using Quartz;
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using System.Collections.Concurrent;
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using System.Net.Sockets;
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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_ITaskInfoRepository;
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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_QuartzJob.Service;
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using WIDESEAWCS_Tasks.SocketServer;
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namespace WIDESEAWCS_Tasks
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{
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[DisallowConcurrentExecution]
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public class RobotJob : IJob
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{
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private readonly TcpSocketServer _TcpSocket;
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private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
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private static int _eventSubscribedFlag;
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private readonly IRobotTaskService _taskService;
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private readonly ITaskExecuteDetailService _taskExecuteDetailService;
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private readonly ITaskRepository _taskRepository;
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private readonly IRouterService _routerService;
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public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService taskService)
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{
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_TcpSocket = TcpSocket;
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_taskService = taskService;
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}
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public async Task Execute(IJobExecutionContext context)
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{
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bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
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RobotCraneDevice robotCrane = (RobotCraneDevice?)value ?? new RobotCraneDevice();
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if (!flag || robotCrane.IsNullOrEmpty())
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{
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return;
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}
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string ipAddress = robotCrane.IPAddress;
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// 获取或创建状态
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RobotSocketState state = _socketStates.GetOrAdd(ipAddress, _ => new RobotSocketState
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{
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IPAddress = ipAddress,
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RobotCrane = robotCrane
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});
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// 更新设备信息
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state.RobotCrane = robotCrane;
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// 检查是否有该客户端连接
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var clientIds = _TcpSocket.GetClientIds();
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if (!clientIds.Contains(ipAddress))
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{
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return;
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}
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// 订阅一次 message 事件（全局一次）
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if (Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
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{
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_TcpSocket.MessageReceived += _TcpSocket_MessageReceived;
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_TcpSocket.RobotReceived += _TcpSocket_RobotReceived;
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}
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if (!state.IsEventSubscribed)
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{
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_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client);
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Task clientTask = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state);
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state.IsEventSubscribed = true;
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}
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// 获取任务并缓存到状态中
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Dt_RobotTask? task = GetTask(robotCrane);
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if (task != null)
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{
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state.CurrentTask = task;
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if (task.RobotTaskTotalNum != 48)
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{
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// 处理正在执行的任务
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if (state.RobotRunMode == 1 && state.RobotControlMode == 1)
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{
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await Task.Delay(1000);
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if ((state.CurrentAction == "Homed" || state.CurrentAction == "PickFinished" || state.CurrentAction == "PutFinished") && state.OperStatus == "Running")
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{
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// TODO 读取线体电池条码，发送取电池指令
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if (true)
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{
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// 模拟读取条码
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state.CellBarcode = new string[] { "CellBarcode1", "CellBarcode2", "CellBarcode3", "CellBarcode4" };
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string taskString = $"Pickbattery,{task.RobotSourceAddress}";
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// 发送任务指令
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bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
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}
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}
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}
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}
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}
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return;
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}
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/// <summary>
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/// 事件：客户端断开连接时触发
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/// </summary>
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/// <param name="clientId"></param>
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/// <returns></returns>
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private Task<string?> _TcpSocket_RobotReceived(string clientId)
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{
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_socketStates.TryRemove(clientId, out _);
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return Task.FromResult<string?>(null);
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}
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/// <summary>
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/// 事件：收到消息时触发
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/// </summary>
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/// <param name="message"></param>
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/// <param name="isJson"></param>
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/// <param name="client"></param>
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/// <param name="state"></param>
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/// <returns></returns>
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private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, RobotSocketState state)
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{
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string messageLower = message.ToLowerInvariant();
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if (IsSimpleCommand(messageLower, state))
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{
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return null;
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}
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if (IsPrefixCommand(messageLower))
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{
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try
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{
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var parts = message.Split(',');
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if (parts.Length >= 1)
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{
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var cmd = parts[0].ToLowerInvariant();
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int[] positions = new int[4];
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for (int i = 1; i <= 4 && i < parts.Length; i++)
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{
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int.TryParse(parts[i], out positions[i - 1]);
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}
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if (cmd.StartsWith("pickfinished"))
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{
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state.LastPickPositions = positions;
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state.CurrentAction = "PickFinished";
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}
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else if (cmd.StartsWith("putfinished"))
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{
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state.LastPutPositions = positions;
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// 发送数据给WMS组盘/换盘
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StockDTO stockDTO = 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.CurrentTask?.RobotTaskTotalNum ?? 1,
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Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
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CellBarcode = state.CellBarcode[idx]
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})
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.ToList()
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};
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state.CurrentAction = "PutFinished";
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}
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}
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}
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catch { }
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return null;
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}
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return null;
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}
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/// <summary>
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/// 机械手简单命令处理
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/// </summary>
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/// <param name="message"></param>
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/// <param name="state"></param>
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/// <returns></returns>
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private bool IsSimpleCommand(string message, RobotSocketState state)
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{
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switch (message)
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{
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case "homing":
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state.CurrentAction = "Homing";
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return true;
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case "homed":
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state.CurrentAction = "Homed";
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return true;
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case "picking":
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state.CurrentAction = "Picking";
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return true;
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case "puting":
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state.CurrentAction = "Putting";
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return true;
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case "allpickfinished":
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state.CurrentAction = "AllPickFinished";
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if (state.CurrentTask?.RobotTaskType == 2 || state.CurrentTask?.RobotTaskType == 3)
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{
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// TODO 机械手取货完成，判断是否换盘、拆盘任务，创建空托盘回库任务
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}
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return true;
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case "allputfinished":
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state.CurrentAction = "AllPutFinished";
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if (state.CurrentTask?.RobotTaskType == 1)
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{
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// TODO 机械手取货完成，判断是否组盘任务，创建组盘入库任务
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CreateTaskDto taskDto = new CreateTaskDto()
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{
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PalletCode = state.CurrentTask?.RobotTargetAddressPalletCode ?? string.Empty,
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SourceAddress = state.CurrentTask?.RobotTargetAddress ?? string.Empty,
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TargetAddress = state.CurrentTask?.RobotTargetAddress ?? string.Empty,
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Roadway = state.CurrentTask?.RobotRoadway == "1" ? "GWSC001" : state.CurrentTask?.RobotRoadway == "2" ? "HCSC001" : "SC001" ?? string.Empty,
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WarehouseId = state.CurrentTask?.RobotRoadway == "1" ? 1 : state.CurrentTask?.RobotRoadway == "2" ? 2 : 3,
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PalletType = 1,
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TaskType = 4
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};
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}
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return true;
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case "running":
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state.OperStatus = "Running";
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return true;
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case "pausing":
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state.OperStatus = "Pausing";
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return true;
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case "warming":
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state.OperStatus = "Warming";
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return true;
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case "emstoping":
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state.OperStatus = "Emstoping";
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return true;
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case "runmode,1":
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state.RobotRunMode = 1;
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return true;
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case "runmode,2":
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state.RobotRunMode = 2;
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return true;
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case "controlmode,1":
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state.RobotControlMode = 1;
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return true;
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case "controlmode,2":
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state.RobotControlMode = 2;
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return true;
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case "armobject,1":
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state.RobotArmObject = 1;
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return true;
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case "armobject,0":
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state.RobotArmObject = 0;
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return true;
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default:
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return false;
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}
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}
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/// <summary>
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/// 机械手前缀命令处理
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/// </summary>
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/// <param name="message"></param>
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/// <returns></returns>
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private static bool IsPrefixCommand(string message)
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{
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return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
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}
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private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
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{
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return _taskService.QueryRobotCraneTask(robotCrane.DeviceCode);
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}
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}
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public class RobotSocketState
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{
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public string IPAddress { get; set; } = string.Empty;
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/// <summary>
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/// 是否已订阅消息事件
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/// </summary>
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public bool IsEventSubscribed { get; set; }
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/// <summary>
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/// 机械手运行模式
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/// </summary>
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public int? RobotRunMode { get; set; }
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/// <summary>
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/// 机械手控制模式
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/// </summary>
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public int? RobotControlMode { get; set; }
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/// <summary>
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/// 机械手抓取对象
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/// </summary>
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public int? RobotArmObject { get; set; }
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/// <summary>
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/// 机械手设备信息
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/// </summary>
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public RobotCraneDevice? RobotCrane { get; set; }
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/// <summary>
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/// 当前动作
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/// </summary>
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public string? CurrentAction { get; set; }
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/// <summary>
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/// 当前状态
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/// </summary>
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public string? OperStatus { get; set; }
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/// <summary>
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/// 取货完成位置
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/// </summary>
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public int[]? LastPickPositions { get; set; }
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/// <summary>
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/// 放货完成位置
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/// </summary>
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public int[]? LastPutPositions { get; set; }
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/// <summary>
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/// 抓取位置条码
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/// </summary>
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public string[] CellBarcode { get; set; }
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/// <summary>
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/// 当前抓取任务
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/// </summary>
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public Dt_RobotTask? CurrentTask { get; set; }
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}
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}
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