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wanshenmean

2026-02-28 c3de7bb2097aa347a1f92c2f640d18753aff633a

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

@@ -30,6 +30,7 @@
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        private readonly StackerCraneCommandConfig _config;

        public CommonStackerCraneJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
        {
@@ -37,46 +38,62 @@
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _routerService = routerService;
            _config = LoadConfig();
        }

        /// <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)
        {
            try
            {
                List<Dt_Task> tasks = _taskService.Repository.QueryData();

                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 != null && value is CommonStackerCrane commonStackerCrane)
                {
                    if (!commonStackerCrane.IsEventSubscribed)
                    {
                        commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                    }
                    if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
                        commonStackerCrane.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时，再手动触发一次

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

                if (!commonStackerCrane.IsEventSubscribed)
                {
                    commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;
                }

                if (commonStackerCrane.IsCanSendTask(commonStackerCrane.Communicator, commonStackerCrane.DeviceProDTOs, commonStackerCrane.DeviceProtocolDetailDTOs))
                {
                    commonStackerCrane.CheckStackerCraneTaskCompleted();

                    Dt_Task? task = GetTask(commonStackerCrane);
                    if (task != null)
                    {
                        object? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                        if (stackerCraneTaskCommand != null)
                        {
                            Dt_Task? task = GetTask(commonStackerCrane);
                            if (task != null)
                            bool sendFlag = SendStackerCraneCommand(commonStackerCrane, stackerCraneTaskCommand);
                            if (sendFlag)
                            {
                                int num = new Random().Next(1, 100);
                                if (num < 30)
                                {
                                    throw new CommunicationException("错误测试", CommunicationErrorType.Unknown);
                                }
                                StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                                if (stackerCraneTaskCommand != null)
                                {
                                    bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand);
                                    if (sendFlag)
                                    {
                                        commonStackerCrane.LastTaskType = task.TaskType;
                                        _taskService.UpdateTaskStatusToNext(task.TaskNum);
                                    }
                                }
                                commonStackerCrane.LastTaskType = task.TaskType;
                                _taskService.UpdateTaskStatusToNext(task.TaskNum);
                            }
                        }
                    }
@@ -84,6 +101,7 @@
            }
            catch (Exception ex)
            {
                Console.WriteLine($"CommonStackerCraneJob Error: {ex.Message}");
            }
            return Task.CompletedTask;
        }
@@ -98,12 +116,12 @@
            CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane;
            if (commonStackerCrane != null)
            {
                if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                {
                //if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                //{
                    Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
                    _taskService.StackCraneTaskCompleted(e.TaskNum);
                    commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                }
                //}
            }
        }

@@ -112,9 +130,9 @@
        /// </summary>
        /// <param name="commonStackerCrane">堆垛机对象</param>
        /// <returns></returns>
        private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane)
        private Dt_Task? GetTask(IStackerCrane commonStackerCrane)
        {
            Dt_Task task;
            Dt_Task? task = null;
            if (commonStackerCrane.LastTaskType == null)
            {
                task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode);
@@ -124,10 +142,7 @@
                if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
                {
                    task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode);
                    if (task == null)
                    {
                        task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                    }
                    task ??= _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode);
                }
                else
                {
@@ -137,162 +152,251 @@

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

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

            return task;
        }

        /// <summary>
        /// 出库任务判断出库站台是否被占用
        /// 出库任务判断出库站台是否可用
        /// </summary>
        /// <param name="task">任务实体</param>
        /// <returns>如果未被占用，返回传入的任务信息，否则，返回null</returns>
        private Dt_Task? OutTaskStationIsOccupied([NotNull] Dt_Task task)
        /// <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.QueryNextRoutes(task.Roadway, task.NextAddress).FirstOrDefault();
            if (router != null)
            {
                IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == router.ChildPosiDeviceCode);
                if (device != null)
                {
                    CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
                    if (conveyorLine.IsOccupied(router.ChildPosi))//出库站台未被占用
                    {
                        return task;
                    }
                }
                else
                {
                    _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");
                }
            }
            else
            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;
            }
            return null;

            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>
        /// <exception cref="Exception"></exception>
        public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        public object? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task)
        {
            StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand();
            // 根据配置判断命令类型
            string commandType = GetCommandType(task.Roadway);

            stackerCraneTaskCommand.Barcode = task.PalletCode;
            stackerCraneTaskCommand.TaskNum = task.TaskNum;
            stackerCraneTaskCommand.WorkType = 1;
            stackerCraneTaskCommand.TrayType = 0;
            if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//判断是否是入库任务
            // 创建并构建命令
            return commandType switch
            {
                List<Dt_Router> routers = _routerService.QueryNextRoutes(task.CurrentAddress, task.Roadway);
                if (routers.Count > 0)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);
                "Formation" => BuildCommand(task, CreateFormationCommand(task)),
                _ => BuildCommand(task, CreateStandardCommand(task))
            };
        }

                    string[] targetCodes = task.NextAddress.Split("-");
                    if (targetCodes.Length == 3)
                    {
                        stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
                        stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
                        stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
                    }
                    else
                    {
                        //数据配置错误
                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务终点错误，起点：【{task.NextAddress}】");
                        return null;
                    }
                }
                else
        private static bool SendStackerCraneCommand(IStackerCrane commonStackerCrane, object command)
        {
            return command switch
            {
                FormationStackerCraneTaskCommand formationCommand => commonStackerCrane.SendCommand(formationCommand),
                StackerCraneTaskCommand standardCommand => commonStackerCrane.SendCommand(standardCommand),
                _ => false
            };
        }

        /// <summary>
        /// 根据 Roadway 获取命令类型
        /// </summary>
        private string GetCommandType(string roadway)
        {
            foreach (var mapping in _config.RoadwayCommandMapping)
            {
                if (roadway.Contains(mapping.Key))
                {
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机取货站台信息");
                    return null;
                    return mapping.Value;
                }
            }
            else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            {
                List<Dt_Router> routers = _routerService.QueryNextRoutes(task.Roadway, task.TargetAddress);
                if (routers.Count > 0)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(routers.FirstOrDefault().SrmRow);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(routers.FirstOrDefault().SrmColumn);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(routers.FirstOrDefault().SrmLayer);
            return _config.DefaultCommandType;
        }

                    string[] sourceCodes = task.CurrentAddress.Split("-");
                    if (sourceCodes.Length == 3)
                    {
                        stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
                        stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                        stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                    }
                    else
                    {
                        //数据配置错误
                        _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务起点错误，起点：【{task.CurrentAddress}】");
                        return null;
                    }
                }
                else
                {
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息，无法获取对应的堆垛机放货站台信息");
                    return null;
                }
            }
            else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup)
        /// <summary>
        /// 创建标准堆垛机命令
        /// </summary>
        private static StackerCraneTaskCommand CreateStandardCommand(Dt_Task task)
        {
            return new StackerCraneTaskCommand
            {
                string[] targetCodes = task.NextAddress.Split("-");
                if (targetCodes.Length == 3)
                {
                    stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]);
                    stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]);
                    stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务终点错误，起点：【{task.NextAddress}】");
                    return null;
                }
                string[] sourceCodes = task.CurrentAddress.Split("-");
                if (sourceCodes.Length == 3)
                {
                    stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[0]);
                    stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[1]);
                    stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[2]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点错误，起点：【{task.CurrentAddress}】");
                    return null;
                }
                //Barcode = task.PalletCode,
                TaskNum = task.TaskNum,
                WorkType = 1,
                WorkAction = 1
            };
        }

        /// <summary>
        /// 创建分容堆垛机命令
        /// </summary>
        private static FormationStackerCraneTaskCommand CreateFormationCommand(Dt_Task task)
        {
            return new FormationStackerCraneTaskCommand
            {
                Barcode = task.PalletCode,
                TaskNum = task.TaskNum,
                WorkType = 1,
                WorkAction = 1,
                FireAlarm = 0,
                HeartBeat = 0,
                FieldName = string.Empty
            };
        }

        /// <summary>
        /// 通用命令构建方法
        /// </summary>
        private T? BuildCommand<T>(Dt_Task task, T command) where T : class
        {
            TaskTypeGroup taskTypeGroup = task.TaskType.GetTaskTypeGroup();

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

        /// <summary>
        /// 通用入库命令构建
        /// </summary>
        private T? BuildInboundCommand<T>(Dt_Task task, T command) where T : class
        {
            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;
            }
            return stackerCraneTaskCommand;

            SetCommandProperty(command, "StartRow", Convert.ToInt16(router.SrmRow));
            SetCommandProperty(command, "StartColumn", Convert.ToInt16(router.SrmColumn));
            SetCommandProperty(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;
            }

            SetCommandProperty(command, "EndRow", endRow);
            SetCommandProperty(command, "EndColumn", endColumn);
            SetCommandProperty(command, "EndLayer", endLayer);

            return command;
        }

        /// <summary>
        /// 通用出库命令构建
        /// </summary>
        private T? BuildOutboundCommand<T>(Dt_Task task, T command) where T : class
        {
            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;
            }

            SetCommandProperty(command, "EndRow", Convert.ToInt16(router.SrmRow));
            SetCommandProperty(command, "EndColumn", Convert.ToInt16(router.SrmColumn));
            SetCommandProperty(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;
            }

            SetCommandProperty(command, "StartRow", startRow);
            SetCommandProperty(command, "StartColumn", startColumn);
            SetCommandProperty(command, "StartLayer", startLayer);

            return command;
        }

        /// <summary>
        /// 通用移库命令构建
        /// </summary>
        private T? BuildRelocationCommand<T>(Dt_Task task, T command) where T : class
        {
            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;
            }

            SetCommandProperty(command, "EndRow", endRow);
            SetCommandProperty(command, "EndColumn", endColumn);
            SetCommandProperty(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;
            }

            SetCommandProperty(command, "StartRow", startRow);
            SetCommandProperty(command, "StartColumn", startColumn);
            SetCommandProperty(command, "StartLayer", startLayer);

            return command;
        }

        /// <summary>
        /// 使用反射设置命令属性
        /// </summary>
        private static void SetCommandProperty<T>(T command, string propertyName, object value) where T : class
        {
            var property = typeof(T).GetProperty(propertyName);
            property?.SetValue(command, value);
        }

        /// <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);
        }
    }
}
}