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/Workflow/RobotSimpleCommandHandler.cs | 241 ++++++++++++++++++++++++++++++++++++-----------
1 files changed, 183 insertions(+), 58 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
index d2b057b..cc354d5 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
@@ -119,6 +119,11 @@
state.CurrentAction = "Putting";
return true;
+ // 鎵嬭噦鏃犵墿鏂欙紙鎵嬭噦绌洪棽锛�
+ case "batteryarrived":
+ state.BatteryArrived = true;
+ return true;
+
// ==================== 鍏ㄩ儴瀹屾垚鍛戒护 ====================
// 鍏ㄩ儴鍙栬揣瀹屾垚
@@ -138,41 +143,102 @@
// 鍒ゆ柇浠诲姟绫诲瀷
var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
- // 鎹㈢洏浠诲姟锛氫粎褰撴墍鏈夐樁娈靛畬鎴愭椂鎵嶅鐞嗗叆搴�
+ // 鎹㈢洏浠诲姟锛氭牴鎹樁娈靛尯鍒嗗鐞�
if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
{
- if (state.ChangePalletPhase == 0)
+ // 璋冪敤鎵归噺鎷嗙洏纭鎺ュ彛
+ var sourcePallet = state.CurrentTask.RobotSourceAddressPalletCode;
+ var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet, state.RobotCrane?.DeviceName);
+ if (!confirmResult.IsSuccess)
{
- // 鎵�鏈夐樁娈靛畬鎴愶紝澶勭悊鍏ュ簱
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
- {
- // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
- _taskProcessor.DeleteTask(currentTask.RobotTaskId);
- await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
- QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
-
- // 閲嶇疆鎵规鐘舵��
- state.ChangePalletPhase = 0;
- state.CurrentBatchIndex = 1;
- state.IsInFakeBatteryMode = false;
- return true;
- }
+ QuartzLogger.Error($"鎵归噺鎷嗙洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
}
- // 涓棿闃舵涓嶅鐞嗭紝浠呮洿鏂扮姸鎬�
+
+ if (state.ChangePalletPhase == 5)
+ {
+ // FlowB 鏈�缁堥樁娈碉細鍋囩數鑺彇瀹岋紝婧愮┖鎵樼洏鍥炲簱 HCSC1
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ {
+ return false;
+ }
+
+ if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
+ {
+ QuartzLogger.Error($"allpickfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
+
+ state.CurrentTask = null;
+ state.RobotTaskTotalNum = 0;
+ state.CellBarcode = new List<string>();
+ state.ChangePalletPhase = 0;
+ state.CurrentBatchIndex = 1;
+ state.IsInFakeBatteryMode = false;
+ return true;
+ }
+ else if (state.ChangePalletPhase != 0)
+ {
+ // FlowA 涓棿闃舵锛氭甯哥數鑺彇瀹岋紝婧愮┖鎵樼洏鍥炲簱 GWSC1
+ // 涓嶅垹闄や换鍔★紝涓嶉噸缃姸鎬侊紝缁х画 Phase 3-4 鍋囩數鑺祦绋�
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ {
+ return false;
+ }
+ return true;
+ }
+
+ // Phase == 0: 闈炴壒娆℃ā寮忥紙鐩爣鎬绘暟==48锛�
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ {
+ return false;
+ }
+
+ if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
+ {
+ QuartzLogger.Error($"allpickfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
+
+ state.ChangePalletPhase = 0;
+ state.CurrentBatchIndex = 1;
+ state.IsInFakeBatteryMode = false;
return true;
}
// 鎷嗙洏浠诲姟锛氱洿鎺ュ鐞嗗叆搴�
if (robotTaskType == RobotTaskTypeEnum.SplitPallet)
{
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ // 璋冪敤鎵归噺鎷嗙洏纭鎺ュ彛
+ var sourcePallet = state.CurrentTask.RobotSourceAddressPalletCode;
+ var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet, state.RobotCrane?.DeviceName);
+ if (!confirmResult.IsSuccess)
{
- // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
- _taskProcessor.DeleteTask(currentTask.RobotTaskId);
- await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
- QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
- return true;
+ QuartzLogger.Error($"鎵归噺鎷嗙洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
}
+
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ {
+ return false;
+ }
+
+ // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
+ if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
+ {
+ QuartzLogger.Error($"allpickfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
}
return false;
}
@@ -193,55 +259,114 @@
// 鍒ゆ柇浠诲姟绫诲瀷
var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
- // 鎹㈢洏浠诲姟锛氫粎褰撴墍鏈夐樁娈靛畬鎴愭椂鎵嶅鐞嗗叆搴�
+ // 鎹㈢洏浠诲姟锛氭牴鎹樁娈靛尯鍒嗗鐞�
if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
{
- if (state.ChangePalletPhase == 0)
+ // 璋冪敤鎵归噺缁勭洏纭鎺ュ彛
+ var targetPallet = state.CurrentTask.RobotTargetAddressPalletCode;
+ var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet, state.RobotCrane?.DeviceName);
+ if (!confirmResult.IsSuccess)
{
- // 鎵�鏈夐樁娈靛畬鎴愶紝澶勭悊鍏ュ簱
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
- {
- // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
- _taskProcessor.DeleteTask(currentTask.RobotTaskId);
-
- // 娓呯悊鐘舵�侊紝涓轰笅涓�涓换鍔″仛鍑嗗
- state.CurrentTask = null; // 娓呴櫎褰撳墠浠诲姟
- state.RobotTaskTotalNum = 0; // 閲嶇疆浠诲姟璁℃暟
- state.CellBarcode = new List<string>(); // 娓呯┖鏉＄爜鍒楄〃
-
- await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
- QuartzLogger.Info($"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
-
- // 閲嶇疆鎵规鐘舵��
- state.ChangePalletPhase = 0;
- state.CurrentBatchIndex = 1;
- state.IsInFakeBatteryMode = false;
- return true;
- }
+ QuartzLogger.Error($"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
}
- // 涓棿闃舵涓嶅鐞嗭紝浠呮洿鏂扮姸鎬�
+
+ if (state.ChangePalletPhase == 5)
+ {
+ // FlowA 鏈�缁堥樁娈碉細鍋囩數鑺斁瀹岋紝鐩爣鎵樼洏婊�48鍏ュ簱 HCSC1
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ {
+ return false;
+ }
+
+ if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
+ {
+ QuartzLogger.Error($"allputfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ state.CurrentTask = null;
+ state.RobotTaskTotalNum = 0;
+ state.CellBarcode = new List<string>();
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
+
+ state.ChangePalletPhase = 0;
+ state.CurrentBatchIndex = 1;
+ state.IsInFakeBatteryMode = false;
+ return true;
+ }
+ else if (state.ChangePalletPhase != 0)
+ {
+ // FlowB 涓棿闃舵锛氭甯哥數鑺斁瀹岋紝鏈夎揣鎵樼洏缁勭洏鍏ュ簱 GWSC1
+ // 涓嶅垹闄や换鍔★紝涓嶉噸缃姸鎬侊紝缁х画 Phase 3-4 鍋囩數鑺祦绋�
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ {
+ return false;
+ }
+ return true;
+ }
+
+ // Phase == 0: 闈炴壒娆℃ā寮忥紙鐩爣鎬绘暟==48锛�
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ {
+ return false;
+ }
+
+ if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
+ {
+ QuartzLogger.Error($"allputfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ state.CurrentTask = null;
+ state.RobotTaskTotalNum = 0;
+ state.CellBarcode = new List<string>();
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
+
+ state.ChangePalletPhase = 0;
+ state.CurrentBatchIndex = 1;
+ state.IsInFakeBatteryMode = false;
return true;
}
// 缁勭洏浠诲姟锛氱洿鎺ュ鐞嗗叆搴�
if (robotTaskType == RobotTaskTypeEnum.GroupPallet)
{
+ // 璋冪敤鎵归噺缁勭洏纭鎺ュ彛
+ var targetPallet = state.CurrentTask.RobotTargetAddressPalletCode;
+ var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet, state.RobotCrane?.DeviceName);
+ if (!confirmResult.IsSuccess)
+ {
+ QuartzLogger.Error($"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
// 澶勭悊鍏ュ簱浠诲姟鍥炰紶
// useSourceAddress: false 琛ㄧず浣跨敤鐩爣鍦板潃锛堢粍鐩樺満鏅級
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
{
- // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
- _taskProcessor.DeleteTask(currentTask.RobotTaskId);
-
- // 娓呯悊鐘舵�侊紝涓轰笅涓�涓换鍔″仛鍑嗗
- state.CurrentTask = null; // 娓呴櫎褰撳墠浠诲姟
- state.RobotTaskTotalNum = 0; // 閲嶇疆浠诲姟璁℃暟
- state.CellBarcode = new List<string>(); // 娓呯┖鏉＄爜鍒楄〃
-
- await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
- QuartzLogger.Info($"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
- return true;
+ return false;
}
+
+ // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
+ if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
+ {
+ QuartzLogger.Error($"allputfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ // 娓呯悊鐘舵�侊紝涓轰笅涓�涓换鍔″仛鍑嗗
+ state.CurrentTask = null; // 娓呴櫎褰撳墠浠诲姟
+ state.RobotTaskTotalNum = 0; // 閲嶇疆浠诲姟璁℃暟
+ state.CellBarcode = new List<string>(); // 娓呯┖鏉＄爜鍒楄〃
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
}
return false;
}
--
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