317 lines
13 KiB
C#
317 lines
13 KiB
C#
using Cowain.Base.DBContext;
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using Cowain.Base.Helpers;
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using Cowain.Base.Services;
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using Microsoft.EntityFrameworkCore;
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using Microsoft.Extensions.DependencyInjection;
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using Microsoft.Extensions.Logging;
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using Newtonsoft.Json;
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using Plugin.Cowain.Driver.Abstractions;
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using Plugin.Cowain.Wcs.IServices;
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using Plugin.Cowain.Wcs.Models.Dto;
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using Plugin.Cowain.Wcs.Models.Enum;
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using System.Threading;
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namespace Plugin.Cowain.Wcs.Services;
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public class FindFlowTask6180Service : BaseService, IFindFlowTask6180Service
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{
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private class ProcessFlowInfo
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{
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public ProcessFlowInfo(ProcessDto process, ProcessFlow6180Dto flow)
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{
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Process = process;
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Flow = flow;
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}
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public ProcessDto Process { get; set; }
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public ProcessFlow6180Dto Flow { get; set; }
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}
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private static SemaphoreSlim semaphore = new SemaphoreSlim(1);
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private IDeviceMonitor _deviceMonitor;
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private IProcessService _processService;
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private IServiceScopeFactory _scopeFactory;
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private readonly ILogger<FindFlowTask6180Service> _logger;
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public FindFlowTask6180Service(SqlDbContext dbContext, IServiceScopeFactory scopeFactory, IDeviceMonitor deviceMonitor, IProcessService processService, ILogger<FindFlowTask6180Service> logger) : base(dbContext)
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{
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_deviceMonitor = deviceMonitor;
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_processService = processService;
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_scopeFactory = scopeFactory;
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_logger = logger;
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}
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/// <summary>
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/// 根据工站列表和流程工艺列表，构建所有可执行的候选任务
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/// </summary>
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private List<TaskData6180Dto> BuildCandidateTasks(List<StationDto> stations, List<ProcessFlowInfo> processAndFlows)
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{
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var candidateTasks = new List<TaskData6180Dto>();
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foreach (var item in processAndFlows)
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{
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var flow = item.Flow;
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var process = item.Process;
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// 第一段工站匹配
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var fromStation1 = stations.FirstOrDefault(s =>
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s.ProcessName == process.Name &&
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s.Id == flow.FromStationId1 &&
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s.Status == flow.FromStatus1);
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var toStation1 = stations.FirstOrDefault(s =>
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s.ProcessName == process.Name &&
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s.Id == flow.ToStationId1 &&
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s.Status == flow.ToStatus1);
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if (fromStation1 == null || toStation1 == null)
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continue;
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// 第二段工站匹配（如有）
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bool secondMatched = true;
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if (!(flow.FromStationId2 == 0 && flow.ToStationId2 == 0))
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{
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var fromStation2 = stations.FirstOrDefault(s =>
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s.ProcessName == process.Name &&
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s.Id == flow.FromStationId2 &&
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s.Status == flow.FromStatus2);
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var toStation2 = stations.FirstOrDefault(s =>
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s.ProcessName == process.Name &&
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s.Id == flow.ToStationId2 &&
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s.Status == flow.ToStatus2);
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if (fromStation2 == null || toStation2 == null)
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secondMatched = false;
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}
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if (secondMatched)
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{
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candidateTasks.Add(new TaskData6180Dto
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{
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ProcessId = process.Id,
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ProcessName = process.Name,
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Priority = flow.Priority,
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FromStationId1 = flow.FromStationId1,
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ToStationId1 = flow.ToStationId1,
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FromStatus1 = flow.FromStatus1,
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ToStatus1 = flow.ToStatus1,
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FromStationId2 = flow.FromStationId2,
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ToStationId2 = flow.ToStationId2,
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FromStatus2 = flow.FromStatus2,
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ToStatus2 = flow.ToStatus2,
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ExecuteAction = 0,
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IsFinished = false,
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Action = flow.Action,
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});
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}
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}
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return candidateTasks;
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}
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/// <summary>
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/// 延时查询任务（非阻塞方式）
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/// </summary>
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private async Task DelayedQueryAsync(TaskData6180Dto originalTask)
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{
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try
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{
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await Task.Delay(10000).ConfigureAwait(false);
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_logger.LogInformation($"延时10秒后重新查询任务，原任务：{JsonConvert.SerializeObject(originalTask)}");
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// 使用新的作用域创建独立的DbContext
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using var scope = _scopeFactory.CreateScope();
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var tempService = scope.ServiceProvider.GetRequiredService<IFindFlowTask6180Service>();
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await tempService.FindTaskAsync(originalTask);
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}
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catch (Exception ex)
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{
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_logger.LogError(ex, "延时查询任务失败");
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}
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}
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/// <summary>
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/// 保存任务并执行
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/// </summary>
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private async Task SaveAndExecuteTask(TaskData6180Dto task)
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{
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var taskSet = _dBContext.GetDbSet<TaskData6180Dto>();
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await taskSet.AddAsync(task);
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var saveCount = await _dBContext.SaveChangesAsync();
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if (saveCount > 0)
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{
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_logger.LogInformation($"找到并添加任务：{JsonConvert.SerializeObject(task)}");
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var getJson = await _processService.GetJsonData(task.ProcessId);
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if (getJson.IsSuccess)
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{
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var taskJsonParam = _deviceMonitor.GetActionParam(getJson.Data!.PlcName!, getJson.Data!.Address!);
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if (taskJsonParam.IsSuccess)
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{
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using var scope = _scopeFactory.CreateScope();
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var taskService = scope.ServiceProvider.GetRequiredService<IRgvTask6180Service>();
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var execute = await taskService.ExecuteAsync(taskJsonParam.Data, RgvUpdateSourceEnum.First);
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}
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}
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else
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{
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_logger.LogError(getJson.ErrorMessage);
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}
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}
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else
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{
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_logger.LogError("任务添加失败");
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}
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}
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public async Task FindTaskAsync(TaskData6180Dto? taskData = null)
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{
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try
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{
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await semaphore.WaitAsync();
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var taskSet = _dBContext.GetDbSet<TaskData6180Dto>();
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var unfinishedTask = await taskSet.AsNoTracking().FirstOrDefaultAsync(t => !t.IsFinished);
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if (unfinishedTask != null)
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{
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_logger.LogInformation($"已有未完成的任务，任务ID：{unfinishedTask.Id},任务内容：{JsonConvert.SerializeObject(unfinishedTask)}");
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return;
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}
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var rgvSet = _dBContext.GetDbSet<Rgv6180Dto>();
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var processSet = _dBContext.GetDbSet<ProcessDto>();
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var flowSet = _dBContext.GetDbSet<ProcessFlow6180Dto>();
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var stationSet = _dBContext.GetDbSet<StationDto>();
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// 只查可用工站
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var enabledStations = await stationSet.AsNoTracking().Where(s => s.Enable && s.NextStationId <= 0).ToListAsync();
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// 组合所有流程和工艺
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var query = from flow in flowSet
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join process in processSet on flow.ProcessId equals process.Id
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select new ProcessFlowInfo(process, flow);
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var processAndFlows = await query.ToListAsync();
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// 查找候选任务
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var candidateTasks = BuildCandidateTasks(enabledStations, processAndFlows);
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// 取优先级最高的
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//var findTask = candidateTasks
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// .OrderByDescending(x => x.Priority)
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// .FirstOrDefault();
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// 取优先级最高的，如果有多条则按距离（RGV->From1 + From1->To1）最小选取
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TaskData6180Dto? findTask = null;
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if (candidateTasks != null && candidateTasks.Count > 0)
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{
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var maxPriority = candidateTasks.Max(x => x.Priority);
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var topCandidates = candidateTasks.Where(x => x.Priority == maxPriority).ToList();
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if (topCandidates.Count == 1)
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{
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//只有一条最高优先级任务，直接选取
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findTask = topCandidates[0];
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_logger.LogInformation($"最优任务只有一条，任务内容：{JsonConvert.SerializeObject(findTask)}");
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}
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else
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{
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//优先级最高的任务大于1个，尝试获取当前RGV位置
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var rgv = await rgvSet.AsNoTracking().FirstOrDefaultAsync();
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if (rgv == null)
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{
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// 无RGV位置时，退回到取第一条
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findTask = topCandidates[0];
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_logger.LogInformation($"rgv位置获取失败，使用默认最优任务，任务内容：{JsonConvert.SerializeObject(findTask)}");
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}
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else
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{
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double bestDistance = double.MaxValue;
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foreach (var cand in topCandidates)
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{
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//遍历优先级最高的任务，计算距离
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var fromStation = enabledStations.FirstOrDefault(s => s.Id == cand.FromStationId1);
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var toStation = enabledStations.FirstOrDefault(s => s.Id == cand.ToStationId1);
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if (fromStation == null || toStation == null)
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continue;
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// 计算：|RGV.X - From.X| + |From.X - To.X|
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var distance = Math.Abs((double)rgv.LayOutX - (double)fromStation.LayOutX)
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+ Math.Abs((double)fromStation.LayOutX - (double)toStation.LayOutX);
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if (distance < bestDistance)
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{
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bestDistance = distance;
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findTask = cand;
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}
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}
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// 如果遍历未找到合法候选（异常情况），退回到第一条
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if (findTask == null)
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{
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findTask = topCandidates[0];
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}
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else
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{
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_logger.LogInformation($"最优任务找到，距离：{bestDistance}，任务内容：{JsonConvert.SerializeObject(findTask)}");
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}
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}
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}
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}
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// 如果taskData不为空，说明是通过延时查询触发的
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if (taskData != null)
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{
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if (findTask == null)
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{
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_logger.LogInformation($"延时查询后，没有找到新任务，保存原任务");
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await SaveAndExecuteTask(taskData);
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}
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else
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{
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_logger.LogInformation($"通过延时查询触发的查询，原任务：{JsonConvert.SerializeObject(taskData)}");
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// 如果查询到第二段还是0且第一段相同，保存这个task
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if (findTask.FromStationId2 == 0 && findTask.ToStationId2 == 0)
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{
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_logger.LogInformation($"延时查询后，还是只有单段任务，保存原任务");
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await SaveAndExecuteTask(taskData);
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}
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// 如果查询到第二段不是0的任务，保存新任务
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else if (findTask.FromStationId2 != 0 || findTask.ToStationId2 != 0)
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{
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_logger.LogInformation($"延时查询后，找到更好的两段任务，保存新任务");
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await SaveAndExecuteTask(findTask);
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}
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else
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{
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_logger.LogInformation($"延时查询后，没有找到更好的任务，不保存");
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}
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}
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}
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else
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{
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if (findTask == null)
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{
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_logger.LogInformation($"没有需要执行的任务");
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return;
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}
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// 首次查询
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if (findTask.FromStationId2 == 0 && findTask.ToStationId2 == 0)
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{
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// 任务的第二段是0，启动非阻塞的延时查询
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_logger.LogInformation($"当前任务第二段为0，需要重新查询，原任务：{JsonConvert.SerializeObject(findTask)}");
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// 使用Task.Run启动非阻塞的延时查询，不等待其完成
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_ = Task.Run(async () => await DelayedQueryAsync(findTask));
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}
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else
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{
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// 直接保存任务
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await SaveAndExecuteTask(findTask);
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}
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}
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}
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catch (Exception ex)
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{
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_logger.LogError(ex, "查找任务失败");
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}
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finally
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{
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semaphore.Release();
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}
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}
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}
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