| | |
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| | | - Client connections stored in `ConcurrentDictionary<string, TcpClient>` |
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| | | - Messages handled via `OnDataReceived` event |
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| | | |
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| | | ## Robot Communication System |
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| | | |
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| | | The robot crane system uses a modular architecture with specialized components. |
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| | | |
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| | | **Components:** |
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| | | |
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| | | - `RobotClientManager` - Manages TCP client connections and subscriptions |
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| | | - `RobotStateManager` - Manages robot state cache with safe concurrent updates |
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| | | - `RobotMessageHandler` - Processes incoming TCP messages from robots |
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| | | - `RobotTaskProcessor` - Handles task execution and state transitions |
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| | | - `RobotBarcodeGenerator` - Generates tray/barcode identifiers |
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| | | |
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| | | **Task Types** (from `RobotTaskTypeEnum`): |
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| | | |
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| | | - `GroupPallet (500)` - 组盘任务 |
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| | | - `ChangePallet (510)` - 换盘任务 |
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| | | - `SplitPallet (520)` - 拆盘任务 |
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| | | |
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| | | **State Flow:** |
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| | | |
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| | | 1. Robot connects via TCP → ClientManager tracks connection |
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| | | 2. Job polls for tasks → TaskProcessor gets pending tasks |
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| | | 3. Message received → MessageHandler parses and updates state |
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| | | 4. State transitions → TaskProcessor sends commands back to robot |
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| | | |
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| | | ## Common Constants |
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| | | |
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| | | **Communication Timeouts** (`CommunicationConst`): |
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| | | |
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| | | - `WaitIntervalMs: 500` - Device wait interval |
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| | | - `WaitTimeoutBaseMs: 6000` - Timeout base |
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| | | - `WaitTotalTimeoutMs: 60000` - Total timeout (10 × base) |
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| | | - `PingIntervalMs: 100` - Ping check interval |
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| | | - `HttpDefaultTimeoutSeconds: 60` - HTTP timeout |
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| | | |
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| | | **System Integration URLs** (`BaseAPI`): |
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| | | |
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| | | - `WMSBaseUrl: "http://localhost:9291/api/"` - WMS system |
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| | | - `WCSBaseUrl: "http://localhost:9292/api/"` - WCS system (this server) |
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| | | - `MESBaseUrl: "http://localhost:9293/api/"` - MES system |
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| | | - `ERPBaseUrl: "http://localhost:9294/api/"` - ERP system |
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| | | |
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| | | **Redis Cache Prefixes** (`RedisPrefix`): |
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| | | |
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| | | - `System: "System"` - System-level cache |
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| | | - `User: "User"` - User-specific cache |
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| | | - `Code: "Code"` - Code/configuration cache |
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| | | |
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| | | Use these prefixes with `ICacheService.RemoveByPrefix()` for bulk cache invalidation. |
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| | | |
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| | | ## Configuration Settings |
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| | | |
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| | | Key settings in `appsettings.json`: |
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