feat(WCS&WMS): 机械手扫码NG处理与线体条码读取与添加批量MES绑定解绑接口

wanshenmean

19 小时以前 5bf10c1dafe485d506ec534f98e5220a3b83dd17

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs

@@ -5,6 +5,7 @@
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.SocketServer;
using WIDESEAWCS_Tasks.Workflow.Abstractions;

namespace WIDESEAWCS_Tasks.Workflow
@@ -163,11 +164,12 @@
        {
            string taskString;

            var state = _stateManager.GetState(ipAddress);

            // 换盘任务使用批次格式
            if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
            {
                int targetNormalCount = task.RobotTaskTotalNum;
                var state = _stateManager.GetState(ipAddress);
                int currentCompletedCount = state?.RobotTaskTotalNum ?? 0;

                bool isFlowA = task.RobotSourceAddressLineCode is "11001" or "11010";
@@ -229,7 +231,20 @@
            else
            {
                // 非换盘任务：使用原有格式
                taskString = $"Putbattery,{task.RobotTargetAddress}";
                if (state != null && state.IsGroupPallet && task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
                {
                    // 组盘任务：放货需判断是否NG，如果NG则放到NG口
                    if (state.IsScanNG)
                    {
                        taskString = $"Putbattery,NG";
                    }
                    else
                    {
                        taskString = $"Putbattery,{task.RobotTargetAddress}";
                    }
                }
                else
                    taskString = $"Putbattery,{task.RobotTargetAddress}";
            }

            bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
@@ -301,46 +316,49 @@
            // 如果是组盘任务
            if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
            {
                // 生成托盘条码前缀
                const string prefix = "TRAY";

                // 生成两个托盘条码（用于组盘操作）（测试用，后续读取线体条码）
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
                // 读取线体电芯条码
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");

                // 如果条码生成成功
                if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
                {
                    if(stateForUpdate.CellBarcode.Contains(trayBarcode1)|| stateForUpdate.CellBarcode.Contains(trayBarcode2))
                    if (stateForUpdate.CellBarcode.Contains(trayBarcode1) || stateForUpdate.CellBarcode.Contains(trayBarcode2))
                    {
                        _logger.LogError("HandlePutFinishedStateAsync：生成的托盘条码已存在，可能存在重复，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Error($"生成的托盘条码已存在，可能存在重复", stateForUpdate.RobotCrane.DeviceName);
                        _logger.LogError("HandlePutFinishedStateAsync：读取的托盘条码已存在，可能存在重复，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Error($"读取的托盘条码已存在，可能存在重复", stateForUpdate.RobotCrane.DeviceName);

                        // 条码重复，记录错误日志并停止后续操作(后续放货时会用到这些条码信息，供后续放货时使用，调试后可能会取消此逻辑)
                        return;

                        // 发送取货指令 标记扫码NG，放货时不使用这些条码，并放入NG口
                        await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                    }
                    else
                    {
                        _logger.LogInformation("HandlePutFinishedStateAsync：生成的托盘条码唯一，继续执行，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Info($"生成的托盘条码唯一，继续执行", stateForUpdate.RobotCrane.DeviceName);
                        _logger.LogInformation("HandlePutFinishedStateAsync：读取的托盘条码唯一，继续执行，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Info($"读取的托盘条码唯一，继续执行", stateForUpdate.RobotCrane.DeviceName);
                        // 将条码添加到状态中，供后续放货时使用
                        stateForUpdate.CellBarcode.Add(trayBarcode1);
                        stateForUpdate.CellBarcode.Add(trayBarcode2);
                    }


                    // 记录日志：生成托盘条码成功
                    _logger.LogInformation("HandlePutFinishedStateAsync：生成托盘条码成功: {Barcode1}+{Barcode2}，任务号: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
                    QuartzLogger.Info($"生成托盘条码成功: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);
                    // 记录日志：读取托盘条码成功
                    _logger.LogInformation("HandlePutFinishedStateAsync：读取托盘条码成功: {Barcode1}+{Barcode2}，任务号: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
                    QuartzLogger.Info($"读取托盘条码成功: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);

                    // 发送取货指令
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, false);
                }
                else
                {
                    // 条码生成失败，记录错误日志
                    _logger.LogError("HandlePutFinishedStateAsync：生成托盘条码失败，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Error($"生成托盘条码失败", stateForUpdate.RobotCrane.DeviceName);
                    // 条码读取失败，记录错误日志
                    _logger.LogError("HandlePutFinishedStateAsync：读取托盘条码失败，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Error($"读取托盘条码失败", stateForUpdate.RobotCrane.DeviceName);


                    // 发送取货指令 标记扫码NG，放货时不使用这些条码，并放入NG口
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                }
            }
            else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
@@ -355,7 +373,7 @@
                // 目标数量为48：直接走原有逻辑，不进入批次模式
                if (targetNormalCount == targetTotal)
                {
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, false);
                    return;
                }

@@ -524,7 +542,7 @@
            else
            {
                // 非组盘任务，直接发送取货指令
                await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
                await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, false);
            }
        }
    }