using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using HslCommunication.WebSocket;
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using Quartz;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_IBasicInfoRepository;
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using WIDESEAWCS_IBasicInfoService;
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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.DTO;
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using WIDESEAWCS_Tasks.Gantry;
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namespace WIDESEAWCS_Tasks
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{
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/// <summary>
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/// 龙门架
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/// </summary>
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[DisallowConcurrentExecution]
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public class GantryJob2 : 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 IContainerItemRepository _containerItemRepository;
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private readonly WebSocketServer _webSocketServer;
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private readonly IOrderDetailsService _orderDetailsService;
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public GantryJob2(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer, IOrderDetailsService orderDetailsService)
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{
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_taskRepository = taskRepository;
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_taskService = taskService;
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_containerItemRepository = containerItemRepository;
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_webSocketServer = webSocketServer;
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_orderDetailsService = orderDetailsService;
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}
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public 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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if (flag && value != null && value is OtherDevice)
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{
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OtherDevice otherDevice = (OtherDevice)value;
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try
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{
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byte gantryStatus = otherDevice.GetValue<GantryDBName, byte>(GantryDBName.GantryStatus);
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byte gantryAutoStatus = otherDevice.GetValue<GantryDBName, byte>(GantryDBName.GantryAutoStatus);
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byte gantryWorkStatus = otherDevice.GetValue<GantryDBName, byte>(GantryDBName.GantryWorkStatus);
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if (gantryStatus == 1 && gantryAutoStatus == 3 && gantryWorkStatus == 0)
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{
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// 逻辑处理
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// 1. 读取任务
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// 2. 任务执行
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// 3. 任务完成
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Dt_Task? task = _taskService.QueryAGantryUnExecuteTask(otherDevice.DeviceCode);
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if (task != null)
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{
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GantryCommand? command = TaskToCommand(task, otherDevice);
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if (command == null)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "坐标转换错误");
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return Task.CompletedTask;
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}
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if(IsPositionValid(otherDevice, command))
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "坐标超出范围");
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return Task.CompletedTask;
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}
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otherDevice.SetValue(GantryDBName.TwoHand, true);
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otherDevice.SetValue(GantryDBName.TaskNum, task.TaskNum);
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otherDevice.SetValue(GantryDBName.TakePositionX, command.TakePoX);
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otherDevice.SetValue(GantryDBName.TakePositionY, command.TakePoY);
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otherDevice.SetValue(GantryDBName.TakePositionZ, command.TakePoZ);
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otherDevice.SetValue(GantryDBName.TakePositionR, command.TakePoR);
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otherDevice.SetValue(GantryDBName.PutPositionX, command.PutPoX);
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otherDevice.SetValue(GantryDBName.PutPositionY, command.PutPoY);
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otherDevice.SetValue(GantryDBName.PutPositionZ, command.PutPoZ);
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otherDevice.SetValue(GantryDBName.PutPositionR, command.PutPoR);
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otherDevice.SetValue(GantryDBName.Length, command.ItemLength);
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otherDevice.SetValue(GantryDBName.Width, command.ItemWidth);
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otherDevice.SetValue(GantryDBName.Height, command.ItemHeight);
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otherDevice.SetValue(GantryDBName.WorkType, 1);
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otherDevice.SetValue(GantryDBName.StartCommand, 1);
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task.TaskState = TaskStatusEnum.Gantry_Executing.ObjToInt();
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_taskRepository.UpdateData(task);
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}
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}
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else if (gantryWorkStatus == 5)
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{
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int currentTaskNum = otherDevice.GetValue<GantryDBName, int>(GantryDBName.TaskNum);
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if (currentTaskNum > 0)
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{
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Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == currentTaskNum);
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if (task != null)
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{
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_taskService.TaskComplete(task);
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_orderDetailsService.ToMes(task.PalletCode, 4);
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string[] putPositions = task.NextAddress.Split("*");
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if (putPositions.Length != 5)
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{
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//WriteError
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return Task.CompletedTask;
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}
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if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
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{
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if (lightStatusDic != LightStatusEnum.Ready)
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{
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LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.Ready;
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}
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}
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}
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}
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otherDevice.SetValue(GantryDBName.WorkType, 5);
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}
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}
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catch (Exception ex)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", ex.Message, ex);
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}
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}
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else
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{
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WriteError(nameof(GantryJob), "参数错误,未传递设备参数或设备类型错误");
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}
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return Task.CompletedTask;
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}
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public GantryCommand? TaskToCommand(Dt_Task task, OtherDevice otherDevice)
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{
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if (TaskValid(task, out string[] takePositions, out string[] putPositions, out Dt_ContainerItem containerItem))
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{
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int takePoX = Convert.ToInt32(takePositions[1]);
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int takePoY = Convert.ToInt32(takePositions[2]);
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int takePoZ = OPositions.HPositions[takePositions[0]].PositionZ + 30 * 1000 - Convert.ToInt32(takePositions[3]) * 1000;
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int takePoR = 0;
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int putPoX = Convert.ToInt32(putPositions[1]);
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int putPoY = Convert.ToInt32(putPositions[2]);
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int putPoZ = OPositions.HPositions[putPositions[0]].PositionZ - Convert.ToInt32(putPositions[3]) * 1000;
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int putPoR = 0;
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if (OPositions.HPositions[takePositions[0]].PositionZ == 0)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "取货Z坐标读取为0");
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return null;
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}
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if (OPositions.HPositions[putPositions[0]].PositionZ == 0)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "放货Z坐标读取为0");
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return null;
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}
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if (Convert.ToInt32(takePositions[4]) == 1 || Convert.ToInt32(takePositions[4]) == 2)
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{
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takePoX = takePoX * 1000 + OPositions.HPositions[takePositions[0]].PositionX;
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takePoY = takePoY * 1000 + OPositions.HPositions[takePositions[0]].PositionY;
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putPoX = putPoX * 1000 + OPositions.HPositions[putPositions[0]].PositionX;
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putPoY = putPoY * 1000 + OPositions.HPositions[putPositions[0]].PositionY;
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takePoR = OPositions.HPositions[takePositions[0]].PositionR;
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if (Convert.ToInt32(takePositions[4]) == 1)
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putPoR = OPositions.HPositions[putPositions[0]].PositionR;
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else
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{
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if (otherDevice.DeviceCode == "GT03")
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putPoR = otherDevice.Communicator.Read<int>("DB10.840");
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else if (otherDevice.DeviceCode == "GT02")
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putPoR = otherDevice.Communicator.Read<int>("DB10.836");
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else if (otherDevice.DeviceCode == "GT01")
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putPoR = otherDevice.Communicator.Read<int>("DB10.832");
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else
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "R坐标错误");
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return null;
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}
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}
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WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"取货位：{takePositions[0]},放货位：{putPositions[0]}{Environment.NewLine}取货坐标：X:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}放货坐标：X:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}读取PLC取货坐标：X:{OPositions.HPositions[takePositions[0]].PositionX} Y:{OPositions.HPositions[takePositions[0]].PositionY} Z:{OPositions.HPositions[takePositions[0]].PositionZ} R:{OPositions.HPositions[takePositions[0]].PositionR}{Environment.NewLine}读取PLC放货坐标：X:{OPositions.HPositions[putPositions[0]].PositionX} Y:{OPositions.HPositions[putPositions[0]].PositionY} Z:{OPositions.HPositions[putPositions[0]].PositionZ} R:{OPositions.HPositions[putPositions[0]].PositionR}");
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}
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else
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{
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takePoX = takePoX * 1000 + OPositions.ZPositions[takePositions[0]].PositionX;
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takePoY = takePoY * 1000 + OPositions.ZPositions[takePositions[0]].PositionY;
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putPoX = putPoX * 1000 + OPositions.ZPositions[putPositions[0]].PositionX;
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putPoY = putPoY * 1000 + OPositions.ZPositions[putPositions[0]].PositionY;
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takePoR = OPositions.ZPositions[takePositions[0]].PositionR;
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putPoR = OPositions.ZPositions[putPositions[0]].PositionR;
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WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"取货位：{takePositions[0]},放货位：{putPositions[0]}{Environment.NewLine}取货坐标：X:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}放货坐标：X:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}读取PLC取货坐标：X:{OPositions.ZPositions[takePositions[0]].PositionX} Y:{OPositions.ZPositions[takePositions[0]].PositionY} Z:{OPositions.ZPositions[takePositions[0]].PositionZ} R:{OPositions.ZPositions[takePositions[0]].PositionR}{Environment.NewLine}读取PLC放货坐标：X:{OPositions.ZPositions[putPositions[0]].PositionX} Y:{OPositions.ZPositions[putPositions[0]].PositionY} Z:{OPositions.ZPositions[putPositions[0]].PositionZ} R:{OPositions.ZPositions[putPositions[0]].PositionR}");
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}
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GantryCommand command = new GantryCommand()
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{
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TakePoX = takePoX,
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TakePoY = takePoY,
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TakePoZ = takePoZ,
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TakePoR = takePoR,
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PutPoX = putPoX,
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PutPoY = putPoY,
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PutPoZ = putPoZ,
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PutPoR = putPoR,
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ItemLength = containerItem.ItemLength,
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ItemWidth = containerItem.ItemWidth,
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ItemHeight = containerItem.ItemHeight
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};
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return command;
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}
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return null;
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}
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public bool TaskValid(Dt_Task task, out string[] takePositions, out string[] putPositions, out Dt_ContainerItem containerItem)
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{
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putPositions = null;
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containerItem = new Dt_ContainerItem();
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takePositions = task.CurrentAddress.Split("*");
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if (takePositions.Length != 5)
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{
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//WriteError
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return false;
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}
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putPositions = task.NextAddress.Split("*");
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if (putPositions.Length != 5)
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{
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//WriteError
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return false;
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}
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containerItem = _containerItemRepository.QueryFirst(x => x.ItemCode == task.PalletCode);
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if (containerItem == null)
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{
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//WriteError
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return false;
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}
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if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
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{
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if (lightStatusDic != LightStatusEnum.LightWorking)
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{
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LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightWorking;
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}
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}
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return true;
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}
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public bool IsPositionValid(OtherDevice otherDevice, GantryCommand command)
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{
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#region
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List<DeviceProDTO> devicePros = otherDevice.DeviceProDTOs.Where(x => x.DeviceProParamType == "MaxPosition").ToList();
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DeviceProDTO? devicePro = devicePros.OrderBy(x => x.DeviceProOffset).FirstOrDefault();
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if (devicePro == null)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "设备协议参数错误，未找到最大最小坐标地址");
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return false;
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}
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int[] data = otherDevice.Communicator.Read<int>(devicePro.DeviceProAddress, (ushort)(devicePros.Count));
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int maxX = data[0];
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int minX = data[1];
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int maxY = data[2];
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int minY = data[3];
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int maxZ = data[4];
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int minZ = data[5];
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int maxR = data[6];
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int minR = data[7];
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//int maxX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxX);
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//int minX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinX);
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//int maxY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxY);
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//int minY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinY);
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//int maxZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxZ);
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//int minZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinZ);
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//int maxR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxR);
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//int minR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinR);
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if (command.TakePoX < minX || command.TakePoX > maxX)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"X取货坐标超出范围,取货坐标：{command.TakePoX},最大值：{maxX},最小值：{minX}");
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return false;
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}
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if (command.PutPoX < minX || command.PutPoX > maxX)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"X放货坐标超出范围,取货坐标：{command.PutPoX},最大值：{maxX},最小值：{minX}");
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return false;
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}
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if (command.TakePoY < minY || command.TakePoY > maxY)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"Y取货坐标超出范围,取货坐标：{command.TakePoY},最大值：{maxY},最小值：{minY}");
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return false;
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}
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if (command.PutPoY < minY || command.PutPoY > maxY)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"Y放货坐标超出范围,取货坐标：{command.PutPoY},最大值：{maxY},最小值：{minY}");
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return false;
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}
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if (command.TakePoZ < minZ || command.TakePoZ > maxZ)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"Z取货坐标超出范围,取货坐标：{command.TakePoZ},最大值：{maxZ},最小值：{minZ}");
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return false;
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}
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if (command.PutPoZ < minZ || command.PutPoZ > maxZ)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"Z放货坐标超出范围,取货坐标：{command.PutPoZ},最大值：{maxZ},最小值：{minZ}");
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return false;
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}
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if (command.TakePoR < minR || command.TakePoR > maxR)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"R取货坐标超出范围,取货坐标：{command.TakePoR},最大值：{maxR},最小值：{minR}");
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return false;
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}
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if (command.PutPoR < minR || command.PutPoR > maxR)
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{
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WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"R放货坐标超出范围,取货坐标：{command.PutPoR},最大值：{maxR},最小值：{minR}");
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return false;
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}
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return true;
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#endregion
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}
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}
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}
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