using System;
|
using System.Collections.Generic;
|
using System.Linq;
|
using System.Text;
|
using System.Threading.Tasks;
|
using HslCommunication.WebSocket;
|
using Quartz;
|
using WIDESEAWCS_Common;
|
using WIDESEAWCS_Core.Helper;
|
using WIDESEAWCS_IBasicInfoRepository;
|
using WIDESEAWCS_IBasicInfoService;
|
using WIDESEAWCS_ITaskInfoRepository;
|
using WIDESEAWCS_ITaskInfoService;
|
using WIDESEAWCS_Model.Models;
|
using WIDESEAWCS_QuartzJob;
|
using WIDESEAWCS_QuartzJob.DTO;
|
|
namespace WIDESEAWCS_Tasks
|
{
|
/// <summary>
|
/// 龙门架作业任务，继承自JobBase并实现IJob接口。 <br/>
|
/// 通过[DisallowConcurrentExecution]特性禁止并发执行。
|
/// </summary>
|
/// <remarks>
|
/// 主要功能： <br/>
|
/// 1. 根据设备状态（gantryStatus/gantryAutoStatus/gantryWorkStatus）触发任务执行逻辑 <br/>
|
/// 2. 处理任务坐标计算与范围校验 <br/>
|
/// 3. 更新设备PLC寄存器值和任务状态 <br/>
|
/// 4. 完成任务后向MES系统上报数据 <br/>
|
/// 依赖服务： <br/>
|
/// - ITaskRepository: 任务仓储服务 <br/>
|
/// - ITaskService: 任务业务服务 <br/>
|
/// - IContainerItemRepository: 容器物品仓储 <br/>
|
/// - WebSocketServer: WebSocket服务 <br/>
|
/// - IOrderDetailsService: 订单详情服务 <br/>
|
/// </remarks>
|
[DisallowConcurrentExecution]
|
public class GantryFJob : JobBase, IJob
|
{
|
private readonly ITaskRepository _taskRepository;
|
private readonly ITaskService _taskService;
|
private readonly IContainerItemRepository _containerItemRepository;
|
private readonly WebSocketServer _webSocketServer;
|
private readonly IOrderDetailsService _orderDetailsService;
|
public GantryFJob(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer, IOrderDetailsService orderDetailsService)
|
{
|
_taskRepository = taskRepository;
|
_taskService = taskService;
|
_containerItemRepository = containerItemRepository;
|
_webSocketServer = webSocketServer;
|
_orderDetailsService = orderDetailsService;
|
}
|
|
public Task Execute(IJobExecutionContext context)
|
{
|
bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
|
if (flag && value != null && value is OtherDevice otherDevice)
|
{
|
try
|
{
|
byte gantryStatus = otherDevice.GetValue<GantryDBName, byte>(GantryDBName.GantryStatus);
|
byte gantryAutoStatus = otherDevice.GetValue<GantryDBName, byte>(GantryDBName.GantryAutoStatus);
|
byte gantryWorkStatus = otherDevice.GetValue<GantryDBName, byte>(GantryDBName.GantryWorkStatus);
|
|
if (gantryStatus == 1 && gantryAutoStatus == 3 && gantryWorkStatus == 0)
|
{
|
// 逻辑处理
|
// 1. 读取任务
|
// 2. 任务执行
|
// 3. 任务完成
|
Dt_Task? task = _taskService.QueryAGantryUnExecuteTask(otherDevice.DeviceCode);
|
if (task != null)
|
{
|
string[] takePositions = task.CurrentAddress.Split("*");
|
if (takePositions.Length != 5)
|
{
|
//WriteError
|
return Task.CompletedTask;
|
}
|
|
string[] putPositions = task.NextAddress.Split("*");
|
if (putPositions.Length != 5)
|
{
|
//WriteError
|
return Task.CompletedTask;
|
}
|
|
Dt_ContainerItem containerItem = _containerItemRepository.QueryFirst(x => x.ItemCode == task.PalletCode);
|
if (containerItem == null)
|
{
|
//WriteError
|
return Task.CompletedTask;
|
}
|
if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
|
{
|
if (lightStatusDic != LightStatusEnum.LightWorking)
|
{
|
LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightWorking;
|
}
|
}
|
|
otherDevice.SetValue(GantryDBName.TwoHand, true);
|
otherDevice.SetValue(GantryDBName.TaskNum, task.TaskNum);
|
int takePoX = Convert.ToInt32(takePositions[1]);
|
int takePoY = Convert.ToInt32(takePositions[2]);
|
int takePoZ = OPositions.HPositions[takePositions[0]].PositionZ + 30 * 1000 - Convert.ToInt32(takePositions[3]) * 1000;
|
|
if (OPositions.HPositions[takePositions[0]].PositionZ == 0)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "取货Z坐标读取为0");
|
return Task.CompletedTask;
|
}
|
|
int takePoR = 0;
|
|
int putPoX = Convert.ToInt32(putPositions[1]);
|
int putPoY = Convert.ToInt32(putPositions[2]);
|
int putPoZ = OPositions.HPositions[putPositions[0]].PositionZ - Convert.ToInt32(putPositions[3]) * 1000;
|
|
if (OPositions.HPositions[takePositions[0]].PositionZ == 0)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "放货Z坐标读取为0");
|
return Task.CompletedTask;
|
}
|
int putPoR = 0;
|
|
if (Convert.ToInt32(takePositions[4]) == 1 || Convert.ToInt32(takePositions[4]) == 2)
|
{
|
takePoX = takePoX * 1000 + OPositions.HPositions[takePositions[0]].PositionX;
|
takePoY = takePoY * 1000 + OPositions.HPositions[takePositions[0]].PositionY;
|
putPoX = putPoX * 1000 + OPositions.HPositions[putPositions[0]].PositionX;
|
putPoY = putPoY * 1000 + OPositions.HPositions[putPositions[0]].PositionY;
|
takePoR = OPositions.HPositions[takePositions[0]].PositionR;
|
|
if (Convert.ToInt32(takePositions[4]) == 1)
|
putPoR = OPositions.HPositions[putPositions[0]].PositionR;
|
else
|
{
|
if (otherDevice.DeviceCode == "GT03")
|
putPoR = otherDevice.Communicator.Read<int>("DB10.840");
|
else if (otherDevice.DeviceCode == "GT02")
|
putPoR = otherDevice.Communicator.Read<int>("DB10.836");
|
else if (otherDevice.DeviceCode == "GT01")
|
putPoR = otherDevice.Communicator.Read<int>("DB10.832");
|
else
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "R坐标错误");
|
return Task.CompletedTask;
|
}
|
}
|
|
WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"取货位：{takePositions[0]},放货位：{putPositions[0]}{Environment.NewLine}取货坐标：X:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}放货坐标：X:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}读取PLC取货坐标：X:{OPositions.HPositions[takePositions[0]].PositionX} Y:{OPositions.HPositions[takePositions[0]].PositionY} Z:{OPositions.HPositions[takePositions[0]].PositionZ} R:{OPositions.HPositions[takePositions[0]].PositionR}{Environment.NewLine}读取PLC放货坐标：X:{OPositions.HPositions[putPositions[0]].PositionX} Y:{OPositions.HPositions[putPositions[0]].PositionY} Z:{OPositions.HPositions[putPositions[0]].PositionZ} R:{OPositions.HPositions[putPositions[0]].PositionR}");
|
}
|
else
|
{
|
takePoX = takePoX * 1000 + OPositions.ZPositions[takePositions[0]].PositionX;
|
takePoY = takePoY * 1000 + OPositions.ZPositions[takePositions[0]].PositionY;
|
putPoX = putPoX * 1000 + OPositions.ZPositions[putPositions[0]].PositionX;
|
putPoY = putPoY * 1000 + OPositions.ZPositions[putPositions[0]].PositionY;
|
takePoR = OPositions.ZPositions[takePositions[0]].PositionR;
|
putPoR = OPositions.ZPositions[putPositions[0]].PositionR;
|
|
WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"取货位：{takePositions[0]},放货位：{putPositions[0]}{Environment.NewLine}取货坐标：X:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}放货坐标：X:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}读取PLC取货坐标：X:{OPositions.ZPositions[takePositions[0]].PositionX} Y:{OPositions.ZPositions[takePositions[0]].PositionY} Z:{OPositions.ZPositions[takePositions[0]].PositionZ} R:{OPositions.ZPositions[takePositions[0]].PositionR}{Environment.NewLine}读取PLC放货坐标：X:{OPositions.ZPositions[putPositions[0]].PositionX} Y:{OPositions.ZPositions[putPositions[0]].PositionY} Z:{OPositions.ZPositions[putPositions[0]].PositionZ} R:{OPositions.ZPositions[putPositions[0]].PositionR}");
|
}
|
#region
|
List<DeviceProDTO> devicePros = otherDevice.DeviceProDTOs.Where(x => x.DeviceProParamType == "MaxPosition").ToList();
|
|
DeviceProDTO? devicePro = devicePros.OrderBy(x => x.DeviceProOffset).FirstOrDefault();
|
if(devicePro == null)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "设备协议参数错误，未找到最大最小坐标地址");
|
return Task.CompletedTask;
|
}
|
int[] data = otherDevice.Communicator.Read<int>(devicePro.DeviceProAddress, (ushort)(devicePros.Count));
|
|
int maxX = data[0];
|
int minX = data[1];
|
int maxY = data[2];
|
int minY = data[3];
|
int maxZ = data[4];
|
int minZ = data[5];
|
int maxR = data[6];
|
int minR = data[7];
|
|
//int maxX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxX);
|
//int minX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinX);
|
//int maxY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxY);
|
//int minY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinY);
|
//int maxZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxZ);
|
//int minZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinZ);
|
//int maxR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxR);
|
//int minR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinR);
|
|
|
if (takePoX < minX || takePoX > maxX)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"X取货坐标超出范围,取货坐标：{takePoX},最大值：{maxX},最小值：{minX}");
|
return Task.CompletedTask;
|
}
|
|
if (putPoX < minX || putPoX > maxX)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"X放货坐标超出范围,取货坐标：{putPoX},最大值：{maxX},最小值：{minX}");
|
return Task.CompletedTask;
|
}
|
|
if (takePoY < minY || takePoY > maxY)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"Y取货坐标超出范围,取货坐标：{takePoY},最大值：{maxY},最小值：{minY}");
|
return Task.CompletedTask;
|
}
|
|
if (putPoY < minY || putPoY > maxY)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"Y放货坐标超出范围,取货坐标：{putPoY},最大值：{maxY},最小值：{minY}");
|
return Task.CompletedTask;
|
}
|
|
if (takePoZ < minZ || takePoZ > maxZ)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"Z取货坐标超出范围,取货坐标：{takePoZ},最大值：{maxZ},最小值：{minZ}");
|
return Task.CompletedTask;
|
}
|
|
if (putPoZ < minZ || putPoZ > maxZ)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"Z放货坐标超出范围,取货坐标：{putPoZ},最大值：{maxZ},最小值：{minZ}");
|
return Task.CompletedTask;
|
}
|
|
if (takePoR < minR || takePoR > maxR)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"R取货坐标超出范围,取货坐标：{takePoR},最大值：{maxR},最小值：{minR}");
|
return Task.CompletedTask;
|
}
|
|
if (putPoR < minR || putPoR > maxR)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-坐标", $"R放货坐标超出范围,取货坐标：{putPoR},最大值：{maxR},最小值：{minR}");
|
return Task.CompletedTask;
|
}
|
#endregion
|
|
otherDevice.SetValue(GantryDBName.TakePositionX, takePoX);
|
otherDevice.SetValue(GantryDBName.TakePositionY, takePoY);
|
otherDevice.SetValue(GantryDBName.TakePositionZ, takePoZ);
|
otherDevice.SetValue(GantryDBName.TakePositionR, takePoR);
|
otherDevice.SetValue(GantryDBName.PutPositionX, putPoX);
|
otherDevice.SetValue(GantryDBName.PutPositionY, putPoY);
|
otherDevice.SetValue(GantryDBName.PutPositionZ, putPoZ);
|
otherDevice.SetValue(GantryDBName.PutPositionR, putPoR);
|
otherDevice.SetValue(GantryDBName.Length, containerItem.ItemLength);
|
otherDevice.SetValue(GantryDBName.Width, containerItem.ItemWidth);
|
otherDevice.SetValue(GantryDBName.Height, containerItem.ItemHeight);
|
otherDevice.SetValue(GantryDBName.WorkType, 1);
|
otherDevice.SetValue(GantryDBName.StartCommand, 1);
|
|
task.TaskState = TaskStatusEnum.Gantry_Executing.ObjToInt();
|
_taskRepository.UpdateData(task);
|
}
|
}
|
else if (gantryWorkStatus == 5)
|
{
|
int currentTaskNum = otherDevice.GetValue<GantryDBName, int>(GantryDBName.TaskNum);
|
if (currentTaskNum > 0)
|
{
|
Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == currentTaskNum);
|
if (task != null)
|
{
|
_taskService.TaskComplete(task);
|
|
_orderDetailsService.ToMes(task.PalletCode, 4);
|
|
string[] putPositions = task.NextAddress.Split("*");
|
if (putPositions.Length != 5)
|
{
|
//WriteError
|
return Task.CompletedTask;
|
}
|
if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
|
{
|
if (lightStatusDic != LightStatusEnum.Ready)
|
{
|
LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.Ready;
|
}
|
}
|
}
|
}
|
otherDevice.SetValue(GantryDBName.WorkType, 5);
|
}
|
}
|
catch (Exception ex)
|
{
|
WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", ex.Message, ex);
|
}
|
}
|
else
|
{
|
WriteError(nameof(GantryJob), "参数错误,未传递设备参数或设备类型错误");
|
}
|
return Task.CompletedTask;
|
}
|
|
public Dt_Task GetTask()
|
{
|
return new Dt_Task();
|
}
|
}
|
}
|
