From c3de7bb2097aa347a1f92c2f640d18753aff633a Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期六, 28 二月 2026 13:41:26 +0800
Subject: [PATCH] 添加HTTP客户端助手、枚举、DTO；更新URL
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 266 +++++++++++++++++++++++++++++++++++------------------
1 files changed, 176 insertions(+), 90 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index b63717b..7efce62 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -5,6 +5,7 @@
using System.Net.Sockets;
using System.Text.Json;
using WIDESEAWCS_Common.HttpEnum;
+using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.Http;
@@ -22,22 +23,26 @@
[DisallowConcurrentExecution]
public class RobotJob : IJob
{
+ private const int MaxTaskTotalNum = 48;
+
private readonly TcpSocketServer _TcpSocket;
private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
private static int _eventSubscribedFlag;
-
private readonly ITaskService _taskService;
- private readonly IRobotTaskService _robottaskService;
- private readonly ITaskExecuteDetailService _taskExecuteDetailService;
- private readonly ITaskRepository _taskRepository;
- private readonly IRouterService _routerService;
+ private readonly IRobotTaskService _robotTaskService;
+
+ private static IRobotTaskService _latestRobotTaskService = null!;
+ private static ITaskService _latestTaskService = null!;
public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService RobottaskService, ITaskService TaskService)
{
_TcpSocket = TcpSocket;
- _robottaskService = RobottaskService;
- this._taskService = TaskService;
+ _robotTaskService = RobottaskService;
+ _taskService = TaskService;
+
+ _latestRobotTaskService = RobottaskService;
+ _latestTaskService = TaskService;
}
public async Task Execute(IJobExecutionContext context)
@@ -77,40 +82,91 @@
if (!state.IsEventSubscribed)
{
- _TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client);
- Task clientTask = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state);
- state.IsEventSubscribed = true;
+ if (_TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client))
+ {
+ _ = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state)
+ .ContinueWith(t =>
+ {
+ if (t.IsFaulted)
+ Console.WriteLine($"HandleClientAsync error: {t.Exception?.GetBaseException().Message}");
+ }, TaskContinuationOptions.OnlyOnFaulted);
+ 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.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
+ state.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
state.CurrentTask = task;
- if (task.RobotTaskTotalNum != 48)
+ if (task.RobotTaskTotalNum <= MaxTaskTotalNum)
{
// 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
- if (state.RobotRunMode == 1 && state.RobotControlMode == 1)
+ if (state.RobotRunMode == 2 && state.RobotControlMode == 1 && state.OperStatus != "Running")
{
await Task.Delay(1000);
- if ((state.CurrentAction == "Homed" || state.CurrentAction == "PickFinished" || state.CurrentAction == "PutFinished") && state.OperStatus == "Running")
+ if (state.CurrentAction == "PickFinished" && state.RobotArmObject == 1 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
+ {
+ string taskString = $"Putbattery,{task.RobotTargetAddress}";
+ bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
+ if (result)
+ {
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ await _robotTaskService.UpdateRobotTaskAsync(task);
+ }
+ }
+ else if (state.CurrentAction == "PutFinished" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
+ {
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ await _robotTaskService.UpdateRobotTaskAsync(task);
+ }
+ else if (state.OperStatus == "Homed" && state.RobotArmObject == 0 && task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
{
// 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" };
+ // 闅忔満鐢熸垚涓ゅぉ鎵樼洏鏉＄爜瀛樻斁鍒颁袱涓彉閲忛噷闈�
+ // 瀹氫箟鍓嶇紑锛堜緥濡傦細TRAY浠ｈ〃鎵樼洏锛�
+ string prefix = "TRAY";
+ // 鐢熸垚涓や釜鎵樼洏鏉＄爜
+ string trayBarcode1 = GenerateTrayBarcode(state, prefix);
+ string trayBarcode2 = GenerateTrayBarcode(state, prefix);
+ if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty())
+ {
string taskString = $"Pickbattery,{task.RobotSourceAddress}";
// 鍙戦�佷换鍔℃寚浠�
bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
+ if (result)
+ {
+ // TODO 澶勭悊鎴愬姛鍙戦�佷换鍔℃寚浠ゅ悗鐨勯�昏緫
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ result = await _robotTaskService.UpdateRobotTaskAsync(task);
+ }
}
}
}
}
}
+ }
- return;
+ //涓存椂娴嬭瘯鐢�
+ private static string GenerateTrayBarcode(RobotSocketState state, string prefix = "")
+ {
+ // 褰撳墠鏃ユ湡
+ string datePart = DateTime.Now.ToString("yyyyMMdd");
+
+ // 鏃堕棿鎴筹紙鏃跺垎绉掞級
+ string timePart = DateTime.Now.ToString("HHmmss");
+
+ // 闅忔満鏁�
+ string randomPart = Random.Shared.Next(100, 1000).ToString();
+
+ // 缁勫悎锛氬墠缂� + 鏃ユ湡 + 鏃堕棿 + 闅忔満鏁�
+ var barCode = prefix + datePart + timePart + randomPart;
+ state.CellBarcode.Add(randomPart);
+
+ return barCode;
}
/// <summary>
@@ -138,6 +194,7 @@
if (await IsSimpleCommandAsync(messageLower, state))
{
+ await _TcpSocket.SendMessageAsync(client, message);
return null;
}
@@ -146,77 +203,70 @@
try
{
var parts = message.Split(',');
- if (parts.Length >= 1)
+ if (parts.Length >= 1 && state.CurrentTask != null)
{
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]);
- }
+ int[] positions = parts.Skip(1)
+ .Select(p => int.TryParse(p, out int value) ? value : (int?)null)
+ .Where(v => v.HasValue && v.Value != 0)
+ .Select(v => v!.Value)
+ .ToArray();
+
+ var task = await _latestRobotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId);
if (cmd.StartsWith("pickfinished"))
{
- StockDTO stockDTO = new StockDTO
+ if (state.IsSplitPallet)
{
- 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 stockDTO = BuildStockDTO(state, positions);
+ state.LastPickPositions = positions;
- var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), state.CurrentTask?.RobotTaskType == 2 ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.SplitPalletAsync));
-
- if (result.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));
+ var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.SplitPalletAsync));
if (result.Status)
{
- state.CurrentAction = "PutFinished";
+ state.CurrentAction = "PickFinished";
}
}
+ else
+ {
+ state.CurrentAction = "PickFinished";
+ }
+
+ task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode();
+ await _latestRobotTaskService.Repository.UpdateDataAsync(task);
+ }
+ else if (cmd.StartsWith("putfinished"))
+ {
+ bool putSuccess = true;
+ if (state.IsGroupPallet)
+ {
+ state.LastPutPositions = positions;
+ var stockDTO = BuildStockDTO(state, positions);
+ var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
+ ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.GroupPalletAsync);
+ var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), configKey);
+ putSuccess = result.Status;
+ }
+
+ if (putSuccess)
+ {
+ state.CurrentAction = "PutFinished";
+ state.RobotTaskTotalNum += positions.Length;
+ task.RobotTaskTotalNum += positions.Length;
+ }
+
+ task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode();
+ await _latestRobotTaskService.Repository.UpdateDataAsync(task);
}
}
}
- catch { }
+ catch (Exception ex)
+ {
+ Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
+ }
+
+ await _TcpSocket.SendMessageAsync(client, message);
return null;
}
@@ -230,16 +280,16 @@
/// <param name="message"></param>
/// <param name="state"></param>
/// <returns></returns>
- private async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
+ private static async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
{
switch (message)
{
case "homing":
- state.CurrentAction = "Homing";
+ state.OperStatus = "Homing";
return true;
case "homed":
- state.CurrentAction = "Homed";
+ state.OperStatus = "Homed";
return true;
case "picking":
@@ -250,17 +300,17 @@
state.CurrentAction = "Putting";
return true;
- case "allpickfinished":
+ case "allpickfinished": // 鍙栬揣瀹屾垚
state.CurrentAction = "AllPickFinished";
- if (state.CurrentTask?.RobotTaskType == 2 || state.CurrentTask?.RobotTaskType == 3)
+ if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
{
await HandleInboundTaskAsync(state, useSourceAddress: true);
}
return true;
- case "allputfinished":
+ case "allputfinished": // 鏀捐揣瀹屾垚
state.CurrentAction = "AllPutFinished";
- if (state.CurrentTask?.RobotTaskType == 1)
+ if (state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() || state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
{
await HandleInboundTaskAsync(state, useSourceAddress: false);
}
@@ -311,7 +361,7 @@
}
}
- private async Task HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
+ private static async Task HandleInboundTaskAsync(RobotSocketState state, bool useSourceAddress)
{
var currentTask = state.CurrentTask;
if (currentTask == null)
@@ -325,7 +375,7 @@
CreateTaskDto taskDto = new CreateTaskDto
{
PalletCode = currentTask.RobotTargetAddressPalletCode ?? string.Empty,
- SourceAddress = currentTask.RobotTargetAddress ?? string.Empty,
+ SourceAddress = currentTask.RobotSourceAddress ?? string.Empty,
TargetAddress = currentTask.RobotTargetAddress ?? string.Empty,
Roadway = roadway,
WarehouseId = warehouseId,
@@ -340,15 +390,15 @@
}
WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.ToString() ?? string.Empty) ?? new WMSTaskDTO();
- var content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
+ var content = _latestTaskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
if (!content.Status) return;
- var taskInfo = _taskService.QueryByTaskNum(taskDTO.TaskNum);
-
+ var taskInfo = _latestTaskService.QueryByTaskNum(taskDTO.TaskNum);
+ if (taskInfo == null) return;
string targetAddress = useSourceAddress ? taskDTO.SourceAddress : taskDTO.TargetAddress;
- IDevice? device = Storage.Devices.Where(x => x.DeviceProDTOs.Select(x => x.DeviceChildCode == taskDTO.SourceAddress).FirstOrDefault()).FirstOrDefault() ?? null;
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == targetAddress));
device?.Communicator.Write(nameof(ConveyorLineDBNameNew.Target), taskInfo.NextAddress);
device?.Communicator.Write(nameof(ConveyorLineDBNameNew.TaskNo), taskDTO.TaskNum);
device?.Communicator.Write(nameof(ConveyorLineDBNameNew.WCS_STB), 1);
@@ -364,9 +414,30 @@
return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
}
+ private static StockDTO BuildStockDTO(RobotSocketState state, int[] positions)
+ {
+ return 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,
+ CellBarcode = !state.CellBarcode.IsNullOrEmpty() ? state.CellBarcode[idx] : ""
+ })
+ .ToList()
+ };
+ }
+
private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
{
- return _robottaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
+ return _robotTaskService.QueryRobotCraneTask(robotCrane.DeviceCode);
}
}
@@ -390,7 +461,7 @@
public int? RobotControlMode { get; set; }
/// <summary>
- /// 鏈烘鎵嬫姄鍙栧璞�
+ /// 鏈烘鎵嬫槸鍚︽姄鍙栫墿鏂欙紝0-鏃犵墿鏂欙紝1-鏈夌墿鏂�
/// </summary>
public int? RobotArmObject { get; set; }
@@ -422,11 +493,26 @@
/// <summary>
/// 鎶撳彇浣嶇疆鏉＄爜
/// </summary>
- public string[] CellBarcode { get; set; }
+ public List<string> CellBarcode { get; set; } = new();
/// <summary>
/// 褰撳墠鎶撳彇浠诲姟
/// </summary>
public Dt_RobotTask? CurrentTask { get; set; }
+
+ /// <summary>
+ /// 鏄惁闇�瑕佹媶鐩�
+ /// </summary>
+ public bool IsSplitPallet { get; set; }
+
+ /// <summary>
+ /// 鏄惁闇�瑕佺粍鐩�
+ /// </summary>
+ public bool IsGroupPallet { get; set; }
+
+ /// <summary>
+ /// 浠诲姟鎬绘暟
+ /// </summary>
+ public int RobotTaskTotalNum { get; set; }
}
}
\ No newline at end of file
--
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