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/RobotJob/RobotTaskProcessor.cs | 116 +++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 98 insertions(+), 18 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
index 62cb7ba..e7edcb1 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
@@ -185,7 +185,7 @@
// 灏嗕换鍔″叧鑱斿埌鐘舵�佸璞�
state.CurrentTask = task;
- if(isScanNG)
+ if (isScanNG)
{
state.IsScanNG = true;
}
@@ -344,6 +344,53 @@
}
/// <summary>
+ /// 涓嬪彂鍋囩數鑺彇璐ф寚浠わ紙甯︽壒娆℃牸寮忓拰鎬绘暟锛�
+ /// </summary>
+ /// <remarks>
+ /// 鍙戦�侀『搴忥細
+ /// 1. PickTotalNum,{N} -- 鐪熷疄鐢佃姱鎬绘暟
+ /// 2. Pickbattery,5,{start}-{end} -- 鎵规鍙栬揣鎸囦护锛堝浐瀹氫粠5鍙蜂綅鍙栵級
+ ///
+ /// 涓嬪彂鎴愬姛鍚庢洿鏂颁换鍔＄姸鎬佷负"鏈哄櫒浜烘墽琛屼腑"銆�
+ /// </remarks>
+ /// <param name="task">瑕佷笅鍙戠殑浠诲姟瀵硅薄</param>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
+ /// <param name="batchStart">鎵规璧峰缂栧彿</param>
+ /// <param name="batchEnd">鎵规缁撴潫缂栧彿</param>
+ public async Task SendFakeBatteryPickWithBatchAsync(Dt_RobotTask task, RobotSocketState state, int batchStart, int batchEnd)
+ {
+ // 鍏堝彂閫佹�绘暟鎸囦护
+ string totalNumCmd = $"PickTotalNum,{task.RobotTaskTotalNum}";
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
+
+ // 鍐嶅彂閫佹壒娆″彇璐ф寚浠わ紙鍋囩數鑺浐瀹氫粠5鍙蜂綅鍙栵級
+ string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
+ string taskString = $"Pickbattery,5,{range}";
+
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+
+ if (result)
+ {
+ _logger.LogInformation("涓嬪彂鍋囩數鑺壒娆″彇璐ф寚浠ゆ垚鍔燂紝鎸囦护: {TaskString}锛屾壒娆�: {Range}锛岃澶�: {DeviceName}",
+ taskString, range, state.RobotCrane?.DeviceName);
+ QuartzLogger.Info($"涓嬪彂鍋囩數鑺壒娆″彇璐ф寚浠ゆ垚鍔燂紝鎸囦护: {taskString}锛屾壒娆�: {range}", state.RobotCrane?.DeviceName);
+
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ state.CurrentTask = task;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ await _robotTaskService.UpdateRobotTaskAsync(task);
+ }
+ }
+ else
+ {
+ _logger.LogError("涓嬪彂鍋囩數鑺壒娆″彇璐ф寚浠ゅけ璐ワ紝鎸囦护: {TaskString}锛岃澶�: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
+ QuartzLogger.Error($"涓嬪彂鍋囩數鑺壒娆″彇璐ф寚浠ゅけ璐ワ紝鎸囦护: {taskString}", state.RobotCrane?.DeviceName);
+ }
+ }
+
+ /// <summary>
/// 涓嬪彂鏀捐揣鎸囦护锛堝甫鎵规鏍煎紡鍜屾�绘暟锛�
/// </summary>
/// <remarks>
@@ -409,7 +456,7 @@
/// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
/// <param name="useSourceAddress">鏄惁浣跨敤婧愬湴鍧�锛坱rue 琛ㄧず鎷嗙洏/鎹㈢洏鍦烘櫙锛宖alse 琛ㄧず缁勭洏/鎹㈢洏鍦烘櫙锛�</param>
/// <returns>澶勭悊鏄惁鎴愬姛</returns>
- public async Task<bool> HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
+ public async Task<bool> HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress, string isRoadway = null)
{
// 鑾峰彇褰撳墠鍏宠仈鐨勪换鍔�
var currentTask = state.CurrentTask;
@@ -421,18 +468,17 @@
}
// 鑾峰彇宸烽亾浠ｇ爜
- string roadway = currentTask.RobotSourceAddressLineCode;
+ string roadway = string.Empty;
// 鏍规嵁宸烽亾鍚嶇О鍒ゆ柇浠撳簱 ID
- // ZYRB1 -> 1, HPRB001 -> 2, 鍏朵粬 -> 3
- int warehouseId = currentTask.RobotRoadway == "娉ㄦ恫缁勭洏鏈烘鎵�" ? 1 : currentTask.RobotRoadway == "HPRB001" ? 2 : 3;
-
- // 浠诲姟绫诲瀷锛�0 琛ㄧず鏈畾涔夛紝绋嶅悗鏍规嵁浠诲姟绫诲瀷璁剧疆锛�
- int taskType = 0;
+ int warehouseId = 0;
// 婧愬湴鍧�鍜岀洰鏍囧湴鍧�锛堝垵濮嬪寲锛�
string SourceAddress = currentTask.RobotTargetAddressLineCode;
string TargetAddress = currentTask.RobotSourceAddressLineCode;
+
+ // 浠诲姟绫诲瀷锛�0 琛ㄧず鏈畾涔夛紝绋嶅悗鏍规嵁浠诲姟绫诲瀷璁剧疆锛�
+ int taskType = 0;
// 鎵樼洏浠ｇ爜锛堝垵濮嬪寲涓虹┖锛�
string PalletCode = string.Empty;
@@ -447,16 +493,33 @@
switch (robotTaskType)
{
case RobotTaskTypeEnum.GroupPallet:
- // 缁勭洏浠诲姟涓嶄娇鐢ㄦ簮鍦板潃锛岀洿鎺ヨ繑鍥� false
- _logger.LogDebug("HandleInboundTaskAsync锛氱粍鐩樹换鍔′笉浣跨敤婧愬湴鍧�");
- QuartzLogger.Debug($"HandleInboundTaskAsync锛氱粍鐩樹换鍔′笉浣跨敤婧愬湴鍧�", state.RobotCrane?.DeviceName ?? "Unknown");
- return false;
+ warehouseId = 1;
+ roadway = "GWSC1";
+ break;
case RobotTaskTypeEnum.ChangePallet:
+ // 鎹㈢洏/鎷嗙洏鍦烘櫙锛氭墭鐩橀渶瑕佸叆搴�
+ taskType = TaskTypeEnum.InEmpty.GetHashCode(); // 绌烘墭鐩樺叆搴�
+ PalletCode = currentTask.RobotSourceAddressPalletCode; // 浣跨敤婧愬湴鍧�鐨勬墭鐩樼爜
+ if (isRoadway == "HWSC1")
+ {
+ warehouseId = 2;
+ roadway = "HWSC1";
+ }
+ else if (isRoadway == "GWSC1")
+ {
+ warehouseId = 1;
+ roadway = "GWSC1";
+ }
+
+ break;
case RobotTaskTypeEnum.SplitPallet:
// 鎹㈢洏/鎷嗙洏鍦烘櫙锛氭墭鐩橀渶瑕佸叆搴�
taskType = TaskTypeEnum.InEmpty.GetHashCode(); // 绌烘墭鐩樺叆搴�
PalletCode = currentTask.RobotSourceAddressPalletCode; // 浣跨敤婧愬湴鍧�鐨勬墭鐩樼爜
+
+ warehouseId = 3;
+ roadway = "CWSC1";
break;
}
}
@@ -466,17 +529,34 @@
switch (robotTaskType)
{
case RobotTaskTypeEnum.ChangePallet:
+ // 鎹㈢洏/缁勭洏鍦烘櫙锛氳揣鐗╅渶瑕佸叆搴�
+ taskType = TaskTypeEnum.Inbound.GetHashCode(); // 鎴愬搧鍏ュ簱
+ PalletCode = currentTask.RobotTargetAddressPalletCode; // 浣跨敤鐩爣鍦板潃鐨勬墭鐩樼爜
+
+ if (isRoadway == "HWSC1")
+ {
+ warehouseId = 2;
+ roadway = "HWSC1";
+ }
+ else if (isRoadway == "GWSC1")
+ {
+ warehouseId = 1;
+ roadway = "GWSC1";
+ }
+
+ break;
case RobotTaskTypeEnum.GroupPallet:
// 鎹㈢洏/缁勭洏鍦烘櫙锛氳揣鐗╅渶瑕佸叆搴�
taskType = TaskTypeEnum.Inbound.GetHashCode(); // 鎴愬搧鍏ュ簱
PalletCode = currentTask.RobotTargetAddressPalletCode; // 浣跨敤鐩爣鍦板潃鐨勬墭鐩樼爜
+
+ warehouseId = 1;
+ roadway = "GWSC1";
break;
case RobotTaskTypeEnum.SplitPallet:
- // 鎷嗙洏浠诲姟涓嶄娇鐢ㄧ洰鏍囧湴鍧�
- _logger.LogDebug("HandleInboundTaskAsync锛氭媶鐩樹换鍔′笉浣跨敤鐩爣鍦板潃");
- QuartzLogger.Debug($"HandleInboundTaskAsync锛氭媶鐩樹换鍔′笉浣跨敤鐩爣鍦板潃", state.RobotCrane?.DeviceName ?? "Unknown");
- return true;
+
+ break;
}
}
@@ -485,8 +565,8 @@
{
PalletCode = PalletCode, // 鎵樼洏鏉＄爜
SourceAddress = SourceAddress ?? string.Empty, // 婧愬湴鍧�
- TargetAddress = TargetAddress ?? string.Empty, // 鐩爣鍦板潃
- Roadway = roadway, // 宸烽亾
+ TargetAddress = roadway ?? string.Empty, // 鐩爣鍦板潃
+ Roadway = roadway ?? string.Empty, // 宸烽亾
WarehouseId = warehouseId, // 浠撳簱 ID
PalletType = 1, // 鎵樼洏绫诲瀷锛堥粯璁や负1锛�
TaskType = taskType // 浠诲姟绫诲瀷锛堝叆搴�/绌烘墭鐩樺叆搴擄級
--
Gitblit v1.9.3