From c493779a8504fe1eb548c865ff268a7f7436ec01 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 19 三月 2026 11:43:36 +0800
Subject: [PATCH] feat: 集成机械手客户端并重构模拟器前端工作台
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs | 210 +++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 197 insertions(+), 13 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
index ab5fb11..f88a4e6 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
@@ -17,25 +17,32 @@
#endregion << 鐗� 鏈� 娉� 閲� >>
-using AutoMapper;
+using MapsterMapper;
+using Microsoft.Extensions.Configuration;
+using Newtonsoft.Json;
using SqlSugar;
using System.Diagnostics.CodeAnalysis;
+using WIDESEA_Core;
+using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
-using WIDESEAWCS_Core.Enums;
+using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
-using WIDESEAWCS_QuartzJob.Models;
-using WIDESEAWCS_QuartzJob.Service;
+using WIDESEAWCS_QuartzJob;
+using WIDESEAWCS_QuartzJob.DTO;
namespace WIDESEAWCS_TaskInfoService
{
public class RobotTaskService : ServiceBase<Dt_RobotTask, IRobotTaskRepository>, IRobotTaskService
{
private readonly IMapper _mapper;
+ private readonly HttpClientHelper _httpClientHelper;
+ private readonly ITaskExecuteDetailService _taskExecuteDetailService;
private Dictionary<string, OrderByType> _taskOrderBy = new()
{
@@ -52,26 +59,203 @@
public List<int> TaskRobotTypes => typeof(TaskOtherTypeEnum).GetEnumIndexList();
- public RobotTaskService(IRobotTaskRepository BaseDal, IMapper mapper) : base(BaseDal)
+ public RobotTaskService(IRobotTaskRepository BaseDal, IMapper mapper, HttpClientHelper httpClientHelper, ITaskExecuteDetailService taskExecuteDetailService) : base(BaseDal)
{
_mapper = mapper;
+ _httpClientHelper = httpClientHelper;
+ _taskExecuteDetailService = taskExecuteDetailService;
}
- public override WebResponseContent DeleteData(object[] keys)
+ public WebResponseContent ReceiveWMSTask([NotNull] WMSTaskDTO taskDTO, StockDTO stockDTO)
{
- List<int> taskKeys = new List<int>();
- for (int i = 0; i < keys.Length; i++)
+ WebResponseContent content = new WebResponseContent();
+ try
{
- taskKeys.Add(Convert.ToInt32(keys[i]));
+ if (BaseDal.QueryFirst(x => x.RobotTaskNum == taskDTO.TaskNum || x.RobotSourceAddressPalletCode == taskDTO.PalletCode) != null)
+ {
+ return content.Error("浠诲姟宸插瓨鍦�");
+ }
+
+ Dt_RobotTask task = new Dt_RobotTask
+ {
+ RobotTaskNum = taskDTO.TaskNum,
+ RobotSourceAddressLineCode = stockDTO.SourceLineNo,
+ RobotTargetAddressLineCode = stockDTO.TargetLineNo,
+ RobotRoadway = stockDTO.Roadway,
+ RobotSourceAddress = stockDTO.SourceLineNo,
+ RobotTargetAddress = stockDTO.TargetLineNo,
+ RobotSourceAddressPalletCode = stockDTO.SourcePalletNo,
+ RobotTargetAddressPalletCode = stockDTO.TargetPalletNo,
+ RobotTaskType = taskDTO.TaskType,
+ RobotTaskState = taskDTO.TaskStatus,
+ RobotGrade = taskDTO.Grade,
+ Creater = "WMS",
+ RobotTaskTotalNum = 0,
+ };
+
+ BaseDal.AddData(task);
+
+ _taskExecuteDetailService.AddTaskExecuteDetail(new List<int> { task.RobotTaskNum }, "鎺ユ敹WMS浠诲姟");
+
+ content = WebResponseContent.Instance.OK("鎴愬姛", task);
}
- List<Dt_RobotTask> tasks = BaseDal.QueryData(x => taskKeys.Contains(x.RobotTaskId));
- BaseDal.DeleteAndMoveIntoHty(tasks, OperateTypeEnum.浜哄伐鍒犻櫎);
- return WebResponseContent.Instance.OK($"鎴愬姛鍒犻櫎{tasks.Count}鏉℃暟鎹�");
+ catch (Exception ex)
+ {
+ content = WebResponseContent.Instance.Error($"浠诲姟鎺ユ敹閿欒,閿欒淇℃伅:{ex.Message}");
+ }
+ return content;
}
public Dt_RobotTask? QueryRobotCraneTask(string deviceCode)
{
- return BaseDal.QueryFirst(x => x.RobotRoadway == deviceCode && x.RobotTaskState <= (int)TaskRobotStatusEnum.RobotExecuting, TaskOrderBy);
+ return BaseDal.QueryFirst(x => x.RobotRoadway == deviceCode && x.RobotTaskState != (int)TaskRobotStatusEnum.RobotExecuting, TaskOrderBy);
+ }
+
+ public async Task<bool> UpdateRobotTaskAsync(Dt_RobotTask robotTask)
+ {
+ return await BaseDal.UpdateDataAsync(robotTask);
+ }
+
+ /// <summary>
+ /// 鑾峰彇WMS绯荤粺鏈烘鎵嬩换鍔�
+ /// </summary>
+ /// <param name="task"></param>
+ /// <returns></returns>
+ public WebResponseContent GetWMSRobotTask(Dt_Task task)
+ {
+ string configKey = ResolveRobotTaskConfigKey(task.TargetAddress);
+ StockDTO stock = BuildRobotTaskStock(task, configKey);
+
+ var result = _httpClientHelper.Post<WebResponseContent>(configKey, stock.ToJson());
+
+ if (!result.IsSuccess || !result.Data.Status)
+ return WebResponseContent.Instance.Error($"鑾峰彇WMS绯荤粺鏈烘鎵嬩换鍔″け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,鐩爣鍦板潃:銆恵task.TargetAddress}銆�,鎺ュ彛:銆恵configKey}銆�,閿欒淇℃伅:銆恵result.Data?.Message}銆�");
+
+ var wMSTask = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.Data?.ToString() ?? string.Empty);
+ if (wMSTask == null)
+ return WebResponseContent.Instance.Error($"鑾峰彇WMS绯荤粺鏈烘鎵嬩换鍔″け璐�,浠诲姟鍙�:銆恵task.TaskNum}銆�,鎵樼洏鍙�:銆恵task.PalletCode}銆�,閿欒淇℃伅:銆怶MS鏈繑鍥炴湁鏁堜换鍔℃暟鎹��");
+
+ return ReceiveWMSTask(wMSTask, stock);
+ }
+
+ /// <summary>
+ /// 鏍规嵁杈撻�佺嚎鐩爣鍦板潃瑙ｆ瀽鏈烘鎵嬩换鍔℃帴鍙ｃ��
+ /// 瑙勫垯锛�
+ /// 1. 浠庨厤缃鍙栫簿纭湴鍧�鏄犲皠锛圓ddressMap锛�
+ /// 2. 鏈懡涓椂榛樿鎹㈢洏
+ /// </summary>
+ public string ResolveRobotTaskConfigKey(string? targetAddress)
+ {
+ string address = (targetAddress ?? string.Empty).Trim();
+ if (string.IsNullOrWhiteSpace(address))
+ return nameof(ConfigKey.CreateRobotChangePalletTask);
+
+ var section = App.Configuration.GetSection("RobotTaskAddressRules");
+ var addressMap = ReadRobotRuleMap(section.GetSection("AddressMap"));
+ if (addressMap.TryGetValue(address, out string? exactTaskType))
+ return MapRobotTaskTypeToConfigKey(exactTaskType);
+
+ return nameof(ConfigKey.CreateRobotChangePalletTask);
+ }
+
+ public int MapWarehouseIdConfigKey(string? targetAddress)
+ {
+ return targetAddress switch
+ {
+ "11068" => 1,
+ "11001" => 3,
+ "11010" => 3,
+ "10010" => 1,
+ "10030" => 1,
+ _ => 1
+ };
+ }
+
+ /// <summary>
+ /// 灏嗛厤缃换鍔＄被鍨嬭浆鎹负鎺ュ彛閰嶇疆閿��
+ /// 鏀寔鍊硷細Split/Group/Change锛堝ぇ灏忓啓涓嶆晱鎰燂級
+ /// </summary>
+ public string MapRobotTaskTypeToConfigKey(string? taskType)
+ {
+ string type = (taskType ?? string.Empty).Trim().ToLowerInvariant();
+ return type switch
+ {
+ "split" => nameof(ConfigKey.CreateRobotSplitPalletTask),
+ "group" => nameof(ConfigKey.CreateRobotGroupPalletTask),
+ _ => nameof(ConfigKey.CreateRobotChangePalletTask)
+ };
+ }
+
+ /// <summary>
+ /// 鏍规嵁鎺ュ彛绫诲瀷鏋勫缓鏈烘鎵嬩换鍔″叆鍙傘��
+ /// </summary>
+ public StockDTO BuildRobotTaskStock(Dt_Task task, string configKey)
+ {
+ string targetAddress = task.TargetAddress ?? string.Empty;
+ string roadway = ResolveRobotRuleValue(targetAddress, "AddressRoadwayMap", task.Roadway);
+ string sourceLineNo = ResolveRobotRuleValue(targetAddress, "AddressSourceLineNoMap", task.SourceAddress);
+
+ var stock = new StockDTO
+ {
+ Roadway = roadway,
+ SourceLineNo = sourceLineNo,
+ TargetLineNo = task.TargetAddress,
+ SourcePalletNo = task.PalletCode,
+ TargetPalletNo = task.PalletCode
+ };
+
+ if (configKey == nameof(ConfigKey.CreateRobotSplitPalletTask))
+ {
+ stock.TargetPalletNo = string.Empty;
+ }
+ else if (configKey == nameof(ConfigKey.CreateRobotGroupPalletTask))
+ {
+ stock.SourcePalletNo = string.Empty;
+ }
+ else if (configKey == nameof(ConfigKey.CreateRobotChangePalletTask))
+ {
+ IDevice? device = Storage.Devices.FirstOrDefault(x => x.DeviceProDTOs.Any(d => d.DeviceChildCode == sourceLineNo));
+ if (device != null)
+ {
+ CommonConveyorLine conveyorLine = (CommonConveyorLine)device;
+
+ DeviceProDTO? devicePro = conveyorLine.DeviceProDTOs.FirstOrDefault(x => x.DeviceProParamName == nameof(ConveyorLineDBNameNew.Barcode) && x.DeviceChildCode == sourceLineNo);
+ ConveyorLineTaskCommandNew command = conveyorLine.ReadCustomer<ConveyorLineTaskCommandNew>(sourceLineNo); // 娴嬭瘯鐢�
+ //var barcode = conveyorLine.GetValue<ConveyorLineDBNameNew, string>(ConveyorLineDBNameNew.Barcode, sourceLineNo);
+ stock.SourcePalletNo = string.IsNullOrEmpty(command.Barcode.Replace("\0", "").ToString()) ? string.Empty : command.Barcode.Replace("\0", "").ToString();
+ }
+ }
+
+ return stock;
+ }
+
+ /// <summary>
+ /// 鏍规嵁鐩爣鍦板潃鎸夈�岀簿纭� > 鍥為��鍊笺�嶈В鏋愯鍒欏�笺��
+ /// </summary>
+ public string ResolveRobotRuleValue(string? targetAddress, string addressSectionName, string? fallback)
+ {
+ string address = (targetAddress ?? string.Empty).Trim();
+ string defaultValue = fallback ?? string.Empty;
+ if (string.IsNullOrWhiteSpace(address))
+ return defaultValue;
+
+ var section = App.Configuration.GetSection("RobotTaskAddressRules");
+ var addressMap = ReadRobotRuleMap(section.GetSection(addressSectionName));
+ if (addressMap.TryGetValue(address, out string? value))
+ return value;
+
+ return defaultValue;
+ }
+
+ /// <summary>
+ /// 璇诲彇瑙勫垯鏄犲皠娈点��
+ /// </summary>
+ private Dictionary<string, string> ReadRobotRuleMap(IConfigurationSection section)
+ {
+ return section
+ .GetChildren()
+ .Where(x => !string.IsNullOrWhiteSpace(x.Key) && !string.IsNullOrWhiteSpace(x.Value))
+ .ToDictionary(x => x.Key.Trim(), x => x.Value!.Trim());
}
}
}
\ No newline at end of file
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