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 | 283 +++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 255 insertions(+), 28 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
index 724a3a8..a87a66e 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
@@ -1,10 +1,12 @@
-锘縰sing Newtonsoft.Json;
+using Microsoft.Extensions.Logging;
+using Newtonsoft.Json;
using WIDESEA_Core;
using WIDESEAWCS_Common;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoService;
@@ -15,153 +17,334 @@
namespace WIDESEAWCS_Tasks
{
/// <summary>
- /// 鏈哄櫒浜轰换鍔″鐞嗗櫒锛氳礋璐ｄ换鍔¤幏鍙栥�佷笅鍙戙�佸叆搴撲换鍔″洖浼犲強搴撳瓨 DTO 鏋勫缓銆�
+ /// 鏈哄櫒浜轰换鍔″鐞嗗櫒 - 璐熻矗浠诲姟鑾峰彇銆佷笅鍙戙�佸叆搴撲换鍔″洖浼犲強搴撳瓨 DTO 鏋勫缓
/// </summary>
+ /// <remarks>
+ /// 鏍稿績鑱岃矗锛�
+ /// 1. 浠庢暟鎹簱杞寰呭鐞嗙殑鏈哄櫒浜轰换鍔�
+ /// 2. 鍚戞満鍣ㄤ汉瀹㈡埛绔笅鍙戝彇璐ф寚浠わ紙Pickbattery锛�
+ /// 3. 澶勭悊鍏ュ簱浠诲姟鐨勫洖浼狅紙鎷嗙洏/缁勭洏/鎹㈢洏鍦烘櫙锛�
+ /// 4. 鏋勫缓搴撳瓨鍥炰紶 DTO 骞惰皟鐢� WMS 鎺ュ彛
+ ///
+ /// 閫氳繃缃戝叧璁块棶 Socket锛岄伩鍏嶄笟鍔″眰鐩存帴渚濊禆 TcpSocketServer銆�
+ /// </remarks>
public class RobotTaskProcessor
{
- // 閫氳繃缃戝叧璁块棶 Socket锛岄伩鍏嶄笟鍔″眰鐩存帴渚濊禆 TcpSocketServer銆�
+ /// <summary>
+ /// Socket 瀹㈡埛绔綉鍏虫帴鍙�
+ /// </summary>
+ /// <remarks>
+ /// 閫氳繃缃戝叧璁块棶 Socket锛岄伩鍏嶄笟鍔″眰鐩存帴渚濊禆 TcpSocketServer銆�
+ /// 鎻愪緵缁熶竴鐨勫鎴风閫氫俊鎺ュ彛銆�
+ /// </remarks>
private readonly ISocketClientGateway _socketClientGateway;
+
+ /// <summary>
+ /// 鏈烘鎵嬬姸鎬佺鐞嗗櫒
+ /// </summary>
private readonly RobotStateManager _stateManager;
+
+ /// <summary>
+ /// 鏈哄櫒浜轰换鍔℃湇鍔�
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬鏌ヨ銆佹洿鏂般�佸垹闄ゆ満鍣ㄤ汉浠诲姟璁板綍銆�
+ /// </remarks>
private readonly IRobotTaskService _robotTaskService;
+
+ /// <summary>
+ /// 閫氱敤浠诲姟鏈嶅姟
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬涓� WMS 绯荤粺浜や簰锛屾帴鏀朵换鍔°�佸鐞嗕换鍔＄姸鎬佺瓑銆�
+ /// </remarks>
private readonly ITaskService _taskService;
+
+ /// <summary>
+ /// HTTP 瀹㈡埛绔府鍔╃被
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬璋冪敤 WMS 绯荤粺鐨� HTTP 鎺ュ彛銆�
+ /// </remarks>
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>
+ /// <param name="stateManager">鐘舵�佺鐞嗗櫒</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="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>
- /// 鎸夎澶囩紪鐮佽幏鍙栧綋鍓嶆満鍣ㄤ汉浠诲姟銆�
+ /// 鎸夎澶囩紪鐮佽幏鍙栧綋鍓嶆満鍣ㄤ汉鐨勫緟澶勭悊浠诲姟
/// </summary>
+ /// <remarks>
+ /// 浠庢暟鎹簱涓煡璇㈡寚瀹氳澶囩紪鐮佺殑寰呭鐞嗘満鍣ㄤ汉浠诲姟銆�
+ /// 鍙繑鍥炵姸鎬佷负"寰呭鐞�"鐨勪换鍔°��
+ /// </remarks>
+ /// <param name="robotCrane">鏈哄櫒浜鸿澶囦俊鎭紝鍖呭惈璁惧缂栫爜</param>
+ /// <returns>寰呭鐞嗙殑浠诲姟瀵硅薄锛屽鏋滄病鏈夊垯杩斿洖 null</returns>
public Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
{
return _robotTaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
}
/// <summary>
- /// 鍒犻櫎鏈哄櫒浜轰换鍔°��
+ /// 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>
+ /// 褰撲换鍔″畬鎴愶紙鏃犺鏄垚鍔熻繕鏄け璐ワ級鏃惰皟鐢紝鍒犻櫎鏁版嵁搴撲腑鐨勪换鍔¤褰曘��
+ /// </remarks>
+ /// <param name="ID">瑕佸垹闄ょ殑浠诲姟 ID</param>
+ /// <returns>鍒犻櫎鏄惁鎴愬姛</returns>
public bool? DeleteTask(int ID)
{
return _robotTaskService.Repository.DeleteDataById(ID);
}
/// <summary>
- /// 涓嬪彂鍙栬揣鎸囦护锛圥ickbattery锛夊埌鏈哄櫒浜哄鎴风銆�
+ /// 涓嬪彂鍙栬揣鎸囦护锛圥ickbattery锛夊埌鏈哄櫒浜哄鎴风
/// </summary>
+ /// <remarks>
+ /// 鍙戦�佹牸寮忥細Pickbattery,{婧愬湴鍧�}
+ /// 渚嬪锛歅ickbattery,A01 琛ㄧず浠� A01 浣嶇疆鍙栬揣
+ ///
+ /// 涓嬪彂鎴愬姛鍚庯細
+ /// 1. 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
+ /// 2. 灏嗕换鍔″叧鑱斿埌鐘舵�佸璞�
+ /// 3. 瀹夊叏鏇存柊鐘舵�佸埌 Redis
+ /// 4. 鏇存柊浠诲姟璁板綍鍒版暟鎹簱
+ /// </remarks>
+ /// <param name="task">瑕佷笅鍙戠殑浠诲姟瀵硅薄</param>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
public async Task SendSocketRobotPickAsync(Dt_RobotTask task, RobotSocketState state)
{
+ // 鏋勫缓鍙栬揣鎸囦护锛屾牸寮忥細Pickbattery,{婧愬湴鍧�}
string taskString = $"Pickbattery,{task.RobotSourceAddress}";
+
+ // 閫氳繃 Socket 缃戝叧鍙戦�佹寚浠ゅ埌鏈哄櫒浜哄鎴风
bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+
if (result)
{
+ // 鍙戦�佹垚鍔燂紝璁板綍 Info 鏃ュ織
+ _logger.LogInformation("涓嬪彂鍙栬揣鎸囦护鎴愬姛锛屾寚浠�: {TaskString}锛岃澶�: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
+ QuartzLogger.Info($"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();
+
+ // 灏嗕换鍔″叧鑱斿埌鐘舵�佸璞�
state.CurrentTask = task;
- // 淇濇寔鍘熻涔夛細浠呭湪鐘舵�佸畨鍏ㄥ啓鍏ユ垚鍔熷悗鍐嶆洿鏂颁换鍔＄姸鎬併��
+ // 淇濇寔鍘熻涔夛細浠呭湪鐘舵�佸畨鍏ㄥ啓鍏ユ垚鍔熷悗鍐嶆洿鏂颁换鍔＄姸鎬�
+ // 杩欐牱鍙互纭繚鐘舵�佸拰浠诲姟璁板綍鐨勪竴鑷存��
if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
{
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($"涓嬪彂鍙栬揣鎸囦护澶辫触锛屾寚浠�: {taskString}", state.RobotCrane?.DeviceName);
+ }
}
/// <summary>
- /// 澶勭悊鍏ュ簱浠诲姟鍥炰紶锛堟媶鐩�/缁勭洏/鎹㈢洏鍦烘櫙锛夈��
+ /// 澶勭悊鍏ュ簱浠诲姟鍥炰紶锛堟媶鐩�/缁勭洏/鎹㈢洏鍦烘櫙锛�
/// </summary>
+ /// <remarks>
+ /// 褰撳彇璐у畬鎴愶紙AllPickFinished锛夋垨鏀捐揣瀹屾垚锛圓llPutFinished锛夋椂璋冪敤姝ゆ柟娉曘��
+ /// 鏍规嵁浠诲姟绫诲瀷鍜屽湴鍧�鏉ユ簮鍐冲畾濡備綍鍥炰紶缁� WMS銆�
+ ///
+ /// 澶勭悊閫昏緫锛�
+ /// 1. 鏍规嵁 useSourceAddress 鍐冲畾浣跨敤婧愬湴鍧�杩樻槸鐩爣鍦板潃
+ /// 2. 鏍规嵁浠诲姟绫诲瀷锛堢粍鐩�/鎹㈢洏/鎷嗙洏锛夊喅瀹氫换鍔＄被鍨嬶紙鍏ュ簱/绌烘墭鐩樺叆搴擄級
+ /// 3. 鏋勫缓 CreateTaskDto 骞惰皟鐢� WMS 鎺ュ彛鍒涘缓浠诲姟
+ /// 4. 鎺ユ敹 WMS 杩斿洖鐨勪换鍔′俊鎭�
+ /// 5. 鏇存柊杈撻�佺嚎鐨勭洰鏍囧湴鍧�銆佷换鍔″彿绛�
+ /// </remarks>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
+ /// <param name="useSourceAddress">鏄惁浣跨敤婧愬湴鍧�锛坱rue 琛ㄧず鎷嗙洏/鎹㈢洏鍦烘櫙锛宖alse 琛ㄧず缁勭洏/鎹㈢洏鍦烘櫙锛�</param>
+ /// <returns>澶勭悊鏄惁鎴愬姛</returns>
public async Task<bool> HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
{
+ // 鑾峰彇褰撳墠鍏宠仈鐨勪换鍔�
var currentTask = state.CurrentTask;
if (currentTask == null)
{
+ _logger.LogDebug("HandleInboundTaskAsync锛氬綋鍓嶄换鍔′负绌�");
+ QuartzLogger.Debug($"HandleInboundTaskAsync锛氬綋鍓嶄换鍔′负绌�", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
}
+ // 鑾峰彇宸烽亾浠ｇ爜
string roadway = currentTask.RobotSourceAddressLineCode;
- int warehouseId = currentTask.RobotRoadway == "ZYRB1" ? 1 : currentTask.RobotRoadway == "HPRB001" ? 2 : 3;
+ // 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 == "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;
+
+ // 婧愬湴鍧�鍜岀洰鏍囧湴鍧�锛堝垵濮嬪寲锛�
string SourceAddress = currentTask.RobotTargetAddressLineCode;
string TargetAddress = currentTask.RobotSourceAddressLineCode;
+
+ // 鎵樼洏浠ｇ爜锛堝垵濮嬪寲涓虹┖锛�
string PalletCode = string.Empty;
+
+ // 鑾峰彇浠诲姟绫诲瀷鐨勬灇涓惧��
var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
+ // 鏍规嵁 useSourceAddress 鍐冲畾澶勭悊閫昏緫
if (useSourceAddress)
{
+ // 浣跨敤婧愬湴鍧�鐨勫満鏅細鎷嗙洏銆佹崲鐩橈紙鏀剧┖鎵樼洏锛�
switch (robotTaskType)
{
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($"HandleInboundTaskAsync锛氱粍鐩樹换鍔′笉浣跨敤婧愬湴鍧�", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
case RobotTaskTypeEnum.ChangePallet:
case RobotTaskTypeEnum.SplitPallet:
- taskType = TaskTypeEnum.InEmpty.GetHashCode();
- PalletCode = currentTask.RobotSourceAddressPalletCode;
+ // 鎹㈢洏/鎷嗙洏鍦烘櫙锛氭墭鐩橀渶瑕佸叆搴�
+ taskType = TaskTypeEnum.InEmpty.GetHashCode(); // 绌烘墭鐩樺叆搴�
+ PalletCode = currentTask.RobotSourceAddressPalletCode; // 浣跨敤婧愬湴鍧�鐨勬墭鐩樼爜
break;
}
}
else
{
+ // 浣跨敤鐩爣鍦板潃鐨勫満鏅細缁勭洏銆佹崲鐩橈紙鎴愬搧鍏ュ簱锛�
switch (robotTaskType)
{
case RobotTaskTypeEnum.ChangePallet:
case RobotTaskTypeEnum.GroupPallet:
- taskType = TaskTypeEnum.Inbound.GetHashCode();
- PalletCode = currentTask.RobotTargetAddressPalletCode;
+ // 鎹㈢洏/缁勭洏鍦烘櫙锛氳揣鐗╅渶瑕佸叆搴�
+ taskType = TaskTypeEnum.Inbound.GetHashCode(); // 鎴愬搧鍏ュ簱
+ PalletCode = currentTask.RobotTargetAddressPalletCode; // 浣跨敤鐩爣鍦板潃鐨勬墭鐩樼爜
break;
case RobotTaskTypeEnum.SplitPallet:
+ // 鎷嗙洏浠诲姟涓嶄娇鐢ㄧ洰鏍囧湴鍧�
+ _logger.LogDebug("HandleInboundTaskAsync锛氭媶鐩樹换鍔′笉浣跨敤鐩爣鍦板潃");
+ QuartzLogger.Debug($"HandleInboundTaskAsync锛氭媶鐩樹换鍔′笉浣跨敤鐩爣鍦板潃", state.RobotCrane?.DeviceName ?? "Unknown");
return true;
}
}
+ // 鏋勫缓鍒涘缓浠诲姟鐨� DTO
CreateTaskDto taskDto = new CreateTaskDto
{
- PalletCode = PalletCode,
- SourceAddress = SourceAddress ?? string.Empty,
- TargetAddress = TargetAddress ?? string.Empty,
- Roadway = roadway,
- WarehouseId = warehouseId,
- PalletType = 1,
- TaskType = taskType
+ PalletCode = PalletCode, // 鎵樼洏鏉＄爜
+ SourceAddress = SourceAddress ?? string.Empty, // 婧愬湴鍧�
+ TargetAddress = TargetAddress ?? string.Empty, // 鐩爣鍦板潃
+ Roadway = roadway, // 宸烽亾
+ WarehouseId = warehouseId, // 浠撳簱 ID
+ PalletType = 1, // 鎵樼洏绫诲瀷锛堥粯璁や负1锛�
+ 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;
}
+ // 瑙ｆ瀽 WMS 杩斿洖鐨勪换鍔′俊鎭�
WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.Data.ToJson() ?? string.Empty) ?? new WMSTaskDTO();
+
+ // 璋冪敤浠诲姟鏈嶅姟鎺ユ敹 WMS 浠诲姟
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($"HandleInboundTaskAsync锛氭帴鏀禬MS浠诲姟澶辫触", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
}
- var taskInfo = JsonConvert.DeserializeObject<Dt_Task>(content.Data.ToJson() ?? string.Empty) ?? new Dt_Task();
+ // 瑙ｆ瀽杩斿洖鐨勪换鍔′俊鎭�
+ var taskInfos = JsonConvert.DeserializeObject<List<Dt_Task>>(content.Data.ToJson() ?? string.Empty) ?? new List<Dt_Task>();
+ var taskInfo = taskInfos.FirstOrDefault();
+
+ // 鑾峰彇婧愬湴鍧�
string sourceAddress = taskDTO.SourceAddress;
+ // 鏌ユ壘婧愬湴鍧�瀵瑰簲鐨勮緭閫佺嚎璁惧
IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == sourceAddress));
+
if (device != null)
{
+ // 灏嗚澶囪浆鎹负杈撻�佺嚎绫诲瀷
CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
+
+ // 璁剧疆杈撻�佺嚎鐨勭洰鏍囧湴鍧�
conveyorLine.SetValue(ConveyorLineDBNameNew.Target, taskInfo.NextAddress, sourceAddress);
+
+ // 璁剧疆杈撻�佺嚎鐨勪换鍔″彿
conveyorLine.SetValue(ConveyorLineDBNameNew.TaskNo, taskInfo.TaskNum, sourceAddress);
+
+ // 瑙﹀彂杈撻�佺嚎寮�濮嬫墽琛岋紙鍐欏叆 WCS_STB = 1锛�
conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_STB, 1, sourceAddress);
+ // 鏇存柊浠诲姟鐘舵�佸埌涓嬩竴闃舵
if (_taskService.UpdateTaskStatusToNext(taskInfo).Status)
{
+ _logger.LogInformation("HandleInboundTaskAsync锛氬叆搴撲换鍔″鐞嗘垚鍔燂紝浠诲姟鍙�: {TaskNum}", taskInfo.TaskNum);
+ QuartzLogger.Info($"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;
}
}
@@ -170,23 +353,50 @@
}
/// <summary>
- /// 鏋勫缓搴撳瓨鍥炰紶 DTO銆�
+ /// 鏋勫缓搴撳瓨鍥炰紶 DTO
/// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬鎷嗙洏鍜岀粍鐩樻搷浣滄椂锛屽悜 WMS 鍥炰紶搴撳瓨淇℃伅銆�
+ /// DTO 鍖呭惈婧愯揣浣嶃�佺洰鏍囪揣浣嶃�佹墭鐩樼爜浠ュ強姣忎釜浣嶇疆鐨勭數姹犳潯鐮併��
+ /// </remarks>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
+ /// <param name="positions">鐢垫睜浣嶇疆鏁扮粍</param>
+ /// <returns>鏋勫缓濂界殑搴撳瓨 DTO</returns>
public static StockDTO BuildStockDTO(RobotSocketState state, int[] positions)
{
return new StockDTO
{
+ // 婧愯緭閫佺嚎缂栧彿
SourceLineNo = state.CurrentTask.RobotSourceAddressLineCode,
+
+ // 婧愭墭鐩樺彿
SourcePalletNo = state.CurrentTask.RobotSourceAddressPalletCode,
+
+ // 鐩爣鎵樼洏鍙�
TargetPalletNo = state.CurrentTask.RobotTargetAddressPalletCode,
+
+ // 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�
+ // 涓烘瘡涓綅缃敓鎴愬搴旂殑搴撳瓨璇︽儏
Details = positions
- .Where(x => x > 0)
- .OrderBy(x => x)
+ .Where(x => x > 0) // 杩囨护鏃犳晥浣嶇疆
+ .OrderBy(x => x) // 鎸変綅缃帓搴�
.Select((x, idx) => new StockDetailDTO
{
- Quantity = state.RobotTaskTotalNum > 0 ? state.RobotTaskTotalNum + positions.Length : positions.Length,
+ // 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 = 1,
+
+ // 閫氶亾/浣嶇疆缂栧彿
Channel = x,
+
+ // 鐢垫睜鏉＄爜锛氬鏋滅姸鎬佷腑鏈夋潯鐮佸垪琛紝鍙栧搴斾綅缃殑鏉＄爜锛涘惁鍒欎负绌�
CellBarcode = state.CellBarcode?.Count > 0 ? state.CellBarcode[x - 1] : ""
})
.ToList()
@@ -194,16 +404,33 @@
}
/// <summary>
- /// 璋冪敤鎷嗙洏 API銆�
+ /// 璋冪敤鎷嗙洏 API
/// </summary>
+ /// <remarks>
+ /// 褰撳彇璐у畬鎴愪笖闇�瑕佹媶鐩樻椂璋冪敤銆�
+ /// 灏嗙數姹犱粠鎵樼洏涓婂彇涓嬶紝閫愪釜鏀剧疆鍒扮洰鏍囦綅缃��
+ /// </remarks>
+ /// <param name="stockDTO">搴撳瓨 DTO锛屽寘鍚鎷嗙洏鐨勭數鑺俊鎭�</param>
+ /// <returns>HTTP 鍝嶅簲缁撴灉</returns>
public HttpResponseResult<WebResponseContent> PostSplitPalletAsync(StockDTO stockDTO)
{
return _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.SplitPalletAsync), stockDTO.ToJson());
}
/// <summary>
- /// 璋冪敤缁勭洏/鎹㈢洏 API銆�
+ /// 璋冪敤缁勭洏/鎹㈢洏 API
/// </summary>
+ /// <remarks>
+ /// 褰撴斁璐у畬鎴愪笖闇�瑕佺粍鐩樻垨鎹㈢洏鏃惰皟鐢ㄣ��
+ /// 灏嗗涓數姹犵粍鍚堝埌鍚屼竴涓墭鐩樹笂銆�
+ ///
+ /// configKey 鍙傛暟鍐冲畾璋冪敤鍝釜 API锛�
+ /// - GroupPalletAsync: 缁勭洏鎺ュ彛
+ /// - ChangePalletAsync: 鎹㈢洏鎺ュ彛
+ /// </remarks>
+ /// <param name="configKey">閰嶇疆閿悕锛屽喅瀹氳皟鐢ㄥ摢涓� API</param>
+ /// <param name="stockDTO">搴撳瓨 DTO锛屽寘鍚缁勭洏鐨勭數鑺俊鎭�</param>
+ /// <returns>HTTP 鍝嶅簲缁撴灉</returns>
public HttpResponseResult<WebResponseContent> PostGroupPalletAsync(string configKey, StockDTO stockDTO)
{
return _httpClientHelper.Post<WebResponseContent>(configKey, stockDTO.ToJson());
--
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