From 88724eca51a5863f20ee0a552af741aeebf4e8f2 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期三, 11 二月 2026 17:31:45 +0800
Subject: [PATCH] 添加堆垛机配置并重构任务
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 146 ++++++++++++++++++++++++++++++++++++------------
1 files changed, 110 insertions(+), 36 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index 1030119..b63717b 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,7 +1,13 @@
-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;
@@ -19,15 +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)
@@ -126,7 +136,7 @@
{
string messageLower = message.ToLowerInvariant();
- if (IsSimpleCommand(messageLower, state))
+ if (await IsSimpleCommandAsync(messageLower, state))
{
return null;
}
@@ -147,13 +157,6 @@
if (cmd.StartsWith("pickfinished"))
{
- state.LastPickPositions = positions;
- state.CurrentAction = "PickFinished";
- }
- else if (cmd.StartsWith("putfinished"))
- {
- state.LastPutPositions = positions;
- // 鍙戦�佹暟鎹粰WMS缁勭洏/鎹㈢洏
StockDTO stockDTO = new StockDTO
{
SourceLineNo = state.CurrentTask?.RobotSourceAddressLineCode,
@@ -161,17 +164,55 @@
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()
+ .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.CurrentAction = "PutFinished";
+ state.LastPickPositions = positions;
+
+ 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;
+ 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";
+ }
+ }
}
}
}
@@ -189,7 +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)
{
@@ -213,7 +254,7 @@
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;
@@ -221,17 +262,7 @@
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;
@@ -280,6 +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>
@@ -292,7 +366,7 @@
private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
{
- return _taskService.QueryRobotCraneTask(robotCrane.DeviceCode);
+ return _robottaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
}
}
--
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