From 1515ffa15c11e106f35e1447bc990b7867c449bb Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 16 四月 2026 16:07:14 +0800
Subject: [PATCH] feat(Robot): 机械手换盘任务特殊处理
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs | 40 +++++++++++++++++++++++++---------------
1 files changed, 25 insertions(+), 15 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs
index 5985236..edbdda4 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs
@@ -14,6 +14,7 @@
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.Service;
+using ManualInboundTaskHandler = WIDESEAWCS_Tasks.ConveyorLineNewJob.ManualInbound.ManualInboundTaskHandler;
namespace WIDESEAWCS_Tasks
{
@@ -132,8 +133,7 @@
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�", $"杈撻�佺嚎 {conveyorLine.DeviceCode} 娌℃湁瀛愯澶�", conveyorLine.DeviceCode, conveyorLine.DeviceCode);
return Task.CompletedTask;
}
@@ -161,11 +161,10 @@
// 濡傛灉鍛戒护涓虹┖锛岃烦杩�
if (command == null)
{
- _logger.LogDebug("Execute锛氬瓙璁惧 {ChildDeviceCode} 鍛戒护涓虹┖锛岃烦杩�", childDeviceCode);
- QuartzLogger.Debug($"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 +183,7 @@
{
// 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()
{
@@ -205,13 +203,30 @@
}
}
+ #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)
{
// 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, 0, childDeviceCode);
+ 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", $"澶勭悊鎵嬪姩鍏ュ簱浠诲姟寮傚父: {ex.Message}", "CommonConveyorLineNewJob");
+ }
continue;
}
@@ -219,8 +234,6 @@
// 鏃犳墭鐩樻潯鐮佹椂锛岃姹傚嚭搴撲换鍔�
if (command.Barcode.IsNullOrEmpty() || command.Barcode.Replace("\0", "") == "")
{
- _logger.LogDebug("Execute锛氬瓙璁惧 {ChildDeviceCode} 鏃犳墭鐩樻潯鐮侊紝璇锋眰鍑哄簱浠诲姟", childDeviceCode);
- QuartzLogger.Debug($"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;
}
@@ -232,8 +245,7 @@
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}", $"澶勭悊浠诲姟 {task.TaskNum}锛岀姸鎬�: {task.TaskStatus}", conveyorLine.DeviceCode, childDeviceCode, task.TaskNum, task.TaskStatus);
// 澶勭悊浠诲姟鐘舵�侊紙鏍规嵁鐘舵�佸垎鍙戝埌涓嶅悓鏂规硶锛�
ProcessTaskState(conveyorLine, command, task, childDeviceCode);
return Task.CompletedTask;
@@ -243,8 +255,7 @@
catch (Exception innerEx)
{
// 璁板綍寮傚父锛屼絾涓嶅奖鍝嶅叾浠栧瓙璁惧鐨勫鐞�
- _logger.LogError(innerEx, "Execute锛氬瓙璁惧 {ChildDeviceCode} 澶勭悊寮傚父锛孋orrelationId: {CorrelationId}", childDeviceCode, correlationId);
- QuartzLogger.Error($"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}", $"瀛愯澶囧鐞嗗紓甯�: {innerEx.Message}", conveyorLine.DeviceCode, childDeviceCode, correlationId);
}
}
}
@@ -252,8 +263,7 @@
catch (Exception ex)
{
// 璁板綍鏁翠綋寮傚父
- _logger.LogError(ex, "Execute锛氳緭閫佺嚎 {DeviceCode} 鎵ц寮傚父", ex.Message);
- QuartzLogger.Error($"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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