feat(Robot): 机械手换盘任务特殊处理

wanshenmean

昨天 1515ffa15c11e106f35e1447bc990b7867c449bb

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs

@@ -104,7 +104,8 @@
            ITaskService taskService,
            ICacheService cache,
            HttpClientHelper httpClientHelper,
            ILogger<RobotJob> logger)
            ILogger<RobotJob> logger,
            IFakeBatteryPositionService fakeBatteryPositionService)
        {
            // 初始化状态管理器，传入缓存服务
            _stateManager = new RobotStateManager(cache, _logger);
@@ -115,7 +116,7 @@
            ISocketClientGateway socketGateway = new SocketClientGateway(tcpSocket);

            // 初始化任务处理器
            _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper, _logger);
            _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper, _logger, fakeBatteryPositionService);

            // 初始化客户端管理器
            _clientManager = new RobotClientManager(tcpSocket, _stateManager, _logger);
@@ -124,7 +125,7 @@
            // 简单命令处理器：处理状态更新等简单命令
            var simpleCommandHandler = new RobotSimpleCommandHandler(_taskProcessor, socketGateway);
            // 前缀命令处理器：处理 pickfinished、putfinished 等带参数的命令
            var prefixCommandHandler = new RobotPrefixCommandHandler(robotTaskService, _taskProcessor, _stateManager, socketGateway);
            var prefixCommandHandler = new RobotPrefixCommandHandler(robotTaskService, _taskProcessor, _stateManager, socketGateway, fakeBatteryPositionService);

            // 初始化消息路由器
            _messageRouter = new RobotMessageHandler(socketGateway, _stateManager, cache, simpleCommandHandler, prefixCommandHandler, logger);