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/Workflow/RobotSimpleCommandHandler.cs | 44 +++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 43 insertions(+), 1 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
index 9f8efa0..5c709bf 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
@@ -1,4 +1,6 @@
+using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using Serilog;
+using System.Net;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Model.Models;
@@ -42,15 +44,24 @@
private readonly ILogger _logger;
/// <summary>
+ /// 鏈烘鎵嬬姸鎬佺鐞嗗櫒
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬璇诲彇鍜屾洿鏂版満鍣ㄤ汉鐨勭姸鎬併��
+ /// </remarks>
+ private readonly RobotStateManager _stateManager;
+
+ /// <summary>
/// 鏋勯�犲嚱鏁�
/// </summary>
/// <param name="taskProcessor">浠诲姟澶勭悊鍣ㄥ疄渚�</param>
/// <param name="logger">鏃ュ織璁板綍鍣�</param>
- public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway, ILogger logger)
+ public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway, ILogger logger, RobotStateManager stateManager)
{
_taskProcessor = taskProcessor;
_socketClientGateway = socketClientGateway;
_logger = logger;
+ _stateManager = stateManager;
}
/// <summary>
@@ -96,6 +107,8 @@
// 鏈哄櫒浜哄凡瀹屾垚鍥為浂
case "homed":
state.Homed = "Homed";
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, "Homed");
return true;
// 鏈哄櫒浜烘鍦ㄨ繍琛�
@@ -136,6 +149,23 @@
// 鏄惁鐢佃姱鍒颁綅
case "batteryarrivedno":
state.BatteryArrived = false;
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, "batteryarrivedno");
+ return true;
+ // ==================== 鎺ユ敹浠诲姟鍙嶉 ====================
+
+ // 鍙栬揣鎺ユ敹
+ case "pickbatteryover":
+ var isResult = UpdateStatus(state, true);
+ if (!isResult)
+ return false;
+ return true;
+
+ // 鏀捐揣鎺ユ敹
+ case "putbatteryover":
+ isResult = UpdateStatus(state, false);
+ if (!isResult)
+ return false;
return true;
// ==================== 鍏ㄩ儴瀹屾垚鍛戒护 ====================
@@ -428,5 +458,17 @@
return false;
}
}
+
+ public bool UpdateStatus(RobotSocketState state, bool isPick)
+ {
+ var task = _taskProcessor.GetTask(state?.RobotCrane);
+ if (task == null)
+ {
+ QuartzLogHelper.LogError(_logger, $"鍙栬揣鎺ユ敹澶辫触: 鏈壘鍒般�恵state?.RobotCrane}銆戠殑浠诲姟", state.RobotCrane?.DeviceName ?? "Unknown");
+ }
+ task.RobotTaskState = (int)TaskRobotStatusEnum.RobotExecuting;
+ _taskProcessor.UpdateRobotTask(task);
+ return true;
+ }
}
}
\ No newline at end of file
--
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