using Quartz;
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using System.Collections.Concurrent;
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using System.Data;
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using System.Net.Sockets;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core.Helper;
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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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using WIDESEAWCS_QuartzJob.Service;
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using WIDESEAWCS_Tasks.SocketServer;
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using WIDESEAWCS_Tasks.StackerCraneJob;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class StackerCraneJob_BTI : IJob
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{
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private readonly TcpSocketServer _TcpSocket;
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private static readonly ConcurrentDictionary<string, StackerSocketState_BTI> _socketStates = new();
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private static int _eventSubscribedFlag = 0;
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private readonly ITaskService _taskService;
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private readonly ITaskExecuteDetailService _taskExecuteDetailService;
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private readonly ITaskRepository _taskRepository;
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private readonly IRouterService _routerService;
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public StackerCraneJob_BTI(
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TcpSocketServer TcpSocket,
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ITaskService taskService,
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ITaskExecuteDetailService taskExecuteDetailService,
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ITaskRepository taskRepository,
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IRouterService routerService)
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{
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_TcpSocket = TcpSocket;
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_taskService = taskService;
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_taskExecuteDetailService = taskExecuteDetailService;
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_taskRepository = taskRepository;
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_routerService = routerService;
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}
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public async Task Execute(IJobExecutionContext context)
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{
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try
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{
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bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
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StackerCraneDevice? device = value as StackerCraneDevice;
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if (!flag || device == null || string.IsNullOrEmpty(device.IPAddress))
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return;
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string ip = device.IPAddress;
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// 获取当前IP的Socket状态
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StackerSocketState_BTI state = _socketStates.GetOrAdd(ip, _ => new StackerSocketState_BTI { IPAddress = ip });
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// 检查客户端是否在线
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if (!_TcpSocket.GetClientIds().Contains(ip))
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return;
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// 全局只订阅一次事件
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if (Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
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{
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_TcpSocket.MessageReceivedBTI += _TcpSocket_MessageReceived;
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_TcpSocket.StackerReceivedBTI += _TcpSocket_RobotReceived;
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}
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// 启动客户端监听
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if (!state.IsEventSubscribed)
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{
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if (_TcpSocket._clients.TryGetValue(ip, out TcpClient client))
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{
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_ = _TcpSocket.HandleClientAsync(client, ip, _TcpSocket._cts.Token, state);
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state.IsEventSubscribed = true;
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}
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}
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var craneList = CraneManager_BTI.GetOrCreateCraneList(ip);
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// 遍历每一台堆垛机，下发任务（独立执行、互不干扰）
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foreach (var (craneCode, crane) in craneList)
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{
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try
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{
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// 正在执行任务的跳过
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if (crane.CurrentTask != null)
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continue;
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// 获取该堆垛机的待执行任务
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Dt_Task? task = _taskService.QueryStackerTask(craneCode, null);
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if (task == null)
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continue;
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// 下发任务
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bool sendOk = SendStackerTask(task, ip, crane);
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if (sendOk)
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{
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crane.CurrentTask = task;
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task.TaskState = TaskStatusEnum.SC_Waiting.ObjToInt();
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_taskRepository.UpdateData(task);
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}
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}
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catch
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{
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}
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}
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}
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catch { }
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}
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/// <summary>
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/// 接收报文更新对应堆垛机
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/// </summary>
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/// <returns></returns>
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private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, StackerSocketState_BTI state)
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{
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try
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{
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string ip = state.IPAddress;
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var craneList = CraneManager_BTI.GetOrCreateCraneList(ip);
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string msg = message.Trim().ToUpperInvariant();
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// 识别哪台堆垛机发的
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string craneCode = GetCraneCodeByMsg(msg);
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if (string.IsNullOrEmpty(craneCode) || !craneList.TryGetValue(craneCode, out var crane))
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return null;
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// 更新心跳
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crane.LastHeartbeat = DateTime.Now;
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// 更新运行模式
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if (msg.Contains("AUTO")) crane.RunMode = 1;
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else if (msg.Contains("STOP")) crane.RunMode = 2;
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else if (msg.Contains("MANUAL")) crane.RunMode = 3;
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// 更新故障
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crane.ErrorState = msg.Contains("ERR") ? 1 : 0;
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// 更新位置
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if (msg.Contains("POS"))
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crane.CurrentPosition = ExtractPos(msg);
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// 任务完成
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if (msg.Contains("ACP") || msg.Contains("FIN"))
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{
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if (crane.CurrentTask != null)
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{
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_taskService.StackCraneTaskCompleted(crane.CurrentTask.TaskNum);
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crane.CurrentTask = null;
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}
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}
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}
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catch { }
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return null;
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}
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private Task<string?> _TcpSocket_RobotReceived(string clientId)
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{
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_socketStates.TryRemove(clientId, out _);
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return Task.FromResult<string?>(null);
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}
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/// <summary>
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/// 下发任务（独立序列号，互不影响）
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/// </summary>
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private bool SendStackerTask(Dt_Task task, string ip, CraneStacker crane)
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{
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try
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{
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lock (crane.SeqLock)
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{
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string seq = crane.SendSeq.ToString("0000");
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crane.SendSeq++;
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if (crane.SendSeq > 9999) crane.SendSeq = 1;
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// 按你的协议拼接报文
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string message = $"1{seq}{crane.CraneCode}MOVE01ARQ{task.CurrentAddress}{task.NextAddress}{task.TaskNum}";
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return _TcpSocket.SendToDeviceAsync(ip, message).Result;
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}
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}
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catch
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{
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return false;
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}
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}
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private string GetCraneCodeByMsg(string msg)
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{
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if (msg.Contains("CRAN32-01")) return "CRAN32-01";
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if (msg.Contains("CRAN32-02")) return "CRAN32-03";
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if (msg.Contains("CRAN32-03")) return "CRAN32-03";
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return "";
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}
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private string ExtractPos(string msg)
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{
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try
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{
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int start = msg.IndexOf("POS=") + 4;
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int end = msg.IndexOf(" ", start);
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return end > 0 ? msg.Substring(start, end - start) : msg.Substring(start);
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}
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catch { return ""; }
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}
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}
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}
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