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| using Quartz;
| using WIDESEAWCS_Core.Helper;
| using WIDESEAWCS_QuartzJob;
| using WIDESEAWCS_QuartzJob.Elevator;
|
| namespace WIDESEAWCS_Tasks
| {
| public class ElevatorJob : JobBase, IJob, IDisposable
| {
| public void Dispose()
| {
| GC.SuppressFinalize(this);
| }
|
| public Task Execute(IJobExecutionContext context)
| {
| // 从上下文中获取 JobParams 并转换为 Roast 类型
| CommonElevator elevator = (CommonElevator)context.JobDetail.JobDataMap.Get("JobParams");
| // 初始化 AGV 变量
| AGV agv = null;
|
| if (elevator == null)
| {
| throw new Exception("未找到提升机设备参数。");
| }
|
| // 连接 AGV
| // 根据设备名称决定是正极还是负极 AGV
| List<string> agvNames = new List<string>() { "正极AGV", "负极AGV" };
| foreach (var agvName in agvNames)
| {
| // 从存储中查找指定名称的设备
| IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceName == agvName);
| if (device != null)
| {
| agv = (AGV)device;
| }
| else
| {
| ConsoleHelper.WriteErrorLine($"未找到{agvName}设备参数。");
| continue;
| }
| var elevatorNamesValues = GetDBElevatorNamesValues(agvName);
| var agvNamesValues = GetDBAGVNamesValues(agvName);
| DeviceInteraction(elevator, agv, elevatorNamesValues, agvNamesValues);
| }
| return Task.CompletedTask;
| }
|
|
| public static void DeviceInteraction(CommonElevator elevator, AGV agv, List<string> elevatorNames, List<string> agvNames)
| {
| if (agv.DeviceName == "正极AGV")
| {
| HandlePositiveAGV(elevator, agv, elevatorNames, agvNames);
| }
| else
| {
| HandleNegativeAGV(elevator, agv, elevatorNames, agvNames);
| }
| }
|
| private static void HandlePositiveAGV(CommonElevator elevator, AGV agv, List<string> elevatorNames, List<string> agvNames)
| {
| // 正极AGV只需要处理前两个信号
| var elevatorSignal = elevator.Communicator.Read<byte>(elevatorNames[0], 100);
| var agvSignal = agv.Communicator.Read<byte>(agvNames[1], 100);
|
| agv.Communicator.Write(agvNames[0], elevatorSignal);
| elevator.Communicator.Write(agvNames[1], agvSignal);
|
| ConsoleHelper.WriteInfoLine($"正极AGV交互: 写入电梯信号[{elevatorSignal}]到{agvNames[0]}，" +
| $"写入AGV信号[{agvSignal}]到{agvNames[1]}");
| }
|
| private static void HandleNegativeAGV(CommonElevator elevator, AGV agv, List<string> elevatorNames, List<string> agvNames)
| {
| // 定义信号组处理（起始索引，操作类型，日志描述）
| var operations = new List<(int startIdx, string type, string desc)>
| {
| (0, "E→A", "基础信号交互"),
| (2, "A→E", "状态反馈"),
| (4, "E→A", "设备状态同步"),
| (6, "A→E", "任务指令"),
| (8, "E→A", "位置信息同步"),
| (10, "A→E", "单信号反馈"),
| (11, "A→E", "双信号反馈"),
| (13, "A→E", "单信号反馈"),
| (14, "E→A", "设备状态同步"),
| (16, "A→E", "运行指令"),
| (18, "E→A", "多信号同步"),
| (22, "A→E", "结束信号反馈")
| };
|
| foreach (var op in operations)
| {
| ProcessSignalGroup(
| elevator, agv,
| elevatorNames, agvNames,
| op.startIdx,
| op.type,
| op.desc
| );
| }
| }
|
| private static void ProcessSignalGroup(CommonElevator elevator, AGV agv, List<string> elevatorNames, List<string> agvNames, int startIdx, string operationType, string description)
| {
| const int GROUP_SIZE = 2; // 每组处理2个信号
|
| // 特殊处理最后几个信号组
| if (startIdx >= 18)
| {
| HandleSpecialSignals(elevator, agv, elevatorNames, agvNames, startIdx);
| return;
| }
|
| var values = new List<byte[]>();
| var targets = new List<string>();
|
| // 根据操作类型处理信号
| if (operationType == "E→A")
| {
| for (int i = 0; i < GROUP_SIZE; i++)
| {
| int idx = startIdx + i;
| if (idx >= elevatorNames.Count) break;
|
| var value = elevator.Communicator.Read<byte>(elevatorNames[idx], 100);
| agv.Communicator.Write(agvNames[idx], value);
| values.Add(value);
| targets.Add(agvNames[idx]);
| if (description == "单信号反馈") break;
| }
| }
| else if (operationType == "A→E")
| {
| for (int i = 0; i < GROUP_SIZE; i++)
| {
| int idx = startIdx + i;
| if (idx >= agvNames.Count) break;
|
| var value = agv.Communicator.Read<byte>(agvNames[idx], 100);
| elevator.Communicator.Write(elevatorNames[idx], value);
| values.Add(value);
| targets.Add(elevatorNames[idx]);
| if (description == "单信号反馈") break;
| }
| }
|
| // 生成动态日志描述
| var logValues = string.Join("], [", values);
| var logTargets = string.Join("，", targets);
| ConsoleHelper.WriteInfoLine($"负极AGV交互({description}): 传输信号组[{logValues}]到目标地址[{logTargets}]");
| }
|
| private static void HandleSpecialSignals(CommonElevator elevator, AGV agv,
| List<string> elevatorNames, List<string> agvNames,
| int startIdx)
| {
| // 处理18-21号电梯信号（4个信号）
| var elevatorSignals = Enumerable.Range(18, 4)
| .Select(i => elevator.Communicator.Read<byte>(elevatorNames[i], 100))
| .ToList();
|
| for (int i = 0; i < 4; i++)
| {
| agv.Communicator.Write(agvNames[18 + i], elevatorSignals[i]);
| }
|
| // 处理22-23号AGV信号
| var agvSignals = Enumerable.Range(22, 2)
| .Select(i => agv.Communicator.Read<byte>(agvNames[i], 100))
| .ToList();
|
| for (int i = 0; i < 2; i++)
| {
| elevator.Communicator.Write(elevatorNames[22 + i], agvSignals[i]);
| }
|
| ConsoleHelper.WriteInfoLine($"负极AGV交互(特殊信号组): " +
| $"写入电梯信号[{string.Join(",", elevatorSignals)}]到AGV，" +
| $"读取AGV信号[{string.Join(",", agvSignals)}]到电梯");
| }
|
| private List<string> GetDBElevatorNamesValues(string deviceName)
| {
| List<string> dbNamesValues = null;
| if (deviceName == "正极AGV")
| {
| dbNamesValues = new List<string>()
| {
| "DB1002.1600",
| "DB1002.1700"
| };
| }
| else
| {
| dbNamesValues = new List<string>()
| {
| "DB1002.0",
| "DB1002.600",
| "DB1002.100",
| "DB1002.700",
| "DB1002.1000",
| "DB1002.1200",
| "DB1002.1100",
| "DB1002.1300",
| "DB1002.1800",
| "DB1002.1200",
| "DB1002.11400",
| "DB1002.1900",
| "DB1002.2100",
| "DB1002.2300",
| "DB1002.2400",
| "DB1002.2600",
| "DB1002.2500",
| "DB1002.2700",
| "DB1002.2000",
| "DB1002.2800",
| "DB1002.3000",
| "DB1002.2200",
| "DB1002.2900",
| "DB1002.3100"
| };
| }
| return dbNamesValues;
| }
|
| private List<string> GetDBAGVNamesValues(string deviceName)
| {
| List<string> dbNamesValues = null;
| if (deviceName == "正极AGV")
| {
| dbNamesValues = new List<string>()
| {
| "DB1002.4000",
| "DB1002.4100"
| };
| }
| else
| {
| dbNamesValues = new List<string>()
| {
| "DB1002.200",
| "DB1002.600",
| "DB1002.300",
| "DB1002.700",
| "DB1002.1000",
| "DB1002.1400",
| "DB1002.1100",
| "DB1002.1500",
| "DB1002.17800",
| "DB1002.1400",
| "DB1002.2200",
| "DB1002.17900",
| "DB1002.18100",
| "DB1002.18300",
| "DB1002.18400",
| "DB1002.18600",
| "DB1002.18500",
| "DB1002.18700",
| "DB1002.18800",
| "DB1002.19000",
| "DB1002.18200",
| "DB1002.18000",
| "DB1002.18900",
| "DB1002.19100"
| };
| }
| return dbNamesValues;
| }
| }
| }
|
|
