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/RobotTaskProcessor.cs | 62 ++++++++++++++++++++++++++++---
1 files changed, 56 insertions(+), 6 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
index 1b0f476..a87a66e 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
@@ -1,3 +1,4 @@
+using Microsoft.Extensions.Logging;
using Newtonsoft.Json;
using WIDESEA_Core;
using WIDESEAWCS_Common;
@@ -68,6 +69,11 @@
private readonly HttpClientHelper _httpClientHelper;
/// <summary>
+ /// 鏃ュ織璁板綍鍣�
+ /// </summary>
+ private readonly ILogger _logger;
+
+ /// <summary>
/// 鏋勯�犲嚱鏁�
/// </summary>
/// <param name="socketClientGateway">Socket 缃戝叧</param>
@@ -75,18 +81,21 @@
/// <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="httpClientHelper">HTTP 瀹㈡埛绔府鍔╃被</param>
+ /// <param name="logger">鏃ュ織璁板綍鍣�</param>
public RobotTaskProcessor(
ISocketClientGateway socketClientGateway,
RobotStateManager stateManager,
IRobotTaskService robotTaskService,
ITaskService taskService,
- HttpClientHelper httpClientHelper)
+ HttpClientHelper httpClientHelper,
+ ILogger logger)
{
_socketClientGateway = socketClientGateway;
_stateManager = stateManager;
_robotTaskService = robotTaskService;
_taskService = taskService;
_httpClientHelper = httpClientHelper;
+ _logger = logger;
}
/// <summary>
@@ -101,6 +110,20 @@
public Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
{
return _robotTaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
+ }
+
+ /// <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>
@@ -141,8 +164,9 @@
if (result)
{
- // 鍙戦�佹垚鍔燂紝璁板綍鏃ュ織
- QuartzLogger.Error($"涓嬪彂鍙栬揣鎸囦护锛屾寚浠�: {taskString}", state.RobotCrane.DeviceName);
+ // 鍙戦�佹垚鍔燂紝璁板綍 Info 鏃ュ織
+ _logger.LogInformation("涓嬪彂鍙栬揣鎸囦护鎴愬姛锛屾寚浠�: {TaskString}锛岃澶�: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
+ QuartzLogger.Info($"涓嬪彂鍙栬揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}", state.RobotCrane?.DeviceName);
// 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
@@ -156,6 +180,12 @@
{
await _robotTaskService.UpdateRobotTaskAsync(task);
}
+ }
+ else
+ {
+ // 鍙戦�佸け璐ワ紝璁板綍 Error 鏃ュ織
+ _logger.LogError("涓嬪彂鍙栬揣鎸囦护澶辫触锛屾寚浠�: {TaskString}锛岃澶�: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
+ QuartzLogger.Error($"涓嬪彂鍙栬揣鎸囦护澶辫触锛屾寚浠�: {taskString}", state.RobotCrane?.DeviceName);
}
}
@@ -182,6 +212,8 @@
var currentTask = state.CurrentTask;
if (currentTask == null)
{
+ _logger.LogDebug("HandleInboundTaskAsync锛氬綋鍓嶄换鍔′负绌�");
+ QuartzLogger.Debug($"HandleInboundTaskAsync锛氬綋鍓嶄换鍔′负绌�", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
}
@@ -190,7 +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;
@@ -213,6 +245,8 @@
{
case RobotTaskTypeEnum.GroupPallet:
// 缁勭洏浠诲姟涓嶄娇鐢ㄦ簮鍦板潃锛岀洿鎺ヨ繑鍥� false
+ _logger.LogDebug("HandleInboundTaskAsync锛氱粍鐩樹换鍔′笉浣跨敤婧愬湴鍧�");
+ QuartzLogger.Debug($"HandleInboundTaskAsync锛氱粍鐩樹换鍔′笉浣跨敤婧愬湴鍧�", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
case RobotTaskTypeEnum.ChangePallet:
@@ -237,6 +271,8 @@
case RobotTaskTypeEnum.SplitPallet:
// 鎷嗙洏浠诲姟涓嶄娇鐢ㄧ洰鏍囧湴鍧�
+ _logger.LogDebug("HandleInboundTaskAsync锛氭媶鐩樹换鍔′笉浣跨敤鐩爣鍦板潃");
+ QuartzLogger.Debug($"HandleInboundTaskAsync锛氭媶鐩樹换鍔′笉浣跨敤鐩爣鍦板潃", state.RobotCrane?.DeviceName ?? "Unknown");
return true;
}
}
@@ -253,12 +289,18 @@
TaskType = taskType // 浠诲姟绫诲瀷锛堝叆搴�/绌烘墭鐩樺叆搴擄級
};
+ // 璁板綍鏃ュ織锛氬紑濮嬭皟鐢� WMS 鍒涘缓鍏ュ簱浠诲姟
+ _logger.LogInformation("HandleInboundTaskAsync锛氳皟鐢╓MS鍒涘缓鍏ュ簱浠诲姟锛屾墭鐩樼爜: {PalletCode}锛屼换鍔＄被鍨�: {TaskType}", PalletCode, taskType);
+ QuartzLogger.Info($"璋冪敤WMS鍒涘缓鍏ュ簱浠诲姟锛屾墭鐩樼爜: {PalletCode}锛屼换鍔＄被鍨�: {taskType}", state.RobotCrane?.DeviceName ?? "Unknown");
+
// 璋冪敤 WMS 鎺ュ彛鍒涘缓鍏ュ簱浠诲姟
var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.CreateTaskInboundAsync), taskDto.ToJson());
// 濡傛灉璋冪敤澶辫触鎴栬繑鍥為敊璇姸鎬�
if (!result.Data.Status && result.IsSuccess)
{
+ _logger.LogError("HandleInboundTaskAsync锛歐MS杩斿洖閿欒鐘舵�侊紝Status: {Status}", result.Data.Status);
+ QuartzLogger.Error($"HandleInboundTaskAsync锛歐MS杩斿洖閿欒鐘舵��", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
}
@@ -269,11 +311,14 @@
var content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
if (!content.Status)
{
+ _logger.LogError("HandleInboundTaskAsync锛氭帴鏀禬MS浠诲姟澶辫触");
+ QuartzLogger.Error($"HandleInboundTaskAsync锛氭帴鏀禬MS浠诲姟澶辫触", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
}
// 瑙ｆ瀽杩斿洖鐨勪换鍔′俊鎭�
- var taskInfo = JsonConvert.DeserializeObject<Dt_Task>(content.Data.ToJson() ?? string.Empty) ?? new Dt_Task();
+ var taskInfos = JsonConvert.DeserializeObject<List<Dt_Task>>(content.Data.ToJson() ?? string.Empty) ?? new List<Dt_Task>();
+ var taskInfo = taskInfos.FirstOrDefault();
// 鑾峰彇婧愬湴鍧�
string sourceAddress = taskDTO.SourceAddress;
@@ -298,6 +343,8 @@
// 鏇存柊浠诲姟鐘舵�佸埌涓嬩竴闃舵
if (_taskService.UpdateTaskStatusToNext(taskInfo).Status)
{
+ _logger.LogInformation("HandleInboundTaskAsync锛氬叆搴撲换鍔″鐞嗘垚鍔燂紝浠诲姟鍙�: {TaskNum}", taskInfo.TaskNum);
+ QuartzLogger.Info($"HandleInboundTaskAsync锛氬叆搴撲换鍔″鐞嗘垚鍔燂紝浠诲姟鍙�: {taskInfo.TaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
return true;
}
}
@@ -331,6 +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�
@@ -341,7 +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,
--
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