| | |
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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 Quartz; |
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| | | using WIDESEA_Core; |
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| | | using WIDESEAWCS_Common.TaskEnum; |
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| | | using WIDESEAWCS_Core.Caches; |
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| | | using WIDESEAWCS_Core.Helper; |
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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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| | | |
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| | | namespace WIDESEAWCS_Tasks |
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| | | { |
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| | | /// <summary> |
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| | | /// 机械手任务作业 - 负责协调机械手客户端连接、消息处理和任务执行 |
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| | | /// </summary> |
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| | | [DisallowConcurrentExecution] |
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| | | public class RobotJob : IJob |
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| | | { |
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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 ITaskExecuteDetailService _taskExecuteDetailService; |
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| | | private readonly ITaskRepository _taskRepository; |
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| | | private readonly IRouterService _routerService; |
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| | | private const int MaxTaskTotalNum = 48; |
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| | | |
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| | | public RobotJob(TcpSocketServer TcpSocket, ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService) |
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| | | private static int _messageSubscribedFlag; |
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| | | |
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| | | private readonly RobotClientManager _clientManager; |
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| | | private readonly RobotStateManager _stateManager; |
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| | | private readonly RobotMessageHandler _messageHandler; |
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| | | private readonly RobotTaskProcessor _taskProcessor; |
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| | | private readonly IRobotTaskService _robotTaskService; |
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| | | |
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| | | public RobotJob( |
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| | | TcpSocketServer tcpSocket, |
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| | | IRobotTaskService robotTaskService, |
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| | | ITaskService taskService, |
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| | | ICacheService cache, |
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| | | HttpClientHelper httpClientHelper) |
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| | | { |
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| | | _TcpSocket = TcpSocket; |
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| | | _taskService = taskService; |
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| | | _taskExecuteDetailService = taskExecuteDetailService; |
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| | | _taskRepository = taskRepository; |
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| | | _routerService = routerService; |
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| | | _robotTaskService = robotTaskService; |
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| | | |
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| | | // 初始化管理器 |
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| | | _stateManager = new RobotStateManager(cache); |
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| | | _taskProcessor = new RobotTaskProcessor(tcpSocket, _stateManager, robotTaskService, taskService, httpClientHelper); |
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| | | _clientManager = new RobotClientManager(tcpSocket, _stateManager); |
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| | | _messageHandler = new RobotMessageHandler(tcpSocket, _stateManager, cache, robotTaskService, _taskProcessor); |
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| | | |
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| | | // 订阅客户端管理器的事件 |
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| | | _clientManager.OnClientDisconnected += OnClientDisconnected; |
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| | | |
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| | | // 订阅TCP服务器的消息事件（全局只订阅一次） |
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| | | if (System.Threading.Interlocked.CompareExchange(ref _messageSubscribedFlag, 1, 0) == 0) |
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| | | { |
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| | | tcpSocket.MessageReceived += _messageHandler.HandleMessageReceivedAsync; |
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| | | Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 机器人TCP消息事件已订阅"); |
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| | | } |
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| | | } |
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| | | |
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| | | public Task Execute(IJobExecutionContext context) |
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| | | /// <summary> |
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| | | /// 客户端断开连接时的处理 |
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| | | /// </summary> |
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| | | private void OnClientDisconnected(object? sender, RobotSocketState state) |
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| | | { |
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| | | // 可以在这里添加断开连接后的处理逻辑 |
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| | | Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 客户端已断开连接: {state.IPAddress}"); |
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| | | } |
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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 Task.CompletedTask; |
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| | | return; |
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| | | } |
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| | | |
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| | | string ipAddress = robotCrane.IPAddress; |
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| | | |
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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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| | | |
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| | | // 更新设备信息 |
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| | | RobotSocketState state = _stateManager.GetOrCreateState(ipAddress, robotCrane); |
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| | | state.RobotCrane = robotCrane; |
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| | | |
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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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| | | try |
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| | | { |
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| | | return Task.CompletedTask; |
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| | | } |
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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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| | | |
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| | | if (!state.IsEventSubscribed) |
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| | | { |
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| | | _TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client); |
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| | | Task clientTask = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state); |
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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_Task? task = GetTask(robotCrane); |
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| | | if (task != null) |
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| | | { |
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| | | state.CurrentTask = task; |
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| | | } |
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| | | |
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| | | return Task.CompletedTask; |
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| | | } |
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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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| | | |
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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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| | | |
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| | | if (IsSimpleCommand(messageLower, state)) |
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| | | { |
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| | | return null; |
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| | | } |
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| | | |
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| | | if (IsPrefixCommand(messageLower)) |
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| | | { |
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| | | try |
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| | | // 确保客户端已连接并订阅消息事件 |
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| | | if (!_clientManager.EnsureClientSubscribed(ipAddress, robotCrane)) |
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| | | { |
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| | | var parts = message.Split(','); |
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| | | if (parts.Length >= 1) |
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| | | { |
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| | | var cmd = parts[0].ToLowerInvariant(); |
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| | | int[] positions = new int[4]; |
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| | | for (int i = 1; i <= 4 && i < parts.Length; i++) |
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| | | { |
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| | | int.TryParse(parts[i], out positions[i - 1]); |
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| | | } |
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| | | return; // 客户端未连接或订阅失败，跳过本次执行 |
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| | | } |
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| | | |
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| | | if (cmd.StartsWith("pickfinished")) |
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| | | { |
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| | | state.LastPickPositions = positions; |
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| | | state.CurrentAction = "PickFinished"; |
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| | | } |
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| | | else if (cmd.StartsWith("putfinished")) |
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| | | { |
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| | | state.LastPutPositions = positions; |
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| | | state.CurrentAction = "PutFinished"; |
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| | | } |
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| | | // 获取任务并处理 |
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| | | Dt_RobotTask? task = _taskProcessor.GetTask(robotCrane); |
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| | | if (task != null) |
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| | | { |
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| | | // 每次判断前重新从缓存获取最新状态 |
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| | | var latestState = _stateManager.GetState(ipAddress); |
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| | | if (latestState == null) return; |
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| | | |
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| | | if (latestState.RobotTaskTotalNum < MaxTaskTotalNum) |
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| | | { |
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| | | await ProcessTaskAsync(latestState, task, ipAddress); |
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| | | } |
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| | | } |
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| | | catch { } |
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| | | |
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| | | return null; |
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| | | } |
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| | | |
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| | | return null; |
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| | | } |
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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 bool IsSimpleCommand(string message, RobotSocketState state) |
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| | | { |
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| | | switch (message) |
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| | | catch (Exception) |
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| | | { |
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| | | case "homing": |
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| | | state.CurrentAction = "Homing"; |
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| | | return true; |
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| | | |
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| | | case "homed": |
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| | | state.CurrentAction = "Homed"; |
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| | | return true; |
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| | | |
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| | | case "picking": |
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| | | state.CurrentAction = "Picking"; |
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| | | return true; |
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| | | |
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| | | case "puting": |
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| | | state.CurrentAction = "Putting"; |
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| | | return true; |
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| | | |
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| | | case "allpickfinished": |
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| | | state.CurrentAction = "AllPickFinished"; |
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| | | return true; |
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| | | |
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| | | case "allputfinished": |
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| | | state.CurrentAction = "AllPutFinished"; |
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| | | return true; |
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| | | |
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| | | case "running": |
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| | | state.OperStatus = "Running"; |
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| | | return true; |
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| | | |
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| | | case "pausing": |
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| | | state.OperStatus = "Pausing"; |
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| | | return true; |
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| | | |
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| | | case "warming": |
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| | | state.OperStatus = "Warming"; |
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| | | return true; |
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| | | |
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| | | case "emstoping": |
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| | | state.OperStatus = "Emstoping"; |
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| | | return true; |
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| | | |
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| | | case "runmode,1": |
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| | | state.RobotRunMode = 1; |
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| | | return true; |
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| | | |
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| | | case "runmodemode,2": |
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| | | state.RobotRunMode = 2; |
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| | | return true; |
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| | | |
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| | | case "controlmode,1": |
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| | | state.RobotControlMode = 1; |
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| | | return true; |
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| | | |
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| | | case "controlmode,2": |
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| | | state.RobotControlMode = 2; |
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| | | return true; |
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| | | |
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| | | case "armobject,1": |
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| | | state.RobotArmObject = 1; |
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| | | return true; |
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| | | |
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| | | case "armobject,0": |
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| | | state.RobotArmObject = 0; |
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| | | return true; |
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| | | |
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| | | default: |
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| | | return false; |
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| | | // 异常处理已在各组件中处理 |
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| | | } |
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| | | } |
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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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| | | /// 处理机械手任务 |
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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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| | | private async Task ProcessTaskAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress) |
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| | | { |
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| | | return message.StartsWith("pickfinished") || message.StartsWith("putfinished"); |
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| | | // 处理正在执行的任务 |
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| | | if (latestState.RobotRunMode == 2 && latestState.RobotControlMode == 1 && latestState.OperStatus != "Running") |
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| | | { |
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| | | // 取货完成状态处理 |
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| | | if ((latestState.CurrentAction == "PickFinished" || latestState.CurrentAction == "AllPickFinished") && latestState.RobotArmObject == 1 && |
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| | | task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode()) |
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| | | { |
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| | | await HandlePickFinishedStateAsync(latestState, task, ipAddress); |
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| | | } |
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| | | // 放货完成状态处理 |
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| | | else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished") && latestState.OperStatus == "Homed" && |
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| | | latestState.RobotArmObject == 0 && |
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| | | (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode() || |
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| | | task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())) |
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| | | { |
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| | | await HandlePutFinishedStateAsync(latestState, task, ipAddress); |
|---|
| | | } |
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| | | } |
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| | | } |
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| | | |
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| | | private Dt_Task? GetTask(RobotCraneDevice robotCrane) |
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| | | /// <summary> |
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| | | /// 处理取货完成状态 |
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| | | /// </summary> |
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| | | private async Task HandlePickFinishedStateAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress) |
|---|
| | | { |
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| | | return _taskService.QueryRobotCraneTask(robotCrane.DeviceCode); |
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| | | string taskString = $"Putbattery,{task.RobotTargetAddress}"; |
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| | | bool result = await _clientManager.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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| | | |
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| | | // 重新获取最新状态并更新 |
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| | | var stateToUpdate = _stateManager.GetState(ipAddress); |
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| | | if (stateToUpdate != null) |
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| | | { |
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| | | stateToUpdate.CurrentTask = task; |
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| | | if (_stateManager.TryUpdateStateSafely(ipAddress, stateToUpdate)) |
|---|
| | | await _robotTaskService.UpdateRobotTaskAsync(task); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
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| | | |
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| | | /// <summary> |
|---|
| | | /// 处理放货完成状态 |
|---|
| | | /// </summary> |
|---|
| | | private async Task HandlePutFinishedStateAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress) |
|---|
| | | { |
|---|
| | | // 重新获取最新状态 |
|---|
| | | var stateForUpdate = _stateManager.GetState(ipAddress); |
|---|
| | | if (stateForUpdate == null) return; |
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| | | |
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| | | if (!stateForUpdate.IsSplitPallet && !stateForUpdate.IsGroupPallet) |
|---|
| | | { |
|---|
| | | stateForUpdate.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode(); |
|---|
| | | stateForUpdate.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || |
|---|
| | | task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode(); |
|---|
| | | } |
|---|
| | | |
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| | | if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode()) |
|---|
| | | { |
|---|
| | | string prefix = "TRAY"; |
|---|
| | | |
|---|
| | | // 生成两个托盘条码 |
|---|
| | | string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix); |
|---|
| | | string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix); |
|---|
| | | if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty()) |
|---|
| | | { |
|---|
| | | stateForUpdate.CellBarcode.Add(trayBarcode1); |
|---|
| | | stateForUpdate.CellBarcode.Add(trayBarcode2); |
|---|
| | | await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | else // 任务开始执行直接发送取货地址 |
|---|
| | | { |
|---|
| | | await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | 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> |
|---|
| | | /// 机械手抓取对象 |
|---|
| | | /// </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> |
|---|
| | | /// 当前抓取任务 |
|---|
| | | /// </summary> |
|---|
| | | public Dt_Task? CurrentTask { get; set; } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
