YouLiBang/ZheJiangHanTong.git

			@@ -8,10 +8,12 @@
			using WIDESEAWCS_Common;
			using WIDESEAWCS_Core.Helper;
			using WIDESEAWCS_IBasicInfoRepository;
			using WIDESEAWCS_IBasicInfoService;
			using WIDESEAWCS_ITaskInfoRepository;
			using WIDESEAWCS_ITaskInfoService;
			using WIDESEAWCS_Model.Models;
			using WIDESEAWCS_QuartzJob;
			using WIDESEAWCS_QuartzJob.DTO;

			namespace WIDESEAWCS_Tasks
			{
			@@ -25,12 +27,14 @@
			private readonly ITaskService _taskService;
			private readonly IContainerItemRepository _containerItemRepository;
			private readonly WebSocketServer _webSocketServer;
			public GantryJob(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer)
			private readonly IOrderDetailsService _orderDetailsService;
			public GantryJob(ITaskRepository taskRepository, ITaskService taskService, IContainerItemRepository containerItemRepository, WebSocketServer webSocketServer, IOrderDetailsService orderDetailsService)
			{
			_taskRepository = taskRepository;
			_taskService = taskService;
			_containerItemRepository = containerItemRepository;
			_webSocketServer = webSocketServer;
			_orderDetailsService = orderDetailsService;
			}

			public Task Execute(IJobExecutionContext context)
			@@ -57,40 +61,72 @@
			string[] takePositions = task.CurrentAddress.Split("*");
			if (takePositions.Length != 5)
			{
			//WriteError
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "åè´§ä½ç½®éè¯¯");
			if (task.ExceptionMessage?.Contains("åè´§ä½ç½®éè¯¯") ?? true)
			{
			task.ExceptionMessage = "åè´§ä½ç½®éè¯¯";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			string[] putPositions = task.NextAddress.Split("*");
			if (putPositions.Length != 5)
			{
			//WriteError
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "æ¾è´§ä½ç½®éè¯¯");
			if (task.ExceptionMessage?.Contains("æ¾è´§ä½ç½®éè¯¯") ?? true)
			{
			task.ExceptionMessage = "æ¾è´§ä½ç½®éè¯¯";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			Dt_ContainerItem containerItem = _containerItemRepository.QueryFirst(x => x.ItemCode == task.PalletCode);
			if (containerItem == null)
			{
			//WriteError
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "æ¿æå°ºå¯¸è·åéè¯¯");
			if (task.ExceptionMessage?.Contains("æ¿æå°ºå¯¸è·åéè¯¯") ?? true)
			{
			task.ExceptionMessage = "æ¿æå°ºå¯¸è·åéè¯¯";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}
			if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
			{
			if (lightStatusDic != LightStatusEnum.LightWorking)
			{
			LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightWorking;
			}
			}

			otherDevice.SetValue(GantryDBName.TwoHand, true);
			otherDevice.SetValue(GantryDBName.TaskNum, task.TaskNum);
			if (!LightStatusStorage.StationStautsDic.TryGetValue(putPositions[0],out bool stationStatus))
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", $"å·¥ä½ã{putPositions[0]}ãææ å«æ¿æ°æ®éè¯¯,{LightStatusStorage.StationStautsDic.Serialize()}");
			if (task.ExceptionMessage?.Contains($"å·¥ä½ã{putPositions[0]}ãææ å«æ¿æ°æ®éè¯¯") ?? true)
			{
			task.ExceptionMessage = $"å·¥ä½ã{putPositions[0]}ãææ å«æ¿æ°æ®éè¯¯";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}
			if (!stationStatus)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", $"å·¥ä½ã{putPositions[0]}ãæ å«æ¿,{LightStatusStorage.StationStautsDic.Serialize()}");
			if (task.ExceptionMessage?.Contains($"å·¥ä½ã{putPositions[0]}ãæ å«æ¿") ?? true)
			{
			task.ExceptionMessage = $"å·¥ä½ã{putPositions[0]}ãæ å«æ¿";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			int takePoX = Convert.ToInt32(takePositions[1]);
			int takePoY = Convert.ToInt32(takePositions[2]);
			int takePoZ = OPositions.HPositions[takePositions[0]].PositionZ + 30 * 1000 - Convert.ToInt32(takePositions[3]) * 1000;

			if(OPositions.HPositions[takePositions[0]].PositionZ == 0)
			if (OPositions.HPositions[takePositions[0]].PositionZ == 0)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "åè´§Zåæ è¯»åä¸º0");
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "è¯»ååè´§Zåæ è¯»åä¸º0");
			if (task.ExceptionMessage?.Contains($"è¯»ååè´§Zåæ è¯»åä¸º0") ?? true)
			{
			task.ExceptionMessage = $"è¯»ååè´§Zåæ è¯»åä¸º0";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			@@ -102,91 +138,191 @@

			if (OPositions.HPositions[takePositions[0]].PositionZ == 0)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "æ¾è´§Zåæ è¯»åä¸º0");
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "è¯»åæ¾è´§Zåæ è¯»åä¸º0");
			if (task.ExceptionMessage?.Contains($"è¯»åæ¾è´§Zåæ è¯»åä¸º0") ?? true)
			{
			task.ExceptionMessage = $"è¯»åæ¾è´§Zåæ è¯»åä¸º0";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}
			int putPoR = 0;

			if (Convert.ToInt32(takePositions[4]) == 1)
			int temp = 1000;
			if(otherDevice.DeviceCode == "GT02")
			{
			takePoX = takePoX * 1000 + OPositions.HPositions[takePositions[0]].PositionX;
			takePoY = takePoY * 1000 + OPositions.HPositions[takePositions[0]].PositionY;
			putPoX = putPoX * 1000 + OPositions.HPositions[putPositions[0]].PositionX;
			putPoY = putPoY * 1000 + OPositions.HPositions[putPositions[0]].PositionY;
			temp = -1000;
			}

			if (Convert.ToInt32(takePositions[4]) == 1 \|\| Convert.ToInt32(takePositions[4]) == 2)
			{
			takePoX = takePoX * temp + OPositions.HPositions[takePositions[0]].PositionX;
			takePoY = takePoY * temp + OPositions.HPositions[takePositions[0]].PositionY;
			putPoX = putPoX * temp + OPositions.HPositions[putPositions[0]].PositionX;
			putPoY = putPoY * temp + OPositions.HPositions[putPositions[0]].PositionY;
			takePoR = OPositions.HPositions[takePositions[0]].PositionR;
			putPoR = OPositions.HPositions[putPositions[0]].PositionR;

			if (Convert.ToInt32(takePositions[4]) == 1)
			putPoR = OPositions.HPositions[putPositions[0]].PositionR;
			else
			{
			if (otherDevice.DeviceCode == "GT03")
			putPoR = otherDevice.Communicator.Read<int>("DB10.840");
			else if (otherDevice.DeviceCode == "GT02")
			putPoR = otherDevice.Communicator.Read<int>("DB10.836");
			else if (otherDevice.DeviceCode == "GT01")
			putPoR = otherDevice.Communicator.Read<int>("DB10.832");
			else
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "Råæ éè¯¯");
			if (task.ExceptionMessage?.Contains($"Råæ éè¯¯") ?? true)
			{
			task.ExceptionMessage = $"Råæ éè¯¯";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}
			}

			WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-åæ ", $"åè´§ä½ï¼{takePositions[0]},æ¾è´§ä½ï¼{putPositions[0]}{Environment.NewLine}åè´§åæ ï¼X:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}æ¾è´§åæ ï¼X:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}è¯»åPLCåè´§åæ ï¼X:{OPositions.HPositions[takePositions[0]].PositionX} Y:{OPositions.HPositions[takePositions[0]].PositionY} Z:{OPositions.HPositions[takePositions[0]].PositionZ} R:{OPositions.HPositions[takePositions[0]].PositionR}{Environment.NewLine}è¯»åPLCæ¾è´§åæ ï¼X:{OPositions.HPositions[putPositions[0]].PositionX} Y:{OPositions.HPositions[putPositions[0]].PositionY} Z:{OPositions.HPositions[putPositions[0]].PositionZ} R:{OPositions.HPositions[putPositions[0]].PositionR}");
			}
			else
			{
			takePoX = takePoX * 1000 + OPositions.ZPositions[takePositions[0]].PositionX;
			takePoY = takePoY * 1000 + OPositions.ZPositions[takePositions[0]].PositionY;
			putPoX = putPoX * 1000 + OPositions.ZPositions[putPositions[0]].PositionX;
			putPoY = putPoY * 1000 + OPositions.ZPositions[putPositions[0]].PositionY;
			takePoX = takePoX * temp + OPositions.ZPositions[takePositions[0]].PositionX;
			takePoY = takePoY * temp + OPositions.ZPositions[takePositions[0]].PositionY;
			putPoX = putPoX * temp + OPositions.ZPositions[putPositions[0]].PositionX;
			putPoY = putPoY * temp + OPositions.ZPositions[putPositions[0]].PositionY;
			takePoR = OPositions.ZPositions[takePositions[0]].PositionR;
			putPoR = OPositions.ZPositions[putPositions[0]].PositionR;

			WriteDebug($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-åæ ", $"åè´§ä½ï¼{takePositions[0]},æ¾è´§ä½ï¼{putPositions[0]}{Environment.NewLine}åè´§åæ ï¼X:{takePoX} Y:{takePoY} Z:{takePoZ} R:{takePoR}{Environment.NewLine}æ¾è´§åæ ï¼X:{putPoX} Y:{putPoY} Z:{putPoZ} R:{putPoR}{Environment.NewLine}è¯»åPLCåè´§åæ ï¼X:{OPositions.ZPositions[takePositions[0]].PositionX} Y:{OPositions.ZPositions[takePositions[0]].PositionY} Z:{OPositions.ZPositions[takePositions[0]].PositionZ} R:{OPositions.ZPositions[takePositions[0]].PositionR}{Environment.NewLine}è¯»åPLCæ¾è´§åæ ï¼X:{OPositions.ZPositions[putPositions[0]].PositionX} Y:{OPositions.ZPositions[putPositions[0]].PositionY} Z:{OPositions.ZPositions[putPositions[0]].PositionZ} R:{OPositions.ZPositions[putPositions[0]].PositionR}");
			}
			#region
			List<DeviceProDTO> devicePros = otherDevice.DeviceProDTOs.Where(x => x.DeviceProParamType == "MaxPosition").ToList();

			int maxX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxX);
			int minX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinX);
			int maxY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxY);
			int minY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinY);
			int maxZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxZ);
			int minZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinZ);
			int maxR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxR);
			int minR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinR);
			DeviceProDTO? devicePro = devicePros.OrderBy(x => x.DeviceProOffset).FirstOrDefault();
			if(devicePro == null)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}", "è®¾å¤åè®®åæ°éè¯¯ï¼æªæ¾å°æå¤§æå°åæ å°å");
			if (task.ExceptionMessage?.Contains($"è®¾å¤åè®®åæ°éè¯¯ï¼æªæ¾å°æå¤§æå°åæ å°å") ?? true)
			{
			task.ExceptionMessage = $"è®¾å¤åè®®åæ°éè¯¯ï¼æªæ¾å°æå¤§æå°åæ å°å";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}
			int[] data = otherDevice.Communicator.Read<int>(devicePro.DeviceProAddress, (ushort)(devicePros.Count));

			if(takePoX < minX \|\| takePoX > maxX)
			int maxX = data[0];
			int minX = data[1];
			int maxY = data[2];
			int minY = data[3];
			int maxZ = data[4];
			int minZ = data[5];
			int maxR = data[6];
			int minR = data[7];

			//int maxX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxX);
			//int minX = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinX);
			//int maxY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxY);
			//int minY = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinY);
			//int maxZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxZ);
			//int minZ = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinZ);
			//int maxR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MaxR);
			//int minR = otherDevice.GetValue<GantryDBName, int>(GantryDBName.MinR);


			if (takePoX < minX \|\| takePoX > maxX)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-åæ ", $"Xåè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoX},æå¤§å¼ï¼{maxX},æå°å¼ï¼{minX}");
			if (task.ExceptionMessage?.Contains($"Xåè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoX},æå¤§å¼ï¼{maxX},æå°å¼ï¼{minX}") ?? true)
			{
			task.ExceptionMessage = $"Xåè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoX},æå¤§å¼ï¼{maxX},æå°å¼ï¼{minX}";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			if(putPoX < minX \|\| putPoX > maxX)
			if (putPoX < minX \|\| putPoX > maxX)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-åæ ", $"Xæ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoX},æå¤§å¼ï¼{maxX},æå°å¼ï¼{minX}");
			if (task.ExceptionMessage?.Contains($"Xæ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoX},æå¤§å¼ï¼{maxX},æå°å¼ï¼{minX}") ?? true)
			{
			task.ExceptionMessage = $"Xæ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoX},æå¤§å¼ï¼{maxX},æå°å¼ï¼{minX}";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			if (takePoY < minY \|\| takePoY > maxY)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-åæ ", $"Yåè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoY},æå¤§å¼ï¼{maxY},æå°å¼ï¼{minY}");
			if (task.ExceptionMessage?.Contains($"Yåè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoY},æå¤§å¼ï¼{maxY},æå°å¼ï¼{minY}") ?? true)
			{
			task.ExceptionMessage = $"Yåè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoY},æå¤§å¼ï¼{maxY},æå°å¼ï¼{minY}";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			if (putPoY < minY \|\| putPoY > maxY)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-åæ ", $"Yæ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoY},æå¤§å¼ï¼{maxY},æå°å¼ï¼{minY}");
			if (task.ExceptionMessage?.Contains($"Yæ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoY},æå¤§å¼ï¼{maxY},æå°å¼ï¼{minY}") ?? true)
			{
			task.ExceptionMessage = $"Yæ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoY},æå¤§å¼ï¼{maxY},æå°å¼ï¼{minY}";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			if (takePoZ < minZ \|\| takePoZ > maxZ)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-åæ ", $"Zåè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoZ},æå¤§å¼ï¼{maxZ},æå°å¼ï¼{minZ}");
			if (task.ExceptionMessage?.Contains($"Zåè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoZ},æå¤§å¼ï¼{maxZ},æå°å¼ï¼{minZ}") ?? true)
			{
			task.ExceptionMessage = $"Zåè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoZ},æå¤§å¼ï¼{maxZ},æå°å¼ï¼{minZ}";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			if (putPoZ < minZ \|\| putPoZ > maxZ)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-åæ ", $"Zæ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoZ},æå¤§å¼ï¼{maxZ},æå°å¼ï¼{minZ}");
			if (task.ExceptionMessage?.Contains($"Zæ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoZ},æå¤§å¼ï¼{maxZ},æå°å¼ï¼{minZ}") ?? true)
			{
			task.ExceptionMessage = $"Zæ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoZ},æå¤§å¼ï¼{maxZ},æå°å¼ï¼{minZ}";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			if (takePoR < minR \|\| takePoR > maxR)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-åæ ", $"Råè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoR},æå¤§å¼ï¼{maxR},æå°å¼ï¼{minR}");
			if (task.ExceptionMessage?.Contains($"Råè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoR},æå¤§å¼ï¼{maxR},æå°å¼ï¼{minR}") ?? true)
			{
			task.ExceptionMessage = $"Råè´§åæ è¶åºèå´,åè´§åæ ï¼{takePoR},æå¤§å¼ï¼{maxR},æå°å¼ï¼{minR}";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}

			if (putPoR < minR \|\| putPoR > maxR)
			{
			WriteError($"{otherDevice.DeviceCode}-{otherDevice.DeviceName}-åæ ", $"Ræ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoR},æå¤§å¼ï¼{maxR},æå°å¼ï¼{minR}");
			if (task.ExceptionMessage?.Contains($"Ræ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoR},æå¤§å¼ï¼{maxR},æå°å¼ï¼{minR}") ?? true)
			{
			task.ExceptionMessage = $"Ræ¾è´§åæ è¶åºèå´,åè´§åæ ï¼{putPoR},æå¤§å¼ï¼{maxR},æå°å¼ï¼{minR}";
			_taskRepository.UpdateData(task);
			}
			return Task.CompletedTask;
			}
			#endregion

			otherDevice.SetValue(GantryDBName.TwoHand, true);
			otherDevice.SetValue(GantryDBName.TaskNum, task.TaskNum);
			otherDevice.SetValue(GantryDBName.TakePositionX, takePoX);
			otherDevice.SetValue(GantryDBName.TakePositionY, takePoY);
			otherDevice.SetValue(GantryDBName.TakePositionZ, takePoZ);
			@@ -203,11 +339,19 @@

			task.TaskState = TaskStatusEnum.Gantry_Executing.ObjToInt();
			_taskRepository.UpdateData(task);

			if (LightStatusStorage.LightStatusDic.TryGetValue(putPositions[0], out LightStatusEnum lightStatusDic))
			{
			if (lightStatusDic != LightStatusEnum.LightWorking)
			{
			LightStatusStorage.LightStatusDic[putPositions[0]] = LightStatusEnum.LightWorking;
			}
			}
			}
			}
			else if (gantryWorkStatus == 5)
			{
			int currentTaskNum = otherDevice.GetValue<GantryDBName, int>(GantryDBName.CurrentTaskNum);
			int currentTaskNum = otherDevice.GetValue<GantryDBName, int>(GantryDBName.TaskNum);
			if (currentTaskNum > 0)
			{
			Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == currentTaskNum);
			@@ -215,6 +359,12 @@
			{
			_taskService.TaskComplete(task);

			Task.Run(() =>
			{
			_orderDetailsService.ToMes(task.PalletCode, 4);
			});


			string[] putPositions = task.NextAddress.Split("*");
			if (putPositions.Length != 5)
			{