From ad64840cc04dac2278ca02f22ddc02b1a218e9cf Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期三, 15 四月 2026 22:44:18 +0800
Subject: [PATCH] feat(机器人任务): 实现换盘任务假电芯补充逻辑
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 676 +++++++++++++++++---------------------------------------
1 files changed, 205 insertions(+), 471 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index 7efce62..5d3cf9e 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,518 +1,252 @@
-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_Common.TaskEnum;
-using WIDESEAWCS_Core;
+using WIDESEA_Core;
+using WIDESEAWCS_Common;
+using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
-using WIDESEAWCS_Core.Http;
-using WIDESEAWCS_DTO.Stock;
-using WIDESEAWCS_DTO.TaskInfo;
-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 const int MaxTaskTotalNum = 48;
+ /// <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;
- private readonly TcpSocketServer _TcpSocket;
- private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
- private static int _eventSubscribedFlag;
+ /// <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;
- private readonly ITaskService _taskService;
- private readonly IRobotTaskService _robotTaskService;
+ /// <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;
- private static IRobotTaskService _latestRobotTaskService = null!;
- private static ITaskService _latestTaskService = null!;
+ /// <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;
- public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService)
+ /// <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,
+ IFakeBatteryPositionService fakeBatteryPositionService)
{
- _TcpSocket = TcpSocket;
- _robotTaskService = RobottaskService;
- _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 = logger;
- _latestRobotTaskService = RobottaskService;
- _latestTaskService = TaskService;
+ // 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, _logger, fakeBatteryPositionService);
+
+ // 鍒濆鍖栧鎴风绠＄悊鍣�
+ _clientManager = new RobotClientManager(tcpSocket, _stateManager, _logger);
+
+ // 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, socketGateway);
+ // 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, _logger);
+
+ // 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)
- {
- if (_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client))
+ // 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))
{
- _ = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state)
- .ContinueWith(t =>
- {
- if (t.IsFaulted)
- Console.WriteLine($"HandleClientAsync error: {t.Exception?.GetBaseException().Message}");
- }, TaskContinuationOptions.OnlyOnFaulted);
- state.IsEventSubscribed = true;
+ return;
}
- }
- // 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.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
- state.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
- state.CurrentTask = task;
- if (task.RobotTaskTotalNum <= MaxTaskTotalNum)
+ if (state.CurrentAction == "Picking" || state.CurrentAction == "Puting")
{
- // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
- if (state.RobotRunMode == 2 && state.RobotControlMode == 1 && state.OperStatus != "Running")
- {
- await Task.Delay(1000);
- if (state.CurrentAction == "PickFinished" && state.RobotArmObject == 1 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
- {
- string taskString = $"Putbattery,{task.RobotTargetAddress}";
- bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
- if (result)
- {
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- await _robotTaskService.UpdateRobotTaskAsync(task);
- }
- }
- else if (state.CurrentAction == "PutFinished" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
- {
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- await _robotTaskService.UpdateRobotTaskAsync(task);
- }
- else if (state.OperStatus == "Homed" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
- {
- // TODO 璇诲彇绾夸綋鐢垫睜鏉＄爜锛屽彂閫佸彇鐢垫睜鎸囦护
- // 闅忔満鐢熸垚涓ゅぉ鎵樼洏鏉＄爜瀛樻斁鍒颁袱涓彉閲忛噷闈�
- // 瀹氫箟鍓嶇紑锛堜緥濡傦細TRAY浠ｈ〃鎵樼洏锛�
- string prefix = "TRAY";
+ return;
+ }
- // 鐢熸垚涓や釜鎵樼洏鏉＄爜
- string trayBarcode1 = GenerateTrayBarcode(state, prefix);
- string trayBarcode2 = GenerateTrayBarcode(state, prefix);
- if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty())
- {
- string taskString = $"Pickbattery,{task.RobotSourceAddress}";
- // 鍙戦�佷换鍔℃寚浠�
- bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
- if (result)
- {
- // TODO 澶勭悊鎴愬姛鍙戦�佷换鍔℃寚浠ゅ悗鐨勯�昏緫
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- result = await _robotTaskService.UpdateRobotTaskAsync(task);
- }
- }
- }
+ // 杞鑾峰彇璇ヨ澶囩殑寰呭鐞嗕换鍔�
+ var task = _taskProcessor.GetTask(robotCrane);
+
+ // 濡傛灉娌℃湁鑾峰彇鍒板緟澶勭悊浠诲姟锛屼笖RobotArmObject涓�1锛堟湁鐗╂枡锛夛紝鍒欒幏鍙栬璁惧鎵ц涓殑浠诲姟
+ if (task == null && state.RobotArmObject == 1)
+ {
+ task = _taskProcessor.GetExecutingTask(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 < RobotConst.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);
}
}
}
- }
-
- //涓存椂娴嬭瘯鐢�
- private static string GenerateTrayBarcode(RobotSocketState state, string prefix = "")
- {
- // 褰撳墠鏃ユ湡
- string datePart = DateTime.Now.ToString("yyyyMMdd");
-
- // 鏃堕棿鎴筹紙鏃跺垎绉掞級
- string timePart = DateTime.Now.ToString("HHmmss");
-
- // 闅忔満鏁�
- string randomPart = Random.Shared.Next(100, 1000).ToString();
-
- // 缁勫悎锛氬墠缂� + 鏃ユ湡 + 鏃堕棿 + 闅忔満鏁�
- var barCode = prefix + datePart + timePart + randomPart;
- state.CellBarcode.Add(randomPart);
-
- return barCode;
- }
-
- /// <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)
- {
- string messageLower = message.ToLowerInvariant();
-
- if (await IsSimpleCommandAsync(messageLower, state))
+ catch (Exception ex)
{
- await _TcpSocket.SendMessageAsync(client, message);
- return null;
- }
-
- if (IsPrefixCommand(messageLower))
- {
- try
- {
- var parts = message.Split(',');
- if (parts.Length >= 1 && state.CurrentTask != null)
- {
- var cmd = parts[0].ToLowerInvariant();
- int[] positions = parts.Skip(1)
- .Select(p => int.TryParse(p, out int value) ? value : (int?)null)
- .Where(v => v.HasValue && v.Value != 0)
- .Select(v => v!.Value)
- .ToArray();
-
- var task = await _latestRobotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId);
-
- if (cmd.StartsWith("pickfinished"))
- {
- if (state.IsSplitPallet)
- {
- var stockDTO = BuildStockDTO(state, positions);
- state.LastPickPositions = positions;
-
- var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.SplitPalletAsync));
-
- if (result.Status)
- {
- state.CurrentAction = "PickFinished";
- }
- }
- else
- {
- state.CurrentAction = "PickFinished";
- }
-
- task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode();
- await _latestRobotTaskService.Repository.UpdateDataAsync(task);
- }
- else if (cmd.StartsWith("putfinished"))
- {
- bool putSuccess = true;
- if (state.IsGroupPallet)
- {
- state.LastPutPositions = positions;
- var stockDTO = BuildStockDTO(state, positions);
- var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
- ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.GroupPalletAsync);
- var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), configKey);
- putSuccess = result.Status;
- }
-
- if (putSuccess)
- {
- state.CurrentAction = "PutFinished";
- state.RobotTaskTotalNum += positions.Length;
- task.RobotTaskTotalNum += positions.Length;
- }
-
- task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode();
- await _latestRobotTaskService.Repository.UpdateDataAsync(task);
- }
- }
- }
- catch (Exception ex)
- {
- Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
- }
-
- await _TcpSocket.SendMessageAsync(client, message);
-
- 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 static async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
- {
- switch (message)
- {
- case "homing":
- state.OperStatus = "Homing";
- return true;
-
- case "homed":
- state.OperStatus = "Homed";
- return true;
-
- case "picking":
- state.CurrentAction = "Picking";
- return true;
-
- case "puting":
- state.CurrentAction = "Putting";
- return true;
-
- case "allpickfinished": // 鍙栬揣瀹屾垚
- state.CurrentAction = "AllPickFinished";
- if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
- {
- await HandleInboundTaskAsync(state, useSourceAddress: true);
- }
- return true;
-
- case "allputfinished": // 鏀捐揣瀹屾垚
- state.CurrentAction = "AllPutFinished";
- if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
- {
- await HandleInboundTaskAsync(state, useSourceAddress: false);
- }
- 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;
+ // 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);
}
}
-
- private static 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.RobotSourceAddress ?? 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 = _latestTaskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
- if (!content.Status) return;
-
- var taskInfo = _latestTaskService.QueryByTaskNum(taskDTO.TaskNum);
- if (taskInfo == null) return;
-
- string targetAddress = useSourceAddress ? taskDTO.SourceAddress : taskDTO.TargetAddress;
-
- IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == targetAddress));
- 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>
- /// <param name="message"></param>
- /// <returns></returns>
- private static bool IsPrefixCommand(string message)
- {
- return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
- }
-
- private static StockDTO BuildStockDTO(RobotSocketState state, int[] positions)
- {
- return 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,
- CellBarcode = !state.CellBarcode.IsNullOrEmpty() ? state.CellBarcode[idx] : ""
- })
- .ToList()
- };
- }
-
- private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
- {
- return _robotTaskService.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>
- /// 鏈烘鎵嬫槸鍚︽姄鍙栫墿鏂欙紝0-鏃犵墿鏂欙紝1-鏈夌墿鏂�
- /// </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 List<string> CellBarcode { get; set; } = new();
-
- /// <summary>
- /// 褰撳墠鎶撳彇浠诲姟
- /// </summary>
- public Dt_RobotTask? CurrentTask { get; set; }
-
- /// <summary>
- /// 鏄惁闇�瑕佹媶鐩�
- /// </summary>
- public bool IsSplitPallet { get; set; }
-
- /// <summary>
- /// 鏄惁闇�瑕佺粍鐩�
- /// </summary>
- public bool IsGroupPallet { get; set; }
-
- /// <summary>
- /// 浠诲姟鎬绘暟
- /// </summary>
- public int RobotTaskTotalNum { get; set; }
}
}
\ No newline at end of file
--
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