using Newtonsoft.Json;
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using WIDESEA_Core;
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using WIDESEAWCS_Common;
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using WIDESEAWCS_Common.HttpEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Core;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_DTO.Stock;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_Tasks.Workflow.Abstractions;
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namespace WIDESEAWCS_Tasks
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{
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/// <summary>
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/// 机器人任务处理器：负责任务获取、下发、入库任务回传及库存 DTO 构建。
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/// </summary>
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public class RobotTaskProcessor
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{
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// 通过网关访问 Socket，避免业务层直接依赖 TcpSocketServer。
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private readonly ISocketClientGateway _socketClientGateway;
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private readonly RobotStateManager _stateManager;
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private readonly IRobotTaskService _robotTaskService;
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private readonly ITaskService _taskService;
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private readonly HttpClientHelper _httpClientHelper;
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public RobotTaskProcessor(
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ISocketClientGateway socketClientGateway,
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RobotStateManager stateManager,
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IRobotTaskService robotTaskService,
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ITaskService taskService,
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HttpClientHelper httpClientHelper)
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{
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_socketClientGateway = socketClientGateway;
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_stateManager = stateManager;
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_robotTaskService = robotTaskService;
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_taskService = taskService;
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_httpClientHelper = httpClientHelper;
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}
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/// <summary>
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/// 按设备编码获取当前机器人任务。
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/// </summary>
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public Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
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{
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return _robotTaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
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}
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/// <summary>
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/// 删除机器人任务。
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/// </summary>
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public bool? DeleteTask(int ID)
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{
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return _robotTaskService.Repository.DeleteDataById(ID);
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}
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/// <summary>
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/// 下发取货指令（Pickbattery）到机器人客户端。
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/// </summary>
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public async Task SendSocketRobotPickAsync(Dt_RobotTask task, RobotSocketState state)
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{
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string taskString = $"Pickbattery,{task.RobotSourceAddress}";
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bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
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if (result)
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{
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task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
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state.CurrentTask = task;
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// 保持原语义：仅在状态安全写入成功后再更新任务状态。
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if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
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{
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await _robotTaskService.UpdateRobotTaskAsync(task);
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}
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}
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}
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/// <summary>
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/// 处理入库任务回传（拆盘/组盘/换盘场景）。
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/// </summary>
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public async Task<bool> HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
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{
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var currentTask = state.CurrentTask;
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if (currentTask == null)
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{
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return false;
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}
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string roadway = currentTask.RobotSourceAddressLineCode;
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int warehouseId = currentTask.RobotRoadway == "ZYRB1" ? 1 : currentTask.RobotRoadway == "HPRB001" ? 2 : 3;
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int taskType = 0;
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string SourceAddress = currentTask.RobotTargetAddressLineCode;
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string TargetAddress = currentTask.RobotSourceAddressLineCode;
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string PalletCode = string.Empty;
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var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
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if (useSourceAddress)
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{
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switch (robotTaskType)
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{
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case RobotTaskTypeEnum.GroupPallet:
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return false;
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case RobotTaskTypeEnum.ChangePallet:
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case RobotTaskTypeEnum.SplitPallet:
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taskType = TaskTypeEnum.InEmpty.GetHashCode();
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PalletCode = currentTask.RobotSourceAddressPalletCode;
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break;
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}
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}
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else
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{
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switch (robotTaskType)
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{
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case RobotTaskTypeEnum.ChangePallet:
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case RobotTaskTypeEnum.GroupPallet:
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taskType = TaskTypeEnum.Inbound.GetHashCode();
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PalletCode = currentTask.RobotTargetAddressPalletCode;
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break;
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case RobotTaskTypeEnum.SplitPallet:
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return true;
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}
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}
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CreateTaskDto taskDto = new CreateTaskDto
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{
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PalletCode = PalletCode,
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SourceAddress = SourceAddress ?? string.Empty,
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TargetAddress = TargetAddress ?? string.Empty,
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Roadway = roadway,
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WarehouseId = warehouseId,
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PalletType = 1,
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TaskType = taskType
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};
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var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.CreateTaskInboundAsync), taskDto.ToJson());
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if (!result.Data.Status && result.IsSuccess)
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{
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return false;
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}
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WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.Data.ToJson() ?? string.Empty) ?? new WMSTaskDTO();
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var content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
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if (!content.Status)
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{
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return false;
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}
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var taskInfo = JsonConvert.DeserializeObject<Dt_Task>(content.Data.ToJson() ?? string.Empty) ?? new Dt_Task();
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string sourceAddress = taskDTO.SourceAddress;
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == sourceAddress));
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if (device != null)
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{
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CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
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conveyorLine.SetValue(ConveyorLineDBNameNew.Target, taskInfo.NextAddress, sourceAddress);
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conveyorLine.SetValue(ConveyorLineDBNameNew.TaskNo, taskInfo.TaskNum, sourceAddress);
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conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_STB, 1, sourceAddress);
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if (_taskService.UpdateTaskStatusToNext(taskInfo).Status)
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{
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return true;
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}
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}
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return false;
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}
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/// <summary>
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/// 构建库存回传 DTO。
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/// </summary>
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public static StockDTO BuildStockDTO(RobotSocketState state, int[] positions)
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{
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return new StockDTO
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{
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SourceLineNo = state.CurrentTask.RobotSourceAddressLineCode,
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SourcePalletNo = state.CurrentTask.RobotSourceAddressPalletCode,
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TargetPalletNo = state.CurrentTask.RobotTargetAddressPalletCode,
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TargetLineNo = state.CurrentTask.RobotTargetAddressLineCode,
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Details = positions
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.Where(x => x > 0)
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.OrderBy(x => x)
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.Select((x, idx) => new StockDetailDTO
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{
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Quantity = state.RobotTaskTotalNum > 0 ? state.RobotTaskTotalNum + positions.Length : positions.Length,
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Channel = x,
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CellBarcode = state.CellBarcode?.Count > 0 ? state.CellBarcode[x - 1] : ""
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})
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.ToList()
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};
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}
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/// <summary>
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/// 调用拆盘 API。
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/// </summary>
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public HttpResponseResult<WebResponseContent> PostSplitPalletAsync(StockDTO stockDTO)
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{
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return _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.SplitPalletAsync), stockDTO.ToJson());
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}
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/// <summary>
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/// 调用组盘/换盘 API。
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/// </summary>
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public HttpResponseResult<WebResponseContent> PostGroupPalletAsync(string configKey, StockDTO stockDTO)
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{
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return _httpClientHelper.Post<WebResponseContent>(configKey, stockDTO.ToJson());
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}
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}
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}
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