1

dengjunjie

2025-03-18 9f225bb1f1e26d25c1652d3e1ec2a8f239f69615

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ShuttleCarJob/ShuttleCarJob.cs

@@ -1,4 +1,5 @@
using AutoMapper;
using HslCommunication;
using Newtonsoft.Json;
using OfficeOpenXml.Drawing.Chart;
using Quartz;
@@ -9,13 +10,15 @@
using System.Threading.Tasks;
using WIDESEAWCS_Common.ShuttleCarEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Common.WMSInfo;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.WMSInfo;
using WIDESEAWCS_IShuttleCar;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
using WIDESEAWCS_TaskInfoService;
@@ -26,17 +29,21 @@
namespace WIDESEAWCS_Tasks
{
    [DisallowConcurrentExecution]
    public class CommonShuttleCarJob : IJob
    partial class CommonShuttleCarJob : JobBase, IJob
    {
        private readonly ITaskService _taskService;
        private readonly ITaskRepository _taskRepository;
        private readonly ITaskHtyService _taskHtyService;
        private readonly IShuttleCarService _shuttleCarService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly IRouterService _routerService;
        private readonly IMapper _mapper;

        public CommonShuttleCarJob(ITaskService taskService, IShuttleCarService shuttleCarService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IMapper mapper)
        public CommonShuttleCarJob(ITaskService taskService, ITaskRepository taskRepository, ITaskHtyService taskHtyService, IShuttleCarService shuttleCarService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IMapper mapper)
        {
            _taskService = taskService;
            _taskRepository = taskRepository;
            _taskHtyService = taskHtyService;
            _shuttleCarService = shuttleCarService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _routerService = routerService;
@@ -50,239 +57,64 @@
                ShuttleCar shuttleCar = (ShuttleCar)context.JobDetail.JobDataMap.Get("JobParams");
                if (shuttleCar != null)
                {
                    ShuttleCarTaskCommandR command = shuttleCar.ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar.DeviceCode);//读取穿梭车信息
                    shuttleCar.Communicator.IsReadAfterWrite = false;
                    ShuttleCarTaskCommandR command = ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar, shuttleCar.DeviceCode);//读取穿梭车信息
                    if (command != null && command.JoinStatus == 1)
                    {
                        #region ç©¿æ¢­è½¦ä»»åŠ¡å®Œæˆ
                        if (command.TaskTypeComplete > (short)ShuttleCarTaskComplete.Standby)
                        var complete = shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.TaskComplete);
                        if (complete && command.TaskTypeComplete > (short)ShuttleCarTaskComplete.Standby && command.Status == command.TaskTypeComplete)
                        {
                            //查找任务，判断任务状态做对应处理！！！！！！！！！！！！！！！！！！！！！！！！！
                            var Status = _taskService.StackCraneTaskCompleted(command.number).Status;//需优化!!!
                            shuttleCar.SetValue(ShuttleCarDBName.ConfirmComplete, Status, shuttleCar.DeviceCode);
                            _taskService.ShuttleCarTaskCompleted(command.number, command.TaskTypeComplete);
                            shuttleCar.SetValue(ShuttleCarDBName.ConfirmComplete, true, shuttleCar.DeviceCode);
                        }
                        #endregion

                        #region ç§»åº“充电任务
                        if (command.Err_Status == (short)ShuttleCarErr.LowBattery || command.ElectricQuantity == (short)ShuttleCarErr.LowBattery)
                        {
                            //生成堆垛机移车任务&穿梭车充电任务
                            var ShuttleCar = QueryCode(shuttleCar.DeviceCode);
                            _taskService.AddRelocationCarTask(ShuttleCar.ShuttleCarPosition, "", ShuttleCar.ShuttleCarCode, ShuttleCarTaskType.Charging.ToString());
                        }
                        #region èŽ·å–堆垛机移车/移库完成任务
                        GetSC_CarFinish();
                        #endregion

                        #region ç©¿æ¢­è½¦ç§»åº“任务

                        #region èŽ·å–堆垛机移车完成任务
                        Dt_Task dt_Task = GetTask((int)TaskCarStatusEnum.SC_CarFinish, (int)TaskOtherTypeEnum.RelocationCar);
                        if (dt_Task != null)
                        #region åˆ›å»ºç§»è½¦å……电任务
                        if (command.Err_Status == (short)ShuttleCarErr.LowBattery || command.ElectricQuantity <= (short)ShuttleCarErr.LowBattery)
                        {
                            var ShuttleCar = QueryCode(dt_Task.ShuttleCarCode);
                            ShuttleCar.ShuttleCarPosition = dt_Task.TargetAddress;
                            _shuttleCarService.UpdateData(ShuttleCar);
                            if (string.IsNullOrEmpty(dt_Task.Remark))//完成移库任务
                            //生成堆垛机移车任务&穿梭车充电任务,判断是否有穿梭车在充电
                            Dt_Task _Task = _taskRepository.QueryFirst(x => x.TaskType == TaskOtherTypeEnum.RelocationCarCharging.ObjToInt());
                            if (_Task != null)
                            {
                                //移入历史任务！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！！
                                //删除当前任务
                            }
                            else//下发充电任务
                            {
                                SendTask(dt_Task);
                            }
                        }
                        #endregion

                        dt_Task = GetTask((int)TaskCarStatusEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCar);//获取新建移车任务
                        if (dt_Task != null)
                        {
                            if (string.IsNullOrEmpty(dt_Task.SourceAddress))
                            {
                                if (command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)
                                if (_Task.ShuttleCarCode != shuttleCar.DeviceCode)
                                {
                                    dt_Task.SourceAddress = QueryCode(shuttleCar._deviceCode).ShuttleCarPosition;
                                    dt_Task.CurrentAddress = dt_Task.SourceAddress;
                                    dt_Task.ShuttleCarCode = shuttleCar._deviceCode;
                                    _taskService.UpdateData(dt_Task);
                                }
                            }
                            else if (string.IsNullOrEmpty(dt_Task.TargetAddress))
                            {
                                #region å‘WMS申请
                                WebResponseContent content = new WebResponseContent();
                                var ResultData = HttpHelper.PostAsync(WMSIP.GetPosition + $"?position={dt_Task.SourceAddress}", "", headers: new Dictionary<string, string>());
                                if (ResultData.Result != null)
                                {
                                    content = JsonConvert.DeserializeObject<WebResponseContent>(ResultData.Result);
                                    if (content != null && content.Status)
                                    ShuttleCar shuttleCar1 = Storage.Devices.Where(x => x.DeviceCode.Equals(_Task.ShuttleCarCode)).FirstOrDefault() as ShuttleCar;
                                    ShuttleCarTaskCommandR command1 = ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar1, shuttleCar1.DeviceCode);//读取穿梭车信息
                                    if (command1 != null && command1.JoinStatus == 1)
                                    {
                                        dt_Task.TargetAddress = content.Message;
                                        dt_Task.NextAddress = dt_Task.TargetAddress;
                                        _taskService.UpdateData(dt_Task);
                                        if (command1.Status == (short)ShuttleCarStatus.Charging && command1.ElectricQuantity >= 50)
                                        {
                                            var ShuttleCar = QueryCode(shuttleCar1.DeviceCode);
                                            _taskService.AddRelocationCarTask(ShuttleCar.ShuttleCarPosition, "", ShuttleCar.ShuttleCarCode);
                                            shuttleCar1.SetValue(ShuttleCarDBName.TaskType, (short)ShuttleCarStatus.QuitCharging);
                                        }
                                    }
                                }
                                #endregion
                            }
                            //穿梭车移库任务下发
                            if (!string.IsNullOrEmpty(dt_Task.SourceAddress) && !string.IsNullOrEmpty(dt_Task.TargetAddress) && !string.IsNullOrEmpty(dt_Task.ShuttleCarCode))
                            else
                            {
                                SendTask(dt_Task);
                                var ShuttleCar = QueryCode(shuttleCar.DeviceCode);
                                _taskService.AddRelocationCarTask(ShuttleCar.ShuttleCarPosition, "003-002-001", ShuttleCar.ShuttleCarCode, ShuttleCarTaskType.Charging.ToString());
                            }
                        }
                        #endregion

                        #region ç©¿æ¢­è½¦å‡ºå…¥åº“任务
                        else
                        {
                            var task = _taskService.QueryShuttleCarTask(shuttleCar.DeviceCode);
                            if (task != null)
                            {
                                if (task.TaskType == (int)TaskOutboundTypeEnum.Outbound && !task.IsPickPlace)
                                {
                                    var ShuttleCar = _shuttleCarService.QueryShuttleCar(task.SourceAddress);//出库任务判断是否存在穿梭车
                                    if (ShuttleCar != null)
                                    {
                                        SendTask(task);
                                    }
                                    else
                                    {
                                        _taskService.AddRelocationCarTask("", task.SourceAddress);
                                    }
                                    #region åˆ›å»ºå †åž›æœºç§»è½¦ä»»åŠ¡
                                    //dt_Task = new Dt_Task()
                                    //{
                                    //    TaskNum = Convert.ToInt32(DateTime.Now.ToString("HHmmss")),
                                    //    Grade = 2,
                                    //    Roadway = "SC01",
                                    //    TaskType = (int)TaskOtherTypeEnum.RelocationCar,
                                    //    SourceAddress = "",
                                    //    TargetAddress = task.SourceAddress,
                                    //    CurrentAddress = "",
                                    //    NextAddress = task.SourceAddress,
                                    //    CreateDate = DateTime.Now,
                                    //    Creater = "WCS",
                                    //    TaskState = (int)TaskCarStatusEnum.CarNew,
                                    //    WMSId = 0,
                                    //};
                                    //_taskService.AddData(dt_Task);
                                    #endregion
                                }
                            }
                        }
                        #region èŽ·å–移车/出入库任务
                        Get_CarTask(shuttleCar, command);
                        #endregion
                    }
                }
            }
            catch (Exception ex)
            {
                Console.Out.WriteLine(nameof(CommonShuttleCarJob) + ":" + ex.ToString());
            }
            finally
            {

                //Console.Out.WriteLine(nameof(CommonShuttleCarJob) + ":" + ex.ToString());
            }
            return Task.CompletedTask;
        }
        private void SendTask(Dt_Task task)
        {
            ShuttleCar shuttleCar = Storage.Devices.FirstOrDefault(x => x.DeviceCode == task.ShuttleCarCode) as ShuttleCar;
            if (shuttleCar != null)
            {
                ShuttleCarTaskCommandR command = shuttleCar.ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar.DeviceCode);//读取穿梭车信息
                if (command != null && command.Status == (short)ShuttleCarStatus.Standby && command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby && command.Err_Status == (short)ShuttleCarErr.Normal)
                {
                    //任务转换
                    ShuttleCarTaskCommandW shuttleCarTaskCommand = new ShuttleCarTaskCommandW();
                    shuttleCarTaskCommand.Direction = command.Position;
                    shuttleCarTaskCommand.TaskNum = task.TaskNum;
                    if (task.TaskType == (int)TaskOtherTypeEnum.RelocationCar)//移车
                    {
                        if (task.TaskState == (int)TaskCarStatusEnum.CarNew)
                        {
                            if (task.Remark == ShuttleCarTaskType.ExitCharge.ToString()) shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.Remark);
                            else shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
                        }
                        else if (task.TaskState == (int)TaskCarStatusEnum.SC_CarFinish)
                        {
                            if (task.Remark == ShuttleCarTaskType.Charging.ToString()) shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.Remark);
                            else shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
                        }
                    }
                    else
                        shuttleCarTaskCommand.TaskType = (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction);
                    //shuttleCarTaskCommand.TaskType = string.IsNullOrEmpty(task.Remark) ? (short)GetCarTaskType(task.TaskType, shuttleCarTaskCommand.Direction) : (short)GetCarTaskType(task.Remark);
                    //任务下发
                    if (shuttleCarTaskCommand.TaskType != null)//0
                    {
                        if (shuttleCar.SendCommand(shuttleCarTaskCommand, shuttleCar.DeviceCode))
                        {
                            if (!string.IsNullOrEmpty(task.Remark)) task.Remark = task.Remark + "已下发";
                            task.TaskState = GetTaskState(task.TaskType);
                            _taskService.UpdateData(task);
                        }
                    }
                }

                ///退出充电任务？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
                if (command.ElectricQuantity > 50)
                {

                }
            }
        }
        private Dt_Task GetTask(int TaskState, int TaskType)
        {
            return _taskService.GetTaskState(TaskState, TaskType);
        }

        public Dt_ShuttleCar QueryCode(string ShuttleCarCode)
        {
            return _shuttleCarService.QueryCode(ShuttleCarCode);
        }

        ShuttleCarTaskType GetCarTaskType(string remark) => remark switch
        {
            "Charging" => ShuttleCarTaskType.Charging,
            "ExitCharge" => ShuttleCarTaskType.ExitCharge,
        };

        ShuttleCarTaskType GetCarTaskType(int TaskType, short Direction)
        {
            ShuttleCarTaskType taskType = new ShuttleCarTaskType();
            switch (TaskType)
            {
                case (int)TaskInboundTypeEnum.Inbound:
                    taskType = ShuttleCarTaskType.In;
                    break;
                case (int)TaskOutboundTypeEnum.Outbound:
                    taskType = ShuttleCarTaskType.Out;
                    break;
                case (int)TaskOtherTypeEnum.RelocationCar:
                    taskType = Direction == 1 ? ShuttleCarTaskType.ZeroA : ShuttleCarTaskType.ZeroB;
                    break;
                default:
                    break;
            }
            return taskType;
        }

        int GetTaskState(int TaskType)
        {
            int state = 0;
            switch (TaskType)
            {
                case (int)TaskInboundTypeEnum.Inbound:
                    state = (int)TaskInStatusEnum.Car_InExecuting;
                    break;
                case (int)TaskOutboundTypeEnum.Outbound:
                    state = (int)TaskOutStatusEnum.Car_OutExecuting;
                    break;
                case (int)TaskOtherTypeEnum.RelocationCar:
                    state = (int)TaskCarStatusEnum.ShuttleCar_Executing;
                    break;
                default:
                    break;
            }
            return state;
        }
    }
}