From adb4016b5eb5b119a899480c321be996d9bf10bd Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期三, 08 四月 2026 00:55:22 +0800
Subject: [PATCH] feat(robot): 完善机械手任务处理逻辑与状态管理
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs | 10 +
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Http/HTTP/HttpClientHelper.cs | 2
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs | 5 +
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs | 14 ++
Code/WCS/DataDictionary.pdf | 0
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 32 +++---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs | 27 +++-
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs | 24 ++++
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Server.cs | 8 +
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs | 10 ++
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs | 135 +++++++++++++++------------
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IRobotTaskService.cs | 7 +
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/RobotEnum/RobotConst.cs | 14 ++
13 files changed, 193 insertions(+), 95 deletions(-)
diff --git a/Code/WCS/DataDictionary.pdf b/Code/WCS/DataDictionary.pdf
new file mode 100644
index 0000000..53b354d
--- /dev/null
+++ b/Code/WCS/DataDictionary.pdf
Binary files differ
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/RobotEnum/RobotConst.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/RobotEnum/RobotConst.cs
new file mode 100644
index 0000000..c431db1
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/RobotEnum/RobotConst.cs
@@ -0,0 +1,14 @@
+锘縩amespace WIDESEAWCS_Common
+{
+ public class RobotConst
+ {
+ /// <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>
+ public const int MaxTaskTotalNum = 48;
+ }
+}
\ No newline at end of file
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Http/HTTP/HttpClientHelper.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Http/HTTP/HttpClientHelper.cs
index cce0a8c..03e0336 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Http/HTTP/HttpClientHelper.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Http/HTTP/HttpClientHelper.cs
@@ -121,7 +121,7 @@
public HttpResponseResult<TResponse> Get<TResponse>(string url, HttpRequestConfig? config = null)
{
- url = BaseAPI.WMSBaseUrl + _cache.Get(url);
+ url = BaseAPI.WMSBaseUrl + _cache.Get($"{RedisPrefix.Code}:{RedisName.API}:{url}");
HttpResponseResult httpResponseResult = Get(url, config);
HttpResponseResult<TResponse> result = new HttpResponseResult<TResponse>
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IRobotTaskService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IRobotTaskService.cs
index 4dd416f..6f9abcd 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IRobotTaskService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IRobotTaskService.cs
@@ -57,6 +57,13 @@
public Dt_RobotTask? QueryRobotCraneTask(string deviceCode);
+ /// <summary>
+ /// 鏍规嵁璁惧缂栫爜鑾峰彇鎵ц涓殑鏈烘鎵嬩换鍔�
+ /// </summary>
+ /// <param name="deviceCode">璁惧缂栫爜</param>
+ /// <returns>鎵ц涓殑浠诲姟瀵硅薄锛屽鏋滄病鏈夊垯杩斿洖 null</returns>
+ public Dt_RobotTask? QueryRobotCraneExecutingTask(string deviceCode);
+
Task<bool> UpdateRobotTaskAsync(Dt_RobotTask robotTask);
/// <summary>
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
index f88a4e6..e9a19e7 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
@@ -111,6 +111,11 @@
return BaseDal.QueryFirst(x => x.RobotRoadway == deviceCode && x.RobotTaskState != (int)TaskRobotStatusEnum.RobotExecuting, TaskOrderBy);
}
+ public Dt_RobotTask? QueryRobotCraneExecutingTask(string deviceCode)
+ {
+ return BaseDal.QueryFirst(x => x.RobotRoadway == deviceCode && x.RobotTaskState == (int)TaskRobotStatusEnum.RobotExecuting, TaskOrderBy);
+ }
+
public async Task<bool> UpdateRobotTaskAsync(Dt_RobotTask robotTask)
{
return await BaseDal.UpdateDataAsync(robotTask);
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
index 199ab7b..02204d3 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
@@ -101,10 +101,13 @@
try
{
List<Dt_Task> tasks = new List<Dt_Task>();
+ List<Dt_Task> duplicates = new List<Dt_Task>();
foreach (var item in taskDTOs)
{
- if (BaseDal.QueryFirst(x => x.TaskNum == item.TaskNum || x.PalletCode == item.PalletCode) != null)
+ Dt_Task existingTask = BaseDal.QueryFirst(x => x.TaskNum == item.TaskNum || x.PalletCode == item.PalletCode);
+ if (existingTask != null)
{
+ duplicates.Add(existingTask);
continue;
}
Dt_Task task = _mapper.Map<Dt_Task>(item);
@@ -117,7 +120,10 @@
_taskExecuteDetailService.AddTaskExecuteDetail(tasks.Select(x => x.TaskNum).ToList(), "鎺ユ敹WMS浠诲姟");
- content = WebResponseContent.Instance.OK("鎴愬姛", tasks);
+ // 灏嗛噸澶嶄换鍔′俊鎭篃涓�骞惰繑鍥�
+ tasks.AddRange(duplicates);
+ var result = tasks;
+ content = WebResponseContent.Instance.OK("鎴愬姛", result);
}
catch (Exception ex)
{
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index ea25892..c35e485 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,7 +1,7 @@
using Microsoft.Extensions.Logging;
using Quartz;
-using System.Net;
using WIDESEA_Core;
+using WIDESEAWCS_Common;
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.LogHelper;
@@ -29,15 +29,6 @@
[DisallowConcurrentExecution]
public class RobotJob : IJob
{
- /// <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;
-
/// <summary>
/// 娑堟伅浜嬩欢璁㈤槄鏍囧織
/// </summary>
@@ -131,7 +122,7 @@
// 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);
+ 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);
@@ -214,8 +205,19 @@
return;
}
+ if (state.CurrentAction == "Picking" || state.CurrentAction == "Puting")
+ {
+ return;
+ }
+
// 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)
@@ -229,12 +231,12 @@
}
// 妫�鏌ヤ换鍔℃�绘暟鏄惁鏈揪鍒颁笂闄�
- //if (latestState.RobotTaskTotalNum < MaxTaskTotalNum)
- //{
+ 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);
- //}
+ }
}
}
catch (Exception ex)
@@ -246,4 +248,4 @@
}
}
}
-}
+}
\ No newline at end of file
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs
index 8783ebf..081bfd4 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs
@@ -1,5 +1,4 @@
using Microsoft.Extensions.Logging;
-using System.Net;
using System.Net.Sockets;
using WIDESEAWCS_Common;
using WIDESEAWCS_Core.Caches;
@@ -119,6 +118,17 @@
_logger.LogInformation($"鎺ユ敹鍒板鎴风銆恵state.RobotCrane.DeviceName}銆戝彂閫佹秷鎭�恵message}銆�");
QuartzLogger.Info($"鎺ユ敹鍒板鎴风娑堟伅銆恵message}銆�", state.RobotCrane.DeviceName);
+ // 妫�鏌ヤ换鍔℃�绘暟鏄惁鏈揪鍒颁笂闄�
+ if (state.RobotTaskTotalNum > RobotConst.MaxTaskTotalNum)
+ {
+ // 璁板綍鎺ユ敹鍒扮殑娑堟伅鏃ュ織
+ _logger.LogInformation($"鎺ユ敹鍒板鎴风銆恵state.RobotCrane.DeviceName}銆戝彂閫佹秷鎭�恵message}銆�");
+ QuartzLogger.Info($"鎺ユ敹鍒板鎴风娑堟伅銆恵message}銆�", state.RobotCrane.DeviceName);
+ // 澶勭悊鎴愬姛鍚庯紝灏嗗師娑堟伅鍥炲啓鍒板鎴风锛堜繚鎸佸師鏈夎涓猴級
+ await _socketClientGateway.SendMessageAsync(client, message);
+ return null;
+ }
+
// 鏋勫缓缂撳瓨閿紝妫�鏌� Redis 涓槸鍚﹀瓨鍦ㄨ璁惧鐨勭姸鎬�
var cacheKey = $"{RedisPrefix.Code}:{RedisName.SocketDevices}:{client.Client.RemoteEndPoint}";
@@ -161,4 +171,4 @@
return null;
}
}
-}
+}
\ No newline at end of file
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs
index aa601be..60844dc 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs
@@ -74,6 +74,16 @@
public RobotCraneDevice? RobotCrane { get; set; }
/// <summary>
+ /// 鏈烘鎵嬪垵濮嬪寲瀹屾垚鍥炲埌寰呮満浣�
+ /// </summary>
+ /// <remarks>
+ /// 鍙兘鐨勫�硷細
+ /// - "Homed": 宸插洖闆�
+ /// - "Homing": 鍥為浂涓�
+ /// </remarks>
+ public string? Homed { get; set; }
+
+ /// <summary>
/// 鏈烘鎵嬪綋鍓嶆鍦ㄦ墽琛岀殑鍔ㄤ綔
/// </summary>
/// <remarks>
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
index 79f8073..a87a66e 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
@@ -113,6 +113,20 @@
}
/// <summary>
+ /// 鎸夎澶囩紪鐮佽幏鍙栧綋鍓嶆満鍣ㄤ汉鐨勬墽琛屼腑浠诲姟
+ /// </summary>
+ /// <remarks>
+ /// 浠庢暟鎹簱涓煡璇㈡寚瀹氳澶囩紪鐮佺殑鎵ц涓満鍣ㄤ汉浠诲姟銆�
+ /// 褰揜obotArmObject涓�1锛堟湁鐗╂枡锛変笖娌℃湁寰呭鐞嗕换鍔℃椂璋冪敤銆�
+ /// </remarks>
+ /// <param name="robotCrane">鏈哄櫒浜鸿澶囦俊鎭紝鍖呭惈璁惧缂栫爜</param>
+ /// <returns>鎵ц涓殑浠诲姟瀵硅薄锛屽鏋滄病鏈夊垯杩斿洖 null</returns>
+ public Dt_RobotTask? GetExecutingTask(RobotCraneDevice robotCrane)
+ {
+ return _robotTaskService.QueryRobotCraneExecutingTask(robotCrane.DeviceCode);
+ }
+
+ /// <summary>
/// 鍒犻櫎鏈哄櫒浜轰换鍔�
/// </summary>
/// <remarks>
@@ -208,7 +222,7 @@
// 鏍规嵁宸烽亾鍚嶇О鍒ゆ柇浠撳簱 ID
// ZYRB1 -> 1, HPRB001 -> 2, 鍏朵粬 -> 3
- int warehouseId = currentTask.RobotRoadway == "ZYRB1" ? 1 : currentTask.RobotRoadway == "HPRB001" ? 2 : 3;
+ int warehouseId = currentTask.RobotRoadway == "娉ㄦ恫缁勭洏鏈烘鎵�" ? 1 : currentTask.RobotRoadway == "HPRB001" ? 2 : 3;
// 浠诲姟绫诲瀷锛�0 琛ㄧず鏈畾涔夛紝绋嶅悗鏍规嵁浠诲姟绫诲瀷璁剧疆锛�
int taskType = 0;
@@ -303,7 +317,8 @@
}
// 瑙ｆ瀽杩斿洖鐨勪换鍔′俊鎭�
- var taskInfo = JsonConvert.DeserializeObject<Dt_Task>(content.Data.ToJson() ?? string.Empty) ?? new Dt_Task();
+ var taskInfos = JsonConvert.DeserializeObject<List<Dt_Task>>(content.Data.ToJson() ?? string.Empty) ?? new List<Dt_Task>();
+ var taskInfo = taskInfos.FirstOrDefault();
// 鑾峰彇婧愬湴鍧�
string sourceAddress = taskDTO.SourceAddress;
@@ -363,6 +378,9 @@
// 鐩爣杈撻�佺嚎缂栧彿
TargetLineNo = state.CurrentTask.RobotTargetAddressLineCode,
+ // 宸烽亾缂栧彿(鏈哄櫒浜哄悕绉�)
+ Roadway = state.CurrentTask.RobotRoadway,
+
// 鐢垫睜浣嶇疆璇︽儏鍒楄〃
// 杩囨护鎺変綅缃负 0 鎴栬礋鏁扮殑鏃犳晥鏁版嵁
// 鎸変綅缃紪鍙锋帓搴�
@@ -373,7 +391,7 @@
.Select((x, idx) => new StockDetailDTO
{
// 鏁伴噺锛氬鏋滃凡鏈変换鍔℃�绘暟锛屼娇鐢ㄤ换鍔℃�绘暟+褰撳墠浣嶇疆鏁帮紱鍚﹀垯鍙娇鐢ㄥ綋鍓嶄綅缃暟
- Quantity = state.RobotTaskTotalNum > 0 ? state.RobotTaskTotalNum + positions.Length : positions.Length,
+ Quantity = 1,
// 閫氶亾/浣嶇疆缂栧彿
Channel = x,
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
index 0a17d62..b564835 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
@@ -1,4 +1,5 @@
using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks.Workflow
@@ -26,12 +27,21 @@
private readonly RobotTaskProcessor _taskProcessor;
/// <summary>
+ /// Socket 缃戝叧
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬鍚戝鎴风鍙戦�佸搷搴旀秷鎭��
+ /// </remarks>
+ private readonly ISocketClientGateway _socketClientGateway;
+
+ /// <summary>
/// 鏋勯�犲嚱鏁�
/// </summary>
/// <param name="taskProcessor">浠诲姟澶勭悊鍣ㄥ疄渚�</param>
- public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor)
+ public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway)
{
_taskProcessor = taskProcessor;
+ _socketClientGateway = socketClientGateway;
}
/// <summary>
@@ -71,12 +81,12 @@
// 鏈哄櫒浜烘鍦ㄥ洖闆�
case "homing":
- state.OperStatus = "Homing";
+ state.Homed = "Homing";
return true;
// 鏈哄櫒浜哄凡瀹屾垚鍥為浂
case "homed":
- state.OperStatus = "Homed";
+ state.Homed = "Homed";
return true;
// 鏈哄櫒浜烘鍦ㄨ繍琛�
@@ -113,71 +123,76 @@
// 鍏ㄩ儴鍙栬揣瀹屾垚
case "allpickfinished":
- {
- // 鏇存柊褰撳墠鍔ㄤ綔涓�"鍏ㄩ儴鍙栬揣瀹屾垚"
- state.CurrentAction = "AllPickFinished";
-
- // 鑾峰彇褰撳墠鍏宠仈鐨勪换鍔�
- var currentTask = state.CurrentTask;
- if (currentTask == null)
{
- // 娌℃湁浠诲姟鍏宠仈锛岃繑鍥� false
+ // 鏇存柊褰撳墠鍔ㄤ綔涓�"鍏ㄩ儴鍙栬揣瀹屾垚"
+ state.CurrentAction = "AllPickFinished";
+
+ // 鑾峰彇褰撳墠鍏宠仈鐨勪换鍔�
+ var currentTask = state.CurrentTask;
+ if (currentTask == null)
+ {
+ // 娌℃湁浠诲姟鍏宠仈锛岃繑鍥� false
+ return false;
+ }
+
+ // 鍒ゆ柇浠诲姟绫诲瀷
+ var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
+
+ // 鍙湁鎷嗙洏鎴栨崲鐩樹换鍔￠渶瑕佸鐞嗗叆搴�
+ if (robotTaskType == RobotTaskTypeEnum.SplitPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ {
+ // 澶勭悊鍏ュ簱浠诲姟鍥炰紶
+ // useSourceAddress: true 琛ㄧず浣跨敤婧愬湴鍧�锛堟媶鐩�/鎹㈢洏鍦烘櫙锛�
+ if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ {
+ // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
+ _taskProcessor.DeleteTask(currentTask.RobotTaskId);
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
+ }
+ }
return false;
}
-
- // 鍒ゆ柇浠诲姟绫诲瀷
- var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
-
- // 鍙湁鎷嗙洏鎴栨崲鐩樹换鍔￠渶瑕佸鐞嗗叆搴�
- if (robotTaskType == RobotTaskTypeEnum.SplitPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
- {
- // 澶勭悊鍏ュ簱浠诲姟鍥炰紶
- // useSourceAddress: true 琛ㄧず浣跨敤婧愬湴鍧�锛堟媶鐩�/鎹㈢洏鍦烘櫙锛�
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
- {
- // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
- _taskProcessor.DeleteTask(currentTask.RobotTaskId);
- return true;
- }
- }
- return false;
- }
// 鍏ㄩ儴鏀捐揣瀹屾垚
case "allputfinished":
- {
- // 鏇存柊褰撳墠鍔ㄤ綔涓�"鍏ㄩ儴鏀捐揣瀹屾垚"
- state.CurrentAction = "AllPutFinished";
-
- // 鑾峰彇褰撳墠鍏宠仈鐨勪换鍔�
- var currentTask = state.CurrentTask;
- if (currentTask == null)
{
+ // 鏇存柊褰撳墠鍔ㄤ綔涓�"鍏ㄩ儴鏀捐揣瀹屾垚"
+ state.CurrentAction = "AllPutFinished";
+
+ // 鑾峰彇褰撳墠鍏宠仈鐨勪换鍔�
+ var currentTask = state.CurrentTask;
+ if (currentTask == null)
+ {
+ return false;
+ }
+
+ // 鍒ゆ柇浠诲姟绫诲瀷
+ var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
+
+ // 鍙湁缁勭洏鎴栨崲鐩樹换鍔￠渶瑕佸鐞嗗叆搴�
+ if (robotTaskType == RobotTaskTypeEnum.GroupPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ {
+ // 澶勭悊鍏ュ簱浠诲姟鍥炰紶
+ // useSourceAddress: false 琛ㄧず浣跨敤鐩爣鍦板潃锛堢粍鐩�/鎹㈢洏鍦烘櫙锛�
+ if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ {
+ // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
+ _taskProcessor.DeleteTask(currentTask.RobotTaskId);
+
+ // 娓呯悊鐘舵�侊紝涓轰笅涓�涓换鍔″仛鍑嗗
+ state.CurrentTask = null; // 娓呴櫎褰撳墠浠诲姟
+ state.RobotTaskTotalNum = 0; // 閲嶇疆浠诲姟璁℃暟
+ state.CellBarcode = new List<string>(); // 娓呯┖鏉＄爜鍒楄〃
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
+ }
+ }
return false;
}
-
- // 鍒ゆ柇浠诲姟绫诲瀷
- var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
-
- // 鍙湁缁勭洏鎴栨崲鐩樹换鍔￠渶瑕佸鐞嗗叆搴�
- if (robotTaskType == RobotTaskTypeEnum.GroupPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
- {
- // 澶勭悊鍏ュ簱浠诲姟鍥炰紶
- // useSourceAddress: false 琛ㄧず浣跨敤鐩爣鍦板潃锛堢粍鐩�/鎹㈢洏鍦烘櫙锛�
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
- {
- // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
- _taskProcessor.DeleteTask(currentTask.RobotTaskId);
-
- // 娓呯悊鐘舵�侊紝涓轰笅涓�涓换鍔″仛鍑嗗
- state.CurrentTask = null; // 娓呴櫎褰撳墠浠诲姟
- state.RobotTaskTotalNum = 0; // 閲嶇疆浠诲姟璁℃暟
- state.CellBarcode = new List<string>(); // 娓呯┖鏉＄爜鍒楄〃
- return true;
- }
- }
- return false;
- }
// ==================== 妯″紡鍒囨崲鍛戒护 ====================
@@ -221,4 +236,4 @@
}
}
}
-}
+}
\ No newline at end of file
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
index 4f2960d..5556a62 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
@@ -111,13 +111,8 @@
// 1. 杩愯妯″紡涓鸿嚜鍔紙2锛�
// 2. 鎺у埗妯″紡涓哄鎴风鎺у埗锛�1锛�
// 3. 杩愯鐘舵�佹槸 Running
- if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running")
+ if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running" && latestState.Homed == "Homed")
{
- if(latestState.CurrentAction == "Picking" || latestState.CurrentAction == "Puting")
- {
- return;
- }
-
// ========== 鍙栬揣瀹屾垚鍚庣殑鏀捐揣澶勭悊 ==========
// 鏉′欢锛�
// - 褰撳墠鍔ㄤ綔鏄� PickFinished 鎴� AllPickFinished锛堝彇璐у畬鎴愶級
@@ -255,9 +250,23 @@
// 濡傛灉鏉＄爜鐢熸垚鎴愬姛
if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
{
- // 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
- stateForUpdate.CellBarcode.Add(trayBarcode1);
- stateForUpdate.CellBarcode.Add(trayBarcode2);
+ if(stateForUpdate.CellBarcode.Contains(trayBarcode1)|| stateForUpdate.CellBarcode.Contains(trayBarcode2))
+ {
+ _logger.LogError("HandlePutFinishedStateAsync锛氱敓鎴愮殑鎵樼洏鏉＄爜宸插瓨鍦紝鍙兘瀛樺湪閲嶅锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Error($"鐢熸垚鐨勬墭鐩樻潯鐮佸凡瀛樺湪锛屽彲鑳藉瓨鍦ㄩ噸澶�", stateForUpdate.RobotCrane.DeviceName);
+
+ // 鏉＄爜閲嶅锛岃褰曢敊璇棩蹇楀苟鍋滄鍚庣画鎿嶄綔(鍚庣画鏀捐揣鏃朵細鐢ㄥ埌杩欎簺鏉＄爜淇℃伅锛屼緵鍚庣画鏀捐揣鏃朵娇鐢紝璋冭瘯鍚庡彲鑳戒細鍙栨秷姝ら�昏緫)
+ return;
+ }
+ else
+ {
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氱敓鎴愮殑鎵樼洏鏉＄爜鍞竴锛岀户缁墽琛岋紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Info($"鐢熸垚鐨勬墭鐩樻潯鐮佸敮涓�锛岀户缁墽琛�", stateForUpdate.RobotCrane.DeviceName);
+ // 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
+ stateForUpdate.CellBarcode.Add(trayBarcode1);
+ stateForUpdate.CellBarcode.Add(trayBarcode2);
+ }
+
// 璁板綍鏃ュ織锛氱敓鎴愭墭鐩樻潯鐮佹垚鍔�
_logger.LogInformation("HandlePutFinishedStateAsync锛氱敓鎴愭墭鐩樻潯鐮佹垚鍔�: {Barcode1}+{Barcode2}锛屼换鍔″彿: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Server.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Server.cs
index 7bb845e..afaa8ec 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Server.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Server.cs
@@ -19,11 +19,11 @@
/// </remarks>
/// <param name="cancellationToken">鍙栨秷浠ょ墝</param>
/// <returns>鍚姩浠诲姟</returns>
- public Task StartAsync(CancellationToken cancellationToken)
+ public async Task StartAsync(CancellationToken cancellationToken)
{
if (IsRunning || !_options.Enabled)
{
- return Task.CompletedTask;
+ return;
}
// 瑙ｆ瀽鐩戝惉鍦板潃
@@ -32,6 +32,8 @@
{
ipAddress = parsedAddress;
}
+
+ await Task.Delay(5000);
// 鍒涘缓鐩戝惉鍣�
_listener = new TcpListener(ipAddress, _options.Port);
@@ -45,7 +47,7 @@
// 鍚姩瀹㈡埛绔洃鎺т换鍔★紙妫�鏌ョ┖闂茶秴鏃讹級
_monitorTask = Task.Run(() => MonitorClientsAsync(_cts.Token));
- return Task.CompletedTask;
+ return;
}
/// <summary>
--
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