Merge branch 'dev' into xiaoyang

wanshenmean

2 天以前 ef57389fd66aca85d6fb4a73c0f7c1c1f7d607b2

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

@@ -1,4 +1,6 @@
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using Serilog;
using System.Net;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Model.Models;
@@ -42,15 +44,24 @@
        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>
        /// <param name="logger">日志记录器</param>
        public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway, ILogger logger)
        public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway, ILogger logger, RobotStateManager stateManager)
        {
            _taskProcessor = taskProcessor;
            _socketClientGateway = socketClientGateway;
            _logger = logger;
            _stateManager = stateManager;
        }

        /// <summary>
@@ -141,6 +152,25 @@

                    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;

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

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

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

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

@@ -187,8 +217,8 @@
                                    return false;
                                }

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

                                state.CurrentTask = null;
                                state.RobotTaskTotalNum = 0;
@@ -216,14 +246,14 @@
                                return false;
                            }

                            if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
                            {
                                QuartzLogHelper.LogError(_logger, $"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
                                return false;
                            }
                            //if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
                            //{
                            //    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");
                            QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
                            await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
                            QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);

                            state.ChangePalletPhase = 0;
                            state.CurrentBatchIndex = 1;
@@ -255,8 +285,8 @@
                                return false;
                            }

                            await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
                            QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
                            await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
                            QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
                            return true;
                        }
                        return false;
@@ -308,8 +338,8 @@
                                state.RobotTaskTotalNum = 0;
                                state.CellBarcode = new List<string>();

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

                                state.ChangePalletPhase = 0;
                                state.CurrentBatchIndex = 1;
@@ -344,8 +374,8 @@
                            state.RobotTaskTotalNum = 0;
                            state.CellBarcode = new List<string>();

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

                            state.ChangePalletPhase = 0;
                            state.CurrentBatchIndex = 1;
@@ -432,5 +462,17 @@
                    return false;
            }
        }

        public bool UpdateStatus(RobotSocketState state, bool isPick)
        {
            var task = _taskProcessor.GetRobotTask(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");
                return false;
            }
            task.RobotTaskState = (int)TaskRobotStatusEnum.RobotExecuting;
            return _taskProcessor.UpdateRobotTask(task);
        }
    }
}