From 34ad8ad8e238d54d9695da9e8d101579c42516bb Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期六, 18 四月 2026 22:40:02 +0800
Subject: [PATCH] fix(RobotJob): 修正机器人任务处理逻辑和注释错误
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotPrefixCommandHandler.cs | 24 +++---------
/dev/null | 0
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs | 3 -
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs | 11 -----
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs | 2
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs | 22 +++++------
6 files changed, 18 insertions(+), 44 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs
index edbdda4..6834a0e 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs
@@ -144,9 +144,6 @@
// MaxDegreeOfParallelism = Math.Min(childDeviceCodes.Count, Environment.ProcessorCount * 2),
//};
- //_logger.LogDebug("Execute锛氬紑濮嬪苟琛屽鐞嗚緭閫佺嚎 {DeviceCode}锛屽瓙璁惧鏁伴噺: {Count}", conveyorLine.DeviceCode, childDeviceCodes.Count);
- //QuartzLogger.Debug($"寮�濮嬪苟琛屽鐞嗚緭閫佺嚎锛屽瓙璁惧鏁伴噺: {childDeviceCodes.Count}", conveyorLine.DeviceCode);
-
// 骞惰澶勭悊姣忎釜瀛愯澶�
//Parallel.For(0, childDeviceCodes.Count, parallelOptions, i =>
foreach (var childDeviceCode in childDeviceCodes)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotPrefixCommandHandler.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotPrefixCommandHandler.cs
index e365ffb..fe8979f 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotPrefixCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotPrefixCommandHandler.cs
@@ -1,7 +1,6 @@
using System.Net.Sockets;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
-using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
@@ -275,17 +274,10 @@
if (task != null)
task.RobotTaskTotalNum -= positions.Length;
- if (isFlowA)
- {
- // 娴佸悜A锛氫笉璋冪敤 API锛屼粎閫掑璁℃暟
- }
- else
- {
- // 娴佸悜B锛氳皟鐢ㄦ崲鐩� API
- var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
- var result = _taskProcessor.PostGroupPalletAsync(nameof(ConfigKey.ChangePalletAsync), stockDTO);
- putSuccess = result.Data.Status && result.IsSuccess;
- }
+ // 涓ゆ祦鍚戝潎璋冪敤鎹㈢洏 API
+ var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
+ var result = _taskProcessor.PostGroupPalletAsync(nameof(ConfigKey.ChangePalletAsync), stockDTO);
+ putSuccess = result.Data.Status && result.IsSuccess;
// 鍒囧洖 Phase 1锛岀户缁彇姝ｅ父鐢佃姱
state.ChangePalletPhase = 1;
@@ -294,14 +286,10 @@
{
if (isFlowA)
{
- // 娴佸悜A锛氭斁鍋囩數鑺埌鐩爣鎵樼洏锛岄�掑璁℃暟锛岃皟鐢ㄦ崲鐩� API
+ // 娴佸悜A锛氭斁鍋囩數鑺埌鐩爣鎵樼洏锛屼粎閫掑璁℃暟锛屼笉璋冪敤 API
state.RobotTaskTotalNum += positions.Length;
if (task != null)
task.RobotTaskTotalNum -= positions.Length;
-
- var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
- var result = _taskProcessor.PostGroupPalletAsync(nameof(ConfigKey.ChangePalletAsync), stockDTO);
- putSuccess = result.Data.Status && result.IsSuccess;
}
else
{
@@ -371,4 +359,4 @@
}
}
}
-}
+}
\ No newline at end of file
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 cc354d5..34f3e9f 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
@@ -119,7 +119,7 @@
state.CurrentAction = "Putting";
return true;
- // 鎵嬭噦鏃犵墿鏂欙紙鎵嬭噦绌洪棽锛�
+ // 鏄惁鐢佃姱鍒颁綅
case "batteryarrived":
state.BatteryArrived = true;
return true;
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
index fbb989d..978f7ee 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
@@ -253,7 +253,7 @@
{
if (state.IsScanNG)
{
- taskString = $"Putbattery,4";
+ taskString = $"Putbattery,1";
}
else
{
@@ -332,11 +332,11 @@
// 濡傛灉鏄粍鐩樹换鍔�
if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
{
-
- //if (!stateForUpdate.BatteryArrived)
- //{
- // return;
- //}
+ // 妫�鏌ョ數姹犳槸鍚﹀凡鍒颁綅
+ if (!stateForUpdate.BatteryArrived)
+ {
+ return;
+ }
// 璇诲彇绾夸綋鐢佃姱鏉＄爜
string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
@@ -352,21 +352,19 @@
// 鏉＄爜閲嶅锛岃褰曢敊璇棩蹇楀苟鍋滄鍚庣画鎿嶄綔(鍚庣画鏀捐揣鏃朵細鐢ㄥ埌杩欎簺鏉＄爜淇℃伅锛屼緵鍚庣画鏀捐揣鏃朵娇鐢紝璋冭瘯鍚庡彲鑳戒細鍙栨秷姝ら�昏緫)
// 鍙戦�佸彇璐ф寚浠� 鏍囪鎵爜NG锛屾斁璐ф椂涓嶄娇鐢ㄨ繖浜涙潯鐮侊紝骞舵斁鍏G鍙�
- //await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
return;
}
else
{
_logger.LogInformation("HandlePutFinishedStateAsync锛氳鍙栫殑鎵樼洏鏉＄爜鍞竴锛岀户缁墽琛岋紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
QuartzLogger.Info($"璇诲彇鐨勬墭鐩樻潯鐮佸敮涓�锛岀户缁墽琛�", stateForUpdate.RobotCrane.DeviceName);
+
+ // 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
stateForUpdate.CellBarcode = new List<string>()
{
trayBarcode1,trayBarcode2
};
-
- // 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
- //stateForUpdate.CellBarcode.Add(trayBarcode1);
- //stateForUpdate.CellBarcode.Add(trayBarcode2);
}
@@ -385,7 +383,7 @@
// 鍙戦�佸彇璐ф寚浠� 鏍囪鎵爜NG锛屾斁璐ф椂涓嶄娇鐢ㄨ繖浜涙潯鐮侊紝骞舵斁鍏G鍙�
- //await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
return;
}
}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs
index e444092..984336f 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs
@@ -190,16 +190,12 @@
// ========== 妫�鏌ュ爢鍨涙満浠诲姟瀹屾垚鐘舵�� ==========
commonStackerCrane.CheckStackerCraneTaskCompleted();
- //_logger.LogDebug("Execute锛氭鏌ヤ换鍔″畬鎴愮姸鎬侊紝璁惧: {DeviceCode}", _deviceCode);
- //QuartzLogger.Debug($"妫�鏌ヤ换鍔″畬鎴愮姸鎬侊紝璁惧: {_deviceCode}", _deviceCode);
// ========== 妫�鏌ユ槸鍚﹀彲浠ュ彂閫佹柊浠诲姟 ==========
//if (!commonStackerCrane.IsCanSendTask(commonStackerCrane.Communicator, commonStackerCrane.DeviceProDTOs, commonStackerCrane.DeviceProtocolDetailDTOs))
- if (commonStackerCrane.StackerCraneStatusValue != StackerCraneStatus.Normal /*&& commonStackerCrane.StackerCraneAutoStatusValue != StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneWorkStatusValue != StackerCraneWorkStatus.Standby*/)
+ if (commonStackerCrane.StackerCraneStatusValue != StackerCraneStatus.Normal )
{
// 鍫嗗灈鏈轰笉鍙敤锛堝姝ｅ湪鎵ц涓婁竴浠诲姟锛夛紝鐩存帴杩斿洖
- //_logger.LogDebug("Execute锛氬爢鍨涙満涓嶅彲鐢紝璁惧: {DeviceCode}", _deviceCode);
- //QuartzLogger.Debug($"鍫嗗灈鏈轰笉鍙敤锛岃澶�: {_deviceCode}", _deviceCode);
return Task.CompletedTask;
}
@@ -209,13 +205,8 @@
if (task == null)
{
// 娌℃湁鍙敤浠诲姟
- //_logger.LogDebug("Execute锛氭病鏈夊彲鐢ㄤ换鍔★紝璁惧: {DeviceCode}", _deviceCode);
- //QuartzLogger.Debug($"娌℃湁鍙敤浠诲姟锛岃澶�: {_deviceCode}", _deviceCode);
return Task.CompletedTask;
}
-
- //_logger.LogInformation("Execute锛氶�夋嫨浠诲姟锛岃澶�: {DeviceCode}锛屼换鍔″彿: {TaskNum}", _deviceCode, task.TaskNum);
- //QuartzLogger.Info($"閫夋嫨浠诲姟锛屼换鍔″彿: {task.TaskNum}", _deviceCode);
// ========== 鏋勫缓鍛戒护 ==========
// 鍛戒护鏋勫缓涓嬫矇鍒颁笓鐢ㄦ瀯寤哄櫒
diff --git "a/\351\241\271\347\233\256\350\265\204\346\226\231/\350\256\276\345\244\207\345\215\217\350\256\256/\346\234\272\346\242\260\346\211\213\345\215\217\350\256\256/~$\344\272\244\344\272\222\346\265\201\347\250\213\350\241\250\0501\051.xlsx" "b/\351\241\271\347\233\256\350\265\204\346\226\231/\350\256\276\345\244\207\345\215\217\350\256\256/\346\234\272\346\242\260\346\211\213\345\215\217\350\256\256/~$\344\272\244\344\272\222\346\265\201\347\250\213\350\241\250\0501\051.xlsx"
deleted file mode 100644
index e4caca3..0000000
--- "a/\351\241\271\347\233\256\350\265\204\346\226\231/\350\256\276\345\244\207\345\215\217\350\256\256/\346\234\272\346\242\260\346\211\213\345\215\217\350\256\256/~$\344\272\244\344\272\222\346\265\201\347\250\213\350\241\250\0501\051.xlsx"
+++ /dev/null
Binary files differ
--
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