From aefdecd0aa3226b7d00d1dc764241b82658b3be8 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期五, 06 三月 2026 10:41:02 +0800
Subject: [PATCH] 添加机器人客户端；更新 WCS 缓存及任务
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs | 16
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/RedisCacheService.cs | 28
Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/v18/DocumentLayout.json | 431 ++++-
Code/机械手客户端/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/C569B8B80C5D3640BC534EFC4D2E9EFE/EEF5B4E6C1E13E5E42E047DE7B74D577 | 81 +
Code/机械手客户端/RobotClient/Program.cs | 399 +++++
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotBarcodeGenerator.cs | 28
Code/机械手客户端/RobotClient/Properties/launchSettings.json | 10
Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/CodeChunks.db | 0
Code/机械手客户端/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/BE43EC63E499EE468C0161FA83175A2D/340C5AFE3B0C2AB455087AFF43725D6E | 2
Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/v18/DocumentLayout.json | 235 ++-
Code/机械手客户端/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/state.mpack | 0
Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/TaskEnum/TaskTypeEnum.cs | 74 +
Code/机械手客户端/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/957CD3507E75254DAB50B67D1CAD4ABB/57E558275472B567970CA987458436D5 | 68
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Options/RedisOptions.cs | 6
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs | 207 ++
Code/WCS/WIDESEAWCS_Server/.claude/settings.local.json | 10
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs | 89 +
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotClientManager.cs | 149 ++
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs | 108 +
Code/机械手客户端/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/BE43EC63E499EE468C0161FA83175A2D/57E558275472B567970CA987458436D5 | 2
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/appsettings.json | 5
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/HybridCacheService.cs | 98 +
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/CacheSyncBackgroundService.cs | 9
Code/机械手客户端/RobotClient/.dockerignore | 30
Code/机械手客户端/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/957CD3507E75254DAB50B67D1CAD4ABB/89EE95323C118AB5E5FA0B5FC9E372D8 | 68
Code/机械手客户端/RobotClient/RobotClient.csproj | 16
Code/机械手客户端/RobotClient/.vs/RobotClient.slnx/copilot-chat/bef6627e/sessions/36c312bd-395e-4534-89ed-c65ca163a4e7 | 0
Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/TaskService.cs | 91 +
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs | 275 +++
Code/机械手客户端/RobotClient/.vs/RobotClient.slnx/v18/DocumentLayout.backup.json | 49
Code/机械手客户端/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/C569B8B80C5D3640BC534EFC4D2E9EFE/57E558275472B567970CA987458436D5 | 81 +
Code/机械手客户端/RobotClient/RobotClient.slnx | 3
Code/机械手客户端/RobotClient/.vs/RobotClient.slnx/v18/DocumentLayout.json | 49
Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/SemanticSymbols.db | 0
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 616 +-------
Code/机械手客户端/RobotClient/CLAUDE.md | 83 +
Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/v18/DocumentLayout.backup.json | 211 +-
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskEnumHelper.cs | 2
Code/WMS/WIDESEA_WMSServer/WIDESEA_WMSServer/Controllers/TaskInfo/TaskController.cs | 11
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotStateManager.cs | 123 +
Code/机械手客户端/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/E6DFDF72DCCF3C46ABA29988BCD5456A/57E558275472B567970CA987458436D5 | 92 +
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Caches/ICacheService.cs | 18
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Caches/MemoryCacheService.cs | 22
Code/WMS/WIDESEA_WMSServer/WIDESEA_ITaskInfoService/ITaskService.cs | 8
Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/TaskEnum/TaskStatusEnum.cs | 139 +
Code/机械手客户端/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/E6DFDF72DCCF3C46ABA29988BCD5456A/F977376DB3B74CAF672118CAACA4BA95 | 92 +
Code/机械手客户端/RobotClient/Dockerfile | 28
47 files changed, 3,353 insertions(+), 809 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/.claude/settings.local.json b/Code/WCS/WIDESEAWCS_Server/.claude/settings.local.json
new file mode 100644
index 0000000..5970394
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/.claude/settings.local.json
@@ -0,0 +1,10 @@
+{
+ "permissions": {
+ "allow": [
+ "Bash(dotnet new:*)",
+ "Bash(dotnet add:*)",
+ "Bash(dotnet test:*)",
+ "Bash(dotnet build WIDESEAWCS_Server.sln --nologo -v q)"
+ ]
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/CodeChunks.db b/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/CodeChunks.db
index d87a3a9..aeece22 100644
--- a/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/CodeChunks.db
+++ b/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/CodeChunks.db
Binary files differ
diff --git a/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/SemanticSymbols.db b/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/SemanticSymbols.db
index ecb39d9..4f764c8 100644
--- a/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/SemanticSymbols.db
+++ b/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/CopilotIndices/18.0.988.22099/SemanticSymbols.db
Binary files differ
diff --git a/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/v18/DocumentLayout.json b/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/v18/DocumentLayout.json
index 1b17578..d2e73d4 100644
--- a/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/v18/DocumentLayout.json
+++ b/Code/WCS/WIDESEAWCS_Server/.vs/WIDESEAWCS_Server/v18/DocumentLayout.json
@@ -3,20 +3,60 @@
"WorkspaceRootPath": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\",
"Documents": [
{
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+ "RelativeMoniker": "D:0:0:{83F18A31-5983-4587-A0B2-414BF70E50B5}|WIDESEAWCS_TaskInfoService\\WIDESEAWCS_TaskInfoService.csproj|solutionrelative:wideseawcs_taskinfoservice\\taskservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+ },
+ {
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+ "RelativeMoniker": "D:0:0:{BFFDD936-2E61-4D3A-ABFE-7CF77FE0B184}|WIDESEAWCS_Core\\WIDESEAWCS_Core.csproj|solutionrelative:wideseawcs_core\\http\\http\\httpclienthelper.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
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+ {
+ "AbsoluteMoniker": "D:0:0:{294E4915-0241-4C8C-BA99-7588B945863A}|WIDESEAWCS_Tasks\\WIDESEAWCS_Tasks.csproj|d:\\git\\shanmeixinnengyuan\\code\\wcs\\wideseawcs_server\\wideseawcs_tasks\\robotjob\\robottaskprocessor.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
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"AbsoluteMoniker": "D:0:0:{294E4915-0241-4C8C-BA99-7588B945863A}|WIDESEAWCS_Tasks\\WIDESEAWCS_Tasks.csproj|d:\\git\\shanmeixinnengyuan\\code\\wcs\\wideseawcs_server\\wideseawcs_tasks\\robotjob\\robotjob.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
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+ "RelativeMoniker": "D:0:0:{9FBC654C-51DE-422D-9E1E-6A38268DE1E2}|WIDESEAWCS_Common\\WIDESEAWCS_Common.csproj|solutionrelative:wideseawcs_common\\taskenum\\taskenumhelper.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
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+ "RelativeDocumentMoniker": "WIDESEAWCS_Core\\Http\\HTTP\\HttpClientHelper.cs",
+ "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Core\\Http\\HTTP\\HttpClientHelper.cs",
+ "RelativeToolTip": "WIDESEAWCS_Core\\Http\\HTTP\\HttpClientHelper.cs",
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+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-03-03T02:13:21.506Z",
+ "EditorCaption": ""
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 17,
+ "Title": "RedisName.cs",
+ "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Common\\Redis\\RedisName.cs",
+ "RelativeDocumentMoniker": "WIDESEAWCS_Common\\Redis\\RedisName.cs",
+ "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Common\\Redis\\RedisName.cs",
+ "RelativeToolTip": "WIDESEAWCS_Common\\Redis\\RedisName.cs",
+ "ViewState": "AgIAAAwAAAAAAAAAAAAswBwAAAAfAAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-03-03T01:52:46.175Z"
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 22,
+ "Title": "RedisPrefix.cs",
+ "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Common\\Redis\\RedisPrefix.cs",
+ "RelativeDocumentMoniker": "WIDESEAWCS_Common\\Redis\\RedisPrefix.cs",
+ "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Common\\Redis\\RedisPrefix.cs",
+ "RelativeToolTip": "WIDESEAWCS_Common\\Redis\\RedisPrefix.cs",
+ "ViewState": "AgIAAAAAAAAAAAAAAAAAAAkAAAA4AAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-03-03T01:50:08.45Z"
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 9,
+ "Title": "RouterService.cs",
+ "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_QuartzJob\\Service\\RouterService.cs",
+ "RelativeDocumentMoniker": "WIDESEAWCS_QuartzJob\\Service\\RouterService.cs",
+ "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_QuartzJob\\Service\\RouterService.cs",
+ "RelativeToolTip": "WIDESEAWCS_QuartzJob\\Service\\RouterService.cs",
+ "ViewState": "AgIAAKoAAAAAAAAAAAAawMEAAABrAAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-03-02T10:10:38.22Z",
+ "EditorCaption": ""
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 13,
+ "Title": "HybridCacheService.cs",
+ "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_RedisService\\Cache\\HybridCacheService.cs",
+ "RelativeDocumentMoniker": "WIDESEAWCS_RedisService\\Cache\\HybridCacheService.cs",
+ "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_RedisService\\Cache\\HybridCacheService.cs",
+ "RelativeToolTip": "WIDESEAWCS_RedisService\\Cache\\HybridCacheService.cs",
+ "ViewState": "AgIAAHUCAAAAAAAAAAAswI4CAABaAAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-03-02T10:04:18.563Z"
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 21,
+ "Title": "QuartzNetExtension.cs",
+ "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_QuartzJob\\QuartzNet\\QuartzNetExtension.cs",
+ "RelativeDocumentMoniker": "WIDESEAWCS_QuartzJob\\QuartzNet\\QuartzNetExtension.cs",
+ "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_QuartzJob\\QuartzNet\\QuartzNetExtension.cs",
+ "RelativeToolTip": "WIDESEAWCS_QuartzJob\\QuartzNet\\QuartzNetExtension.cs",
+ "ViewState": "AgIAAHoAAAAAAAAAAAAswIgAAABBAAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-03-02T09:22:53.922Z"
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 18,
+ "Title": "TcpSocketServer.Server.cs",
+ "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\SocketServer\\TcpSocketServer.Server.cs",
+ "RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\SocketServer\\TcpSocketServer.Server.cs",
+ "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\SocketServer\\TcpSocketServer.Server.cs",
+ "RelativeToolTip": "WIDESEAWCS_Tasks\\SocketServer\\TcpSocketServer.Server.cs",
+ "ViewState": "AgIAABEAAAAAAAAAAAAhwCMAAAAbAAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-03-02T09:11:28.744Z"
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 8,
+ "Title": "TcpSocketServer.Messaging.cs",
+ "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\SocketServer\\TcpSocketServer.Messaging.cs",
+ "RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\SocketServer\\TcpSocketServer.Messaging.cs",
+ "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\SocketServer\\TcpSocketServer.Messaging.cs",
+ "RelativeToolTip": "WIDESEAWCS_Tasks\\SocketServer\\TcpSocketServer.Messaging.cs",
+ "ViewState": "AgIAADMAAAAAAAAAAAAgwEgAAAAZAAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-03-02T09:07:48.915Z",
+ "EditorCaption": ""
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 14,
"Title": "appsettings.json",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Server\\appsettings.json",
"RelativeDocumentMoniker": "WIDESEAWCS_Server\\appsettings.json",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Server\\appsettings.json",
"RelativeToolTip": "WIDESEAWCS_Server\\appsettings.json",
- "ViewState": "AgIAACUAAAAAAAAAAAAYwCsAAAAeAAAAAAAAAA==",
+ "ViewState": "AgIAADoAAAAAAAAAAAAYwE4AAAAbAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.001642|",
- "WhenOpened": "2026-02-28T05:50:10.851Z",
- "EditorCaption": ""
+ "WhenOpened": "2026-02-28T05:50:10.851Z"
},
{
"$type": "Document",
- "DocumentIndex": 11,
+ "DocumentIndex": 4,
"Title": "CommonConveyorLineNewJob.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\ConveyorLineNewJob\\CommonConveyorLineNewJob.cs",
"RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\ConveyorLineNewJob\\CommonConveyorLineNewJob.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\ConveyorLineNewJob\\CommonConveyorLineNewJob.cs",
"RelativeToolTip": "WIDESEAWCS_Tasks\\ConveyorLineNewJob\\CommonConveyorLineNewJob.cs",
- "ViewState": "AgIAAEoAAAAAAAAAAAAAwGAAAABTAAAAAAAAAA==",
+ "ViewState": "AgIAAEAAAAAAAAAAAAAswHgAAAAcAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
"WhenOpened": "2026-02-28T05:48:06.526Z",
"EditorCaption": ""
},
{
"$type": "Document",
- "DocumentIndex": 0,
+ "DocumentIndex": 11,
+ "Title": "RobotStateManager.cs",
+ "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\RobotJob\\RobotStateManager.cs",
+ "RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\RobotJob\\RobotStateManager.cs",
+ "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\RobotJob\\RobotStateManager.cs",
+ "RelativeToolTip": "WIDESEAWCS_Tasks\\RobotJob\\RobotStateManager.cs",
+ "ViewState": "AgIAAFoAAAAAAAAAAAAmwAAAAAAAAAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-03-05T02:50:08.257Z",
+ "EditorCaption": ""
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 12,
+ "Title": "RobotClientManager.cs",
+ "DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\RobotJob\\RobotClientManager.cs",
+ "RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\RobotJob\\RobotClientManager.cs",
+ "ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\RobotJob\\RobotClientManager.cs",
+ "RelativeToolTip": "WIDESEAWCS_Tasks\\RobotJob\\RobotClientManager.cs",
+ "ViewState": "AgIAADYAAAAAAAAAAADwvwAAAAAAAAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-03-05T01:55:28.903Z",
+ "EditorCaption": ""
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 5,
"Title": "RobotJob.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\RobotJob\\RobotJob.cs",
"RelativeDocumentMoniker": "WIDESEAWCS_Tasks\\RobotJob\\RobotJob.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Tasks\\RobotJob\\RobotJob.cs",
"RelativeToolTip": "WIDESEAWCS_Tasks\\RobotJob\\RobotJob.cs",
- "ViewState": "AgIAADgAAAAAAAAAAAAtwEIAAAAPAAAAAAAAAA==",
+ "ViewState": "AgIAAGMAAAAAAAAAAAAcwHYAAABVAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
"WhenOpened": "2026-02-05T05:38:04.031Z",
"EditorCaption": ""
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskEnumHelper.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskEnumHelper.cs
index ccf165e..81b46d6 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskEnumHelper.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskEnumHelper.cs
@@ -32,7 +32,7 @@
return TaskTypeGroup.OutbondGroup;
}
// 灏濊瘯灏嗕换鍔＄被鍨嬭浆鎹负TaskInStatusEnum鏋氫妇绫诲瀷锛屽鏋滄垚鍔燂紝杩斿洖InboundGroup
- else if (!int.TryParse(Enum.Parse<TaskOutboundTypeEnum>(taskTypeStr).ToString(), out result))
+ else if (!int.TryParse(Enum.Parse<TaskInStatusEnum>(taskTypeStr).ToString(), out result))
{
return TaskTypeGroup.InboundGroup;
}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs
index 561e503..5e259a7 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs
@@ -28,7 +28,13 @@
/// 璐ㄦ鍏ュ簱
/// </summary>
[Description("璐ㄦ鍏ュ簱")]
- InQuality = 203
+ InQuality = 203,
+
+ /// <summary>
+ /// 绌虹鍏ュ簱
+ /// </summary>
+ [Description("绌虹鍏ュ簱")]
+ InEmpty = 600,
}
public enum TaskOutboundTypeEnum
@@ -53,6 +59,12 @@
/// </summary>
[Description("璐ㄦ鍑哄簱")]
OutQuality = 103,
+
+ /// <summary>
+ /// 绌虹鍑哄簱
+ /// </summary>
+ [Description("绌虹鍑哄簱")]
+ OutEmpty = 140,
}
public enum TaskRelocationTypeEnum
@@ -98,4 +110,98 @@
[Description("鎹㈢洏浠诲姟")]
SplitPallet = 520
}
+
+ public enum TaskTypeEnum
+ {
+ /// <summary>
+ /// 棰嗘枡鍑哄簱
+ /// </summary>
+ [Description("棰嗘枡鍑哄簱")]
+ Outbound = 100,
+ /// <summary>
+ /// 鐩樼偣鍑哄簱
+ /// </summary>
+ [Description("鐩樼偣鍑哄簱")]
+ OutInventory = 110,
+ /// <summary>
+ /// 鍒嗘嫞鍑哄簱
+ /// </summary>
+ [Description("鍒嗘嫞鍑哄簱")]
+ OutPick = 120,
+ /// <summary>
+ /// 璐ㄦ鍑哄簱
+ /// </summary>
+ [Description("璐ㄦ鍑哄簱")]
+ OutQuality = 130,
+
+ /// <summary>
+ /// 绌虹鍑哄簱
+ /// </summary>
+ [Description("绌虹鍑哄簱")]
+ OutEmpty = 140,
+
+ /// <summary>
+ /// MES鍑哄簱
+ /// </summary>
+ [Description("MES鍑哄簱")]
+ MesOutbound = 200,
+
+ /// <summary>
+ /// MES鎵嬪姩鍑哄簱
+ /// </summary>
+ [Description("MES鎵嬪姩鍑哄簱")]
+ MesHandOutbound = 210,
+
+ /// <summary>
+ /// MES鎵嬪姩鎷ｉ�夊嚭搴�
+ /// </summary>
+ [Description("MES鎵嬪姩鎷ｉ�夊嚭搴�")]
+ MesHandPickOutbound = 220,
+
+ /// <summary>
+ /// 閲囪喘鍏ュ簱
+ /// </summary>
+ [Description("閲囪喘鍏ュ簱")]
+ Inbound = 510,
+ /// <summary>
+ /// 鐩樼偣鍏ュ簱
+ /// </summary>
+ [Description("鐩樼偣鍏ュ簱")]
+ InInventory = 520,
+ /// <summary>
+ /// 鍒嗘嫞鍏ュ簱
+ /// </summary>
+ [Description("鍒嗘嫞鍏ュ簱")]
+ InPick = 530,
+ /// <summary>
+ /// 璐ㄦ鍏ュ簱
+ /// </summary>
+ [Description("璐ㄦ鍏ュ簱")]
+ InQuality = 540,
+
+ /// <summary>
+ /// 鐢熶骇閫�鏂�
+ /// </summary>
+ [Description("鐢熶骇閫�鏂�")]
+ ProductionReturn = 550,
+
+ /// <summary>
+ /// MES閫�鏂�
+ /// </summary>
+ [Description("MES閫�鏂�")]
+ MesMatReturn = 560,
+
+ /// <summary>
+ /// 绌虹鍏ュ簱
+ /// </summary>
+ [Description("绌虹鍏ュ簱")]
+ InEmpty = 600,
+
+ /// <summary>
+ /// 宸烽亾鍐呯Щ搴�
+ /// </summary>
+ [Description("宸烽亾鍐呯Щ搴�")]
+ Relocation = 900
+
+ }
}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Caches/ICacheService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Caches/ICacheService.cs
index 85ef381..1600ebb 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Caches/ICacheService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Caches/ICacheService.cs
@@ -247,6 +247,24 @@
bool TryUpdateIfChanged<T>(string key, T newValue, int expireSeconds = -1) where T : class;
/// <summary>
+ /// 瀹夊叏鏇存柊锛氫粎褰撳唴瀛樼紦瀛樹腑鐨勫�间笌expectedVersion鍖归厤鏃舵墠鏇存柊
+ /// 闃叉骞跺彂鍐欏叆鏃舵棫鍊艰鐩栨柊鍊硷紙閫傜敤浜庡绾跨▼/澶氳繘绋嬪満鏅級
+ /// </summary>
+ /// <typeparam name="T">鍊肩被鍨�</typeparam>
+ /// <param name="key">缂撳瓨閿�</param>
+ /// <param name="newValue">鏂板��</param>
+ /// <param name="expectedVersion">鏈熸湜鐨勭増鏈紙閫氬父鏄棫瀵硅薄鐨勬煇涓睘鎬у�硷紝濡傛椂闂存埑锛�</param>
+ /// <param name="versionExtractor">浠庡璞℃彁鍙栫増鏈彿鐨勫嚱鏁�</param>
+ /// <param name="expireSeconds">杩囨湡鏃堕棿锛堢锛�</param>
+ /// <returns>鏄惁鏇存柊鎴愬姛</returns>
+ bool TrySafeUpdate<T>(
+ string key,
+ T newValue,
+ object? expectedVersion,
+ Func<T, object?> versionExtractor,
+ int expireSeconds = -1) where T : class;
+
+ /// <summary>
/// 鑾峰彇鎴栨坊鍔狅細Key瀛樺湪鍒欒繑鍥炵幇鏈夊�硷紝涓嶅瓨鍦ㄥ垯娣诲姞骞惰繑鍥炴柊鍊�
/// </summary>
string GetOrAdd(string key, string value, int expireSeconds = -1);
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Caches/MemoryCacheService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Caches/MemoryCacheService.cs
index a1c7c18..1daeb3a 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Caches/MemoryCacheService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Core/Caches/MemoryCacheService.cs
@@ -392,6 +392,28 @@
return true;
}
+ public bool TrySafeUpdate<T>(
+ string key,
+ T newValue,
+ object? expectedVersion,
+ Func<T, object?> versionExtractor,
+ int expireSeconds = -1) where T : class
+ {
+ var existing = Get<T>(key);
+ if (existing == null) return false;
+
+ // 妫�鏌ョ増鏈槸鍚﹀尮閰�
+ var currentVersion = versionExtractor(existing);
+ if (!Equals(currentVersion, expectedVersion))
+ {
+ return false; // 鐗堟湰涓嶅尮閰嶏紝鎷掔粷鏇存柊
+ }
+
+ Remove(key);
+ AddObject(key, newValue, expireSeconds);
+ return true;
+ }
+
public string GetOrAdd(string key, string value, int expireSeconds = -1)
{
var existing = _cache.Get(key)?.ToString();
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/CacheSyncBackgroundService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/CacheSyncBackgroundService.cs
index c366493..7110510 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/CacheSyncBackgroundService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/CacheSyncBackgroundService.cs
@@ -132,6 +132,15 @@
try
{
var keyStr = redisKey.ToString();
+
+ // 璺宠繃鎺掗櫎鐨刱ey鍓嶇紑锛堝璁惧鐘舵�佺瓑棰戠箒鍙樺姩鐨勬暟鎹級
+ if (_options.SyncExcludePrefixes.Any(prefix => keyStr.StartsWith(prefix, StringComparison.Ordinal)))
+ {
+ _logger.LogTrace("璺宠繃鎺掗櫎鐨刱ey: {Key}", keyStr);
+ skippedCount++;
+ continue;
+ }
+
_trackedKeys.AddOrUpdate(keyStr, true, (_, _) => true);
// 鑾峰彇Redis涓殑鍊�
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/HybridCacheService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/HybridCacheService.cs
index c991362..36f0375 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/HybridCacheService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/HybridCacheService.cs
@@ -573,6 +573,104 @@
}
}
+ /// <summary>
+ /// 瀹夊叏鏇存柊锛氫粎褰撳唴瀛樼紦瀛樹腑鐨勫�间笌expectedVersion鍖归厤鏃舵墠鏇存柊
+ /// 闃叉骞跺彂鍐欏叆鏃舵棫鍊艰鐩栨柊鍊�
+ /// </summary>
+ /// <typeparam name="T">鍊肩被鍨�</typeparam>
+ /// <param name="key">缂撳瓨閿�</param>
+ /// <param name="newValue">鏂板��</param>
+ /// <param name="expectedVersion">鏈熸湜鐨勭増鏈紙閫氬父鏄棫瀵硅薄鐨勫搱甯屽�兼垨鏃堕棿鎴筹級</param>
+ /// <param name="versionExtractor">浠庡璞℃彁鍙栫増鏈彿鐨勫嚱鏁�</param>
+ /// <param name="expireSeconds">杩囨湡鏃堕棿</param>
+ /// <returns>鏄惁鏇存柊鎴愬姛</returns>
+ public bool TrySafeUpdate<T>(
+ string key,
+ T newValue,
+ object? expectedVersion,
+ Func<T, object?> versionExtractor,
+ int expireSeconds = -1) where T : class
+ {
+ var fullKey = BuildKey(key);
+
+ // 浠嶳edis鑾峰彇褰撳墠鍊�
+ string? existingJson = null;
+ T? existingValue = default;
+ if (RedisAvailable)
+ {
+ try
+ {
+ var value = _connectionManager.GetDatabase().StringGet(fullKey);
+ if (!value.IsNullOrEmpty)
+ {
+ existingJson = value.ToString();
+ existingValue = _serializer.Deserialize<T>(existingJson);
+ }
+ }
+ catch { }
+ }
+
+ // 濡傛灉Redis涓嶅彲鐢紝浠庡唴瀛樼紦瀛樿幏鍙�
+ if (existingValue == null && _options.EnableL1Cache)
+ {
+ if (_memoryCache.TryGetValue(fullKey, out string? cached) && cached != null)
+ {
+ existingValue = _serializer.Deserialize<T>(cached);
+ existingJson = cached;
+ }
+ else
+ {
+ return false;
+ }
+ }
+
+ // 妫�鏌ョ増鏈槸鍚﹀尮閰�
+ if (existingValue != null)
+ {
+ var currentVersion = versionExtractor(existingValue);
+ if (!Equals(currentVersion, expectedVersion))
+ {
+ _logger.LogWarning("TrySafeUpdate鐗堟湰涓嶅尮閰�, key={Key}, expected={Expected}, current={Current}",
+ key, expectedVersion, currentVersion);
+ return false; // 鐗堟湰涓嶅尮閰嶏紝鎷掔粷鏇存柊
+ }
+ }
+
+ // 鐗堟湰鍖归厤锛屾墽琛屾洿鏂�
+ var newJson = _serializer.Serialize(newValue);
+
+ // 鍏堝啓鍏edis
+ if (RedisAvailable)
+ {
+ try
+ {
+ var expiry = expireSeconds > 0 ? TimeSpan.FromSeconds(expireSeconds) : (TimeSpan?)null;
+ if (!_connectionManager.GetDatabase().StringSet(fullKey, newJson, expiry))
+ {
+ _logger.LogWarning("Redis TrySafeUpdate鍐欏叆澶辫触, key={Key}", key);
+ return _options.FallbackToMemory && _options.EnableL1Cache;
+ }
+ else
+ {
+ _logger.LogInformation("Redis TrySafeUpdate鍐欏叆鎴愬姛, key={Key}", key);
+ }
+ }
+ catch (Exception ex)
+ {
+ _logger.LogWarning(ex, "Redis TrySafeUpdate鍐欏叆澶辫触, key={Key}", key);
+ return _options.FallbackToMemory && _options.EnableL1Cache;
+ }
+ }
+
+ // 鏇存柊鍐呭瓨缂撳瓨
+ if (_options.EnableL1Cache)
+ {
+ SetMemoryCache(fullKey, newJson, expireSeconds, false);
+ }
+
+ return true;
+ }
+
public object? Get(Type type, string key)
{
var fullKey = BuildKey(key);
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/RedisCacheService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/RedisCacheService.cs
index f52aa42..f52cc84 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/RedisCacheService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Cache/RedisCacheService.cs
@@ -365,6 +365,34 @@
return Db.StringSet(fullKey, newJson, expiry, When.Exists);
}
+ public bool TrySafeUpdate<T>(
+ string key,
+ T newValue,
+ object? expectedVersion,
+ Func<T, object?> versionExtractor,
+ int expireSeconds = -1) where T : class
+ {
+ var fullKey = BuildKey(key);
+ var existing = Db.StringGet(fullKey);
+ if (existing.IsNullOrEmpty) return false;
+
+ // 鍙嶅簭鍒楀寲鐜版湁鍊�
+ var existingValue = _serializer.Deserialize<T>(existing.ToString()!);
+ if (existingValue == null) return false;
+
+ // 妫�鏌ョ増鏈槸鍚﹀尮閰�
+ var currentVersion = versionExtractor(existingValue);
+ if (!Equals(currentVersion, expectedVersion))
+ {
+ return false; // 鐗堟湰涓嶅尮閰嶏紝鎷掔粷鏇存柊
+ }
+
+ // 鐗堟湰鍖归厤锛屾墽琛屾洿鏂�
+ var newJson = _serializer.Serialize(newValue);
+ var expiry = expireSeconds > 0 ? TimeSpan.FromSeconds(expireSeconds) : (TimeSpan?)null;
+ return Db.StringSet(fullKey, newJson, expiry, When.Exists);
+ }
+
public string GetOrAdd(string key, string value, int expireSeconds = -1)
{
var fullKey = BuildKey(key);
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Options/RedisOptions.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Options/RedisOptions.cs
index 0bfb5a8..1f002be 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Options/RedisOptions.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_RedisService/Options/RedisOptions.cs
@@ -46,6 +46,12 @@
/// </summary>
public int SyncBatchSize { get; set; } = 1000;
+ /// <summary>
+ /// 鑷姩鍚屾鎺掗櫎鐨刱ey鍓嶇紑鍒楄〃锛堣繖浜沰ey涓嶄細琚嚜鍔ㄥ悓姝ヨ鐩栵級
+ /// 渚嬪锛歔"wcs:SocketDevices:"] 琛ㄧず璁惧鐘舵�佷笉浼氳鑷姩鍚屾
+ /// </summary>
+ public List<string> SyncExcludePrefixes { get; set; } = new();
+
public MonitoringOptions Monitoring { get; set; } = new();
public EvictionOptions Eviction { get; set; } = new();
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/appsettings.json b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/appsettings.json
index 7f04fdd..b0bc7d6 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/appsettings.json
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/appsettings.json
@@ -75,10 +75,11 @@
"SerializerType": "Newtonsoft", //搴忓垪鍖栨柟寮忥細Newtonsoft
"FallbackToMemory": true, //Redis涓嶅彲鐢ㄦ椂鏄惁闄嶇骇鍒板唴瀛樼紦瀛�
"KeyPrefix": "wcs:", //鍏ㄥ眬Key鍓嶇紑锛岀敤浜庨殧绂讳笉鍚岀郴缁熺殑鏁版嵁
- "EnableL1Cache": true, //鏄惁鍚敤L1鍐呭瓨缂撳瓨灞傘�傜鐢ㄥ悗鍙娇鐢≧edis锛岄�傜敤浜庨渶瑕佸閮ㄤ慨鏀筊edis鏁版嵁鐨勫満鏅�
- "EnableAutoSync": true, //鏄惁鍚敤Redis鍒板唴瀛樼紦瀛樼殑鑷姩鍚屾
+ "EnableL1Cache": false, //鏄惁鍚敤L1鍐呭瓨缂撳瓨灞傘�傜鐢ㄥ悗鍙娇鐢≧edis锛岄�傜敤浜庨渶瑕佸閮ㄤ慨鏀筊edis鏁版嵁鐨勫満鏅�
+ "EnableAutoSync": false, //鏄惁鍚敤Redis鍒板唴瀛樼紦瀛樼殑鑷姩鍚屾
"SyncIntervalSeconds": 30, //鑷姩鍚屾闂撮殧鏃堕棿锛堢锛夛紝寤鸿30-60绉�
"SyncBatchSize": 1000, //鍚屾鏃跺崟娆℃壒閲忚幏鍙栫殑Redis key鏁伴噺涓婇檺
+ "SyncExcludePrefixes": [ "wcs:Code:SocketDevices:" ], //鎺掗櫎璁惧鐘舵�乲ey涓嶅弬涓庤嚜鍔ㄥ悓姝ワ紙闃叉瑕嗙洊鏈湴淇敼锛�
"Monitoring": {
"Enabled": false, //鏄惁鍚敤鐩戞帶
"SlowLogThresholdMs": 100, //鎱㈡煡璇㈤槇鍊硷紙姣锛�
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
index 288f717..4ebcb83 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService.cs
@@ -103,13 +103,13 @@
}
else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.InboundGroup)
{
- List<Dt_Router> routers = _routerService.QueryNextRoutes(item.SourceAddress, item.TargetAddress);
+ Dt_Router routers = _routerService.QueryNextRoute(item.SourceAddress);
//鏆備笉鑰冭檻澶氳矾寰�
- if (routers.Count > 0)
+ if (!routers.IsNullOrEmpty())
{
task.TaskState = (int)TaskInStatusEnum.InNew;
task.CurrentAddress = item.SourceAddress;
- task.NextAddress = routers.FirstOrDefault().ChildPosi;
+ task.NextAddress = routers.ChildPosi;
}
}
tasks.Add(task);
@@ -118,7 +118,7 @@
_taskExecuteDetailService.AddTaskExecuteDetail(tasks.Select(x => x.TaskNum).ToList(), "鎺ユ敹WMS浠诲姟");
- content = WebResponseContent.Instance.OK("鎴愬姛");
+ content = WebResponseContent.Instance.OK("鎴愬姛", tasks);
}
catch (Exception ex)
{
@@ -397,6 +397,14 @@
task.TargetAddress = wmsTargetAddress;
task.CurrentAddress = task.NextAddress;
}
+ else
+ {
+ //_httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.GetTasksLocation), taskDto.ToJson(), nameof(ConfigKey.GetTasksLocation));
+ //if (!result.IsSuccess && !result.Data.Status)
+ //{
+ // return WebResponseContent.Instance.Error($"璋冪敤WMS鎺ュ彛鑾峰彇浠诲姟鐩爣鍦板潃澶辫触,浠诲姟鍙�:銆恵task.TaskNum}銆�,閿欒淇℃伅:銆恵content.Message}銆�");
+ //}
+ }
}
else if (task.TaskType.GetTaskTypeGroup() == TaskTypeGroup.OtherGroup)
{
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotBarcodeGenerator.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotBarcodeGenerator.cs
new file mode 100644
index 0000000..1dc1bcd
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotBarcodeGenerator.cs
@@ -0,0 +1,28 @@
+namespace WIDESEAWCS_Tasks
+{
+ /// <summary>
+ /// 鏈烘鎵嬫潯鐮佺敓鎴愬櫒 - 璐熻矗鐢熸垚鎵樼洏鏉＄爜
+ /// </summary>
+ public static class RobotBarcodeGenerator
+ {
+ /// <summary>
+ /// 鐢熸垚鎵樼洏鏉＄爜
+ /// </summary>
+ /// <param name="prefix">鏉＄爜鍓嶇紑锛岄粯璁や负绌�</param>
+ /// <returns>鐢熸垚鐨勬潯鐮佸瓧绗︿覆</returns>
+ public static string GenerateTrayBarcode(string prefix = "")
+ {
+ // 褰撳墠鏃ユ湡
+ string datePart = DateTime.Now.ToString("yyyyMMdd");
+
+ // 鏃堕棿鎴筹紙鏃跺垎绉掞級
+ string timePart = DateTime.Now.ToString("HHmmss");
+
+ // 闅忔満鏁�
+ string randomPart = Random.Shared.Next(100, 1000).ToString();
+
+ // 缁勫悎锛氬墠缂� + 鏃ユ湡 + 鏃堕棿 + 闅忔満鏁�
+ return prefix + datePart + timePart + randomPart;
+ }
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotClientManager.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotClientManager.cs
new file mode 100644
index 0000000..2e372bf
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotClientManager.cs
@@ -0,0 +1,149 @@
+using System.Collections.Concurrent;
+using System.Net.Sockets;
+using WIDESEAWCS_QuartzJob;
+using WIDESEAWCS_Tasks.SocketServer;
+
+namespace WIDESEAWCS_Tasks
+{
+ /// <summary>
+ /// 鏈烘鎵嬪鎴风杩炴帴绠＄悊鍣� - 璐熻矗TCP瀹㈡埛绔繛鎺ョ鐞嗗拰浜嬩欢璁㈤槄
+ /// </summary>
+ public class RobotClientManager
+ {
+ private readonly TcpSocketServer _tcpSocket;
+ private readonly RobotStateManager _stateManager;
+
+ // 璺熻釜宸茬粡鍚姩 HandleClientAsync 鐨勫鎴风
+ private static readonly ConcurrentDictionary<string, bool> _handleClientStarted = new();
+ private static int _eventSubscribedFlag;
+
+ public event EventHandler<RobotSocketState>? OnClientDisconnected;
+
+ public RobotClientManager(TcpSocketServer tcpSocket, RobotStateManager stateManager)
+ {
+ _tcpSocket = tcpSocket;
+ _stateManager = stateManager;
+ }
+
+ /// <summary>
+ /// 纭繚瀹㈡埛绔凡杩炴帴骞惰闃呮秷鎭簨浠�
+ /// </summary>
+ /// <param name="ipAddress">璁惧IP鍦板潃</param>
+ /// <param name="robotCrane">鏈哄櫒浜鸿澶囦俊鎭�</param>
+ /// <returns>瀹㈡埛绔槸鍚﹀彲鐢紙宸茶繛鎺ヤ笖娑堟伅澶勭悊宸插惎鍔級</returns>
+ public bool EnsureClientSubscribed(string ipAddress, RobotCraneDevice robotCrane)
+ {
+ // 妫�鏌ユ槸鍚︽湁璇ュ鎴风杩炴帴
+ var clientIds = _tcpSocket.GetClientIds();
+ bool isClientConnected = clientIds.Contains(ipAddress);
+
+ if (!isClientConnected)
+ {
+ // 瀹㈡埛绔湭杩炴帴锛屾竻鐞� HandleClientAsync 鐘舵��
+ _handleClientStarted.TryRemove(ipAddress, out _);
+ return false;
+ }
+
+ // 璁㈤槄涓�娆� robot 浜嬩欢锛堝叏灞�涓�娆★級- message浜嬩欢鐢盧obotJob璁㈤槄
+ if (System.Threading.Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
+ {
+ _tcpSocket.RobotReceived += OnRobotReceived;
+ Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 鏈哄櫒浜篢CP鏂紑浜嬩欢宸茶闃�");
+ }
+
+ // 鑾峰彇TcpClient
+ TcpClient? tcpClient = null;
+ _tcpSocket._clients.TryGetValue(ipAddress, out tcpClient);
+
+ if (tcpClient == null)
+ {
+ // isClientConnected涓簍rue浣嗘棤娉曡幏鍙杢cpClient锛屽垪琛ㄥ彲鑳戒笉鍚屾
+ _handleClientStarted.TryRemove(ipAddress, out _);
+ return false;
+ }
+
+ // 妫�鏌ユ槸鍚﹀凡缁忎负杩欎釜瀹㈡埛绔惎鍔ㄨ繃 HandleClientAsync
+ bool alreadyStarted = _handleClientStarted.TryGetValue(ipAddress, out _);
+
+ if (!alreadyStarted)
+ {
+ Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 鍚姩瀹㈡埛绔秷鎭鐞�: {ipAddress}");
+
+ // 閲嶆柊鑾峰彇鏈�鏂扮殑 state 瀵硅薄
+ var latestStateForSubscribe = _stateManager.GetState(ipAddress);
+ if (latestStateForSubscribe != null)
+ {
+ // 鏍囪涓哄凡鍚姩
+ _handleClientStarted[ipAddress] = true;
+
+ _ = _tcpSocket.HandleClientAsync(tcpClient, robotCrane.IPAddress, _tcpSocket._cts.Token, latestStateForSubscribe)
+ .ContinueWith(t =>
+ {
+ if (t.IsFaulted)
+ {
+ Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] HandleClientAsync error: {t.Exception?.GetBaseException().Message}");
+ // 鍙戠敓閿欒鏃讹紝绉婚櫎鍚姩鏍囧織锛屽厑璁镐笅娆￠噸璇�
+ _handleClientStarted.TryRemove(ipAddress, out _);
+ }
+ }, TaskContinuationOptions.OnlyOnFaulted);
+
+ // 鏇存柊 IsEventSubscribed 鐘舵��
+ _stateManager.TryUpdateStateSafely(ipAddress, s =>
+ {
+ s.IsEventSubscribed = true;
+ return s;
+ });
+ }
+ }
+
+ return true;
+ }
+
+ /// <summary>
+ /// 浜嬩欢锛氬鎴风鏂紑杩炴帴鏃惰Е鍙�
+ /// </summary>
+ private Task<string?> OnRobotReceived(string clientId)
+ {
+ // 瀹㈡埛绔柇寮�杩炴帴锛屾竻鐞� HandleClientAsync 鍚姩鏍囧織
+ _handleClientStarted.TryRemove(clientId, out _);
+
+ _stateManager.TryUpdateStateSafely(clientId, state =>
+ {
+ state.IsEventSubscribed = false;
+ state.CurrentAction = "";
+ state.OperStatus = "";
+ state.RobotArmObject = 0;
+ state.RobotControlMode = 0;
+ state.RobotRunMode = 0;
+ return state;
+ });
+
+ // 瑙﹀彂鏂紑杩炴帴浜嬩欢
+ OnClientDisconnected?.Invoke(this, _stateManager.GetState(clientId) ?? new RobotSocketState { IPAddress = clientId });
+
+ return Task.FromResult<string?>(null);
+ }
+
+ /// <summary>
+ /// 妫�鏌ュ鎴风鏄惁宸茶繛鎺�
+ /// </summary>
+ public bool IsClientConnected(string ipAddress)
+ {
+ var clientIds = _tcpSocket.GetClientIds();
+ return clientIds.Contains(ipAddress);
+ }
+
+ /// <summary>
+ /// 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ /// </summary>
+ public async Task<bool> SendToClientAsync(string ipAddress, string message)
+ {
+ return await _tcpSocket.SendToClientAsync(ipAddress, message);
+ }
+
+ /// <summary>
+ /// 鑾峰彇TcpSocketServer寮曠敤锛堢敤浜嶳obotJob鐩存帴璁块棶锛�
+ /// </summary>
+ public TcpSocketServer TcpSocket => _tcpSocket;
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index bd3d436..028248c 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,19 +1,8 @@
-锘縰sing HslCommunication;
-using Newtonsoft.Json;
-using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using Quartz;
-using System.Net;
-using System.Net.Sockets;
-using System.Threading.Tasks;
using WIDESEA_Core;
-using WIDESEAWCS_Common;
-using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
-using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
-using WIDESEAWCS_DTO.Stock;
-using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
@@ -21,34 +10,55 @@
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
+ /// </summary>
[DisallowConcurrentExecution]
public class RobotJob : IJob
{
private const int MaxTaskTotalNum = 48;
- private readonly TcpSocketServer _TcpSocket;
+ private static int _messageSubscribedFlag;
- //private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
- private static int _eventSubscribedFlag;
-
- private readonly ITaskService _taskService;
+ private readonly RobotClientManager _clientManager;
+ private readonly RobotStateManager _stateManager;
+ private readonly RobotMessageHandler _messageHandler;
+ private readonly RobotTaskProcessor _taskProcessor;
private readonly IRobotTaskService _robotTaskService;
- private readonly ICacheService _cache;
- private readonly HttpClientHelper _httpClientHelper;
- private static IRobotTaskService _latestRobotTaskService = null!;
- private static ITaskService _latestTaskService = null!;
-
- public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService, ICacheService cache, HttpClientHelper httpClientHelper)
+ public RobotJob(
+ TcpSocketServer tcpSocket,
+ IRobotTaskService robotTaskService,
+ ITaskService taskService,
+ ICacheService cache,
+ HttpClientHelper httpClientHelper)
{
- _TcpSocket = TcpSocket;
- _robotTaskService = RobottaskService;
- _taskService = TaskService;
- _cache = cache;
- _httpClientHelper = httpClientHelper;
+ _robotTaskService = robotTaskService;
- _latestRobotTaskService = RobottaskService;
- _latestTaskService = TaskService;
+ // 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);
+
+ // 璁㈤槄瀹㈡埛绔鐞嗗櫒鐨勪簨浠�
+ _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
+ if (System.Threading.Interlocked.CompareExchange(ref _messageSubscribedFlag, 1, 0) == 0)
+ {
+ tcpSocket.MessageReceived += _messageHandler.HandleMessageReceivedAsync;
+ Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 鏈哄櫒浜篢CP娑堟伅浜嬩欢宸茶闃�");
+ }
+ }
+
+ /// <summary>
+ /// 瀹㈡埛绔柇寮�杩炴帴鏃剁殑澶勭悊
+ /// </summary>
+ private void OnClientDisconnected(object? sender, RobotSocketState state)
+ {
+ // 鍙互鍦ㄨ繖閲屾坊鍔犳柇寮�杩炴帴鍚庣殑澶勭悊閫昏緫
+ Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 瀹㈡埛绔凡鏂紑杩炴帴: {state.IPAddress}");
}
public async Task Execute(IJobExecutionContext context)
@@ -63,512 +73,118 @@
string ipAddress = robotCrane.IPAddress;
// 鑾峰彇鎴栧垱寤虹姸鎬�
- RobotSocketState state = _cache.GetOrAdd($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{ipAddress}", _ => new RobotSocketState
- {
- IPAddress = ipAddress,
- RobotCrane = robotCrane
- });
-
- // 鏇存柊璁惧淇℃伅
+ RobotSocketState state = _stateManager.GetOrCreateState(ipAddress, robotCrane);
state.RobotCrane = robotCrane;
try
{
- // 妫�鏌ユ槸鍚︽湁璇ュ鎴风杩炴帴
- var clientIds = _TcpSocket.GetClientIds();
- if (!clientIds.Contains(ipAddress))
+ // 纭繚瀹㈡埛绔凡杩炴帴骞惰闃呮秷鎭簨浠�
+ if (!_clientManager.EnsureClientSubscribed(ipAddress, robotCrane))
{
- return;
+ return; // 瀹㈡埛绔湭杩炴帴鎴栬闃呭け璐ワ紝璺宠繃鏈鎵ц
}
- // 璁㈤槄涓�娆� message 浜嬩欢锛堝叏灞�涓�娆★級
- if (Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
- {
- _TcpSocket.MessageReceived += _TcpSocket_MessageReceived;
- _TcpSocket.RobotReceived += _TcpSocket_RobotReceived;
- }
-
- if (!state.IsEventSubscribed)
- {
- if (_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client))
- {
- _ = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state)
- .ContinueWith(t =>
- {
- if (t.IsFaulted)
- Console.WriteLine($"HandleClientAsync error: {t.Exception?.GetBaseException().Message}");
- }, TaskContinuationOptions.OnlyOnFaulted);
- state.IsEventSubscribed = true;
-
- // 鏇存柊缂撳瓨涓殑鐘舵��
- _cache.TryUpdateIfChanged($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{ipAddress}", state);
- }
- }
-
- // 鑾峰彇浠诲姟骞剁紦瀛樺埌鐘舵�佷腑
- Dt_RobotTask? task = GetTask(robotCrane);
+ // 鑾峰彇浠诲姟骞跺鐞�
+ Dt_RobotTask? task = _taskProcessor.GetTask(robotCrane);
if (task != null)
{
- if (task.RobotTaskTotalNum <= MaxTaskTotalNum)
+ // 姣忔鍒ゆ柇鍓嶉噸鏂颁粠缂撳瓨鑾峰彇鏈�鏂扮姸鎬�
+ var latestState = _stateManager.GetState(ipAddress);
+ if (latestState == null) return;
+
+ if (latestState.RobotTaskTotalNum < MaxTaskTotalNum)
{
- // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
- if (state.RobotRunMode == 2 && state.RobotControlMode == 1 && state.OperStatus != "Running")
- {
- if (state.CurrentAction == "PickFinished" && state.RobotArmObject == 1 && task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode())
- {
- string taskString = $"Putbattery,{task.RobotTargetAddress}";
- bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
- if (result)
- {
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- await _robotTaskService.UpdateRobotTaskAsync(task);
- }
- }
- else if (state.CurrentAction == "PutFinished" && state.RobotArmObject == 0 && task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode())
- {
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- await _robotTaskService.UpdateRobotTaskAsync(task);
- }
- else if (state.OperStatus == "Homed" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
- {
- // 闅忔満鐢熸垚涓ゅぉ鎵樼洏鏉＄爜瀛樻斁鍒颁袱涓彉閲忛噷闈�
- // 瀹氫箟鍓嶇紑锛堜緥濡傦細TRAY浠ｈ〃鎵樼洏锛�
- // 缁勭洏璇诲彇绾夸綋鏉＄爜
- if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
- {
- string prefix = "TRAY";
-
- // 鐢熸垚涓や釜鎵樼洏鏉＄爜
- string trayBarcode1 = GenerateTrayBarcode(state, prefix);
- string trayBarcode2 = GenerateTrayBarcode(state, prefix);
- if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty())
- {
-
- await SendSocketRobotPickAsync(task, state);
- }
- }
- else // 鎹㈢洏鐩存帴鍙戦�佸彇璐у湴鍧�
- {
- await SendSocketRobotPickAsync(task, state);
- }
- }
-
- if (state.CurrentTask.IsNullOrEmpty() && state.ToJson() != task.ToJson())
- {
- state.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
- state.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
- state.CurrentTask = task;
- // 鏇存柊缂撳瓨涓殑鐘舵��
- _cache.TryUpdateIfChanged($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{ipAddress}", state);
- }
- }
+ await ProcessTaskAsync(latestState, task, ipAddress);
}
}
}
catch (Exception)
{
+ // 寮傚父澶勭悊宸插湪鍚勭粍浠朵腑澶勭悊
}
- finally
- {
- // 鍙�夛細鍦ㄨ繖閲屽鐞嗕换浣曢渶瑕佸湪浠诲姟瀹屾垚鍚庢墽琛岀殑娓呯悊宸ヤ綔
- }
- }
-
- //涓存椂娴嬭瘯鐢�
- private static string GenerateTrayBarcode(RobotSocketState state, string prefix = "")
- {
- // 褰撳墠鏃ユ湡
- string datePart = DateTime.Now.ToString("yyyyMMdd");
-
- // 鏃堕棿鎴筹紙鏃跺垎绉掞級
- string timePart = DateTime.Now.ToString("HHmmss");
-
- // 闅忔満鏁�
- string randomPart = Random.Shared.Next(100, 1000).ToString();
-
- // 缁勫悎锛氬墠缂� + 鏃ユ湡 + 鏃堕棿 + 闅忔満鏁�
- var barCode = prefix + datePart + timePart + randomPart;
- state.CellBarcode.Add(barCode);
-
- return barCode;
}
/// <summary>
- /// 浜嬩欢锛氬鎴风鏂紑杩炴帴鏃惰Е鍙�
+ /// 澶勭悊鏈烘鎵嬩换鍔�
/// </summary>
- /// <param name="clientId"></param>
- /// <returns></returns>
- private Task<string?> _TcpSocket_RobotReceived(string clientId)
+ private async Task ProcessTaskAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
{
- var robotSocketState = _cache.Get<RobotSocketState>($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{clientId}");
- robotSocketState.IsEventSubscribed = false;
- robotSocketState.CurrentAction = "";
- robotSocketState.OperStatus = "";
- robotSocketState.RobotArmObject = 0;
- robotSocketState.RobotControlMode = 0;
- robotSocketState.RobotRunMode = 0;
- _cache.TryUpdateIfChanged($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{clientId}", robotSocketState);
- return Task.FromResult<string?>(null);
- }
-
- /// <summary>
- /// 浜嬩欢锛氭敹鍒版秷鎭椂瑙﹀彂
- /// </summary>
- /// <param name="message"></param>
- /// <param name="isJson"></param>
- /// <param name="client"></param>
- /// <param name="state"></param>
- /// <returns></returns>
- private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, RobotSocketState state)
- {
- if (!(bool)(_cache?.TryGetValue($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{client.Client.RemoteEndPoint}", out state)))
- return null;
-
- string messageLower = message.ToLowerInvariant();
-
- if (await IsSimpleCommandAsync(messageLower, state))
+ // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
+ if (latestState.RobotRunMode == 2 && latestState.RobotControlMode == 1 && latestState.OperStatus != "Running")
{
- await _TcpSocket.SendMessageAsync(client, message);
- }
- else if (IsPrefixCommand(messageLower))
- {
- try
+ // 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())
{
- var parts = message.Split(',');
- if (parts.Length >= 1 && state.CurrentTask != null)
- {
- var cmd = parts[0].ToLowerInvariant();
- int[] positions = parts.Skip(1)
- .Select(p => int.TryParse(p, out int value) ? value : (int?)null)
- .Where(v => v.HasValue && v.Value != 0)
- .Select(v => v!.Value)
- .ToArray();
-
- var task = await _latestRobotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId);
-
- if (cmd.StartsWith("pickfinished"))
- {
- if (state.IsSplitPallet)
- {
- var stockDTO = BuildStockDTO(state, positions);
- state.LastPickPositions = positions;
-
- var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.SplitPalletAsync), stockDTO.ToJson());
-
- if (result.Data.Status && result.IsSuccess)
- {
- state.CurrentAction = "PickFinished";
- }
- }
- else
- {
- state.CurrentAction = "PickFinished";
- }
-
- state.LastPickPositions = positions;
- task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode();
- await _latestRobotTaskService.Repository.UpdateDataAsync(task);
- }
- else if (cmd.StartsWith("putfinished"))
- {
- bool putSuccess = true;
- if (state.IsGroupPallet)
- {
- state.LastPutPositions = positions;
- var stockDTO = BuildStockDTO(state, positions);
- var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
- ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.GroupPalletAsync);
-
- var result = _httpClientHelper.Post<WebResponseContent>(configKey, stockDTO.ToJson());
- putSuccess = result.Data.Status && result.IsSuccess;
- }
-
- if (putSuccess)
- {
- state.CurrentAction = "PutFinished";
- state.RobotTaskTotalNum += positions.Length;
- task.RobotTaskTotalNum += positions.Length;
- }
-
- task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode();
- await _latestRobotTaskService.Repository.UpdateDataAsync(task);
- }
-
- await _TcpSocket.SendMessageAsync(client, message);
- }
+ await HandlePickFinishedStateAsync(latestState, task, ipAddress);
}
- catch (Exception ex)
+ // 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()))
{
- Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
+ await HandlePutFinishedStateAsync(latestState, task, ipAddress);
}
}
-
- // 鏇存柊缂撳瓨涓殑鐘舵��
- _cache.TryUpdateIfChanged($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{state.IPAddress}", state);
-
- return null;
}
/// <summary>
- /// 鏈烘鎵嬬畝鍗曞懡浠ゅ鐞�
+ /// 澶勭悊鍙栬揣瀹屾垚鐘舵��
/// </summary>
- /// <param name="message"></param>
- /// <param name="state"></param>
- /// <returns></returns>
- private async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
+ private async Task HandlePickFinishedStateAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
{
- switch (message)
- {
- case "homing":
- state.OperStatus = "Homing";
- return true;
-
- case "homed":
- state.OperStatus = "Homed";
- return true;
-
- case "picking":
- state.CurrentAction = "Picking";
- return true;
-
- case "puting":
- state.CurrentAction = "Putting";
- return true;
-
- case "allpickfinished": // 鍙栬揣瀹屾垚
- state.CurrentAction = "AllPickFinished";
- if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
- {
- await HandleInboundTaskAsync(state, useSourceAddress: true);
- }
- return true;
-
- case "allputfinished": // 鏀捐揣瀹屾垚
- state.CurrentAction = "AllPutFinished";
- if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
- {
- await HandleInboundTaskAsync(state, useSourceAddress: false);
- }
- return true;
-
- case "running":
- state.OperStatus = "Running";
- return true;
-
- case "pausing":
- state.OperStatus = "Pausing";
- return true;
-
- case "warming":
- state.OperStatus = "Warming";
- return true;
-
- case "emstoping":
- state.OperStatus = "Emstoping";
- return true;
-
- case "runmode,1":
- state.RobotRunMode = 1;
- return true;
-
- case "runmode,2":
- state.RobotRunMode = 2;
- return true;
-
- case "controlmode,1":
- state.RobotControlMode = 1;
- return true;
-
- case "controlmode,2":
- state.RobotControlMode = 2;
- return true;
-
- case "armobject,1":
- state.RobotArmObject = 1;
- return true;
-
- case "armobject,0":
- state.RobotArmObject = 0;
- return true;
-
- default:
- return false;
- }
- }
-
- private async Task HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
- {
- var currentTask = state.CurrentTask;
- if (currentTask == null)
- {
- return;
- }
-
- string roadway = currentTask.RobotRoadway == "1" ? "GWSC001" : currentTask.RobotRoadway == "2" ? "HCSC001" : "SC001";
- int warehouseId = currentTask.RobotRoadway == "1" ? 1 : currentTask.RobotRoadway == "2" ? 2 : 3;
-
- CreateTaskDto taskDto = new CreateTaskDto
- {
- PalletCode = currentTask.RobotTargetAddressPalletCode ?? string.Empty,
- SourceAddress = currentTask.RobotSourceAddress ?? string.Empty,
- TargetAddress = currentTask.RobotTargetAddress ?? string.Empty,
- Roadway = roadway,
- WarehouseId = warehouseId,
- PalletType = 1,
- TaskType = 4
- };
- var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.CreateTaskInboundAsync), taskDto.ToJson());
- if (!result.Data.Status && result.IsSuccess)
- {
- return;
- }
-
- WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.ToString() ?? string.Empty) ?? new WMSTaskDTO();
- var content = _latestTaskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
- if (!content.Status) return;
-
- var taskInfo = _latestTaskService.QueryByTaskNum(taskDTO.TaskNum);
- if (taskInfo == null) return;
-
- string targetAddress = useSourceAddress ? taskDTO.SourceAddress : taskDTO.TargetAddress;
-
- IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == targetAddress));
- device?.Communicator.Write(nameof(ConveyorLineDBNameNew.Target), taskInfo.NextAddress);
- device?.Communicator.Write(nameof(ConveyorLineDBNameNew.TaskNo), taskDTO.TaskNum);
- device?.Communicator.Write(nameof(ConveyorLineDBNameNew.WCS_STB), 1);
- }
-
- /// <summary>
- /// 鏈烘鎵嬪墠缂�鍛戒护澶勭悊
- /// </summary>
- /// <param name="message"></param>
- /// <returns></returns>
- private static bool IsPrefixCommand(string message)
- {
- return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
- }
-
- private static StockDTO BuildStockDTO(RobotSocketState state, int[] positions)
- {
- string sss = state.ToJson();
- return new StockDTO
- {
- SourceLineNo = state.CurrentTask.RobotSourceAddressLineCode,
- SourcePalletNo = state.CurrentTask.RobotSourceAddressPalletCode,
- TargetPalletNo = state.CurrentTask.RobotTargetAddressPalletCode,
- TargetLineNo = state.CurrentTask.RobotTargetAddressLineCode,
- Details = positions
- .Where(x => x > 0)
- .OrderBy(x => x)
- .Select((x, idx) => new StockDetailDTO
- {
- Quantity = state.RobotTaskTotalNum > 0 ? state.RobotTaskTotalNum + positions.Length : positions.Length,
- Channel = x,
- CellBarcode = state.CellBarcode?.Count > 0 ? state.CellBarcode[x - 1] : ""
- })
- .ToList()
- };
- }
-
- private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
- {
- return _robotTaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
- }
-
- /// <summary>
- /// 鍙戦�佹満姊版墜鍙栬揣鍛戒护
- /// </summary>
- /// <param name="task"></param>
- /// <param name="state"></param>
- /// <returns></returns>
- private async Task SendSocketRobotPickAsync(Dt_RobotTask task, RobotSocketState state)
- {
- string taskString = $"Pickbattery,{task.RobotSourceAddress}";
- // 鍙戦�佷换鍔℃寚浠�
- bool result = await _TcpSocket.SendToClientAsync(state.IPAddress, taskString);
+ string taskString = $"Putbattery,{task.RobotTargetAddress}";
+ bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
if (result)
{
- // TODO 澶勭悊鎴愬姛鍙戦�佷换鍔℃寚浠ゅ悗鐨勯�昏緫
task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- result = await _robotTaskService.UpdateRobotTaskAsync(task);
- // 鏇存柊缂撳瓨涓殑鐘舵��
- _cache.TryUpdateIfChanged($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{state.IPAddress}", state);
+
+ // 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);
}
}
}
-
- public class RobotSocketState
- {
- public string IPAddress { get; set; } = string.Empty;
-
- /// <summary>
- /// 鏄惁宸茶闃呮秷鎭簨浠�
- /// </summary>
- public bool IsEventSubscribed { get; set; }
-
- /// <summary>
- /// 鏈烘鎵嬭繍琛屾ā寮�
- /// </summary>
- public int? RobotRunMode { get; set; }
-
- /// <summary>
- /// 鏈烘鎵嬫帶鍒舵ā寮�
- /// </summary>
- public int? RobotControlMode { get; set; }
-
- /// <summary>
- /// 鏈烘鎵嬫槸鍚︽姄鍙栫墿鏂欙紝0-鏃犵墿鏂欙紝1-鏈夌墿鏂�
- /// </summary>
- public int? RobotArmObject { get; set; }
-
- /// <summary>
- /// 鏈烘鎵嬭澶囦俊鎭�
- /// </summary>
- public RobotCraneDevice? RobotCrane { get; set; }
-
- /// <summary>
- /// 褰撳墠鍔ㄤ綔
- /// </summary>
- public string? CurrentAction { get; set; }
-
- /// <summary>
- /// 褰撳墠鐘舵��
- /// </summary>
- public string? OperStatus { get; set; }
-
- /// <summary>
- /// 鍙栬揣瀹屾垚浣嶇疆
- /// </summary>
- public int[]? LastPickPositions { get; set; }
-
- /// <summary>
- /// 鏀捐揣瀹屾垚浣嶇疆
- /// </summary>
- public int[]? LastPutPositions { get; set; }
-
- /// <summary>
- /// 鎶撳彇浣嶇疆鏉＄爜
- /// </summary>
- public List<string> CellBarcode { get; set; }
-
- /// <summary>
- /// 褰撳墠鎶撳彇浠诲姟
- /// </summary>
- public Dt_RobotTask? CurrentTask { get; set; }
-
- /// <summary>
- /// 鏄惁闇�瑕佹媶鐩�
- /// </summary>
- public bool IsSplitPallet { get; set; }
-
- /// <summary>
- /// 鏄惁闇�瑕佺粍鐩�
- /// </summary>
- public bool IsGroupPallet { get; set; }
-
- /// <summary>
- /// 浠诲姟鎬绘暟
- /// </summary>
- public int RobotTaskTotalNum { get; set; }
- }
-}
\ 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
new file mode 100644
index 0000000..36b521f
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs
@@ -0,0 +1,275 @@
+using System.Net.Sockets;
+using WIDESEAWCS_Common;
+using WIDESEAWCS_Common.HttpEnum;
+using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Core.Caches;
+using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_DTO.Stock;
+using WIDESEAWCS_DTO.TaskInfo;
+using WIDESEAWCS_ITaskInfoService;
+using WIDESEAWCS_Model.Models;
+using WIDESEAWCS_Tasks.SocketServer;
+
+namespace WIDESEAWCS_Tasks
+{
+ /// <summary>
+ /// 鏈烘鎵嬫秷鎭鐞嗗櫒 - 璐熻矗澶勭悊鏉ヨ嚜TCP瀹㈡埛绔殑娑堟伅
+ /// </summary>
+ public class RobotMessageHandler
+ {
+ private readonly TcpSocketServer _tcpSocket;
+ private readonly RobotStateManager _stateManager;
+ private readonly ICacheService _cache;
+ private readonly IRobotTaskService _robotTaskService;
+ private readonly RobotTaskProcessor _taskProcessor;
+
+ public RobotMessageHandler(
+ TcpSocketServer tcpSocket,
+ RobotStateManager stateManager,
+ ICacheService cache,
+ IRobotTaskService robotTaskService,
+ RobotTaskProcessor taskProcessor)
+ {
+ _tcpSocket = tcpSocket;
+ _stateManager = stateManager;
+ _cache = cache;
+ _robotTaskService = robotTaskService;
+ _taskProcessor = taskProcessor;
+ }
+
+ /// <summary>
+ /// 澶勭悊鎺ユ敹鍒扮殑娑堟伅
+ /// </summary>
+ public async Task<string?> HandleMessageReceivedAsync(string message, bool isJson, TcpClient client, RobotSocketState state)
+ {
+ if (!(_cache?.TryGetValue($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{client.Client.RemoteEndPoint}", out state)) ?? false)
+ return null;
+
+ string messageLower = message.ToLowerInvariant();
+
+ if (await IsSimpleCommandAsync(messageLower, state))
+ {
+ await _tcpSocket.SendMessageAsync(client, message);
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ return null;
+ }
+ else if (IsPrefixCommand(messageLower))
+ {
+ await HandlePrefixCommandAsync(message, state, client);
+ }
+
+ return null;
+ }
+
+ /// <summary>
+ /// 澶勭悊鍓嶇紑鍛戒护锛坧ickfinished, putfinished锛�
+ /// </summary>
+ private async Task HandlePrefixCommandAsync(string message, RobotSocketState state, TcpClient client)
+ {
+ try
+ {
+ var parts = message.Split(',');
+ if (parts.Length >= 1 && state.CurrentTask != null)
+ {
+ var cmd = parts[0].ToLowerInvariant();
+ int[] positions = parts.Skip(1)
+ .Select(p => int.TryParse(p, out int value) ? value : (int?)null)
+ .Where(v => v.HasValue && v.Value != 0)
+ .Select(v => v!.Value)
+ .ToArray();
+
+ var task = await _robotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId);
+
+ if (cmd.StartsWith("pickfinished"))
+ {
+ await HandlePickFinishedAsync(state, positions, task, client);
+ }
+ else if (cmd.StartsWith("putfinished"))
+ {
+ await HandlePutFinishedAsync(state, positions, task, client);
+ }
+
+ await _tcpSocket.SendMessageAsync(client, message);
+ }
+ }
+ catch (Exception ex)
+ {
+ Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
+ }
+ }
+
+ /// <summary>
+ /// 澶勭悊鍙栬揣瀹屾垚鍛戒护
+ /// </summary>
+ private async Task HandlePickFinishedAsync(RobotSocketState state, int[] positions, Dt_RobotTask? task, TcpClient client)
+ {
+ if (state.IsSplitPallet)
+ {
+ var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
+ state.LastPickPositions = positions;
+
+ var result = _taskProcessor.PostSplitPalletAsync(stockDTO);
+
+ if (result.Data.Status && result.IsSuccess)
+ {
+ state.CurrentAction = "PickFinished";
+ }
+ }
+ else
+ {
+ state.CurrentAction = "PickFinished";
+ }
+
+ state.LastPickPositions = positions;
+ if (task != null)
+ {
+ task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode();
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ await _robotTaskService.Repository.UpdateDataAsync(task);
+ }
+ }
+
+ /// <summary>
+ /// 澶勭悊鏀捐揣瀹屾垚鍛戒护
+ /// </summary>
+ private async Task HandlePutFinishedAsync(RobotSocketState state, int[] positions, Dt_RobotTask? task, TcpClient client)
+ {
+ bool putSuccess = true;
+ if (state.IsGroupPallet)
+ {
+ state.LastPutPositions = positions;
+ var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
+ var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
+ ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.GroupPalletAsync);
+
+ var result = _taskProcessor.PostGroupPalletAsync(configKey, stockDTO);
+ putSuccess = result.Data.Status && result.IsSuccess;
+ }
+
+ if (putSuccess)
+ {
+ state.CurrentAction = "PutFinished";
+ state.RobotTaskTotalNum += positions.Length;
+ if (task != null)
+ {
+ task.RobotTaskTotalNum += positions.Length;
+ }
+ }
+
+ if (task != null)
+ {
+ task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode();
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ await _robotTaskService.Repository.UpdateDataAsync(task);
+ }
+ }
+
+ /// <summary>
+ /// 鏈烘鎵嬬畝鍗曞懡浠ゅ鐞�
+ /// </summary>
+ private async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
+ {
+ RobotTaskTypeEnum? GetRobotTaskType() => state.CurrentTask != null ? (RobotTaskTypeEnum)state.CurrentTask.RobotTaskType : null;
+ switch (message)
+ {
+ case "homing":
+ state.OperStatus = "Homing";
+ return true;
+
+ case "homed":
+ state.OperStatus = "Homed";
+ return true;
+
+ case "picking":
+ state.CurrentAction = "Picking";
+ return true;
+
+ case "puting":
+ state.CurrentAction = "Putting";
+ return true;
+
+ case "allpickfinished": // 鍙栬揣瀹屾垚
+ state.CurrentAction = "AllPickFinished";
+ var robotTaskType = GetRobotTaskType();
+
+ if (robotTaskType == RobotTaskTypeEnum.SplitPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ {
+ if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ {
+ _taskProcessor.DeleteTask(state.CurrentTask.RobotTaskId);
+ return true;
+ }
+ }
+ return false;
+
+ case "allputfinished": // 鏀捐揣瀹屾垚
+ state.CurrentAction = "AllPutFinished";
+ robotTaskType = GetRobotTaskType();
+
+ if (robotTaskType == RobotTaskTypeEnum.GroupPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ {
+ if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ {
+ _taskProcessor.DeleteTask(state.CurrentTask.RobotTaskId);
+ state.CurrentTask = null;
+ state.RobotTaskTotalNum = 0;
+ state.CellBarcode = new List<string>();
+ return true;
+ }
+ }
+ return false;
+
+ case "running":
+ state.OperStatus = "Running";
+ return true;
+
+ case "pausing":
+ state.OperStatus = "Pausing";
+ return true;
+
+ case "warming":
+ state.OperStatus = "Warming";
+ return true;
+
+ case "emstoping":
+ state.OperStatus = "Emstoping";
+ return true;
+
+ case "runmode,1":
+ state.RobotRunMode = 1;
+ return true;
+
+ case "runmode,2":
+ state.RobotRunMode = 2;
+ return true;
+
+ case "controlmode,1":
+ state.RobotControlMode = 1;
+ return true;
+
+ case "controlmode,2":
+ state.RobotControlMode = 2;
+ return true;
+
+ case "armobject,1":
+ state.RobotArmObject = 1;
+ return true;
+
+ case "armobject,0":
+ state.RobotArmObject = 0;
+ return true;
+
+ default:
+ return false;
+ }
+ }
+
+ /// <summary>
+ /// 鍒ゆ柇鏄惁涓哄墠缂�鍛戒护
+ /// </summary>
+ private static bool IsPrefixCommand(string message)
+ {
+ return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
+ }
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs
new file mode 100644
index 0000000..d4077a5
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs
@@ -0,0 +1,89 @@
+using WIDESEAWCS_Model.Models;
+using WIDESEAWCS_QuartzJob;
+
+namespace WIDESEAWCS_Tasks
+{
+ /// <summary>
+ /// 鏈烘鎵婼ocket閫氫俊鐘舵��
+ /// </summary>
+ public class RobotSocketState
+ {
+ public string IPAddress { get; set; } = string.Empty;
+
+ /// <summary>
+ /// 鐗堟湰鍙凤紝鐢ㄤ簬闃叉骞跺彂鏇存柊鏃舵棫鍊艰鐩栨柊鍊�
+ /// 姣忔淇敼鐘舵�佹椂閮藉簲璇ユ洿鏂版鍊�
+ /// </summary>
+ public long Version { get; set; } = DateTime.UtcNow.Ticks;
+
+ /// <summary>
+ /// 鏄惁宸茶闃呮秷鎭簨浠�
+ /// </summary>
+ public bool IsEventSubscribed { get; set; }
+
+ /// <summary>
+ /// 鏈烘鎵嬭繍琛屾ā寮�
+ /// </summary>
+ public int? RobotRunMode { get; set; }
+
+ /// <summary>
+ /// 鏈烘鎵嬫帶鍒舵ā寮�
+ /// </summary>
+ public int? RobotControlMode { get; set; }
+
+ /// <summary>
+ /// 鏈烘鎵嬫槸鍚︽姄鍙栫墿鏂欙紝0-鏃犵墿鏂欙紝1-鏈夌墿鏂�
+ /// </summary>
+ public int? RobotArmObject { get; set; }
+
+ /// <summary>
+ /// 鏈烘鎵嬭澶囦俊鎭�
+ /// </summary>
+ public RobotCraneDevice? RobotCrane { get; set; }
+
+ /// <summary>
+ /// 褰撳墠鍔ㄤ綔
+ /// </summary>
+ public string? CurrentAction { get; set; }
+
+ /// <summary>
+ /// 褰撳墠鐘舵��
+ /// </summary>
+ public string? OperStatus { get; set; }
+
+ /// <summary>
+ /// 鍙栬揣瀹屾垚浣嶇疆
+ /// </summary>
+ public int[]? LastPickPositions { get; set; }
+
+ /// <summary>
+ /// 鏀捐揣瀹屾垚浣嶇疆
+ /// </summary>
+ public int[]? LastPutPositions { get; set; }
+
+ /// <summary>
+ /// 鎶撳彇浣嶇疆鏉＄爜
+ /// </summary>
+ public List<string> CellBarcode { get; set; } = new List<string>();
+
+ /// <summary>
+ /// 褰撳墠鎶撳彇浠诲姟
+ /// </summary>
+ public Dt_RobotTask? CurrentTask { get; set; }
+
+ /// <summary>
+ /// 鏄惁闇�瑕佹媶鐩�
+ /// </summary>
+ public bool IsSplitPallet { get; set; }
+
+ /// <summary>
+ /// 鏄惁闇�瑕佺粍鐩�
+ /// </summary>
+ public bool IsGroupPallet { get; set; }
+
+ /// <summary>
+ /// 浠诲姟鎬绘暟
+ /// </summary>
+ public int RobotTaskTotalNum { get; set; }
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotStateManager.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotStateManager.cs
new file mode 100644
index 0000000..9500fd7
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotStateManager.cs
@@ -0,0 +1,123 @@
+using Newtonsoft.Json;
+using WIDESEAWCS_Common;
+using WIDESEAWCS_Core.Caches;
+using WIDESEAWCS_QuartzJob;
+
+namespace WIDESEAWCS_Tasks
+{
+ /// <summary>
+ /// 鏈烘鎵嬬姸鎬佺鐞嗗櫒 - 璐熻矗RobotSocketState鐨勫畨鍏ㄦ洿鏂板拰鍏嬮殕
+ /// </summary>
+ public class RobotStateManager
+ {
+ private readonly ICacheService _cache;
+
+ public RobotStateManager(ICacheService cache)
+ {
+ _cache = cache;
+ }
+
+ /// <summary>
+ /// 瀹夊叏鏇存柊RobotSocketState缂撳瓨锛岄槻姝㈠苟鍙戣鐩�
+ /// </summary>
+ /// <param name="ipAddress">璁惧IP鍦板潃</param>
+ /// <param name="updateAction">鏇存柊鐘舵�佺殑濮旀墭锛堜紶鍏ュ綋鍓嶇姸鎬侊紝杩斿洖淇敼鍚庣殑鏂扮姸鎬侊級</param>
+ /// <returns>鏄惁鏇存柊鎴愬姛</returns>
+ public bool TryUpdateStateSafely(string ipAddress, Func<RobotSocketState, RobotSocketState> updateAction)
+ {
+ var cacheKey = GetCacheKey(ipAddress);
+ var currentState = _cache.Get<RobotSocketState>(cacheKey);
+
+ if (currentState == null)
+ {
+ return false;
+ }
+
+ // 浣跨敤褰撳墠瀛樺偍鐨勭増鏈彿浣滀负鏈熸湜鐗堟湰
+ var expectedVersion = currentState.Version;
+
+ // 鍒涘缓鐘舵�佸壇鏈繘琛屼慨鏀癸紙閬垮厤淇敼鍘熷璞″紩鐢級
+ var stateCopy = CloneState(currentState);
+ var newState = updateAction(stateCopy);
+ newState.Version = DateTime.UtcNow.Ticks;
+
+ return _cache.TrySafeUpdate(
+ cacheKey,
+ newState,
+ expectedVersion,
+ s => s.Version
+ );
+ }
+
+ /// <summary>
+ /// 瀹夊叏鏇存柊RobotSocketState缂撳瓨锛堢畝鍗曠増鏈級
+ /// </summary>
+ /// <param name="ipAddress">璁惧IP鍦板潃</param>
+ /// <param name="newState">鏂扮姸鎬侊紙浼氳鏇存柊Version瀛楁锛�</param>
+ /// <returns>鏄惁鏇存柊鎴愬姛</returns>
+ public bool TryUpdateStateSafely(string ipAddress, RobotSocketState newState)
+ {
+ var cacheKey = GetCacheKey(ipAddress);
+ var currentState = _cache.Get<RobotSocketState>(cacheKey);
+
+ if (currentState == null)
+ {
+ // 褰撳墠涓嶅瓨鍦紝鐩存帴娣诲姞
+ newState.Version = DateTime.UtcNow.Ticks;
+ _cache.AddObject(cacheKey, newState);
+ return true;
+ }
+
+ // 浣跨敤褰撳墠瀛樺偍鐨勭増鏈彿浣滀负鏈熸湜鐗堟湰
+ var expectedVersion = currentState.Version;
+
+ // 鏇存柊鏂扮姸鎬佺殑鐗堟湰鍙蜂负鏈�鏂版椂闂存埑
+ newState.Version = DateTime.UtcNow.Ticks;
+
+ return _cache.TrySafeUpdate(
+ cacheKey,
+ newState,
+ expectedVersion,
+ s => s.Version
+ );
+ }
+
+ /// <summary>
+ /// 鍏嬮殕RobotSocketState瀵硅薄锛堝垱寤烘繁鎷疯礉锛�
+ /// </summary>
+ public RobotSocketState CloneState(RobotSocketState source)
+ {
+ // 浣跨敤搴忓垪鍖�/鍙嶅簭鍒楀寲杩涜娣辨嫹璐�
+ var json = JsonConvert.SerializeObject(source);
+ return JsonConvert.DeserializeObject<RobotSocketState>(json) ?? new RobotSocketState { IPAddress = source.IPAddress };
+ }
+
+ /// <summary>
+ /// 鑾峰彇Redis缂撳瓨閿�
+ /// </summary>
+ public static string GetCacheKey(string ipAddress)
+ {
+ return $"{RedisPrefix.Code}:{RedisName.SocketDevices}:{ipAddress}";
+ }
+
+ /// <summary>
+ /// 浠庣紦瀛樿幏鍙栫姸鎬�
+ /// </summary>
+ public RobotSocketState? GetState(string ipAddress)
+ {
+ return _cache.Get<RobotSocketState>(GetCacheKey(ipAddress));
+ }
+
+ /// <summary>
+ /// 鑾峰彇鎴栧垱寤虹姸鎬�
+ /// </summary>
+ public RobotSocketState GetOrCreateState(string ipAddress, RobotCraneDevice robotCrane)
+ {
+ return _cache.GetOrAdd(GetCacheKey(ipAddress), _ => new RobotSocketState
+ {
+ IPAddress = ipAddress,
+ RobotCrane = robotCrane
+ });
+ }
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
new file mode 100644
index 0000000..f379baa
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
@@ -0,0 +1,207 @@
+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_DTO.Stock;
+using WIDESEAWCS_DTO.TaskInfo;
+using WIDESEAWCS_ITaskInfoService;
+using WIDESEAWCS_Model.Models;
+using WIDESEAWCS_QuartzJob;
+using WIDESEAWCS_Tasks.SocketServer;
+
+namespace WIDESEAWCS_Tasks
+{
+ /// <summary>
+ /// 鏈烘鎵嬩换鍔″鐞嗗櫒 - 璐熻矗鏈烘鎵嬩换鍔℃墽琛屽拰澶勭悊
+ /// </summary>
+ public class RobotTaskProcessor
+ {
+ private readonly TcpSocketServer _tcpSocket;
+ private readonly RobotStateManager _stateManager;
+ private readonly IRobotTaskService _robotTaskService;
+ private readonly ITaskService _taskService;
+ private readonly HttpClientHelper _httpClientHelper;
+
+ public RobotTaskProcessor(
+ TcpSocketServer tcpSocket,
+ RobotStateManager stateManager,
+ IRobotTaskService robotTaskService,
+ ITaskService taskService,
+ HttpClientHelper httpClientHelper)
+ {
+ _tcpSocket = tcpSocket;
+ _stateManager = stateManager;
+ _robotTaskService = robotTaskService;
+ _taskService = taskService;
+ _httpClientHelper = httpClientHelper;
+ }
+
+ /// <summary>
+ /// 鑾峰彇鏈烘鎵嬩换鍔�
+ /// </summary>
+ public Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
+ {
+ return _robotTaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
+ }
+
+ /// <summary>
+ /// 鑾峰彇鏈烘鎵嬩换鍔�
+ /// </summary>
+ public bool? DeleteTask(int ID)
+ {
+ return _robotTaskService.Repository.DeleteDataById(ID);
+ }
+
+ /// <summary>
+ /// 鍙戦�佹満姊版墜鍙栬揣鍛戒护
+ /// </summary>
+ public async Task SendSocketRobotPickAsync(Dt_RobotTask task, RobotSocketState state)
+ {
+ string taskString = $"Pickbattery,{task.RobotSourceAddress}";
+ // 鍙戦�佷换鍔℃寚浠�
+ bool result = await _tcpSocket.SendToClientAsync(state.IPAddress, taskString);
+ if (result)
+ {
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ state.CurrentTask = task;
+
+ // 鏇存柊缂撳瓨涓殑鐘舵�侊紙浣跨敤瀹夊叏鏇存柊闃叉骞跺彂瑕嗙洊锛�
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ await _robotTaskService.UpdateRobotTaskAsync(task);
+ }
+ }
+
+ /// <summary>
+ /// 澶勭悊鍏ュ簱浠诲姟
+ /// </summary>
+ public async Task<bool> HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
+ {
+ var currentTask = state.CurrentTask;
+ if (currentTask == null)
+ {
+ return false;
+ }
+
+ string roadway = currentTask.RobotSourceAddressLineCode;
+ int warehouseId = currentTask.RobotRoadway == "ZYRB1" ? 1 : currentTask.RobotRoadway == "HPRB001" ? 2 : 3;
+
+ int taskType = 0;
+ string SourceAddress = currentTask.RobotTargetAddressLineCode;
+ string TargetAddress = currentTask.RobotSourceAddressLineCode;
+ string PalletCode = string.Empty;
+ // 鐩存帴杞崲涓烘灇涓剧被鍨嬭繘琛屾瘮杈�
+ var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
+
+ if (useSourceAddress)
+ {
+ switch (robotTaskType)
+ {
+ case RobotTaskTypeEnum.GroupPallet:
+ return false;
+
+ case RobotTaskTypeEnum.ChangePallet:
+ case RobotTaskTypeEnum.SplitPallet:
+ taskType = TaskTypeEnum.InEmpty.GetHashCode();
+ PalletCode = currentTask.RobotSourceAddressPalletCode;
+ break;
+ }
+ }
+ else
+ {
+ switch (robotTaskType)
+ {
+ case RobotTaskTypeEnum.ChangePallet:
+ case RobotTaskTypeEnum.GroupPallet:
+ taskType = TaskTypeEnum.Inbound.GetHashCode();
+ PalletCode = currentTask.RobotTargetAddressPalletCode;
+ break;
+
+ case RobotTaskTypeEnum.SplitPallet:
+ return true;
+ }
+ }
+
+ CreateTaskDto taskDto = new CreateTaskDto
+ {
+ PalletCode = PalletCode,
+ SourceAddress = SourceAddress ?? string.Empty,
+ TargetAddress = TargetAddress ?? string.Empty,
+ Roadway = roadway,
+ WarehouseId = warehouseId,
+ PalletType = 1,
+ TaskType = taskType
+ };
+ var result = _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.CreateTaskInboundAsync), taskDto.ToJson());
+ if (!result.Data.Status && result.IsSuccess)
+ {
+ return false;
+ }
+
+ WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.Data.ToJson() ?? string.Empty) ?? new WMSTaskDTO();
+ var content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
+ if (!content.Status) return false;
+
+ var taskInfo = JsonConvert.DeserializeObject<Dt_Task>(content.Data.ToJson() ?? string.Empty) ?? new Dt_Task();
+
+ string sourceAddress = taskDTO.SourceAddress;
+
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == sourceAddress));
+ if (device != null)
+ {
+ CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
+ conveyorLine.SetValue(ConveyorLineDBNameNew.Target, taskInfo.NextAddress, sourceAddress);
+ conveyorLine.SetValue(ConveyorLineDBNameNew.TaskNo, taskInfo.TaskNum, sourceAddress);
+ conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_STB, 1, sourceAddress);
+
+ if (_taskService.UpdateTaskStatusToNext(taskInfo).Status)
+ {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ /// <summary>
+ /// 鏋勫缓搴撳瓨DTO
+ /// </summary>
+ public static StockDTO BuildStockDTO(RobotSocketState state, int[] positions)
+ {
+ return new StockDTO
+ {
+ SourceLineNo = state.CurrentTask.RobotSourceAddressLineCode,
+ SourcePalletNo = state.CurrentTask.RobotSourceAddressPalletCode,
+ TargetPalletNo = state.CurrentTask.RobotTargetAddressPalletCode,
+ TargetLineNo = state.CurrentTask.RobotTargetAddressLineCode,
+ Details = positions
+ .Where(x => x > 0)
+ .OrderBy(x => x)
+ .Select((x, idx) => new StockDetailDTO
+ {
+ Quantity = state.RobotTaskTotalNum > 0 ? state.RobotTaskTotalNum + positions.Length : positions.Length,
+ Channel = x,
+ CellBarcode = state.CellBarcode?.Count > 0 ? state.CellBarcode[x - 1] : ""
+ })
+ .ToList()
+ };
+ }
+
+ /// <summary>
+ /// 璋冪敤鎷嗙洏API
+ /// </summary>
+ public HttpResponseResult<WebResponseContent> PostSplitPalletAsync(StockDTO stockDTO)
+ {
+ return _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.SplitPalletAsync), stockDTO.ToJson());
+ }
+
+ /// <summary>
+ /// 璋冪敤缁勭洏鎴栨崲鐩楢PI
+ /// </summary>
+ public HttpResponseResult<WebResponseContent> PostGroupPalletAsync(string configKey, StockDTO stockDTO)
+ {
+ return _httpClientHelper.Post<WebResponseContent>(configKey, stockDTO.ToJson());
+ }
+ }
+}
diff --git a/Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/v18/DocumentLayout.backup.json b/Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/v18/DocumentLayout.backup.json
index 84b0fd5..0542a28 100644
--- a/Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/v18/DocumentLayout.backup.json
+++ b/Code/WMS/WIDESEA_WMSServer/.vs/WIDESEA_WMSServer/v18/DocumentLayout.backup.json
@@ -7,36 +7,64 @@
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@@ -45,18 +73,6 @@
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"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_IStockService\\IStockService.cs",
"RelativeDocumentMoniker": "WIDESEA_IStockService\\IStockService.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_IStockService\\IStockService.cs",
"RelativeToolTip": "WIDESEA_IStockService\\IStockService.cs",
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+ "ViewState": "AgIAAAcAAAAAAAAAAAAewBkAAAAfAAAAAAAAAA==",
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@@ -164,13 +230,13 @@
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"RelativeToolTip": "WIDESEA_WMSServer\\Controllers\\Stock\\StockController.cs",
- "ViewState": "AgIAADQAAAAAAAAAAAAIwDwAAAA5AAAAAAAAAA==",
+ "ViewState": "AgIAABwAAAAAAAAAAAAAACoAAAAJAAAAAAAAAA==",
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"WhenOpened": "2026-02-26T06:16:05.674Z"
},
{
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- "DocumentIndex": 15,
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"Title": "Program.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_WMSServer\\Program.cs",
"RelativeDocumentMoniker": "WIDESEA_WMSServer\\Program.cs",
@@ -182,7 +248,7 @@
},
{
"$type": "Document",
- "DocumentIndex": 18,
+ "DocumentIndex": 23,
"Title": "HttpResponseResult.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Core\\Helper\\HTTP\\HttpResponseResult.cs",
"RelativeDocumentMoniker": "WIDESEA_Core\\Helper\\HTTP\\HttpResponseResult.cs",
@@ -194,7 +260,7 @@
},
{
"$type": "Document",
- "DocumentIndex": 17,
+ "DocumentIndex": 22,
"Title": "HttpRequestConfig.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Core\\Helper\\HTTP\\HttpRequestConfig.cs",
"RelativeDocumentMoniker": "WIDESEA_Core\\Helper\\HTTP\\HttpRequestConfig.cs",
@@ -206,7 +272,7 @@
},
{
"$type": "Document",
- "DocumentIndex": 16,
+ "DocumentIndex": 21,
"Title": "HttpClientHelper.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Core\\Helper\\HTTP\\HttpClientHelper.cs",
"RelativeDocumentMoniker": "WIDESEA_Core\\Helper\\HTTP\\HttpClientHelper.cs",
@@ -218,7 +284,7 @@
},
{
"$type": "Document",
- "DocumentIndex": 23,
+ "DocumentIndex": 27,
"Title": "OutPutDto.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_DTO\\GradingMachine\\OutPutDto.cs",
"RelativeDocumentMoniker": "WIDESEA_DTO\\GradingMachine\\OutPutDto.cs",
@@ -230,7 +296,7 @@
},
{
"$type": "Document",
- "DocumentIndex": 22,
+ "DocumentIndex": 26,
"Title": "InputDto.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_DTO\\GradingMachine\\InputDto.cs",
"RelativeDocumentMoniker": "WIDESEA_DTO\\GradingMachine\\InputDto.cs",
@@ -242,31 +308,33 @@
},
{
"$type": "Document",
- "DocumentIndex": 5,
+ "DocumentIndex": 8,
"Title": "RepositoryBase.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Core\\BaseRepository\\RepositoryBase.cs",
"RelativeDocumentMoniker": "WIDESEA_Core\\BaseRepository\\RepositoryBase.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Core\\BaseRepository\\RepositoryBase.cs",
"RelativeToolTip": "WIDESEA_Core\\BaseRepository\\RepositoryBase.cs",
- "ViewState": "AgIAALgDAAAAAAAAAAAawMsDAAAZAAAAAAAAAA==",
+ "ViewState": "AgIAALoDAAAAAAAAAAAawM0DAAA+AAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
- "WhenOpened": "2026-02-14T08:55:16.1Z"
+ "WhenOpened": "2026-02-14T08:55:16.1Z",
+ "EditorCaption": ""
},
{
"$type": "Document",
- "DocumentIndex": 21,
+ "DocumentIndex": 9,
"Title": "IRepository.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Core\\BaseRepository\\IRepository.cs",
"RelativeDocumentMoniker": "WIDESEA_Core\\BaseRepository\\IRepository.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Core\\BaseRepository\\IRepository.cs",
"RelativeToolTip": "WIDESEA_Core\\BaseRepository\\IRepository.cs",
- "ViewState": "AgIAAIIBAAAAAAAAAAAWwLMBAAASAAAAAAAAAA==",
+ "ViewState": "AgIAAKEBAAAAAAAAAAAewLMBAAASAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
- "WhenOpened": "2026-02-14T08:53:36.522Z"
+ "WhenOpened": "2026-02-14T08:53:36.522Z",
+ "EditorCaption": ""
},
{
"$type": "Document",
- "DocumentIndex": 20,
+ "DocumentIndex": 25,
"Title": "StockViewService.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_StockService\\StockViewService.cs",
"RelativeDocumentMoniker": "WIDESEA_StockService\\StockViewService.cs",
@@ -278,7 +346,7 @@
},
{
"$type": "Document",
- "DocumentIndex": 9,
+ "DocumentIndex": 18,
"Title": "ILocationInfoService.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_IBasicService\\ILocationInfoService.cs",
"RelativeDocumentMoniker": "WIDESEA_IBasicService\\ILocationInfoService.cs",
@@ -290,7 +358,7 @@
},
{
"$type": "Document",
- "DocumentIndex": 19,
+ "DocumentIndex": 24,
"Title": "LocationInfoService.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_BasicService\\LocationInfoService.cs",
"RelativeDocumentMoniker": "WIDESEA_BasicService\\LocationInfoService.cs",
@@ -302,92 +370,97 @@
},
{
"$type": "Document",
- "DocumentIndex": 7,
+ "DocumentIndex": 16,
"Title": "Dt_StockInfo.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Model\\Models\\Stock\\Dt_StockInfo.cs",
"RelativeDocumentMoniker": "WIDESEA_Model\\Models\\Stock\\Dt_StockInfo.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_Model\\Models\\Stock\\Dt_StockInfo.cs",
"RelativeToolTip": "WIDESEA_Model\\Models\\Stock\\Dt_StockInfo.cs",
- "ViewState": "AgIAAEAAAAAAAAAAAAAkwFIAAAAuAAAAAAAAAA==",
+ "ViewState": "AgIAABYAAAAAAAAAAAAAwCcAAAArAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
"WhenOpened": "2026-02-11T01:38:37.887Z"
},
{
"$type": "Document",
- "DocumentIndex": 14,
+ "DocumentIndex": 4,
"Title": "StockInfoService.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_StockService\\StockInfoService.cs",
"RelativeDocumentMoniker": "WIDESEA_StockService\\StockInfoService.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_StockService\\StockInfoService.cs",
"RelativeToolTip": "WIDESEA_StockService\\StockInfoService.cs",
- "ViewState": "AgIAAAAAAAAAAAAAAAAAABUAAAA0AAAAAAAAAA==",
+ "ViewState": "AgIAAAsAAAAAAAAAAAAMwB0AAAAuAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
- "WhenOpened": "2026-02-11T01:23:56.94Z"
+ "WhenOpened": "2026-02-11T01:23:56.94Z",
+ "EditorCaption": ""
},
{
"$type": "Document",
- "DocumentIndex": 11,
+ "DocumentIndex": 5,
"Title": "IStockInfoService.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_IStockService\\IStockInfoService.cs",
"RelativeDocumentMoniker": "WIDESEA_IStockService\\IStockInfoService.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_IStockService\\IStockInfoService.cs",
"RelativeToolTip": "WIDESEA_IStockService\\IStockInfoService.cs",
- "ViewState": "AgIAAAAAAAAAAAAAAAAAACsAAAAzAAAAAAAAAA==",
+ "ViewState": "AgIAAAMAAAAAAAAAAAAMwAgAAAAiAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
- "WhenOpened": "2026-02-11T01:21:54.522Z"
+ "WhenOpened": "2026-02-11T01:21:54.522Z",
+ "EditorCaption": ""
},
{
"$type": "Document",
- "DocumentIndex": 3,
+ "DocumentIndex": 0,
"Title": "TaskController.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_WMSServer\\Controllers\\TaskInfo\\TaskController.cs",
"RelativeDocumentMoniker": "WIDESEA_WMSServer\\Controllers\\TaskInfo\\TaskController.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_WMSServer\\Controllers\\TaskInfo\\TaskController.cs",
"RelativeToolTip": "WIDESEA_WMSServer\\Controllers\\TaskInfo\\TaskController.cs",
- "ViewState": "AgIAAD0AAAAAAAAAAAAUwFUAAABJAAAAAAAAAA==",
+ "ViewState": "AgIAAFMAAAAAAAAAAAAcwGQAAAAJAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
- "WhenOpened": "2026-02-09T01:23:19.844Z"
+ "WhenOpened": "2026-02-09T01:23:19.844Z",
+ "EditorCaption": ""
},
{
"$type": "Document",
- "DocumentIndex": 8,
+ "DocumentIndex": 7,
"Title": "CreateTaskDto.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_DTO\\Task\\CreateTaskDto.cs",
"RelativeDocumentMoniker": "WIDESEA_DTO\\Task\\CreateTaskDto.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_DTO\\Task\\CreateTaskDto.cs",
"RelativeToolTip": "WIDESEA_DTO\\Task\\CreateTaskDto.cs",
- "ViewState": "AgIAABsAAAAAAAAAAAAywA4AAAARAAAAAAAAAA==",
+ "ViewState": "AgIAAC0AAAAAAAAAAAAUwDwAAAAcAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
- "WhenOpened": "2026-02-06T07:58:13.932Z"
+ "WhenOpened": "2026-02-06T07:58:13.932Z",
+ "EditorCaption": ""
},
{
"$type": "Document",
- "DocumentIndex": 4,
+ "DocumentIndex": 2,
"Title": "ITaskService.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_ITaskInfoService\\ITaskService.cs",
"RelativeDocumentMoniker": "WIDESEA_ITaskInfoService\\ITaskService.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_ITaskInfoService\\ITaskService.cs",
"RelativeToolTip": "WIDESEA_ITaskInfoService\\ITaskService.cs",
- "ViewState": "AgIAAEAAAAAAAAAAAAAUwFEAAAAVAAAAAAAAAA==",
+ "ViewState": "AgIAAE8AAAAAAAAAAAAgwFwAAAAfAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
- "WhenOpened": "2026-02-06T07:00:19.697Z"
+ "WhenOpened": "2026-02-06T07:00:19.697Z",
+ "EditorCaption": ""
},
{
"$type": "Document",
- "DocumentIndex": 0,
+ "DocumentIndex": 1,
"Title": "TaskService.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_TaskInfoService\\TaskService.cs",
"RelativeDocumentMoniker": "WIDESEA_TaskInfoService\\TaskService.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_TaskInfoService\\TaskService.cs",
"RelativeToolTip": "WIDESEA_TaskInfoService\\TaskService.cs",
- "ViewState": "AgIAANcAAAAAAAAAAAAgwBYBAABGAAAAAAAAAA==",
+ "ViewState": "AgIAACIBAAAAAAAAAAAuwGMBAAAAAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
"WhenOpened": "2026-02-06T06:34:59.734Z",
"EditorCaption": ""
},
{
"$type": "Document",
- "DocumentIndex": 1,
+ "DocumentIndex": 11,
"Title": "StockDTO.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_DTO\\Stock\\StockDTO.cs",
"RelativeDocumentMoniker": "WIDESEA_DTO\\Stock\\StockDTO.cs",
@@ -395,19 +468,21 @@
"RelativeToolTip": "WIDESEA_DTO\\Stock\\StockDTO.cs",
"ViewState": "AgIAACMAAAAAAAAAAAAAADYAAAAuAAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
- "WhenOpened": "2026-02-06T02:56:51.397Z"
+ "WhenOpened": "2026-02-06T02:56:51.397Z",
+ "EditorCaption": ""
},
{
"$type": "Document",
- "DocumentIndex": 2,
+ "DocumentIndex": 10,
"Title": "StockSerivce.cs",
"DocumentMoniker": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_StockService\\StockSerivce.cs",
"RelativeDocumentMoniker": "WIDESEA_StockService\\StockSerivce.cs",
"ToolTip": "D:\\Git\\ShanMeiXinNengYuan\\Code\\WMS\\WIDESEA_WMSServer\\WIDESEA_StockService\\StockSerivce.cs",
"RelativeToolTip": "WIDESEA_StockService\\StockSerivce.cs",
- "ViewState": "AgIAAAAAAAAAAAAAAAAAAD8AAAApAAAAAAAAAA==",
+ "ViewState": "AgIAADAAAAAAAAAAAAAawC4AAAA7AAAAAAAAAA==",
"Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
- "WhenOpened": "2026-02-06T01:53:49.077Z"
+ "WhenOpened": "2026-02-06T01:53:49.077Z",
+ "EditorCaption": ""
}
]
}
diff --git a/Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/TaskEnum/TaskStatusEnum.cs b/Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/TaskEnum/TaskStatusEnum.cs
index fdea881..8463482 100644
--- a/Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/TaskEnum/TaskStatusEnum.cs
+++ b/Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/TaskEnum/TaskStatusEnum.cs
@@ -112,4 +112,143 @@
[Description("鎻愬崌鏈烘墽琛屼腑")]
HT_Executing = 110,
}
+
+ public enum TaskInStatusEnum
+ {
+ /// <summary>
+ /// 鏂板缓鍏ュ簱浠诲姟
+ /// </summary>
+ [Description("鏂板缓鍏ュ簱浠诲姟")]
+ InNew = 200,
+
+ ///// <summary>
+ ///// AGV鍏ュ簱鎵ц涓�
+ ///// </summary>
+ //[Description("AGV鍏ュ簱鎵ц涓�")]
+ //AGV_InExecuting = 210,
+
+ ///// <summary>
+ ///// AGV鍏ュ簱瀹屾垚
+ ///// </summary>
+ //[Description("AGV鎼繍瀹屾垚")]
+ //AGV_InFinish = 215,
+
+ /// <summary>
+ /// 杈撻�佺嚎鍏ュ簱鎵ц涓�
+ /// </summary>
+ [Description("杈撻�佺嚎鍏ュ簱鎵ц涓�")]
+ Line_InExecuting = 220,
+
+ /// <summary>
+ /// 杈撻�佺嚎鍏ュ簱瀹屾垚
+ /// </summary>
+ [Description("杈撻�佺嚎杈撻�佸畬鎴�")]
+ Line_InFinish = 225,
+
+ /// <summary>
+ /// 鍫嗗灈鏈哄叆搴撴墽琛屼腑
+ /// </summary>
+ [Description("鍫嗗灈鏈哄叆搴撴墽琛屼腑")]
+ SC_InExecuting = 230,
+
+ /// <summary>
+ /// 鍫嗗灈鏈哄叆搴撳畬鎴�
+ /// </summary>
+ [Description("鍫嗗灈鏈哄叆搴撳畬鎴�")]
+ SC_InFinish = 235,
+
+ /// <summary>
+ /// 鍏ュ簱浠诲姟瀹屾垚
+ /// </summary>
+ [Description("鍏ュ簱浠诲姟瀹屾垚")]
+ InFinish = 290,
+
+ /// <summary>
+ /// 鍏ュ簱浠诲姟鎸傝捣
+ /// </summary>
+ [Description("鍏ュ簱浠诲姟鎸傝捣")]
+ InPending = 297,
+
+ /// <summary>
+ /// 鍏ュ簱浠诲姟鍙栨秷
+ /// </summary>
+ [Description("鍏ュ簱浠诲姟鍙栨秷")]
+ InCancel = 298,
+
+ /// <summary>
+ /// 鍏ュ簱浠诲姟寮傚父
+ /// </summary>
+ [Description("鍏ュ簱浠诲姟寮傚父")]
+ InException = 299,
+ }
+
+ public enum TaskOutStatusEnum
+ {
+ /// <summary>
+ /// 鏂板缓鍑哄簱浠诲姟
+ /// </summary>
+ [Description("鏂板缓鍑哄簱浠诲姟")]
+ OutNew = 100,
+
+ /// <summary>
+ /// 鍫嗗灈鏈哄嚭搴撴墽琛屼腑
+ /// </summary>
+ [Description("鍫嗗灈鏈哄嚭搴撴墽琛屼腑")]
+ SC_OutExecuting = 110,
+
+ /// <summary>
+ /// 鍫嗗灈鏈哄嚭搴撳畬鎴�
+ /// </summary>
+ [Description("鍫嗗灈鏈哄嚭搴撳畬鎴�")]
+ SC_OutFinish = 115,
+
+ /// <summary>
+ /// 杈撻�佺嚎鍑哄簱鎵ц涓�
+ /// </summary>
+ [Description("杈撻�佺嚎鍑哄簱鎵ц涓�")]
+ Line_OutExecuting = 120,
+
+ /// <summary>
+ /// 杈撻�佺嚎鍑哄簱瀹屾垚
+ /// </summary>
+ [Description("杈撻�佺嚎杈撻�佸畬鎴�")]
+ Line_OutFinish = 125,
+
+ ///// <summary>
+ ///// AGV鍑哄簱鎵ц涓�
+ ///// </summary>
+ //[Description("AGV鍑哄簱鎵ц涓�")]
+ //AGV_OutExecuting = 130,
+
+ ///// <summary>
+ ///// AGV鍑哄簱瀹屾垚
+ ///// </summary>
+ //[Description("AGV鎼繍瀹屾垚")]
+ //AGV_OutFinish = 135,
+
+ /// <summary>
+ /// 鍑哄簱浠诲姟瀹屾垚
+ /// </summary>
+ [Description("鍑哄簱浠诲姟瀹屾垚")]
+ OutFinish = 190,
+
+ /// <summary>
+ /// 鍑哄簱浠诲姟鎸傝捣
+ /// </summary>
+ [Description("鍑哄簱浠诲姟鎸傝捣")]
+ OutPending = 197,
+
+ /// <summary>
+ /// 鍑哄簱浠诲姟鍙栨秷
+ /// </summary>
+ [Description("鍑哄簱浠诲姟鍙栨秷")]
+ OutCancel = 198,
+
+ /// <summary>
+ /// 鍑哄簱浠诲姟寮傚父
+ /// </summary>
+ [Description("鍑哄簱浠诲姟寮傚父")]
+ OutException = 199,
+ }
+
}
diff --git a/Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/TaskEnum/TaskTypeEnum.cs b/Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/TaskEnum/TaskTypeEnum.cs
index 1013730..c1f49bc 100644
--- a/Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/TaskEnum/TaskTypeEnum.cs
+++ b/Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/TaskEnum/TaskTypeEnum.cs
@@ -101,6 +101,80 @@
}
+ public enum TaskInboundTypeEnum
+ {
+ /// <summary>
+ /// 鍏ュ簱
+ /// </summary>
+ [Description("鍏ュ簱")]
+ Inbound = 200,
+ /// <summary>
+ /// 鐩樼偣鍏ュ簱
+ /// </summary>
+ [Description("鐩樼偣鍏ュ簱")]
+ InInventory = 201,
+ /// <summary>
+ /// 鍒嗘嫞鍏ュ簱
+ /// </summary>
+ [Description("鍒嗘嫞鍏ュ簱")]
+ InPick = 202,
+ /// <summary>
+ /// 璐ㄦ鍏ュ簱
+ /// </summary>
+ [Description("璐ㄦ鍏ュ簱")]
+ InQuality = 203,
+
+ /// <summary>
+ /// 绌虹鍏ュ簱
+ /// </summary>
+ [Description("绌虹鍏ュ簱")]
+ InEmpty = 600,
+ }
+
+ public enum TaskOutboundTypeEnum
+ {
+ /// <summary>
+ /// 鍑哄簱
+ /// </summary>
+ [Description("鍑哄簱")]
+ Outbound = 100,
+ /// <summary>
+ /// 鐩樼偣鍑哄簱
+ /// </summary>
+ [Description("鐩樼偣鍑哄簱")]
+ OutInventory = 101,
+ /// <summary>
+ /// 鍒嗘嫞鍑哄簱
+ /// </summary>
+ [Description("鍒嗘嫞鍑哄簱")]
+ OutPick = 102,
+ /// <summary>
+ /// 璐ㄦ鍑哄簱
+ /// </summary>
+ [Description("璐ㄦ鍑哄簱")]
+ OutQuality = 103,
+
+ /// <summary>
+ /// 绌虹鍑哄簱
+ /// </summary>
+ [Description("绌虹鍑哄簱")]
+ OutEmpty = 140,
+ }
+
+ public enum TaskRelocationTypeEnum
+ {
+ /// <summary>
+ /// 搴撳唴绉诲簱
+ /// </summary>
+ [Description("搴撳唴绉诲簱")]
+ Relocation = 300,
+ /// <summary>
+ /// 搴撳绉诲簱
+ /// </summary>
+ [Description("搴撳绉诲簱")]
+ RelocationIn = 301
+ }
+
public enum TaskTypeGroup
{
/// <summary>
diff --git a/Code/WMS/WIDESEA_WMSServer/WIDESEA_ITaskInfoService/ITaskService.cs b/Code/WMS/WIDESEA_WMSServer/WIDESEA_ITaskInfoService/ITaskService.cs
index 4dfe3a3..f6c2b0e 100644
--- a/Code/WMS/WIDESEA_WMSServer/WIDESEA_ITaskInfoService/ITaskService.cs
+++ b/Code/WMS/WIDESEA_WMSServer/WIDESEA_ITaskInfoService/ITaskService.cs
@@ -86,6 +86,14 @@
Task<WebResponseContent> GetOutBoundTrayTaskAsync(CreateTaskDto taskDto);
/// <summary>
+ /// 淇敼浠诲姟鐘舵�侊紙鏍规嵁浠诲姟ID淇敼涓烘寚瀹氱姸鎬侊級
+ /// </summary>
+ /// <param name="taskId"></param>
+ /// <param name="newStatus"></param>
+ /// <returns></returns>
+ Task<WebResponseContent> UpdateTaskByStatusAsync(int taskId, int newStatus);
+
+ /// <summary>
/// 鍫嗗灈鏈哄彇鏀捐揣瀹屾垚鍚庣墿娴侀�氱煡鍖栨垚鍒嗗鏌滃畬鎴愪俊鍙�
/// </summary>
/// <param name="input"></param>
diff --git a/Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/TaskService.cs b/Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/TaskService.cs
index 2a799c9..5606824 100644
--- a/Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/TaskService.cs
+++ b/Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/TaskService.cs
@@ -1,5 +1,4 @@
锘縰sing AutoMapper;
-using Microsoft.AspNetCore.Components.Forms;
using SqlSugar;
using System.Text.Json;
using WIDESEA_Common.LocationEnum;
@@ -8,7 +7,6 @@
using WIDESEA_Core;
using WIDESEA_Core.BaseRepository;
using WIDESEA_Core.BaseServices;
-using WIDESEA_Core.Helper;
using WIDESEA_DTO;
using WIDESEA_DTO.Task;
using WIDESEA_IBasicService;
@@ -49,6 +47,8 @@
_httpClientHelper = httpClientHelper;
}
+ #region WCS閫昏緫澶勭悊
+
/// <summary>
/// 鍒涘缓浠诲姟锛堢粍鐩樺叆搴撲换鍔°�佺┖鎵樼洏鍥炲簱浠诲姟锛�
/// </summary>
@@ -56,9 +56,13 @@
{
try
{
+ WebResponseContent content = await GetTasksByPalletCodeAsync(taskDto.PalletCode);
+ if (content.Status)
+ {
+ return content;
+ }
+
if (string.IsNullOrWhiteSpace(taskDto.PalletCode) ||
- string.IsNullOrWhiteSpace(taskDto.SourceAddress) ||
- string.IsNullOrWhiteSpace(taskDto.TargetAddress) ||
string.IsNullOrWhiteSpace(taskDto.Roadway))
{
return WebResponseContent.Instance.Error("鏃犳晥鐨勪换鍔¤鎯�");
@@ -69,14 +73,22 @@
return WebResponseContent.Instance.Error("鏃犳晥鐨勪换鍔¤鎯�");
}
+ // 浣跨敤 switch 琛ㄨ揪寮忔槧灏勪换鍔＄被鍨�
+ int taskInboundType = taskDto.TaskType switch
+ {
+ TaskTypeEnum.Inbound => TaskInboundTypeEnum.Inbound.GetHashCode(),
+ TaskTypeEnum.InEmpty => TaskInboundTypeEnum.InEmpty.GetHashCode(),
+ _ => 0 // 鐞嗚涓婁笉浼氳蛋鍒拌繖閲岋紝鍥犱负宸茬粡楠岃瘉杩囦簡
+ };
+
var task = new Dt_Task
{
- TaskNum = 0,
+ TaskNum = await BaseDal.GetTaskNo(),
PalletCode = taskDto.PalletCode,
PalletType = taskDto.PalletType,
Roadway = taskDto.Roadway,
- TaskType = taskDto.TaskType.GetHashCode(),
- TaskStatus = TaskStatusEnum.New.GetHashCode(),
+ TaskType = taskInboundType,
+ TaskStatus = TaskInStatusEnum.InNew.GetHashCode(),
SourceAddress = taskDto.SourceAddress,
TargetAddress = taskDto.TargetAddress,
CurrentAddress = taskDto.SourceAddress,
@@ -259,6 +271,12 @@
{
try
{
+ WebResponseContent content = await GetTasksByPalletCodeAsync(taskDto.PalletCode);
+ if (content.Status)
+ {
+ return content;
+ }
+
//var tasks = await BaseDal.QueryAsync(s => s.PalletCode == palletCode);
//if (tasks == null || !tasks.Any())
// return WebResponseContent.Instance.Error("鏈壘鍒板搴旂殑浠诲姟");
@@ -280,8 +298,9 @@
{
try
{
+
var stockInfo = await _stockInfoService.Repository.QueryFirstAsync(x => x.LocationDetails.WarehouseId == taskDto.WarehouseId && x.LocationDetails.LocationStatus == LocationStatusEnum.InStock.GetHashCode() && x.StockStatus == StockStatusEmun.绌烘墭鐩樺簱瀛�.GetHashCode());
- if(stockInfo == null)
+ if (stockInfo == null)
return WebResponseContent.Instance.Error("鏈壘鍒板搴旂殑搴撳瓨淇℃伅");
var task = new Dt_Task()
@@ -300,7 +319,7 @@
TaskNum = await BaseDal.GetTaskNo(),
Creater = "system",
};
- var taskDtos = _mapper.Map<List<WMSTaskDTO>>(task);
+ var taskDtos = _mapper.Map<List<WMSTaskDTO>>(task);
return WebResponseContent.Instance.OK("鏌ヨ鎴愬姛", taskDtos);
}
catch (Exception ex)
@@ -308,6 +327,55 @@
return WebResponseContent.Instance.Error($"鏌ヨ浠诲姟澶辫触: {ex.Message}");
}
}
+
+ /// <summary>
+ /// 淇敼浠诲姟鐘舵�侊紙鏍规嵁浠诲姟ID淇敼涓烘寚瀹氱姸鎬侊級
+ /// </summary>
+ /// <param name="taskId"></param>
+ /// <param name="newStatus"></param>
+ /// <returns></returns>
+ public async Task<WebResponseContent> UpdateTaskByStatusAsync(int taskId, int newStatus)
+ {
+ try
+ {
+ var tasks = await BaseDal.QueryFirstAsync(s => s.TaskId == taskId);
+ if (tasks == null)
+ return WebResponseContent.Instance.Error("鏈壘鍒板搴旂殑浠诲姟");
+
+ tasks.TaskStatus = newStatus;
+ await BaseDal.UpdateDataAsync(tasks);
+
+ return WebResponseContent.Instance.OK("淇敼鎴愬姛", tasks);
+ }
+ catch (Exception ex)
+ {
+ return WebResponseContent.Instance.Error($"淇敼澶辫触: {ex.Message}");
+ }
+ }
+
+
+ /// <summary>
+ /// 鏌ユ壘鎵樼洏鏄惁鏈変换鍔�
+ /// </summary>
+ /// <param name="palletCode"></param>
+ /// <returns></returns>
+ private async Task<WebResponseContent> GetTasksByPalletCodeAsync(string palletCode)
+ {
+ try
+ {
+ var tasks = await BaseDal.QueryFirstAsync(s => s.PalletCode == palletCode);
+ if (tasks == null)
+ return WebResponseContent.Instance.Error("鏈壘鍒板搴旂殑浠诲姟");
+ var taskDtos = _mapper.Map<List<WMSTaskDTO>>(tasks);
+ return WebResponseContent.Instance.OK("鏌ヨ鎴愬姛", taskDtos);
+ }
+ catch (Exception ex)
+ {
+ return WebResponseContent.Instance.Error($"鏌ヨ浠诲姟澶辫触: {ex.Message}");
+ }
+ }
+
+ #endregion WCS閫昏緫澶勭悊
#region 鍒嗗鏌滄帴鍙�
@@ -436,7 +504,6 @@
var result = await BaseDal.AddDataAsync(taskList) > 0;
var wmstaskDto = result ? _mapper.Map<WMSTaskDTO>(taskList) : null;
-
var httpResponse = _httpClientHelper.Post<WebResponseContent>("http://logistics-service/api/logistics/notifyoutbound", JsonSerializer.Serialize(wmstaskDto)).Data;
if (result && httpResponse != null)
{
@@ -491,6 +558,6 @@
}
}
- #endregion
+ #endregion 鍒嗗鏌滄帴鍙�
}
-}
+}
\ No newline at end of file
diff --git a/Code/WMS/WIDESEA_WMSServer/WIDESEA_WMSServer/Controllers/TaskInfo/TaskController.cs b/Code/WMS/WIDESEA_WMSServer/WIDESEA_WMSServer/Controllers/TaskInfo/TaskController.cs
index b743efb..6ece3ee 100644
--- a/Code/WMS/WIDESEA_WMSServer/WIDESEA_WMSServer/Controllers/TaskInfo/TaskController.cs
+++ b/Code/WMS/WIDESEA_WMSServer/WIDESEA_WMSServer/Controllers/TaskInfo/TaskController.cs
@@ -101,6 +101,17 @@
}
/// <summary>
+ /// 淇敼浠诲姟鐘舵�侊紙鏍规嵁浠诲姟ID淇敼涓烘寚瀹氱姸鎬侊級
+ /// </summary>
+ /// <param name="taskDto"></param>
+ /// <returns></returns>
+ [HttpGet, HttpPost, Route("UpdateTaskByStatus"), AllowAnonymous]
+ public async Task<WebResponseContent?> UpdateTaskByStatusAsync([FromBody] int taskId, int newStatus)
+ {
+ return await Service.UpdateTaskByStatusAsync(taskId, newStatus);
+ }
+
+ /// <summary>
/// 鍫嗗灈鏈哄彇鏀捐揣瀹屾垚鍚庣墿娴侀�氱煡鍖栨垚鍒嗗鏌滃畬鎴愪俊鍙�
/// </summary>
/// <param name="input"></param>
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.dockerignore" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.dockerignore"
new file mode 100644
index 0000000..fe1152b
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.dockerignore"
@@ -0,0 +1,30 @@
+**/.classpath
+**/.dockerignore
+**/.env
+**/.git
+**/.gitignore
+**/.project
+**/.settings
+**/.toolstarget
+**/.vs
+**/.vscode
+**/*.*proj.user
+**/*.dbmdl
+**/*.jfm
+**/azds.yaml
+**/bin
+**/charts
+**/docker-compose*
+**/Dockerfile*
+**/node_modules
+**/npm-debug.log
+**/obj
+**/secrets.dev.yaml
+**/values.dev.yaml
+LICENSE
+README.md
+!**/.gitignore
+!.git/HEAD
+!.git/config
+!.git/packed-refs
+!.git/refs/heads/**
\ No newline at end of file
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/957CD3507E75254DAB50B67D1CAD4ABB/57E558275472B567970CA987458436D5" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/957CD3507E75254DAB50B67D1CAD4ABB/57E558275472B567970CA987458436D5"
new file mode 100644
index 0000000..dc0b60b
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/957CD3507E75254DAB50B67D1CAD4ABB/57E558275472B567970CA987458436D5"
@@ -0,0 +1,68 @@
+锘縰sing System.Net;
+using System.Net.Sockets;
+using System.Text;
+
+var options = ClientOptions.FromArgs(args);
+
+Console.WriteLine($"鍑嗗鍚姩 {options.ClientCount} 涓鎴风锛岃繛鎺ュ埌 {options.ServerHost}:{options.ServerPort}");
+
+var tasks = Enumerable.Range(0, options.ClientCount)
+ .Select(i => RunClientAsync(i + 1, options))
+ .ToArray();
+
+await Task.WhenAll(tasks);
+
+static async Task RunClientAsync(int clientId, ClientOptions options)
+{
+ var localPort = options.StartLocalPort + clientId - 1;
+
+ using var client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+ client.Bind(new IPEndPoint(IPAddress.Any, localPort));
+
+ await client.ConnectAsync(options.ServerHost, options.ServerPort);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 宸茶繛鎺ワ紝鏈湴绔彛: {localPort}");
+
+ var text = $"Hello from client #{clientId}";
+ var sendBuffer = Encoding.UTF8.GetBytes(text);
+ await client.SendAsync(sendBuffer, SocketFlags.None);
+
+ var receiveBuffer = new byte[1024];
+ var length = await client.ReceiveAsync(receiveBuffer, SocketFlags.None);
+ if (length > 0)
+ {
+ var response = Encoding.UTF8.GetString(receiveBuffer, 0, length);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌: {response}");
+ }
+
+ client.Shutdown(SocketShutdown.Both);
+}
+
+file sealed class ClientOptions
+{
+ public int ClientCount { get; init; } = 1;
+ public string ServerHost { get; init; } = "127.0.0.1";
+ public int ServerPort { get; init; } = 5000;
+ public int StartLocalPort { get; init; } = 6000;
+
+ public static ClientOptions FromArgs(string[] args)
+ {
+ var map = args
+ .Select(v => v.Split('=', 2, StringSplitOptions.TrimEntries))
+ .Where(parts => parts.Length == 2)
+ .ToDictionary(parts => parts[0].TrimStart('-', '/').ToLowerInvariant(), parts => parts[1]);
+
+ return new ClientOptions
+ {
+ ClientCount = GetInt(map, "count", 1),
+ ServerHost = GetString(map, "host", "127.0.0.1"),
+ ServerPort = GetInt(map, "serverport", 5000),
+ StartLocalPort = GetInt(map, "localport", 6000)
+ };
+ }
+
+ private static int GetInt(Dictionary<string, string> map, string key, int defaultValue)
+ => map.TryGetValue(key, out var value) && int.TryParse(value, out var number) ? number : defaultValue;
+
+ private static string GetString(Dictionary<string, string> map, string key, string defaultValue)
+ => map.TryGetValue(key, out var value) && !string.IsNullOrWhiteSpace(value) ? value : defaultValue;
+}
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/957CD3507E75254DAB50B67D1CAD4ABB/89EE95323C118AB5E5FA0B5FC9E372D8" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/957CD3507E75254DAB50B67D1CAD4ABB/89EE95323C118AB5E5FA0B5FC9E372D8"
new file mode 100644
index 0000000..dc0b60b
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/957CD3507E75254DAB50B67D1CAD4ABB/89EE95323C118AB5E5FA0B5FC9E372D8"
@@ -0,0 +1,68 @@
+锘縰sing System.Net;
+using System.Net.Sockets;
+using System.Text;
+
+var options = ClientOptions.FromArgs(args);
+
+Console.WriteLine($"鍑嗗鍚姩 {options.ClientCount} 涓鎴风锛岃繛鎺ュ埌 {options.ServerHost}:{options.ServerPort}");
+
+var tasks = Enumerable.Range(0, options.ClientCount)
+ .Select(i => RunClientAsync(i + 1, options))
+ .ToArray();
+
+await Task.WhenAll(tasks);
+
+static async Task RunClientAsync(int clientId, ClientOptions options)
+{
+ var localPort = options.StartLocalPort + clientId - 1;
+
+ using var client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+ client.Bind(new IPEndPoint(IPAddress.Any, localPort));
+
+ await client.ConnectAsync(options.ServerHost, options.ServerPort);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 宸茶繛鎺ワ紝鏈湴绔彛: {localPort}");
+
+ var text = $"Hello from client #{clientId}";
+ var sendBuffer = Encoding.UTF8.GetBytes(text);
+ await client.SendAsync(sendBuffer, SocketFlags.None);
+
+ var receiveBuffer = new byte[1024];
+ var length = await client.ReceiveAsync(receiveBuffer, SocketFlags.None);
+ if (length > 0)
+ {
+ var response = Encoding.UTF8.GetString(receiveBuffer, 0, length);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌: {response}");
+ }
+
+ client.Shutdown(SocketShutdown.Both);
+}
+
+file sealed class ClientOptions
+{
+ public int ClientCount { get; init; } = 1;
+ public string ServerHost { get; init; } = "127.0.0.1";
+ public int ServerPort { get; init; } = 5000;
+ public int StartLocalPort { get; init; } = 6000;
+
+ public static ClientOptions FromArgs(string[] args)
+ {
+ var map = args
+ .Select(v => v.Split('=', 2, StringSplitOptions.TrimEntries))
+ .Where(parts => parts.Length == 2)
+ .ToDictionary(parts => parts[0].TrimStart('-', '/').ToLowerInvariant(), parts => parts[1]);
+
+ return new ClientOptions
+ {
+ ClientCount = GetInt(map, "count", 1),
+ ServerHost = GetString(map, "host", "127.0.0.1"),
+ ServerPort = GetInt(map, "serverport", 5000),
+ StartLocalPort = GetInt(map, "localport", 6000)
+ };
+ }
+
+ private static int GetInt(Dictionary<string, string> map, string key, int defaultValue)
+ => map.TryGetValue(key, out var value) && int.TryParse(value, out var number) ? number : defaultValue;
+
+ private static string GetString(Dictionary<string, string> map, string key, string defaultValue)
+ => map.TryGetValue(key, out var value) && !string.IsNullOrWhiteSpace(value) ? value : defaultValue;
+}
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/BE43EC63E499EE468C0161FA83175A2D/340C5AFE3B0C2AB455087AFF43725D6E" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/BE43EC63E499EE468C0161FA83175A2D/340C5AFE3B0C2AB455087AFF43725D6E"
new file mode 100644
index 0000000..3751555
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/BE43EC63E499EE468C0161FA83175A2D/340C5AFE3B0C2AB455087AFF43725D6E"
@@ -0,0 +1,2 @@
+锘�// See https://aka.ms/new-console-template for more information
+Console.WriteLine("Hello, World!");
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/BE43EC63E499EE468C0161FA83175A2D/57E558275472B567970CA987458436D5" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/BE43EC63E499EE468C0161FA83175A2D/57E558275472B567970CA987458436D5"
new file mode 100644
index 0000000..3751555
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/BE43EC63E499EE468C0161FA83175A2D/57E558275472B567970CA987458436D5"
@@ -0,0 +1,2 @@
+锘�// See https://aka.ms/new-console-template for more information
+Console.WriteLine("Hello, World!");
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/C569B8B80C5D3640BC534EFC4D2E9EFE/57E558275472B567970CA987458436D5" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/C569B8B80C5D3640BC534EFC4D2E9EFE/57E558275472B567970CA987458436D5"
new file mode 100644
index 0000000..bd17540
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/C569B8B80C5D3640BC534EFC4D2E9EFE/57E558275472B567970CA987458436D5"
@@ -0,0 +1,81 @@
+锘縰sing System.Net;
+using System.Net.Sockets;
+using System.Text;
+
+var options = ClientOptions.FromArgs(args);
+
+Console.WriteLine($"鍑嗗鍚姩 {options.ClientCount} 涓鎴风锛岃繛鎺ュ埌 {options.ServerHost}:{options.ServerPort}");
+
+var tasks = Enumerable.Range(0, options.ClientCount)
+ .Select(i => RunClientAsync(i + 1, options))
+ .ToArray();
+
+await Task.WhenAll(tasks);
+
+static async Task RunClientAsync(int clientId, ClientOptions options)
+{
+ var localPort = options.StartLocalPort + clientId - 1;
+
+ using var client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+ client.Bind(new IPEndPoint(IPAddress.Any, localPort));
+
+ await client.ConnectAsync(options.ServerHost, options.ServerPort);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 宸茶繛鎺ワ紝鏈湴绔彛: {localPort}");
+
+ await WriteMessageAsync(client, clientId, $"Hello from client #{clientId}");
+ await ReadMessageAsync(client, clientId);
+
+ client.Shutdown(SocketShutdown.Both);
+}
+
+static async Task WriteMessageAsync(Socket client, int clientId, string message)
+{
+ var framedMessage = $"<START>{message}<END>";
+ var sendBuffer = Encoding.UTF8.GetBytes(framedMessage);
+ await client.SendAsync(sendBuffer, SocketFlags.None);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鍙戦��: {framedMessage}");
+}
+
+static async Task ReadMessageAsync(Socket client, int clientId)
+{
+ var receiveBuffer = new byte[1024];
+ var length = await client.ReceiveAsync(receiveBuffer, SocketFlags.None);
+ if (length <= 0)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏈帴鏀跺埌鏁版嵁");
+ return;
+ }
+
+ var response = Encoding.UTF8.GetString(receiveBuffer, 0, length);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌: {response}");
+}
+
+file sealed class ClientOptions
+{
+ public int ClientCount { get; init; } = 1;
+ public string ServerHost { get; init; } = "127.0.0.1";
+ public int ServerPort { get; init; } = 5000;
+ public int StartLocalPort { get; init; } = 6000;
+
+ public static ClientOptions FromArgs(string[] args)
+ {
+ var map = args
+ .Select(v => v.Split('=', 2, StringSplitOptions.TrimEntries))
+ .Where(parts => parts.Length == 2)
+ .ToDictionary(parts => parts[0].TrimStart('-', '/').ToLowerInvariant(), parts => parts[1]);
+
+ return new ClientOptions
+ {
+ ClientCount = GetInt(map, "count", 1),
+ ServerHost = GetString(map, "host", "127.0.0.1"),
+ ServerPort = GetInt(map, "serverport", 5000),
+ StartLocalPort = GetInt(map, "localport", 6000)
+ };
+ }
+
+ private static int GetInt(Dictionary<string, string> map, string key, int defaultValue)
+ => map.TryGetValue(key, out var value) && int.TryParse(value, out var number) ? number : defaultValue;
+
+ private static string GetString(Dictionary<string, string> map, string key, string defaultValue)
+ => map.TryGetValue(key, out var value) && !string.IsNullOrWhiteSpace(value) ? value : defaultValue;
+}
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/C569B8B80C5D3640BC534EFC4D2E9EFE/EEF5B4E6C1E13E5E42E047DE7B74D577" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/C569B8B80C5D3640BC534EFC4D2E9EFE/EEF5B4E6C1E13E5E42E047DE7B74D577"
new file mode 100644
index 0000000..bd17540
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/C569B8B80C5D3640BC534EFC4D2E9EFE/EEF5B4E6C1E13E5E42E047DE7B74D577"
@@ -0,0 +1,81 @@
+锘縰sing System.Net;
+using System.Net.Sockets;
+using System.Text;
+
+var options = ClientOptions.FromArgs(args);
+
+Console.WriteLine($"鍑嗗鍚姩 {options.ClientCount} 涓鎴风锛岃繛鎺ュ埌 {options.ServerHost}:{options.ServerPort}");
+
+var tasks = Enumerable.Range(0, options.ClientCount)
+ .Select(i => RunClientAsync(i + 1, options))
+ .ToArray();
+
+await Task.WhenAll(tasks);
+
+static async Task RunClientAsync(int clientId, ClientOptions options)
+{
+ var localPort = options.StartLocalPort + clientId - 1;
+
+ using var client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+ client.Bind(new IPEndPoint(IPAddress.Any, localPort));
+
+ await client.ConnectAsync(options.ServerHost, options.ServerPort);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 宸茶繛鎺ワ紝鏈湴绔彛: {localPort}");
+
+ await WriteMessageAsync(client, clientId, $"Hello from client #{clientId}");
+ await ReadMessageAsync(client, clientId);
+
+ client.Shutdown(SocketShutdown.Both);
+}
+
+static async Task WriteMessageAsync(Socket client, int clientId, string message)
+{
+ var framedMessage = $"<START>{message}<END>";
+ var sendBuffer = Encoding.UTF8.GetBytes(framedMessage);
+ await client.SendAsync(sendBuffer, SocketFlags.None);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鍙戦��: {framedMessage}");
+}
+
+static async Task ReadMessageAsync(Socket client, int clientId)
+{
+ var receiveBuffer = new byte[1024];
+ var length = await client.ReceiveAsync(receiveBuffer, SocketFlags.None);
+ if (length <= 0)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏈帴鏀跺埌鏁版嵁");
+ return;
+ }
+
+ var response = Encoding.UTF8.GetString(receiveBuffer, 0, length);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌: {response}");
+}
+
+file sealed class ClientOptions
+{
+ public int ClientCount { get; init; } = 1;
+ public string ServerHost { get; init; } = "127.0.0.1";
+ public int ServerPort { get; init; } = 5000;
+ public int StartLocalPort { get; init; } = 6000;
+
+ public static ClientOptions FromArgs(string[] args)
+ {
+ var map = args
+ .Select(v => v.Split('=', 2, StringSplitOptions.TrimEntries))
+ .Where(parts => parts.Length == 2)
+ .ToDictionary(parts => parts[0].TrimStart('-', '/').ToLowerInvariant(), parts => parts[1]);
+
+ return new ClientOptions
+ {
+ ClientCount = GetInt(map, "count", 1),
+ ServerHost = GetString(map, "host", "127.0.0.1"),
+ ServerPort = GetInt(map, "serverport", 5000),
+ StartLocalPort = GetInt(map, "localport", 6000)
+ };
+ }
+
+ private static int GetInt(Dictionary<string, string> map, string key, int defaultValue)
+ => map.TryGetValue(key, out var value) && int.TryParse(value, out var number) ? number : defaultValue;
+
+ private static string GetString(Dictionary<string, string> map, string key, string defaultValue)
+ => map.TryGetValue(key, out var value) && !string.IsNullOrWhiteSpace(value) ? value : defaultValue;
+}
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/E6DFDF72DCCF3C46ABA29988BCD5456A/57E558275472B567970CA987458436D5" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/E6DFDF72DCCF3C46ABA29988BCD5456A/57E558275472B567970CA987458436D5"
new file mode 100644
index 0000000..5bae94a
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/E6DFDF72DCCF3C46ABA29988BCD5456A/57E558275472B567970CA987458436D5"
@@ -0,0 +1,92 @@
+锘縰sing System.Net;
+using System.Net.Sockets;
+using System.Text;
+
+var options = ClientOptions.FromArgs(args);
+
+Console.WriteLine($"鍑嗗鍚姩 {options.ClientCount} 涓鎴风锛岃繛鎺ュ埌 {options.ServerHost}:{options.ServerPort}");
+
+var tasks = Enumerable.Range(0, options.ClientCount)
+ .Select(i => RunClientAsync(i + 1, options))
+ .ToArray();
+
+await Task.WhenAll(tasks);
+
+static async Task RunClientAsync(int clientId, ClientOptions options)
+{
+ var localPort = options.StartLocalPort + clientId - 1;
+
+ using var client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+ client.Bind(new IPEndPoint(IPAddress.Any, localPort));
+
+ await client.ConnectAsync(options.ServerHost, options.ServerPort);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 宸茶繛鎺ワ紝鏈湴绔彛: {localPort}");
+
+
+ await WriteMessageAsync(client, clientId, $"Homed");
+ await WriteMessageAsync(client, clientId, $"Runmodemode,2");
+ await WriteMessageAsync(client, clientId, $"Armobject,0");
+ await WriteMessageAsync(client, clientId, $"Controlmode,1");
+
+ await ReadMessageAsync(client, clientId);
+ client.Shutdown(SocketShutdown.Both);
+}
+
+static async Task WriteMessageAsync(Socket client, int clientId, string message)
+{
+ var framedMessage = $"<START>{message}<END>";
+ var sendBuffer = Encoding.UTF8.GetBytes(framedMessage);
+ await client.SendAsync(sendBuffer, SocketFlags.None);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鍙戦��: {framedMessage}");
+}
+
+static async Task ReadMessageAsync(Socket client, int clientId)
+{
+ var receiveBuffer = new byte[1024];
+ var length = await client.ReceiveAsync(receiveBuffer, SocketFlags.None);
+ if (length <= 0)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏈帴鏀跺埌鏁版嵁");
+ return;
+ }
+
+ var response = Encoding.UTF8.GetString(receiveBuffer, 0, length);
+ if (!response.StartsWith("<START>") || !response.EndsWith("<END>"))
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌鏃犳晥娑堟伅锛堢己灏戞秷鎭ご鎴栨秷鎭熬锛夛紝宸插拷鐣�");
+ return;
+ }
+
+ var content = response["<START>".Length..^"<END>".Length];
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌: {content}");
+}
+
+file sealed class ClientOptions
+{
+ public int ClientCount { get; init; } = 1;
+ public string ServerHost { get; init; } = "127.0.0.1";
+ public int ServerPort { get; init; } = 2000;
+ public int StartLocalPort { get; init; } = 62312;
+
+ public static ClientOptions FromArgs(string[] args)
+ {
+ var map = args
+ .Select(v => v.Split('=', 2, StringSplitOptions.TrimEntries))
+ .Where(parts => parts.Length == 2)
+ .ToDictionary(parts => parts[0].TrimStart('-', '/').ToLowerInvariant(), parts => parts[1]);
+
+ return new ClientOptions
+ {
+ ClientCount = GetInt(map, "count", 1),
+ ServerHost = GetString(map, "host", "127.0.0.1"),
+ ServerPort = GetInt(map, "serverport", 2000),
+ StartLocalPort = GetInt(map, "localport", 62312)
+ };
+ }
+
+ private static int GetInt(Dictionary<string, string> map, string key, int defaultValue)
+ => map.TryGetValue(key, out var value) && int.TryParse(value, out var number) ? number : defaultValue;
+
+ private static string GetString(Dictionary<string, string> map, string key, string defaultValue)
+ => map.TryGetValue(key, out var value) && !string.IsNullOrWhiteSpace(value) ? value : defaultValue;
+}
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/E6DFDF72DCCF3C46ABA29988BCD5456A/F977376DB3B74CAF672118CAACA4BA95" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/E6DFDF72DCCF3C46ABA29988BCD5456A/F977376DB3B74CAF672118CAACA4BA95"
new file mode 100644
index 0000000..5bae94a
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/E6DFDF72DCCF3C46ABA29988BCD5456A/F977376DB3B74CAF672118CAACA4BA95"
@@ -0,0 +1,92 @@
+锘縰sing System.Net;
+using System.Net.Sockets;
+using System.Text;
+
+var options = ClientOptions.FromArgs(args);
+
+Console.WriteLine($"鍑嗗鍚姩 {options.ClientCount} 涓鎴风锛岃繛鎺ュ埌 {options.ServerHost}:{options.ServerPort}");
+
+var tasks = Enumerable.Range(0, options.ClientCount)
+ .Select(i => RunClientAsync(i + 1, options))
+ .ToArray();
+
+await Task.WhenAll(tasks);
+
+static async Task RunClientAsync(int clientId, ClientOptions options)
+{
+ var localPort = options.StartLocalPort + clientId - 1;
+
+ using var client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+ client.Bind(new IPEndPoint(IPAddress.Any, localPort));
+
+ await client.ConnectAsync(options.ServerHost, options.ServerPort);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 宸茶繛鎺ワ紝鏈湴绔彛: {localPort}");
+
+
+ await WriteMessageAsync(client, clientId, $"Homed");
+ await WriteMessageAsync(client, clientId, $"Runmodemode,2");
+ await WriteMessageAsync(client, clientId, $"Armobject,0");
+ await WriteMessageAsync(client, clientId, $"Controlmode,1");
+
+ await ReadMessageAsync(client, clientId);
+ client.Shutdown(SocketShutdown.Both);
+}
+
+static async Task WriteMessageAsync(Socket client, int clientId, string message)
+{
+ var framedMessage = $"<START>{message}<END>";
+ var sendBuffer = Encoding.UTF8.GetBytes(framedMessage);
+ await client.SendAsync(sendBuffer, SocketFlags.None);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鍙戦��: {framedMessage}");
+}
+
+static async Task ReadMessageAsync(Socket client, int clientId)
+{
+ var receiveBuffer = new byte[1024];
+ var length = await client.ReceiveAsync(receiveBuffer, SocketFlags.None);
+ if (length <= 0)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏈帴鏀跺埌鏁版嵁");
+ return;
+ }
+
+ var response = Encoding.UTF8.GetString(receiveBuffer, 0, length);
+ if (!response.StartsWith("<START>") || !response.EndsWith("<END>"))
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌鏃犳晥娑堟伅锛堢己灏戞秷鎭ご鎴栨秷鎭熬锛夛紝宸插拷鐣�");
+ return;
+ }
+
+ var content = response["<START>".Length..^"<END>".Length];
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌: {content}");
+}
+
+file sealed class ClientOptions
+{
+ public int ClientCount { get; init; } = 1;
+ public string ServerHost { get; init; } = "127.0.0.1";
+ public int ServerPort { get; init; } = 2000;
+ public int StartLocalPort { get; init; } = 62312;
+
+ public static ClientOptions FromArgs(string[] args)
+ {
+ var map = args
+ .Select(v => v.Split('=', 2, StringSplitOptions.TrimEntries))
+ .Where(parts => parts.Length == 2)
+ .ToDictionary(parts => parts[0].TrimStart('-', '/').ToLowerInvariant(), parts => parts[1]);
+
+ return new ClientOptions
+ {
+ ClientCount = GetInt(map, "count", 1),
+ ServerHost = GetString(map, "host", "127.0.0.1"),
+ ServerPort = GetInt(map, "serverport", 2000),
+ StartLocalPort = GetInt(map, "localport", 62312)
+ };
+ }
+
+ private static int GetInt(Dictionary<string, string> map, string key, int defaultValue)
+ => map.TryGetValue(key, out var value) && int.TryParse(value, out var number) ? number : defaultValue;
+
+ private static string GetString(Dictionary<string, string> map, string key, string defaultValue)
+ => map.TryGetValue(key, out var value) && !string.IsNullOrWhiteSpace(value) ? value : defaultValue;
+}
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/state.mpack" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/state.mpack"
new file mode 100644
index 0000000..db6a5d2
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/CopilotSnapshots/BD12C3365E39344589EDC65CA163A4E7/state.mpack"
Binary files differ
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/RobotClient.slnx/copilot-chat/bef6627e/sessions/36c312bd-395e-4534-89ed-c65ca163a4e7" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/RobotClient.slnx/copilot-chat/bef6627e/sessions/36c312bd-395e-4534-89ed-c65ca163a4e7"
new file mode 100644
index 0000000..5d0d42d
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/RobotClient.slnx/copilot-chat/bef6627e/sessions/36c312bd-395e-4534-89ed-c65ca163a4e7"
Binary files differ
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/RobotClient.slnx/v18/DocumentLayout.backup.json" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/RobotClient.slnx/v18/DocumentLayout.backup.json"
new file mode 100644
index 0000000..e70c512
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/RobotClient.slnx/v18/DocumentLayout.backup.json"
@@ -0,0 +1,49 @@
+{
+ "Version": 1,
+ "WorkspaceRootPath": "C:\\Users\\29028\\Desktop\\\u673A\u68B0\u624B\u5BA2\u6237\u7AEF\\RobotClient\\",
+ "Documents": [
+ {
+ "AbsoluteMoniker": "D:0:0:{B1C3E674-86D3-6DBD-F67F-E7F395016C7C}|RobotClient.csproj|c:\\users\\29028\\desktop\\\u673A\u68B0\u624B\u5BA2\u6237\u7AEF\\robotclient\\program.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+ "RelativeMoniker": "D:0:0:{B1C3E674-86D3-6DBD-F67F-E7F395016C7C}|RobotClient.csproj|solutionrelative:program.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+ }
+ ],
+ "DocumentGroupContainers": [
+ {
+ "Orientation": 0,
+ "VerticalTabListWidth": 256,
+ "DocumentGroups": [
+ {
+ "DockedWidth": 200,
+ "SelectedChildIndex": 3,
+ "Children": [
+ {
+ "$type": "Bookmark",
+ "Name": "ST:128:0:{116d2292-e37d-41cd-a077-ebacac4c8cc4}"
+ },
+ {
+ "$type": "Bookmark",
+ "Name": "ST:0:0:{40ea2e6b-2121-4bb8-a43e-c83c04b51041}"
+ },
+ {
+ "$type": "Bookmark",
+ "Name": "ST:0:0:{aa2115a1-9712-457b-9047-dbb71ca2cdd2}"
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 0,
+ "Title": "Program.cs",
+ "DocumentMoniker": "C:\\Users\\29028\\Desktop\\\u673A\u68B0\u624B\u5BA2\u6237\u7AEF\\RobotClient\\Program.cs",
+ "RelativeDocumentMoniker": "Program.cs",
+ "ToolTip": "C:\\Users\\29028\\Desktop\\\u673A\u68B0\u624B\u5BA2\u6237\u7AEF\\RobotClient\\Program.cs",
+ "RelativeToolTip": "Program.cs",
+ "ViewState": "AgIAAPwAAAAAAAAAAAAowBgBAABBAAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-02-27T07:38:54.023Z",
+ "EditorCaption": ""
+ }
+ ]
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/RobotClient.slnx/v18/DocumentLayout.json" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/RobotClient.slnx/v18/DocumentLayout.json"
new file mode 100644
index 0000000..e70c512
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/.vs/RobotClient.slnx/v18/DocumentLayout.json"
@@ -0,0 +1,49 @@
+{
+ "Version": 1,
+ "WorkspaceRootPath": "C:\\Users\\29028\\Desktop\\\u673A\u68B0\u624B\u5BA2\u6237\u7AEF\\RobotClient\\",
+ "Documents": [
+ {
+ "AbsoluteMoniker": "D:0:0:{B1C3E674-86D3-6DBD-F67F-E7F395016C7C}|RobotClient.csproj|c:\\users\\29028\\desktop\\\u673A\u68B0\u624B\u5BA2\u6237\u7AEF\\robotclient\\program.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+ "RelativeMoniker": "D:0:0:{B1C3E674-86D3-6DBD-F67F-E7F395016C7C}|RobotClient.csproj|solutionrelative:program.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+ }
+ ],
+ "DocumentGroupContainers": [
+ {
+ "Orientation": 0,
+ "VerticalTabListWidth": 256,
+ "DocumentGroups": [
+ {
+ "DockedWidth": 200,
+ "SelectedChildIndex": 3,
+ "Children": [
+ {
+ "$type": "Bookmark",
+ "Name": "ST:128:0:{116d2292-e37d-41cd-a077-ebacac4c8cc4}"
+ },
+ {
+ "$type": "Bookmark",
+ "Name": "ST:0:0:{40ea2e6b-2121-4bb8-a43e-c83c04b51041}"
+ },
+ {
+ "$type": "Bookmark",
+ "Name": "ST:0:0:{aa2115a1-9712-457b-9047-dbb71ca2cdd2}"
+ },
+ {
+ "$type": "Document",
+ "DocumentIndex": 0,
+ "Title": "Program.cs",
+ "DocumentMoniker": "C:\\Users\\29028\\Desktop\\\u673A\u68B0\u624B\u5BA2\u6237\u7AEF\\RobotClient\\Program.cs",
+ "RelativeDocumentMoniker": "Program.cs",
+ "ToolTip": "C:\\Users\\29028\\Desktop\\\u673A\u68B0\u624B\u5BA2\u6237\u7AEF\\RobotClient\\Program.cs",
+ "RelativeToolTip": "Program.cs",
+ "ViewState": "AgIAAPwAAAAAAAAAAAAowBgBAABBAAAAAAAAAA==",
+ "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+ "WhenOpened": "2026-02-27T07:38:54.023Z",
+ "EditorCaption": ""
+ }
+ ]
+ }
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/CLAUDE.md" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/CLAUDE.md"
new file mode 100644
index 0000000..4a65701
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/CLAUDE.md"
@@ -0,0 +1,83 @@
+# CLAUDE.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+## Project Overview
+
+RobotClient is a .NET 8.0 TCP client simulator for a robotic arm control system. It creates multiple concurrent TCP connections to a server, simulating robotic arm clients that can send/receive control commands and status messages.
+
+## Build and Run Commands
+
+```bash
+# Build the project
+dotnet build
+
+# Run with default settings (1 client, connects to 127.0.0.1:2000)
+dotnet run
+
+# Run with custom options (format: key=value)
+dotnet run -- count=5 host=192.168.1.100 serverport=3000 localport=50000 reconnect=false
+
+# Build Docker image
+docker build -t robot-client .
+
+# Run in Docker
+docker run -it robot-client
+```
+
+### Command-Line Options
+
+| Option | Default | Description |
+|--------|---------|-------------|
+| `count` | 1 | Number of client connections to create |
+| `host` | 127.0.0.1 | Server host address |
+| `serverport` | 2000 | Server port |
+| `localport` | 62312 | Starting local port (each client uses localport + clientId) |
+| `reconnect` | true | Enable automatic reconnection |
+| `reconnectinterval` | 5000 | Reconnect delay in milliseconds |
+| `maxreconnect` | -1 | Max reconnect attempts (-1 = infinite) |
+
+## Architecture
+
+The entire application is contained in `Program.cs` using C# top-level statements. The architecture follows a multi-client concurrent pattern:
+
+### Core Components
+
+1. **ClientOptions** (line 358-397): Configuration parser that processes command-line arguments into a strongly-typed options object.
+
+2. **RunClientAsync** (line 23-50): Entry point for each client. Binds to a local port, establishes initial connection, spawns a background listener with reconnection logic, and sends initialization commands.
+
+3. **ConnectAsync** (line 52-67): Low-level TCP connection using `Socket` with explicit local port binding.
+
+4. **RunWithReconnectAsync** (line 69-134): Wrapper around the message listener that handles automatic reconnection with configurable limits and delays.
+
+5. **ListenServerMessagesAsync** (line 181-234): Continuous receive loop that buffers incoming data and parses framed messages. Properly cleans up sockets on disconnect.
+
+6. **TryReadFramedMessages** (line 236-293): Parses messages using `<START>content<END>` framing protocol. Handles partial messages and buffers incomplete data. Contains simulated robot commands:
+ - `Pickbattery,1` 鈫� Simulates picking operation (5 seconds)
+ - `Putbattery,1` 鈫� Simulates placing operation (5 seconds)
+
+7. **SendLoopAsync** (line 295-356): Interactive console input loop allowing manual commands to specific clients using format `clientId:message` (e.g., `1:Status`). Type `exit` to quit.
+
+### Initialization Sequence
+
+Each client sends these commands on connection/startup:
+1. `Homed` 鈫� Wait 500ms
+2. `Runmode,2` 鈫� Wait 500ms
+3. `Armobject,0` 鈫� Wait 500ms
+4. `Controlmode,1`
+
+### Protocol
+
+All messages use the frame format: `<START>message<END>`
+
+- UTF-8 encoded
+- Message boundaries are explicit, allowing streaming
+- Invalid data before `<START>` is discarded
+- Cache limits 10KB to prevent memory exhaustion
+
+### Thread Safety
+
+- `ConcurrentDictionary<int, Socket>` tracks active client connections
+- Each client runs its own background Task for receiving messages
+- Socket cleanup happens in `finally` blocks to prevent resource leaks
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/Dockerfile" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/Dockerfile"
new file mode 100644
index 0000000..5da3c0f
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/Dockerfile"
@@ -0,0 +1,28 @@
+# 璇峰弬闃� https://aka.ms/customizecontainer 浠ヤ簡瑙ｅ浣曡嚜瀹氫箟璋冭瘯瀹瑰櫒锛屼互鍙� Visual Studio 濡備綍浣跨敤姝� Dockerfile 鐢熸垚鏄犲儚浠ユ洿蹇湴杩涜璋冭瘯銆�
+
+# 姝ら樁娈电敤浜庡湪蹇�熸ā寮�(榛樿涓鸿皟璇曢厤缃�)涓嬩粠 VS 杩愯鏃�
+FROM mcr.microsoft.com/dotnet/runtime:8.0 AS base
+USER $APP_UID
+WORKDIR /app
+
+
+# 姝ら樁娈电敤浜庣敓鎴愭湇鍔￠」鐩�
+FROM mcr.microsoft.com/dotnet/sdk:8.0 AS build
+ARG BUILD_CONFIGURATION=Release
+WORKDIR /src
+COPY ["RobotClient.csproj", "."]
+RUN dotnet restore "./RobotClient.csproj"
+COPY . .
+WORKDIR "/src/."
+RUN dotnet build "./RobotClient.csproj" -c $BUILD_CONFIGURATION -o /app/build
+
+# 姝ら樁娈电敤浜庡彂甯冭澶嶅埗鍒版渶缁堥樁娈电殑鏈嶅姟椤圭洰
+FROM build AS publish
+ARG BUILD_CONFIGURATION=Release
+RUN dotnet publish "./RobotClient.csproj" -c $BUILD_CONFIGURATION -o /app/publish /p:UseAppHost=false
+
+# 姝ら樁娈靛湪鐢熶骇涓娇鐢紝鎴栧湪甯歌妯″紡涓嬩粠 VS 杩愯鏃朵娇鐢�(鍦ㄤ笉浣跨敤璋冭瘯閰嶇疆鏃朵负榛樿鍊�)
+FROM base AS final
+WORKDIR /app
+COPY --from=publish /app/publish .
+ENTRYPOINT ["dotnet", "RobotClient.dll"]
\ No newline at end of file
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/Program.cs" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/Program.cs"
new file mode 100644
index 0000000..f765a8a
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/Program.cs"
@@ -0,0 +1,399 @@
+锘縰sing System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Collections.Concurrent;
+
+var options = ClientOptions.FromArgs(args);
+var cts = new CancellationTokenSource();
+var clients = new ConcurrentDictionary<int, Socket>();
+
+Console.WriteLine($"鍑嗗鍚姩 {options.ClientCount} 涓鎴风锛岃繛鎺ュ埌 {options.ServerHost}:{options.ServerPort}");
+
+// 鍚姩鎵�鏈夊鎴风杩炴帴浠诲姟
+var connectTasks = Enumerable.Range(0, options.ClientCount)
+ .Select(i => RunClientAsync(i + 1, options, clients, cts.Token))
+ .ToArray();
+
+// 绛夊緟鎵�鏈夊鎴风杩炴帴瀹屾垚
+await Task.WhenAll(connectTasks);
+
+// 鍚姩鍙戦�佸惊鐜紙涓庣洃鍚换鍔″苟琛岃繍琛岋級
+await SendLoopAsync(clients, cts);
+
+static async Task RunClientAsync(int clientId, ClientOptions options, ConcurrentDictionary<int, Socket> clients, CancellationToken cancellationToken)
+{
+ var localPort = options.StartLocalPort + clientId - 1;
+
+ // 楠岃瘉绔彛鑼冨洿
+ if (localPort > 65535)
+ {
+ Console.WriteLine($"閿欒: 瀹㈡埛绔�#{clientId} 鐨勬湰鍦扮鍙� {localPort} 瓒呭嚭鏈夋晥鑼冨洿");
+ return;
+ }
+
+ // 棣栨杩炴帴
+ var client = await ConnectAsync(clientId, options, localPort, cancellationToken);
+ if (client == null)
+ {
+ return;
+ }
+
+ clients[clientId] = client;
+
+ // 鍚姩甯﹂噸杩炲姛鑳界殑鐩戝惉浠诲姟锛堝悗鍙拌繍琛岋紝涓嶉樆濉烇級
+ _ = Task.Run(() => RunWithReconnectAsync(clientId, options, localPort, clients, cancellationToken), cancellationToken);
+
+ // 鍙戦�佸垵濮嬪寲娑堟伅
+ await InitializeClientAsync(client, clientId);
+
+ // 绔嬪嵆杩斿洖锛岃涓荤嚎绋嬬户缁墽琛� SendLoopAsync
+}
+
+static async Task<Socket?> ConnectAsync(int clientId, ClientOptions options, int localPort, CancellationToken cancellationToken)
+{
+ try
+ {
+ var client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+ // 鍏佽閲嶇敤鏈湴绔彛锛岃В鍐抽噸杩炴椂绔彛琚崰鐢ㄧ殑闂
+ client.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
+ client.Bind(new IPEndPoint(IPAddress.Any, localPort));
+ await client.ConnectAsync(options.ServerHost, options.ServerPort);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 宸茶繛鎺ワ紝鏈湴绔彛: {localPort}");
+ return client;
+ }
+ catch (Exception ex)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 杩炴帴澶辫触: {ex.Message}");
+ return null;
+ }
+}
+
+static async Task RunWithReconnectAsync(int clientId, ClientOptions options, int localPort, ConcurrentDictionary<int, Socket> clients, CancellationToken cancellationToken)
+{
+ var reconnectCount = 0;
+
+ while (!cancellationToken.IsCancellationRequested)
+ {
+ Socket? client = null;
+ try
+ {
+ // 鑾峰彇褰撳墠杩炴帴鐨� Socket锛堝鏋滃瓨鍦級
+ if (clients.TryGetValue(clientId, out client))
+ {
+ // 鐩戝惉娑堟伅锛岀洿鍒拌繛鎺ユ柇寮�
+ // ListenServerMessagesAsync 鐨� finally 浼氳嚜鍔ㄦ竻鐞嗘柇寮�鐨� Socket
+ await ListenServerMessagesAsync(client, clientId, cancellationToken, clients);
+ }
+
+ // 杩炴帴宸叉柇寮�锛岃繘鍏ラ噸杩為�昏緫
+ reconnectCount++;
+
+ // 妫�鏌ユ槸鍚﹀惎鐢ㄩ噸杩�
+ if (!options.EnableReconnect)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 閲嶈繛宸茬鐢紝閫�鍑�");
+ return;
+ }
+
+ // 妫�鏌ラ噸杩炴鏁伴檺鍒�
+ if (options.MaxReconnectAttempts > 0 && reconnectCount > options.MaxReconnectAttempts)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 宸茶揪鍒版渶澶ч噸杩炴鏁� ({options.MaxReconnectAttempts})锛岄��鍑�");
+ return;
+ }
+
+ // 绛夊緟閲嶈繛闂撮殧
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 绛夊緟 {options.ReconnectIntervalMs / 1000} 绉掑悗閲嶈繛... (绗� {reconnectCount} 娆�)");
+ await Task.Delay(options.ReconnectIntervalMs, cancellationToken);
+
+ // 灏濊瘯閲嶆柊杩炴帴
+ client = await ConnectAsync(clientId, options, localPort, cancellationToken);
+ if (client == null)
+ {
+ continue;
+ }
+
+ // 灏嗘柊 Socket 鍔犲叆瀛楀吀
+ clients[clientId] = client;
+
+ // 閲嶆柊鍒濆鍖�
+ await InitializeClientAsync(client, clientId);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 閲嶈繛鎴愬姛锛屽凡閲嶆柊鍒濆鍖�");
+ }
+ catch (OperationCanceledException)
+ {
+ // 姝ｅ父鍙栨秷
+ return;
+ }
+ catch (Exception ex)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 杩愯寮傚父: {ex.Message}");
+ clients.TryRemove(clientId, out _);
+ try { client?.Shutdown(SocketShutdown.Both); } catch { }
+ try { client?.Dispose(); } catch { }
+ }
+ }
+}
+
+static async Task InitializeClientAsync(Socket client, int clientId)
+{
+ await Task.Delay(5000);
+ await WriteMessageAsync(client, clientId, "Homed");
+ await Task.Delay(500);
+
+ await WriteMessageAsync(client, clientId, "Runmode,2");
+ await Task.Delay(500);
+
+ await WriteMessageAsync(client, clientId, "Armobject,0");
+ await Task.Delay(500);
+
+ await WriteMessageAsync(client, clientId, "Controlmode,1");
+}
+
+static async Task WriteMessageAsync(Socket client, int clientId, string message)
+{
+ var framedMessage = $"<START>{message}<END>";
+ var sendBuffer = Encoding.UTF8.GetBytes(framedMessage);
+ await client.SendAsync(sendBuffer, SocketFlags.None);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鍙戦��: {framedMessage}");
+}
+
+static async Task ReadMessageAsync(Socket client, int clientId)
+{
+ var receiveBuffer = new byte[1024];
+ var length = await client.ReceiveAsync(receiveBuffer, SocketFlags.None);
+ if (length <= 0)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏈帴鏀跺埌鏁版嵁");
+ return;
+ }
+
+ var response = Encoding.UTF8.GetString(receiveBuffer, 0, length);
+ if (!response.StartsWith("<START>") || !response.EndsWith("<END>"))
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌鏃犳晥娑堟伅锛堢己灏戞秷鎭ご鎴栨秷鎭熬锛夛紝宸插拷鐣�");
+ return;
+ }
+
+ var content = response["<START>".Length..^"<END>".Length];
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌: {content}");
+
+
+}
+
+static async Task ListenServerMessagesAsync(Socket client, int clientId, CancellationToken cancellationToken, ConcurrentDictionary<int, Socket> clients)
+{
+ var receiveBuffer = new byte[1024];
+ var cache = new StringBuilder();
+
+ try
+ {
+ while (!cancellationToken.IsCancellationRequested)
+ {
+ int length;
+ try
+ {
+ length = await client.ReceiveAsync(receiveBuffer, SocketFlags.None, cancellationToken);
+ }
+ catch (SocketException)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 涓庢湇鍔＄鏂紑杩炴帴");
+ return;
+ }
+ catch (ObjectDisposedException)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} Socket 宸茶閲婃斁");
+ return;
+ }
+
+ if (length <= 0)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 涓庢湇鍔＄鏂紑杩炴帴");
+ return;
+ }
+
+ cache.Append(Encoding.UTF8.GetString(receiveBuffer, 0, length));
+ await TryReadFramedMessages(cache, clientId, client);
+ }
+ }
+ catch (OperationCanceledException)
+ {
+ // 姝ｅ父鍙栨秷锛屼笉闇�瑕佽褰曢敊璇�
+ }
+ catch (Exception ex)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鎺ユ敹娑堟伅寮傚父: {ex.Message}");
+ }
+ finally
+ {
+ // 杩炴帴鏂紑鏃讹紝浠庡瓧鍏镐腑绉婚櫎杩欎釜 Socket锛堝鏋滆繕鏄綋鍓嶇殑璇濓級
+ clients.TryRemove(clientId, out var removed);
+ if (removed == client)
+ {
+ try { client.Shutdown(SocketShutdown.Both); } catch { }
+ try { client.Dispose(); } catch { }
+ }
+ }
+}
+
+static async Task TryReadFramedMessages(StringBuilder cache, int clientId, Socket client)
+{
+ const string start = "<START>";
+ const string end = "<END>";
+
+ while (true)
+ {
+ var text = cache.ToString();
+ var startIndex = text.IndexOf(start, StringComparison.Ordinal);
+ if (startIndex < 0)
+ {
+ // 娌℃湁鎵惧埌 START 鏍囪锛屼繚鐣欑紦瀛樼瓑寰呮洿澶氭暟鎹�
+ // 浣嗗鏋滅紦瀛樺お澶э紝娓呯┖浠ラ槻鍐呭瓨娉勬紡
+ if (cache.Length > 10240) // 10KB 闃堝��
+ {
+ cache.Clear();
+ }
+ return;
+ }
+
+ var endIndex = text.IndexOf(end, startIndex + start.Length, StringComparison.Ordinal);
+ if (endIndex < 0)
+ {
+ // 绉婚櫎 START 涔嬪墠鐨勬棤鏁堟暟鎹�
+ if (startIndex > 0)
+ {
+ cache.Remove(0, startIndex);
+ }
+ return;
+ }
+
+ var contentStart = startIndex + start.Length;
+ var contentLength = endIndex - contentStart;
+ var content = text.Substring(contentStart, contentLength);
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鏀跺埌: {content}");
+
+ cache.Remove(0, endIndex + end.Length);
+
+ if (content == "Pickbattery,1")
+ {
+ await WriteMessageAsync(client, clientId, "Running");
+ await Task.Delay(1000);
+ await WriteMessageAsync(client, clientId, "Picking");
+
+ //await WriteMessageAsync(client, clientId, "PickFinished,1,2,3,4");
+ }
+ else if (content == "Putbattery,1")
+ {
+ await WriteMessageAsync(client, clientId, "Running");
+ await Task.Delay(500);
+ await WriteMessageAsync(client, clientId, "Puting");
+ await Task.Delay(5000);
+
+ //await WriteMessageAsync(client, clientId, "PutFinished,1,2,3,4");
+ }
+ }
+}
+
+static async Task SendLoopAsync(ConcurrentDictionary<int, Socket> clients, CancellationTokenSource cts)
+{
+ Console.WriteLine("杈撳叆鏍煎紡: 瀹㈡埛绔紪鍙�:娑堟伅锛屼緥濡� 1:Status锛岃緭鍏� exit 閫�鍑�");
+
+ while (!cts.IsCancellationRequested)
+ {
+ var line = Console.ReadLine();
+ if (string.IsNullOrWhiteSpace(line))
+ {
+ continue;
+ }
+
+ if (line.Equals("exit", StringComparison.OrdinalIgnoreCase))
+ {
+ cts.Cancel();
+ foreach (var socket in clients.Values)
+ {
+ try
+ {
+ socket.Shutdown(SocketShutdown.Both);
+ socket.Dispose();
+ }
+ catch { }
+ }
+ return;
+ }
+
+ var index = line.IndexOf(':');
+ if (index <= 0 || index == line.Length - 1)
+ {
+ Console.WriteLine("杈撳叆涓嶆纭紝璇蜂娇鐢�: 瀹㈡埛绔紪鍙�:娑堟伅");
+ continue;
+ }
+
+ var idText = line[..index];
+ var message = line[(index + 1)..];
+ if (!int.TryParse(idText, out var clientId) || !clients.TryGetValue(clientId, out var client))
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{idText} 涓嶅瓨鍦ㄦ垨鏈繛鎺�");
+ continue;
+ }
+
+ try
+ {
+ await WriteMessageAsync(client, clientId, message);
+ }
+ catch (ObjectDisposedException)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鍙戦�佸け璐�: Socket 宸插叧闂紙鍙兘姝ｅ湪閲嶈繛涓級");
+ clients.TryRemove(clientId, out _);
+ }
+ catch (SocketException ex)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鍙戦�佸け璐�: {ex.Message}");
+ clients.TryRemove(clientId, out _);
+ }
+ catch (Exception ex)
+ {
+ Console.WriteLine($"瀹㈡埛绔�#{clientId} 鍙戦�佸け璐�: {ex.GetType().Name} - {ex.Message}");
+ }
+ }
+}
+
+file sealed class ClientOptions
+{
+ public int ClientCount { get; init; } = 1;
+ public string ServerHost { get; init; } = "127.0.0.1";
+ public int ServerPort { get; init; } = 2000;
+ public int StartLocalPort { get; init; } = 62312;
+ public bool EnableReconnect { get; init; } = true;
+ public int ReconnectIntervalMs { get; init; } = 5000;
+ public int MaxReconnectAttempts { get; init; } = -1; // -1 琛ㄧず鏃犻檺閲嶈瘯
+
+ public static ClientOptions FromArgs(string[] args)
+ {
+ var map = args
+ .Select(v => v.Split('=', 2, StringSplitOptions.TrimEntries))
+ .Where(parts => parts.Length == 2)
+ .ToDictionary(parts => parts[0].TrimStart('-', '/').ToLowerInvariant(), parts => parts[1]);
+
+ return new ClientOptions
+ {
+ ClientCount = GetInt(map, "count", 1),
+ ServerHost = GetString(map, "host", "127.0.0.1"),
+ ServerPort = GetInt(map, "serverport", 2000),
+ StartLocalPort = GetInt(map, "localport", 62312),
+ EnableReconnect = GetBool(map, "reconnect", true),
+ ReconnectIntervalMs = GetInt(map, "reconnectinterval", 5000),
+ MaxReconnectAttempts = GetInt(map, "maxreconnect", -1)
+ };
+ }
+
+ private static bool GetBool(Dictionary<string, string> map, string key, bool defaultValue)
+ => map.TryGetValue(key, out var value)
+ ? (bool.TryParse(value, out var result) ? result : defaultValue)
+ : defaultValue;
+
+ private static int GetInt(Dictionary<string, string> map, string key, int defaultValue)
+ => map.TryGetValue(key, out var value) && int.TryParse(value, out var number) ? number : defaultValue;
+
+ private static string GetString(Dictionary<string, string> map, string key, string defaultValue)
+ => map.TryGetValue(key, out var value) && !string.IsNullOrWhiteSpace(value) ? value : defaultValue;
+}
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/Properties/launchSettings.json" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/Properties/launchSettings.json"
new file mode 100644
index 0000000..2cf775a
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/Properties/launchSettings.json"
@@ -0,0 +1,10 @@
+{
+ "profiles": {
+ "RobotClient": {
+ "commandName": "Project"
+ },
+ "Container (Dockerfile)": {
+ "commandName": "Docker"
+ }
+ }
+}
\ No newline at end of file
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/RobotClient.csproj" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/RobotClient.csproj"
new file mode 100644
index 0000000..1a81153
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/RobotClient.csproj"
@@ -0,0 +1,16 @@
+锘�<Project Sdk="Microsoft.NET.Sdk">
+
+ <PropertyGroup>
+ <OutputType>Exe</OutputType>
+ <TargetFramework>net8.0</TargetFramework>
+ <ImplicitUsings>enable</ImplicitUsings>
+ <Nullable>enable</Nullable>
+ <DockerDefaultTargetOS>Linux</DockerDefaultTargetOS>
+ <DockerfileContext>.</DockerfileContext>
+ </PropertyGroup>
+
+ <ItemGroup>
+ <PackageReference Include="Microsoft.VisualStudio.Azure.Containers.Tools.Targets" Version="1.23.0" />
+ </ItemGroup>
+
+</Project>
diff --git "a/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/RobotClient.slnx" "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/RobotClient.slnx"
new file mode 100644
index 0000000..9354864
--- /dev/null
+++ "b/Code/\346\234\272\346\242\260\346\211\213\345\256\242\346\210\267\347\253\257/RobotClient/RobotClient.slnx"
@@ -0,0 +1,3 @@
+<Solution>
+ <Project Path="RobotClient.csproj" />
+</Solution>
--
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