From b690250002ee04f4309e6a90fd16fbfd9bd959e2 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期五, 01 五月 2026 23:11:23 +0800
Subject: [PATCH] feat(router): 添加托盘操作页面路由
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs | 244 +++++++++++++++++++++++++++++++++++++++---------
1 files changed, 199 insertions(+), 45 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
index 9f8efa0..4da6e19 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
@@ -1,6 +1,5 @@
using Serilog;
using WIDESEAWCS_Common.TaskEnum;
-using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
@@ -42,15 +41,24 @@
private readonly ILogger _logger;
/// <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>
/// 鏋勯�犲嚱鏁�
/// </summary>
/// <param name="taskProcessor">浠诲姟澶勭悊鍣ㄥ疄渚�</param>
/// <param name="logger">鏃ュ織璁板綍鍣�</param>
- public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway, ILogger logger)
+ public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway, ILogger logger, RobotStateManager stateManager)
{
_taskProcessor = taskProcessor;
_socketClientGateway = socketClientGateway;
_logger = logger;
+ _stateManager = stateManager;
}
/// <summary>
@@ -96,7 +104,21 @@
// 鏈哄櫒浜哄凡瀹屾垚鍥為浂
case "homed":
state.Homed = "Homed";
- return true;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ for (int i = 0; i < 5; i++)
+ {
+ QuartzLogHelper.LogDebug(_logger, $"鍙戦�佸洖闆跺畬鎴愭秷鎭紝IP: {state.IPAddress}锛屾鍦ㄩ噸璇�...", state.RobotCrane?.DeviceName ?? "Unknown");
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, "Homed");
+ }
+ return true;
+ }
+ else
+ {
+ QuartzLogHelper.LogError(_logger, $"鍙戦�佸洖闆跺畬鎴愭秷鎭け璐ワ紝IP: {state.IPAddress}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
// 鏈哄櫒浜烘鍦ㄨ繍琛�
case "running":
@@ -131,12 +153,85 @@
// 鏄惁鐢佃姱鍒颁綅
case "batteryarrived":
state.BatteryArrived = true;
- return true;
- // 鏄惁鐢佃姱鍒颁綅
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ for (int i = 0; i < 5; i++)
+ {
+ QuartzLogHelper.LogDebug(_logger, $"鍙戦�佺數鑺埌浣嶆秷鎭紝IP: {state.IPAddress}锛屾鍦ㄩ噸璇�...", state.RobotCrane?.DeviceName ?? "Unknown");
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, "batteryarrived");
+ }
+ return true;
+ }
+ else
+ {
+ QuartzLogHelper.LogError(_logger, $"鍙戦�佺數鑺湭鍒颁綅娑堟伅澶辫触锛孖P: {state.IPAddress}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ // 鏄惁鐢佃姱娌″埌浣�
case "batteryarrivedno":
state.BatteryArrived = false;
- return true;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ for (int i = 0; i < 5; i++)
+ {
+ QuartzLogHelper.LogDebug(_logger, $"鍙戦�佺數鑺湭鍒颁綅娑堟伅锛孖P: {state.IPAddress}锛屾鍦ㄩ噸璇�...", state.RobotCrane?.DeviceName ?? "Unknown");
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, "batteryarrivedno");
+ }
+
+ return true;
+ }
+ else
+ {
+ QuartzLogHelper.LogError(_logger, $"鍙戦�佺數鑺湭鍒颁綅娑堟伅澶辫触锛孖P: {state.IPAddress}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ // ==================== 鎺ユ敹浠诲姟鍙嶉 ====================
+
+ // 鍙栬揣鎺ユ敹
+ case "pickbatteryover":
+ var isResult = UpdateStatus(state, true);
+ if (!isResult)
+ return false;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ for (int i = 0; i < 5; i++)
+ {
+ QuartzLogHelper.LogDebug(_logger, $"鍙戦�佸彇璐ф帴鏀跺畬鎴愶紝IP: {state.IPAddress}锛屾鍦ㄩ噸璇�...", state.RobotCrane?.DeviceName ?? "Unknown");
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, "pickbatteryover");
+ }
+ return true;
+ }
+ else
+ {
+ QuartzLogHelper.LogError(_logger, $"鍙戦�佸彇璐у畬鎴愭秷鎭け璐ワ紝IP: {state.IPAddress}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
+ // 鏀捐揣鎺ユ敹
+ case "putbatteryover":
+ isResult = UpdateStatus(state, false);
+ if (!isResult)
+ return false;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ for (int i = 0; i < 5; i++)
+ {
+ QuartzLogHelper.LogDebug(_logger, $"鍙戦�佹斁璐ф帴鏀舵秷鎭紝IP: {state.IPAddress}锛屾鍦ㄩ噸璇�...", state.RobotCrane?.DeviceName ?? "Unknown");
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, "putbatteryover");
+ }
+ return true;
+ }
+ else
+ {
+ QuartzLogHelper.LogError(_logger, $"鍙戦�佹斁璐у畬鎴愭秷鎭け璐ワ紝IP: {state.IPAddress}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
// ==================== 鍏ㄩ儴瀹屾垚鍛戒护 ====================
@@ -160,15 +255,6 @@
// 鎹㈢洏浠诲姟锛氭牴鎹樁娈靛尯鍒嗗鐞�
if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
{
- // 璋冪敤鎵归噺鎷嗙洏纭鎺ュ彛
- var sourcePallet = state.CurrentTask.RobotSourceAddressPalletCode;
- var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet, state.RobotCrane?.DeviceName);
- if (!confirmResult.IsSuccess)
- {
- QuartzLogHelper.LogError(_logger, $"鎵归噺鎷嗙洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
- return false;
- }
-
if (state.ChangePalletPhase == 5)
{
// FlowB 鏈�缁堥樁娈碉細鍋囩數鑺彇瀹岋紝婧愮┖鎵樼洏鍥炲簱 HCSC1
@@ -183,16 +269,25 @@
return false;
}
- await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
- QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
-
state.CurrentTask = null;
+ state.CurrentTaskNum = null;
state.RobotTaskTotalNum = 0;
state.CellBarcode = new List<string>();
+ state.CurrentBatchBarcodes = new List<string>();
state.ChangePalletPhase = 0;
state.CurrentBatchIndex = 1;
state.IsInFakeBatteryMode = false;
- return true;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
+ }
+ else
+ {
+ return false;
+ }
}
else if (state.ChangePalletPhase != 0)
{
@@ -212,19 +307,25 @@
return false;
}
- if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
- {
- QuartzLogHelper.LogError(_logger, $"allpickfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
- return false;
- }
-
- await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
- QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
+ //if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
+ //{
+ // QuartzLogHelper.LogError(_logger, $"allpickfinished锛氬垹闄や换鍔¤褰曞け璐ワ紝浠诲姟鍙�: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
+ // return false;
+ //}
state.ChangePalletPhase = 0;
state.CurrentBatchIndex = 1;
state.IsInFakeBatteryMode = false;
- return true;
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
+ }
+ else
+ {
+ return false;
+ }
}
// 鎷嗙洏浠诲姟锛氱洿鎺ュ鐞嗗叆搴�
@@ -251,9 +352,16 @@
return false;
}
- await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
- QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
- return true;
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
+ }
+ else
+ {
+ return false;
+ }
}
return false;
}
@@ -277,10 +385,19 @@
// 鎹㈢洏浠诲姟锛氭牴鎹樁娈靛尯鍒嗗鐞�
if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
{
+ // 璋冪敤鎵归噺鎷嗙洏纭鎺ュ彛
+ var sourcePallet = state.CurrentTask.RobotSourceAddressPalletCode;
+ var splitConfirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet, state.RobotCrane?.DeviceName);
+ if (!splitConfirmResult.IsSuccess && !splitConfirmResult.Data.Status)
+ {
+ QuartzLogHelper.LogError(_logger, $"鎵归噺鎷嗙洏纭澶辫触: {splitConfirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+
// 璋冪敤鎵归噺缁勭洏纭鎺ュ彛
var targetPallet = state.CurrentTask.RobotTargetAddressPalletCode;
var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet, state.RobotCrane?.DeviceName);
- if (!confirmResult.IsSuccess)
+ if (!confirmResult.IsSuccess && !confirmResult.Data.Status)
{
QuartzLogHelper.LogError(_logger, $"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
return false;
@@ -301,16 +418,24 @@
}
state.CurrentTask = null;
+ state.CurrentTaskNum = null;
state.RobotTaskTotalNum = 0;
state.CellBarcode = new List<string>();
-
- await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
- QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
-
+ state.CurrentBatchBarcodes = new List<string>();
state.ChangePalletPhase = 0;
state.CurrentBatchIndex = 1;
state.IsInFakeBatteryMode = false;
- return true;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
+ }
+ else
+ {
+ return false;
+ }
}
else if (state.ChangePalletPhase != 0)
{
@@ -337,16 +462,24 @@
}
state.CurrentTask = null;
+ state.CurrentTaskNum = null;
state.RobotTaskTotalNum = 0;
state.CellBarcode = new List<string>();
-
- await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
- QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
-
+ state.CurrentBatchBarcodes = new List<string>();
state.ChangePalletPhase = 0;
state.CurrentBatchIndex = 1;
state.IsInFakeBatteryMode = false;
- return true;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
+ }
+ else
+ {
+ return false;
+ }
}
// 缁勭洏浠诲姟锛氱洿鎺ュ鐞嗗叆搴�
@@ -377,12 +510,21 @@
// 娓呯悊鐘舵�侊紝涓轰笅涓�涓换鍔″仛鍑嗗
state.CurrentTask = null; // 娓呴櫎褰撳墠浠诲姟
+ state.CurrentTaskNum = null; // 娓呴櫎褰撳墠浠诲姟缂栧彿
state.RobotTaskTotalNum = 0; // 閲嶇疆浠诲姟璁℃暟
state.CellBarcode = new List<string>(); // 娓呯┖鏉＄爜鍒楄〃
+ state.CurrentBatchBarcodes = new List<string>(); // 娓呯┖褰撳墠鎵规鏉＄爜
- await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
- QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
- return true;
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogHelper.LogInfo(_logger, $"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+ return true;
+ }
+ else
+ {
+ return false;
+ }
}
return false;
}
@@ -428,5 +570,17 @@
return false;
}
}
+
+ public bool UpdateStatus(RobotSocketState state, bool isPick)
+ {
+ var task = _taskProcessor.GetRobotTask(state?.RobotCrane);
+ if (task == null)
+ {
+ QuartzLogHelper.LogError(_logger, $"鍙栬揣鎺ユ敹澶辫触: 鏈壘鍒般�恵state?.RobotCrane}銆戠殑浠诲姟", state.RobotCrane?.DeviceName ?? "Unknown");
+ return false;
+ }
+ task.RobotTaskState = (int)TaskRobotStatusEnum.RobotExecuting;
+ return _taskProcessor.UpdateRobotTask(task);
+ }
}
}
\ No newline at end of file
--
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