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/RobotJob/Workflow/RobotWorkflowOrchestrator.cs | 265 ++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 252 insertions(+), 13 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
index 5556a62..4414558 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
@@ -119,7 +119,7 @@
// - 鎵嬭噦涓婃湁鐗╂枡锛圧obotArmObject == 1锛�
// - 浠诲姟鐘舵�佷负 RobotPickFinish锛堝凡璁板綍鍙栬揣瀹屾垚锛�
if ((latestState.CurrentAction == "PickFinished" || latestState.CurrentAction == "AllPickFinished")
- && latestState.RobotArmObject == 0
+ && latestState.RobotArmObject == 1
&& task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode())
{
_logger.LogInformation("ExecuteAsync锛氭弧瓒虫斁璐ф潯浠讹紝寮�濮嬪鐞嗗彇璐у畬鎴愶紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
@@ -152,7 +152,7 @@
/// </summary>
/// <remarks>
/// 褰撳彇璐у畬鎴愬悗锛屽悜鏈哄櫒浜哄彂閫佹斁璐ф寚浠わ紙Putbattery锛夈��
- /// 鏈哄櫒浜烘敹鍒版寚浠ゅ悗浼氬皢璐х墿鏀剧疆鍒扮洰鏍囧湴鍧�銆�
+ /// 鎹㈢洏浠诲姟浣跨敤鎵规鏍煎紡 SendPutWithBatchAsync銆�
///
/// 鎸囦护鏍煎紡锛歅utbattery,{鐩爣鍦板潃}
/// 渚嬪锛歅utbattery,B01 琛ㄧず灏嗚揣鐗╂斁缃埌 B01 浣嶇疆
@@ -161,38 +161,99 @@
/// <param name="ipAddress">鏈哄櫒浜� IP 鍦板潃</param>
private async Task HandlePickFinishedStateAsync(Dt_RobotTask task, string ipAddress)
{
- // 鏋勫缓鏀捐揣鎸囦护锛屾牸寮忥細Putbattery,{鐩爣鍦板潃}
- string taskString = $"Putbattery,{task.RobotTargetAddress}";
+ string taskString;
- // 閫氳繃瀹㈡埛绔鐞嗗櫒鍙戦�佹寚浠ゅ埌鏈哄櫒浜�
+ // 鎹㈢洏浠诲姟浣跨敤鎵规鏍煎紡
+ if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
+ {
+ int targetNormalCount = task.RobotTaskTotalNum;
+ var state = _stateManager.GetState(ipAddress);
+ int currentCompletedCount = state?.RobotTaskTotalNum ?? 0;
+
+ bool isFlowA = task.RobotSourceAddressLineCode is "11001" or "11010";
+
+ // 娴佸悜A Phase 2锛氭斁鍋囩數鑺埌鐩爣鎵樼洏
+ if (isFlowA && state?.ChangePalletPhase == 2)
+ {
+ int remaining = 48 - currentCompletedCount;
+ if (remaining <= 0) return;
+
+ int batchStart = targetNormalCount + 1 + (state.CurrentBatchIndex - 1);
+ int putCount = Math.Min(4, remaining);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, state, task.RobotTargetAddress, start, end);
+ return;
+ }
+
+ // 娴佸悜B Phase 4锛氭斁鍋囩數鑺埌5鍙蜂綅
+ if (!isFlowA && state?.ChangePalletPhase == 4)
+ {
+ int fakeCount = 48 - targetNormalCount;
+ int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
+ int remainingFake = fakeCount - completedFake;
+
+ if (remainingFake <= 0) return;
+
+ var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(Math.Min(4, remainingFake));
+ if (positions.Count == 0)
+ {
+ _logger.LogError("HandlePickFinishedStateAsync锛氭棤鍙敤鍋囩數鑺偣浣嶏紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int start = positions.Min();
+ int end = positions.Max();
+
+ await _taskProcessor.SendPutWithBatchAsync(task, state, "5", start, end);
+ return;
+ }
+
+ // 娴佸悜B Phase 2锛氭斁姝ｅ父鐢佃姱鍒扮洰鏍囨墭鐩�
+ if (!isFlowA && state?.ChangePalletPhase == 2)
+ {
+ int remainingNormal = targetNormalCount - currentCompletedCount;
+ if (remainingNormal <= 0) return;
+
+ int batchStart = ((currentCompletedCount - 1) / 4) * 4 + 1;
+ int putCount = Math.Min(4, remainingNormal);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, state, task.RobotTargetAddress, start, end);
+ return;
+ }
+
+ // 榛樿锛氫娇鐢ㄥ師鏈夋牸寮�
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
+ }
+ else
+ {
+ // 闈炴崲鐩樹换鍔★細浣跨敤鍘熸湁鏍煎紡
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
+ }
+
bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
if (result)
{
- // 鍙戦�佹垚鍔燂紝璁板綍 Info 鏃ュ織
_logger.LogInformation("HandlePickFinishedStateAsync锛氫笅鍙戞斁璐ф寚浠ゆ垚鍔燂紝鎸囦护: {TaskString}锛屼换鍔″彿: {TaskNum}", taskString, task.RobotTaskNum);
QuartzLogger.Info($"涓嬪彂鏀捐揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}", task.RobotRoadway);
- // 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- // 鑾峰彇鏈�鏂扮姸鎬佸苟鏇存柊浠诲姟鍏宠仈
var stateToUpdate = _stateManager.GetState(ipAddress);
if (stateToUpdate != null)
{
stateToUpdate.CurrentTask = task;
- // 瀹夊叏鏇存柊鐘舵�佸埌 Redis
if (_stateManager.TryUpdateStateSafely(ipAddress, stateToUpdate))
{
- // 鐘舵�佹洿鏂版垚鍔熷悗锛屾洿鏂颁换鍔¤褰�
await _robotTaskService.UpdateRobotTaskAsync(task);
}
}
}
else
{
- // 鍙戦�佸け璐ワ紝璁板綍 Error 鏃ュ織
_logger.LogError("HandlePickFinishedStateAsync锛氫笅鍙戞斁璐ф寚浠ゅけ璐ワ紝鎸囦护: {TaskString}锛屼换鍔″彿: {TaskNum}", taskString, task.RobotTaskNum);
QuartzLogger.Error($"涓嬪彂鏀捐揣鎸囦护澶辫触锛屾寚浠�: {taskString}", task.RobotRoadway);
}
@@ -237,13 +298,13 @@
|| task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
}
- // 濡傛灉鏄粍鐩樹换鍔★紙鍖呮嫭鎹㈢洏锛�
+ // 濡傛灉鏄粍鐩樹换鍔�
if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
{
// 鐢熸垚鎵樼洏鏉＄爜鍓嶇紑
const string prefix = "TRAY";
- // 鐢熸垚涓や釜鎵樼洏鏉＄爜锛堢敤浜庣粍鐩樻搷浣滐級
+ // 鐢熸垚涓や釜鎵樼洏鏉＄爜锛堢敤浜庣粍鐩樻搷浣滐級锛堟祴璇曠敤锛屽悗缁鍙栫嚎浣撴潯鐮侊級
string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
@@ -282,6 +343,184 @@
QuartzLogger.Error($"鐢熸垚鎵樼洏鏉＄爜澶辫触", stateForUpdate.RobotCrane.DeviceName);
}
}
+ else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
+ {
+ const int targetTotal = 48;
+ int targetNormalCount = task.RobotTaskTotalNum;
+ int currentCompletedCount = stateForUpdate.RobotTaskTotalNum;
+
+ // 鍒ゆ柇娴佸悜锛坣ull-safe锛�
+ bool isFlowA = task.RobotSourceAddressLineCode is "11001" or "11010";
+
+ // 鐩爣鏁伴噺涓�48锛氱洿鎺ヨ蛋鍘熸湁閫昏緫锛屼笉杩涘叆鎵规妯″紡
+ if (targetNormalCount == targetTotal)
+ {
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ return;
+ }
+
+ // 鍒濆鍖栨壒娆℃ā寮�
+ if (stateForUpdate.ChangePalletPhase == 0)
+ {
+ stateForUpdate.ChangePalletPhase = 1;
+ stateForUpdate.CurrentBatchIndex = 1;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭崲鐩樹换鍔¤繘鍏ユ壒娆℃ā寮忥紝浠诲姟鍙�: {TaskNum}锛屾祦鍚�: {Flow}",
+ task.RobotTaskNum, isFlowA ? "A" : "B");
+ }
+
+ // ==================== 娴佸悜A锛氳ˉ鍋囩數鑺埌鐩爣鎵樼洏 ====================
+ if (isFlowA)
+ {
+ // Phase 1: 鍙栧亣鐢佃姱锛堜粠5鍙蜂綅锛屼娇鐢� PositionIndex锛�
+ if (stateForUpdate.ChangePalletPhase == 1)
+ {
+ int remaining = targetTotal - currentCompletedCount;
+ if (remaining <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚慉瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int pickCount = Math.Min(4, remaining);
+ var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(pickCount);
+ if (positions.Count == 0)
+ {
+ _logger.LogError("HandlePutFinishedStateAsync锛氭棤鍙敤鍋囩數鑺偣浣嶏紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ await _taskProcessor.SendSocketRobotFakeBatteryPickAsync(task, stateForUpdate, positions);
+ stateForUpdate.ChangePalletPhase = 2;
+ }
+ // Phase 2: 鏀惧亣鐢佃姱鍒扮洰鏍囨墭鐩橈紙浠� targetNormalCount+1 寮�濮嬮�掑锛�
+ else if (stateForUpdate.ChangePalletPhase == 2)
+ {
+ int remaining = targetTotal - currentCompletedCount;
+ if (remaining <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚慉瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ // 璁＄畻鏀捐揣鎵规缂栧彿锛氫粠 targetNormalCount + 1 寮�濮�
+ int batchStart = targetNormalCount + 1 + (stateForUpdate.CurrentBatchIndex - 1);
+ int putCount = Math.Min(4, remaining);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, task.RobotTargetAddress, start, end);
+
+ stateForUpdate.CurrentBatchIndex += putCount;
+ stateForUpdate.ChangePalletPhase = 1;
+ }
+ }
+ // ==================== 娴佸悜B锛氬彇姝ｅ父鐢佃姱 + 鍥炴敹鍋囩數鑺� ====================
+ else
+ {
+ // Phase 1: 鍙栨甯哥數鑺紙浠庢簮鍦板潃锛屼粠1寮�濮嬮�掑锛�
+ if (stateForUpdate.ChangePalletPhase == 1)
+ {
+ int remainingNormal = targetNormalCount - currentCompletedCount;
+ if (remainingNormal <= 0)
+ {
+ // 姝ｅ父鐢佃姱鍙栧畬锛屽垏鎹㈠埌 Phase 3
+ stateForUpdate.ChangePalletPhase = 3;
+ stateForUpdate.CurrentBatchIndex = targetNormalCount + 1;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭甯哥數鑺叏閮ㄥ彇瀹岋紝杩涘叆Phase 3鍥炴敹鍋囩數鑺紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int pickCount = Math.Min(4, remainingNormal);
+ var (start, end) = _taskProcessor.BuildBatchRange(stateForUpdate.CurrentBatchIndex, pickCount);
+
+ await _taskProcessor.SendPickWithBatchAsync(task, stateForUpdate, task.RobotSourceAddress, start, end);
+
+ stateForUpdate.CurrentBatchIndex += pickCount;
+ stateForUpdate.ChangePalletPhase = 2;
+ }
+ // Phase 2: 鏀炬甯哥數鑺埌鐩爣鎵樼洏锛堟斁璐х紪鍙蜂笌鍙栬揣缂栧彿涓�鑷达級
+ else if (stateForUpdate.ChangePalletPhase == 2)
+ {
+ int remainingNormal = targetNormalCount - currentCompletedCount;
+ if (remainingNormal <= 0)
+ {
+ // 姝ｅ父鐢佃姱鏀惧畬锛屽垏鎹㈠埌 Phase 3
+ stateForUpdate.ChangePalletPhase = 3;
+ stateForUpdate.CurrentBatchIndex = targetNormalCount + 1;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭甯哥數鑺叏閮ㄦ斁瀹岋紝杩涘叆Phase 3鍥炴敹鍋囩數鑺紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ // 璁＄畻鏈壒鏀捐揣缂栧彿锛氬熀浜� currentCompletedCount 鎺ㄥ鎵规璧峰
+ int batchStart = ((currentCompletedCount - 1) / 4) * 4 + 1;
+ int putCount = Math.Min(4, remainingNormal);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, task.RobotTargetAddress, start, end);
+
+ stateForUpdate.ChangePalletPhase = 1;
+ }
+ // Phase 3: 鍙栧亣鐢佃姱锛堜粠婧愬湴鍧�锛屼粠 targetNormalCount+1 寮�濮嬮�掑锛�
+ else if (stateForUpdate.ChangePalletPhase == 3)
+ {
+ int fakeCount = targetTotal - targetNormalCount;
+ int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
+ int remainingFake = fakeCount - completedFake;
+
+ if (remainingFake <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚態瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int pickCount = Math.Min(4, remainingFake);
+ var (start, end) = _taskProcessor.BuildBatchRange(stateForUpdate.CurrentBatchIndex, pickCount);
+
+ await _taskProcessor.SendPickWithBatchAsync(task, stateForUpdate, task.RobotSourceAddress, start, end);
+
+ stateForUpdate.CurrentBatchIndex += pickCount;
+ stateForUpdate.ChangePalletPhase = 4;
+ }
+ // Phase 4: 鏀惧亣鐢佃姱鍒�5鍙蜂綅锛堜娇鐢� PositionIndex锛�
+ else if (stateForUpdate.ChangePalletPhase == 4)
+ {
+ int fakeCount = targetTotal - targetNormalCount;
+ int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
+ int remainingFake = fakeCount - completedFake;
+
+ if (remainingFake <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚態瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(Math.Min(4, remainingFake));
+ if (positions.Count == 0)
+ {
+ _logger.LogError("HandlePutFinishedStateAsync锛氭棤鍙敤鍋囩數鑺偣浣嶏紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int start = positions.Min();
+ int end = positions.Max();
+
+ await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, "5", start, end);
+
+ stateForUpdate.ChangePalletPhase = 3;
+ }
+ }
+ }
else
{
// 闈炵粍鐩樹换鍔★紝鐩存帴鍙戦�佸彇璐ф寚浠�
--
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