更新机器人工作流逻辑、配置并添加电子表格

wanshenmean

10 天以前 b1f5b17a608d3d9c06ce216c7e1effc5edcc7b74

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

@@ -1,5 +1,7 @@
using Microsoft.Extensions.Logging;
using WIDESEA_Core;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
@@ -58,22 +60,30 @@
        private readonly IRobotTaskService _robotTaskService;

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

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="stateManager">状态管理器</param>
        /// <param name="clientManager">客户端管理器</param>
        /// <param name="taskProcessor">任务处理器</param>
        /// <param name="robotTaskService">任务服务</param>
        /// <param name="logger">日志记录器</param>
        public RobotWorkflowOrchestrator(
            RobotStateManager stateManager,
            RobotClientManager clientManager,
            RobotTaskProcessor taskProcessor,
            IRobotTaskService robotTaskService)
            IRobotTaskService robotTaskService,
            ILogger logger)
        {
            _stateManager = stateManager;
            _clientManager = clientManager;
            _taskProcessor = taskProcessor;
            _robotTaskService = robotTaskService;
            _logger = logger;
        }

        /// <summary>
@@ -100,33 +110,42 @@
            // 检查是否满足自动控制条件：
            // 1. 运行模式为自动（2）
            // 2. 控制模式为客户端控制（1）
            // 3. 运行状态不是 Running（说明已完成当前动作）
            if (latestState.RobotRunMode == 2 && latestState.RobotControlMode == 1 && latestState.OperStatus != "Running")
            // 3. 运行状态是 Running
            if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running")
            {
                if(latestState.CurrentAction == "Picking" ||  latestState.CurrentAction == "Puting")
                {
                    return;
                }

                // ========== 取货完成后的放货处理 ==========
                // 条件：
                // - 当前动作是 PickFinished 或 AllPickFinished（取货完成）
                // - 手臂上有物料（RobotArmObject == 1）
                // - 任务状态为 RobotPickFinish（已记录取货完成）
                if ((latestState.CurrentAction == "PickFinished" || latestState.CurrentAction == "AllPickFinished")
                    && latestState.RobotArmObject == 1
                    && latestState.RobotArmObject == 0
                    && task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode())
                {
                    _logger.LogInformation("ExecuteAsync：满足放货条件，开始处理取货完成，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Info($"ExecuteAsync：满足放货条件，开始处理取货完成", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    // 发送放货指令
                    await HandlePickFinishedStateAsync(task, ipAddress);
                }
                // ========== 放货完成后的取货处理 ==========

                // ========== 初始化或者放货完成后的取货处理 ==========
                // 条件：
                // - 当前动作是 PutFinished、AllPutFinished 或 null（放货完成）
                // - 运行状态为 Homed（已归位）
                // - 手臂上无物料（RobotArmObject == 0）
                // - 任务状态为 RobotPutFinish 或不是 RobotExecuting
                else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction == null)
                    && latestState.OperStatus == "Homed"
                else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction.IsNullOrEmpty())
                    && latestState.RobotArmObject == 0
                    && (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode()
                    || task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
                {
                    _logger.LogInformation("ExecuteAsync：满足取货条件，开始处理放货完成，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Info($"ExecuteAsync：满足取货条件，开始处理放货完成", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    // 发送取货指令
                    await HandlePutFinishedStateAsync(task, ipAddress);
                }
@@ -155,8 +174,9 @@

            if (result)
            {
                // 发送成功，记录日志
                QuartzLogger.Info($"下发放货指令，指�?: {taskString}", task.RobotRoadway);
                // 发送成功，记录 Info 日志
                _logger.LogInformation("HandlePickFinishedStateAsync：下发放货指令成功，指令: {TaskString}，任务号: {TaskNum}", taskString, task.RobotTaskNum);
                QuartzLogger.Info($"下发放货指令成功，指令: {taskString}", task.RobotRoadway);

                // 更新任务状态为"机器人执行中"
                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
@@ -174,6 +194,12 @@
                        await _robotTaskService.UpdateRobotTaskAsync(task);
                    }
                }
            }
            else
            {
                // 发送失败，记录 Error 日志
                _logger.LogError("HandlePickFinishedStateAsync：下发放货指令失败，指令: {TaskString}，任务号: {TaskNum}", taskString, task.RobotTaskNum);
                QuartzLogger.Error($"下发放货指令失败，指令: {taskString}", task.RobotRoadway);
            }
        }

@@ -202,6 +228,8 @@
            var stateForUpdate = _stateManager.GetState(ipAddress);
            if (stateForUpdate == null)
            {
                _logger.LogWarning("HandlePutFinishedStateAsync：获取状态失败，IP: {IpAddress}", ipAddress);
                QuartzLogger.Warn($"HandlePutFinishedStateAsync：获取状态失败，IP: {ipAddress}", ipAddress);
                return;
            }

@@ -231,12 +259,19 @@
                    stateForUpdate.CellBarcode.Add(trayBarcode1);
                    stateForUpdate.CellBarcode.Add(trayBarcode2);

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

                    // 发送取货指令
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
                }
                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);
                }
            }
            else
            {