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huangxiaoqiang

6 小时以前 16749e23b489ee24f993fe9e87346680b7bcf63a

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using HslCommunication;
using Quartz;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks.ConveyorLineJob;
using WIDESEAWCS_Tasks.ElevatorJob;
 
namespace WIDESEAWCS_Tasks
{
    [DisallowConcurrentExecution]
    public class CommonAGVJob : JobBase, IJob
    {
        private readonly ITaskRepository _taskRepository;
        private readonly ITaskService _taskService;
        public CommonAGVJob(ITaskRepository taskRepository,ITaskService taskService) 
        {
            _taskRepository = taskRepository;
            _taskService = taskService;
        }
 
        public Task Execute(IJobExecutionContext context)
        {
            #region AGV跨楼层任务
            var AcrossFloorTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAcrossFloorStatusEnum.CarryNew);
            if (AcrossFloorTask != null)
            {
                var task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskAcrossFloorStatusEnum.CarryNew && x.TaskState < (int)TaskAcrossFloorStatusEnum.SecondCarryFinish);
                if(task == null)
                {
                    CommonElevator? elevator = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "TSJ1") as CommonElevator;
                    if (elevator != null)
                    {
                        if (elevator.GetValue<ElevatorDBName, short>(ElevatorDBName.Model) == 1)
                        {
                            if (AcrossFloorTask.Floor == "1F")
                            {
                                elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
                                elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(1));
                                elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(2));
                                Thread.Sleep(1000);
                                elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
 
                                _taskService.SendAgvTask("AAA", AcrossFloorTask.TaskNum);
                                AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
                                _taskRepository.UpdateData(AcrossFloorTask);
                            }
                            else
                            {
                                elevator.SetValue(ElevatorDBName.FlagBit, Convert.ToInt16(1));
                                elevator.SetValue(ElevatorDBName.StartFloor, Convert.ToInt16(2));
                                elevator.SetValue(ElevatorDBName.EdnFloor, Convert.ToInt16(1));
                                Thread.Sleep(1000);
                                elevator.SetValue(ElevatorDBName.StartCommand, Convert.ToInt16(1));
 
                                _taskService.SendAgvTask("DDD", AcrossFloorTask.TaskNum);
                                AcrossFloorTask.TaskState = (int)TaskAcrossFloorStatusEnum.FirstCarry;
                                _taskRepository.UpdateData(AcrossFloorTask);
                            }
                        }
                    }
                }
            }
            #endregion
 
            #region AGV同层搬运任务
            var Carry = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskAGVCarryStatusEnum.CarryNew);
 
            if (Carry != null)
            {
                if (Carry.Floor == "1F")
                {
                    _taskService.SendAgvTask("forkAutoTemplate1", Carry.TaskNum);
                    Carry.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
                    _taskRepository.UpdateData(Carry);
                }
                else
                {
                    _taskService.SendAgvTask("cattleCarry1", Carry.TaskNum);
                    Carry.TaskState = (int)TaskAGVCarryStatusEnum.AGV_CarryExecuting;
                    _taskRepository.UpdateData(Carry);
                }
            }
            #endregion
 
            #region 1楼AGV入库任务
            var InTask = _taskRepository.QueryFirst(x => x.TaskState == (int)TaskInStatusEnum.InNew);
            if (InTask != null)
            {
                var OutTask = _taskRepository.QueryFirst(x => x.TaskState >= (int)TaskOutStatusEnum.OutNew && x.TaskState <(int)TaskOutStatusEnum.AGV_OutExecuting);
                var Task = _taskRepository.QueryFirst(x => x.TaskState > (int)TaskInStatusEnum.InNew && x.TaskState < (int)TaskInStatusEnum.SC_InExecuting);
                if (OutTask == null && Task == null)
                {
                    CommonConveyorLine? conveyorLine = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "1001") as CommonConveyorLine;
                    if (conveyorLine != null)
                    {
                        short InteractiveSignal = conveyorLine.GetValue<ConveyorLineDBName, short>(ConveyorLineDBName.InteractiveSignal, "LK001");
                        var structs = BitConverter.GetBytes(InteractiveSignal).Reverse().ToArray().ToBoolArray();
                        if (structs[0])
                        {
                            conveyorLine.Communicator.WriteNoRead("DB100.0", 9999);
 
                            _taskService.SendAgvTask("LIFANG", InTask.TaskNum);
 
                            _taskService.UpdateTaskStatusToNext(InTask.TaskNum);
                        }
                    }
                }
            }
 
            #endregion
 
            return Task.CompletedTask;
        }
    }
}