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 | 459 ++++++++++++++++-----------------------------------------
1 files changed, 131 insertions(+), 328 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index e338e6f..028248c 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,38 +1,64 @@
-锘縰sing HslCommunication;
-using Newtonsoft.Json;
using Quartz;
-using System.Collections.Concurrent;
-using System.Net.Sockets;
-using System.Text.Json;
-using WIDESEAWCS_Common.HttpEnum;
-using WIDESEAWCS_Core;
+using WIDESEA_Core;
+using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
-using WIDESEAWCS_Core.Http;
-using WIDESEAWCS_DTO.Stock;
-using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
-using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_Tasks.SocketServer;
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 readonly TcpSocketServer _TcpSocket;
- private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
- private static int _eventSubscribedFlag;
- private readonly IRobotTaskService _taskService;
- private readonly ITaskExecuteDetailService _taskExecuteDetailService;
- private readonly ITaskRepository _taskRepository;
- private readonly IRouterService _routerService;
+ private const int MaxTaskTotalNum = 48;
- public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService taskService)
+ private static int _messageSubscribedFlag;
+
+ private readonly RobotClientManager _clientManager;
+ private readonly RobotStateManager _stateManager;
+ private readonly RobotMessageHandler _messageHandler;
+ private readonly RobotTaskProcessor _taskProcessor;
+ private readonly IRobotTaskService _robotTaskService;
+
+ public RobotJob(
+ TcpSocketServer tcpSocket,
+ IRobotTaskService robotTaskService,
+ ITaskService taskService,
+ ICacheService cache,
+ HttpClientHelper httpClientHelper)
{
- _TcpSocket = TcpSocket;
- _taskService = taskService;
+ _robotTaskService = robotTaskService;
+
+ // 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)
@@ -47,341 +73,118 @@
string ipAddress = robotCrane.IPAddress;
// 鑾峰彇鎴栧垱寤虹姸鎬�
- RobotSocketState state = _socketStates.GetOrAdd(ipAddress, _ => new RobotSocketState
- {
- IPAddress = ipAddress,
- RobotCrane = robotCrane
- });
-
- // 鏇存柊璁惧淇℃伅
+ RobotSocketState state = _stateManager.GetOrCreateState(ipAddress, robotCrane);
state.RobotCrane = robotCrane;
- // 妫�鏌ユ槸鍚︽湁璇ュ鎴风杩炴帴
- var clientIds = _TcpSocket.GetClientIds();
- if (!clientIds.Contains(ipAddress))
+ try
{
- return;
- }
-
- // 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)
- {
- _TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client);
- Task clientTask = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state);
- state.IsEventSubscribed = true;
- }
-
- // 鑾峰彇浠诲姟骞剁紦瀛樺埌鐘舵�佷腑
- Dt_RobotTask? task = GetTask(robotCrane);
- if (task != null)
- {
- state.CurrentTask = task;
- if (task.RobotTaskTotalNum != 48)
+ // 纭繚瀹㈡埛绔凡杩炴帴骞惰闃呮秷鎭簨浠�
+ if (!_clientManager.EnsureClientSubscribed(ipAddress, robotCrane))
{
- // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
- if (state.RobotRunMode == 1 && state.RobotControlMode == 1)
- {
- await Task.Delay(1000);
- if ((state.CurrentAction == "Homed" || state.CurrentAction == "PickFinished" || state.CurrentAction == "PutFinished") && state.OperStatus == "Running")
- {
- // TODO 璇诲彇绾夸綋鐢垫睜鏉＄爜锛屽彂閫佸彇鐢垫睜鎸囦护
- if (true)
- {
- // 妯℃嫙璇诲彇鏉＄爜
- state.CellBarcode = new string[] { "CellBarcode1", "CellBarcode2", "CellBarcode3", "CellBarcode4" };
+ return; // 瀹㈡埛绔湭杩炴帴鎴栬闃呭け璐ワ紝璺宠繃鏈鎵ц
+ }
- string taskString = $"Pickbattery,{task.RobotSourceAddress}";
- // 鍙戦�佷换鍔℃寚浠�
- bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
- }
- }
+ // 鑾峰彇浠诲姟骞跺鐞�
+ Dt_RobotTask? task = _taskProcessor.GetTask(robotCrane);
+ if (task != null)
+ {
+ // 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)
+ {
+ await ProcessTaskAsync(latestState, task, ipAddress);
}
}
}
-
- return;
- }
-
- /// <summary>
- /// 浜嬩欢锛氬鎴风鏂紑杩炴帴鏃惰Е鍙�
- /// </summary>
- /// <param name="clientId"></param>
- /// <returns></returns>
- private Task<string?> _TcpSocket_RobotReceived(string clientId)
- {
- _socketStates.TryRemove(clientId, out _);
- 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)
- {
- WebResponseContent content = new WebResponseContent();
- string messageLower = message.ToLowerInvariant();
-
- if (IsSimpleCommand(messageLower, state))
+ catch (Exception)
{
- return null;
+ // 寮傚父澶勭悊宸插湪鍚勭粍浠朵腑澶勭悊
}
+ }
- if (IsPrefixCommand(messageLower))
+ /// <summary>
+ /// 澶勭悊鏈烘鎵嬩换鍔�
+ /// </summary>
+ private async Task ProcessTaskAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
+ {
+ // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
+ if (latestState.RobotRunMode == 2 && latestState.RobotControlMode == 1 && latestState.OperStatus != "Running")
{
- 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)
- {
- var cmd = parts[0].ToLowerInvariant();
- int[] positions = new int[4];
- for (int i = 1; i <= 4 && i < parts.Length; i++)
- {
- int.TryParse(parts[i], out positions[i - 1]);
- }
-
- if (cmd.StartsWith("pickfinished"))
- {
- StockDTO stockDTO = 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.CurrentTask?.RobotTaskTotalNum ?? 1,
- Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
- CellBarcode = state.CellBarcode[idx]
- })
- .ToList()
- };
- state.LastPickPositions = positions;
-
- var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), state.CurrentTask?.RobotTaskType == 2 ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.SplitPalletAsync));
- content = JsonConvert.DeserializeObject<WebResponseContent>(result);
-
- if (content.Status)
- {
- state.CurrentAction = "PickFinished";
- }
- }
- else if (cmd.StartsWith("putfinished"))
- {
- state.LastPutPositions = positions;
- if (state.CurrentTask?.RobotTaskType == 1)
- {
- // 鍙戦�佹暟鎹粰WMS缁勭洏/鎹㈢洏
- StockDTO stockDTO = 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.CurrentTask?.RobotTaskTotalNum ?? 1,
- Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
- CellBarcode = state.CellBarcode[idx]
- })
- .ToList()
- };
- var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.GroupPalletAsync));
- content = JsonConvert.DeserializeObject<WebResponseContent>(result);
-
- if (content.Status)
- {
- state.CurrentAction = "PutFinished";
- }
- }
- }
- }
+ await HandlePickFinishedStateAsync(latestState, task, ipAddress);
}
- catch { }
-
- return null;
+ // 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()))
+ {
+ await HandlePutFinishedStateAsync(latestState, task, ipAddress);
+ }
}
-
- 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 bool IsSimpleCommand(string message, RobotSocketState state)
+ private async Task HandlePickFinishedStateAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
{
- switch (message)
+ string taskString = $"Putbattery,{task.RobotTargetAddress}";
+ bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
+ if (result)
{
- case "homing":
- state.CurrentAction = "Homing";
- return true;
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- case "homed":
- state.CurrentAction = "Homed";
- return true;
-
- case "picking":
- state.CurrentAction = "Picking";
- return true;
-
- case "puting":
- state.CurrentAction = "Putting";
- return true;
-
- case "allpickfinished":
- state.CurrentAction = "AllPickFinished";
- if(state.CurrentTask?.RobotTaskType == 2|| state.CurrentTask?.RobotTaskType == 3)
- {
- // TODO 鏈烘鎵嬪彇璐у畬鎴愶紝鍒ゆ柇鏄惁鎹㈢洏銆佹媶鐩樹换鍔★紝鍒涘缓绌烘墭鐩樺洖搴撲换鍔�
- }
- return true;
-
- case "allputfinished":
- state.CurrentAction = "AllPutFinished";
- if (state.CurrentTask?.RobotTaskType == 1 )
- {
- // TODO 鏈烘鎵嬪彇璐у畬鎴愶紝鍒ゆ柇鏄惁缁勭洏浠诲姟锛屽垱寤虹粍鐩樺叆搴撲换鍔�
- }
- 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;
+ // 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>
- /// 鏈烘鎵嬪墠缂�鍛戒护澶勭悊
+ /// 澶勭悊鏀捐揣瀹屾垚鐘舵��
/// </summary>
- /// <param name="message"></param>
- /// <returns></returns>
- private static bool IsPrefixCommand(string message)
+ private async Task HandlePutFinishedStateAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
{
- return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
- }
+ // 閲嶆柊鑾峰彇鏈�鏂扮姸鎬�
+ var stateForUpdate = _stateManager.GetState(ipAddress);
+ if (stateForUpdate == null) return;
- private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
- {
- return _taskService.QueryRobotCraneTask(robotCrane.DeviceCode);
+ 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>
- /// 鏈烘鎵嬫姄鍙栧璞�
- /// </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 string[] CellBarcode { get; set; }
-
- /// <summary>
- /// 褰撳墠鎶撳彇浠诲姟
- /// </summary>
- public Dt_RobotTask? CurrentTask { get; set; }
- }
-}
\ No newline at end of file
+}
--
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