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zhanghonglin

2025-07-23 b51cfdec1dde066a1afbec0fa816347031ca6d25

 ÏîÄ¿´úÂë/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/OHT/OHTJob.cs

@@ -1,10 +1,12 @@
using Autofac.Core;
using HslCommunication;
using HslCommunication.Core;
using HslCommunication.Enthernet;
using HslCommunication.WebSocket;
using Microsoft.Extensions.Hosting;
using Microsoft.VisualBasic.FileIO;
using Newtonsoft.Json;
using OfficeOpenXml.FormulaParsing.Excel.Functions.Text;
using Quartz;
using SixLabors.ImageSharp.PixelFormats;
using System;
@@ -18,12 +20,15 @@
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Communicator;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseRepository;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_ISystemServices;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.DeviceBase;
using WIDESEAWCS_QuartzJob.StackerCrane.Enum;
using WIDESEAWCS_TaskInfoService;
using WIDESEAWCS_Tasks.OHT;

namespace WIDESEAWCS_Tasks
@@ -32,66 +37,44 @@
    public class OHTJob : JobBase, IJob
    {
        public static string InorOut = "In";
        public static OHTReadData oHTReadData = new OHTReadData();
        private readonly ITaskService _taskService;
        private readonly Idt_ErrormsginfoService _ErrormsginfoService;
        private readonly IRepository<Dt_Task_hty> _taskhtyRepository;
        WebSocketServer _webSocketServer;
        public OHTJob(ITaskService taskService, WebSocketServer webSocketServer)
        OtherDevice devicese;
        OtherDevice deviceses;
        public OHTJob(ITaskService taskService, WebSocketServer webSocketServer, Idt_ErrormsginfoService errormsginfoService, IRepository<Dt_Task_hty> taskhtyRepository)
        {
            _taskService = taskService;//注入
            _webSocketServer = webSocketServer;
            _ErrormsginfoService = errormsginfoService;
            _taskhtyRepository = taskhtyRepository;
        }
        public Task Execute(IJobExecutionContext context)
        {
           
            //return Task.CompletedTask;
            bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
            if (flag && value != null)
            {
                //天车PLC对象
                OtherDevice device = (OtherDevice)value;
                OtherDevice zxj = (OtherDevice)Storage.Devices.Find(v => v.DeviceName == "阳极整形机");
                OtherDevice gzj = (OtherDevice)Storage.Devices.Find(v => v.DeviceName == "阳极规整机");
                devicese = zxj;
                deviceses = gzj;

                
                //整形机PLC对象
                var ZXJdevice = Storage.Devices.Find(v => v.DeviceName == "阳极整形机");
                //规整机PLC对象
                var GZJevice = Storage.Devices.Find(v => v.DeviceName == "阳极规整机");
                //if (!device.Communicator.IsConnected || !ZXJdevice.Communicator.IsConnected || !GZJevice.Communicator.IsConnected)
                //{
                //    return Task.CompletedTask;
                //}
                try
                {
                    //Example
                    //device.GetValue  è¯»å–
                    //device.SetValue  å†™å…¥
                    //_taskService.Repository; //仓储层，进行数据库访问
                    OHTReadData oHTReadData = new OHTReadData();
                    
                    #region è¯»å–天车设备数据
                    oHTReadData.R_HeartBeat = device.GetValue<DeviceDBName, bool>(DeviceDBName.R_HeartBeat);
                    oHTReadData.R_RunMode = device.GetValue<DeviceDBName, short>(DeviceDBName.R_RunMode);
                    oHTReadData.R_RunState = device.GetValue<DeviceDBName, short>(DeviceDBName.R_RunState);
                    oHTReadData.R_AlarmCode = device.GetValue<DeviceDBName, short>(DeviceDBName.R_AlarmCode);
                    oHTReadData.R_TaskState = device.GetValue<DeviceDBName, short>(DeviceDBName.R_TaskState);
                    oHTReadData.R_CurrentLine = device.GetValue<DeviceDBName, int>(DeviceDBName.R_CurrentLine);
                    oHTReadData.R_CurrentColumn = device.GetValue<DeviceDBName, int>(DeviceDBName.R_CurrentColumn);
                    oHTReadData.R_RiseUp_Position = device.GetValue<DeviceDBName, int>(DeviceDBName.R_RiseUp_Position);
                    oHTReadData.R_TaskNumber = device.GetValue<DeviceDBName, int>(DeviceDBName.R_TaskNumber);
                    oHTReadData.R_Loaded_1 = device.GetValue<DeviceDBName, short>(DeviceDBName.R_Loaded_1);
                    oHTReadData.R_Loaded_2 = device.GetValue<DeviceDBName, short>(DeviceDBName.R_Loaded_2);
                    oHTReadData.weight = device.GetValue<DeviceDBName, float>(DeviceDBName.weight);
                    
                    #region æµ‹è¯•ç”¨
                    //oHTReadData.R_HeartBeat = 1;
                    //oHTReadData.R_RunMode = 2;
                    //oHTReadData.R_RunState = 3;
                    //oHTReadData.R_AlarmCode = 4;
                    //oHTReadData.R_TaskState = 5;
                    //oHTReadData.R_CurrentLine = 6;
                    //oHTReadData.R_CurrentColumn = 7;
                    //oHTReadData.R_RiseUp_Position = 8;
                    //oHTReadData.R_TaskNumber = 9;
                    //oHTReadData.R_Loaded_1 =10;
                    //oHTReadData.R_Loaded_2 = 11;
                    //oHTReadData.R_Code_1 = "12";
                    //oHTReadData.R_Code_2 = "13";
                    //oHTReadData.R_Load_Requst_1 =true;
                    //oHTReadData.R_Load_Requst_2 = false;
                    #endregion

                    #endregion

                    //状态数据发送给前端
                    string ohtData = JsonConvert.SerializeObject(oHTReadData);
                    _webSocketServer.PublishAllClientPayload(ohtData);

                    #region å¤©è½¦å®Œæˆä»»åŠ¡é€»è¾‘
                    //因为天的任务需要分段发送，所以取货完成与放货完成需要单独做逻辑控制
                    //判断天车当前有没有取货完成任务信号
@@ -103,11 +86,13 @@
                        {
                            throw new Exception(string.Format("天车取货完成任务未查询到任务号{0}", oHTReadData.R_TaskNumber));
                        }
                        //入库
                        if (nawtask.TaskType == (int)TaskInboundTypeEnum.Inbound)
                        {
                            //如果任务的状态是天车入库取货执行中
                            //如果任务的状态是否是天车入库取货执行中
                            if (nawtask.TaskState == (int)TaskInStatusEnum.Line_InGrabExecuting)
                            {
                                //修改状态
                                WebResponseContent result = _taskService.UpdateTaskStatusToLine_Ingrab(nawtask);
                                if (result.Status)
                                {
@@ -115,16 +100,60 @@
                                }
                            }
                        }
                        //出库
                        else if (nawtask.TaskType == (int)TaskOutboundTypeEnum.Outbound)
                        {
                            //如果任务状态是天车出库取货执行中
                            //如果任务状态是否是天车出库取货执行中
                            if (nawtask.TaskState == (int)TaskOutStatusEnum.Line_OutGrabExecuting)
                            {
                                //修改状态
                                WebResponseContent result = _taskService.UpdateTaskStatusToLine_Outgrab(nawtask);
                                if (result.Status)
                                {
                                    device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
                                }
                            }
                        }
                        //直接出库
                        else if (nawtask.TaskType == (int)TaskOutboundTypeEnum.OutInventory)
                        {
                            //修改状态
                            WebResponseContent result = _taskService.UpdateTaskStatusToLine_Outgrab(nawtask);
                            if (result.Status)
                            {
                                device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
                            }
                        }
                        //剔除出库
                        else if (nawtask.TaskType == (int)TaskOutboundTypeEnum.TiChuChuKu)
                        {
                            //修改状态
                            WebResponseContent result = _taskService.UpdateTaskStatusToLine_Outgrab(nawtask);
                            if (result.Status)
                            {
                                //gzj.SetValue(DeviceDBName.W_GZJ_LockGZJ, true);
                                device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
                            }
                        }
                        //剔除入库
                        else if (nawtask.TaskType == (int)TaskInboundTypeEnum.TiChuRuKu)
                        {
                            //修改状态
                            WebResponseContent result = _taskService.UpdateTaskStatusToLine_Ingrab(nawtask);
                            if (result.Status)
                            {
                                device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
                            }
                        }
                        //剔除直接出库
                        else if (nawtask.TaskType == (int)TaskOutboundTypeEnum.TiChuZhiJieChuKu)
                        {
                            //修改状态
                            WebResponseContent result = _taskService.UpdateTaskStatusToLine_Outgrab(nawtask);
                            if (result.Status)
                            {
                                //gzj.SetValue(DeviceDBName.W_GZJ_LockGZJ, true);
                                device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
                            }
                        }
                        return Task.CompletedTask;
@@ -137,42 +166,79 @@
                        {
                            device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
                        }

                        var nawtask = _taskService.QueryTakNnmTask(oHTReadData.R_TaskNumber);
                        if (nawtask == null)
                        {
                            throw new Exception(string.Format("天车取货完成任务未查询到任务号{0}", oHTReadData.R_TaskNumber));
                        }
                        //剔除出库与剔除直接出库
                        //if (nawtask.TaskType == (int)TaskOutboundTypeEnum.TiChuChuKu || nawtask.TaskType == (int)TaskOutboundTypeEnum.TiChuZhiJieChuKu)
                        //{
                        //    gzj.SetValue(DeviceDBName.W_GZJ_LockGZJ, false);
                        //}
                        return Task.CompletedTask;
                    }
                    else if (oHTReadData.R_RunState == (int)RunStateEnum.MoveCompleted && oHTReadData.R_TaskState == (int)TaskStateEnum.TaskComplete)
                    {
                        //天车移动完成
                        WebResponseContent result = _taskService.StackCraneTaskCompleted(oHTReadData.R_TaskNumber, oHTReadData.weight);
                        if (result.Status)
                        {
                            //剔除出库、直接出库给完成信号
                            //List<Dt_Task_hty> Task_hty = _taskhtyRepository.QueryData();
                            //int shu = Task_hty.Count - 1;
                            //int zhi = Task_hty[shu].TaskId;
                            //Dt_Task_hty lishi = _taskhtyRepository.QueryFirst(x => x.TaskId == zhi);
                            //if (lishi.TargetAddress == "40-2-1")
                            //{
                            //    gzj.SetValue(DeviceDBName.W_GZJ_LockGZJ, false);
                            //}
                            device.SetValue(DeviceDBName.W_ConfirmSignal, 3);
                        }
                        return Task.CompletedTask;
                    }
                    #endregion

                    #region å¤©è½¦å‘送任务逻辑
                    if (oHTReadData.R_RunMode == (int)RunModeEnum.Automatic && oHTReadData.R_AlarmCode == (int)AlarmCodeEnum.Normal)
                    if (oHTReadData.R_RunMode == (int)RunModeEnum.Automatic)
                    {
                        if (oHTReadData.R_RunState == (int)RunStateEnum.Standby)
                        {
                            Dt_Task? task = GetTask(InorOut);
                            if (task != null)
                            //查看任务池中是否存在执行中的任务
                            var tasking = _taskService.QueryTasking();
                            if (tasking==null)
                            {
                                OHTTaskCommand? oHTTaskCommand = ConvertToOHTTaskCommand(task);
                                if (oHTTaskCommand != null)
                                Dt_Task? task = GetTask(InorOut);
                                if (task != null)
                                {
                                    //todo：写入任务命令
                                    device.SetValue(DeviceDBName.W_Task_Type, oHTTaskCommand.W_Task_Type);
                                    device.SetValue(DeviceDBName.W_Pick_Line, oHTTaskCommand.W_Pick_Line);
                                    device.SetValue(DeviceDBName.W_Pick_Column, oHTTaskCommand.W_Pick_Column);
                                    device.SetValue(DeviceDBName.W_Put_Line, oHTTaskCommand.W_Put_Line);
                                    device.SetValue(DeviceDBName.W_Put_Column, oHTTaskCommand.W_Put_Column);
                                    device.SetValue(DeviceDBName.W_Catch_1, oHTTaskCommand.W_Catch_1);
                                    device.SetValue(DeviceDBName.W_Catch_2, oHTTaskCommand.W_Catch_2);
                                    device.SetValue(DeviceDBName.W_TaskNumber, oHTTaskCommand.W_TaskNumber);
                                    device.SetValue(DeviceDBName.W_CheckValue, oHTTaskCommand.W_CheckValue);
                                    //确认信号写入1，任务下达完成
                                    device.SetValue(DeviceDBName.W_ConfirmSignal, 1);
                                    Thread.Sleep(500);
                                    //WCS检测到天车的R_TaskState=1，通过W_ConfirmSignalç½®2表示让天车开始执行任务
                                    int R_TaskState = device.GetValue<DeviceDBName, short>(DeviceDBName.R_TaskState);
                                    if (R_TaskState == 1)
                                    OHTTaskCommand? oHTTaskCommand = ConvertToOHTTaskCommand(task);
                                    if (oHTTaskCommand != null)
                                    {
                                        device.SetValue(DeviceDBName.W_ConfirmSignal, 2);
                                        //给天车下发任务之前将此值写0
                                        device.SetValue(DeviceDBName.W_ConfirmSignal, 0);
                                        //todo：写入任务命令
                                        device.SetValue(DeviceDBName.W_Task_Type, oHTTaskCommand.W_Task_Type);
                                        device.SetValue(DeviceDBName.W_Pick_Line, oHTTaskCommand.W_Pick_Line);
                                        device.SetValue(DeviceDBName.W_Pick_Column, oHTTaskCommand.W_Pick_Column);
                                        device.SetValue(DeviceDBName.W_Put_Line, oHTTaskCommand.W_Put_Line);
                                        device.SetValue(DeviceDBName.W_Put_Column, oHTTaskCommand.W_Put_Column);
                                        device.SetValue(DeviceDBName.W_Catch_1, oHTTaskCommand.W_Catch_1);
                                        device.SetValue(DeviceDBName.W_Catch_2, oHTTaskCommand.W_Catch_2);
                                        device.SetValue(DeviceDBName.W_TaskNumber, oHTTaskCommand.W_TaskNumber);
                                        device.SetValue(DeviceDBName.W_CheckValue, oHTTaskCommand.W_CheckValue);
                                        //确认信号写入1，任务下达完成
                                        device.SetValue(DeviceDBName.W_ConfirmSignal, 1);
                                        Thread.Sleep(500);
                                        //WCS检测到天车的R_TaskState=1，通过W_ConfirmSignalç½®2表示让天车开始执行任务
                                        int R_TaskState = device.GetValue<DeviceDBName, short>(DeviceDBName.R_TaskState);
                                        if (R_TaskState == 1)
                                        {
                                            device.SetValue(DeviceDBName.W_ConfirmSignal, 2);
                                        }
                                        //下发成功，修改任务状态
                                        _taskService.UpdateTaskStatus(task.TaskId, oHTTaskCommand.W_Task_Type);
                                    }
                                    //下发成功，修改任务状态
                                    _taskService.UpdateTaskStatus(task.TaskNum, oHTTaskCommand.W_Task_Type);
                                }
                            }
                        }
@@ -180,8 +246,8 @@
                    #endregion
                }
                catch (Exception ex)
                {
                    WriteError(device.DeviceName, "错误", ex);
                { 
                    _ErrormsginfoService.UpdateErrorMsg(ex.Message, 1);
                }
            }
            return Task.CompletedTask;
@@ -197,8 +263,8 @@
        public OHTTaskCommand? ConvertToOHTTaskCommand([NotNull] Dt_Task task)
        {
            OHTTaskCommand oHtTaskCommand = new OHTTaskCommand();

            if (task.TaskState==(int)TaskInStatusEnum.InNew || task.TaskState == (int)TaskOutStatusEnum.OutNew)
            
            if (task.TaskState == (int)TaskInStatusEnum.InNew || task.TaskState == (int)TaskOutStatusEnum.OutNew)
            {
                oHtTaskCommand.W_Task_Type = 2;
                string[] SourceCodes = task.SourceAddress.Split("-");
@@ -208,6 +274,18 @@
                    oHtTaskCommand.W_Pick_Column = Convert.ToInt16(SourceCodes[1]);
                    oHtTaskCommand.W_Put_Line = 0;
                    oHtTaskCommand.W_Put_Column = 0;

                    //剔除出库(不需要发送信号)
                    //剔除入库
                    if (task.TaskType == (int)TaskInboundTypeEnum.TiChuRuKu)
                    {
                        devicese.SetValue(DeviceDBName.W_ZXJ_LockLocation, true);
                    }
                    //剔除直接出库
                    else if (task.TaskType == (int)TaskOutboundTypeEnum.TiChuZhiJieChuKu)
                    {
                        devicese.SetValue(DeviceDBName.W_ZXJ_LockLocation, true);
                    }
                }
                else
                {
@@ -215,7 +293,7 @@
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务源地址配置错误！");
                    return null;
                }
                oHtTaskCommand.W_CheckValue = task.TaskType + Convert.ToInt16(SourceCodes[0]) + Convert.ToInt16(SourceCodes[1]);
                oHtTaskCommand.W_CheckValue = 2 + Convert.ToInt16(SourceCodes[0]) + Convert.ToInt16(SourceCodes[1]);
            }
            else if (task.TaskState == (int)TaskInStatusEnum.Line_Ingrab || task.TaskState == (int)TaskOutStatusEnum.SC_OutExecuting)
            {
@@ -227,6 +305,25 @@
                    oHtTaskCommand.W_Pick_Column =0;
                    oHtTaskCommand.W_Put_Line = Convert.ToInt16(SourceCodes[0]);
                    oHtTaskCommand.W_Put_Column = Convert.ToInt16(SourceCodes[1]);

                    //剔除出库
                    //if (task.TaskType == (int)TaskOutboundTypeEnum.TiChuChuKu)
                    //{
                    //    deviceses.SetValue(DeviceDBName.W_GZJ_LockGZJ, true);
                    //}
                    //剔除入库
                    if (task.TaskType == (int)TaskInboundTypeEnum.TiChuRuKu)
                    {

                        devicese.SetValue(DeviceDBName.W_ZXJ_LockLocation, false);
                    }
                    //剔除直接出库
                    else if (task.TaskType == (int)TaskOutboundTypeEnum.TiChuZhiJieChuKu)
                    {

                        //deviceses.SetValue(DeviceDBName.W_GZJ_LockGZJ, true);
                        devicese.SetValue(DeviceDBName.W_ZXJ_LockLocation, false);
                    }
                }
                else
                {
@@ -234,7 +331,26 @@
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务源地址配置错误！");
                    return null;
                }
                oHtTaskCommand.W_CheckValue = task.TaskType + Convert.ToInt16(SourceCodes[0]) + Convert.ToInt16(SourceCodes[1]);
                oHtTaskCommand.W_CheckValue = 3 + Convert.ToInt16(SourceCodes[0]) + Convert.ToInt16(SourceCodes[1]);
            }
            else if(task.TaskState == (int)TaskMoveStatusEnum.OutNewMove )
            {
                oHtTaskCommand.W_Task_Type = 4;
                string[] SourceCodes = task.TargetAddress.Split("-");
                if (SourceCodes.Length == 3)
                {
                    oHtTaskCommand.W_Pick_Line = 0;
                    oHtTaskCommand.W_Pick_Column = 0;
                    oHtTaskCommand.W_Put_Line = Convert.ToInt16(SourceCodes[0]);
                    oHtTaskCommand.W_Put_Column = Convert.ToInt16(SourceCodes[1]);
                }
                else
                {
                    //数据配置错误
                    _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"任务源地址配置错误！");
                    return null;
                }
                oHtTaskCommand.W_CheckValue = 4 + Convert.ToInt16(SourceCodes[0]) + Convert.ToInt16(SourceCodes[1]);
            }
            
            if (task.WMSId==1)
@@ -255,8 +371,8 @@
                oHtTaskCommand.W_Catch_2 = 1;
                oHtTaskCommand.W_CheckValue += 2;
            }
            oHtTaskCommand.W_TaskNumber = task.TaskNum;
            oHtTaskCommand.W_CheckValue += task.TaskNum;
            oHtTaskCommand.W_TaskNumber = task.TaskId;
            oHtTaskCommand.W_CheckValue += task.TaskId;
            return oHtTaskCommand;
        }

@@ -280,6 +396,17 @@
                    InorOut = "In";
                }
            }
            else
            {
                if (workType.Equals("In"))
                {
                    InorOut = "Out";
                }
                else
                {
                    InorOut = "In";
                }
            }
            return task;
        }
    }