feat(robot): 完善机械手任务处理逻辑与状态管理

wanshenmean

8 天以前 adb4016b5eb5b119a899480c321be996d9bf10bd

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

@@ -1,535 +1,251 @@
using HslCommunication;
using Newtonsoft.Json;
using Microsoft.Extensions.Logging;
using Quartz;
using System.Collections.Concurrent;
using System.Net.Sockets;
using System.Text.Json;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEA_Core;
using WIDESEAWCS_Common;
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.Http;
using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_Tasks.SocketServer;
using WIDESEAWCS_Tasks.Workflow;
using WIDESEAWCS_Tasks.Workflow.Abstractions;

namespace WIDESEAWCS_Tasks
{
    /// <summary>
    /// 机器人任务作业（Quartz Job）- 负责调度与生命周期管理
    /// </summary>
    /// <remarks>
    /// Quartz 定时任务，每秒执行一次（默认），主要职责：
    /// 1. 从 JobDataMap 获取设备信息
    /// 2. 确保 TCP 客户端已连接并订阅消息
    /// 3. 轮询待处理的机器人任务
    /// 4. 调用工作流编排器执行任务状态机
    ///
    /// 使用 [DisallowConcurrentExecution] 禁止并发执行，确保同一设备的任务串行处理。
    /// 具体的状态机流程逻辑委托给 <see cref="RobotWorkflowOrchestrator"/> 处理。
    /// </remarks>
    [DisallowConcurrentExecution]
    public class RobotJob : IJob
    {
        private const int MaxTaskTotalNum = 48;
        /// <summary>
        /// 消息事件订阅标志
        /// </summary>
        /// <remarks>
        /// 使用原子操作确保全局只订阅一次 TCP 消息事件。
        /// 防止多个 Job 实例重复订阅导致消息被多次处理。
        /// </remarks>
        private static int _messageSubscribedFlag;

        private readonly TcpSocketServer _TcpSocket;
        //private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
        private static int _eventSubscribedFlag;
        /// <summary>
        /// 机械手客户端连接管理器
        /// </summary>
        /// <remarks>
        /// 负责管理 TCP 连接的生命周期，包括连接、断开、消息发送等。
        /// </remarks>
        private readonly RobotClientManager _clientManager;

        private readonly ITaskService _taskService;
        private readonly IRobotTaskService _robotTaskService;
        private readonly ICacheService _cache;
        /// <summary>
        /// 机械手状态管理器
        /// </summary>
        /// <remarks>
        /// 负责管理 Redis 缓存中的机械手状态，包括读写和并发控制。
        /// </remarks>
        private readonly RobotStateManager _stateManager;

        private static IRobotTaskService _latestRobotTaskService = null!;
        private static ITaskService _latestTaskService = null!;
        /// <summary>
        /// 消息路由器
        /// </summary>
        /// <remarks>
        /// 负责处理从 TCP 服务器接收到的消息，并分发给合适的处理器。
        /// 是消息处理管道的入口。
        /// </remarks>
        private readonly IRobotMessageRouter _messageRouter;

        public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService, ICacheService cache)
        /// <summary>
        /// 机器人任务处理器
        /// </summary>
        /// <remarks>
        /// 负责任务的下发、状态更新、与 WMS 的交互等。
        /// </remarks>
        private readonly RobotTaskProcessor _taskProcessor;

        /// <summary>
        /// 机器人工作流编排器
        /// </summary>
        /// <remarks>
        /// 负责执行任务的状态机流转，根据当前状态决定下一步动作。
        /// 这是核心的业务逻辑编排组件。
        /// </remarks>
        private readonly IRobotWorkflowOrchestrator _workflowOrchestrator;

        /// <summary>
        /// 日志记录器
        /// </summary>
        private readonly ILogger<RobotJob> _logger;

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <remarks>
        /// 采用依赖注入方式获取所需服务，并完成组件的初始化和组装。
        /// 这里体现了"控制反转"和"依赖注入"的设计原则。
        /// </remarks>
        /// <param name="tcpSocket">TCP Socket 服务器实例</param>
        /// <param name="robotTaskService">机器人任务服务</param>
        /// <param name="taskService">通用任务服务</param>
        /// <param name="cache">缓存服务</param>
        /// <param name="httpClientHelper">HTTP 客户端帮助类，用于调用 WMS 接口</param>
        /// <param name="logger">日志记录器</param>
        public RobotJob(
            TcpSocketServer tcpSocket,
            IRobotTaskService robotTaskService,
            ITaskService taskService,
            ICacheService cache,
            HttpClientHelper httpClientHelper,
            ILogger<RobotJob> logger)
        {
            _TcpSocket = TcpSocket;
            _robotTaskService = RobottaskService;
            _taskService = TaskService;
            _cache = cache;
            // 初始化状态管理器，传入缓存服务
            _stateManager = new RobotStateManager(cache, _logger);
            _logger = logger;

            _latestRobotTaskService = RobottaskService;
            _latestTaskService = TaskService;
            // 创建 Socket 网关，封装 TcpSocketServer 的访问
            // 后续替换通信实现时只需替换网关层
            ISocketClientGateway socketGateway = new SocketClientGateway(tcpSocket);

            // 初始化任务处理器
            _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper, _logger);

            // 初始化客户端管理器
            _clientManager = new RobotClientManager(tcpSocket, _stateManager, _logger);

            // 初始化命令处理器
            // 简单命令处理器：处理状态更新等简单命令
            var simpleCommandHandler = new RobotSimpleCommandHandler(_taskProcessor, socketGateway);
            // 前缀命令处理器：处理 pickfinished、putfinished 等带参数的命令
            var prefixCommandHandler = new RobotPrefixCommandHandler(robotTaskService, _taskProcessor, _stateManager, socketGateway);

            // 初始化消息路由器
            _messageRouter = new RobotMessageHandler(socketGateway, _stateManager, cache, simpleCommandHandler, prefixCommandHandler, logger);

            // 初始化工作流编排器
            _workflowOrchestrator = new RobotWorkflowOrchestrator(_stateManager, _clientManager, _taskProcessor, robotTaskService, _logger);

            // 订阅客户端断开连接事件
            _clientManager.OnClientDisconnected += OnClientDisconnected;

            // 全局只订阅一次 TCP 消息事件（保持原有行为）
            // 使用 Interlocked.CompareExchange 实现原子操作
            if (System.Threading.Interlocked.CompareExchange(ref _messageSubscribedFlag, 1, 0) == 0)
            {
                // 将消息路由器的处理方法绑定到 TCP 服务器的消息接收事件
                tcpSocket.MessageReceived += _messageRouter.HandleMessageReceivedAsync;
                _logger.LogError("机器手TCP消息事件已订阅");
                QuartzLogger.Error($"机器手TCP消息事件已订阅");
            }
        }

        /// <summary>
        /// 客户端断开连接的事件处理
        /// </summary>
        /// <remarks>
        /// 当客户端断开连接时记录日志，便于排查问题。
        /// </remarks>
        /// <param name="sender">事件发送者</param>
        /// <param name="state">断开连接的机械手状态</param>
        private void OnClientDisconnected(object? sender, RobotSocketState state)
        {
            _logger.LogError("客户端已断开连接");
            QuartzLogger.Error($"客户端已断开连接", state.RobotCrane.DeviceName);
        }

        /// <summary>
        /// Quartz Job 的执行入口
        /// </summary>
        /// <remarks>
        /// 执行流程：
        /// 1. 从 JobDataMap 获取设备信息
        /// 2. 确保客户端已连接并订阅消息
        /// 3. 轮询待处理任务
        /// 4. 调用工作流编排器执行任务
        ///
        /// 注意：此方法可能频繁调用（每秒一次），需注意性能。
        /// </remarks>
        /// <param name="context">Quartz 作业执行上下文，包含作业详情和数据</param>
        public async Task Execute(IJobExecutionContext context)
        {
            // 从 JobDataMap 中获取作业参数
            bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);

            // 将参数转换为机器人设备信息
            RobotCraneDevice robotCrane = (RobotCraneDevice?)value ?? new RobotCraneDevice();

            // 如果没有获取到有效的设备信息，直接返回
            if (!flag || robotCrane.IsNullOrEmpty())
            {
                return;
            }

            // 获取设备 IP 地址，作为状态缓存的键
            string ipAddress = robotCrane.IPAddress;

            // 获取或创建状态
            RobotSocketState state = _cache.GetOrAdd(ipAddress, _ => new RobotSocketState
            {
                IPAddress = ipAddress,
                RobotCrane = robotCrane
            });
            // 获取或创建设备状态对象
            RobotSocketState state = _stateManager.GetOrCreateState(ipAddress, robotCrane);

            // 更新设备信息
            // 更新设备基础信息（以防设备信息在运行期间发生变化）
            state.RobotCrane = robotCrane;

            try
            {

                // 检查是否有该客户端连接
                var clientIds = _TcpSocket.GetClientIds();
                if (!clientIds.Contains(ipAddress))
                // 确保客户端已连接并订阅消息事件
                // 如果客户端未连接或订阅失败，直接返回等待下次调度
                if (!_clientManager.EnsureClientSubscribed(ipAddress, robotCrane))
                {
                    return;
                }

                // 订阅一次 message 事件（全局一次）
                if (Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
                if (state.CurrentAction == "Picking" || state.CurrentAction == "Puting")
                {
                    _TcpSocket.MessageReceived += _TcpSocket_MessageReceived;
                    _TcpSocket.RobotReceived += _TcpSocket_RobotReceived;
                    return;
                }

                if (!state.IsEventSubscribed)
                // 轮询获取该设备的待处理任务
                var task = _taskProcessor.GetTask(robotCrane);

                // 如果没有获取到待处理任务，且RobotArmObject为1（有物料），则获取该设备执行中的任务
                if (task == null && state.RobotArmObject == 1)
                {
                    if (_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client))
                    {
                        _ = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state)
                            .ContinueWith(t =>
                            {
                                if (t.IsFaulted)
                                    Console.WriteLine($"HandleClientAsync error: {t.Exception?.GetBaseException().Message}");
                            }, TaskContinuationOptions.OnlyOnFaulted);
                        state.IsEventSubscribed = true;
                    }
                    task = _taskProcessor.GetExecutingTask(robotCrane);
                }

                // 获取任务并缓存到状态中
                Dt_RobotTask? task = GetTask(robotCrane);
                // 如果有待处理任务
                if (task != null)
                {
                    state.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
                    state.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
                    state.CurrentTask = task;
                    if (task.RobotTaskTotalNum <= MaxTaskTotalNum)
                    // 获取最新的设备状态
                    var latestState = _stateManager.GetState(ipAddress);
                    if (latestState == null)
                    {
                        // 处理正在执行的任务
                        if (state.RobotRunMode == 2 && state.RobotControlMode == 1 && state.OperStatus != "Running")
                        {
                            await Task.Delay(1000);
                            if (state.CurrentAction == "PickFinished" && state.RobotArmObject == 1 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
                            {
                                string taskString = $"Putbattery,{task.RobotTargetAddress}";
                                bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
                                if (result)
                                {
                                    task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                                    await _robotTaskService.UpdateRobotTaskAsync(task);
                                }
                            }
                            else if (state.CurrentAction == "PutFinished" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
                            {
                                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                                await _robotTaskService.UpdateRobotTaskAsync(task);
                            }
                            else if (state.OperStatus == "Homed" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
                            {
                                // TODO 读取线体电池条码，发送取电池指令
                                // 随机生成两天托盘条码存放到两个变量里面
                                // 定义前缀（例如：TRAY代表托盘）
                                string prefix = "TRAY";
                        // 状态不存在，可能设备未初始化
                        return;
                    }

                                // 生成两个托盘条码
                                string trayBarcode1 = GenerateTrayBarcode(state, prefix);
                                string trayBarcode2 = GenerateTrayBarcode(state, prefix);
                                if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty())
                                {
                                    string taskString = $"Pickbattery,{task.RobotSourceAddress}";
                                    // 发送任务指令
                                    bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
                                    if (result)
                                    {
                                        // TODO 处理成功发送任务指令后的逻辑
                                        task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                                        result = await _robotTaskService.UpdateRobotTaskAsync(task);
                                    }
                                }
                            }
                        }
                    // 检查任务总数是否未达到上限
                    if (latestState.RobotTaskTotalNum < RobotConst.MaxTaskTotalNum)
                    {
                        // 调用工作流编排器执行任务
                        // 编排器会根据当前状态决定下一步动作
                        await _workflowOrchestrator.ExecuteAsync(latestState, task, ipAddress);
                    }
                }
            }
            catch (Exception)
            catch (Exception ex)
            {

            }
            finally
            {
                // 可选：在这里处理任何需要在任务完成后执行的清理工作
                // 更新缓存中的状态
                _cache.AddOrUpdate(ipAddress, state);
                // 异常处理已在组件内部进行，Job 层保持兜底语义
                // 记录异常而不是静默吞掉，便于排查问题
                _logger?.LogError(ex, "RobotJob执行异常，IP: {IpAddress}", ipAddress);
                QuartzLogger.Error($"RobotJob执行异常，IP: {ipAddress}", state.RobotCrane.DeviceName, ex);
            }
        }

        //临时测试用
        private static string GenerateTrayBarcode(RobotSocketState state, string prefix = "")
        {
            // 当前日期
            string datePart = DateTime.Now.ToString("yyyyMMdd");

            // 时间戳（时分秒）
            string timePart = DateTime.Now.ToString("HHmmss");

            // 随机数
            string randomPart = Random.Shared.Next(100, 1000).ToString();

            // 组合：前缀 + 日期 + 时间 + 随机数
            var barCode = prefix + datePart + timePart + randomPart;
            state.CellBarcode.Add(randomPart);

            return barCode;
        }

        /// <summary>
        ///  事件：客户端断开连接时触发
        /// </summary>
        /// <param name="clientId"></param>
        /// <returns></returns>
        private Task<string?> _TcpSocket_RobotReceived(string clientId)
        {
            _cache.TryRemove(clientId, out _);
            return Task.FromResult<string?>(null);
        }

        /// <summary>
        /// 事件：收到消息时触发
        /// </summary>
        /// <param name="message"></param>
        /// <param name="isJson"></param>
        /// <param name="client"></param>
        /// <param name="state"></param>
        /// <returns></returns>
        private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, RobotSocketState state)
        {
            string messageLower = message.ToLowerInvariant();

            if (await IsSimpleCommandAsync(messageLower, state))
            {
                await _TcpSocket.SendMessageAsync(client, message);
                return null;
            }

            if (IsPrefixCommand(messageLower))
            {
                try
                {
                    var parts = message.Split(',');
                    if (parts.Length >= 1 && state.CurrentTask != null)
                    {
                        var cmd = parts[0].ToLowerInvariant();
                        int[] positions = parts.Skip(1)
                           .Select(p => int.TryParse(p, out int value) ? value : (int?)null)
                           .Where(v => v.HasValue && v.Value != 0)
                           .Select(v => v!.Value)
                           .ToArray();

                        var task = await _latestRobotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId);

                        if (cmd.StartsWith("pickfinished"))
                        {
                            if (state.IsSplitPallet)
                            {
                                var stockDTO = BuildStockDTO(state, positions);
                                state.LastPickPositions = positions;

                                var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.SplitPalletAsync));

                                if (result.Status)
                                {
                                    state.CurrentAction = "PickFinished";
                                }
                            }
                            else
                            {
                                state.CurrentAction = "PickFinished";
                            }

                            task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode();
                            await _latestRobotTaskService.Repository.UpdateDataAsync(task);
                        }
                        else if (cmd.StartsWith("putfinished"))
                        {
                            bool putSuccess = true;
                            if (state.IsGroupPallet)
                            {
                                state.LastPutPositions = positions;
                                var stockDTO = BuildStockDTO(state, positions);
                                var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
                                    ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.GroupPalletAsync);
                                var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), configKey);
                                putSuccess = result.Status;
                            }

                            if (putSuccess)
                            {
                                state.CurrentAction = "PutFinished";
                                state.RobotTaskTotalNum += positions.Length;
                                task.RobotTaskTotalNum += positions.Length;
                            }

                            task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode();
                            await _latestRobotTaskService.Repository.UpdateDataAsync(task);
                        }
                    }
                }
                catch (Exception ex)
                {
                    Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
                }

                await _TcpSocket.SendMessageAsync(client, message);

                return null;
            }

            return null;
        }

        /// <summary>
        /// 机械手简单命令处理
        /// </summary>
        /// <param name="message"></param>
        /// <param name="state"></param>
        /// <returns></returns>
        private static async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
        {
            switch (message)
            {
                case "homing":
                    state.OperStatus = "Homing";
                    return true;

                case "homed":
                    state.OperStatus = "Homed";
                    return true;

                case "picking":
                    state.CurrentAction = "Picking";
                    return true;

                case "puting":
                    state.CurrentAction = "Putting";
                    return true;

                case "allpickfinished": // 取货完成
                    state.CurrentAction = "AllPickFinished";
                    if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
                    {
                        await HandleInboundTaskAsync(state, useSourceAddress: true);
                    }
                    return true;

                case "allputfinished": // 放货完成
                    state.CurrentAction = "AllPutFinished";
                    if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
                    {
                        await HandleInboundTaskAsync(state, useSourceAddress: false);
                    }
                    return true;

                case "running":
                    state.OperStatus = "Running";
                    return true;

                case "pausing":
                    state.OperStatus = "Pausing";
                    return true;

                case "warming":
                    state.OperStatus = "Warming";
                    return true;

                case "emstoping":
                    state.OperStatus = "Emstoping";
                    return true;

                case "runmode,1":
                    state.RobotRunMode = 1;
                    return true;

                case "runmode,2":
                    state.RobotRunMode = 2;
                    return true;

                case "controlmode,1":
                    state.RobotControlMode = 1;
                    return true;

                case "controlmode,2":
                    state.RobotControlMode = 2;
                    return true;

                case "armobject,1":
                    state.RobotArmObject = 1;
                    return true;

                case "armobject,0":
                    state.RobotArmObject = 0;
                    return true;

                default:
                    return false;
            }
        }

        private static async Task HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
        {
            var currentTask = state.CurrentTask;
            if (currentTask == null)
            {
                return;
            }

            string roadway = currentTask.RobotRoadway == "1" ? "GWSC001" : currentTask.RobotRoadway == "2" ? "HCSC001" : "SC001";
            int warehouseId = currentTask.RobotRoadway == "1" ? 1 : currentTask.RobotRoadway == "2" ? 2 : 3;

            CreateTaskDto taskDto = new CreateTaskDto
            {
                PalletCode = currentTask.RobotTargetAddressPalletCode ?? string.Empty,
                SourceAddress = currentTask.RobotSourceAddress ?? string.Empty,
                TargetAddress = currentTask.RobotTargetAddress ?? string.Empty,
                Roadway = roadway,
                WarehouseId = warehouseId,
                PalletType = 1,
                TaskType = 4
            };

            var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), taskDto.ToJsonString(), nameof(ConfigKey.CreateTaskInboundAsync));
            if (!result.Status)
            {
                return;
            }

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

            var taskInfo = _latestTaskService.QueryByTaskNum(taskDTO.TaskNum);
            if (taskInfo == null) return;

            string targetAddress = useSourceAddress ? taskDTO.SourceAddress : taskDTO.TargetAddress;

            IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == targetAddress));
            device?.Communicator.Write(nameof(ConveyorLineDBNameNew.Target), taskInfo.NextAddress);
            device?.Communicator.Write(nameof(ConveyorLineDBNameNew.TaskNo), taskDTO.TaskNum);
            device?.Communicator.Write(nameof(ConveyorLineDBNameNew.WCS_STB), 1);
        }

        /// <summary>
        /// 机械手前缀命令处理
        /// </summary>
        /// <param name="message"></param>
        /// <returns></returns>
        private static bool IsPrefixCommand(string message)
        {
            return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
        }

        private static StockDTO BuildStockDTO(RobotSocketState state, int[] positions)
        {
            return new StockDTO
            {
                SourceLineNo = state.CurrentTask?.RobotSourceAddressLineCode,
                SourcePalletNo = state.CurrentTask?.RobotSourceAddressPalletCode,
                TargetPalletNo = state.CurrentTask?.RobotTargetAddressPalletCode,
                TargetLineNo = state.CurrentTask?.RobotTargetAddressLineCode,
                Details = positions
                    .Where(x => x > 0)
                    .OrderBy(x => x)
                    .Select((x, idx) => new StockDetailDTO
                    {
                        Quantity = state.CurrentTask?.RobotTaskTotalNum ?? 1,
                        Channel = x,
                        CellBarcode = !state.CellBarcode.IsNullOrEmpty() ? state.CellBarcode[idx] : ""
                    })
                    .ToList()
            };
        }

        private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
        {
            return _robotTaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
        }
    }

    public class RobotSocketState
    {
        public string IPAddress { get; set; } = string.Empty;

        /// <summary>
        /// 是否已订阅消息事件
        /// </summary>
        public bool IsEventSubscribed { get; set; }

        /// <summary>
        /// 机械手运行模式
        /// </summary>
        public int? RobotRunMode { get; set; }

        /// <summary>
        /// 机械手控制模式
        /// </summary>
        public int? RobotControlMode { get; set; }

        /// <summary>
        /// 机械手是否抓取物料，0-无物料，1-有物料
        /// </summary>
        public int? RobotArmObject { get; set; }

        /// <summary>
        /// 机械手设备信息
        /// </summary>
        public RobotCraneDevice? RobotCrane { get; set; }

        /// <summary>
        /// 当前动作
        /// </summary>
        public string? CurrentAction { get; set; }

        /// <summary>
        /// 当前状态
        /// </summary>
        public string? OperStatus { get; set; }

        /// <summary>
        /// 取货完成位置
        /// </summary>
        public int[]? LastPickPositions { get; set; }

        /// <summary>
        /// 放货完成位置
        /// </summary>
        public int[]? LastPutPositions { get; set; }

        /// <summary>
        /// 抓取位置条码
        /// </summary>
        public List<string> CellBarcode { get; set; } = new();

        /// <summary>
        /// 当前抓取任务
        /// </summary>
        public Dt_RobotTask? CurrentTask { get; set; }

        /// <summary>
        /// 是否需要拆盘
        /// </summary>
        public bool IsSplitPallet { get; set; }

        /// <summary>
        /// 是否需要组盘
        /// </summary>
        public bool IsGroupPallet { get; set; }

        /// <summary>
        /// 任务总数
        /// </summary>
        public int RobotTaskTotalNum { get; set; }
    }
}