From b1f5b17a608d3d9c06ce216c7e1effc5edcc7b74 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期一, 06 四月 2026 19:53:31 +0800
Subject: [PATCH] 更新机器人工作流逻辑、配置并添加电子表格
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs | 193 ++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 184 insertions(+), 9 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
index b344986..4f2960d 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
@@ -1,5 +1,8 @@
+using Microsoft.Extensions.Logging;
using WIDESEA_Core;
using WIDESEAWCS_Common.TaskEnum;
+using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
@@ -7,102 +10,274 @@
namespace WIDESEAWCS_Tasks.Workflow
{
/// <summary>
- /// RobotJob 流程编排器：迁移原 RobotJob 状态机分支，降低 Job 类复杂度。
+ /// 鏈哄櫒浜轰换鍔＄紪鎺掑櫒 - 璐熻矗 RobotJob 涓殑鐘舵�佹満娴佽浆鍜屾墽琛屾楠ょ紪鎺�
/// </summary>
+ /// <remarks>
+ /// 杩佺Щ鍘� RobotJob 鐘舵�佹満娴佽浆鏀寔锛岄檷浣� Job 灞傜殑澶嶆潅搴︺��
+ ///
+ /// 鏍稿績鑱岃矗锛�
+ /// 1. 鏍规嵁鏈哄櫒浜哄綋鍓嶇姸鎬佸拰浠诲姟鐘舵�侊紝鍐冲畾涓嬩竴姝ュ姩浣�
+ /// 2. 澶勭悊鍙栬揣瀹屾垚鍚庣殑鏀捐揣鎸囦护涓嬪彂
+ /// 3. 澶勭悊鏀捐揣瀹屾垚鍚庣殑鍙栬揣鎸囦护涓嬪彂锛堢粍鐩樺満鏅級
+ ///
+ /// 鐘舵�佹満娴佽浆瑙勫垯锛�
+ /// - 鏉′欢锛歊obotRunMode == 2锛堣嚜鍔ㄦā寮忥級涓� RobotControlMode == 1锛堝鎴风鎺у埗锛変笖 OperStatus != "Running"
+ /// - 鍙栬揣瀹屾垚 -> 鏀捐揣锛歅ickFinished + RobotArmObject == 1 + RobotPickFinish -> 鍙戦�� Putbattery
+ /// - 鏀捐揣瀹屾垚 -> 鍙栬揣锛歅utFinished + Homed + RobotArmObject == 0 -> 鍙戦�� Pickbattery锛堢粍鐩�/鎹㈢洏鍦烘櫙锛�
+ /// </remarks>
public class RobotWorkflowOrchestrator : IRobotWorkflowOrchestrator
{
+ /// <summary>
+ /// 鏈烘鎵嬬姸鎬佺鐞嗗櫒
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬璇诲彇鍜屾洿鏂版満鍣ㄤ汉鐨勭姸鎬併��
+ /// </remarks>
private readonly RobotStateManager _stateManager;
+
+ /// <summary>
+ /// 鏈烘鎵嬪鎴风绠＄悊鍣�
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬鍚戞満鍣ㄤ汉瀹㈡埛绔彂閫佹寚浠ゃ��
+ /// </remarks>
private readonly RobotClientManager _clientManager;
+
+ /// <summary>
+ /// 浠诲姟澶勭悊鍣�
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬鎵ц浠诲姟鐩稿叧鐨勪笟鍔￠�昏緫锛屽鍙戦�佸彇璐ф寚浠ゃ��
+ /// </remarks>
private readonly RobotTaskProcessor _taskProcessor;
+
+ /// <summary>
+ /// 鏈哄櫒浜轰换鍔℃湇鍔�
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬鏇存柊浠诲姟鐘舵�併��
+ /// </remarks>
private readonly IRobotTaskService _robotTaskService;
+ /// <summary>
+ /// 鏃ュ織璁板綍鍣�
+ /// </summary>
+ private readonly ILogger _logger;
+
+ /// <summary>
+ /// 鏋勯�犲嚱鏁�
+ /// </summary>
+ /// <param name="stateManager">鐘舵�佺鐞嗗櫒</param>
+ /// <param name="clientManager">瀹㈡埛绔鐞嗗櫒</param>
+ /// <param name="taskProcessor">浠诲姟澶勭悊鍣�</param>
+ /// <param name="robotTaskService">浠诲姟鏈嶅姟</param>
+ /// <param name="logger">鏃ュ織璁板綍鍣�</param>
public RobotWorkflowOrchestrator(
RobotStateManager stateManager,
RobotClientManager clientManager,
RobotTaskProcessor taskProcessor,
- IRobotTaskService robotTaskService)
+ IRobotTaskService robotTaskService,
+ ILogger logger)
{
_stateManager = stateManager;
_clientManager = clientManager;
_taskProcessor = taskProcessor;
_robotTaskService = robotTaskService;
+ _logger = logger;
}
+ /// <summary>
+ /// 鎵ц浠诲姟缂栨帓娴佺▼
+ /// </summary>
+ /// <remarks>
+ /// 鏍规嵁鏈哄櫒浜哄綋鍓嶇姸鎬佸拰浠诲姟鐘舵�侊紝鍐冲畾鏄惁涓嬪彂鎸囦护銆�
+ ///
+ /// 鎵ц鏉′欢锛�
+ /// 1. 鏈哄櫒浜哄浜庤嚜鍔ㄦā寮忥紙RobotRunMode == 2锛�
+ /// 2. 鏈哄櫒浜哄浜庡鎴风鎺у埗妯″紡锛圧obotControlMode == 1锛�
+ /// 3. 鏈哄櫒浜轰笉鍦ㄨ繍琛屼腑锛圤perStatus != "Running"锛�
+ ///
+ /// 娴佽浆閫昏緫锛�
+ /// - 鍙栬揣瀹屾垚涓旀墜鑷傛湁璐� -> 鍙戦�佹斁璐ф寚浠わ紙Putbattery锛�
+ /// - 鏀捐揣瀹屾垚涓旀墜鑷傛棤璐� -> 鍙戦�佸彇璐ф寚浠わ紙Pickbattery锛�
+ /// </remarks>
+ /// <param name="latestState">鏈哄櫒浜烘渶鏂扮姸鎬�</param>
+ /// <param name="task">寰呮墽琛岀殑鏈哄櫒浜轰换鍔�</param>
+ /// <param name="ipAddress">鏈哄櫒浜� IP 鍦板潃</param>
public async Task ExecuteAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
{
- // 保持原有分支判定条件不变，确保行为一致。
- if (latestState.RobotRunMode == 2 && latestState.RobotControlMode == 1 && latestState.OperStatus != "Running")
+ // 鎸夊師鏂规鍒嗘敮鍒ゆ柇锛岀‘淇濋�昏緫涓�鑷�
+ // 妫�鏌ユ槸鍚︽弧瓒宠嚜鍔ㄦ帶鍒舵潯浠讹細
+ // 1. 杩愯妯″紡涓鸿嚜鍔紙2锛�
+ // 2. 鎺у埗妯″紡涓哄鎴风鎺у埗锛�1锛�
+ // 3. 杩愯鐘舵�佹槸 Running
+ if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running")
{
+ if(latestState.CurrentAction == "Picking" || latestState.CurrentAction == "Puting")
+ {
+ return;
+ }
+
+ // ========== 鍙栬揣瀹屾垚鍚庣殑鏀捐揣澶勭悊 ==========
+ // 鏉′欢锛�
+ // - 褰撳墠鍔ㄤ綔鏄� PickFinished 鎴� AllPickFinished锛堝彇璐у畬鎴愶級
+ // - 鎵嬭噦涓婃湁鐗╂枡锛圧obotArmObject == 1锛�
+ // - 浠诲姟鐘舵�佷负 RobotPickFinish锛堝凡璁板綍鍙栬揣瀹屾垚锛�
if ((latestState.CurrentAction == "PickFinished" || latestState.CurrentAction == "AllPickFinished")
- && latestState.RobotArmObject == 1
+ && latestState.RobotArmObject == 0
&& task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode())
{
+ _logger.LogInformation("ExecuteAsync锛氭弧瓒虫斁璐ф潯浠讹紝寮�濮嬪鐞嗗彇璐у畬鎴愶紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Info($"ExecuteAsync锛氭弧瓒虫斁璐ф潯浠讹紝寮�濮嬪鐞嗗彇璐у畬鎴�", latestState.RobotCrane?.DeviceName ?? ipAddress);
+ // 鍙戦�佹斁璐ф寚浠�
await HandlePickFinishedStateAsync(task, ipAddress);
}
- else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished")
- && latestState.OperStatus == "Homed"
+
+ // ========== 鍒濆鍖栨垨鑰呮斁璐у畬鎴愬悗鐨勫彇璐у鐞� ==========
+ // 鏉′欢锛�
+ // - 褰撳墠鍔ㄤ綔鏄� PutFinished銆丄llPutFinished 鎴� null锛堟斁璐у畬鎴愶級
+ // - 杩愯鐘舵�佷负 Homed锛堝凡褰掍綅锛�
+ // - 鎵嬭噦涓婃棤鐗╂枡锛圧obotArmObject == 0锛�
+ // - 浠诲姟鐘舵�佷负 RobotPutFinish 鎴栦笉鏄� RobotExecuting
+ else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction.IsNullOrEmpty())
&& latestState.RobotArmObject == 0
&& (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode()
|| task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
{
+ _logger.LogInformation("ExecuteAsync锛氭弧瓒冲彇璐ф潯浠讹紝寮�濮嬪鐞嗘斁璐у畬鎴愶紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Info($"ExecuteAsync锛氭弧瓒冲彇璐ф潯浠讹紝寮�濮嬪鐞嗘斁璐у畬鎴�", latestState.RobotCrane?.DeviceName ?? ipAddress);
+ // 鍙戦�佸彇璐ф寚浠�
await HandlePutFinishedStateAsync(task, ipAddress);
}
}
}
+ /// <summary>
+ /// 澶勭悊鍙栬揣瀹屾垚鍚庣殑鏀捐揣鎸囦护
+ /// </summary>
+ /// <remarks>
+ /// 褰撳彇璐у畬鎴愬悗锛屽悜鏈哄櫒浜哄彂閫佹斁璐ф寚浠わ紙Putbattery锛夈��
+ /// 鏈哄櫒浜烘敹鍒版寚浠ゅ悗浼氬皢璐х墿鏀剧疆鍒扮洰鏍囧湴鍧�銆�
+ ///
+ /// 鎸囦护鏍煎紡锛歅utbattery,{鐩爣鍦板潃}
+ /// 渚嬪锛歅utbattery,B01 琛ㄧず灏嗚揣鐗╂斁缃埌 B01 浣嶇疆
+ /// </remarks>
+ /// <param name="task">褰撳墠浠诲姟</param>
+ /// <param name="ipAddress">鏈哄櫒浜� IP 鍦板潃</param>
private async Task HandlePickFinishedStateAsync(Dt_RobotTask task, string ipAddress)
{
+ // 鏋勫缓鏀捐揣鎸囦护锛屾牸寮忥細Putbattery,{鐩爣鍦板潃}
string taskString = $"Putbattery,{task.RobotTargetAddress}";
+
+ // 閫氳繃瀹㈡埛绔鐞嗗櫒鍙戦�佹寚浠ゅ埌鏈哄櫒浜�
bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
+
if (result)
{
+ // 鍙戦�佹垚鍔燂紝璁板綍 Info 鏃ュ織
+ _logger.LogInformation("HandlePickFinishedStateAsync锛氫笅鍙戞斁璐ф寚浠ゆ垚鍔燂紝鎸囦护: {TaskString}锛屼换鍔″彿: {TaskNum}", taskString, task.RobotTaskNum);
+ QuartzLogger.Info($"涓嬪彂鏀捐揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}", task.RobotRoadway);
+
+ // 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ // 鑾峰彇鏈�鏂扮姸鎬佸苟鏇存柊浠诲姟鍏宠仈
var stateToUpdate = _stateManager.GetState(ipAddress);
if (stateToUpdate != null)
{
stateToUpdate.CurrentTask = task;
+
+ // 瀹夊叏鏇存柊鐘舵�佸埌 Redis
if (_stateManager.TryUpdateStateSafely(ipAddress, stateToUpdate))
{
+ // 鐘舵�佹洿鏂版垚鍔熷悗锛屾洿鏂颁换鍔¤褰�
await _robotTaskService.UpdateRobotTaskAsync(task);
}
}
}
+ else
+ {
+ // 鍙戦�佸け璐ワ紝璁板綍 Error 鏃ュ織
+ _logger.LogError("HandlePickFinishedStateAsync锛氫笅鍙戞斁璐ф寚浠ゅけ璐ワ紝鎸囦护: {TaskString}锛屼换鍔″彿: {TaskNum}", taskString, task.RobotTaskNum);
+ QuartzLogger.Error($"涓嬪彂鏀捐揣鎸囦护澶辫触锛屾寚浠�: {taskString}", task.RobotRoadway);
+ }
}
+ /// <summary>
+ /// 澶勭悊鏀捐揣瀹屾垚鍚庣殑鍙栬揣鎸囦护
+ /// </summary>
+ /// <remarks>
+ /// 褰撴斁璐у畬鎴愬悗锛屾牴鎹换鍔＄被鍨嬪喅瀹氫笅涓�姝ワ細
+ ///
+ /// 1. 濡傛灉涓嶆槸鎷嗙洏涔熶笉鏄粍鐩橈紙鏅�氫换鍔★級锛�
+ /// - 鐩存帴鍙戦�佸彇璐ф寚浠�
+ ///
+ /// 2. 濡傛灉鏄粍鐩樻垨鎹㈢洏浠诲姟锛�
+ /// - 鐢熸垚鏂扮殑鎵樼洏鏉＄爜
+ /// - 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑
+ /// - 鍙戦�佸彇璐ф寚浠�
+ ///
+ /// 缁勭洏浠诲姟鐨勬潯鐮佺敤浜庢爣璇嗘柊鐢熸垚鐨勬墭鐩橈紝
+ /// 鍚庣画鏀捐揣鏃朵細鐢ㄥ埌杩欎簺鏉＄爜淇℃伅銆�
+ /// </remarks>
+ /// <param name="task">褰撳墠浠诲姟</param>
+ /// <param name="ipAddress">鏈哄櫒浜� IP 鍦板潃</param>
private async Task HandlePutFinishedStateAsync(Dt_RobotTask task, string ipAddress)
{
+ // 鑾峰彇鏈�鏂扮姸鎬�
var stateForUpdate = _stateManager.GetState(ipAddress);
if (stateForUpdate == null)
{
+ _logger.LogWarning("HandlePutFinishedStateAsync锛氳幏鍙栫姸鎬佸け璐ワ紝IP: {IpAddress}", ipAddress);
+ QuartzLogger.Warn($"HandlePutFinishedStateAsync锛氳幏鍙栫姸鎬佸け璐ワ紝IP: {ipAddress}", ipAddress);
return;
}
+ // 濡傛灉鐘舵�佷腑杩樻病鏈夎缃换鍔＄被鍨嬫爣蹇楋紝鏍规嵁浠诲姟绫诲瀷璁剧疆
if (!stateForUpdate.IsSplitPallet && !stateForUpdate.IsGroupPallet)
{
+ // 鍒ゆ柇浠诲姟绫诲瀷骞惰缃浉搴旂殑鏍囧織
stateForUpdate.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
stateForUpdate.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode()
|| task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
}
+ // 濡傛灉鏄粍鐩樹换鍔★紙鍖呮嫭鎹㈢洏锛�
if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
{
+ // 鐢熸垚鎵樼洏鏉＄爜鍓嶇紑
const string prefix = "TRAY";
+
+ // 鐢熸垚涓や釜鎵樼洏鏉＄爜锛堢敤浜庣粍鐩樻搷浣滐級
string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
+
+ // 濡傛灉鏉＄爜鐢熸垚鎴愬姛
if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
{
+ // 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
stateForUpdate.CellBarcode.Add(trayBarcode1);
stateForUpdate.CellBarcode.Add(trayBarcode2);
+
+ // 璁板綍鏃ュ織锛氱敓鎴愭墭鐩樻潯鐮佹垚鍔�
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氱敓鎴愭墭鐩樻潯鐮佹垚鍔�: {Barcode1}+{Barcode2}锛屼换鍔″彿: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
+ QuartzLogger.Info($"鐢熸垚鎵樼洏鏉＄爜鎴愬姛: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);
+
+ // 鍙戦�佸彇璐ф寚浠�
await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ }
+ else
+ {
+ // 鏉＄爜鐢熸垚澶辫触锛岃褰曢敊璇棩蹇�
+ _logger.LogError("HandlePutFinishedStateAsync锛氱敓鎴愭墭鐩樻潯鐮佸け璐ワ紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Error($"鐢熸垚鎵樼洏鏉＄爜澶辫触", stateForUpdate.RobotCrane.DeviceName);
}
}
else
{
+ // 闈炵粍鐩樹换鍔★紝鐩存帴鍙戦�佸彇璐ф寚浠�
await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
}
}
}
}
-
-
--
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