From 687ed48ddc763e5674eb34b7f4e4227c30e2d384 Mon Sep 17 00:00:00 2001
From: xiazhengtongxue <133085197+xiazhengtongxue@users.noreply.github.com>
Date: 星期六, 18 四月 2026 15:11:48 +0800
Subject: [PATCH] Merge branch 'dev' of http://115.159.85.185:8098/r/SuZhouGuanHong/ShanMeiXinNengYuan into dev
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs | 84 ++++++++++++++++++++++++++++-------------
1 files changed, 57 insertions(+), 27 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..05f2357 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
@@ -111,7 +112,7 @@
// 1. 杩愯妯″紡涓鸿嚜鍔紙2锛�
// 2. 鎺у埗妯″紡涓哄鎴风鎺у埗锛�1锛�
// 3. 杩愯鐘舵�佹槸 Running
- if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running" && latestState.Homed == "Homed")
+ if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running" && (latestState.Homed == "Homed" || latestState.Homed.IsNullOrEmpty()))
{
// ========== 鍙栬揣瀹屾垚鍚庣殑鏀捐揣澶勭悊 ==========
// 鏉′欢锛�
@@ -119,11 +120,11 @@
// - 鎵嬭噦涓婃湁鐗╂枡锛圧obotArmObject == 1锛�
// - 浠诲姟鐘舵�佷负 RobotPickFinish锛堝凡璁板綍鍙栬揣瀹屾垚锛�
if ((latestState.CurrentAction == "PickFinished" || latestState.CurrentAction == "AllPickFinished")
- && latestState.RobotArmObject == 1
+ && (latestState.RobotArmObject.IsNullOrEmpty() || latestState.RobotArmObject == 1)
&& task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode())
{
- _logger.LogInformation("ExecuteAsync锛氭弧瓒虫斁璐ф潯浠讹紝寮�濮嬪鐞嗗彇璐у畬鎴愶紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
- QuartzLogger.Info($"ExecuteAsync锛氭弧瓒虫斁璐ф潯浠讹紝寮�濮嬪鐞嗗彇璐у畬鎴�", latestState.RobotCrane?.DeviceName ?? ipAddress);
+ _logger.LogInformation("ExecuteAsync锛氭弧瓒虫斁璐ф潯浠讹紝寮�濮嬩笅鍙戞斁璐т换鍔★紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Info($"ExecuteAsync锛氭弧瓒虫斁璐ф潯浠讹紝寮�濮嬩笅鍙戞斁璐т换鍔�", latestState.RobotCrane?.DeviceName ?? ipAddress);
// 鍙戦�佹斁璐ф寚浠�
await HandlePickFinishedStateAsync(task, ipAddress);
}
@@ -135,12 +136,12 @@
// - 鎵嬭噦涓婃棤鐗╂枡锛圧obotArmObject == 0锛�
// - 浠诲姟鐘舵�佷负 RobotPutFinish 鎴栦笉鏄� RobotExecuting
else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction.IsNullOrEmpty())
- && latestState.RobotArmObject == 0
+ && (latestState.RobotArmObject.IsNullOrEmpty() || latestState.RobotArmObject == 0)
&& (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode()
|| task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
{
- _logger.LogInformation("ExecuteAsync锛氭弧瓒冲彇璐ф潯浠讹紝寮�濮嬪鐞嗘斁璐у畬鎴愶紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
- QuartzLogger.Info($"ExecuteAsync锛氭弧瓒冲彇璐ф潯浠讹紝寮�濮嬪鐞嗘斁璐у畬鎴�", latestState.RobotCrane?.DeviceName ?? ipAddress);
+ _logger.LogInformation("ExecuteAsync锛氭弧瓒冲彇璐ф潯浠讹紝寮�濮嬩笅鍙戝彇璐т换鍔★紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Info($"ExecuteAsync锛氭弧瓒冲彇璐ф潯浠讹紝寮�濮嬩笅鍙戝彇璐т换鍔�", latestState.RobotCrane?.DeviceName ?? ipAddress);
// 鍙戦�佸彇璐ф寚浠�
await HandlePutFinishedStateAsync(task, ipAddress);
}
@@ -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,4";
+ }
+ else
+ {
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
+ }
+ }
+ else
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
}
bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
@@ -301,46 +316,61 @@
// 濡傛灉鏄粍鐩樹换鍔�
if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
{
- // 鐢熸垚鎵樼洏鏉＄爜鍓嶇紑
- const string prefix = "TRAY";
- // 鐢熸垚涓や釜鎵樼洏鏉＄爜锛堢敤浜庣粍鐩樻搷浣滐級锛堟祴璇曠敤锛屽悗缁鍙栫嚎浣撴潯鐮侊級
- string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
- string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
+ //if (!stateForUpdate.BatteryArrived)
+ //{
+ // return;
+ //}
+ // 璇诲彇绾夸綋鐢佃姱鏉＄爜
+ string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
+ string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
// 濡傛灉鏉＄爜鐢熸垚鎴愬姛
if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
{
- if(stateForUpdate.CellBarcode.Contains(trayBarcode1)|| stateForUpdate.CellBarcode.Contains(trayBarcode2))
+ if (stateForUpdate.CellBarcode.Contains(trayBarcode1) || stateForUpdate.CellBarcode.Contains(trayBarcode2))
{
- _logger.LogError("HandlePutFinishedStateAsync锛氱敓鎴愮殑鎵樼洏鏉＄爜宸插瓨鍦紝鍙兘瀛樺湪閲嶅锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
- QuartzLogger.Error($"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($"璇诲彇鐨勬墭鐩樻潯鐮佸凡瀛樺湪锛屽彲鑳藉瓨鍦ㄩ噸澶�", stateForUpdate.RobotCrane.DeviceName);
// 鏉＄爜閲嶅锛岃褰曢敊璇棩蹇楀苟鍋滄鍚庣画鎿嶄綔(鍚庣画鏀捐揣鏃朵細鐢ㄥ埌杩欎簺鏉＄爜淇℃伅锛屼緵鍚庣画鏀捐揣鏃朵娇鐢紝璋冭瘯鍚庡彲鑳戒細鍙栨秷姝ら�昏緫)
+
+ // 鍙戦�佸彇璐ф寚浠� 鏍囪鎵爜NG锛屾斁璐ф椂涓嶄娇鐢ㄨ繖浜涙潯鐮侊紝骞舵斁鍏G鍙�
+ //await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
return;
}
else
{
- _logger.LogInformation("HandlePutFinishedStateAsync锛氱敓鎴愮殑鎵樼洏鏉＄爜鍞竴锛岀户缁墽琛岋紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
- QuartzLogger.Info($"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($"璇诲彇鐨勬墭鐩樻潯鐮佸敮涓�锛岀户缁墽琛�", stateForUpdate.RobotCrane.DeviceName);
+ stateForUpdate.CellBarcode = new List<string>()
+ {
+ trayBarcode1,trayBarcode2
+ };
+
// 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
- stateForUpdate.CellBarcode.Add(trayBarcode1);
- stateForUpdate.CellBarcode.Add(trayBarcode2);
+ //stateForUpdate.CellBarcode.Add(trayBarcode1);
+ //stateForUpdate.CellBarcode.Add(trayBarcode2);
}
- // 璁板綍鏃ュ織锛氱敓鎴愭墭鐩樻潯鐮佹垚鍔�
- _logger.LogInformation("HandlePutFinishedStateAsync锛氱敓鎴愭墭鐩樻潯鐮佹垚鍔�: {Barcode1}+{Barcode2}锛屼换鍔″彿: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
- QuartzLogger.Info($"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($"璇诲彇鎵樼洏鏉＄爜鎴愬姛: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);
// 鍙戦�佸彇璐ф寚浠�
await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
}
else
{
- // 鏉＄爜鐢熸垚澶辫触锛岃褰曢敊璇棩蹇�
- _logger.LogError("HandlePutFinishedStateAsync锛氱敓鎴愭墭鐩樻潯鐮佸け璐ワ紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
- QuartzLogger.Error($"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);
+ return;
}
}
else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
--
Gitblit v1.9.3