修改堆垛机通讯协议及交互逻辑

dengjunjie

2025-06-11 2ae5aa151f7b40a082e34aa7ed22b4b64edd1d3c

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -1,24 +1,15 @@
using HslCommunication;
using Microsoft.AspNetCore.Components.Routing;
using Quartz;
using Quartz;
using SqlSugar.Extensions;
using System;
using System.Collections.Generic;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading.Tasks;
using WIDESEA_Core.Enums;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane;
using WIDESEAWCS_Tasks.StackerCraneJob;

namespace WIDESEAWCS_Tasks
@@ -31,11 +22,11 @@
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;

        public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
        public CommonStackerCraneJob(ITaskService taskService, ITaskRepository taskRepository, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _taskExecuteDetailService = taskExecuteDetailService;
            _routerService = routerService;
        }

@@ -43,50 +34,62 @@
        {
            try
            {
                #region MyRegion
                OtherDevice StackerCrane = (OtherDevice)context.JobDetail.JobDataMap.Get("JobParams");
                if (StackerCrane != null)
                {
                    //var CurrentTaskNum = StackerCrane.Communicator.Read<short>("MD755");
                    var DeviceStatu = StackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.DeviceStatus);
                    var StackerCraneStatu = StackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.StackerCraneStatus);
                    var RunStatus = StackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.RunStatus);
                    StackerCrane.SetValue(StackerCraneDBName.StartRow, 1);
                    StackerCrane.SetValue(StackerCraneDBName.StartColumn, 2);
                    StackerCrane.SetValue(StackerCraneDBName.StartLayer, 3);
                    StackerCrane.SetValue(StackerCraneDBName.EndRow, 4);
                    StackerCrane.SetValue(StackerCraneDBName.EndColumn, 5);
                    StackerCrane.SetValue(StackerCraneDBName.EndLayer, 2);
                    StackerCrane.SetValue(StackerCraneDBName.TaskNum, 216);
                    StackerCrane.SetValue(StackerCraneDBName.WorkType, 1);
                }

                #endregion

                SpeStackerCrane speStackerCrane = (SpeStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
                GetStackerObject getStackerObject = new GetStackerObject();
                if (speStackerCrane != null)
                {
                    if (getStackerObject.StackerCraneTaskCompletedValue(speStackerCrane) == StackerCraneTaskCompleted.WorkCompleted)
                    var CurrentTaskNum = speStackerCrane.Communicator.Read<short>("MD755");
                    var DeviceStatu = speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.DeviceStatus);
                    var StackerCraneStatu = speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.StackerCraneStatus);
                    speStackerCrane.SetValue(StackerCraneDBName.StartRow, 1);
                    speStackerCrane.SetValue(StackerCraneDBName.StartColumn, 2);
                    speStackerCrane.SetValue(StackerCraneDBName.StartLayer, 3);
                    speStackerCrane.SetValue(StackerCraneDBName.EndRow, 4);
                    speStackerCrane.SetValue(StackerCraneDBName.EndColumn, 5);
                    speStackerCrane.SetValue(StackerCraneDBName.EndLayer, 2);

                    GetStackerObject getStackerObject = new GetStackerObject(speStackerCrane);
                    if (!getStackerObject.IsEventSubscribed)
                    {
                        _taskService.StackCraneTaskCompleted(speStackerCrane.CurrentTaskNum);
                        speStackerCrane.SetValue(StackerCraneDBName.WorkType, 2);
                        getStackerObject.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                    }
                    else
                    if (getStackerObject.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && getStackerObject.StackerCraneStatusValue == StackerCraneStatus.Ready)
                    {
                        if (getStackerObject.StackerCraneAutoStatusValue(speStackerCrane) == StackerCraneAutoStatus.Automatic && getStackerObject.StackerCraneStatusValue(speStackerCrane) == StackerCraneStatus.Ready)
                        getStackerObject.CheckStackerCraneTaskCompleted();//检测堆垛机任务完成事件

                        if (getStackerObject.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                        {
                            if (getStackerObject.StackerCraneWorkStatusValue(speStackerCrane) == StackerCraneWorkStatus.Standby)
                            Dt_Task? task = GetTask(speStackerCrane);
                            if (task != null)
                            {
                                Dt_Task? task = GetTask(speStackerCrane);
                                if (task != null)
                                StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                                if (stackerCraneTaskCommand != null)
                                {
                                    if (task.TaskType == TaskTypeGroup.OutbondGroup.ObjToInt())
                                    bool sendFlag = getStackerObject.SendCommand(stackerCraneTaskCommand);
                                    if (sendFlag)
                                    {
                                        //todo出库判断货架状态
                                        StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                                        if (stackerCraneTaskCommand != null)
                                        {
                                            bool sendFlag = speStackerCrane.SendCommand(stackerCraneTaskCommand);
                                            if (sendFlag)
                                            {
                                                speStackerCrane.LastTaskType = task.TaskType;
                                                _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                            }
                                        }
                                    }
                                    else
                                    {
                                        StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                                        if (stackerCraneTaskCommand != null)
                                        {
                                            bool sendFlag = speStackerCrane.SendCommand(stackerCraneTaskCommand);
                                            if (sendFlag)
                                            {
                                                speStackerCrane.LastTaskType = task.TaskType;
                                                _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                            }
                                        }
                                        speStackerCrane.SetValue(StackerCraneDBName.CommandSend, 1);//启动命令
                                        speStackerCrane.LastTaskType = task.TaskType;
                                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                    }
                                }
                            }
@@ -96,7 +99,7 @@
            }
            catch (Exception ex)
            {
                //Console.WriteLine(nameof(CommonStackerCraneJob) + ":" + ex.ToString());
                //WriteLog.GetLog($"堆垛机异常").Write($"{nameof(CommonStackerCraneJob)}:{ex.Message}", "堆垛机异常");
            }
            return Task.CompletedTask;
        }
@@ -106,14 +109,13 @@
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e)
        private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, StackerCraneTaskCompletedEventArgs e)
        {
            SpeStackerCrane? speStackerCrane = sender as SpeStackerCrane;
            if (speStackerCrane != null)
            {
                if (speStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                {
                    Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
                    _taskService.StackCraneTaskCompleted(e.TaskNum);
                    speStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                }
@@ -127,7 +129,7 @@
        /// <returns></returns>
        private Dt_Task? GetTask(SpeStackerCrane speStackerCrane)
        {
            Dt_Task task;
            Dt_Task? task;
            if (speStackerCrane.LastTaskType == null)
            {
                task = _taskService.QueryStackerCraneTask(speStackerCrane.DeviceCode);
@@ -135,7 +137,7 @@
            else
            {
                bool flag = speStackerCrane.LastTaskType == TaskTypeEnum.Inbound.ObjToInt() || speStackerCrane.LastTaskType == TaskTypeEnum.PalletInbound.ObjToInt();
                if (flag==false)
                if (flag == false)
                {
                    task = _taskService.QueryStackerCraneInTask(speStackerCrane.DeviceCode);
                    if (task == null)
@@ -146,6 +148,10 @@
                else
                {
                    task = _taskService.QueryStackerCraneOutTask(speStackerCrane.DeviceCode);
                    if (task == null)
                    {
                        task = _taskService.QueryStackerCraneInTask(speStackerCrane.DeviceCode);
                    }
                }
            }
            return task;
@@ -181,35 +187,13 @@
            }
            return null;
        }

        public bool SendCommands(StackerCraneTaskCommand command,SpeStackerCrane speStackerCrane)
        {
            try
            {
                speStackerCrane.SetValue(StackerCraneDBName.TaskNum, command.TaskNum);
                speStackerCrane.SetValue(StackerCraneDBName.StartRow, command.StartRow);
                speStackerCrane.SetValue(StackerCraneDBName.StartColumn, command.StartColumn);
                speStackerCrane.SetValue(StackerCraneDBName.StartLayer, command.StartLayer);
                speStackerCrane.SetValue(StackerCraneDBName.EndRow, command.EndRow);
                speStackerCrane.SetValue(StackerCraneDBName.EndColumn, command.EndColumn);
                speStackerCrane.SetValue(StackerCraneDBName.EndLayer, command.EndLayer);
                speStackerCrane.SetValue(StackerCraneDBName.Barcode, command.Barcode);
                speStackerCrane.SetValue(StackerCraneDBName.WorkType, command.WorkType);
                speStackerCrane.SetValue(StackerCraneDBName.TrayType, command.TrayType);
                return true;
            }
            catch (Exception ex)
            {
                return false;
            }
        }
            /// <summary>
            /// ä»»åŠ¡å®žä½“转换成命令Model
            /// </summary>
            /// <param name="task">任务实体</param>
            /// <returns></returns>
            /// <exception cref="Exception"></exception>
            public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        /// <summary>
        /// ä»»åŠ¡å®žä½“转换成命令Model
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        {
            StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();

@@ -329,6 +313,5 @@
            }
            return stackerCraneTaskCommand;
        }

    }
}