using Microsoft.AspNetCore.Components.Routing; using Newtonsoft.Json; using Quartz; using System; using System.Collections.Generic; using System.Diagnostics.CodeAnalysis; using System.Linq; using System.Reflection; using System.Text; using System.Threading.Tasks; using WIDESEAWCS_Common.APIEnum; using WIDESEAWCS_Common.TaskEnum; using WIDESEAWCS_Core; using WIDESEAWCS_Core.Caches; using WIDESEAWCS_Core.Enums; using WIDESEAWCS_Core.Helper; using WIDESEAWCS_IBasicInfoRepository; using WIDESEAWCS_ITaskInfoRepository; using WIDESEAWCS_ITaskInfoService; using WIDESEAWCS_Model.Models; using WIDESEAWCS_QuartzJob; using WIDESEAWCS_QuartzJob.DeviceBase; using WIDESEAWCS_QuartzJob.Models; using WIDESEAWCS_QuartzJob.Service; using WIDESEAWCS_QuartzJob.StackerCrane.Enum; using WIDESEAWCS_Tasks.HoisterJob; using WIDESEAWCS_Tasks.StackerCraneJob; namespace WIDESEAWCS_Tasks { [DisallowConcurrentExecution] public class StackerCraneJob_CSJ : JobBase, IJob { private readonly ICacheService _cacheService; private readonly ITaskService _taskService; private readonly ITaskExecuteDetailService _taskExecuteDetailService; private readonly ITaskRepository _taskRepository; private readonly IRouterService _routerService; private readonly IStationMangerRepository _stationMangerRepository; private List apiInfos; public StackerCraneJob_CSJ(ITaskService taskService, ICacheService cacheService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService, IStationMangerRepository stationMangerRepository) { _taskService = taskService; _taskExecuteDetailService = taskExecuteDetailService; _taskRepository = taskRepository; _routerService = routerService; _stationMangerRepository = stationMangerRepository; _cacheService = cacheService; string? apiInfoStr = _cacheService.Get("apiInfos"); if (!string.IsNullOrEmpty(apiInfoStr)) { List? infos = JsonConvert.DeserializeObject>(apiInfoStr); if (infos == null || infos.Count == 0) { apiInfos = new List(); } else { apiInfos = infos; } } } public Task Execute(IJobExecutionContext context) { try { CommonStackerCrane commonStackerCrane = (CommonStackerCrane)context.JobDetail.JobDataMap.Get("JobParams"); if (commonStackerCrane != null) { if (!commonStackerCrane.IsEventSubscribed) { commonStackerCrane.StackerCraneTaskCompletedEventHandler += CommonStackerCrane_StackerCraneTaskCompletedEventHandler;//订阅任务完成事件 } commonStackerCrane.CheckStackerCraneTaskCompleted();//防止任务完成事件监测超时,再手动触发一次 if (commonStackerCrane.StackerCraneAutoStatusValue == StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneStatusValue == StackerCraneStatus.Normal && commonStackerCrane.StackerCraneWorkStatusValue == StackerCraneWorkStatus.Standby) { Dt_Task? task = GetTask(commonStackerCrane); if (task != null) { StackerCraneTaskCommand? stackerCraneTaskCommand = ConvertToStackerCraneTaskCommand(task); if (stackerCraneTaskCommand != null) { bool sendFlag = commonStackerCrane.SendCommand(stackerCraneTaskCommand); if (sendFlag) { commonStackerCrane.LastTaskType = task.TaskType; task.Dispatchertime = DateTime.Now; task.ExceptionMessage = ""; _taskService.UpdateTask(task, TaskStatusEnum.SC_Executing); } } } } } } catch (Exception ex) { WriteError(nameof(CommonStackerCraneJob), ex.Message, ex); } return Task.CompletedTask; } /// /// 任务完成事件订阅的方法 /// /// /// private void CommonStackerCrane_StackerCraneTaskCompletedEventHandler(object? sender, WIDESEAWCS_QuartzJob.StackerCrane.StackerCraneTaskCompletedEventArgs e) { CommonStackerCrane? commonStackerCrane = sender as CommonStackerCrane; if (commonStackerCrane != null) { if (commonStackerCrane.GetValue(StackerCraneDBName.WorkType) != 5) { StackerCraneTaskCompleted(e.TaskNum, commonStackerCrane.DeviceCode); commonStackerCrane.SetValue(StackerCraneDBName.WorkType, 5); } } } public WebResponseContent StackerCraneTaskCompleted(int taskNum, string deviceCode) { try { Dt_Task task = _taskRepository.QueryFirst(x => x.TaskNum == taskNum); if (task != null) { if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup) { Dt_StationManger stationManger = _stationMangerRepository.QueryFirst(x => x.StackerCraneStationCode == task.NextAddress); if(stationManger == null) { _taskExecuteDetailService.AddTaskExecuteDetail(taskNum, $"AGV站点未配置,{task.NextAddress}"); _taskService.UpdateTaskExceptionMessage(taskNum, $"AGV站点未配置,{task.NextAddress}"); return WebResponseContent.Instance.Error($"AGV站点未配置,{task.NextAddress}"); } _taskService.UpdateTask(task, TaskStatusEnum.AGV_Execute, deviceCode: "AGV_CSJ", currentAddress: stationManger.AGVStationCode ?? throw new Exception($"agv站点错误"), nextAddress: task.TargetAddress); } else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup || task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup) { _taskService.TaskCompleted(taskNum); } else { WriteError(deviceCode, $"未找到该任务类型回调WMS任务完成接口,{task.TaskType}"); _taskExecuteDetailService.AddTaskExecuteDetail(taskNum, $"未找到该任务类型回调WMS任务完成接口,{task.TaskType}"); _taskService.UpdateTaskExceptionMessage(taskNum, $"未找到该任务类型回调WMS任务完成接口,{task.TaskType}"); } } else { WriteError(deviceCode, $"未找到任务信息,任务号:{taskNum}"); return WebResponseContent.Instance.Error($"未找到任务信息,任务号:{taskNum}"); } return WebResponseContent.Instance.OK(); } catch (Exception ex) { WriteError(deviceCode, $"任务完成错误", ex); return WebResponseContent.Instance.Error(ex.Message); } } /// /// 获取任务 /// /// 堆垛机对象 /// private Dt_Task? GetTask(CommonStackerCrane commonStackerCrane) { Dt_Task task; if (commonStackerCrane.LastTaskType == null) { task = _taskService.QueryStackerCraneTask(commonStackerCrane.DeviceCode); } else { if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup) { task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode); if (task == null) { task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode); } } else { task = _taskService.QueryStackerCraneOutTask(commonStackerCrane.DeviceCode); if (task == null) { task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode); } } } if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup) { if (OutTaskStationIsOccupied(task) == null) { bool flag = false; List otherOutStaionCodes = _routerService.QueryNextRoutes(commonStackerCrane.DeviceCode, task.NextAddress).Select(x => x.ChildPosi).ToList(); List tasks = _taskService.QueryStackerCraneOutTasks(commonStackerCrane.DeviceCode, otherOutStaionCodes); foreach (var item in tasks) { if (OutTaskStationIsOccupied(task) != null) { flag = true; break; } } if (!flag) { task = _taskService.QueryStackerCraneInTask(commonStackerCrane.DeviceCode); } } } if (task != null && task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup) { string? url = apiInfos.FirstOrDefault(x => x.ApiCode == APIEnum.FeedBackWMSTaskCompleted.ToString())?.ApiAddress; if (string.IsNullOrEmpty(url)) { _taskExecuteDetailService.AddTaskExecuteDetail(task.TaskNum, $"未找到WMS移库判断接口"); WriteError(commonStackerCrane.DeviceCode, $"未找到WMS移库判断接口"); _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到WMS移库判断接口"); return null; } HttpHelper.Post($"{url}?taskNum={task.TaskNum}&locationCode={task.NextAddress}", "");//todo 调用WMS任务完成方法 } return task; } /// /// 出库任务判断出库站台是否被占用 /// /// 任务实体 /// 如果未被占用,返回传入的任务信息,否则,返回null private Dt_Task? OutTaskStationIsOccupied([NotNull] Dt_Task task) { Dt_StationManger? stationManger = _stationMangerRepository.QueryFirst(x => x.StationCode == task.NextAddress && x.StackerCraneCode == task.DeviceCode); if (stationManger != null) { IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceCode == stationManger.StationDeviceCode); if (device != null) { OtherDevice client = (OtherDevice)device; if (client.GetValue(GroundStationDBName.R_IsCanPut, stationManger.StationCode))//出库站台未被占用 { task.NextAddress = stationManger.StackerCraneStationCode; _taskRepository.UpdateData(task); client.SetValue(GroundStationDBName.R_IsCanPut, true, stationManger.StationCode); return task; } } else { WriteError(task.DeviceCode, $"未找到出库站台【{stationManger.StationDeviceCode}】对应的通讯对象,无法判断出库站台是否被占用"); _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到出库站台【{stationManger.StationDeviceCode}】对应的通讯对象,无法判断出库站台是否被占用"); } } else { WriteError(task.DeviceCode, $"未找到站台【{task.NextAddress}】信息,无法校验站台"); _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"未找到站台【{task.NextAddress}】信息,无法校验站台"); } return null; } /// /// 任务实体转换成命令Model /// /// 任务实体 /// /// public StackerCraneTaskCommand? ConvertToStackerCraneTaskCommand([NotNull] Dt_Task task) { StackerCraneTaskCommand stackerCraneTaskCommand = new StackerCraneTaskCommand(); stackerCraneTaskCommand.Barcode = task.PalletCode; stackerCraneTaskCommand.TaskNum = task.TaskNum; stackerCraneTaskCommand.WorkType = 1; stackerCraneTaskCommand.TrayType = (Int16)task.PalletType; if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)//判断是否是入库任务 { string[] startCodes = task.CurrentAddress.Split("-"); if (startCodes.Length == 3) { stackerCraneTaskCommand.StartRow = Convert.ToInt16(startCodes[0]); stackerCraneTaskCommand.StartColumn = Convert.ToInt16(startCodes[1]); stackerCraneTaskCommand.StartLayer = Convert.ToInt16(startCodes[2]); } else { _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务起点错误,起点:【{task.CurrentAddress}】"); WriteError(task.DeviceCode, $"入库任务起点错误,起点:【{task.CurrentAddress}】"); return null; } string[] targetCodes = task.NextAddress.Split("-"); if (targetCodes.Length == 5) { stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]); stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]); stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]); } else { //数据配置错误 _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"入库任务终点错误,终点:【{task.NextAddress}】"); WriteError(task.DeviceCode, $"入库任务终点错误,终点:【{task.NextAddress}】"); return null; } } else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup) { string[] targetCodes = task.NextAddress.Split("-"); if (targetCodes.Length == 3) { stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[0]); stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[1]); stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[2]); } else { //数据配置错误 _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务终点错误,终点:【{task.NextAddress}】"); WriteError(task.DeviceCode, $"出库任务终点错误,终点:【{task.NextAddress}】"); return null; } string[] sourceCodes = task.CurrentAddress.Split("-"); if (sourceCodes.Length == 5) { stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]); stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]); stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[3]); } else { //数据配置错误 _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"出库任务起点错误,起点:【{task.CurrentAddress}】"); WriteError(task.DeviceCode, $"出库任务起点错误,起点:【{task.CurrentAddress}】"); return null; } } else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.RelocationGroup) { string[] targetCodes = task.NextAddress.Split("-"); if (targetCodes.Length == 5) { stackerCraneTaskCommand.EndRow = Convert.ToInt16(targetCodes[1]); stackerCraneTaskCommand.EndColumn = Convert.ToInt16(targetCodes[2]); stackerCraneTaskCommand.EndLayer = Convert.ToInt16(targetCodes[3]); } else { //数据配置错误 _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务终点错误,终点:【{task.NextAddress}】"); WriteError(task.DeviceCode, $"移库任务终点错误,终点:【{task.NextAddress}】"); return null; } string[] sourceCodes = task.CurrentAddress.Split("-"); if (sourceCodes.Length == 5) { stackerCraneTaskCommand.StartRow = Convert.ToInt16(sourceCodes[1]); stackerCraneTaskCommand.StartColumn = Convert.ToInt16(sourceCodes[2]); stackerCraneTaskCommand.StartLayer = Convert.ToInt16(sourceCodes[3]); } else { //数据配置错误 _taskService.UpdateTaskExceptionMessage(task.TaskNum, $"移库任务起点错误,起点:【{task.CurrentAddress}】"); WriteError(task.DeviceCode, $"移库任务起点错误,起点:【{task.CurrentAddress}】"); return null; } } return stackerCraneTaskCommand; } } }