SuZhouGuanHong/ShanMeiXinNengYuan.git

			@@ -159,6 +159,8 @@
			var isResult = UpdateStatus(state, true);
			if (!isResult)
			return false;

			await _socketClientGateway.SendToClientAsync(state.IPAddress, "pickbatteryover");
			return true;

			// 放货接收
			@@ -166,6 +168,8 @@
			isResult = UpdateStatus(state, false);
			if (!isResult)
			return false;

			await _socketClientGateway.SendToClientAsync(state.IPAddress, "putbatteryover");
			return true;

			// ==================== 全部完成命令 ====================
			@@ -193,7 +197,7 @@
			// 调用批量拆盘确认接口
			var sourcePallet = state.CurrentTask.RobotSourceAddressPalletCode;
			var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet, state.RobotCrane?.DeviceName);
			if (!confirmResult.IsSuccess)
			if (!confirmResult.IsSuccess && !confirmResult.Data.Status)
			{
			QuartzLogHelper.LogError(_logger, $"批量拆盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			@@ -213,12 +217,14 @@
			return false;
			}

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);

			state.CurrentTask = null;
			state.CurrentTaskNum = null;
			state.RobotTaskTotalNum = 0;
			state.CellBarcode = new List<string>();
			state.CurrentBatchBarcodes = new List<string>();
			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			state.IsInFakeBatteryMode = false;
			@@ -242,14 +248,14 @@
			return false;
			}

			if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
			{
			QuartzLogHelper.LogError(_logger, $"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}
			//if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
			//{
			// QuartzLogHelper.LogError(_logger, $"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
			// return false;
			//}

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);

			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			@@ -281,8 +287,8 @@
			return false;
			}

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
			return true;
			}
			return false;
			@@ -310,7 +316,7 @@
			// 调用批量组盘确认接口
			var targetPallet = state.CurrentTask.RobotTargetAddressPalletCode;
			var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet, state.RobotCrane?.DeviceName);
			if (!confirmResult.IsSuccess)
			if (!confirmResult.IsSuccess && !confirmResult.Data.Status)
			{
			QuartzLogHelper.LogError(_logger, $"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			@@ -331,11 +337,13 @@
			}

			state.CurrentTask = null;
			state.CurrentTaskNum = null;
			state.RobotTaskTotalNum = 0;
			state.CellBarcode = new List<string>();
			state.CurrentBatchBarcodes = new List<string>();

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);

			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			@@ -367,11 +375,13 @@
			}

			state.CurrentTask = null;
			state.CurrentTaskNum = null;
			state.RobotTaskTotalNum = 0;
			state.CellBarcode = new List<string>();
			state.CurrentBatchBarcodes = new List<string>();

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);

			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			@@ -407,8 +417,10 @@

			// 清理状态，为下一个任务做准备
			state.CurrentTask = null; // 清除当前任务
			state.CurrentTaskNum = null; // 清除当前任务编号
			state.RobotTaskTotalNum = 0; // 重置任务计数
			state.CellBarcode = new List<string>(); // 清空条码列表
			state.CurrentBatchBarcodes = new List<string>(); // 清空当前批次条码

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
			@@ -461,14 +473,14 @@

			public bool UpdateStatus(RobotSocketState state, bool isPick)
			{
			var task = _taskProcessor.GetTask(state?.RobotCrane);
			var task = _taskProcessor.GetRobotTask(state?.RobotCrane);
			if (task == null)
			{
			QuartzLogHelper.LogError(_logger, $"取货接收失败: 未找到【{state?.RobotCrane}】的任务", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}
			task.RobotTaskState = (int)TaskRobotStatusEnum.RobotExecuting;
			_taskProcessor.UpdateRobotTask(task);
			return true;
			return _taskProcessor.UpdateRobotTask(task);
			}
			}
			}