using HslCommunication;
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using Newtonsoft.Json;
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using Quartz;
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using System.Collections.Concurrent;
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using System.Net.Sockets;
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using System.Text.Json;
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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_Core.Http;
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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 const int MaxTaskTotalNum = 48;
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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 ITaskService _taskService;
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private readonly IRobotTaskService _robotTaskService;
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private static IRobotTaskService _latestRobotTaskService = null!;
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private static ITaskService _latestTaskService = null!;
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public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService)
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{
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_TcpSocket = TcpSocket;
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_robotTaskService = RobottaskService;
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_taskService = TaskService;
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_latestRobotTaskService = RobottaskService;
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_latestTaskService = 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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if (_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client))
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{
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_ = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state)
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.ContinueWith(t =>
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{
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if (t.IsFaulted)
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Console.WriteLine($"HandleClientAsync error: {t.Exception?.GetBaseException().Message}");
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}, TaskContinuationOptions.OnlyOnFaulted);
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state.IsEventSubscribed = true;
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}
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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.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
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state.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
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state.CurrentTask = task;
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if (task.RobotTaskTotalNum <= MaxTaskTotalNum)
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{
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// 处理正在执行的任务
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if (state.RobotRunMode == 2 && state.RobotControlMode == 1 && state.OperStatus != "Running")
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{
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await Task.Delay(1000);
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if (state.CurrentAction == "PickFinished" && state.RobotArmObject == 1 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
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{
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string taskString = $"Putbattery,{task.RobotTargetAddress}";
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bool result = await _TcpSocket.SendToClientAsync(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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await _robotTaskService.UpdateRobotTaskAsync(task);
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}
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}
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else if (state.CurrentAction == "PutFinished" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
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{
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task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
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await _robotTaskService.UpdateRobotTaskAsync(task);
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}
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else if (state.OperStatus == "Homed" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
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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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// 随机生成两天托盘条码存放到两个变量里面
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// 定义前缀（例如：TRAY代表托盘）
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string prefix = "TRAY";
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// 生成两个托盘条码
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string trayBarcode1 = GenerateTrayBarcode(state, prefix);
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string trayBarcode2 = GenerateTrayBarcode(state, prefix);
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if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty())
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{
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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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if (result)
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{
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// TODO 处理成功发送任务指令后的逻辑
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task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
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result = await _robotTaskService.UpdateRobotTaskAsync(task);
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}
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}
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}
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}
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}
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}
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}
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//临时测试用
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private static string GenerateTrayBarcode(RobotSocketState state, string prefix = "")
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{
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// 当前日期
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string datePart = DateTime.Now.ToString("yyyyMMdd");
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// 时间戳（时分秒）
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string timePart = DateTime.Now.ToString("HHmmss");
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// 随机数
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string randomPart = Random.Shared.Next(100, 1000).ToString();
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// 组合：前缀 + 日期 + 时间 + 随机数
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var barCode = prefix + datePart + timePart + randomPart;
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state.CellBarcode.Add(randomPart);
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return barCode;
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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 (await IsSimpleCommandAsync(messageLower, state))
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{
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await _TcpSocket.SendMessageAsync(client, message);
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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 && state.CurrentTask != null)
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{
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var cmd = parts[0].ToLowerInvariant();
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int[] positions = parts.Skip(1)
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.Select(p => int.TryParse(p, out int value) ? value : (int?)null)
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.Where(v => v.HasValue && v.Value != 0)
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.Select(v => v!.Value)
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.ToArray();
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var task = await _latestRobotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId);
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if (cmd.StartsWith("pickfinished"))
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{
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if (state.IsSplitPallet)
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{
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var stockDTO = BuildStockDTO(state, positions);
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state.LastPickPositions = positions;
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var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.SplitPalletAsync));
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if (result.Status)
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{
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state.CurrentAction = "PickFinished";
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}
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}
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else
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{
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state.CurrentAction = "PickFinished";
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}
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task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode();
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await _latestRobotTaskService.Repository.UpdateDataAsync(task);
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}
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else if (cmd.StartsWith("putfinished"))
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{
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bool putSuccess = true;
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if (state.IsGroupPallet)
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{
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state.LastPutPositions = positions;
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var stockDTO = BuildStockDTO(state, positions);
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var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
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? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.GroupPalletAsync);
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var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), configKey);
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putSuccess = result.Status;
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}
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if (putSuccess)
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{
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state.CurrentAction = "PutFinished";
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state.RobotTaskTotalNum += positions.Length;
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task.RobotTaskTotalNum += positions.Length;
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}
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task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode();
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await _latestRobotTaskService.Repository.UpdateDataAsync(task);
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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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Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
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}
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await _TcpSocket.SendMessageAsync(client, message);
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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 static async Task<bool> IsSimpleCommandAsync(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.OperStatus = "Homing";
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return true;
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case "homed":
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state.OperStatus = "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": // 取货完成
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state.CurrentAction = "AllPickFinished";
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if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
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{
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await HandleInboundTaskAsync(state, useSourceAddress: true);
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}
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return true;
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case "allputfinished": // 放货完成
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state.CurrentAction = "AllPutFinished";
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if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
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{
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await HandleInboundTaskAsync(state, useSourceAddress: false);
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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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private static async Task 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;
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}
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string roadway = currentTask.RobotRoadway == "1" ? "GWSC001" : currentTask.RobotRoadway == "2" ? "HCSC001" : "SC001";
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int warehouseId = currentTask.RobotRoadway == "1" ? 1 : currentTask.RobotRoadway == "2" ? 2 : 3;
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CreateTaskDto taskDto = new CreateTaskDto
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{
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PalletCode = currentTask.RobotTargetAddressPalletCode ?? string.Empty,
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SourceAddress = currentTask.RobotSourceAddress ?? string.Empty,
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TargetAddress = currentTask.RobotTargetAddress ?? 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 = 4
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};
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var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), taskDto.ToJsonString(), nameof(ConfigKey.CreateTaskInboundAsync));
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if (!result.Status)
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{
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return;
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}
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WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.ToString() ?? string.Empty) ?? new WMSTaskDTO();
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var content = _latestTaskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
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if (!content.Status) return;
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var taskInfo = _latestTaskService.QueryByTaskNum(taskDTO.TaskNum);
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if (taskInfo == null) return;
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string targetAddress = useSourceAddress ? taskDTO.SourceAddress : taskDTO.TargetAddress;
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IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == targetAddress));
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device?.Communicator.Write(nameof(ConveyorLineDBNameNew.Target), taskInfo.NextAddress);
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device?.Communicator.Write(nameof(ConveyorLineDBNameNew.TaskNo), taskDTO.TaskNum);
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device?.Communicator.Write(nameof(ConveyorLineDBNameNew.WCS_STB), 1);
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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 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.CurrentTask?.RobotTaskTotalNum ?? 1,
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Channel = x,
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CellBarcode = !state.CellBarcode.IsNullOrEmpty() ? state.CellBarcode[idx] : ""
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})
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.ToList()
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};
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}
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private 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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}
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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();
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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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