using Quartz;
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using System.Collections.Concurrent;
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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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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class StackerCraneJob : IJob
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{
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private readonly TcpSocketServer _TcpSocket;
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private static readonly ConcurrentDictionary<string, StackerSocketState> _socketStates = new();
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private static int _eventSubscribedFlag;
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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(TcpSocketServer TcpSocket, ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, 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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bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
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StackerCraneDevice Crane = (StackerCraneDevice?)value ?? new StackerCraneDevice();
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if (!flag || Crane.IsNullOrEmpty())
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{
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return;
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}
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string ipAddress = Crane.IPAddress;
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// 获取或创建状态
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StackerSocketState state = _socketStates.GetOrAdd(ipAddress, _ => new StackerSocketState
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{
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IPAddress = ipAddress,
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StackerCrane = Crane
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});
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// 更新设备信息
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state.StackerCrane = Crane;
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// 检查是否有该客户端连接
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var clientIds = _TcpSocket.GetClientIds();
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if (!clientIds.Contains(ipAddress))
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{
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return;
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}
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// 订阅一次 message 事件（全局一次）
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if (Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
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{
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_TcpSocket.MessageReceived += _TcpSocket_MessageReceived;
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_TcpSocket.RobotReceived += _TcpSocket_RobotReceived;
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}
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if (!state.IsEventSubscribed)
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{
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_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client);
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Task clientTask = _TcpSocket.HandleClientAsync(client, Crane.IPAddress, _TcpSocket._cts.Token, state);
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state.IsEventSubscribed = true;
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}
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// 获取当前需下发任务并缓存到状态中
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Dt_Task? task = GetTask(Crane);
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if (task != null && state.CurrentTask == null && state.StackerRunMode== && state.StackerTaskNum == 0)
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{
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SendStackerTask(task, state);
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}
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return;
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}
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/// <summary>
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/// 事件：客户端断开连接时触发
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/// </summary>
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/// <param name="clientId"></param>
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/// <returns></returns>
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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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/// 事件：收到消息时触发
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/// </summary>
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/// <param name="message"></param>
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/// <param name="isJson"></param>
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/// <param name="client"></param>
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/// <param name="state"></param>
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/// <returns></returns>
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private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, StackerSocketState state)
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{
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string messageLower = message.ToUpperInvariant();
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//区分堆垛机发送命令
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try
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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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return null;
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}
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/// <summary>
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/// 堆垛机任务下发
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/// </summary>
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private bool SendStackerTask(Dt_Task task, StackerSocketState state)
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{
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string message = "<";
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//获取对起始和终点位置进行解析
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message += ">";
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return _TcpSocket.SendToDeviceAsync(state.IPAddress, message).Result;
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}
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private Dt_Task? GetTask(StackerCraneDevice stackerCrane, TaskTypeGroup? taskTypeGroup = null)
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{
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return _taskService.QueryStackerTask(stackerCrane.DeviceCode,taskTypeGroup);
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}
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}
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public class StackerSocketState
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{
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public string IPAddress { get; set; } = string.Empty;
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/// <summary>
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/// 是否已订阅消息事件
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/// </summary>
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public bool IsEventSubscribed { get; set; }
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/// <summary>
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/// 堆垛机当前任务号
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/// </summary>
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public int? StackerTaskNum { get; set; }
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/// <summary>
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/// 堆垛机运行模式<br/>
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/// 1：自动模式<br/>
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/// 2：停止模式<br/>
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/// 3：手动模式或离线模式<br/>
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/// </summary>
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public int? StackerRunMode { get; set; }
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/// <summary>
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/// 堆垛机故障状态<br/>
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/// 正常<br/>
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/// 故障<br/>
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/// </summary>
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public int? StackerError { get; set; }
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/// <summary>
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/// 堆垛机设备信息
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/// </summary>
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public StackerCraneDevice? StackerCrane { get; set; }
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/// <summary>
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/// 取货位置
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/// </summary>
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public string? PickPosition { get; set; }
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/// <summary>
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/// 放货位置
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/// </summary>
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public string? PutPosition{ get; set; }
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/// <summary>
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/// 当前任务
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/// </summary>
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public Dt_Task? CurrentTask { get; set; }
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}
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public enum StackerModeEnum
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{
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/// <summary>
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/// 自动模式
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/// </summary>
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Automatic = 1,
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/// <summary>
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/// 停止模式
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/// </summary>
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Unkonw = 2,
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/// <summary>
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/// 手动模式
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/// </summary>
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Manual = 3
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}
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public enum StackerErrorEnum
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{
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/// <summary>
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/// 正常
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/// </summary>
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Normal = 1,
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/// <summary>
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/// 故障
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/// </summary>
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Fault = 2
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}
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}
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