using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_Tasks.Workflow.Abstractions;
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namespace WIDESEAWCS_Tasks.Workflow
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{
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/// <summary>
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/// 简单命令处理：仅迁移原 RobotMessageHandler 中的命令分支，不改变业务语义。
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/// </summary>
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public class RobotSimpleCommandHandler : IRobotSimpleCommandHandler
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{
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private readonly RobotTaskProcessor _taskProcessor;
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public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor)
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{
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_taskProcessor = taskProcessor;
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}
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public async Task<bool> HandleAsync(string message, RobotSocketState state)
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{
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switch (message)
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{
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case "homing":
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state.OperStatus = "Homing";
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return true;
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case "homed":
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state.OperStatus = "Homed";
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return true;
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case "picking":
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state.CurrentAction = "Picking";
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return true;
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case "puting":
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state.CurrentAction = "Putting";
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return true;
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case "allpickfinished":
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{
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state.CurrentAction = "AllPickFinished";
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var currentTask = state.CurrentTask;
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if (currentTask == null)
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{
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return false;
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}
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var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
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if (robotTaskType == RobotTaskTypeEnum.SplitPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
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{
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if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
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{
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_taskProcessor.DeleteTask(currentTask.RobotTaskId);
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return true;
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}
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}
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return false;
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}
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case "allputfinished":
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{
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state.CurrentAction = "AllPutFinished";
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var currentTask = state.CurrentTask;
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if (currentTask == null)
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{
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return false;
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}
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var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
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if (robotTaskType == RobotTaskTypeEnum.GroupPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
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{
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if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
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{
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_taskProcessor.DeleteTask(currentTask.RobotTaskId);
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state.CurrentTask = null;
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state.RobotTaskTotalNum = 0;
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state.CellBarcode = new List<string>();
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return true;
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}
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}
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return false;
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}
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case "running":
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state.OperStatus = "Running";
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return true;
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case "pausing":
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state.OperStatus = "Pausing";
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return true;
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case "warming":
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state.OperStatus = "Warming";
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return true;
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case "emstoping":
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state.OperStatus = "Emstoping";
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return true;
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case "runmode,1":
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state.RobotRunMode = 1;
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return true;
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case "runmode,2":
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state.RobotRunMode = 2;
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return true;
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case "controlmode,1":
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state.RobotControlMode = 1;
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return true;
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case "controlmode,2":
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state.RobotControlMode = 2;
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return true;
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case "armobject,1":
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state.RobotArmObject = 1;
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return true;
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case "armobject,0":
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state.RobotArmObject = 0;
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return true;
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default:
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return false;
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}
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}
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}
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}
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