From e4921e003cc293fea714bdaf74dc6a6b6b750295 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期六, 25 四月 2026 16:20:51 +0800
Subject: [PATCH] Merge branch 'xiaoyang' into dev
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs | 200 +++++++++++++++++++++++++------------------------
1 files changed, 102 insertions(+), 98 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
index 7ec1101..f0b8b36 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
@@ -170,36 +170,35 @@
// 鏋勫缓鍙栬揣鎸囦护锛屾牸寮忥細Pickbattery,{婧愬湴鍧�}
string taskString = $"Pickbattery,{task.RobotSourceAddress}";
- // 閫氳繃 Socket 缃戝叧鍙戦�佹寚浠ゅ埌鏈哄櫒浜哄鎴风
- bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+ // 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- if (result)
+ // 灏嗕换鍔″叧鑱斿埌鐘舵�佸璞�
+ state.CurrentTask = task;
+
+ if (isScanNG)
{
- // 鍙戦�佹垚鍔燂紝璁板綍 Info 鏃ュ織
- QuartzLogHelper.LogInfo(_logger, $"涓嬪彂鍙栬揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
-
- // 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
-
- // 灏嗕换鍔″叧鑱斿埌鐘舵�佸璞�
- state.CurrentTask = task;
-
- if (isScanNG)
- {
- state.IsScanNG = true;
- }
-
- // 淇濇寔鍘熻涔夛細浠呭湪鐘舵�佸畨鍏ㄥ啓鍏ユ垚鍔熷悗鍐嶆洿鏂颁换鍔＄姸鎬�
- // 杩欐牱鍙互纭繚鐘舵�佸拰浠诲姟璁板綍鐨勪竴鑷存��
- if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
- {
- await _robotTaskService.UpdateRobotTaskAsync(task);
- }
+ state.IsScanNG = true;
}
- else
+
+ // 淇濇寔鍘熻涔夛細浠呭湪鐘舵�佸畨鍏ㄥ啓鍏ユ垚鍔熷悗鍐嶆洿鏂颁换鍔＄姸鎬�
+ // 杩欐牱鍙互纭繚鐘舵�佸拰浠诲姟璁板綍鐨勪竴鑷存��
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
{
- // 鍙戦�佸け璐ワ紝璁板綍 Error 鏃ュ織
- QuartzLogHelper.LogError(_logger, $"涓嬪彂鍙栬揣鎸囦护澶辫触锛屾寚浠�: {taskString}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ QuartzLogHelper.LogInfo(_logger, $"鐘舵�佹洿鏂版垚鍔燂紝璁惧: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ // 閫氳繃 Socket 缃戝叧鍙戦�佹寚浠ゅ埌鏈哄櫒浜哄鎴风
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+ if (result)
+ {
+ // 鍙戦�佹垚鍔燂紝璁板綍 Info 鏃ュ織
+ QuartzLogHelper.LogInfo(_logger, $"涓嬪彂鍙栬揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ //await _robotTaskService.UpdateRobotTaskAsync(task);
+ }
+ else
+ {
+ // 鍙戦�佸け璐ワ紝璁板綍 Error 鏃ュ織
+ QuartzLogHelper.LogError(_logger, $"涓嬪彂鍙栬揣鎸囦护澶辫触锛屾寚浠�: {taskString}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ }
}
}
@@ -234,27 +233,26 @@
// 鏍囪鐐逛綅涓哄凡浣跨敤
_fakeBatteryPositionService.MarkAsUsed(positions);
- // 閫氳繃 Socket 缃戝叧鍙戦�佹寚浠ゅ埌鏈哄櫒浜哄鎴风
- bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+ // 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- if (result)
+ // 灏嗕换鍔″叧鑱斿埌鐘舵�佸璞�
+ state.CurrentTask = task;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
{
- QuartzLogHelper.LogInfo(_logger, $"涓嬪彂鍋囩數鑺彇璐ф寚浠ゆ垚鍔燂紝鎸囦护: {taskString}锛岀偣浣�: {string.Join(",", positions)}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ // 閫氳繃 Socket 缃戝叧鍙戦�佹寚浠ゅ埌鏈哄櫒浜哄鎴风
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
- // 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
-
- // 灏嗕换鍔″叧鑱斿埌鐘舵�佸璞�
- state.CurrentTask = task;
-
- if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ if (result)
{
- await _robotTaskService.UpdateRobotTaskAsync(task);
+ QuartzLogHelper.LogInfo(_logger, $"涓嬪彂鍋囩數鑺彇璐ф寚浠ゆ垚鍔燂紝鎸囦护: {taskString}锛岀偣浣�: {string.Join(",", positions)}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ //await _robotTaskService.UpdateRobotTaskAsync(task);
}
- }
- else
- {
- QuartzLogHelper.LogError(_logger, $"涓嬪彂鍋囩數鑺彇璐ф寚浠ゅけ璐ワ紝鎸囦护: {taskString}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ else
+ {
+ QuartzLogHelper.LogError(_logger, $"涓嬪彂鍋囩數鑺彇璐ф寚浠ゅけ璐ワ紝鎸囦护: {taskString}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ }
}
}
@@ -307,31 +305,31 @@
/// <param name="batchEnd">鎵规缁撴潫缂栧彿</param>
public async Task SendPickWithBatchAsync(Dt_RobotTask task, RobotSocketState state, string position, 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�
- string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
- string taskString = $"Pickbattery,{position},{range}";
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ state.CurrentTask = task;
- bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
-
- if (result)
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
{
- QuartzLogHelper.LogInfo(_logger, $"涓嬪彂鎵规鍙栬揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}锛屾壒娆�: {range}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ // 鍏堝彂閫佹�绘暟鎸囦护
+ string totalNumCmd = $"PickTotalNum,{task.RobotTaskTotalNum}";
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- state.CurrentTask = task;
+ // 鍐嶅彂閫佹壒娆″彇璐ф寚浠�
+ string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
+ string taskString = $"Pickbattery,{position},{range}";
- if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+
+ if (result)
{
- await _robotTaskService.UpdateRobotTaskAsync(task);
+ QuartzLogHelper.LogInfo(_logger, $"涓嬪彂鎵规鍙栬揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}锛屾壒娆�: {range}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ //await _robotTaskService.UpdateRobotTaskAsync(task);
}
- }
- else
- {
- QuartzLogHelper.LogError(_logger, $"涓嬪彂鎵规鍙栬揣鎸囦护澶辫触锛屾寚浠�: {taskString}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ else
+ {
+ QuartzLogHelper.LogError(_logger, $"涓嬪彂鎵规鍙栬揣鎸囦护澶辫触锛屾寚浠�: {taskString}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ }
}
}
@@ -351,31 +349,31 @@
/// <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);
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ state.CurrentTask = task;
- // 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)
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
{
- QuartzLogHelper.LogInfo(_logger, $"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�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ // 鍏堝彂閫佹�绘暟鎸囦护
+ string totalNumCmd = $"PickTotalNum,{task.RobotTaskTotalNum}";
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- state.CurrentTask = task;
+ // 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}";
- if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+
+ if (result)
{
- await _robotTaskService.UpdateRobotTaskAsync(task);
+ QuartzLogHelper.LogInfo(_logger, $"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�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+
+ //await _robotTaskService.UpdateRobotTaskAsync(task);
}
- }
- else
- {
- QuartzLogHelper.LogError(_logger, $"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�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ else
+ {
+ QuartzLogHelper.LogError(_logger, $"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�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ }
}
}
@@ -396,31 +394,31 @@
/// <param name="batchEnd">鎵规缁撴潫缂栧彿</param>
public async Task SendPutWithBatchAsync(Dt_RobotTask task, RobotSocketState state, string position, int batchStart, int batchEnd)
{
- // 鍏堝彂閫佹�绘暟鎸囦护
- string totalNumCmd = $"PutTotalNum,{task.RobotTaskTotalNum}";
- await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+ state.CurrentTask = task;
- // 鍐嶅彂閫佹壒娆℃斁璐ф寚浠�
- string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
- string taskString = $"Putbattery,{position},{range}";
-
- bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
-
- if (result)
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
{
- QuartzLogHelper.LogInfo(_logger, $"涓嬪彂鏀捐揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}锛屾壒娆�: {range}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ // 鍏堝彂閫佹�绘暟鎸囦护
+ string totalNumCmd = $"PutTotalNum,{task.RobotTaskTotalNum}";
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- state.CurrentTask = task;
+ // 鍐嶅彂閫佹壒娆℃斁璐ф寚浠�
+ string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
+ string taskString = $"Putbattery,{position},{range}";
- if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+
+ if (result)
{
- await _robotTaskService.UpdateRobotTaskAsync(task);
+ QuartzLogHelper.LogInfo(_logger, $"涓嬪彂鏀捐揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}锛屾壒娆�: {range}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+
+ //await _robotTaskService.UpdateRobotTaskAsync(task);
}
- }
- else
- {
- QuartzLogHelper.LogError(_logger, $"涓嬪彂鏀捐揣鎸囦护澶辫触锛屾寚浠�: {taskString}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ else
+ {
+ QuartzLogHelper.LogError(_logger, $"涓嬪彂鏀捐揣鎸囦护澶辫触锛屾寚浠�: {taskString}锛岃澶�: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
+ }
}
}
@@ -785,5 +783,11 @@
return result;
}
+
+ public bool UpdateRobotTask(Dt_RobotTask task)
+ {
+ WebResponseContent content = _robotTaskService.UpdateData(task);
+ return content.Status;
+ }
}
}
--
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