解决代码冲突更新WCS日志记录

wangxinhui

2026-03-07 d82252f08a32f5786ffe231b7fd301b6a60781d6

 ÏîÄ¿´úÂë/WCS/WCSServices/WIDESEAWCS_Tasks/Âë¶â/MDJob_CP.cs

@@ -1,8 +1,11 @@
using Microsoft.AspNetCore.Components.Routing;
using Autofac.Core;
using Microsoft.AspNetCore.Components.Routing;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Math;
using Quartz;
using System;
using System.Collections.Generic;
using System.IdentityModel.Tokens.Jwt;
using System.Linq;
using System.Reflection.Metadata;
using System.Text;
@@ -12,8 +15,10 @@
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_IBasicInfoRepository;
using WIDESEAWCS_IPackInfoRepository;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
@@ -23,6 +28,7 @@
using WIDESEAWCS_QuartzJob.Models;
using WIDESEAWCS_QuartzJob.Repository;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_TaskInfoRepository;
using WIDESEAWCS_Tasks.ConveyorLineJob;
using WIDESEAWCS_Tasks.DBNames;
using ICacheService = WIDESEAWCS_Core.Caches.ICacheService;
@@ -33,25 +39,18 @@
    public class MDJob_CP : JobBase, IJob
    {
        private readonly ICacheService _cacheService;
        private readonly ITaskService _taskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IStationMangerRepository _stationMangerRepository;
        private readonly IRouterRepository _routerRepository;
        private readonly IRouterService _routerService;
        private readonly IRouterExtension _routerExtension;
        private readonly IPackaxisRepository _packaxisRepository;
        private readonly IPackaxisTaskRepository _packaxisTaskRepository;
        private readonly IPackaxisTaskService _packaxisTaskService;
        private readonly IStationPackInfoRepository _stationPackInfoRepository;
        private readonly List<Dt_WarehouseDevice> warehouseDevices;

        public MDJob_CP(ICacheService cacheService, ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IStationMangerRepository stationMangerRepository, IRouterRepository routerRepository, IRouterService routerService, IRouterExtension routerExtension)
        public MDJob_CP(ICacheService cacheService, IStationMangerRepository stationMangerRepository,  IPackaxisRepository packaxisRepository, IPackaxisTaskRepository packaxisTaskRepository,IPackaxisTaskService packaxisTaskService, IStationPackInfoRepository stationPackInfoRepository)
        {
            _cacheService = cacheService;
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
            _taskRepository = taskRepository;
            _stationMangerRepository = stationMangerRepository;
            _routerRepository = routerRepository;
            _routerService = routerService;
            _routerExtension = routerExtension;
            _packaxisRepository = packaxisRepository;

            string? warehouseDevicesStr = _cacheService.Get<string>(nameof(Dt_WarehouseDevice));
            if (!string.IsNullOrEmpty(warehouseDevicesStr))
@@ -62,104 +61,230 @@
            {
                warehouseDevices = new List<Dt_WarehouseDevice>();
            }
            _packaxisTaskRepository = packaxisTaskRepository;
            _packaxisTaskService = packaxisTaskService;
            _stationPackInfoRepository = stationPackInfoRepository;
        }

        public Task Execute(IJobExecutionContext context)
        {
            bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
            if (flag && value != null)
            try
            {
                OtherDevice device = (OtherDevice)value;
                List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x => x.StackerCraneCode == device.DeviceCode);
                foreach (var item in stationMangers)
                bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
                if (flag && value != null)
                {
                    OtherDevice device = (OtherDevice)value;
                    List<Dt_StationManger> stationMangers = _stationMangerRepository.QueryData(x => x.StackerCraneCode == device.DeviceCode && x.StationType == StationTypeEnum.StationType_InStartAndOutEnd.ObjToInt());
                    //获取协议
                    DeviceProDTO? deviceProRead = device.DeviceProDTOs.Where(x => x.DeviceChildCode == item.StackerCraneCode && x.DeviceProParamType == nameof(R_MDDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
                    DeviceProDTO? deviceProWrite = device.DeviceProDTOs.Where(x => x.DeviceChildCode == item.StackerCraneCode && x.DeviceProParamType == nameof(W_MDDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
                    if (deviceProRead != null && deviceProWrite != null && item.IsOccupied==0)
                    DeviceProDTO? deviceProRead = device.DeviceProDTOs.Where(x => x.DeviceChildCode == device.DeviceCode && x.DeviceProParamType == nameof(R_MDDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
                    DeviceProDTO? deviceProWrite = device.DeviceProDTOs.Where(x => x.DeviceChildCode == device.DeviceCode && x.DeviceProParamType == nameof(W_MDDB)).OrderBy(x => x.DeviceProOffset).FirstOrDefault();
                    if (deviceProRead != null && deviceProWrite != null)
                    {
                        short Allow = device.GetValue<R_MDDB, short>(R_MDDB.R_MDAllow, item.StackerCraneCode);
                        short R_MDStatus1 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus1, item.StackerCraneCode);
                        short R_MDStatus2 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus2, item.StackerCraneCode);
                        short R_MDStatus3 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus3, item.StackerCraneCode);
                        short R_MDStatus4 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus4, item.StackerCraneCode);
                        short R_MDQtys1 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDQtys1, item.StackerCraneCode);
                        short R_MDQtys2 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDQtys2, item.StackerCraneCode);
                        short R_MDQtys3 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDQtys3, item.StackerCraneCode);
                        short R_MDQtys4 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDQtys4, item.StackerCraneCode);
                        if (R_MDStatus1 == 1 || R_MDStatus2 == 1 || R_MDStatus3 == 1 || R_MDStatus4 == 1)
                        foreach (var item in stationMangers)
                        {
                            Thread.Sleep(500);
                            device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 0);
                        }
                        //获取当前任务
                        Dt_Task task = _taskRepository.QueryData(x => x.NextAddress == item.StationCode && _taskService.TaskInboundTypes.Contains(x.TaskType) && x.TaskState == TaskStatusEnum.MD_Executing.ObjToInt() && x.DeviceCode == device.DeviceCode).OrderBy(x=>x.TaskNum).First();
                        if (task!=null) //码垛申请
                        {
                            if ((Allow==3 || Allow == 7)&& item.StackerCraneStationCode == "1")
                            short Allow = device.GetValue<R_MDDB, short>(R_MDDB.R_MDAllow, item.StackerCraneCode);
                            #region è¯»å–工位状态
                            short R_MDStatus1 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus1, item.StackerCraneCode);
                            short R_MDStatus2 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus2, item.StackerCraneCode);
                            short R_MDStatus3 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus3, item.StackerCraneCode);
                            short R_MDStatus4 = device.GetValue<R_MDDB, short>(R_MDDB.R_MDStatus4, item.StackerCraneCode);
                            short ReceiveDoneState = device.GetValue<W_MDDB, short>(W_MDDB.W_MDReceiveDone, item.StackerCraneCode);
                            #endregion
                            //码垛状态
                            short PackState = device.GetValue<R_MDDB, short>(GetPackStateEnum(item.StackerCraneStationCode), item.StackerCraneCode);
                            short PackSendState = device.GetValue<W_MDDB, short>(GetPackSendEnum(item.StackerCraneStationCode), item.StackerCraneCode);
                            //码垛数量
                            short PackNum = device.GetValue<R_MDDB, short>(GetPackNumEnum(item.StackerCraneStationCode), item.StackerCraneCode);
                            if ((R_MDStatus1 == 1 || R_MDStatus2 == 1 || R_MDStatus3 == 1 || R_MDStatus4 == 1) && Allow == 4)
                            {
                                if ( R_MDQtys1 / 6 ==1)
                                Thread.Sleep(200);
                                if (ReceiveDoneState != 0)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDZ.ToString()).DeviceProDataBlock, 400);
                                    device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 0);
                                    WriteInfo(item.StackerCraneCode, $"{item.StackerCraneCode}工位任务下发标识值为：{ReceiveDoneState},机器人读取状态为：{Allow}，1工位{R_MDStatus1}，2工位{R_MDStatus2}，3工位{R_MDStatus3}，4工位{R_MDStatus4}，码垛清除下发标识信号");
                                }
                                else if (R_MDQtys1 / 6 == 2)
                                continue;
                            }
                            if (PackState == 2 && PackSendState == 2)
                            {
                                Thread.Sleep(200);
                                device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 4);
                                WriteInfo(item.StationName, $"{item.StationName}写入清托信号");
                                continue;
                            }
                            if (PackState == 4 && PackSendState == 4)
                            {
                                Thread.Sleep(200);
                                device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 0);
                                WriteInfo(item.StationName, $"{item.StationName}清托信号复位");
                                continue;
                            }
                            //获取当前工位码垛执行中数据
                            Dt_StationPackInfo stationPackInfo = _stationPackInfoRepository.QueryFirst(x => x.StationCode == item.StationCode && x.AssignNum > 0);
                            if (stationPackInfo!=null)
                            {
                                var axis = _packaxisRepository.QueryFirst(x => x.DeviceCode == item.StackerCraneCode && x.StationCode == stationPackInfo.StationCode && x.PackType== stationPackInfo.PackType);
                                if (axis != null)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDZ.ToString()).DeviceProDataBlock, 800);
                                    //进行结托
                                    if (Convert.ToInt32(PackNum) == axis.PackNum)
                                    {
                                        WebResponseContent responseContent = _packaxisTaskService.BoxingInBound(item.StationCode);
                                        if (responseContent.Status)
                                        {
                                            device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 2);
                                            WriteInfo(item.StationName, $"{item.StationName}写入工位结托信号");
                                        }
                                        else
                                        {
                                            WriteError(item.StationName, $"{responseContent.Message}");
                                        }
                                        continue;
                                    }
                                    //码垛申请
                                    if (Allow == 3 || Allow == 7)
                                    {
                                        //获取当前任务
                                        Dt_PackaxisTask packaxisTask = _packaxisTaskRepository.QueryFirst(x => x.NextAddress == item.StationCode && x.DeviceCode == item.StackerCraneCode && x.PackType == stationPackInfo.PackType && x.TaskState == TaskStatusEnum.MD_Executing.ObjToInt());
                                        if (packaxisTask != null)
                                        {
                                            //写入工位号
                                            device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDSendID.ToString()).DeviceProDataBlock, Convert.ToInt16(item.StackerCraneStationCode));
                                            //写入工位允许码垛
                                            device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == GetPackSendEnum(item.StackerCraneStationCode).ToString()).DeviceProDataBlock, 1);

                                            #region èŽ·å–写入码垛X、Y、Z坐标
                                            (int, int, int) result = GetAxis(PackNum, axis, item.StackerCraneStationCode);

                                            device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, result.Item1);

                                            device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, result.Item2);

                                            device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDZ.ToString()).DeviceProDataBlock, result.Item3);
                                            WriteInfo(item.StationName, $"码垛数量【{PackNum}】，下发码垛坐标X、Y、Z【{result.Serialize()}】");
                                            #endregion

                                            device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDA.ToString()).DeviceProDataBlock, 1);
                                            //写入下发标识
                                            device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 3);
                                            packaxisTask.TaskState = TaskStatusEnum.Finish.ObjToInt();
                                            _packaxisTaskRepository.UpdateData(packaxisTask);
                                            //任务完成
                                            WebResponseContent webResponse = _packaxisTaskService.TaskCompleted(packaxisTask: packaxisTask);
                                            if (!webResponse.Status)
                                            {
                                                WriteError(item.StationName, $"任务号{packaxisTask.PackTaskNum}码垛完成错误{webResponse.Message}");
                                            }
                                            else
                                            {
                                                WriteInfo(item.StationName, $"任务号{packaxisTask.PackTaskNum}码垛完成");
                                            }
                                            Thread.Sleep(800);
                                            return Task.CompletedTask;
                                        }
                                    }
                                }
                                else
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDZ.ToString()).DeviceProDataBlock, 0);
                                    WriteError(item.StationName, $"未找到该工位{item.StationName}的坐标信息，请核对数据");
                                }
                                device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x=>x.DeviceProParamName== W_MDDB.W_MDSend1.ToString()).DeviceProDataBlock,1);
                                device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDSendID.ToString()).DeviceProDataBlock, 1);
                                if (R_MDQtys1 % 6==0)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1675);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, 1137);
                                }
                                else if (R_MDQtys1 % 6 == 1)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1675);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, 1462);
                                }
                                else if (R_MDQtys1 % 6 == 2)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1675);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, 1787);
                                }
                                else if (R_MDQtys1 % 6 == 3)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1250);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, 1137);
                                }
                                else if (R_MDQtys1 % 6 == 4)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1250);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, 1462);
                                }
                                else if (R_MDQtys1 % 6 == 5)
                                {
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDX.ToString()).DeviceProDataBlock, 1250);
                                    device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDY.ToString()).DeviceProDataBlock, 1787);
                                }
                                device.Communicator.Write<float>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDA.ToString()).DeviceProDataBlock, 1);
                                device.Communicator.Write<short>(device.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == W_MDDB.W_MDReceiveDone.ToString()).DeviceProDataBlock, 3);
                                //更新任务信息
                                //_taskService.TaskCompleted(task.TaskNum);
                                task.TaskState = TaskStatusEnum.Finish.ObjToInt();
                                _taskRepository.UpdateData(task);
                                Thread.Sleep(1500);
                                WriteInfo(item.StationName, $"任务号{task.TaskNum}码垛");
                            }
                        }
                    }
                    else
                    {
                        WriteError(item.StationName, $"未找到设备子编号{item.StationCode}的协议信息");
                        WriteError(device.DeviceCode, $"未找到设备{device.DeviceCode}的协议信息");
                    }
                }
            }
            catch (Exception ex)
            {
                WriteError(nameof(MDJob_CP),ex.Message);
            }
            return Task.CompletedTask;
        }
        /// <summary>
        /// ç åž›æ•°é‡
        /// </summary>
        public R_MDDB GetPackNumEnum(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return R_MDDB.R_MDQtys1;
                case "2":
                    return R_MDDB.R_MDQtys2;
                case "3":
                    return R_MDDB.R_MDQtys3;
                case "4":
                    return R_MDDB.R_MDQtys4;
                default:
                    throw new Exception("未定义工位");
            }
        }
        /// <summary>
        /// ç åž›çŠ¶æ€
        /// </summary>
        public R_MDDB GetPackStateEnum(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return R_MDDB.R_MDStatus1;
                case "2":
                    return R_MDDB.R_MDStatus2;
                case "3":
                    return R_MDDB.R_MDStatus3;
                case "4":
                    return R_MDDB.R_MDStatus4;
                default:
                    throw new Exception("未定义工位");
            }
        }
        /// <summary>
        /// ç åž›å·¥ä½
        /// </summary>
        public W_MDDB GetPackSendEnum(string StationCode)
        {
            switch (StationCode)
            {
                case "1":
                    return W_MDDB.W_MDSend1;
                case "2":
                    return W_MDDB.W_MDSend2;
                case "3":
                    return W_MDDB.W_MDSend3;
                case "4":
                    return W_MDDB.W_MDSend4;
                default:
                    throw new Exception("未定义工位");
            }
        }
        public (int, int ,int) GetAxis(int PackNum, Dt_Packaxis axis, string StationCode)
        {
            int X = PackNum / axis.AxisYCount % axis.AxisXCount;
            int Y = PackNum % axis.AxisYCount;
            int Z = PackNum / (axis.AxisYCount * axis.AxisXCount) % axis.AxisZCount;
            int axisx = 0;
            int axisy = 0;
            int axisz = 0;
            if (axis == null)
            {
                throw new Exception("未找到坐标值");
            }
            switch (StationCode)
            {
                case "1":
                    return (axisx = axis.AxisX - X * axis.AxisXSpacing, axisy = axis.AxisY + Y * axis.AxisYSpacing,axisz=  axis.AxisZ + Z * axis.AxisZSpacing);
                case "2":
                    return (axisx = axis.AxisX - X * axis.AxisXSpacing, axisy = axis.AxisY - Y * axis.AxisYSpacing, axisz = axis.AxisZ + Z * axis.AxisZSpacing);
                case "3":
                    return (axisx = axis.AxisX + X * axis.AxisXSpacing, axisy = axis.AxisY + Y * axis.AxisYSpacing, axisz = axis.AxisZ + Z * axis.AxisZSpacing);
                case "4":
                    return (axisx = axis.AxisX + X * axis.AxisXSpacing, axisy = axis.AxisY - Y * axis.AxisYSpacing, axisz = axis.AxisZ + Z * axis.AxisZSpacing);
                default:
                    throw new Exception("未定义工位");
            }
        }
    }
}