SuZhouGuanHong/ShanMeiXinNengYuan.git

			@@ -1,15 +1,14 @@
			using MapsterMapper;
			using Masuit.Tools;
			using Microsoft.Extensions.Configuration;
			using Microsoft.Extensions.Logging;
			using Newtonsoft.Json;
			using Quartz;
			using Serilog;
			using SqlSugar;
			using WIDESEA_Core;
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_Core;
			using WIDESEAWCS_Core.Helper;
			using WIDESEAWCS_Core.LogHelper;
			using WIDESEAWCS_DTO.TaskInfo;
			using WIDESEAWCS_ITaskInfoService;
			using WIDESEAWCS_Model.Models;
			@@ -41,7 +40,6 @@
			/// 任务服务
			/// </summary>
			private readonly ITaskService _taskService;


			/// <summary>
			/// 机器人任务服务
			@@ -82,7 +80,7 @@
			/// <summary>
			/// 日志记录器
			/// </summary>
			private readonly ILogger<CommonConveyorLineNewJob> _logger;
			private readonly ILogger _logger;

			/// <summary>
			/// 目标地址到设备类型的映射
			@@ -90,6 +88,11 @@
			/// <remarks>
			/// </remarks>
			private static List<string> AddressToDeviceType = new List<string> { "11020", "11028" };

			/// <summary>
			/// 托盘检查位置的最近执行时间（用于30秒间隔限制）
			/// </summary>
			private static readonly Dictionary<string, DateTime> _lastPalletCheckTime = new();

			/// <summary>
			/// 构造函数
			@@ -100,7 +103,7 @@
			/// <param name="mapper">对象映射器</param>
			/// <param name="httpClientHelper">HTTP 客户端帮助类</param>
			/// <param name="logger">日志记录器</param>
			public CommonConveyorLineNewJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IMapper mapper, HttpClientHelper httpClientHelper, ILogger<CommonConveyorLineNewJob> logger, IRobotTaskService robotTaskService)
			public CommonConveyorLineNewJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IMapper mapper, HttpClientHelper httpClientHelper, ILogger logger, IRobotTaskService robotTaskService)
			{
			_taskService = taskService;
			_taskExecuteDetailService = taskExecuteDetailService;
			@@ -179,6 +182,13 @@
			// 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)
			{
			@@ -188,27 +198,37 @@
			{
			// 没有任务，向 WMS 请求出库托盘任务
			var position = checkPalletPositions.FirstOrDefault(x => x.Code == childDeviceCode);
			QuartzLogHelper.LogInfo(_logger, "Execute：检查托盘位置 {ChildDeviceCode}，请求WMS出库托盘任务", $"检查托盘位置 {childDeviceCode}，请求WMS出库托盘任务", conveyorLine.DeviceCode, childDeviceCode);

			var responseResult = _httpClientHelper.Post<WebResponseContent>("GetOutBoundTrayTaskAsync", new CreateTaskDto()
			string configKey = "GetOutBoundTrayTaskAsync";
			string requestParam = new CreateTaskDto()
			{
			WarehouseId = position.WarehouseId,
			TargetAddress = childDeviceCode
			}.Serialize());
			}.Serialize();
			DateTime startTime = DateTime.Now;

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

			_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);
			}
			}
			}
			}

			#endregion
			#endregion 检测是否需要空托盘

			// ========== 检查 PLC_STB 标志 ==========
			// 只有当 PLC_STB 为 1 时才处理任务
			@@ -224,7 +244,7 @@
			var task = _taskService.QueryManualInboundTask(childDeviceCode);
			if (task != null)
			{
			var handler = new ManualInboundTaskHandler(_taskService);
			var handler = new ManualInboundTaskHandler(_taskService, _logger);
			handler.WriteTaskToPlc(conveyorLine, childDeviceCode, task);
			}
			}
			@@ -278,7 +298,6 @@
			RobotTargetAddressLineCode = childDeviceCode,
			RobotTaskNum = num, // 生成任务号
			RobotDispatchertime = DateTime.Now,

			};
			if (_robotTaskService.AddData(robotTask).Status)
			{