feat: 更新机器人任务处理逻辑和接口配置

wanshenmean

10 小时以前 b6c983ac19c0c80744795e122575f4b9ac145414

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs

@@ -1,4 +1,5 @@
using MapsterMapper;
using Masuit.Tools;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.Logging;
using Newtonsoft.Json;
@@ -40,6 +41,12 @@
        /// 任务服务
        /// </summary>
        private readonly ITaskService _taskService;


        /// <summary>
        /// 机器人任务服务
        /// </summary>
        private readonly IRobotTaskService _robotTaskService;

        /// <summary>
        /// 任务执行明细服务
@@ -93,7 +100,7 @@
        /// <param name="mapper">对象映射器</param>
        /// <param name="httpClientHelper">HTTP 客户端帮助类</param>
        /// <param name="logger">日志记录器</param>
        public CommonConveyorLineNewJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IMapper mapper, HttpClientHelper httpClientHelper, ILogger<CommonConveyorLineNewJob> logger)
        public CommonConveyorLineNewJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IMapper mapper, HttpClientHelper httpClientHelper, ILogger<CommonConveyorLineNewJob> logger, IRobotTaskService robotTaskService)
        {
            _taskService = taskService;
            _taskExecuteDetailService = taskExecuteDetailService;
@@ -101,6 +108,7 @@
            _mapper = mapper;
            _httpClientHelper = httpClientHelper;
            _logger = logger;
            _robotTaskService = robotTaskService;

            // 初始化调度处理器
            _conveyorLineDispatch = new ConveyorLineDispatchHandler(_taskService, _taskExecuteDetailService, _routerService, _mapper, _logger);
@@ -133,8 +141,7 @@
                    if (childDeviceCodes == null || childDeviceCodes.Count == 0)
                    {
                        // 没有子设备，直接返回
                        _logger.LogInformation("输送线 {DeviceCode} 没有子设备", conveyorLine.DeviceCode);
                        QuartzLogger.Info($"输送线 {conveyorLine.DeviceCode} 没有子设备", conveyorLine.DeviceCode);
                        QuartzLogHelper.LogInfo(_logger, "输送线 {DeviceCode} 没有子设备", $"输送线 {conveyorLine.DeviceCode} 没有子设备", conveyorLine.DeviceCode, conveyorLine.DeviceCode);
                        return Task.CompletedTask;
                    }

@@ -144,9 +151,6 @@
                    //    // 限制并发数：子设备数量和 CPU 核心数*2 的较小值
                    //    MaxDegreeOfParallelism = Math.Min(childDeviceCodes.Count, Environment.ProcessorCount * 2),
                    //};

                    //_logger.LogDebug("Execute：开始并行处理输送线 {DeviceCode}，子设备数量: {Count}", conveyorLine.DeviceCode, childDeviceCodes.Count);
                    //QuartzLogger.Debug($"开始并行处理输送线，子设备数量: {childDeviceCodes.Count}", conveyorLine.DeviceCode);

                    // 并行处理每个子设备
                    //Parallel.For(0, childDeviceCodes.Count, parallelOptions, i =>
@@ -162,11 +166,10 @@
                            // 如果命令为空，跳过
                            if (command == null)
                            {
                                _logger.LogDebug("Execute：子设备 {ChildDeviceCode} 命令为空，跳过", childDeviceCode);
                                QuartzLogger.Debug($"子设备 {childDeviceCode} 命令为空，跳过", conveyorLine.DeviceCode);
                                continue;
                            }

                            #region 检测是否需要空托盘

                            // ========== 检查特定位置是否有托盘 ==========
                            // 从配置中读取需要检查托盘的位置列表
@@ -185,8 +188,7 @@
                                    {
                                        // 没有任务，向 WMS 请求出库托盘任务
                                        var position = checkPalletPositions.FirstOrDefault(x => x.Code == childDeviceCode);
                                        _logger.LogInformation("Execute：检查托盘位置 {ChildDeviceCode}，请求WMS出库托盘任务", childDeviceCode);
                                        QuartzLogger.Info($"检查托盘位置 {childDeviceCode}，请求WMS出库托盘任务", conveyorLine.DeviceCode);
                                        QuartzLogHelper.LogInfo(_logger, "Execute：检查托盘位置 {ChildDeviceCode}，请求WMS出库托盘任务", $"检查托盘位置 {childDeviceCode}，请求WMS出库托盘任务", conveyorLine.DeviceCode, childDeviceCode);

                                        var responseResult = _httpClientHelper.Post<WebResponseContent>("GetOutBoundTrayTaskAsync", new CreateTaskDto()
                                        {
@@ -205,6 +207,8 @@
                                    }
                                }
                            }

                            #endregion

                            // ========== 检查 PLC_STB 标志 ==========
                            // 只有当 PLC_STB 为 1 时才处理任务
@@ -226,8 +230,7 @@
                                }
                                catch (Exception ex)
                                {
                                    _logger.LogError(ex, "处理手动入库任务异常");
                                    QuartzLogger.Error($"处理手动入库任务异常: {ex.Message}", "CommonConveyorLineNewJob", ex);
                                    QuartzLogHelper.LogError(_logger, ex, "处理手动入库任务异常", $"处理手动入库任务异常: {ex.Message}", "CommonConveyorLineNewJob");
                                }
                                continue;
                            }
@@ -236,8 +239,6 @@
                            // 无托盘条码时，请求出库任务
                            if (command.Barcode.IsNullOrEmpty() || command.Barcode.Replace("\0", "") == "")
                            {
                                _logger.LogDebug("Execute：子设备 {ChildDeviceCode} 无托盘条码，请求出库任务", childDeviceCode);
                                QuartzLogger.Debug($"子设备 {childDeviceCode} 无托盘条码，请求出库任务", conveyorLine.DeviceCode);
                                _conveyorLineDispatch.RequestOutbound(conveyorLine, command, childDeviceCode);
                                continue;
                            }
@@ -249,19 +250,47 @@
                                Dt_Task task = _taskService.QueryExecutingConveyorLineTask(command.TaskNo, childDeviceCode);
                                if (!task.IsNullOrEmpty())
                                {
                                    _logger.LogInformation("Execute：子设备 {ChildDeviceCode} 处理任务 {TaskNum}，状态: {Status}", childDeviceCode, task.TaskNum, task.TaskStatus);
                                    QuartzLogger.Info($"处理任务 {task.TaskNum}，状态: {task.TaskStatus}", conveyorLine.DeviceCode);
                                    QuartzLogHelper.LogInfo(_logger, "Execute：子设备 {ChildDeviceCode} 处理任务 {TaskNum}，状态: {Status}", $"处理任务 {task.TaskNum}，状态: {task.TaskStatus}", conveyorLine.DeviceCode, childDeviceCode, task.TaskNum, task.TaskStatus);
                                    // 处理任务状态（根据状态分发到不同方法）
                                    ProcessTaskState(conveyorLine, command, task, childDeviceCode);
                                    return Task.CompletedTask;
                                }
                                else if (command.TaskNo == 1 && !command.Barcode.IsNullOrEmpty() && childDeviceCode == "11068")
                                {
                                    if (_robotTaskService.Db.Queryable<Dt_RobotTask>().Any(x => x.RobotTargetAddressPalletCode == command.Barcode))
                                    {
                                        return Task.CompletedTask;
                                    }

                                    Random rnd = new Random();
                                    int num = rnd.StrictNext();//产生真随机数
                                                               // 没有任务号但有条码并且在11068位置，直接添加机械手组盘任务
                                    Dt_RobotTask robotTask = new Dt_RobotTask
                                    {
                                        RobotTargetAddressPalletCode = command.Barcode,
                                        RobotSourceAddress = "1",
                                        RobotTargetAddress = "2", // 机械手目标地址
                                        RobotTaskType = (int)RobotTaskTypeEnum.GroupPallet, // 组盘任务
                                        RobotTaskState = (int)TaskRobotStatusEnum.RobotNew, // 待执行
                                        RobotTaskTotalNum = 48,
                                        RobotGrade = 1,
                                        RobotRoadway = "注液组盘机械手",
                                        RobotTargetAddressLineCode = childDeviceCode,
                                        RobotTaskNum = num, // 生成任务号
                                        RobotDispatchertime = DateTime.Now,

                                    };
                                    if (_robotTaskService.AddData(robotTask).Status)
                                    {
                                        conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, (short)1, childDeviceCode);
                                    }
                                }
                            }
                        }
                        catch (Exception innerEx)
                        {
                            // 记录异常，但不影响其他子设备的处理
                            _logger.LogError(innerEx, "Execute：子设备 {ChildDeviceCode} 处理异常，CorrelationId: {CorrelationId}", childDeviceCode, correlationId);
                            QuartzLogger.Error($"子设备处理异常: {innerEx.Message}", conveyorLine.DeviceCode, innerEx);
                            QuartzLogHelper.LogError(_logger, innerEx, "Execute：子设备 {ChildDeviceCode} 处理异常，CorrelationId: {CorrelationId}", $"子设备处理异常: {innerEx.Message}", conveyorLine.DeviceCode, childDeviceCode, correlationId);
                        }
                    }
                }
@@ -269,8 +298,7 @@
            catch (Exception ex)
            {
                // 记录整体异常
                _logger.LogError(ex, "Execute：输送线 {DeviceCode} 执行异常", ex.Message);
                QuartzLogger.Error($"输送线执行异常: {ex.Message}", "CommonConveyorLineNewJob", ex);
                QuartzLogHelper.LogError(_logger, ex, "Execute：输送线 {DeviceCode} 执行异常", $"输送线执行异常: {ex.Message}", "CommonConveyorLineNewJob", ex.Message);
            }
            return Task.CompletedTask;
        }