From 2f7c7a0621ee2e84c47ccd054889a71e8ce4fdd0 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期六, 18 四月 2026 22:08:14 +0800
Subject: [PATCH] feat(机械手任务): 实现换盘任务多阶段处理逻辑
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs | 62 ++++++++++++++++++++++++++++---
1 files changed, 56 insertions(+), 6 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
index c50f942..b109398 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
@@ -165,7 +165,7 @@
/// <param name="task">瑕佷笅鍙戠殑浠诲姟瀵硅薄</param>
/// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
/// <param name="isScanNG">鏄惁鎵爜NG</param>
- public async Task SendSocketRobotPickAsync(Dt_RobotTask task, RobotSocketState state, bool isScanNG)
+ public async Task SendSocketRobotPickAsync(Dt_RobotTask task, RobotSocketState state, bool isScanNG = false)
{
// 鏋勫缓鍙栬揣鎸囦护锛屾牸寮忥細Pickbattery,{婧愬湴鍧�}
string taskString = $"Pickbattery,{task.RobotSourceAddress}";
@@ -340,6 +340,53 @@
{
_logger.LogError("涓嬪彂鎵规鍙栬揣鎸囦护澶辫触锛屾寚浠�: {TaskString}锛岃澶�: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
QuartzLogger.Error($"涓嬪彂鎵规鍙栬揣鎸囦护澶辫触锛屾寚浠�: {taskString}", state.RobotCrane?.DeviceName);
+ }
+ }
+
+ /// <summary>
+ /// 涓嬪彂鍋囩數鑺彇璐ф寚浠わ紙甯︽壒娆℃牸寮忓拰鎬绘暟锛�
+ /// </summary>
+ /// <remarks>
+ /// 鍙戦�侀『搴忥細
+ /// 1. PickTotalNum,{N} -- 鐪熷疄鐢佃姱鎬绘暟
+ /// 2. Pickbattery,5,{start}-{end} -- 鎵规鍙栬揣鎸囦护锛堝浐瀹氫粠5鍙蜂綅鍙栵級
+ ///
+ /// 涓嬪彂鎴愬姛鍚庢洿鏂颁换鍔＄姸鎬佷负"鏈哄櫒浜烘墽琛屼腑"銆�
+ /// </remarks>
+ /// <param name="task">瑕佷笅鍙戠殑浠诲姟瀵硅薄</param>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
+ /// <param name="batchStart">鎵规璧峰缂栧彿</param>
+ /// <param name="batchEnd">鎵规缁撴潫缂栧彿</param>
+ public async Task SendFakeBatteryPickWithBatchAsync(Dt_RobotTask task, RobotSocketState state, int batchStart, int batchEnd)
+ {
+ // 鍏堝彂閫佹�绘暟鎸囦护
+ string totalNumCmd = $"PickTotalNum,{task.RobotTaskTotalNum}";
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
+
+ // 鍐嶅彂閫佹壒娆″彇璐ф寚浠わ紙鍋囩數鑺浐瀹氫粠5鍙蜂綅鍙栵級
+ string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
+ string taskString = $"Pickbattery,5,{range}";
+
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+
+ if (result)
+ {
+ _logger.LogInformation("涓嬪彂鍋囩數鑺壒娆″彇璐ф寚浠ゆ垚鍔燂紝鎸囦护: {TaskString}锛屾壒娆�: {Range}锛岃澶�: {DeviceName}",
+ taskString, range, state.RobotCrane?.DeviceName);
+ QuartzLogger.Info($"涓嬪彂鍋囩數鑺壒娆″彇璐ф寚浠ゆ垚鍔燂紝鎸囦护: {taskString}锛屾壒娆�: {range}", state.RobotCrane?.DeviceName);
+
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ state.CurrentTask = task;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ await _robotTaskService.UpdateRobotTaskAsync(task);
+ }
+ }
+ else
+ {
+ _logger.LogError("涓嬪彂鍋囩數鑺壒娆″彇璐ф寚浠ゅけ璐ワ紝鎸囦护: {TaskString}锛岃澶�: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
+ QuartzLogger.Error($"涓嬪彂鍋囩數鑺壒娆″彇璐ф寚浠ゅけ璐ワ紝鎸囦护: {taskString}", state.RobotCrane?.DeviceName);
}
}
@@ -600,7 +647,8 @@
Channel = x,
// 鐢垫睜鏉＄爜锛氬鏋滅姸鎬佷腑鏈夋潯鐮佸垪琛紝鍙栧搴斾綅缃殑鏉＄爜锛涘惁鍒欎负绌�
- CellBarcode = state.CellBarcode?.Count > 0 ? state.CellBarcode[x - 1] : ""
+ //CellBarcode = state.CellBarcode?.Count > 0 ? state.CellBarcode[x - 1] : ""
+ CellBarcode = state.CellBarcode[idx].ToString()
})
.ToList()
};
@@ -646,10 +694,11 @@
/// 褰撴媶鐩樹换鍔″叏閮ㄥ彇瀹屾椂璋冪敤锛屼竴娆℃�т笂浼犳暣涓墭鐩樼殑瑙ｇ粦鏁版嵁鍒� MES銆�
/// </remarks>
/// <param name="palletCode">婧愭墭鐩樺彿</param>
+ /// <param name="deviceName">璁惧鍚嶇О锛岀敤浜庝紶閫掑埌 WMS</param>
/// <returns>HTTP 鍝嶅簲缁撴灉</returns>
- public HttpResponseResult<WebResponseContent> PostSplitPalletConfirmAsync(string palletCode)
+ public HttpResponseResult<WebResponseContent> PostSplitPalletConfirmAsync(string palletCode, string deviceName)
{
- var request = new { PalletCode = palletCode };
+ var request = new { PalletCode = palletCode, DeviceName = deviceName };
return _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.SplitPalletConfirm), request.ToJson());
}
@@ -660,10 +709,11 @@
/// 褰撶粍鐩樹换鍔″叏閮ㄦ斁瀹屾椂璋冪敤锛屼竴娆℃�т笂浼犳暣涓墭鐩樼殑缁戝畾鏁版嵁鍒� MES銆�
/// </remarks>
/// <param name="palletCode">鐩爣鎵樼洏鍙�</param>
+ /// <param name="deviceName">璁惧鍚嶇О锛岀敤浜庝紶閫掑埌 WMS</param>
/// <returns>HTTP 鍝嶅簲缁撴灉</returns>
- public HttpResponseResult<WebResponseContent> PostGroupPalletConfirmAsync(string palletCode)
+ public HttpResponseResult<WebResponseContent> PostGroupPalletConfirmAsync(string palletCode, string deviceName)
{
- var request = new { PalletCode = palletCode };
+ var request = new { PalletCode = palletCode, DeviceName = deviceName };
return _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.GroupPalletConfirm), request.ToJson());
}
}
--
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