SuZhouGuanHong/ShanMeiXinNengYuan.git

			@@ -1,16 +1,11 @@
			using MapsterMapper;
			using Masuit.Tools;
			using Microsoft.Extensions.Configuration;
			using Newtonsoft.Json;
			using Quartz;
			using Serilog;
			using SqlSugar;
			using WIDESEA_Core;
			using WIDESEAWCS_Common.HttpEnum;
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_Core;
			using WIDESEAWCS_Core.Helper;
			using WIDESEAWCS_DTO.TaskInfo;
			using WIDESEAWCS_ITaskInfoService;
			using WIDESEAWCS_Model.Models;
			using WIDESEAWCS_QuartzJob;
			@@ -88,7 +83,7 @@
			/// </summary>
			/// <remarks>
			/// </remarks>
			private static List<string> AddressToDeviceType = new List<string> { "11020", "11028", "2125" };
			private static List<string> AddressToDeviceType = new List<string> { "11020", "11028", "2125", "11062" };

			/// <summary>
			/// 托盘检查位置的最近执行时间（用于30秒间隔限制）
			@@ -168,57 +163,57 @@

			// ========== 检查特定位置是否有托盘 ==========
			// 从配置中读取需要检查托盘的位置列表
			var checkPalletPositions = App.Configuration.GetSection("CheckPalletPositions")
			.Get<List<CheckPalletPosition>>() ?? new List<CheckPalletPosition>();
			//var checkPalletPositions = App.Configuration.GetSection("CheckPalletPositions")
			// .Get<List<CheckPalletPosition>>() ?? new List<CheckPalletPosition>();

			// 如果当前设备在检查列表中
			if (checkPalletPositions.Any(x => x.Code == childDeviceCode))
			{
			// 30秒间隔限制
			if (_lastPalletCheckTime.TryGetValue(childDeviceCode, out var lastTime) &&
			(DateTime.Now - lastTime).TotalSeconds < 30)
			{
			continue;
			}
			//// 如果当前设备在检查列表中
			//if (checkPalletPositions.Any(x => x.Code == childDeviceCode))
			//{
			// // 30秒间隔限制
			// if (_lastPalletCheckTime.TryGetValue(childDeviceCode, out var lastTime) &&
			// (DateTime.Now - lastTime).TotalSeconds < 30)
			// {
			// continue;
			// }

			// 检查输送线状态（是否有托盘）
			if (command.CV_State == 2)
			{
			// 检查该位置是否已有任务
			var existingTask = _taskService.Db.Queryable<Dt_Task>().First(x => x.TargetAddress == childDeviceCode);
			if (existingTask.IsNullOrEmpty())
			{
			// 没有任务，向 WMS 请求出库托盘任务
			var position = checkPalletPositions.FirstOrDefault(x => x.Code == childDeviceCode);
			// // 检查输送线状态（是否有托盘）
			// if (command.CV_State == 2)
			// {
			// // 检查该位置是否已有任务
			// var existingTask = _taskService.Db.Queryable<Dt_Task>().Count(x => x.TargetAddress == childDeviceCode);
			// if (existingTask < 5)
			// {
			// // 没有任务，向 WMS 请求出库托盘任务
			// var position = checkPalletPositions.FirstOrDefault(x => x.Code == childDeviceCode);

			string configKey = "GetOutBoundTrayTaskAsync";
			string requestParam = new CreateTaskDto()
			{
			WarehouseId = position.WarehouseId,
			TargetAddress = childDeviceCode
			}.Serialize();
			DateTime startTime = DateTime.Now;
			// string configKey = "GetOutBoundTrayTaskAsync";
			// string requestParam = new CreateTaskDto()
			// {
			// WarehouseId = position.WarehouseId,
			// TargetAddress = childDeviceCode
			// }.Serialize();
			// DateTime startTime = DateTime.Now;

			var responseResult = _httpClientHelper.Post<WebResponseContent>(configKey, requestParam);
			// var responseResult = _httpClientHelper.Post<WebResponseContent>(configKey, requestParam);

			_lastPalletCheckTime[childDeviceCode] = DateTime.Now;
			// _lastPalletCheckTime[childDeviceCode] = DateTime.Now;

			// 如果请求成功，接收 WMS 返回的任务
			if (responseResult.IsSuccess && responseResult.Data.Status)
			{
			QuartzLogHelper.LogInfo(_logger, $"调用WMS接口成功,接口:【{configKey}】,请求参数:【{requestParam}】,响应数据:【{responseResult.Data?.Data}】,耗时:{(DateTime.Now - startTime).TotalMilliseconds}ms", conveyorLine.DeviceCode);
			var wmsTask = JsonConvert.DeserializeObject<WMSTaskDTO>(responseResult.Data.Data.ToString());
			List<WMSTaskDTO> taskDTOs = new List<WMSTaskDTO> { wmsTask };
			if (wmsTask != null)
			_taskService.ReceiveWMSTask(taskDTOs);
			}
			else
			{
			QuartzLogHelper.LogError(_logger, $"调用WMS接口失败,接口:【{configKey}】,请求参数:【{requestParam}】,错误信息:【{responseResult.Data?.Message}】", conveyorLine.DeviceCode);
			}
			}
			}
			}
			// // 如果请求成功，接收 WMS 返回的任务
			// if (responseResult.IsSuccess && responseResult.Data.Status)
			// {
			// QuartzLogHelper.LogInfo(_logger, $"调用WMS接口成功,接口:【{configKey}】,请求参数:【{requestParam}】,响应数据:【{responseResult.Data?.Data}】,耗时:{(DateTime.Now - startTime).TotalMilliseconds}ms", conveyorLine.DeviceCode);
			// var wmsTask = JsonConvert.DeserializeObject<WMSTaskDTO>(responseResult.Data.Data.ToString());
			// List<WMSTaskDTO> taskDTOs = new List<WMSTaskDTO> { wmsTask };
			// if (wmsTask != null)
			// _taskService.ReceiveWMSTask(taskDTOs);
			// }
			// else
			// {
			// QuartzLogHelper.LogError(_logger, $"调用WMS接口失败,接口:【{configKey}】,请求参数:【{requestParam}】,错误信息:【{responseResult.Data?.Message}】", conveyorLine.DeviceCode);
			// }
			// }
			// }
			//}

			#endregion 检测是否需要空托盘

			@@ -228,7 +223,11 @@
			{
			// 如果 WCS_ACK 为 1，先清除（表示处理过上一次请求）
			if (command.WCS_ACK == 1)
			conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, (short)0, childDeviceCode);
			{
			conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, (byte)0, childDeviceCode);
			//Thread.Sleep(300);
			//conveyorLine.SetValue(ConveyorLineDBNameNew.Target, (short)0, childDeviceCode);
			}

			// 处理手动入库任务（起点为线体点位的任务）
			try
			@@ -247,17 +246,36 @@
			}
			continue;
			}
			else
			{
			if (childDeviceCode == "2103" \|\| childDeviceCode == "2101")
			{
			try
			{
			var task = _taskService.QueryManualInboundTask(childDeviceCode);
			if (task != null)
			{
			QuartzLogHelper.LogInfo(_logger, $"获取到输送线开始任务，任务号：{task.TaskNum}，状态: {task.TaskStatus},当前地址：{conveyorLine.DeviceCode}", conveyorLine.DeviceCode);
			var handler = new ManualInboundTaskHandler(_taskService, _logger);
			handler.WriteTaskToPlc(conveyorLine, childDeviceCode, task);
			}
			}
			catch (Exception ex)
			{
			QuartzLogHelper.LogError(_logger, ex, "处理手动入库任务异常", $"处理手动入库任务异常: {ex.Message}", "CommonConveyorLineNewJob");
			}
			}
			}

			// ========== 处理无托盘条码的情况 ==========
			// 无托盘条码时，请求出库任务
			if (command.Barcode.IsNullOrEmpty() \|\| command.Barcode.Replace("\0", "") == "")
			// 如果 PLC_STB 为 1，但没有任务号，可能是新任务的开始，先请求出库任务（适用于无条码的情况）
			if (command.TaskNo == 1000)
			{
			_conveyorLineDispatch.RequestOutbound(conveyorLine, command, childDeviceCode);
			continue;
			}

			// ========== 处理已有任务号的情况 ==========
			if (command.TaskNo > 0 && !command.Barcode.IsNullOrEmpty())
			if (command.TaskNo > 0)
			{
			// 查询正在执行的任务
			Dt_Task task = _taskService.QueryExecutingConveyorLineTask(command.TaskNo, childDeviceCode);
			@@ -268,6 +286,7 @@
			ProcessTaskState(conveyorLine, command, task, childDeviceCode);
			continue;
			}
			// Todo：下面的逻辑主要处理没有查询到任务但有条码的情况，可能是需要生成机械手任务或者调用 WMS 创建入库任务（临时使用）
			else if (!command.Barcode.IsNullOrEmpty() && childDeviceCode == "11068")
			{
			var isWcsTask = _taskService.Db.Queryable<Dt_Task>().Any(x => x.PalletCode == command.Barcode && (x.TaskStatus == (int)TaskOutStatusEnum.OutNew \|\| x.TaskStatus == (int)TaskInStatusEnum.InNew));
			@@ -296,48 +315,6 @@
			{
			QuartzLogHelper.LogInfo(_logger, $"生产机械手任务成功， {robotTask.RobotTaskNum}，状态: {robotTask.RobotTaskState},当前地址：{conveyorLine.DeviceCode}", conveyorLine.DeviceCode);
			conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, (short)1, childDeviceCode);
			}
			}
			else if (!command.Barcode.IsNullOrEmpty() && (childDeviceCode == "11001" \|\| childDeviceCode == "11010"))
			{
			var isWcsTask = _taskService.Db.Queryable<Dt_Task>().Any(x => x.PalletCode == command.Barcode && (x.TaskStatus == (int)TaskOutStatusEnum.OutNew \|\| x.TaskStatus == (int)TaskInStatusEnum.InNew));
			var isRobotTask = _robotTaskService.Db.Queryable<Dt_RobotTask>().Any(x => x.RobotTargetAddressPalletCode == command.Barcode);
			if (isWcsTask \|\| isRobotTask)
			{
			continue;
			}

			// 调用 WMS 创建空托盘入库任务
			string configKey = nameof(ConfigKey.CreateTaskInboundAsync);
			string requestParam = new CreateTaskDto()
			{
			PalletCode = command.Barcode,
			SourceAddress = childDeviceCode,
			TargetAddress = "GWSC1", // 目标地址
			Roadway = "GWSC1", // 巷道
			WarehouseId = 1, // 仓库 ID
			PalletType = 1, // 托盘类型（默认为1）
			TaskType = TaskTypeEnum.InEmpty.GetHashCode() // 任务类型（入库/空托盘入库）
			}.Serialize();
			DateTime startTime = DateTime.Now;

			var responseResult = _httpClientHelper.Post<WebResponseContent>(configKey, requestParam);

			if (responseResult.IsSuccess && responseResult.Data.Status)
			{
			QuartzLogHelper.LogInfo(_logger, $"调用WMS接口成功,接口:【{configKey}】,请求参数:【{requestParam}】,响应数据:【{responseResult.Data?.Data}】,耗时:{(DateTime.Now - startTime).TotalMilliseconds}ms", conveyorLine.DeviceCode);
			var wmsTask = JsonConvert.DeserializeObject<WMSTaskDTO>(responseResult?.Data?.Data?.ToString());
			List<WMSTaskDTO> taskDTOs = new List<WMSTaskDTO> { wmsTask };
			if (wmsTask == null) continue;

			if (_taskService.ReceiveWMSTask(taskDTOs).Status)
			{
			conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, (short)1, childDeviceCode);
			}
			}
			else
			{
			QuartzLogHelper.LogError(_logger, $"调用WMS接口失败,接口:【{configKey}】,请求参数:【{requestParam}】,错误信息:【{responseResult.Data?.Message}】", conveyorLine.DeviceCode);
			}
			}
			}