From a07b52190a674033b505f00d7c1e3347cb550676 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期五, 06 三月 2026 10:36:56 +0800
Subject: [PATCH] 更新项目文档：新增机器人通信系统与常量说明

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 Code/WCS/WIDESEAWCS_Server/CLAUDE.md |   50 ++++++++++++++++++++++++++++++++++++++++++++++++++
 1 files changed, 50 insertions(+), 0 deletions(-)

diff --git a/Code/WCS/WIDESEAWCS_Server/CLAUDE.md b/Code/WCS/WIDESEAWCS_Server/CLAUDE.md
index e2e08a3..ddc1bc4 100644
--- a/Code/WCS/WIDESEAWCS_Server/CLAUDE.md
+++ b/Code/WCS/WIDESEAWCS_Server/CLAUDE.md
@@ -133,6 +133,56 @@
 - Client connections stored in `ConcurrentDictionary<string, TcpClient>`
 - Messages handled via `OnDataReceived` event
 
+## Robot Communication System
+
+The robot crane system uses a modular architecture with specialized components.
+
+**Components:**
+
+- `RobotClientManager` - Manages TCP client connections and subscriptions
+- `RobotStateManager` - Manages robot state cache with safe concurrent updates
+- `RobotMessageHandler` - Processes incoming TCP messages from robots
+- `RobotTaskProcessor` - Handles task execution and state transitions
+- `RobotBarcodeGenerator` - Generates tray/barcode identifiers
+
+**Task Types** (from `RobotTaskTypeEnum`):
+
+- `GroupPallet (500)` - 缁勭洏浠诲姟
+- `ChangePallet (510)` - 鎹㈢洏浠诲姟
+- `SplitPallet (520)` - 鎷嗙洏浠诲姟
+
+**State Flow:**
+
+1. Robot connects via TCP 鈫� ClientManager tracks connection
+2. Job polls for tasks 鈫� TaskProcessor gets pending tasks
+3. Message received 鈫� MessageHandler parses and updates state
+4. State transitions 鈫� TaskProcessor sends commands back to robot
+
+## Common Constants
+
+**Communication Timeouts** (`CommunicationConst`):
+
+- `WaitIntervalMs: 500` - Device wait interval
+- `WaitTimeoutBaseMs: 6000` - Timeout base
+- `WaitTotalTimeoutMs: 60000` - Total timeout (10 脳 base)
+- `PingIntervalMs: 100` - Ping check interval
+- `HttpDefaultTimeoutSeconds: 60` - HTTP timeout
+
+**System Integration URLs** (`BaseAPI`):
+
+- `WMSBaseUrl: "http://localhost:9291/api/"` - WMS system
+- `WCSBaseUrl: "http://localhost:9292/api/"` - WCS system (this server)
+- `MESBaseUrl: "http://localhost:9293/api/"` - MES system
+- `ERPBaseUrl: "http://localhost:9294/api/"` - ERP system
+
+**Redis Cache Prefixes** (`RedisPrefix`):
+
+- `System: "System"` - System-level cache
+- `User: "User"` - User-specific cache
+- `Code: "Code"` - Code/configuration cache
+
+Use these prefixes with `ICacheService.RemoveByPrefix()` for bulk cache invalidation.
+
 ## Configuration Settings
 
 Key settings in `appsettings.json`:

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