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_Tasks/RobotJob/RobotJob.cs | 297 +++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 179 insertions(+), 118 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index 028248c..c35e485 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,190 +1,251 @@
+using Microsoft.Extensions.Logging;
using Quartz;
using WIDESEA_Core;
-using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Common;
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
-using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks.SocketServer;
+using WIDESEAWCS_Tasks.Workflow;
+using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks
{
/// <summary>
- /// 鏈烘鎵嬩换鍔′綔涓� - 璐熻矗鍗忚皟鏈烘鎵嬪鎴风杩炴帴銆佹秷鎭鐞嗗拰浠诲姟鎵ц
+ /// 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;
+ /// <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 RobotStateManager _stateManager;
- private readonly RobotMessageHandler _messageHandler;
- private readonly RobotTaskProcessor _taskProcessor;
- 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;
+
+ /// <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)
+ HttpClientHelper httpClientHelper,
+ ILogger<RobotJob> logger)
{
- _robotTaskService = robotTaskService;
+ // 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;
- // 鍒濆鍖栫鐞嗗櫒
- _stateManager = new RobotStateManager(cache);
- _taskProcessor = new RobotTaskProcessor(tcpSocket, _stateManager, robotTaskService, taskService, httpClientHelper);
- _clientManager = new RobotClientManager(tcpSocket, _stateManager);
- _messageHandler = new RobotMessageHandler(tcpSocket, _stateManager, cache, robotTaskService, _taskProcessor);
+ // 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);
- // 璁㈤槄瀹㈡埛绔鐞嗗櫒鐨勪簨浠�
+ // 鍒濆鍖栦换鍔″鐞嗗櫒
+ _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper, _logger);
+
+ // 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;
- // 璁㈤槄TCP鏈嶅姟鍣ㄧ殑娑堟伅浜嬩欢锛堝叏灞�鍙闃呬竴娆★級
+ // 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)
{
- tcpSocket.MessageReceived += _messageHandler.HandleMessageReceivedAsync;
- Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 鏈哄櫒浜篢CP娑堟伅浜嬩欢宸茶闃�");
+ // 灏嗘秷鎭矾鐢卞櫒鐨勫鐞嗘柟娉曠粦瀹氬埌 TCP 鏈嶅姟鍣ㄧ殑娑堟伅鎺ユ敹浜嬩欢
+ tcpSocket.MessageReceived += _messageRouter.HandleMessageReceivedAsync;
+ _logger.LogError("鏈哄櫒鎵婽CP娑堟伅浜嬩欢宸茶闃�");
+ QuartzLogger.Error($"鏈哄櫒鎵婽CP娑堟伅浜嬩欢宸茶闃�");
}
}
/// <summary>
- /// 瀹㈡埛绔柇寮�杩炴帴鏃剁殑澶勭悊
+ /// 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)
{
- // 鍙互鍦ㄨ繖閲屾坊鍔犳柇寮�杩炴帴鍚庣殑澶勭悊閫昏緫
- Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 瀹㈡埛绔凡鏂紑杩炴帴: {state.IPAddress}");
+ _logger.LogError("瀹㈡埛绔凡鏂紑杩炴帴");
+ QuartzLogger.Error($"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�
+ // 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;
try
{
// 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))
{
- return; // 瀹㈡埛绔湭杩炴帴鎴栬闃呭け璐ワ紝璺宠繃鏈鎵ц
+ return;
}
- // 鑾峰彇浠诲姟骞跺鐞�
- Dt_RobotTask? task = _taskProcessor.GetTask(robotCrane);
+ 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)
{
- // 姣忔鍒ゆ柇鍓嶉噸鏂颁粠缂撳瓨鑾峰彇鏈�鏂扮姸鎬�
+ // 鑾峰彇鏈�鏂扮殑璁惧鐘舵��
var latestState = _stateManager.GetState(ipAddress);
- if (latestState == null) return;
-
- if (latestState.RobotTaskTotalNum < MaxTaskTotalNum)
+ if (latestState == null)
{
- await ProcessTaskAsync(latestState, task, ipAddress);
+ // 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);
}
}
}
- catch (Exception)
+ catch (Exception ex)
{
- // 寮傚父澶勭悊宸插湪鍚勭粍浠朵腑澶勭悊
- }
- }
-
- /// <summary>
- /// 澶勭悊鏈烘鎵嬩换鍔�
- /// </summary>
- private async Task ProcessTaskAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
- {
- // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
- if (latestState.RobotRunMode == 2 && latestState.RobotControlMode == 1 && latestState.OperStatus != "Running")
- {
- // 鍙栬揣瀹屾垚鐘舵�佸鐞�
- if ((latestState.CurrentAction == "PickFinished" || latestState.CurrentAction == "AllPickFinished") && latestState.RobotArmObject == 1 &&
- task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode())
- {
- await HandlePickFinishedStateAsync(latestState, task, ipAddress);
- }
- // 鏀捐揣瀹屾垚鐘舵�佸鐞�
- else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished") && latestState.OperStatus == "Homed" &&
- latestState.RobotArmObject == 0 &&
- (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode() ||
- task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
- {
- await HandlePutFinishedStateAsync(latestState, task, ipAddress);
- }
- }
- }
-
- /// <summary>
- /// 澶勭悊鍙栬揣瀹屾垚鐘舵��
- /// </summary>
- private async Task HandlePickFinishedStateAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
- {
- string taskString = $"Putbattery,{task.RobotTargetAddress}";
- bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
- if (result)
- {
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
-
- // 閲嶆柊鑾峰彇鏈�鏂扮姸鎬佸苟鏇存柊
- var stateToUpdate = _stateManager.GetState(ipAddress);
- if (stateToUpdate != null)
- {
- stateToUpdate.CurrentTask = task;
- if (_stateManager.TryUpdateStateSafely(ipAddress, stateToUpdate))
- await _robotTaskService.UpdateRobotTaskAsync(task);
- }
- }
- }
-
- /// <summary>
- /// 澶勭悊鏀捐揣瀹屾垚鐘舵��
- /// </summary>
- private async Task HandlePutFinishedStateAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
- {
- // 閲嶆柊鑾峰彇鏈�鏂扮姸鎬�
- var stateForUpdate = _stateManager.GetState(ipAddress);
- if (stateForUpdate == null) return;
-
- if (!stateForUpdate.IsSplitPallet && !stateForUpdate.IsGroupPallet)
- {
- stateForUpdate.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
- stateForUpdate.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() ||
- task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
- }
-
- if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
- {
- string prefix = "TRAY";
-
- // 鐢熸垚涓や釜鎵樼洏鏉＄爜
- string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
- string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
- if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty())
- {
- stateForUpdate.CellBarcode.Add(trayBarcode1);
- stateForUpdate.CellBarcode.Add(trayBarcode2);
- await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
- }
- }
- else // 浠诲姟寮�濮嬫墽琛岀洿鎺ュ彂閫佸彇璐у湴鍧�
- {
- await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ // 寮傚父澶勭悊宸插湪缁勪欢鍐呴儴杩涜锛孞ob 灞備繚鎸佸厹搴曡涔�
+ // 璁板綍寮傚父鑰屼笉鏄潤榛樺悶鎺夛紝渚夸簬鎺掓煡闂
+ _logger?.LogError(ex, "RobotJob鎵ц寮傚父锛孖P: {IpAddress}", ipAddress);
+ QuartzLogger.Error($"RobotJob鎵ц寮傚父锛孖P: {ipAddress}", state.RobotCrane.DeviceName, ex);
}
}
}
-}
+}
\ No newline at end of file
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