1

dengjunjie

2025-09-29 d9c99e0480b4910cdb134778dd5c314b35ec4cf2

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

@@ -2,16 +2,22 @@
using HslCommunication;
using Newtonsoft.Json;
using OfficeOpenXml.Drawing.Chart;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using Quartz;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading.Tasks;
using WIDESEAWCS_Common.ShuttleCarEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.System;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_DTO.WMSInfo;
using WIDESEAWCS_IShuttleCar;
using WIDESEAWCS_ITaskInfoRepository;
@@ -34,12 +40,13 @@
        private readonly ITaskService _taskService;
        private readonly ITaskRepository _taskRepository;
        private readonly ITaskHtyService _taskHtyService;
        private readonly IShuttleCarService _shuttleCarService;
        private readonly WIDESEAWCS_IShuttleCar.IShuttleCarService _shuttleCarService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly IRouterService _routerService;
        private readonly ICacheService _cacheService;
        private readonly IMapper _mapper;

        public CommonShuttleCarJob(ITaskService taskService, ITaskRepository taskRepository, ITaskHtyService taskHtyService, IShuttleCarService shuttleCarService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IMapper mapper)
        public CommonShuttleCarJob(ITaskService taskService, ITaskRepository taskRepository, ITaskHtyService taskHtyService, WIDESEAWCS_IShuttleCar.IShuttleCarService shuttleCarService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, ICacheService cacheService, IMapper mapper)
        {
            _taskService = taskService;
            _taskRepository = taskRepository;
@@ -47,6 +54,7 @@
            _shuttleCarService = shuttleCarService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _routerService = routerService;
            _cacheService = cacheService;
            _mapper = mapper;
        }

@@ -59,52 +67,91 @@
                {
                    shuttleCar.Communicator.IsReadAfterWrite = false;
                    ShuttleCarTaskCommandR command = ReadCustomer<ShuttleCarTaskCommandR>(shuttleCar, shuttleCar.DeviceCode);//读取穿梭车信息
                    _cacheService.AddOrUpdate(shuttleCar.DeviceCode, command);
                    if (command != null && command.JoinStatus == 1)
                    {
                        #region ç©¿æ¢­è½¦ä»»åŠ¡å®Œæˆ
                        var complete = shuttleCar.GetValue<ShuttleCarDBName, bool>(ShuttleCarDBName.TaskComplete);
                        if (complete && command.TaskTypeComplete > (short)ShuttleCarTaskComplete.Standby && command.Status == command.TaskTypeComplete)
                        if (complete && command.TaskTypeComplete > (short)ShuttleCarTaskComplete.Standby)
                        {
                            #region æ—¥å¿—记录
                            FieldInfo? fieldInfo = typeof(ShuttleCarTaskComplete).GetField(((ShuttleCarTaskComplete)command.TaskTypeComplete).ToString());
                            DescriptionAttribute? description = fieldInfo.GetCustomAttribute<DescriptionAttribute>();
                            var type = description?.Description ?? ((ShuttleCarTaskComplete)command.TaskTypeComplete).ToString();
                            WriteDebug($"{shuttleCar.DeviceName}任务完成", $"任务号【{command.number}】,完成类型【{type}】");
                            #endregion
                            _taskService.ShuttleCarTaskCompleted(command.number, command.TaskTypeComplete);
                            shuttleCar.SetValue(ShuttleCarDBName.ConfirmComplete, true, shuttleCar.DeviceCode);
                        }
                        #endregion

                        #region èŽ·å–堆垛机移车/移库完成任务
                        GetSC_CarFinish();
                        #endregion
                        GetSC_CarFinish();//堆垛机完成移车/移车充电/移库/入库任务

                        #region åˆ›å»ºç§»è½¦å……电任务
                        if (command.Err_Status == (short)ShuttleCarErr.LowBattery || command.ElectricQuantity <= (short)ShuttleCarErr.LowBattery)
                        {
                            var ShuttleCar = QueryCode(shuttleCar.DeviceCode);
                            //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)
                            #region åˆ¤æ–­ç©¿æ¢­è½¦å½“前位置是否有任务
                            if (_taskRepository.QueryFirst(x => x.SourceAddress == ShuttleCar.ShuttleCarPosition || x.TargetAddress == ShuttleCar.ShuttleCarPosition) == null)
                            {
                                if (_Task.ShuttleCarCode != shuttleCar.DeviceCode)
                                Dt_Task _Task = _taskRepository.QueryFirst(x => x.TaskType == TaskOtherTypeEnum.RelocationCarCharging.ObjToInt());
                                if (_Task != null)
                                {
                                    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)
                                    if (_Task.ShuttleCarCode != shuttleCar.DeviceCode)
                                    {
                                        if (command1.Status == (short)ShuttleCarStatus.Charging && command1.ElectricQuantity >= 50)
                                        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)
                                        {
                                            _taskService.AddRelocationCarTask(ShuttleCar.ShuttleCarPosition, "", ShuttleCar.ShuttleCarCode);
                                            shuttleCar1.SetValue(ShuttleCarDBName.TaskType, (short)ShuttleCarStatus.QuitCharging);
                                            if (command1.Status == (short)ShuttleCarStatus.Charging && command1.ElectricQuantity >= 50)
                                            {
                                                shuttleCar1.SetValue(ShuttleCarDBName.TaskType, (short)ShuttleCarStatus.QuitCharging);
                                            }
                                        }
                                    }
                                }
                                else
                                {
                                    string CarChargingStation = AppSettings.Configuration[nameof(CarChargingStation)];//判断充电位是否有车
                                    var ShuttleCar1 = _shuttleCarService.QueryShuttleCar(CarChargingStation);
                                    if (ShuttleCar1 != null && ShuttleCar1.ShuttleCarCode != shuttleCar.DeviceCode)
                                    {
                                        #region åˆ¤æ–­æ˜¯å¦å­˜åœ¨æ–°å»ºç§»è½¦ä»»åŠ¡
                                        if (_taskRepository.QueryFirst(x => x.ShuttleCarCode == ShuttleCar1.ShuttleCarCode) == null)
                                        {
                                            var dt_Task = GetTask((int)TaskCarStatusEnum.CarNew, (int)TaskOtherTypeEnum.RelocationCar);
                                            if (dt_Task != null && string.IsNullOrEmpty(dt_Task.SourceAddress))
                                            {
                                                dt_Task.SourceAddress = ShuttleCar1.ShuttleCarPosition;
                                                dt_Task.CurrentAddress = dt_Task.SourceAddress;
                                                dt_Task.ShuttleCarCode = ShuttleCar1.ShuttleCarCode;
                                                _taskService.UpdateData(dt_Task);
                                                _taskExecuteDetailService.AddTaskExecuteDetail(dt_Task.TaskNum, "更新移车任务起始地址");
                                            }
                                            else
                                                _taskService.AddRelocationCarTask(ShuttleCar1.ShuttleCarPosition, "", ShuttleCar1.ShuttleCarCode);
                                        }
                                        #endregion
                                    }
                                    else
                                    {
                                        _taskService.AddRelocationCarTask(ShuttleCar.ShuttleCarPosition, CarChargingStation, ShuttleCar.ShuttleCarCode, ShuttleCarTaskType.Charging.ToString());
                                    }
                                }
                            }
                            else
                            {
                                _taskService.AddRelocationCarTask(ShuttleCar.ShuttleCarPosition, "003-002-001", ShuttleCar.ShuttleCarCode, ShuttleCarTaskType.Charging.ToString());
                            }
                            #endregion
                        }
                        #endregion

                        #region èŽ·å–移车/出入库任务
                        Get_CarTask(shuttleCar, command);
                        if (command != null &&
                            (command.Status == (short)ShuttleCarStatus.Standby || command.Status == (short)ShuttleCarStatus.Charging) &&
                            command.TaskTypeComplete == (short)ShuttleCarTaskComplete.Standby &&
                            (command.Err_Status == (short)ShuttleCarErr.Normal || command.Err_Status == (short)ShuttleCarErr.LowBattery))
                        {
                            //Get_CarTask(shuttleCar, command);
                            GetShuttleCarTask(shuttleCar, command);
                        }
                        #endregion
                    }
                }