From b6c983ac19c0c80744795e122575f4b9ac145414 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期日, 19 四月 2026 18:53:40 +0800
Subject: [PATCH] feat: 更新机器人任务处理逻辑和接口配置
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs | 81 +++++++++++++++++++++++++++++++---------
1 files changed, 63 insertions(+), 18 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs
index c016c47..e9cb3cc 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs
@@ -1,4 +1,5 @@
using MapsterMapper;
+using Masuit.Tools;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.Logging;
using Newtonsoft.Json;
@@ -14,6 +15,7 @@
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.Service;
+using ManualInboundTaskHandler = WIDESEAWCS_Tasks.ConveyorLineNewJob.ManualInbound.ManualInboundTaskHandler;
namespace WIDESEAWCS_Tasks
{
@@ -39,6 +41,12 @@
/// 浠诲姟鏈嶅姟
/// </summary>
private readonly ITaskService _taskService;
+
+
+ /// <summary>
+ /// 鏈哄櫒浜轰换鍔℃湇鍔�
+ /// </summary>
+ private readonly IRobotTaskService _robotTaskService;
/// <summary>
/// 浠诲姟鎵ц鏄庣粏鏈嶅姟
@@ -92,7 +100,7 @@
/// <param name="mapper">瀵硅薄鏄犲皠鍣�</param>
/// <param name="httpClientHelper">HTTP 瀹㈡埛绔府鍔╃被</param>
/// <param name="logger">鏃ュ織璁板綍鍣�</param>
- public CommonConveyorLineNewJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IMapper mapper, HttpClientHelper httpClientHelper, ILogger<CommonConveyorLineNewJob> logger)
+ public CommonConveyorLineNewJob(ITaskService taskService, ITaskExecuteDetailService taskExecuteDetailService, IRouterService routerService, IMapper mapper, HttpClientHelper httpClientHelper, ILogger<CommonConveyorLineNewJob> logger, IRobotTaskService robotTaskService)
{
_taskService = taskService;
_taskExecuteDetailService = taskExecuteDetailService;
@@ -100,6 +108,7 @@
_mapper = mapper;
_httpClientHelper = httpClientHelper;
_logger = logger;
+ _robotTaskService = robotTaskService;
// 鍒濆鍖栬皟搴﹀鐞嗗櫒
_conveyorLineDispatch = new ConveyorLineDispatchHandler(_taskService, _taskExecuteDetailService, _routerService, _mapper, _logger);
@@ -132,8 +141,7 @@
if (childDeviceCodes == null || childDeviceCodes.Count == 0)
{
// 娌℃湁瀛愯澶囷紝鐩存帴杩斿洖
- _logger.LogInformation("杈撻�佺嚎 {DeviceCode} 娌℃湁瀛愯澶�", conveyorLine.DeviceCode);
- QuartzLogger.Info($"杈撻�佺嚎 {conveyorLine.DeviceCode} 娌℃湁瀛愯澶�", conveyorLine.DeviceCode);
+ QuartzLogHelper.LogInfo(_logger, "杈撻�佺嚎 {DeviceCode} 娌℃湁瀛愯澶�", $"杈撻�佺嚎 {conveyorLine.DeviceCode} 娌℃湁瀛愯澶�", conveyorLine.DeviceCode, conveyorLine.DeviceCode);
return Task.CompletedTask;
}
@@ -143,9 +151,6 @@
// // 闄愬埗骞跺彂鏁帮細瀛愯澶囨暟閲忓拰 CPU 鏍稿績鏁�*2 鐨勮緝灏忓��
// MaxDegreeOfParallelism = Math.Min(childDeviceCodes.Count, Environment.ProcessorCount * 2),
//};
-
- //_logger.LogDebug("Execute锛氬紑濮嬪苟琛屽鐞嗚緭閫佺嚎 {DeviceCode}锛屽瓙璁惧鏁伴噺: {Count}", conveyorLine.DeviceCode, childDeviceCodes.Count);
- //QuartzLogger.Debug($"寮�濮嬪苟琛屽鐞嗚緭閫佺嚎锛屽瓙璁惧鏁伴噺: {childDeviceCodes.Count}", conveyorLine.DeviceCode);
// 骞惰澶勭悊姣忎釜瀛愯澶�
//Parallel.For(0, childDeviceCodes.Count, parallelOptions, i =>
@@ -161,11 +166,10 @@
// 濡傛灉鍛戒护涓虹┖锛岃烦杩�
if (command == null)
{
- _logger.LogDebug("Execute锛氬瓙璁惧 {ChildDeviceCode} 鍛戒护涓虹┖锛岃烦杩�", childDeviceCode);
- QuartzLogger.Debug($"瀛愯澶� {childDeviceCode} 鍛戒护涓虹┖锛岃烦杩�", conveyorLine.DeviceCode);
continue;
}
+ #region 妫�娴嬫槸鍚﹂渶瑕佺┖鎵樼洏
// ========== 妫�鏌ョ壒瀹氫綅缃槸鍚︽湁鎵樼洏 ==========
// 浠庨厤缃腑璇诲彇闇�瑕佹鏌ユ墭鐩樼殑浣嶇疆鍒楄〃
@@ -184,8 +188,7 @@
{
// 娌℃湁浠诲姟锛屽悜 WMS 璇锋眰鍑哄簱鎵樼洏浠诲姟
var position = checkPalletPositions.FirstOrDefault(x => x.Code == childDeviceCode);
- _logger.LogInformation("Execute锛氭鏌ユ墭鐩樹綅缃� {ChildDeviceCode}锛岃姹俉MS鍑哄簱鎵樼洏浠诲姟", childDeviceCode);
- QuartzLogger.Info($"妫�鏌ユ墭鐩樹綅缃� {childDeviceCode}锛岃姹俉MS鍑哄簱鎵樼洏浠诲姟", conveyorLine.DeviceCode);
+ QuartzLogHelper.LogInfo(_logger, "Execute锛氭鏌ユ墭鐩樹綅缃� {ChildDeviceCode}锛岃姹俉MS鍑哄簱鎵樼洏浠诲姟", $"妫�鏌ユ墭鐩樹綅缃� {childDeviceCode}锛岃姹俉MS鍑哄簱鎵樼洏浠诲姟", conveyorLine.DeviceCode, childDeviceCode);
var responseResult = _httpClientHelper.Post<WebResponseContent>("GetOutBoundTrayTaskAsync", new CreateTaskDto()
{
@@ -205,6 +208,8 @@
}
}
+ #endregion
+
// ========== 妫�鏌� PLC_STB 鏍囧織 ==========
// 鍙湁褰� PLC_STB 涓� 1 鏃舵墠澶勭悊浠诲姟
if (command.PLC_STB != 1)
@@ -212,6 +217,21 @@
// 濡傛灉 WCS_ACK 涓� 1锛屽厛娓呴櫎锛堣〃绀哄鐞嗚繃涓婁竴娆¤姹傦級
if (command.WCS_ACK == 1)
conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, (short)0, childDeviceCode);
+
+ // 澶勭悊鎵嬪姩鍏ュ簱浠诲姟锛堣捣鐐逛负绾夸綋鐐逛綅鐨勪换鍔★級
+ try
+ {
+ var task = _taskService.QueryManualInboundTask(childDeviceCode);
+ if (task != null)
+ {
+ var handler = new ManualInboundTaskHandler(_taskService);
+ handler.WriteTaskToPlc(conveyorLine, childDeviceCode, task);
+ }
+ }
+ catch (Exception ex)
+ {
+ QuartzLogHelper.LogError(_logger, ex, "澶勭悊鎵嬪姩鍏ュ簱浠诲姟寮傚父", $"澶勭悊鎵嬪姩鍏ュ簱浠诲姟寮傚父: {ex.Message}", "CommonConveyorLineNewJob");
+ }
continue;
}
@@ -219,8 +239,6 @@
// 鏃犳墭鐩樻潯鐮佹椂锛岃姹傚嚭搴撲换鍔�
if (command.Barcode.IsNullOrEmpty() || command.Barcode.Replace("\0", "") == "")
{
- _logger.LogDebug("Execute锛氬瓙璁惧 {ChildDeviceCode} 鏃犳墭鐩樻潯鐮侊紝璇锋眰鍑哄簱浠诲姟", childDeviceCode);
- QuartzLogger.Debug($"瀛愯澶� {childDeviceCode} 鏃犳墭鐩樻潯鐮侊紝璇锋眰鍑哄簱浠诲姟", conveyorLine.DeviceCode);
_conveyorLineDispatch.RequestOutbound(conveyorLine, command, childDeviceCode);
continue;
}
@@ -232,19 +250,47 @@
Dt_Task task = _taskService.QueryExecutingConveyorLineTask(command.TaskNo, childDeviceCode);
if (!task.IsNullOrEmpty())
{
- _logger.LogInformation("Execute锛氬瓙璁惧 {ChildDeviceCode} 澶勭悊浠诲姟 {TaskNum}锛岀姸鎬�: {Status}", childDeviceCode, task.TaskNum, task.TaskStatus);
- QuartzLogger.Info($"澶勭悊浠诲姟 {task.TaskNum}锛岀姸鎬�: {task.TaskStatus}", conveyorLine.DeviceCode);
+ QuartzLogHelper.LogInfo(_logger, "Execute锛氬瓙璁惧 {ChildDeviceCode} 澶勭悊浠诲姟 {TaskNum}锛岀姸鎬�: {Status}", $"澶勭悊浠诲姟 {task.TaskNum}锛岀姸鎬�: {task.TaskStatus}", conveyorLine.DeviceCode, childDeviceCode, task.TaskNum, task.TaskStatus);
// 澶勭悊浠诲姟鐘舵�侊紙鏍规嵁鐘舵�佸垎鍙戝埌涓嶅悓鏂规硶锛�
ProcessTaskState(conveyorLine, command, task, childDeviceCode);
return Task.CompletedTask;
+ }
+ else if (command.TaskNo == 1 && !command.Barcode.IsNullOrEmpty() && childDeviceCode == "11068")
+ {
+ if (_robotTaskService.Db.Queryable<Dt_RobotTask>().Any(x => x.RobotTargetAddressPalletCode == command.Barcode))
+ {
+ return Task.CompletedTask;
+ }
+
+ Random rnd = new Random();
+ int num = rnd.StrictNext();//浜х敓鐪熼殢鏈烘暟
+ // 娌℃湁浠诲姟鍙蜂絾鏈夋潯鐮佸苟涓斿湪11068浣嶇疆锛岀洿鎺ユ坊鍔犳満姊版墜缁勭洏浠诲姟
+ Dt_RobotTask robotTask = new Dt_RobotTask
+ {
+ RobotTargetAddressPalletCode = command.Barcode,
+ RobotSourceAddress = "1",
+ RobotTargetAddress = "2", // 鏈烘鎵嬬洰鏍囧湴鍧�
+ RobotTaskType = (int)RobotTaskTypeEnum.GroupPallet, // 缁勭洏浠诲姟
+ RobotTaskState = (int)TaskRobotStatusEnum.RobotNew, // 寰呮墽琛�
+ RobotTaskTotalNum = 48,
+ RobotGrade = 1,
+ RobotRoadway = "娉ㄦ恫缁勭洏鏈烘鎵�",
+ RobotTargetAddressLineCode = childDeviceCode,
+ RobotTaskNum = num, // 鐢熸垚浠诲姟鍙�
+ RobotDispatchertime = DateTime.Now,
+
+ };
+ if (_robotTaskService.AddData(robotTask).Status)
+ {
+ conveyorLine.SetValue(ConveyorLineDBNameNew.WCS_ACK, (short)1, childDeviceCode);
+ }
}
}
}
catch (Exception innerEx)
{
// 璁板綍寮傚父锛屼絾涓嶅奖鍝嶅叾浠栧瓙璁惧鐨勫鐞�
- _logger.LogError(innerEx, "Execute锛氬瓙璁惧 {ChildDeviceCode} 澶勭悊寮傚父锛孋orrelationId: {CorrelationId}", childDeviceCode, correlationId);
- QuartzLogger.Error($"瀛愯澶囧鐞嗗紓甯�: {innerEx.Message}", conveyorLine.DeviceCode, innerEx);
+ QuartzLogHelper.LogError(_logger, innerEx, "Execute锛氬瓙璁惧 {ChildDeviceCode} 澶勭悊寮傚父锛孋orrelationId: {CorrelationId}", $"瀛愯澶囧鐞嗗紓甯�: {innerEx.Message}", conveyorLine.DeviceCode, childDeviceCode, correlationId);
}
}
}
@@ -252,8 +298,7 @@
catch (Exception ex)
{
// 璁板綍鏁翠綋寮傚父
- _logger.LogError(ex, "Execute锛氳緭閫佺嚎 {DeviceCode} 鎵ц寮傚父", ex.Message);
- QuartzLogger.Error($"杈撻�佺嚎鎵ц寮傚父: {ex.Message}", "CommonConveyorLineNewJob", ex);
+ QuartzLogHelper.LogError(_logger, ex, "Execute锛氳緭閫佺嚎 {DeviceCode} 鎵ц寮傚父", $"杈撻�佺嚎鎵ц寮傚父: {ex.Message}", "CommonConveyorLineNewJob", ex.Message);
}
return Task.CompletedTask;
}
--
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