From 75dcfe564467731b993519eb59ce330703ed1d5b Mon Sep 17 00:00:00 2001
From: xiazhengtongxue <133085197+xiazhengtongxue@users.noreply.github.com>
Date: 星期六, 25 四月 2026 16:26:04 +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/RobotSimpleCommandHandler.cs | 104 ++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 81 insertions(+), 23 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 34f3e9f..5c709bf 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
@@ -1,5 +1,9 @@
+using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
+using Serilog;
+using System.Net;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.LogHelper;
+using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks.Workflow
@@ -35,13 +39,29 @@
private readonly ISocketClientGateway _socketClientGateway;
/// <summary>
+ /// 鏃ュ織璁板綍鍣�
+ /// </summary>
+ private readonly ILogger _logger;
+
+ /// <summary>
+ /// 鏈烘鎵嬬姸鎬佺鐞嗗櫒
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬璇诲彇鍜屾洿鏂版満鍣ㄤ汉鐨勭姸鎬併��
+ /// </remarks>
+ private readonly RobotStateManager _stateManager;
+
+ /// <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, ISocketClientGateway socketClientGateway)
+ /// <param name="logger">鏃ュ織璁板綍鍣�</param>
+ public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway, ILogger logger, RobotStateManager stateManager)
{
_taskProcessor = taskProcessor;
_socketClientGateway = socketClientGateway;
+ _logger = logger;
+ _stateManager = stateManager;
}
/// <summary>
@@ -87,6 +107,8 @@
// 鏈哄櫒浜哄凡瀹屾垚鍥為浂
case "homed":
state.Homed = "Homed";
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, "Homed");
return true;
// 鏈哄櫒浜烘鍦ㄨ繍琛�
@@ -124,6 +146,28 @@
state.BatteryArrived = true;
return true;
+ // 鏄惁鐢佃姱鍒颁綅
+ case "batteryarrivedno":
+ state.BatteryArrived = false;
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, "batteryarrivedno");
+ return true;
+ // ==================== 鎺ユ敹浠诲姟鍙嶉 ====================
+
+ // 鍙栬揣鎺ユ敹
+ case "pickbatteryover":
+ var isResult = UpdateStatus(state, true);
+ if (!isResult)
+ return false;
+ return true;
+
+ // 鏀捐揣鎺ユ敹
+ case "putbatteryover":
+ isResult = UpdateStatus(state, false);
+ if (!isResult)
+ return false;
+ return true;
+
// ==================== 鍏ㄩ儴瀹屾垚鍛戒护 ====================
// 鍏ㄩ儴鍙栬揣瀹屾垚
@@ -151,26 +195,26 @@
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");
+ QuartzLogHelper.LogError(_logger, $"鎵归噺鎷嗙洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
}
if (state.ChangePalletPhase == 5)
{
// FlowB 鏈�缁堥樁娈碉細鍋囩數鑺彇瀹岋紝婧愮┖鎵樼洏鍥炲簱 HCSC1
- if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true, isRoadway: "HCSC1"))
{
return false;
}
if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
{
- QuartzLogger.Error($"allpickfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ QuartzLogHelper.LogError(_logger, $"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);
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
state.CurrentTask = null;
state.RobotTaskTotalNum = 0;
@@ -184,27 +228,28 @@
{
// FlowA 涓棿闃舵锛氭甯哥數鑺彇瀹岋紝婧愮┖鎵樼洏鍥炲簱 GWSC1
// 涓嶅垹闄や换鍔★紝涓嶉噸缃姸鎬侊紝缁х画 Phase 3-4 鍋囩數鑺祦绋�
- if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true, isRoadway: "GWSC1"))
{
return false;
}
return true;
}
+ List<string> str = new List<string>() { "11001", "11010" };
// Phase == 0: 闈炴壒娆℃ā寮忥紙鐩爣鎬绘暟==48锛�
- if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true, isRoadway: str.Contains(currentTask.RobotSourceAddressLineCode) ? "GWSC1" : "HCSC1"))
{
return false;
}
if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
{
- QuartzLogger.Error($"allpickfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ QuartzLogHelper.LogError(_logger, $"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);
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
state.ChangePalletPhase = 0;
state.CurrentBatchIndex = 1;
@@ -220,7 +265,7 @@
var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet, state.RobotCrane?.DeviceName);
if (!confirmResult.IsSuccess)
{
- QuartzLogger.Error($"鎵归噺鎷嗙洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ QuartzLogHelper.LogError(_logger, $"鎵归噺鎷嗙洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
}
@@ -232,12 +277,12 @@
// 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
{
- QuartzLogger.Error($"allpickfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ QuartzLogHelper.LogError(_logger, $"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);
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
return true;
}
return false;
@@ -267,21 +312,21 @@
var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet, state.RobotCrane?.DeviceName);
if (!confirmResult.IsSuccess)
{
- QuartzLogger.Error($"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ QuartzLogHelper.LogError(_logger, $"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
}
if (state.ChangePalletPhase == 5)
{
// FlowA 鏈�缁堥樁娈碉細鍋囩數鑺斁瀹岋紝鐩爣鎵樼洏婊�48鍏ュ簱 HCSC1
- if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false, isRoadway: "HCSC1"))
{
return false;
}
if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
{
- QuartzLogger.Error($"allputfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ QuartzLogHelper.LogError(_logger, $"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;
}
@@ -290,7 +335,7 @@
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);
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
state.ChangePalletPhase = 0;
state.CurrentBatchIndex = 1;
@@ -301,22 +346,23 @@
{
// FlowB 涓棿闃舵锛氭甯哥數鑺斁瀹岋紝鏈夎揣鎵樼洏缁勭洏鍏ュ簱 GWSC1
// 涓嶅垹闄や换鍔★紝涓嶉噸缃姸鎬侊紝缁х画 Phase 3-4 鍋囩數鑺祦绋�
- if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false, isRoadway: "GWSC1"))
{
return false;
}
return true;
}
+ List<string> str = new List<string>() { "11001", "11010" };
// Phase == 0: 闈炴壒娆℃ā寮忥紙鐩爣鎬绘暟==48锛�
- if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false, str.Contains(currentTask.RobotTargetAddressLineCode) ? "GWSC1" : "HCSC1"))
{
return false;
}
if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
{
- QuartzLogger.Error($"allputfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ QuartzLogHelper.LogError(_logger, $"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;
}
@@ -325,7 +371,7 @@
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);
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
state.ChangePalletPhase = 0;
state.CurrentBatchIndex = 1;
@@ -341,7 +387,7 @@
var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet, state.RobotCrane?.DeviceName);
if (!confirmResult.IsSuccess)
{
- QuartzLogger.Error($"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ QuartzLogHelper.LogError(_logger, $"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
}
@@ -355,7 +401,7 @@
// 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
{
- QuartzLogger.Error($"allputfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ QuartzLogHelper.LogError(_logger, $"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;
}
@@ -365,7 +411,7 @@
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);
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
return true;
}
return false;
@@ -412,5 +458,17 @@
return false;
}
}
+
+ public bool UpdateStatus(RobotSocketState state, bool isPick)
+ {
+ var task = _taskProcessor.GetTask(state?.RobotCrane);
+ if (task == null)
+ {
+ QuartzLogHelper.LogError(_logger, $"鍙栬揣鎺ユ敹澶辫触: 鏈壘鍒般�恵state?.RobotCrane}銆戠殑浠诲姟", state.RobotCrane?.DeviceName ?? "Unknown");
+ }
+ task.RobotTaskState = (int)TaskRobotStatusEnum.RobotExecuting;
+ _taskProcessor.UpdateRobotTask(task);
+ return true;
+ }
}
}
\ No newline at end of file
--
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