feat(机器人任务): 实现本地创建机器人任务功能

wanshenmean

11 小时以前 419159c8611dca81b94b3103cdeaeb9272aed5ea

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/StackerCraneTaskSelector.cs

@@ -101,14 +101,14 @@
            Dt_Task? candidateTask;
            var deviceCode = commonStackerCrane.DeviceCode;

            QuartzLogHelper.LogDebug(_logger, $"开始选择任务，设备: {deviceCode}，上一任务类型: {commonStackerCrane.LastTaskType}",commonStackerCrane.DeviceName);
            QuartzLogHelper.LogInfo(_logger, $"开始选择任务，设备: {deviceCode}，上一任务类型: {commonStackerCrane.LastTaskType}", commonStackerCrane.DeviceName);

            // 根据上一任务类型决定查询策略
            if (commonStackerCrane.LastTaskType == null || commonStackerCrane.LastTaskType == TaskRelocationTypeEnum.Relocation.GetHashCode())
            {
                // 没有上一任务类型，查询普通任务
                candidateTask = _taskService.QueryStackerCraneTask(deviceCode);
                QuartzLogHelper.LogDebug(_logger, $"查询普通任务，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
                QuartzLogHelper.LogInfo(_logger, $"查询普通任务，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
            }
            else if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            {
@@ -116,26 +116,29 @@
                candidateTask = _taskService.QueryStackerCraneInTask(deviceCode);
                // 如果没有入库任务，再查一下出库任务
                candidateTask ??= _taskService.QueryStackerCraneOutTask(deviceCode);
                QuartzLogHelper.LogDebug(_logger, $"出库后优先查入库，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
                QuartzLogHelper.LogInfo(_logger, $"出库后优先查入库，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
            }
            else
            {
                // 上一任务是入库（非出库），优先查出库任务
                candidateTask = _taskService.QueryStackerCraneOutTask(deviceCode);
                QuartzLogHelper.LogDebug(_logger, $"入库后优先查出库，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);

                // 如果没有出库任务，再查一下入库任务
                candidateTask ??= _taskService.QueryStackerCraneInTask(deviceCode);
                QuartzLogHelper.LogInfo(_logger, $"入库后优先查出库，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", commonStackerCrane.DeviceName);
            }

            // 如果没有候选任务，返回 null
            if (candidateTask == null)
            {
                QuartzLogHelper.LogDebug(_logger, $"没有候选任务，设备: {deviceCode}", commonStackerCrane.DeviceName);
                QuartzLogHelper.LogInfo(_logger, $"没有候选任务，设备: {deviceCode}", commonStackerCrane.DeviceName);
                return null;
            }

            // 如果不是出库任务，直接返回
            if (candidateTask.TaskType.GetTaskTypeGroup() != TaskTypeGroup.OutbondGroup)
            {
                QuartzLogHelper.LogDebug(_logger, $"选中非出库任务，任务号: {candidateTask.TaskNum}，任务类型: {candidateTask.TaskType}", commonStackerCrane.DeviceName);
                QuartzLogHelper.LogInfo(_logger, $"选中非出库任务，任务号: {candidateTask.TaskNum}，任务类型: {candidateTask.TaskType}", commonStackerCrane.DeviceName);
                return candidateTask;
            }

@@ -143,7 +146,7 @@
            Dt_Task? selectedTask = TrySelectOutboundTask(candidateTask);
            if (selectedTask != null)
            {
                QuartzLogHelper.LogDebug(_logger, $"选中出库任务，任务号: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
                QuartzLogHelper.LogInfo(_logger, $"选中出库任务，任务号: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
                return selectedTask;
            }

@@ -158,7 +161,7 @@
                selectedTask = TrySelectOutboundTask(sameStationTask);
                if (selectedTask != null)
                {
                    QuartzLogHelper.LogDebug(_logger, $"选中同站台备选出库任务，任务号: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
                    QuartzLogHelper.LogInfo(_logger, $"选中同站台备选出库任务，任务号: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
                    return selectedTask;
                }
            }
@@ -177,14 +180,14 @@
                selectedTask = TrySelectOutboundTask(alternativeTask);
                if (selectedTask != null)
                {
                    QuartzLogHelper.LogDebug(_logger, $"选中备选出库任务，任务号: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
                    QuartzLogHelper.LogInfo(_logger, $"选中备选出库任务，任务号: {selectedTask.TaskNum}", commonStackerCrane.DeviceName);
                    return selectedTask;
                }
            }

            // 没有可用出库任务，尝试返回入库任务
            var inboundTask = _taskService.QueryStackerCraneInTask(deviceCode);
            QuartzLogHelper.LogDebug(_logger, $"返回入库任务，任务号: {inboundTask?.TaskNum}", commonStackerCrane.DeviceName);
            QuartzLogHelper.LogInfo(_logger, $"返回入库任务，任务号: {inboundTask?.TaskNum}", commonStackerCrane.DeviceName);
            return inboundTask;
        }

@@ -213,6 +216,14 @@
            // 判断 NextAddress 出库站台是否可用
            if (!IsOutTaskStationAvailable(outboundTask))
            {
                return null;
            }

            // 检查是否有正在执行的输送线任务去往同一 TargetAddress
            if (_taskService.HasExecutingTaskToTarget(outboundTask.Roadway, outboundTask.TargetAddress))
            {
                QuartzLogHelper.LogInfo(_logger, "TrySelectOutboundTask：TargetAddress: {TargetAddress} 已有正在执行的输送线任务，任务号: {TaskNum}",
                    $"TrySelectOutboundTask：TargetAddress: {outboundTask.TargetAddress} 已有正在执行的输送线任务", outboundTask.Roadway, outboundTask.TargetAddress, outboundTask.TaskNum);
                return null;
            }

@@ -385,7 +396,7 @@
            CommonConveyorLine conveyorLine = (CommonConveyorLine)device;

            // 读取 CV_State，CV_State == 2 表示空闲
            byte cvState = conveyorLine.GetValue<ConveyorLineStatus, byte>(ConveyorLineStatus.CV_State, task.TargetAddress);
            byte cvState = conveyorLine.GetValue<ConveyorLineDBNameNew, byte>(ConveyorLineDBNameNew.CV_State, task.TargetAddress);
            bool isAvailable = cvState == 2;
            QuartzLogHelper.LogInfo(_logger, "IsTargetAddressConveyorStationAvailable：TargetAddress: {TargetAddress}，CV_State: {CV_State}，是否空闲: {IsAvailable}，任务号: {TaskNum}",
                $"IsTargetAddressConveyorStationAvailable：TargetAddress: {task.TargetAddress}，CV_State: {cvState}，是否空闲: {isAvailable}", task.Roadway, task.TargetAddress, cvState, isAvailable, task.TaskNum);