From 75f34e9ba2e8b249c96333f3d7936c8968e12ec7 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期三, 11 二月 2026 14:44:12 +0800
Subject: [PATCH] 集成WMS调用与入库任务处理
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 83 +++++++++++++++++++++++++++++++----------
1 files changed, 63 insertions(+), 20 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index 6a945d5..d780e0b 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -25,15 +25,19 @@
private readonly TcpSocketServer _TcpSocket;
private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
private static int _eventSubscribedFlag;
- private readonly IRobotTaskService _taskService;
+
+
+ private readonly ITaskService _taskService;
+ private readonly IRobotTaskService _robottaskService;
private readonly ITaskExecuteDetailService _taskExecuteDetailService;
private readonly ITaskRepository _taskRepository;
private readonly IRouterService _routerService;
- public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService taskService)
+ public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService)
{
_TcpSocket = TcpSocket;
- _taskService = taskService;
+ _robottaskService = RobottaskService;
+ this._taskService = TaskService;
}
public async Task Execute(IJobExecutionContext context)
@@ -133,7 +137,7 @@
WebResponseContent content = new WebResponseContent();
string messageLower = message.ToLowerInvariant();
- if (IsSimpleCommand(messageLower, state))
+ if (await IsSimpleCommandAsync(messageLower, state))
{
return null;
}
@@ -174,7 +178,8 @@
state.LastPickPositions = positions;
var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), state.CurrentTask?.RobotTaskType == 2 ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.SplitPalletAsync));
- content = JsonConvert.DeserializeObject<WebResponseContent>(result);
+ WebResponseContent? contentNullable = JsonConvert.DeserializeObject<WebResponseContent>(result);
+ content = contentNullable ?? new WebResponseContent();
if (content.Status)
{
@@ -205,7 +210,8 @@
.ToList()
};
var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.GroupPalletAsync));
- content = JsonConvert.DeserializeObject<WebResponseContent>(result);
+ WebResponseContent? contentNullable = JsonConvert.DeserializeObject<WebResponseContent>(result);
+ content = contentNullable ?? new WebResponseContent();
if (content.Status)
{
@@ -229,7 +235,7 @@
/// <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)
{
@@ -253,7 +259,7 @@
state.CurrentAction = "AllPickFinished";
if (state.CurrentTask?.RobotTaskType == 2 || state.CurrentTask?.RobotTaskType == 3)
{
- // TODO 鏈烘鎵嬪彇璐у畬鎴愶紝鍒ゆ柇鏄惁鎹㈢洏銆佹媶鐩樹换鍔★紝鍒涘缓绌烘墭鐩樺洖搴撲换鍔�
+ await HandleInboundTaskAsync(state, useSourceAddress: true);
}
return true;
@@ -261,17 +267,7 @@
state.CurrentAction = "AllPutFinished";
if (state.CurrentTask?.RobotTaskType == 1)
{
- // TODO 鏈烘鎵嬪彇璐у畬鎴愶紝鍒ゆ柇鏄惁缁勭洏浠诲姟锛屽垱寤虹粍鐩樺叆搴撲换鍔�
- CreateTaskDto taskDto = new CreateTaskDto()
- {
- PalletCode = state.CurrentTask?.RobotTargetAddressPalletCode ?? string.Empty,
- SourceAddress = state.CurrentTask?.RobotTargetAddress ?? string.Empty,
- TargetAddress = state.CurrentTask?.RobotTargetAddress ?? string.Empty,
- Roadway = state.CurrentTask?.RobotRoadway == "1" ? "GWSC001" : state.CurrentTask?.RobotRoadway == "2" ? "HCSC001" : "SC001" ?? string.Empty,
- WarehouseId = state.CurrentTask?.RobotRoadway == "1" ? 1 : state.CurrentTask?.RobotRoadway == "2" ? 2 : 3,
- PalletType = 1,
- TaskType = 4
- };
+ await HandleInboundTaskAsync(state, useSourceAddress: false);
}
return true;
@@ -320,6 +316,53 @@
}
}
+ 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));
+ WebResponseContent content = JsonConvert.DeserializeObject<WebResponseContent>(result) ?? new WebResponseContent();
+ if (!content.Status)
+ {
+ return;
+ }
+
+ WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(content.Data.ToString() ?? string.Empty) ?? new WMSTaskDTO();
+ 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>
@@ -332,7 +375,7 @@
private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
{
- return _taskService.QueryRobotCraneTask(robotCrane.DeviceCode);
+ return _robottaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
}
}
--
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