From f423e1277f91427f0a767bd1224c1260dcb73086 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期一, 20 四月 2026 22:47:54 +0800
Subject: [PATCH] feat: 添加空箱入库功能及相关优化
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs | 31 ++++++++++++++-----------------
1 files changed, 14 insertions(+), 17 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 fbb989d..2f516f6 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
@@ -112,7 +112,7 @@
// 1. 杩愯妯″紡涓鸿嚜鍔紙2锛�
// 2. 鎺у埗妯″紡涓哄鎴风鎺у埗锛�1锛�
// 3. 杩愯鐘舵�佹槸 Running
- if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running" && (latestState.Homed == "Homed" || latestState.Homed.IsNullOrEmpty()))
+ if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ /*&& latestState.OperStatus == "Running"*/ && (latestState.Homed == "Homed" || latestState.Homed.IsNullOrEmpty()))
{
// ========== 鍙栬揣瀹屾垚鍚庣殑鏀捐揣澶勭悊 ==========
// 鏉′欢锛�
@@ -137,8 +137,8 @@
// - 浠诲姟鐘舵�佷负 RobotPutFinish 鎴栦笉鏄� RobotExecuting
else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction.IsNullOrEmpty())
&& (latestState.RobotArmObject.IsNullOrEmpty() || latestState.RobotArmObject == 0)
- && (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode()
- || task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
+ && (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode() || task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
+ && latestState.BatteryArrived)
{
_logger.LogInformation("ExecuteAsync锛氭弧瓒冲彇璐ф潯浠讹紝寮�濮嬩笅鍙戝彇璐т换鍔★紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
QuartzLogger.Info($"ExecuteAsync锛氭弧瓒冲彇璐ф潯浠讹紝寮�濮嬩笅鍙戝彇璐т换鍔�", latestState.RobotCrane?.DeviceName ?? ipAddress);
@@ -253,7 +253,7 @@
{
if (state.IsScanNG)
{
- taskString = $"Putbattery,4";
+ taskString = $"Putbattery,1";
}
else
{
@@ -312,7 +312,7 @@
private async Task HandlePutFinishedStateAsync(Dt_RobotTask task, string ipAddress)
{
// 鑾峰彇鏈�鏂扮姸鎬�
- var stateForUpdate = _stateManager.GetState(ipAddress);
+ RobotSocketState? stateForUpdate = _stateManager.GetState(ipAddress);
if (stateForUpdate == null)
{
_logger.LogWarning("HandlePutFinishedStateAsync锛氳幏鍙栫姸鎬佸け璐ワ紝IP: {IpAddress}", ipAddress);
@@ -332,11 +332,11 @@
// 濡傛灉鏄粍鐩樹换鍔�
if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
{
-
- //if (!stateForUpdate.BatteryArrived)
- //{
- // return;
- //}
+ // 妫�鏌ョ數姹犳槸鍚﹀凡鍒颁綅
+ if (!stateForUpdate.BatteryArrived)
+ {
+ return;
+ }
// 璇诲彇绾夸綋鐢佃姱鏉＄爜
string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
@@ -359,16 +359,13 @@
{
_logger.LogInformation("HandlePutFinishedStateAsync锛氳鍙栫殑鎵樼洏鏉＄爜鍞竴锛岀户缁墽琛岋紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
QuartzLogger.Info($"璇诲彇鐨勬墭鐩樻潯鐮佸敮涓�锛岀户缁墽琛�", stateForUpdate.RobotCrane.DeviceName);
+
+ // 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
stateForUpdate.CellBarcode = new List<string>()
{
trayBarcode1,trayBarcode2
};
-
- // 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
- //stateForUpdate.CellBarcode.Add(trayBarcode1);
- //stateForUpdate.CellBarcode.Add(trayBarcode2);
}
-
// 璁板綍鏃ュ織锛氳鍙栨墭鐩樻潯鐮佹垚鍔�
_logger.LogInformation("HandlePutFinishedStateAsync锛氳鍙栨墭鐩樻潯鐮佹垚鍔�: {Barcode1}+{Barcode2}锛屼换鍔″彿: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
@@ -380,8 +377,8 @@
else
{
// 鏉＄爜璇诲彇澶辫触锛岃褰曢敊璇棩蹇�
- _logger.LogError("HandlePutFinishedStateAsync锛氳鍙栨墭鐩樻潯鐮佸け璐ワ紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
- QuartzLogger.Error($"璇诲彇鎵樼洏鏉＄爜澶辫触", stateForUpdate.RobotCrane.DeviceName);
+ _logger.LogError("HandlePutFinishedStateAsync锛氳鍙栨墭鐩樻潯鐮佸け璐ワ紝浠诲姟鍙�: {TaskNum}锛屼竴鍙蜂綅: {trayBarcode1}锛屼簩鍙蜂綅: {trayBarcode2}", task.RobotTaskNum,trayBarcode1,trayBarcode2);
+ QuartzLogger.Error($"璇诲彇鎵樼洏鏉＄爜澶辫触,涓�鍙蜂綅锛歿trayBarcode1},浜屽彿浣嶏細{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);
// 鍙戦�佸彇璐ф寚浠� 鏍囪鎵爜NG锛屾斁璐ф椂涓嶄娇鐢ㄨ繖浜涙潯鐮侊紝骞舵斁鍏G鍙�
--
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