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_Tasks/RobotJob/RobotJob.cs | 616 ++++++++++---------------------------------------------
1 files changed, 116 insertions(+), 500 deletions(-)
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
+}
--
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