From 17e5dbd7bd0364e27a33f1a7dab91cf33d5dcabc Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期三, 04 三月 2026 11:52:12 +0800
Subject: [PATCH] 增强Redis缓存服务与设备通信优化
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 248 ++++++++++++++++++++++++++++++-------------------
1 files changed, 152 insertions(+), 96 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index 7efce62..bd3d436 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,21 +1,22 @@
锘縰sing HslCommunication;
using Newtonsoft.Json;
+using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using Quartz;
-using System.Collections.Concurrent;
+using System.Net;
using System.Net.Sockets;
-using System.Text.Json;
+using System.Threading.Tasks;
+using WIDESEA_Core;
+using WIDESEAWCS_Common;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
+using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
-using WIDESEAWCS_Core.Http;
using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_DTO.TaskInfo;
-using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
-using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_Tasks.SocketServer;
namespace WIDESEAWCS_Tasks
@@ -26,20 +27,25 @@
private const int MaxTaskTotalNum = 48;
private readonly TcpSocketServer _TcpSocket;
- private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
+
+ //private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
private static int _eventSubscribedFlag;
private readonly ITaskService _taskService;
private readonly IRobotTaskService _robotTaskService;
+ private readonly ICacheService _cache;
+ private readonly HttpClientHelper _httpClientHelper;
private static IRobotTaskService _latestRobotTaskService = null!;
private static ITaskService _latestTaskService = null!;
- public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService)
+ public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService, ICacheService cache, HttpClientHelper httpClientHelper)
{
_TcpSocket = TcpSocket;
_robotTaskService = RobottaskService;
_taskService = TaskService;
+ _cache = cache;
+ _httpClientHelper = httpClientHelper;
_latestRobotTaskService = RobottaskService;
_latestTaskService = TaskService;
@@ -57,7 +63,7 @@
string ipAddress = robotCrane.IPAddress;
// 鑾峰彇鎴栧垱寤虹姸鎬�
- RobotSocketState state = _socketStates.GetOrAdd(ipAddress, _ => new RobotSocketState
+ RobotSocketState state = _cache.GetOrAdd($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{ipAddress}", _ => new RobotSocketState
{
IPAddress = ipAddress,
RobotCrane = robotCrane
@@ -66,87 +72,105 @@
// 鏇存柊璁惧淇℃伅
state.RobotCrane = robotCrane;
- // 妫�鏌ユ槸鍚︽湁璇ュ鎴风杩炴帴
- var clientIds = _TcpSocket.GetClientIds();
- if (!clientIds.Contains(ipAddress))
+ try
{
- return;
- }
-
- // 璁㈤槄涓�娆� message 浜嬩欢锛堝叏灞�涓�娆★級
- if (Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
- {
- _TcpSocket.MessageReceived += _TcpSocket_MessageReceived;
- _TcpSocket.RobotReceived += _TcpSocket_RobotReceived;
- }
-
- if (!state.IsEventSubscribed)
- {
- if (_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client))
+ // 妫�鏌ユ槸鍚︽湁璇ュ鎴风杩炴帴
+ var clientIds = _TcpSocket.GetClientIds();
+ if (!clientIds.Contains(ipAddress))
{
- _ = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state)
- .ContinueWith(t =>
- {
- if (t.IsFaulted)
- Console.WriteLine($"HandleClientAsync error: {t.Exception?.GetBaseException().Message}");
- }, TaskContinuationOptions.OnlyOnFaulted);
- state.IsEventSubscribed = true;
+ return;
}
- }
- // 鑾峰彇浠诲姟骞剁紦瀛樺埌鐘舵�佷腑
- 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 <= MaxTaskTotalNum)
+ // 璁㈤槄涓�娆� message 浜嬩欢锛堝叏灞�涓�娆★級
+ if (Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
{
- // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
- if (state.RobotRunMode == 2 && state.RobotControlMode == 1 && state.OperStatus != "Running")
+ _TcpSocket.MessageReceived += _TcpSocket_MessageReceived;
+ _TcpSocket.RobotReceived += _TcpSocket_RobotReceived;
+ }
+
+ if (!state.IsEventSubscribed)
+ {
+ if (_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client))
{
- await Task.Delay(1000);
- if (state.CurrentAction == "PickFinished" && state.RobotArmObject == 1 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
+ _ = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state)
+ .ContinueWith(t =>
+ {
+ if (t.IsFaulted)
+ Console.WriteLine($"HandleClientAsync error: {t.Exception?.GetBaseException().Message}");
+ }, TaskContinuationOptions.OnlyOnFaulted);
+ state.IsEventSubscribed = true;
+
+ // 鏇存柊缂撳瓨涓殑鐘舵��
+ _cache.TryUpdateIfChanged($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{ipAddress}", state);
+ }
+ }
+
+ // 鑾峰彇浠诲姟骞剁紦瀛樺埌鐘舵�佷腑
+ Dt_RobotTask? task = GetTask(robotCrane);
+ if (task != null)
+ {
+ if (task.RobotTaskTotalNum <= MaxTaskTotalNum)
+ {
+ // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
+ if (state.RobotRunMode == 2 && state.RobotControlMode == 1 && state.OperStatus != "Running")
{
- string taskString = $"Putbattery,{task.RobotTargetAddress}";
- bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
- if (result)
+ if (state.CurrentAction == "PickFinished" && state.RobotArmObject == 1 && task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.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.RobotPutFinish.GetHashCode())
{
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 璇诲彇绾夸綋鐢垫睜鏉＄爜锛屽彂閫佸彇鐢垫睜鎸囦护
- // 闅忔満鐢熸垚涓ゅぉ鎵樼洏鏉＄爜瀛樻斁鍒颁袱涓彉閲忛噷闈�
- // 瀹氫箟鍓嶇紑锛堜緥濡傦細TRAY浠ｈ〃鎵樼洏锛�
- string prefix = "TRAY";
-
- // 鐢熸垚涓や釜鎵樼洏鏉＄爜
- string trayBarcode1 = GenerateTrayBarcode(state, prefix);
- string trayBarcode2 = GenerateTrayBarcode(state, prefix);
- if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty())
+ else if (state.OperStatus == "Homed" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
{
- string taskString = $"Pickbattery,{task.RobotSourceAddress}";
- // 鍙戦�佷换鍔℃寚浠�
- bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
- if (result)
+ // 闅忔満鐢熸垚涓ゅぉ鎵樼洏鏉＄爜瀛樻斁鍒颁袱涓彉閲忛噷闈�
+ // 瀹氫箟鍓嶇紑锛堜緥濡傦細TRAY浠ｈ〃鎵樼洏锛�
+ // 缁勭洏璇诲彇绾夸綋鏉＄爜
+ if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
{
- // TODO 澶勭悊鎴愬姛鍙戦�佷换鍔℃寚浠ゅ悗鐨勯�昏緫
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- result = await _robotTaskService.UpdateRobotTaskAsync(task);
+ string prefix = "TRAY";
+
+ // 鐢熸垚涓や釜鎵樼洏鏉＄爜
+ string trayBarcode1 = GenerateTrayBarcode(state, prefix);
+ string trayBarcode2 = GenerateTrayBarcode(state, prefix);
+ if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty())
+ {
+
+ await SendSocketRobotPickAsync(task, state);
+ }
}
+ else // 鎹㈢洏鐩存帴鍙戦�佸彇璐у湴鍧�
+ {
+ await SendSocketRobotPickAsync(task, state);
+ }
+ }
+
+ if (state.CurrentTask.IsNullOrEmpty() && state.ToJson() != task.ToJson())
+ {
+ state.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
+ state.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
+ state.CurrentTask = task;
+ // 鏇存柊缂撳瓨涓殑鐘舵��
+ _cache.TryUpdateIfChanged($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{ipAddress}", state);
}
}
}
}
+ }
+ catch (Exception)
+ {
+ }
+ finally
+ {
+ // 鍙�夛細鍦ㄨ繖閲屽鐞嗕换浣曢渶瑕佸湪浠诲姟瀹屾垚鍚庢墽琛岀殑娓呯悊宸ヤ綔
}
}
@@ -164,7 +188,7 @@
// 缁勫悎锛氬墠缂� + 鏃ユ湡 + 鏃堕棿 + 闅忔満鏁�
var barCode = prefix + datePart + timePart + randomPart;
- state.CellBarcode.Add(randomPart);
+ state.CellBarcode.Add(barCode);
return barCode;
}
@@ -176,7 +200,14 @@
/// <returns></returns>
private Task<string?> _TcpSocket_RobotReceived(string clientId)
{
- _socketStates.TryRemove(clientId, out _);
+ var robotSocketState = _cache.Get<RobotSocketState>($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{clientId}");
+ robotSocketState.IsEventSubscribed = false;
+ robotSocketState.CurrentAction = "";
+ robotSocketState.OperStatus = "";
+ robotSocketState.RobotArmObject = 0;
+ robotSocketState.RobotControlMode = 0;
+ robotSocketState.RobotRunMode = 0;
+ _cache.TryUpdateIfChanged($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{clientId}", robotSocketState);
return Task.FromResult<string?>(null);
}
@@ -190,15 +221,16 @@
/// <returns></returns>
private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, RobotSocketState state)
{
+ if (!(bool)(_cache?.TryGetValue($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{client.Client.RemoteEndPoint}", out state)))
+ return null;
+
string messageLower = message.ToLowerInvariant();
if (await IsSimpleCommandAsync(messageLower, state))
{
await _TcpSocket.SendMessageAsync(client, message);
- return null;
}
-
- if (IsPrefixCommand(messageLower))
+ else if (IsPrefixCommand(messageLower))
{
try
{
@@ -221,9 +253,9 @@
var stockDTO = BuildStockDTO(state, positions);
state.LastPickPositions = positions;
- var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.SplitPalletAsync));
+ var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.SplitPalletAsync), stockDTO.ToJson());
- if (result.Status)
+ if (result.Data.Status && result.IsSuccess)
{
state.CurrentAction = "PickFinished";
}
@@ -233,6 +265,7 @@
state.CurrentAction = "PickFinished";
}
+ state.LastPickPositions = positions;
task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode();
await _latestRobotTaskService.Repository.UpdateDataAsync(task);
}
@@ -245,8 +278,9 @@
var stockDTO = BuildStockDTO(state, positions);
var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.GroupPalletAsync);
- var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), configKey);
- putSuccess = result.Status;
+
+ var result = _httpClientHelper.Post<WebResponseContent>(configKey, stockDTO.ToJson());
+ putSuccess = result.Data.Status && result.IsSuccess;
}
if (putSuccess)
@@ -259,17 +293,18 @@
task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode();
await _latestRobotTaskService.Repository.UpdateDataAsync(task);
}
+
+ await _TcpSocket.SendMessageAsync(client, message);
}
}
catch (Exception ex)
{
Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
}
-
- await _TcpSocket.SendMessageAsync(client, message);
-
- return null;
}
+
+ // 鏇存柊缂撳瓨涓殑鐘舵��
+ _cache.TryUpdateIfChanged($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{state.IPAddress}", state);
return null;
}
@@ -280,7 +315,7 @@
/// <param name="message"></param>
/// <param name="state"></param>
/// <returns></returns>
- private static async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
+ private async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
{
switch (message)
{
@@ -361,7 +396,7 @@
}
}
- private static async Task HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
+ private async Task HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
{
var currentTask = state.CurrentTask;
if (currentTask == null)
@@ -382,9 +417,8 @@
PalletType = 1,
TaskType = 4
};
-
- var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), taskDto.ToJsonString(), nameof(ConfigKey.CreateTaskInboundAsync));
- if (!result.Status)
+ var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.CreateTaskInboundAsync), taskDto.ToJson());
+ if (!result.Data.Status && result.IsSuccess)
{
return;
}
@@ -416,20 +450,21 @@
private static StockDTO BuildStockDTO(RobotSocketState state, int[] positions)
{
+ string sss = state.ToJson();
return new StockDTO
{
- SourceLineNo = state.CurrentTask?.RobotSourceAddressLineCode,
- SourcePalletNo = state.CurrentTask?.RobotSourceAddressPalletCode,
- TargetPalletNo = state.CurrentTask?.RobotTargetAddressPalletCode,
- TargetLineNo = state.CurrentTask?.RobotTargetAddressLineCode,
+ 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,
+ Quantity = state.RobotTaskTotalNum > 0 ? state.RobotTaskTotalNum + positions.Length : positions.Length,
Channel = x,
- CellBarcode = !state.CellBarcode.IsNullOrEmpty() ? state.CellBarcode[idx] : ""
+ CellBarcode = state.CellBarcode?.Count > 0 ? state.CellBarcode[x - 1] : ""
})
.ToList()
};
@@ -438,6 +473,27 @@
private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
{
return _robotTaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
+ }
+
+ /// <summary>
+ /// 鍙戦�佹満姊版墜鍙栬揣鍛戒护
+ /// </summary>
+ /// <param name="task"></param>
+ /// <param name="state"></param>
+ /// <returns></returns>
+ private async Task SendSocketRobotPickAsync(Dt_RobotTask task, RobotSocketState state)
+ {
+ string taskString = $"Pickbattery,{task.RobotSourceAddress}";
+ // 鍙戦�佷换鍔℃寚浠�
+ bool result = await _TcpSocket.SendToClientAsync(state.IPAddress, taskString);
+ if (result)
+ {
+ // TODO 澶勭悊鎴愬姛鍙戦�佷换鍔℃寚浠ゅ悗鐨勯�昏緫
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ result = await _robotTaskService.UpdateRobotTaskAsync(task);
+ // 鏇存柊缂撳瓨涓殑鐘舵��
+ _cache.TryUpdateIfChanged($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{state.IPAddress}", state);
+ }
}
}
@@ -493,7 +549,7 @@
/// <summary>
/// 鎶撳彇浣嶇疆鏉＄爜
/// </summary>
- public List<string> CellBarcode { get; set; } = new();
+ public List<string> CellBarcode { get; set; }
/// <summary>
/// 褰撳墠鎶撳彇浠诲姟
--
Gitblit v1.9.3