Merge branch 'xiaoyang' into dev

wanshenmean

5 小时以前 e4921e003cc293fea714bdaf74dc6a6b6b750295

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

@@ -1,5 +1,9 @@
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using Serilog;
using System.Net;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.Workflow.Abstractions;

namespace WIDESEAWCS_Tasks.Workflow
@@ -35,13 +39,29 @@
        private readonly ISocketClientGateway _socketClientGateway;

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

        /// <summary>
        /// 机械手状态管理器
        /// </summary>
        /// <remarks>
        /// 用于读取和更新机器人的状态。
        /// </remarks>
        private readonly RobotStateManager _stateManager;

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="taskProcessor">任务处理器实例</param>
        public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway)
        /// <param name="logger">日志记录器</param>
        public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway, ILogger logger, RobotStateManager stateManager)
        {
            _taskProcessor = taskProcessor;
            _socketClientGateway = socketClientGateway;
            _logger = logger;
            _stateManager = stateManager;
        }

        /// <summary>
@@ -87,6 +107,8 @@
                // 机器人已完成回零
                case "homed":
                    state.Homed = "Homed";

                    await _socketClientGateway.SendToClientAsync(state.IPAddress, "Homed");
                    return true;

                // 机器人正在运行
@@ -124,6 +146,28 @@
                    state.BatteryArrived = true;
                    return true;

                // 是否电芯到位
                case "batteryarrivedno":
                    state.BatteryArrived = false;

                    await _socketClientGateway.SendToClientAsync(state.IPAddress, "batteryarrivedno");
                    return true;
                // ==================== 接收任务反馈 ====================

                // 取货接收
                case "pickbatteryover":
                    var isResult = UpdateStatus(state, true);
                    if (!isResult)
                        return false;
                    return true;

                // 放货接收
                case "putbatteryover":
                    isResult = UpdateStatus(state, false);
                    if (!isResult)
                        return false;
                    return true;

                // ==================== 全部完成命令 ====================

                // 全部取货完成
@@ -151,7 +195,7 @@
                            var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet, state.RobotCrane?.DeviceName);
                            if (!confirmResult.IsSuccess)
                            {
                                QuartzLogger.Error($"批量拆盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                                QuartzLogHelper.LogError(_logger, $"批量拆盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                                return false;
                            }

@@ -165,12 +209,12 @@

                                if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
                                {
                                    QuartzLogger.Error($"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                    QuartzLogHelper.LogError(_logger, $"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                    return false;
                                }

                                await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
                                QuartzLogger.Info($"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
                                QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);

                                state.CurrentTask = null;
                                state.RobotTaskTotalNum = 0;
@@ -200,12 +244,12 @@

                            if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
                            {
                                QuartzLogger.Error($"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                QuartzLogHelper.LogError(_logger, $"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                return false;
                            }

                            await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
                            QuartzLogger.Info($"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
                            QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);

                            state.ChangePalletPhase = 0;
                            state.CurrentBatchIndex = 1;
@@ -221,7 +265,7 @@
                            var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet, state.RobotCrane?.DeviceName);
                            if (!confirmResult.IsSuccess)
                            {
                                QuartzLogger.Error($"批量拆盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                                QuartzLogHelper.LogError(_logger, $"批量拆盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                                return false;
                            }

@@ -233,12 +277,12 @@
                            // 入库成功，删除任务记录
                            if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
                            {
                                QuartzLogger.Error($"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                QuartzLogHelper.LogError(_logger, $"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                return false;
                            }

                            await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
                            QuartzLogger.Info($"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
                            QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
                            return true;
                        }
                        return false;
@@ -268,7 +312,7 @@
                            var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet, state.RobotCrane?.DeviceName);
                            if (!confirmResult.IsSuccess)
                            {
                                QuartzLogger.Error($"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                                QuartzLogHelper.LogError(_logger, $"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                                return false;
                            }

@@ -282,7 +326,7 @@

                                if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
                                {
                                    QuartzLogger.Error($"allputfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                    QuartzLogHelper.LogError(_logger, $"allputfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                    return false;
                                }

@@ -291,7 +335,7 @@
                                state.CellBarcode = new List<string>();

                                await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
                                QuartzLogger.Info($"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
                                QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);

                                state.ChangePalletPhase = 0;
                                state.CurrentBatchIndex = 1;
@@ -318,7 +362,7 @@

                            if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
                            {
                                QuartzLogger.Error($"allputfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                QuartzLogHelper.LogError(_logger, $"allputfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                return false;
                            }

@@ -327,7 +371,7 @@
                            state.CellBarcode = new List<string>();

                            await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
                            QuartzLogger.Info($"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
                            QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);

                            state.ChangePalletPhase = 0;
                            state.CurrentBatchIndex = 1;
@@ -343,7 +387,7 @@
                            var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet, state.RobotCrane?.DeviceName);
                            if (!confirmResult.IsSuccess)
                            {
                                QuartzLogger.Error($"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                                QuartzLogHelper.LogError(_logger, $"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                                return false;
                            }

@@ -357,7 +401,7 @@
                            // 入库成功，删除任务记录
                            if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
                            {
                                QuartzLogger.Error($"allputfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                QuartzLogHelper.LogError(_logger, $"allputfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                return false;
                            }

@@ -367,7 +411,7 @@
                            state.CellBarcode = new List<string>();  // 清空条码列表

                            await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
                            QuartzLogger.Info($"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
                            QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
                            return true;
                        }
                        return false;
@@ -414,5 +458,17 @@
                    return false;
            }
        }

        public bool UpdateStatus(RobotSocketState state, bool isPick)
        {
            var task = _taskProcessor.GetTask(state?.RobotCrane);
            if (task == null)
            {
                QuartzLogHelper.LogError(_logger, $"取货接收失败: 未找到【{state?.RobotCrane}】的任务", state.RobotCrane?.DeviceName ?? "Unknown");
            }
            task.RobotTaskState = (int)TaskRobotStatusEnum.RobotExecuting;
            _taskProcessor.UpdateRobotTask(task);
            return true;
        }
    }
}