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13 小时以前 75ef0dfecf2331c0828a1a182b1d3243d3041c51 
 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs


@@ -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)


                                {


@@ -196,6 +206,8 @@


                                            TargetAddress = childDeviceCode


                                        }.Serialize());




                                        _lastPalletCheckTime[childDeviceCode] = DateTime.Now;




                                        // 如果请求成功，接收 WMS 返回的任务


                                        if (responseResult.IsSuccess && responseResult.Data.Status)


                                        {


@@ -208,7 +220,7 @@


                                }


                            }




                            #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


@@ -278,7 +290,6 @@


                                        RobotTargetAddressLineCode = childDeviceCode,


                                        RobotTaskNum = num, // 生成任务号


                                        RobotDispatchertime = DateTime.Now,




                                    };


                                    if (_robotTaskService.AddData(robotTask).Status)


                                    {