SuZhouGuanHong/ShanMeiXinNengYuan.git

			@@ -5,6 +5,7 @@
			using System.Net.Sockets;
			using System.Text.Json;
			using WIDESEAWCS_Common.HttpEnum;
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_Core;
			using WIDESEAWCS_Core.Helper;
			using WIDESEAWCS_Core.Http;
			@@ -22,18 +23,26 @@
			[DisallowConcurrentExecution]
			public class RobotJob : IJob
			{
			private const int MaxTaskTotalNum = 48;

			private readonly TcpSocketServer _TcpSocket;
			private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
			private static int _eventSubscribedFlag;
			private readonly IRobotTaskService _taskService;
			private readonly ITaskExecuteDetailService _taskExecuteDetailService;
			private readonly ITaskRepository _taskRepository;
			private readonly IRouterService _routerService;

			public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService taskService)
			private readonly ITaskService _taskService;
			private readonly IRobotTaskService _robotTaskService;

			private static IRobotTaskService _latestRobotTaskService = null!;
			private static ITaskService _latestTaskService = null!;

			public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService)
			{
			_TcpSocket = TcpSocket;
			_taskService = taskService;
			_robotTaskService = RobottaskService;
			_taskService = TaskService;

			_latestRobotTaskService = RobottaskService;
			_latestTaskService = TaskService;
			}

			public async Task Execute(IJobExecutionContext context)
			@@ -73,40 +82,91 @@

			if (!state.IsEventSubscribed)
			{
			_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client);
			Task clientTask = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state);
			state.IsEventSubscribed = true;
			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;
			}
			}

			// 获取任务并缓存到状态中
			Dt_RobotTask? task = GetTask(robotCrane);
			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 != 48)
			if (task.RobotTaskTotalNum <= MaxTaskTotalNum)
			{
			// 处理正在执行的任务
			if (state.RobotRunMode == 1 && state.RobotControlMode == 1)
			if (state.RobotRunMode == 2 && state.RobotControlMode == 1 && state.OperStatus != "Running")
			{
			await Task.Delay(1000);
			if ((state.CurrentAction == "Homed" \|\| state.CurrentAction == "PickFinished" \|\| state.CurrentAction == "PutFinished") && state.OperStatus == "Running")
			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
			if (true)
			{
			// 模拟读取条码
			state.CellBarcode = new string[] { "CellBarcode1", "CellBarcode2", "CellBarcode3", "CellBarcode4" };
			// 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";

			// 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);
			}
			}
			}
			}
			}
			}
			}

			return;
			//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>
			@@ -130,11 +190,11 @@
			/// <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))
			if (await IsSimpleCommandAsync(messageLower, state))
			{
			await _TcpSocket.SendMessageAsync(client, message);
			return null;
			}

			@@ -143,79 +203,70 @@
			try
			{
			var parts = message.Split(',');
			if (parts.Length >= 1)
			if (parts.Length >= 1 && state.CurrentTask != null)
			{
			var cmd = parts[0].ToLowerInvariant();
			int[] positions = new int[4];
			for (int i = 1; i <= 4 && i < parts.Length; i++)
			{
			int.TryParse(parts[i], out positions[i - 1]);
			}
			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"))
			{
			StockDTO stockDTO = new StockDTO
			if (state.IsSplitPallet)
			{
			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()
			};
			state.LastPickPositions = positions;
			var stockDTO = BuildStockDTO(state, positions);
			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);
			var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.SplitPalletAsync));

			if (content.Status)
			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"))
			{
			state.LastPutPositions = positions;
			if (state.CurrentTask?.RobotTaskType == 1)
			bool putSuccess = true;
			if (state.IsGroupPallet)
			{
			// 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";
			}
			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 { }
			catch (Exception ex)
			{
			Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
			}

			await _TcpSocket.SendMessageAsync(client, message);

			return null;
			}
			@@ -229,16 +280,16 @@
			/// <param name="message"></param>
			/// <param name="state"></param>
			/// <returns></returns>
			private bool IsSimpleCommand(string message, RobotSocketState state)
			private static async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
			{
			switch (message)
			{
			case "homing":
			state.CurrentAction = "Homing";
			state.OperStatus = "Homing";
			return true;

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

			case "picking":
			@@ -249,29 +300,19 @@
			state.CurrentAction = "Putting";
			return true;

			case "allpickfinished":
			case "allpickfinished": // 取货完成
			state.CurrentAction = "AllPickFinished";
			if (state.CurrentTask?.RobotTaskType == 2 \|\| state.CurrentTask?.RobotTaskType == 3)
			if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode() \|\| state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
			{
			// TODO 机械手取货完成，判断是否换盘、拆盘任务，创建空托盘回库任务
			await HandleInboundTaskAsync(state, useSourceAddress: true);
			}
			return true;

			case "allputfinished":
			case "allputfinished": // 放货完成
			state.CurrentAction = "AllPutFinished";
			if (state.CurrentTask?.RobotTaskType == 1)
			if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() \|\| state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
			{
			// TODO 机械手取货完成，判断是否组盘任务，创建组盘入库任务
			CreateTaskDto taskDto = new CreateTaskDto()
			{
			PalletCode = state.CurrentTask?.RobotTargetAddressPalletCode ?? string.Empty,
			SourceAddress = state.CurrentTask?.RobotTargetAddress ?? string.Empty,
			TargetAddress = state.CurrentTask?.RobotTargetAddress ?? string.Empty,
			Roadway = state.CurrentTask?.RobotRoadway == "1" ? "GWSC001" : state.CurrentTask?.RobotRoadway == "2" ? "HCSC001" : "SC001" ?? string.Empty,
			WarehouseId = state.CurrentTask?.RobotRoadway == "1" ? 1 : state.CurrentTask?.RobotRoadway == "2" ? 2 : 3,
			PalletType = 1,
			TaskType = 4
			};
			await HandleInboundTaskAsync(state, useSourceAddress: false);
			}
			return true;

			@@ -320,6 +361,49 @@
			}
			}

			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>
			@@ -330,9 +414,30 @@
			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 _taskService.QueryRobotCraneTask(robotCrane.DeviceCode);
			return _robotTaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
			}
			}

			@@ -356,7 +461,7 @@
			public int? RobotControlMode { get; set; }

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

			@@ -388,11 +493,26 @@
			/// <summary>
			/// 抓取位置条码
			/// </summary>
			public string[] CellBarcode { get; set; }
			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; }
			}
			}