chore: 提交所有当前改动

wanshenmean

2026-03-17 737dec3c384f394fd6f9849b4480b697d1ba35d5

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

@@ -1,25 +1,17 @@
using System;
using System.Collections.Generic;
using Quartz;
using System;
using System.Diagnostics.CodeAnalysis;
using System.Linq;
using System.Text;
using System.IO;
using System.Threading.Tasks;
using Microsoft.AspNetCore.Components.Routing;
using Quartz;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core.Enums;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
using WIDESEAWCS_TaskInfoService;
using WIDESEAWCS_QuartzJob.StackerCrane;
using WIDESEAWCS_Tasks.StackerCraneJob;
using WIDESEA_Core;
using WIDESEAWCS_QuartzJob.Service;

namespace WIDESEAWCS_Tasks
{
@@ -29,14 +21,47 @@
        private readonly ITaskService _taskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;

        public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
        private readonly StackerCraneCommandConfig _config;
        private readonly StackerCraneTaskSelector _taskSelector;
        private readonly StackerCraneCommandBuilder _commandBuilder;

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

            _config = LoadConfig();
            _taskSelector = new StackerCraneTaskSelector(taskService, routerService, httpClientHelper);
            _commandBuilder = new StackerCraneCommandBuilder(taskService, routerService, _config);
        }

        /// <summary>
        /// 加载配置（优先级：配置文件 > 默认配置）
        /// </summary>
        private static StackerCraneCommandConfig LoadConfig()
        {
            try
            {
                string configPath = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "StackerCraneJob", "stackercrane-command-config.json");
                if (File.Exists(configPath))
                {
                    string json = File.ReadAllText(configPath);
                    return System.Text.Json.JsonSerializer.Deserialize<StackerCraneCommandConfig>(json) ?? new StackerCraneCommandConfig();
                }
            }
            catch (Exception ex)
            {
                Console.WriteLine($"配置加载失败: {ex.Message}，使用默认配置");
            }

            return new StackerCraneCommandConfig();
        }

        public Task Execute(IJobExecutionContext context)
@@ -46,268 +71,76 @@
                Console.WriteLine(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + " CommonStackerCraneJob Start");

                bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
                if (!flag || value is not CommonStackerCrane commonStackerCrane)
                if (!flag || value is not IStackerCrane commonStackerCrane)
                {
                    return Task.CompletedTask;
                }

                // 订阅一次任务完成事件。
                if (!commonStackerCrane.IsEventSubscribed)
                {
                    commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;
                }

                if (commonStackerCrane.StackerCraneAutoStatusValue != StackerCraneAutoStatus.Automatic
                    || commonStackerCrane.StackerCraneStatusValue != StackerCraneStatus.Normal)
                commonStackerCrane.CheckStackerCraneTaskCompleted();

                if (!commonStackerCrane.IsCanSendTask(commonStackerCrane.Communicator, commonStackerCrane.DeviceProDTOs, commonStackerCrane.DeviceProtocolDetailDTOs))
                {
                    return Task.CompletedTask;
                }

                commonStackerCrane.CheckStackerCraneTaskCompleted();

                if (commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby)
                // 任务选择下沉到专用选择器。
                Dt_Task? task = _taskSelector.SelectTask(commonStackerCrane);
                if (task == null)
                {
                    Dt_Task? task = GetTask(commonStackerCrane);
                    if (task != null)
                    {
                        StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                        if (stackerCraneTaskCommand != null)
                        {
                            bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
                            if (sendFlag)
                            {
                                commonStackerCrane.LastTaskType = task.TaskType;
                                _taskService.UpdateTaskStatusToNext(task.TaskNum);
                            }
                        }
                    }
                    return Task.CompletedTask;
                }

                // 命令构建下沉到专用构建器。
                object? stackerCraneTaskCommand = _commandBuilder.ConvertToStackerCraneTaskCommand(task);
                if (stackerCraneTaskCommand == null)
                {
                    return Task.CompletedTask;
                }

                bool sendFlag = SendStackerCraneCommand(commonStackerCrane, stackerCraneTaskCommand);
                if (sendFlag)
                {
                    commonStackerCrane.LastTaskType = task.TaskType;
                    _taskService.UpdateTaskStatusToNext(task.TaskNum);
                }
            }
            catch (Exception ex)
            {
                Console.WriteLine($"CommonStackerCraneJob Error: {ex.Message}");
            }

            return Task.CompletedTask;
        }

        /// <summary>
        /// 任务完成事件订阅的方法
        /// </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)
        {
            CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
            if (commonStackerCrane != null)
            {
                if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                {
                    Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
                    _taskService.StackCraneTaskCompleted(e.TaskNum);
                    commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                }
                Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
                _taskService.StackCraneTaskCompleted(e.TaskNum);
                commonStackerCrane.SetValue(StackerCraneDBName.WorkAction, 2);
            }
        }

        /// <summary>
        /// 获取任务
        /// </summary>
        /// <param name="commonStackerCrane">堆垛机对象</param>
        /// <returns></returns>
        private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
        private static bool SendStackerCraneCommand(IStackerCrane commonStackerCrane, object command)
        {
            Dt_Task? task = null;
            if (commonStackerCrane.LastTaskType == null)
            return command switch
            {
                task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
            }
            else
            {
                if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                    task ??= _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                }
                else
                {
                    task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                }
            }

            if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            {
                if (IsOutTaskStationAvailable(task))
                {
                    return task;
                }

                List<string> otherOutStationCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress, task.TaskType)
                    .Select(x => x.ChildPosi).ToList();
                List<Dt_Task> tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStationCodes);
                foreach (var alternativeTask in tasks)
                {
                    if (IsOutTaskStationAvailable(alternativeTask))
                    {
                        return alternativeTask;
                    }
                }
                task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
            }

            return task;
        }

        /// <summary>
        /// 出库任务判断出库站台是否可用
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns>如果站台可用返回true，否则返回false</returns>
        private bool IsOutTaskStationAvailable([NotNull] Dt_Task task)
        {
            Dt_Router? router = _routerService.QueryNextRoute(task.Roadway, task.NextAddress, task.TaskType);
            if (router == null)
            {
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法校验站台");
                return false;
            }

            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == router.ChildPosiDeviceCode);
            if (device == null)
            {
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到出库站台【{router.ChildPosiDeviceCode}】对应的通讯对象，无法判断出库站台是否被占用");
                return false;
            }

            CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
            return conveyorLine.IsOccupied(router.ChildPosi);
        }

        /// <summary>
        /// 任务实体转换成命令Model
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns></returns>
        public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        {
            StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand
            {
                Barcode = task.PalletCode,
                TaskNum = task.TaskNum,
                WorkType = 1,
                TrayType = 0
                FormationStackerCraneTaskCommand formationCommand => commonStackerCrane.SendCommand(formationCommand),
                StackerCraneTaskCommand standardCommand => commonStackerCrane.SendCommand(standardCommand),
                _ => false
            };

            TaskTypeGroup taskTypeGroup = task.TaskType.GetTaskTypeGroup();
            return taskTypeGroup switch
            {
                TaskTypeGroup.InboundGroup => BuildInboundCommand(task, stackerCraneTaskCommand),
                TaskTypeGroup.OutbondGroup => BuildOutboundCommand(task, stackerCraneTaskCommand),
                TaskTypeGroup.RelocationGroup => BuildRelocationCommand(task, stackerCraneTaskCommand),
                _ => stackerCraneTaskCommand
            };
        }

        /// <summary>
        /// 构建入库命令
        /// </summary>
        private StackerCraneTaskCommand? BuildInboundCommand(Dt_Task task, StackerCraneTaskCommand command)
        {
            Dt_Router? router = _routerService.QueryNextRoute(task.CurrentAddress, task.Roadway, task.TaskType);
            if (router == null)
            {
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.CurrentAddress}】信息，无法获取对应的堆垛机取货站台信息");
                return null;
            }

            command.StartRow = Convert.ToInt16(router.SrmRow);
            command.StartColumn = Convert.ToInt16(router.SrmColumn);
            command.StartLayer = Convert.ToInt16(router.SrmLayer);

            if (!TryParseAddress(task.NextAddress, out short endRow, out short endColumn, out short endLayer))
            {
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务终点错误，终点：【{task.NextAddress}】");
                return null;
            }

            command.EndRow = endRow;
            command.EndColumn = endColumn;
            command.EndLayer = endLayer;

            return command;
        }

        /// <summary>
        /// 构建出库命令
        /// </summary>
        private StackerCraneTaskCommand? BuildOutboundCommand(Dt_Task task, StackerCraneTaskCommand command)
        {
            Dt_Router? router = _routerService.QueryNextRoute(task.Roadway, task.TargetAddress, task.TaskType);
            if (router == null)
            {
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.TargetAddress}】信息，无法获取对应的堆垛机放货站台信息");
                return null;
            }

            command.EndRow = Convert.ToInt16(router.SrmRow);
            command.EndColumn = Convert.ToInt16(router.SrmColumn);
            command.EndLayer = Convert.ToInt16(router.SrmLayer);

            if (!TryParseAddress(task.CurrentAddress, out short startRow, out short startColumn, out short startLayer))
            {
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务起点错误，起点：【{task.CurrentAddress}】");
                return null;
            }

            command.StartRow = startRow;
            command.StartColumn = startColumn;
            command.StartLayer = startLayer;

            return command;
        }

        /// <summary>
        /// 构建移库命令
        /// </summary>
        private StackerCraneTaskCommand? BuildRelocationCommand(Dt_Task task, StackerCraneTaskCommand command)
        {
            if (!TryParseAddress(task.NextAddress, out short endRow, out short endColumn, out short endLayer))
            {
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务终点错误，终点：【{task.NextAddress}】");
                return null;
            }

            command.EndRow = endRow;
            command.EndColumn = endColumn;
            command.EndLayer = endLayer;

            if (!TryParseAddress(task.CurrentAddress, out short startRow, out short startColumn, out short startLayer))
            {
                _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点错误，起点：【{task.CurrentAddress}】");
                return null;
            }

            command.StartRow = startRow;
            command.StartColumn = startColumn;
            command.StartLayer = startLayer;

            return command;
        }

        /// <summary>
        /// 解析地址字符串（格式：行-列-层）
        /// </summary>
        private bool TryParseAddress(string address, out short row, out short column, out short layer)
        {
            row = column = layer = 0;

            string[] parts = address.Split("-");
            if (parts.Length != 3)
            {
                return false;
            }

            return short.TryParse(parts[0], out row)
                && short.TryParse(parts[1], out column)
                && short.TryParse(parts[2], out layer);
        }
    }
}