Common.APIEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO.Agv;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_ISystemServices;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class CommonAGVJob : JobBase, IJob
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{
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private readonly ITaskRepository _taskRepository;
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private readonly ITaskService _taskService;
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private readonly ISys_ConfigService _sys_ConfigService;
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private readonly IDt_StationManagerRepository _stationManagerRepository;
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public CommonAGVJob(ITaskRepository taskRepository, ITaskService taskService, ISys_ConfigService configService, IDt_StationManagerRepository stationManagerRepository)
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{
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_taskRepository = taskRepository;
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_taskService = taskService;
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_sys_ConfigService = configService;
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_stationManagerRepository = stationManagerRepository;
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}
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public Task Execute(IJobExecutionContext context)
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{
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var newTasks = _taskService.Db.Queryable<Dt_Task>().Where(x => (x.TaskState == (int)TaskAGVCarryStatusEnum.AGV_CarryNew)).ToList().OrderBy(x => x.Grade).ThenBy(x => x.TaskNum).ToList();
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return Task.CompletedTask;
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#region 任务下发
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if (newTasks.Count > 0)
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{
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WriteLog.Write_Log("AGV任务下发", "任务下发接口", "添加任务", $"任务：{newTasks.ToJson()}");
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foreach (var task in newTasks)
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{
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try
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{
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AgvTaskSendDTO agvTaskSend = new AgvTaskSendDTO()
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{
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MissionData = new List<MissionDataItem>()
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};
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string taskGroupId = Guid.NewGuid().ToString().Replace("-", "");
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// 获取起始站台
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Dt_StationManager stationManagerEnd = _stationManagerRepository.QueryFirst(x => x.StationLocation == task.SourceAddress);
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// 获取目的站台
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Dt_StationManager finalmission = _stationManagerRepository.QueryFirst(x => x.StationLocation == task.TargetAddress);
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if (stationManagerEnd == null) throw new Exception($"未找到任务号${task.TaskId}起始点{task.SourceAddress}位置信息");
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if (finalmission == null) throw new Exception($"未找到任务号${task.TaskId}目标点{task.TargetAddress}位置信息");
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agvTaskSend.RequestId = taskGroupId;
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agvTaskSend.MissionCode = task.TaskId.ToString();
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agvTaskSend.ViewBoardType = "W01";
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agvTaskSend.ContainerCode = task.PalletCode;
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//货架子搬运任务
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MissionDataItem Startingmission = new MissionDataItem() // 起点
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{
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Sequence = 1,
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Position = stationManagerEnd.StationLocation,
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};
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MissionDataItem Finalmission = new MissionDataItem() // 终点
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{
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Sequence = 2,
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Position = finalmission.StationLocation,
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PutDown = true,
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};
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agvTaskSend.MissionData.Add(Startingmission);
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agvTaskSend.MissionData.Add(Finalmission);
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if (task.Grade == 0)
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{
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agvTaskSend.Priority = 99;
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}
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else
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{
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agvTaskSend.Priority = 99 - task.Grade;
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}
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//发送AGV任务
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WebResponseContent content = _taskService.AgvSendTask(agvTaskSend, APIEnum.AgvSendTask);
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if (!content.Status)
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throw new Exception(content.Message);
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task.Dispatchertime = DateTime.Now;
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task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
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_taskService.UpdateData(task);
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Thread.Sleep(500);
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}
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catch (Exception ex)
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{
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task.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryException;
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task.ExceptionMessage = ex.Message;
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_taskService.UpdateData(newTasks);
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}
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}
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}
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#endregion
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return Task.CompletedTask;
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}
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}
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}
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