From 3de39066b5894850d0f0dc311b60cc09f599a025 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 26 二月 2026 14:30:06 +0800
Subject: [PATCH] 修复图片导入；重构路由和堆垛机命令
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 173 +++++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 154 insertions(+), 19 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index 8503c91..b63717b 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,7 +1,15 @@
-锘縰sing Quartz;
+锘縰sing HslCommunication;
+using Newtonsoft.Json;
+using Quartz;
using System.Collections.Concurrent;
using System.Net.Sockets;
+using System.Text.Json;
+using WIDESEAWCS_Common.HttpEnum;
+using WIDESEAWCS_Core;
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;
@@ -17,27 +25,28 @@
private readonly TcpSocketServer _TcpSocket;
private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
private static int _eventSubscribedFlag;
+
+
private readonly ITaskService _taskService;
+ private readonly IRobotTaskService _robottaskService;
private readonly ITaskExecuteDetailService _taskExecuteDetailService;
private readonly ITaskRepository _taskRepository;
private readonly IRouterService _routerService;
- public RobotJob(TcpSocketServer TcpSocket, ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, ITaskRepository taskRepository, IRouterService routerService)
+ public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService)
{
_TcpSocket = TcpSocket;
- _taskService = taskService;
- _taskExecuteDetailService = taskExecuteDetailService;
- _taskRepository = taskRepository;
- _routerService = routerService;
+ _robottaskService = RobottaskService;
+ this._taskService = TaskService;
}
- public Task Execute(IJobExecutionContext context)
+ public async Task Execute(IJobExecutionContext context)
{
bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
RobotCraneDevice robotCrane = (RobotCraneDevice?)value ?? new RobotCraneDevice();
if (!flag || robotCrane.IsNullOrEmpty())
{
- return Task.CompletedTask;
+ return;
}
string ipAddress = robotCrane.IPAddress;
@@ -56,7 +65,7 @@
var clientIds = _TcpSocket.GetClientIds();
if (!clientIds.Contains(ipAddress))
{
- return Task.CompletedTask;
+ return;
}
// 璁㈤槄涓�娆� message 浜嬩欢锛堝叏灞�涓�娆★級
@@ -74,13 +83,34 @@
}
// 鑾峰彇浠诲姟骞剁紦瀛樺埌鐘舵�佷腑
- Dt_Task? task = GetTask(robotCrane);
+ Dt_RobotTask? task = GetTask(robotCrane);
if (task != null)
{
state.CurrentTask = task;
+ if (task.RobotTaskTotalNum != 48)
+ {
+ // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
+ if (state.RobotRunMode == 1 && state.RobotControlMode == 1)
+ {
+ await Task.Delay(1000);
+ if ((state.CurrentAction == "Homed" || state.CurrentAction == "PickFinished" || state.CurrentAction == "PutFinished") && state.OperStatus == "Running")
+ {
+ // TODO 璇诲彇绾夸綋鐢垫睜鏉＄爜锛屽彂閫佸彇鐢垫睜鎸囦护
+ if (true)
+ {
+ // 妯℃嫙璇诲彇鏉＄爜
+ state.CellBarcode = new string[] { "CellBarcode1", "CellBarcode2", "CellBarcode3", "CellBarcode4" };
+
+ string taskString = $"Pickbattery,{task.RobotSourceAddress}";
+ // 鍙戦�佷换鍔℃寚浠�
+ bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
+ }
+ }
+ }
+ }
}
- return Task.CompletedTask;
+ return;
}
/// <summary>
@@ -106,7 +136,7 @@
{
string messageLower = message.ToLowerInvariant();
- if (IsSimpleCommand(messageLower, state))
+ if (await IsSimpleCommandAsync(messageLower, state))
{
return null;
}
@@ -127,13 +157,62 @@
if (cmd.StartsWith("pickfinished"))
{
+ StockDTO stockDTO = new StockDTO
+ {
+ 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,
+ Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
+ CellBarcode = state.CellBarcode[idx]
+ })
+ .ToList()
+ };
state.LastPickPositions = positions;
- state.CurrentAction = "PickFinished";
+
+ var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), state.CurrentTask?.RobotTaskType == 2 ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.SplitPalletAsync));
+
+ if (result.Status)
+ {
+ state.CurrentAction = "PickFinished";
+ }
}
else if (cmd.StartsWith("putfinished"))
{
state.LastPutPositions = positions;
- state.CurrentAction = "PutFinished";
+ if (state.CurrentTask?.RobotTaskType == 1)
+ {
+ // 鍙戦�佹暟鎹粰WMS缁勭洏/鎹㈢洏
+ StockDTO stockDTO = new StockDTO
+ {
+ 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,
+ Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
+ CellBarcode = state.CellBarcode[idx]
+ })
+ .ToList()
+ };
+ var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.GroupPalletAsync));
+
+ if (result.Status)
+ {
+ state.CurrentAction = "PutFinished";
+ }
+ }
}
}
}
@@ -151,7 +230,7 @@
/// <param name="message"></param>
/// <param name="state"></param>
/// <returns></returns>
- private bool IsSimpleCommand(string message, RobotSocketState state)
+ private async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
{
switch (message)
{
@@ -173,10 +252,18 @@
case "allpickfinished":
state.CurrentAction = "AllPickFinished";
+ if (state.CurrentTask?.RobotTaskType == 2 || state.CurrentTask?.RobotTaskType == 3)
+ {
+ await HandleInboundTaskAsync(state, useSourceAddress: true);
+ }
return true;
case "allputfinished":
state.CurrentAction = "AllPutFinished";
+ if (state.CurrentTask?.RobotTaskType == 1)
+ {
+ await HandleInboundTaskAsync(state, useSourceAddress: false);
+ }
return true;
case "running":
@@ -199,7 +286,7 @@
state.RobotRunMode = 1;
return true;
- case "runmodemode,2":
+ case "runmode,2":
state.RobotRunMode = 2;
return true;
@@ -224,6 +311,49 @@
}
}
+ private async Task HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
+ {
+ var currentTask = state.CurrentTask;
+ if (currentTask == null)
+ {
+ return;
+ }
+
+ string roadway = currentTask.RobotRoadway == "1" ? "GWSC001" : currentTask.RobotRoadway == "2" ? "HCSC001" : "SC001";
+ int warehouseId = currentTask.RobotRoadway == "1" ? 1 : currentTask.RobotRoadway == "2" ? 2 : 3;
+
+ CreateTaskDto taskDto = new CreateTaskDto
+ {
+ PalletCode = currentTask.RobotTargetAddressPalletCode ?? string.Empty,
+ SourceAddress = currentTask.RobotTargetAddress ?? string.Empty,
+ TargetAddress = currentTask.RobotTargetAddress ?? string.Empty,
+ Roadway = roadway,
+ WarehouseId = warehouseId,
+ PalletType = 1,
+ TaskType = 4
+ };
+
+ var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), taskDto.ToJsonString(), nameof(ConfigKey.CreateTaskInboundAsync));
+ if (!result.Status)
+ {
+ return;
+ }
+
+ WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.ToString() ?? string.Empty) ?? new WMSTaskDTO();
+ var content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
+ if (!content.Status) return;
+
+ var taskInfo = _taskService.QueryByTaskNum(taskDTO.TaskNum);
+
+
+ string targetAddress = useSourceAddress ? taskDTO.SourceAddress : taskDTO.TargetAddress;
+
+ IDevice? device = Storage.Devices.Where(x => x.DeviceProDTOs.Select(x => x.DeviceChildCode == taskDTO.SourceAddress).FirstOrDefault()).FirstOrDefault() ?? null;
+ device?.Communicator.Write(nameof(ConveyorLineDBNameNew.Target), taskInfo.NextAddress);
+ device?.Communicator.Write(nameof(ConveyorLineDBNameNew.TaskNo), taskDTO.TaskNum);
+ device?.Communicator.Write(nameof(ConveyorLineDBNameNew.WCS_STB), 1);
+ }
+
/// <summary>
/// 鏈烘鎵嬪墠缂�鍛戒护澶勭悊
/// </summary>
@@ -234,9 +364,9 @@
return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
}
- private Dt_Task? GetTask(RobotCraneDevice robotCrane)
+ private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
{
- return _taskService.QueryRobotCraneTask(robotCrane.DeviceCode);
+ return _robottaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
}
}
@@ -290,8 +420,13 @@
public int[]? LastPutPositions { get; set; }
/// <summary>
+ /// 鎶撳彇浣嶇疆鏉＄爜
+ /// </summary>
+ public string[] CellBarcode { get; set; }
+
+ /// <summary>
/// 褰撳墠鎶撳彇浠诲姟
/// </summary>
- public Dt_Task? CurrentTask { get; set; }
+ public Dt_RobotTask? CurrentTask { get; set; }
}
}
\ No newline at end of file
--
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