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 | 288 ++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 240 insertions(+), 48 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 0a17d62..cc354d5 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
@@ -1,4 +1,5 @@
using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks.Workflow
@@ -26,12 +27,21 @@
private readonly RobotTaskProcessor _taskProcessor;
/// <summary>
+ /// Socket 缃戝叧
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬鍚戝鎴风鍙戦�佸搷搴旀秷鎭��
+ /// </remarks>
+ private readonly ISocketClientGateway _socketClientGateway;
+
+ /// <summary>
/// 鏋勯�犲嚱鏁�
/// </summary>
/// <param name="taskProcessor">浠诲姟澶勭悊鍣ㄥ疄渚�</param>
- public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor)
+ public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway)
{
_taskProcessor = taskProcessor;
+ _socketClientGateway = socketClientGateway;
}
/// <summary>
@@ -71,12 +81,12 @@
// 鏈哄櫒浜烘鍦ㄥ洖闆�
case "homing":
- state.OperStatus = "Homing";
+ state.Homed = "Homing";
return true;
// 鏈哄櫒浜哄凡瀹屾垚鍥為浂
case "homed":
- state.OperStatus = "Homed";
+ state.Homed = "Homed";
return true;
// 鏈哄櫒浜烘鍦ㄨ繍琛�
@@ -109,75 +119,257 @@
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
case "allpickfinished":
- {
- // 鏇存柊褰撳墠鍔ㄤ綔涓�"鍏ㄩ儴鍙栬揣瀹屾垚"
- state.CurrentAction = "AllPickFinished";
-
- // 鑾峰彇褰撳墠鍏宠仈鐨勪换鍔�
- var currentTask = state.CurrentTask;
- if (currentTask == null)
{
- // 娌℃湁浠诲姟鍏宠仈锛岃繑鍥� false
- return false;
- }
+ // 鏇存柊褰撳墠鍔ㄤ綔涓�"鍏ㄩ儴鍙栬揣瀹屾垚"
+ state.CurrentAction = "AllPickFinished";
- // 鍒ゆ柇浠诲姟绫诲瀷
- var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
-
- // 鍙湁鎷嗙洏鎴栨崲鐩樹换鍔￠渶瑕佸鐞嗗叆搴�
- if (robotTaskType == RobotTaskTypeEnum.SplitPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
- {
- // 澶勭悊鍏ュ簱浠诲姟鍥炰紶
- // useSourceAddress: true 琛ㄧず浣跨敤婧愬湴鍧�锛堟媶鐩�/鎹㈢洏鍦烘櫙锛�
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ // 鑾峰彇褰撳墠鍏宠仈鐨勪换鍔�
+ var currentTask = state.CurrentTask;
+ if (currentTask == null)
{
- // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
- _taskProcessor.DeleteTask(currentTask.RobotTaskId);
+ // 娌℃湁浠诲姟鍏宠仈锛岃繑鍥� false
+ return false;
+ }
+
+ // 鍒ゆ柇浠诲姟绫诲瀷
+ var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
+
+ // 鎹㈢洏浠诲姟锛氭牴鎹樁娈靛尯鍒嗗鐞�
+ if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ {
+ // 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)
+ {
+ QuartzLogger.Error($"鎵归噺鎷嗙洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ if (state.ChangePalletPhase == 5)
+ {
+ // FlowB 鏈�缁堥樁娈碉細鍋囩數鑺彇瀹岋紝婧愮┖鎵樼洏鍥炲簱 HCSC1
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ {
+ return false;
+ }
+
+ if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
+ {
+ QuartzLogger.Error($"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)
+ {
+ // 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)
+ {
+ 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;
}
- return false;
- }
// 鍏ㄩ儴鏀捐揣瀹屾垚
case "allputfinished":
- {
- // 鏇存柊褰撳墠鍔ㄤ綔涓�"鍏ㄩ儴鏀捐揣瀹屾垚"
- state.CurrentAction = "AllPutFinished";
-
- // 鑾峰彇褰撳墠鍏宠仈鐨勪换鍔�
- var currentTask = state.CurrentTask;
- if (currentTask == null)
{
- return false;
- }
+ // 鏇存柊褰撳墠鍔ㄤ綔涓�"鍏ㄩ儴鏀捐揣瀹屾垚"
+ state.CurrentAction = "AllPutFinished";
- // 鍒ゆ柇浠诲姟绫诲瀷
- var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
-
- // 鍙湁缁勭洏鎴栨崲鐩樹换鍔￠渶瑕佸鐞嗗叆搴�
- if (robotTaskType == RobotTaskTypeEnum.GroupPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
- {
- // 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�/鎹㈢洏鍦烘櫙锛�
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ // 鑾峰彇褰撳墠鍏宠仈鐨勪换鍔�
+ var currentTask = state.CurrentTask;
+ if (currentTask == null)
{
+ return false;
+ }
+
+ // 鍒ゆ柇浠诲姟绫诲瀷
+ var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
+
+ // 鎹㈢洏浠诲姟锛氭牴鎹樁娈靛尯鍒嗗鐞�
+ if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ {
+ // 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($"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ if (state.ChangePalletPhase == 5)
+ {
+ // FlowA 鏈�缁堥樁娈碉細鍋囩數鑺斁瀹岋紝鐩爣鎵樼洏婊�48鍏ュ簱 HCSC1
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ {
+ return false;
+ }
+
+ if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
+ {
+ QuartzLogger.Error($"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($"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ // 澶勭悊鍏ュ簱浠诲姟鍥炰紶
+ // useSourceAddress: false 琛ㄧず浣跨敤鐩爣鍦板潃锛堢粍鐩樺満鏅級
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ {
+ return false;
+ }
+
// 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
- _taskProcessor.DeleteTask(currentTask.RobotTaskId);
+ if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
+ {
+ QuartzLogger.Error($"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;
}
- return false;
- }
// ==================== 妯″紡鍒囨崲鍛戒护 ====================
@@ -221,4 +413,4 @@
}
}
}
-}
+}
\ No newline at end of file
--
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