feat: 同步协议处理、前端交互与业务联调改动

wanshenmean

2026-03-17 94ad631d316da04c46266ddb1fc6e63e6f8f2fae

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs

@@ -1,4 +1,4 @@
using Newtonsoft.Json;
using Newtonsoft.Json;
using WIDESEA_Core;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.HttpEnum;
@@ -10,29 +10,30 @@
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks.SocketServer;
using WIDESEAWCS_Tasks.Workflow.Abstractions;

namespace WIDESEAWCS_Tasks
{
    /// <summary>
    /// 机械手任务处理器 - 负责机械手任务执行和处理
    /// 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。
    /// </summary>
    public class RobotTaskProcessor
    {
        private readonly TcpSocketServer _tcpSocket;
        // 通过网关访问 Socket，避免业务层直接依赖 TcpSocketServer。
        private readonly ISocketClientGateway _socketClientGateway;
        private readonly RobotStateManager _stateManager;
        private readonly IRobotTaskService _robotTaskService;
        private readonly ITaskService _taskService;
        private readonly HttpClientHelper _httpClientHelper;

        public RobotTaskProcessor(
            TcpSocketServer tcpSocket,
            ISocketClientGateway socketClientGateway,
            RobotStateManager stateManager,
            IRobotTaskService robotTaskService,
            ITaskService taskService,
            HttpClientHelper httpClientHelper)
        {
            _tcpSocket = tcpSocket;
            _socketClientGateway = socketClientGateway;
            _stateManager = stateManager;
            _robotTaskService = robotTaskService;
            _taskService = taskService;
@@ -40,7 +41,7 @@
        }

        /// <summary>
        /// 获取机械手任务
        /// 按设备编码获取当前机器人任务。
        /// </summary>
        public Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
        {
@@ -48,7 +49,7 @@
        }

        /// <summary>
        /// 获取机械手任务
        /// 删除机器人任务。
        /// </summary>
        public bool? DeleteTask(int ID)
        {
@@ -56,26 +57,27 @@
        }

        /// <summary>
        /// 发送机械手取货命令
        /// 下发取货指令（Pickbattery）到机器人客户端。
        /// </summary>
        public async Task SendSocketRobotPickAsync(Dt_RobotTask task, RobotSocketState state)
        {
            string taskString = $"Pickbattery,{task.RobotSourceAddress}";
            // 发送任务指令
            bool result = await _tcpSocket.SendToClientAsync(state.IPAddress, taskString);
            bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
            if (result)
            {
                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                state.CurrentTask = task;

                // 更新缓存中的状态（使用安全更新防止并发覆盖）
                // 保持原语义：仅在状态安全写入成功后再更新任务状态。
                if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
                {
                    await _robotTaskService.UpdateRobotTaskAsync(task);
                }
            }
        }

        /// <summary>
        /// 处理入库任务
        /// 处理入库任务回传（拆盘/组盘/换盘场景）。
        /// </summary>
        public async Task<bool> HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
        {
@@ -92,7 +94,6 @@
            string SourceAddress = currentTask.RobotTargetAddressLineCode;
            string TargetAddress = currentTask.RobotSourceAddressLineCode;
            string PalletCode = string.Empty;
            // 直接转换为枚举类型进行比较
            var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;

            if (useSourceAddress)
@@ -134,6 +135,7 @@
                PalletType = 1,
                TaskType = taskType
            };

            var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.CreateTaskInboundAsync), taskDto.ToJson());
            if (!result.Data.Status && result.IsSuccess)
            {
@@ -142,10 +144,12 @@

            WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.Data.ToJson() ?? string.Empty) ?? new WMSTaskDTO();
            var content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
            if (!content.Status) return false;
            if (!content.Status)
            {
                return false;
            }

            var taskInfo = JsonConvert.DeserializeObject<Dt_Task>(content.Data.ToJson() ?? string.Empty) ?? new Dt_Task();

            string sourceAddress = taskDTO.SourceAddress;

            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == sourceAddress));
@@ -161,11 +165,12 @@
                    return true;
                }
            }

            return false;
        }

        /// <summary>
        /// 构建库存DTO
        /// 构建库存回传 DTO。
        /// </summary>
        public static StockDTO BuildStockDTO(RobotSocketState state, int[] positions)
        {
@@ -189,7 +194,7 @@
        }

        /// <summary>
        /// 调用拆盘API
        /// 调用拆盘 API。
        /// </summary>
        public HttpResponseResult<WebResponseContent> PostSplitPalletAsync(StockDTO stockDTO)
        {
@@ -197,7 +202,7 @@
        }

        /// <summary>
        /// 调用组盘或换盘API
        /// 调用组盘/换盘 API。
        /// </summary>
        public HttpResponseResult<WebResponseContent> PostGroupPalletAsync(string configKey, StockDTO stockDTO)
        {