using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_QuartzJob;
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namespace WIDESEAWCS_Tasks
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{
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/// <summary>
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/// 机械手Socket通信状态
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/// </summary>
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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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/// 版本号，用于防止并发更新时旧值覆盖新值
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/// 每次修改状态时都应该更新此值
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/// </summary>
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public long Version { get; set; } = DateTime.UtcNow.Ticks;
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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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/// 机械手是否抓取物料，0-无物料，1-有物料
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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 List<string> CellBarcode { get; set; } = new List<string>();
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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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/// <summary>
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/// 是否需要拆盘
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/// </summary>
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public bool IsSplitPallet { get; set; }
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/// <summary>
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/// 是否需要组盘
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/// </summary>
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public bool IsGroupPallet { get; set; }
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/// <summary>
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/// 任务总数
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/// </summary>
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public int RobotTaskTotalNum { get; set; }
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}
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}
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