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/Workflow/RobotSimpleCommandHandler.cs | 229 ++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 170 insertions(+), 59 deletions(-)
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 1869396..b564835 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
@@ -1,128 +1,239 @@
-锘縰sing WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks.Workflow
{
/// <summary>
- /// 绠�鍗曞懡浠ゅ鐞嗭細浠呰縼绉诲師 RobotMessageHandler 涓殑鍛戒护鍒嗘敮锛屼笉鏀瑰彉涓氬姟璇箟銆�
+ /// 绠�鍗曞懡浠ゅ鐞嗗櫒
/// </summary>
+ /// <remarks>
+ /// 杩佺Щ鍘� RobotMessageHandler 涓殑绠�鍗曞懡浠ゅ垎鏀紝涓嶆敼鍙樹笟鍔¤涔夈��
+ ///
+ /// 绠�鍗曞懡浠ゆ槸鎸囦笉闇�瑕侀澶栧弬鏁扮殑鐘舵�佹洿鏂板懡浠わ紝濡傝繍琛岀姸鎬併�佹ā寮忓垏鎹㈢瓑銆�
+ /// 涓庡墠缂�鍛戒护锛堥渶瑕佽В鏋愪綅缃弬鏁帮級鐩稿銆�
+ ///
+ /// 澶勭悊瀹屾垚鍚庤繑鍥� true锛涙棤娉曡瘑鍒殑鍛戒护杩斿洖 false銆�
+ /// </remarks>
public class RobotSimpleCommandHandler : IRobotSimpleCommandHandler
{
+ /// <summary>
+ /// 鏈哄櫒浜轰换鍔″鐞嗗櫒
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬澶勭悊 allpickfinished 鍜� allputfinished 鍛戒护鏃讹紝
+ /// 璋冪敤浠诲姟鍏ュ簱鍜屽垹闄ら�昏緫銆�
+ /// </remarks>
private readonly RobotTaskProcessor _taskProcessor;
- public RobotSimpleCommandHandler(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, ISocketClientGateway socketClientGateway)
{
_taskProcessor = taskProcessor;
+ _socketClientGateway = socketClientGateway;
}
+ /// <summary>
+ /// 澶勭悊绠�鍗曞懡浠�
+ /// </summary>
+ /// <remarks>
+ /// 鏍规嵁娑堟伅鍐呭鏇存柊鏈哄櫒浜虹殑杩愯鐘舵�併�佹ā寮忋�佹墜鑷傚璞＄瓑灞炴�с��
+ /// 鏌愪簺鍛戒护锛堝 allpickfinished銆乤llputfinished锛変細瑙﹀彂瀹為檯鐨勪笟鍔￠�昏緫銆�
+ ///
+ /// 鍛戒护鍒楄〃锛�
+ /// - homing: 鍥為浂涓�
+ /// - homed: 宸插洖闆�
+ /// - running: 杩愯涓�
+ /// - pausing: 鏆傚仠涓�
+ /// - warming: 棰勭儹涓�
+ /// - emstoping: 鎬ュ仠涓�
+ /// - picking: 鍙栬揣涓�
+ /// - puting: 鏀捐揣涓�
+ /// - runmode,1: 杩愯妯″紡鍒囨崲鍒版墜鍔�
+ /// - runmode,2: 杩愯妯″紡鍒囨崲鍒拌嚜鍔�
+ /// - controlmode,1: 鎺у埗妯″紡鍒囨崲鍒板鎴风鎺у埗
+ /// - controlmode,2: 鎺у埗妯″紡鍒囨崲鍒板叾浠�
+ /// - armobject,1: 鎵嬭噦鏈夌墿鏂�
+ /// - armobject,0: 鎵嬭噦鏃犵墿鏂�
+ /// - allpickfinished: 鍏ㄩ儴鍙栬揣瀹屾垚
+ /// - allputfinished: 鍏ㄩ儴鏀捐揣瀹屾垚
+ /// </remarks>
+ /// <param name="message">娑堟伅鍐呭锛堝皬鍐欏舰寮忥級</param>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬侊紙浼氳淇敼锛�</param>
+ /// <returns>鏄惁鎴愬姛澶勭悊锛涙棤娉曡瘑鍒殑鍛戒护杩斿洖 false</returns>
public async Task<bool> HandleAsync(string message, RobotSocketState state)
{
+ // 浣跨敤 switch 琛ㄨ揪寮忚繘琛屾ā寮忓尮閰嶏紝鎻愰珮鍙鎬у拰鎬ц兘
switch (message)
{
+ // ==================== 杩愯鐘舵�佸懡浠� ====================
+
+ // 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;
- case "picking":
- state.CurrentAction = "Picking";
- return true;
-
- case "puting":
- state.CurrentAction = "Putting";
- return true;
-
- case "allpickfinished":
- {
- state.CurrentAction = "AllPickFinished";
- var currentTask = state.CurrentTask;
- if (currentTask == null)
- {
- return false;
- }
-
- var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
- if (robotTaskType == RobotTaskTypeEnum.SplitPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
- {
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
- {
- _taskProcessor.DeleteTask(currentTask.RobotTaskId);
- return true;
- }
- }
- return false;
- }
-
- case "allputfinished":
- {
- state.CurrentAction = "AllPutFinished";
- var currentTask = state.CurrentTask;
- if (currentTask == null)
- {
- return false;
- }
-
- var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
- if (robotTaskType == RobotTaskTypeEnum.GroupPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
- {
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
- {
- _taskProcessor.DeleteTask(currentTask.RobotTaskId);
- state.CurrentTask = null;
- state.RobotTaskTotalNum = 0;
- state.CellBarcode = new List<string>();
- return true;
- }
- }
- return false;
- }
-
+ // 鏈哄櫒浜烘鍦ㄨ繍琛�
case "running":
state.OperStatus = "Running";
return true;
+ // 鏈哄櫒浜烘鍦ㄦ殏鍋�
case "pausing":
state.OperStatus = "Pausing";
return true;
+ // 鏈哄櫒浜烘鍦ㄩ鐑�
case "warming":
state.OperStatus = "Warming";
return true;
+ // 鏈哄櫒浜烘鍦ㄦ�ュ仠
case "emstoping":
state.OperStatus = "Emstoping";
return true;
+ // 鏈哄櫒浜烘鍦ㄥ彇璐�
+ case "picking":
+ state.CurrentAction = "Picking";
+ return true;
+
+ // 鏈哄櫒浜烘鍦ㄦ斁璐�
+ case "puting":
+ state.CurrentAction = "Putting";
+ return true;
+
+ // ==================== 鍏ㄩ儴瀹屾垚鍛戒护 ====================
+
+ // 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
+ 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;
+ }
+
+ // 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)
+ {
+ 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;
+ }
+
+ // ==================== 妯″紡鍒囨崲鍛戒护 ====================
+
+ // 杩愯妯″紡鍒囨崲涓烘墜鍔紙妯″紡1锛�
case "runmode,1":
state.RobotRunMode = 1;
return true;
+ // 杩愯妯″紡鍒囨崲涓鸿嚜鍔紙妯″紡2锛�
case "runmode,2":
state.RobotRunMode = 2;
return true;
+ // 鎺у埗妯″紡鍒囨崲涓哄鎴风鎺у埗锛堟ā寮�1锛�
case "controlmode,1":
state.RobotControlMode = 1;
return true;
+ // 鎺у埗妯″紡鍒囨崲涓哄叾浠栵紙妯″紡2锛�
case "controlmode,2":
state.RobotControlMode = 2;
return true;
+ // ==================== 鎵嬭噦瀵硅薄鍛戒护 ====================
+
+ // 鎵嬭噦鏈夌墿鏂欙紙鎶撳彇鍒拌揣鐗╋級
case "armobject,1":
state.RobotArmObject = 1;
return true;
+ // 鎵嬭噦鏃犵墿鏂欙紙鎵嬭噦绌洪棽锛�
case "armobject,0":
state.RobotArmObject = 0;
return true;
+ // ==================== 榛樿鎯呭喌 ====================
+
+ // 鏃犳硶璇嗗埆鐨勫懡浠わ紝杩斿洖 false
default:
return false;
}
}
}
-}
+}
\ No newline at end of file
--
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