KuKa/BeiJingBeiQiAGV.git

			@@ -1,15 +1,23 @@
			ï»¿using Quartz;
			ï»¿using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
			using Quartz;
			using SixLabors.ImageSharp;
			using SqlSugar.Extensions;
			using System;
			using System.Collections.Generic;
			using System.Drawing;
			using System.Linq;
			using System.Text;
			using System.Threading.Tasks;
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_Communicator;
			using WIDESEAWCS_IBasicInfoRepository;
			using WIDESEAWCS_IBasicInfoService;
			using WIDESEAWCS_ISystemServices;
			using WIDESEAWCS_ITaskInfoRepository;
			using WIDESEAWCS_ITaskInfoService;
			using WIDESEAWCS_Model.Models;
			using WIDESEAWCS_QuartzJob;
			using WIDESEAWCS_Tasks.TaskAcquisition;

			namespace WIDESEAWCS_Tasks
			{
			@@ -24,36 +32,108 @@
			private readonly ITaskService _taskService;
			private readonly ISys_ConfigService _sys_ConfigService;
			private readonly IDt_StationManagerRepository _stationManagerRepository;
			public TaskAcquisition_Back1_Job(ITaskRepository taskRepository, ITaskService taskService, ISys_ConfigService configService, IDt_StationManagerRepository stationManagerRepository)
			private readonly IDt_MaterialInfoRepository _IDt_MaterialInfoRepository;
			public TaskAcquisition_Back1_Job(ITaskRepository taskRepository, ITaskService taskService, ISys_ConfigService configService, IDt_StationManagerRepository stationManagerRepository, IDt_MaterialInfoRepository IDt_MaterialInfoRepository)
			{
			_taskRepository = taskRepository;
			_taskService = taskService;
			_sys_ConfigService = configService;
			_stationManagerRepository = stationManagerRepository;
			_IDt_MaterialInfoRepository = IDt_MaterialInfoRepository;
			}
			public Task Execute(IJobExecutionContext context)
			{
			string ip = "127.0.0.1";
			int port = 502;
			string name = "ååºæ¿1";
			ModbusTcp modbusTcp = new ModbusTcp(ip, port, name);
			string Region = "ååºæ¿1";
			ModbusTcp modbusTcp = new ModbusTcp(ip, port, Region);
			Baseconversion baseconversion = new Baseconversion();
			modbusTcp.Connect();
			//var a = modbusTcp.Read("40002", 20);
			//string barcode = Encoding.UTF8.GetString(a).Replace("\0", "").Replace("\\0", "");

			// è¯»åæå®çå°åè¯»å°10è¿å¶çasciiç è½¬æ16è¿å¶
			byte[] rawBytes = modbusTcp.Read("10", 20);
			string originalDecimalStr = Encoding.ASCII.GetString(rawBytes).TrimEnd('\0');
			Console.WriteLine($"è¯»åå°çåå§åè¿å¶åç¬¦ä¸²ï¼{originalDecimalStr}");
			// ä¸é¢è¿ä¸æ®µå°±æ¯ä½ è¦çï¼è½¬ 16 è¿å¶
			ulong number = ulong.Parse(originalDecimalStr); // è½¬ææ°å
			string hexStr = number.ToString("X"); // è½¬å¤§å16è¿å¶
			Console.WriteLine("è½¬æ¢æ16è¿å¶ï¼" + hexStr);
			Dictionary<int, int> Signal = new Dictionary<int, int>() { [10] = 2, [30] = 3, [50] = 4, [70] = 5 };
			Dictionary<int, int> FeedingPoint = new Dictionary<int, int>() { [10] = 2001, [30] = 2002, [50] = 2003, [70] = 2004 }; // å«æçç¹ä½ ç»ç¹ä½ç½®

			try
			{
			for (int i = 10; i < 90; i += 20)
			{
			byte[] SignalNumber = modbusTcp.Read(Signal[i].ToString(), 1); // ä¿¡å· 1ï¼å«æ 2ï¼æåºç©ºæ¡

			if (SignalNumber[1] == 1)
			{
			byte[] PartNumber = modbusTcp.Read(i.ToString(), 20); // è¯»åé¶ä»¶å·

			if (PartNumber[1] == 0) continue;

			string Ku1_Value = baseconversion.TenthTurn16(PartNumber);
			if (Ku1_Value != "" && Ku1_Value != null)
			{
			// çåè½æµè¯å®ï¼è¿éè¦åæ¥å¿è®°å½

			Console.WriteLine(Ku1_Value);
			// æ¾å¯¹åºçé¶ä»¶å·æ¯å¦å·²ç»ç»å®(ç»ç)
			Dt_MaterialInfo dt_MaterialInfo = _IDt_MaterialInfoRepository.QueryFirst(x => x.MaterialName == Ku1_Value);

			if (dt_MaterialInfo != null && dt_MaterialInfo.IsBind && dt_MaterialInfo.EndPosition == null)
			{
			Dt_Task dt_Task = _taskRepository.QueryFirst(x => x.PalletCode == dt_MaterialInfo.ContainerCode);
			if (dt_Task != null) continue; //è¯ææå½åä»»å¡

			dt_Task = new Dt_Task();
			dt_Task.PalletCode = dt_MaterialInfo.ContainerCode;
			dt_Task.SourceAddress = dt_MaterialInfo.Position; // å½åä½ç½®
			dt_Task.TargetAddress = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®
			dt_Task.Grade = 2;
			dt_Task.TaskState = TaskAGVCarryStatusEnum.AGV_CarryNew.ObjToInt();
			dt_Task.TaskType = TaskAGVCarryTypeEnum.Carry.ObjToInt();
			dt_Task.Roadway = (Signal[i] - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
			dt_Task.CurrentAddress = dt_MaterialInfo.Position; // å½åä½ç½®
			dt_Task.NextAddress = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®

			dt_MaterialInfo.EndPosition = FeedingPoint[i].ToString(); // ç»ç¹ä½ç½®

			_taskRepository.AddData(dt_Task);
			_IDt_MaterialInfoRepository.UpdateData(dt_MaterialInfo);
			}

			// å¦ææ²¡ç»å®åä¸çæä»»å¡ å¦ææ¥æ¾å°å¯¹åºçé¶ä»¶å·ç»å®äº åçæä¸æ¡ä»»å¡æ°æ®
			}
			}

			if (SignalNumber[1] == 2) // è¡¨ç¤ºæåºç©ºæ¡
			{
			Dictionary<int, int> Endpointposition = new Dictionary<int, int>() { [10] = 3001, [20] = 3002, [30] = 3003, [40] = 3004 }; // å«æçç¹ä½ ç»ç¹ä½ç½®
			Dt_Task dt_Task = _taskRepository.QueryFirst(x => x.SourceAddress == FeedingPoint[i].ToString() && x.TaskType == (int)TaskAGVCarryTypeEnum.CarryEmpty);
			if (dt_Task != null) continue;

			dt_Task = new Dt_Task();
			dt_Task.PalletCode = "ç©ºæ¡å";
			dt_Task.SourceAddress = FeedingPoint[i].ToString();
			dt_Task.TargetAddress = Endpointposition[i].ToString();
			dt_Task.Grade = 2;
			dt_Task.TaskState = TaskAGVCarryStatusEnum.AGV_CarryNew.ObjToInt();
			dt_Task.TaskType = TaskAGVCarryTypeEnum.CarryEmpty.ObjToInt();
			dt_Task.Roadway = (Signal[i] - 1).ToString(); // åº1 å«æé£å°±æ¯1å··é
			dt_Task.CurrentAddress = FeedingPoint[i].ToString(); // å½åä½ç½®
			dt_Task.NextAddress = Endpointposition[i].ToString(); // ç»ç¹ä½ç½®
			_taskRepository.AddData(dt_Task);
			}

			}
			}
			catch (Exception)
			{

			throw;
			}


			// 16è¿å¶è½¬æ10è¿å¶
			// 2. 16è¿å¶ â è½¬ååè¿å¶ï¼ä½ è¦çåè½ï¼
			ulong decimalResult = Convert.ToUInt64(hexStr, 16);
			ulong decimalResult = Convert.ToUInt64("123", 16);
			Console.WriteLine("16è¿å¶è½¬ååè¿å¶ï¼" + decimalResult);

			// åå¥
			bool flag = modbusTcp.Write("30", decimalResult.ToString());

			modbusTcp.Disconnect();