From 8e42d0c1b7ae36cff2e7c69999117911a4b6f300 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 26 三月 2026 17:31:06 +0800
Subject: [PATCH] feat(WCS): 完善 WIDESEAWCS_Tasks 模块代码注释
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 558 +++++++++++++++++++++----------------------------------
1 files changed, 210 insertions(+), 348 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index e338e6f..8a55144 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,387 +1,249 @@
-锘縰sing HslCommunication;
-using Newtonsoft.Json;
+using Microsoft.Extensions.Logging;
using Quartz;
-using System.Collections.Concurrent;
-using System.Net.Sockets;
-using System.Text.Json;
-using WIDESEAWCS_Common.HttpEnum;
-using WIDESEAWCS_Core;
+using System.Net;
+using WIDESEA_Core;
+using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
-using WIDESEAWCS_Core.Http;
-using WIDESEAWCS_DTO.Stock;
-using WIDESEAWCS_ITaskInfoRepository;
+using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
-using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
-using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_Tasks.SocketServer;
+using WIDESEAWCS_Tasks.Workflow;
+using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks
{
+ /// <summary>
+ /// 鏈哄櫒浜轰换鍔′綔涓氾紙Quartz Job锛�- 璐熻矗璋冨害涓庣敓鍛藉懆鏈熺鐞�
+ /// </summary>
+ /// <remarks>
+ /// Quartz 瀹氭椂浠诲姟锛屾瘡绉掓墽琛屼竴娆★紙榛樿锛夛紝涓昏鑱岃矗锛�
+ /// 1. 浠� JobDataMap 鑾峰彇璁惧淇℃伅
+ /// 2. 纭繚 TCP 瀹㈡埛绔凡杩炴帴骞惰闃呮秷鎭�
+ /// 3. 杞寰呭鐞嗙殑鏈哄櫒浜轰换鍔�
+ /// 4. 璋冪敤宸ヤ綔娴佺紪鎺掑櫒鎵ц浠诲姟鐘舵�佹満
+ ///
+ /// 浣跨敤 [DisallowConcurrentExecution] 绂佹骞跺彂鎵ц锛岀‘淇濆悓涓�璁惧鐨勪换鍔′覆琛屽鐞嗐��
+ /// 鍏蜂綋鐨勭姸鎬佹満娴佺▼閫昏緫濮旀墭缁� <see cref="RobotWorkflowOrchestrator"/> 澶勭悊銆�
+ /// </remarks>
[DisallowConcurrentExecution]
public class RobotJob : IJob
{
- private readonly TcpSocketServer _TcpSocket;
- private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
- private static int _eventSubscribedFlag;
- private readonly IRobotTaskService _taskService;
- private readonly ITaskExecuteDetailService _taskExecuteDetailService;
- private readonly ITaskRepository _taskRepository;
- private readonly IRouterService _routerService;
+ /// <summary>
+ /// 浠诲姟鎬绘暟涓婇檺
+ /// </summary>
+ /// <remarks>
+ /// 褰撴満鍣ㄤ汉澶勭悊鐨勮揣鐗╂暟閲忚揪鍒版涓婇檺鏃讹紝涓嶅啀涓嬪彂鏂颁换鍔°��
+ /// 闃叉鏈哄櫒浜鸿繃搴﹀姵绱垨绯荤粺杩囪浇銆�
+ /// </remarks>
+ private const int MaxTaskTotalNum = 48;
- public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService taskService)
+ /// <summary>
+ /// 娑堟伅浜嬩欢璁㈤槄鏍囧織
+ /// </summary>
+ /// <remarks>
+ /// 浣跨敤鍘熷瓙鎿嶄綔纭繚鍏ㄥ眬鍙闃呬竴娆� TCP 娑堟伅浜嬩欢銆�
+ /// 闃叉澶氫釜 Job 瀹炰緥閲嶅璁㈤槄瀵艰嚧娑堟伅琚娆″鐞嗐��
+ /// </remarks>
+ private static int _messageSubscribedFlag;
+
+ /// <summary>
+ /// 鏈烘鎵嬪鎴风杩炴帴绠＄悊鍣�
+ /// </summary>
+ /// <remarks>
+ /// 璐熻矗绠＄悊 TCP 杩炴帴鐨勭敓鍛藉懆鏈燂紝鍖呮嫭杩炴帴銆佹柇寮�銆佹秷鎭彂閫佺瓑銆�
+ /// </remarks>
+ private readonly RobotClientManager _clientManager;
+
+ /// <summary>
+ /// 鏈烘鎵嬬姸鎬佺鐞嗗櫒
+ /// </summary>
+ /// <remarks>
+ /// 璐熻矗绠＄悊 Redis 缂撳瓨涓殑鏈烘鎵嬬姸鎬侊紝鍖呮嫭璇诲啓鍜屽苟鍙戞帶鍒躲��
+ /// </remarks>
+ private readonly RobotStateManager _stateManager;
+
+ /// <summary>
+ /// 娑堟伅璺敱鍣�
+ /// </summary>
+ /// <remarks>
+ /// 璐熻矗澶勭悊浠� TCP 鏈嶅姟鍣ㄦ帴鏀跺埌鐨勬秷鎭紝骞跺垎鍙戠粰鍚堥�傜殑澶勭悊鍣ㄣ��
+ /// 鏄秷鎭鐞嗙閬撶殑鍏ュ彛銆�
+ /// </remarks>
+ private readonly IRobotMessageRouter _messageRouter;
+
+ /// <summary>
+ /// 鏈哄櫒浜轰换鍔″鐞嗗櫒
+ /// </summary>
+ /// <remarks>
+ /// 璐熻矗浠诲姟鐨勪笅鍙戙�佺姸鎬佹洿鏂般�佷笌 WMS 鐨勪氦浜掔瓑銆�
+ /// </remarks>
+ private readonly RobotTaskProcessor _taskProcessor;
+
+ /// <summary>
+ /// 鏈哄櫒浜哄伐浣滄祦缂栨帓鍣�
+ /// </summary>
+ /// <remarks>
+ /// 璐熻矗鎵ц浠诲姟鐨勭姸鎬佹満娴佽浆锛屾牴鎹綋鍓嶇姸鎬佸喅瀹氫笅涓�姝ュ姩浣溿��
+ /// 杩欐槸鏍稿績鐨勪笟鍔￠�昏緫缂栨帓缁勪欢銆�
+ /// </remarks>
+ private readonly IRobotWorkflowOrchestrator _workflowOrchestrator;
+
+ /// <summary>
+ /// 鏃ュ織璁板綍鍣�
+ /// </summary>
+ private readonly ILogger<RobotJob> _logger;
+
+ /// <summary>
+ /// 鏋勯�犲嚱鏁�
+ /// </summary>
+ /// <remarks>
+ /// 閲囩敤渚濊禆娉ㄥ叆鏂瑰紡鑾峰彇鎵�闇�鏈嶅姟锛屽苟瀹屾垚缁勪欢鐨勫垵濮嬪寲鍜岀粍瑁呫��
+ /// 杩欓噷浣撶幇浜�"鎺у埗鍙嶈浆"鍜�"渚濊禆娉ㄥ叆"鐨勮璁″師鍒欍��
+ /// </remarks>
+ /// <param name="tcpSocket">TCP Socket 鏈嶅姟鍣ㄥ疄渚�</param>
+ /// <param name="robotTaskService">鏈哄櫒浜轰换鍔℃湇鍔�</param>
+ /// <param name="taskService">閫氱敤浠诲姟鏈嶅姟</param>
+ /// <param name="cache">缂撳瓨鏈嶅姟</param>
+ /// <param name="httpClientHelper">HTTP 瀹㈡埛绔府鍔╃被锛岀敤浜庤皟鐢� WMS 鎺ュ彛</param>
+ /// <param name="logger">鏃ュ織璁板綍鍣�</param>
+ public RobotJob(
+ TcpSocketServer tcpSocket,
+ IRobotTaskService robotTaskService,
+ ITaskService taskService,
+ ICacheService cache,
+ HttpClientHelper httpClientHelper,
+ ILogger<RobotJob> logger)
{
- _TcpSocket = TcpSocket;
- _taskService = taskService;
+ // 鍒濆鍖栫姸鎬佺鐞嗗櫒锛屼紶鍏ョ紦瀛樻湇鍔�
+ _stateManager = new RobotStateManager(cache);
+ _logger = logger;
+
+ // 鍒涘缓 Socket 缃戝叧锛屽皝瑁� TcpSocketServer 鐨勮闂�
+ // 鍚庣画鏇挎崲閫氫俊瀹炵幇鏃跺彧闇�鏇挎崲缃戝叧灞�
+ ISocketClientGateway socketGateway = new SocketClientGateway(tcpSocket);
+
+ // 鍒濆鍖栦换鍔″鐞嗗櫒
+ _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper);
+
+ // 鍒濆鍖栧鎴风绠＄悊鍣�
+ _clientManager = new RobotClientManager(tcpSocket, _stateManager);
+
+ // 鍒濆鍖栧懡浠ゅ鐞嗗櫒
+ // 绠�鍗曞懡浠ゅ鐞嗗櫒锛氬鐞嗙姸鎬佹洿鏂扮瓑绠�鍗曞懡浠�
+ var simpleCommandHandler = new RobotSimpleCommandHandler(_taskProcessor);
+ // 鍓嶇紑鍛戒护澶勭悊鍣細澶勭悊 pickfinished銆乸utfinished 绛夊甫鍙傛暟鐨勫懡浠�
+ var prefixCommandHandler = new RobotPrefixCommandHandler(robotTaskService, _taskProcessor, _stateManager, socketGateway);
+
+ // 鍒濆鍖栨秷鎭矾鐢卞櫒
+ _messageRouter = new RobotMessageHandler(socketGateway, _stateManager, cache, simpleCommandHandler, prefixCommandHandler, logger);
+
+ // 鍒濆鍖栧伐浣滄祦缂栨帓鍣�
+ _workflowOrchestrator = new RobotWorkflowOrchestrator(_stateManager, _clientManager, _taskProcessor, robotTaskService);
+
+ // 璁㈤槄瀹㈡埛绔柇寮�杩炴帴浜嬩欢
+ _clientManager.OnClientDisconnected += OnClientDisconnected;
+
+ // 鍏ㄥ眬鍙闃呬竴娆� TCP 娑堟伅浜嬩欢锛堜繚鎸佸師鏈夎涓猴級
+ // 浣跨敤 Interlocked.CompareExchange 瀹炵幇鍘熷瓙鎿嶄綔
+ if (System.Threading.Interlocked.CompareExchange(ref _messageSubscribedFlag, 1, 0) == 0)
+ {
+ // 灏嗘秷鎭矾鐢卞櫒鐨勫鐞嗘柟娉曠粦瀹氬埌 TCP 鏈嶅姟鍣ㄧ殑娑堟伅鎺ユ敹浜嬩欢
+ tcpSocket.MessageReceived += _messageRouter.HandleMessageReceivedAsync;
+ _logger.LogError("鏈哄櫒鎵婽CP娑堟伅浜嬩欢宸茶闃�");
+ QuartzLogger.Error($"鏈哄櫒鎵婽CP娑堟伅浜嬩欢宸茶闃�");
+ }
}
+ /// <summary>
+ /// 瀹㈡埛绔柇寮�杩炴帴鐨勪簨浠跺鐞�
+ /// </summary>
+ /// <remarks>
+ /// 褰撳鎴风鏂紑杩炴帴鏃惰褰曟棩蹇楋紝渚夸簬鎺掓煡闂銆�
+ /// </remarks>
+ /// <param name="sender">浜嬩欢鍙戦�佽��</param>
+ /// <param name="state">鏂紑杩炴帴鐨勬満姊版墜鐘舵��</param>
+ private void OnClientDisconnected(object? sender, RobotSocketState state)
+ {
+ _logger.LogError("瀹㈡埛绔凡鏂紑杩炴帴");
+ QuartzLogger.Error($"瀹㈡埛绔凡鏂紑杩炴帴", state.RobotCrane.DeviceName);
+ }
+
+ /// <summary>
+ /// Quartz Job 鐨勬墽琛屽叆鍙�
+ /// </summary>
+ /// <remarks>
+ /// 鎵ц娴佺▼锛�
+ /// 1. 浠� JobDataMap 鑾峰彇璁惧淇℃伅
+ /// 2. 纭繚瀹㈡埛绔凡杩炴帴骞惰闃呮秷鎭�
+ /// 3. 杞寰呭鐞嗕换鍔�
+ /// 4. 璋冪敤宸ヤ綔娴佺紪鎺掑櫒鎵ц浠诲姟
+ ///
+ /// 娉ㄦ剰锛氭鏂规硶鍙兘棰戠箒璋冪敤锛堟瘡绉掍竴娆★級锛岄渶娉ㄦ剰鎬ц兘銆�
+ /// </remarks>
+ /// <param name="context">Quartz 浣滀笟鎵ц涓婁笅鏂囷紝鍖呭惈浣滀笟璇︽儏鍜屾暟鎹�</param>
public async Task Execute(IJobExecutionContext context)
{
+ // 浠� JobDataMap 涓幏鍙栦綔涓氬弬鏁�
bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
+
+ // 灏嗗弬鏁拌浆鎹负鏈哄櫒浜鸿澶囦俊鎭�
RobotCraneDevice robotCrane = (RobotCraneDevice?)value ?? new RobotCraneDevice();
+
+ // 濡傛灉娌℃湁鑾峰彇鍒版湁鏁堢殑璁惧淇℃伅锛岀洿鎺ヨ繑鍥�
if (!flag || robotCrane.IsNullOrEmpty())
{
return;
}
+ // 鑾峰彇璁惧 IP 鍦板潃锛屼綔涓虹姸鎬佺紦瀛樼殑閿�
string ipAddress = robotCrane.IPAddress;
- // 鑾峰彇鎴栧垱寤虹姸鎬�
- RobotSocketState state = _socketStates.GetOrAdd(ipAddress, _ => new RobotSocketState
- {
- IPAddress = ipAddress,
- RobotCrane = robotCrane
- });
+ // 鑾峰彇鎴栧垱寤鸿澶囩姸鎬佸璞�
+ RobotSocketState state = _stateManager.GetOrCreateState(ipAddress, robotCrane);
- // 鏇存柊璁惧淇℃伅
+ // 鏇存柊璁惧鍩虹淇℃伅锛堜互闃茶澶囦俊鎭湪杩愯鏈熼棿鍙戠敓鍙樺寲锛�
state.RobotCrane = robotCrane;
- // 妫�鏌ユ槸鍚︽湁璇ュ鎴风杩炴帴
- var clientIds = _TcpSocket.GetClientIds();
- if (!clientIds.Contains(ipAddress))
+ try
{
- return;
- }
-
- // 璁㈤槄涓�娆� message 浜嬩欢锛堝叏灞�涓�娆★級
- if (Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
- {
- _TcpSocket.MessageReceived += _TcpSocket_MessageReceived;
- _TcpSocket.RobotReceived += _TcpSocket_RobotReceived;
- }
-
- if (!state.IsEventSubscribed)
- {
- _TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client);
- Task clientTask = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state);
- state.IsEventSubscribed = true;
- }
-
- // 鑾峰彇浠诲姟骞剁紦瀛樺埌鐘舵�佷腑
- Dt_RobotTask? task = GetTask(robotCrane);
- if (task != null)
- {
- state.CurrentTask = task;
- if (task.RobotTaskTotalNum != 48)
+ // 纭繚瀹㈡埛绔凡杩炴帴骞惰闃呮秷鎭簨浠�
+ // 濡傛灉瀹㈡埛绔湭杩炴帴鎴栬闃呭け璐ワ紝鐩存帴杩斿洖绛夊緟涓嬫璋冨害
+ if (!_clientManager.EnsureClientSubscribed(ipAddress, robotCrane))
{
- // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
- if (state.RobotRunMode == 1 && state.RobotControlMode == 1)
- {
- await Task.Delay(1000);
- if ((state.CurrentAction == "Homed" || state.CurrentAction == "PickFinished" || state.CurrentAction == "PutFinished") && state.OperStatus == "Running")
- {
- // TODO 璇诲彇绾夸綋鐢垫睜鏉＄爜锛屽彂閫佸彇鐢垫睜鎸囦护
- if (true)
- {
- // 妯℃嫙璇诲彇鏉＄爜
- state.CellBarcode = new string[] { "CellBarcode1", "CellBarcode2", "CellBarcode3", "CellBarcode4" };
+ return;
+ }
- string taskString = $"Pickbattery,{task.RobotSourceAddress}";
- // 鍙戦�佷换鍔℃寚浠�
- bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
- }
- }
+ // 杞鑾峰彇璇ヨ澶囩殑寰呭鐞嗕换鍔�
+ var task = _taskProcessor.GetTask(robotCrane);
+
+ // 濡傛灉鏈夊緟澶勭悊浠诲姟
+ if (task != null)
+ {
+ // 鑾峰彇鏈�鏂扮殑璁惧鐘舵��
+ var latestState = _stateManager.GetState(ipAddress);
+ if (latestState == null)
+ {
+ // 鐘舵�佷笉瀛樺湪锛屽彲鑳借澶囨湭鍒濆鍖�
+ return;
+ }
+
+ // 妫�鏌ヤ换鍔℃�绘暟鏄惁鏈揪鍒颁笂闄�
+ if (latestState.RobotTaskTotalNum < MaxTaskTotalNum)
+ {
+ // 璋冪敤宸ヤ綔娴佺紪鎺掑櫒鎵ц浠诲姟
+ // 缂栨帓鍣ㄤ細鏍规嵁褰撳墠鐘舵�佸喅瀹氫笅涓�姝ュ姩浣�
+ await _workflowOrchestrator.ExecuteAsync(latestState, task, ipAddress);
}
}
}
-
- return;
- }
-
- /// <summary>
- /// 浜嬩欢锛氬鎴风鏂紑杩炴帴鏃惰Е鍙�
- /// </summary>
- /// <param name="clientId"></param>
- /// <returns></returns>
- private Task<string?> _TcpSocket_RobotReceived(string clientId)
- {
- _socketStates.TryRemove(clientId, out _);
- return Task.FromResult<string?>(null);
- }
-
- /// <summary>
- /// 浜嬩欢锛氭敹鍒版秷鎭椂瑙﹀彂
- /// </summary>
- /// <param name="message"></param>
- /// <param name="isJson"></param>
- /// <param name="client"></param>
- /// <param name="state"></param>
- /// <returns></returns>
- private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, RobotSocketState state)
- {
- WebResponseContent content = new WebResponseContent();
- string messageLower = message.ToLowerInvariant();
-
- if (IsSimpleCommand(messageLower, state))
+ catch (Exception ex)
{
- return null;
+ // 寮傚父澶勭悊宸插湪缁勪欢鍐呴儴杩涜锛孞ob 灞備繚鎸佸厹搴曡涔�
+ // 璁板綍寮傚父鑰屼笉鏄潤榛樺悶鎺夛紝渚夸簬鎺掓煡闂
+ _logger?.LogError(ex, "RobotJob鎵ц寮傚父锛孖P: {IpAddress}", ipAddress);
+ QuartzLogger.Error($"RobotJob鎵ц寮傚父锛孖P: {ipAddress}", state.RobotCrane.DeviceName, ex);
}
-
- if (IsPrefixCommand(messageLower))
- {
- try
- {
- var parts = message.Split(',');
- if (parts.Length >= 1)
- {
- var cmd = parts[0].ToLowerInvariant();
- int[] positions = new int[4];
- for (int i = 1; i <= 4 && i < parts.Length; i++)
- {
- int.TryParse(parts[i], out positions[i - 1]);
- }
-
- if (cmd.StartsWith("pickfinished"))
- {
- 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()
- };
- 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);
-
- if (content.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));
- content = JsonConvert.DeserializeObject<WebResponseContent>(result);
-
- if (content.Status)
- {
- state.CurrentAction = "PutFinished";
- }
- }
- }
- }
- }
- catch { }
-
- return null;
- }
-
- return null;
- }
-
- /// <summary>
- /// 鏈烘鎵嬬畝鍗曞懡浠ゅ鐞�
- /// </summary>
- /// <param name="message"></param>
- /// <param name="state"></param>
- /// <returns></returns>
- private bool IsSimpleCommand(string message, RobotSocketState state)
- {
- switch (message)
- {
- case "homing":
- state.CurrentAction = "Homing";
- return true;
-
- case "homed":
- state.CurrentAction = "Homed";
- return true;
-
- case "picking":
- state.CurrentAction = "Picking";
- return true;
-
- case "puting":
- state.CurrentAction = "Putting";
- return true;
-
- case "allpickfinished":
- 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�
- }
- return true;
-
- case "allputfinished":
- 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�
- }
- return true;
-
- case "running":
- state.OperStatus = "Running";
- return true;
-
- case "pausing":
- state.OperStatus = "Pausing";
- return true;
-
- case "warming":
- state.OperStatus = "Warming";
- return true;
-
- case "emstoping":
- state.OperStatus = "Emstoping";
- return true;
-
- case "runmode,1":
- state.RobotRunMode = 1;
- return true;
-
- case "runmode,2":
- state.RobotRunMode = 2;
- return true;
-
- case "controlmode,1":
- state.RobotControlMode = 1;
- return true;
-
- case "controlmode,2":
- state.RobotControlMode = 2;
- return true;
-
- case "armobject,1":
- state.RobotArmObject = 1;
- return true;
-
- case "armobject,0":
- state.RobotArmObject = 0;
- return true;
-
- default:
- return false;
- }
- }
-
- /// <summary>
- /// 鏈烘鎵嬪墠缂�鍛戒护澶勭悊
- /// </summary>
- /// <param name="message"></param>
- /// <returns></returns>
- private static bool IsPrefixCommand(string message)
- {
- return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
- }
-
- private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
- {
- return _taskService.QueryRobotCraneTask(robotCrane.DeviceCode);
}
}
-
- public class RobotSocketState
- {
- public string IPAddress { get; set; } = string.Empty;
-
- /// <summary>
- /// 鏄惁宸茶闃呮秷鎭簨浠�
- /// </summary>
- public bool IsEventSubscribed { get; set; }
-
- /// <summary>
- /// 鏈烘鎵嬭繍琛屾ā寮�
- /// </summary>
- public int? RobotRunMode { get; set; }
-
- /// <summary>
- /// 鏈烘鎵嬫帶鍒舵ā寮�
- /// </summary>
- public int? RobotControlMode { get; set; }
-
- /// <summary>
- /// 鏈烘鎵嬫姄鍙栧璞�
- /// </summary>
- public int? RobotArmObject { get; set; }
-
- /// <summary>
- /// 鏈烘鎵嬭澶囦俊鎭�
- /// </summary>
- public RobotCraneDevice? RobotCrane { get; set; }
-
- /// <summary>
- /// 褰撳墠鍔ㄤ綔
- /// </summary>
- public string? CurrentAction { get; set; }
-
- /// <summary>
- /// 褰撳墠鐘舵��
- /// </summary>
- public string? OperStatus { get; set; }
-
- /// <summary>
- /// 鍙栬揣瀹屾垚浣嶇疆
- /// </summary>
- public int[]? LastPickPositions { get; set; }
-
- /// <summary>
- /// 鏀捐揣瀹屾垚浣嶇疆
- /// </summary>
- public int[]? LastPutPositions { get; set; }
-
- /// <summary>
- /// 鎶撳彇浣嶇疆鏉＄爜
- /// </summary>
- public string[] CellBarcode { get; set; }
-
- /// <summary>
- /// 褰撳墠鎶撳彇浠诲姟
- /// </summary>
- public Dt_RobotTask? CurrentTask { get; set; }
- }
-}
\ No newline at end of file
+}
--
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