SuZhouGuanHong/ShanMeiXinNengYuan.git

			@@ -6,6 +6,7 @@
			using Serilog;
			using SqlSugar;
			using WIDESEA_Core;
			using WIDESEAWCS_Common.HttpEnum;
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_Core;
			using WIDESEAWCS_Core.Helper;
			@@ -83,11 +84,11 @@
			private readonly ILogger _logger;

			/// <summary>
			/// 目标地址到设备类型的映射
			/// 目标地址到设备类型的映射(入库站台)
			/// </summary>
			/// <remarks>
			/// </remarks>
			private static List<string> AddressToDeviceType = new List<string> { "11020", "11028" };
			private static List<string> AddressToDeviceType = new List<string> { "11020", "11028", "2125" };

			/// <summary>
			/// 托盘检查位置的最近执行时间（用于30秒间隔限制）
			@@ -148,15 +149,6 @@
			return Task.CompletedTask;
			}

			// 创建并行选项，限制最大并发数
			//var parallelOptions = new ParallelOptions
			//{
			// // 限制并发数：子设备数量和 CPU 核心数*2 的较小值
			// MaxDegreeOfParallelism = Math.Min(childDeviceCodes.Count, Environment.ProcessorCount * 2),
			//};

			// 并行处理每个子设备
			//Parallel.For(0, childDeviceCodes.Count, parallelOptions, i =>
			foreach (var childDeviceCode in childDeviceCodes)
			{
			//string childDeviceCode = childDeviceCodes[i];
			@@ -193,28 +185,36 @@
			if (command.CV_State == 2)
			{
			// 检查该位置是否已有任务
			var existingTask = _taskService.Db.Queryable<Dt_Task>().First(x => x.TargetAddress == childDeviceCode);
			if (existingTask.IsNullOrEmpty())
			var existingTask = _taskService.Db.Queryable<Dt_Task>().Count(x => x.TargetAddress == childDeviceCode);
			if (existingTask < 5)
			{
			// 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);
			}
			}
			}
			@@ -236,7 +236,8 @@
			var task = _taskService.QueryManualInboundTask(childDeviceCode);
			if (task != null)
			{
			var handler = new ManualInboundTaskHandler(_taskService);
			QuartzLogHelper.LogInfo(_logger, $"获取到输送线开始任务，任务号：{task.TaskNum}，状态: {task.TaskStatus},当前地址：{conveyorLine.DeviceCode}", conveyorLine.DeviceCode);
			var handler = new ManualInboundTaskHandler(_taskService, _logger);
			handler.WriteTaskToPlc(conveyorLine, childDeviceCode, task);
			}
			}
			@@ -262,21 +263,22 @@
			Dt_Task task = _taskService.QueryExecutingConveyorLineTask(command.TaskNo, childDeviceCode);
			if (!task.IsNullOrEmpty())
			{
			QuartzLogHelper.LogInfo(_logger, "Execute：子设备 {ChildDeviceCode} 处理任务 {TaskNum}，状态: {Status}", $"处理任务 {task.TaskNum}，状态: {task.TaskStatus}", conveyorLine.DeviceCode, childDeviceCode, task.TaskNum, task.TaskStatus);
			QuartzLogHelper.LogInfo(_logger, $"处理任务 {task.TaskNum}，状态: {task.TaskStatus}", conveyorLine.DeviceCode);
			// 处理任务状态（根据状态分发到不同方法）
			ProcessTaskState(conveyorLine, command, task, childDeviceCode);
			return Task.CompletedTask;
			continue;
			}
			else if (command.TaskNo == 1 && !command.Barcode.IsNullOrEmpty() && childDeviceCode == "11068")
			// Todo：下面的逻辑主要处理没有查询到任务但有条码的情况，可能是需要生成机械手任务或者调用 WMS 创建入库任务（临时使用）
			else if (!command.Barcode.IsNullOrEmpty() && childDeviceCode == "11068")
			{
			if (_robotTaskService.Db.Queryable<Dt_RobotTask>().Any(x => x.RobotTargetAddressPalletCode == command.Barcode))
			var isWcsTask = _taskService.Db.Queryable<Dt_Task>().Any(x => x.PalletCode == command.Barcode && (x.TaskStatus == (int)TaskOutStatusEnum.OutNew \|\| x.TaskStatus == (int)TaskInStatusEnum.InNew));
			var isRobotTask = _robotTaskService.Db.Queryable<Dt_RobotTask>().Any(x => x.RobotTargetAddressPalletCode == command.Barcode \|\| x.RobotRoadway == "注液组盘机械手");
			if (isWcsTask \|\| isRobotTask)
			{
			return Task.CompletedTask;
			continue;
			}

			Random rnd = new Random();
			int num = rnd.StrictNext();//产生真随机数
			// 没有任务号但有条码并且在11068位置，直接添加机械手组盘任务
			// 直接添加机械手组盘任务
			Dt_RobotTask robotTask = new Dt_RobotTask
			{
			RobotTargetAddressPalletCode = command.Barcode,
			@@ -288,14 +290,57 @@
			RobotGrade = 1,
			RobotRoadway = "注液组盘机械手",
			RobotTargetAddressLineCode = childDeviceCode,
			RobotTaskNum = num, // 生成任务号
			RobotTaskNum = Random.Shared.StrictNext(), // 生成任务号
			RobotDispatchertime = DateTime.Now,
			};
			if (_robotTaskService.AddData(robotTask).Status)
			{
			QuartzLogHelper.LogInfo(_logger, $"生产机械手任务成功， {robotTask.RobotTaskNum}，状态: {robotTask.RobotTaskState},当前地址：{conveyorLine.DeviceCode}", conveyorLine.DeviceCode);
			conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, (short)1, childDeviceCode);
			}
			}
			else if (!command.Barcode.IsNullOrEmpty() && (childDeviceCode == "11001" \|\| childDeviceCode == "11010"))
			{
			var isWcsTask = _taskService.Db.Queryable<Dt_Task>().Any(x => x.PalletCode == command.Barcode && (x.TaskStatus == (int)TaskOutStatusEnum.OutNew \|\| x.TaskStatus == (int)TaskInStatusEnum.InNew));
			var isRobotTask = _robotTaskService.Db.Queryable<Dt_RobotTask>().Any(x => x.RobotTargetAddressPalletCode == command.Barcode);
			if (isWcsTask \|\| isRobotTask)
			{
			continue;
			}

			// 调用 WMS 创建空托盘入库任务
			string configKey = nameof(ConfigKey.CreateTaskInboundAsync);
			string requestParam = new CreateTaskDto()
			{
			PalletCode = command.Barcode,
			SourceAddress = childDeviceCode,
			TargetAddress = "GWSC1", // 目标地址
			Roadway = "GWSC1", // 巷道
			WarehouseId = 1, // 仓库 ID
			PalletType = 1, // 托盘类型（默认为1）
			TaskType = TaskTypeEnum.InEmpty.GetHashCode() // 任务类型（入库/空托盘入库）
			}.Serialize();
			DateTime startTime = DateTime.Now;

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

			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) continue;

			if (_taskService.ReceiveWMSTask(taskDTOs).Status)
			{
			conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, (short)1, childDeviceCode);
			}
			}
			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);
			}
			}
			}
			}
			catch (Exception innerEx)