From 5bf10c1dafe485d506ec534f98e5220a3b83dd17 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 16 四月 2026 23:16:46 +0800
Subject: [PATCH] feat(WCS&WMS): 机械手扫码NG处理与线体条码读取与添加批量MES绑定解绑接口
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs | 64 ++++++++++++++++++++-----------
1 files changed, 41 insertions(+), 23 deletions(-)
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 4414558..2ddad09 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
@@ -5,6 +5,7 @@
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
+using WIDESEAWCS_Tasks.SocketServer;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks.Workflow
@@ -163,11 +164,12 @@
{
string taskString;
+ var state = _stateManager.GetState(ipAddress);
+
// 鎹㈢洏浠诲姟浣跨敤鎵规鏍煎紡
if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
{
int targetNormalCount = task.RobotTaskTotalNum;
- var state = _stateManager.GetState(ipAddress);
int currentCompletedCount = state?.RobotTaskTotalNum ?? 0;
bool isFlowA = task.RobotSourceAddressLineCode is "11001" or "11010";
@@ -229,7 +231,20 @@
else
{
// 闈炴崲鐩樹换鍔★細浣跨敤鍘熸湁鏍煎紡
- taskString = $"Putbattery,{task.RobotTargetAddress}";
+ if (state != null && state.IsGroupPallet && task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
+ {
+ // 缁勭洏浠诲姟锛氭斁璐ч渶鍒ゆ柇鏄惁NG锛屽鏋淣G鍒欐斁鍒癗G鍙�
+ if (state.IsScanNG)
+ {
+ taskString = $"Putbattery,NG";
+ }
+ else
+ {
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
+ }
+ }
+ else
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
}
bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
@@ -301,46 +316,49 @@
// 濡傛灉鏄粍鐩樹换鍔�
if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
{
- // 鐢熸垚鎵樼洏鏉＄爜鍓嶇紑
- const string prefix = "TRAY";
-
- // 鐢熸垚涓や釜鎵樼洏鏉＄爜锛堢敤浜庣粍鐩樻搷浣滐級锛堟祴璇曠敤锛屽悗缁鍙栫嚎浣撴潯鐮侊級
- string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
- string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
+ // 璇诲彇绾夸綋鐢佃姱鏉＄爜
+ string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
+ string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
// 濡傛灉鏉＄爜鐢熸垚鎴愬姛
if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
{
- if(stateForUpdate.CellBarcode.Contains(trayBarcode1)|| stateForUpdate.CellBarcode.Contains(trayBarcode2))
+ if (stateForUpdate.CellBarcode.Contains(trayBarcode1) || stateForUpdate.CellBarcode.Contains(trayBarcode2))
{
- _logger.LogError("HandlePutFinishedStateAsync锛氱敓鎴愮殑鎵樼洏鏉＄爜宸插瓨鍦紝鍙兘瀛樺湪閲嶅锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
- QuartzLogger.Error($"鐢熸垚鐨勬墭鐩樻潯鐮佸凡瀛樺湪锛屽彲鑳藉瓨鍦ㄩ噸澶�", stateForUpdate.RobotCrane.DeviceName);
+ _logger.LogError("HandlePutFinishedStateAsync锛氳鍙栫殑鎵樼洏鏉＄爜宸插瓨鍦紝鍙兘瀛樺湪閲嶅锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Error($"璇诲彇鐨勬墭鐩樻潯鐮佸凡瀛樺湪锛屽彲鑳藉瓨鍦ㄩ噸澶�", stateForUpdate.RobotCrane.DeviceName);
// 鏉＄爜閲嶅锛岃褰曢敊璇棩蹇楀苟鍋滄鍚庣画鎿嶄綔(鍚庣画鏀捐揣鏃朵細鐢ㄥ埌杩欎簺鏉＄爜淇℃伅锛屼緵鍚庣画鏀捐揣鏃朵娇鐢紝璋冭瘯鍚庡彲鑳戒細鍙栨秷姝ら�昏緫)
- return;
+
+ // 鍙戦�佸彇璐ф寚浠� 鏍囪鎵爜NG锛屾斁璐ф椂涓嶄娇鐢ㄨ繖浜涙潯鐮侊紝骞舵斁鍏G鍙�
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
}
else
{
- _logger.LogInformation("HandlePutFinishedStateAsync锛氱敓鎴愮殑鎵樼洏鏉＄爜鍞竴锛岀户缁墽琛岋紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
- QuartzLogger.Info($"鐢熸垚鐨勬墭鐩樻潯鐮佸敮涓�锛岀户缁墽琛�", stateForUpdate.RobotCrane.DeviceName);
+ _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($"璇诲彇鐨勬墭鐩樻潯鐮佸敮涓�锛岀户缁墽琛�", stateForUpdate.RobotCrane.DeviceName);
// 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
stateForUpdate.CellBarcode.Add(trayBarcode1);
stateForUpdate.CellBarcode.Add(trayBarcode2);
}
- // 璁板綍鏃ュ織锛氱敓鎴愭墭鐩樻潯鐮佹垚鍔�
- _logger.LogInformation("HandlePutFinishedStateAsync锛氱敓鎴愭墭鐩樻潯鐮佹垚鍔�: {Barcode1}+{Barcode2}锛屼换鍔″彿: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
- QuartzLogger.Info($"鐢熸垚鎵樼洏鏉＄爜鎴愬姛: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);
+ // 璁板綍鏃ュ織锛氳鍙栨墭鐩樻潯鐮佹垚鍔�
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氳鍙栨墭鐩樻潯鐮佹垚鍔�: {Barcode1}+{Barcode2}锛屼换鍔″彿: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
+ QuartzLogger.Info($"璇诲彇鎵樼洏鏉＄爜鎴愬姛: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);
// 鍙戦�佸彇璐ф寚浠�
- await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, false);
}
else
{
- // 鏉＄爜鐢熸垚澶辫触锛岃褰曢敊璇棩蹇�
- _logger.LogError("HandlePutFinishedStateAsync锛氱敓鎴愭墭鐩樻潯鐮佸け璐ワ紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
- QuartzLogger.Error($"鐢熸垚鎵樼洏鏉＄爜澶辫触", stateForUpdate.RobotCrane.DeviceName);
+ // 鏉＄爜璇诲彇澶辫触锛岃褰曢敊璇棩蹇�
+ _logger.LogError("HandlePutFinishedStateAsync锛氳鍙栨墭鐩樻潯鐮佸け璐ワ紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Error($"璇诲彇鎵樼洏鏉＄爜澶辫触", stateForUpdate.RobotCrane.DeviceName);
+
+
+ // 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);
}
}
else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
@@ -355,7 +373,7 @@
// 鐩爣鏁伴噺涓�48锛氱洿鎺ヨ蛋鍘熸湁閫昏緫锛屼笉杩涘叆鎵规妯″紡
if (targetNormalCount == targetTotal)
{
- await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, false);
return;
}
@@ -524,7 +542,7 @@
else
{
// 闈炵粍鐩樹换鍔★紝鐩存帴鍙戦�佸彇璐ф寚浠�
- await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, false);
}
}
}
--
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