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duyongjia

2024-12-02 208a9afadac81484fa150c0a236618facab93c52

 ´úÂë¹ÜÀí/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -8,7 +8,9 @@
using System.Linq;
using System.Reflection.Metadata;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using WIDESEAWCS_Common.LocationEnum;
using WIDESEAWCS_Common.ServiceLog;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Communicator;
@@ -51,18 +53,19 @@

        public Task Execute(IJobExecutionContext context)
        {
            WriteDebug("大堆垛机运行日志", "开始时间" + DateTime.Now);
            WriteDebug("大堆垛机运行日志", $"大堆垛机任务执行中...");
            //CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
            CommonStackerCrane commonStackerCrane = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC01") as CommonStackerCrane;
            //WriteDebug("大堆垛机运行日志", "开始时间" + DateTime.Now);
            Console.WriteLine("当前线程数"+ThreadPool.ThreadCount); 
             //CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams");
             CommonStackerCrane commonStackerCrane = Storage.Devices.FirstOrDefault(x => x.DeviceCode == "SC01") as CommonStackerCrane;
            try
            {  
                if (commonStackerCrane != null)
                {
                    if (!commonStackerCrane.IsEventSubscribed)
                    {
                        commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                    }
                   WriteDebug("大堆垛机运行日志", $"大堆垛机任务执行中...");
                    //if (!commonStackerCrane.IsEventSubscribed)
                    //{
                    //    commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件
                    //}

                    if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal)
                    {
@@ -73,6 +76,7 @@
                            Dt_Task? task = GetTask(commonStackerCrane);
                            if (task != null)
                            {
                                
                                WriteDebug("大堆垛机运行日志", $"大堆垛机任务号{task.TaskNum}");
                                StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task);
                                if (stackerCraneTaskCommand != null)
@@ -95,8 +99,12 @@
                                        //空车出库命令发送成功后，回传 status=1，
                                        if (task.TaskType == (int)TaskOutboundTypeEnum.OutPick)
                                        {
                                            Dt_LocationInfo srcLocation = _locationInfoRepository.QueryFirst(x => x.LocationCode == task.SourceAddress);
                                            srcLocation.LocationStatus = (int)LocationStatusEnum.Free;
                                            _locationInfoRepository.UpdateData(srcLocation);
                                            MESSendCMD sendcmd = new MESSendCMD { cmd = 201, task_id = task.TaskNum, status = 1 };
                                            MESResponse res = ApiInvoke.SendTaskCMD(sendcmd);
                                            WriteDebug(nameof(CommonStackerCraneJob), $"堆垛机回传Status:1,用于生成出库任务,任务号{task.TaskNum}");
                                        }
                                    }
                                    else
@@ -109,6 +117,10 @@
                        }
                    }
                }
                else
                {
                    WriteDebug(nameof(DoubleStackerCraneJob), "未查询到当前可以执行上料任务的大堆垛机！");
                }
            }
            catch (Exception ex)
            {
@@ -116,14 +128,37 @@
            }


            //查询提升机/组立机信号

            //Task.Run(delegate
            //{
            try
            {
                if (commonStackerCrane != null)
                {
                    //读取大堆垛机任务号和任务完成确认状态（因为封装的事件经常不触发，所以加个直接读的逻辑，以免出现堆垛机一直接处于等待wcs确认）
                    byte IsOver = commonStackerCrane.Communicator.Read<byte>("DB106.22");
                    int tasknum = commonStackerCrane.Communicator.Read<int>("DB106.18");
                    //WriteDebug(nameof(CommonStackerCraneJob), $"读取大堆垛机SC01任务完成信号值:{IsOver} ä»»åŠ¡å·ï¼š{tasknum}");
                    if (IsOver == 6)
                    {
                        if (commonStackerCrane.GetValue<StackerCraneDBName, short>(StackerCraneDBName.WorkType) != 5)
                        {
                            _taskService.StackCraneTaskCompleted(tasknum);
                            Console.Out.WriteLine("TaskCompleted" + tasknum);
                            bool issuccess = commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                            if (issuccess)
                            {
                                WriteDebug(nameof(CommonStackerCraneJob), $"大堆垛机SC01任务号写入任务完成确认值5成功{tasknum}");
                            }
                            else
                            {
                                WriteDebug(nameof(CommonStackerCraneJob), $"大堆垛机SC01任务号写入任务完成确认值5失败{tasknum}");
                            }

                        }
                    }

                    //提升机交互
                    Dt_Task? task1001 = _taskService.QueryStackerCraneTaskByAGVRequest("SC01");
                    if (task1001 != null)
                    {
@@ -293,13 +328,15 @@

                    }



                }
            }
            catch (Exception ex)
            {
                WriteError(nameof(CommonStackerCraneJob), "查询或写入PLC状态失败！", ex);
            }
            WriteDebug("大堆垛机运行日志", "结束时间" + DateTime.Now);
           // WriteDebug("大堆垛机运行日志", "结束时间" + DateTime.Now);
            //});
            return Task.CompletedTask;
        }
@@ -318,7 +355,11 @@
                {
                    Console.Out.WriteLine("TaskCompleted" + e.TaskNum);
                    _taskService.StackCraneTaskCompleted(e.TaskNum);
                    commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                    bool issuccess=commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5);
                    if (issuccess)
                    {
                        WriteDebug(nameof(CommonStackerCraneJob), $"任务号写入任务完成确认值5成功{e.TaskNum}");
                    }
                }
            }
        }