完善组盘/换盘/拆盘接口及机器人业务流程

huangxiaoqiang

2026-02-06 b3f28f51ef169d246f42fd4fa4656cff2bcfe05d

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

@@ -1,7 +1,13 @@
using Quartz;
using HslCommunication;
using Newtonsoft.Json;
using Quartz;
using System.Collections.Concurrent;
using System.Net.Sockets;
using System.Text.Json;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.Http;
using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
@@ -123,6 +129,7 @@
        /// <returns></returns>
        private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, RobotSocketState state)
        {
            WebResponseContent content = new WebResponseContent();
            string messageLower = message.ToLowerInvariant();

            if (IsSimpleCommand(messageLower, state))
@@ -146,13 +153,6 @@

                        if (cmd.StartsWith("pickfinished"))
                        {
                            state.LastPickPositions = positions;
                            state.CurrentAction = "PickFinished";
                        }
                        else if (cmd.StartsWith("putfinished"))
                        {
                            state.LastPutPositions = positions;
                            // 发送数据给WMS组盘/换盘
                            StockDTO stockDTO = new StockDTO
                            {
                                SourceLineNo = state.CurrentTask?.RobotSourceAddressLineCode,
@@ -160,17 +160,57 @@
                                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 > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
                                        CellBarcode = state.CellBarcode[idx]
                                    })
                                    .ToList()
                                        .Where(x => x > 0)
                                        .OrderBy(x => x)
                                        .Select((x, idx) => new StockDetailDTO
                                        {
                                            Quantity = state.CurrentTask?.RobotTaskTotalNum ?? 1,
                                            Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
                                            CellBarcode = state.CellBarcode[idx]
                                        })
                                        .ToList()
                            };
                            state.CurrentAction = "PutFinished";
                            state.LastPickPositions = positions;

                            var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), state.CurrentTask?.RobotTaskType == 2 ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.SplitPalletAsync));
                            content = JsonConvert.DeserializeObject<WebResponseContent>(result);

                            if (content.Status)
                            {
                                state.CurrentAction = "PickFinished";
                            }
                        }
                        else if (cmd.StartsWith("putfinished"))
                        {
                            state.LastPutPositions = positions;
                            if (state.CurrentTask?.RobotTaskType == 1)
                            {
                                // 发送数据给WMS组盘/换盘
                                StockDTO stockDTO = 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 > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
                                            CellBarcode = state.CellBarcode[idx]
                                        })
                                        .ToList()
                                };
                                var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.GroupPalletAsync));
                                content = JsonConvert.DeserializeObject<WebResponseContent>(result);

                                if (content.Status)
                                {
                                    state.CurrentAction = "PutFinished";
                                }
                            }
                        }
                    }
                }