feat(Robot): 机械手换盘任务特殊处理

wanshenmean

昨天 1515ffa15c11e106f35e1447bc990b7867c449bb

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

@@ -138,11 +138,33 @@
                        // 判断任务类型
                        var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;

                        // 只有拆盘或换盘任务需要处理入库
                        if (robotTaskType == RobotTaskTypeEnum.SplitPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
                        // 换盘任务：仅当所有阶段完成时才处理入库
                        if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
                        {
                            // 处理入库任务回传
                            // useSourceAddress: true 表示使用源地址（拆盘/换盘场景）
                            if (state.ChangePalletPhase == 0)
                            {
                                // 所有阶段完成，处理入库
                                if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
                                {
                                    // 入库成功，删除任务记录
                                    _taskProcessor.DeleteTask(currentTask.RobotTaskId);
                                    await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
                                    QuartzLogger.Info($"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);

                                    // 重置批次状态
                                    state.ChangePalletPhase = 0;
                                    state.CurrentBatchIndex = 1;
                                    state.IsInFakeBatteryMode = false;
                                    return true;
                                }
                            }
                            // 中间阶段不处理，仅更新状态
                            return true;
                        }

                        // 拆盘任务：直接处理入库
                        if (robotTaskType == RobotTaskTypeEnum.SplitPallet)
                        {
                            if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
                            {
                                // 入库成功，删除任务记录
@@ -171,11 +193,41 @@
                        // 判断任务类型
                        var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;

                        // 只有组盘或换盘任务需要处理入库
                        if (robotTaskType == RobotTaskTypeEnum.GroupPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
                        // 换盘任务：仅当所有阶段完成时才处理入库
                        if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
                        {
                            if (state.ChangePalletPhase == 0)
                            {
                                // 所有阶段完成，处理入库
                                if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
                                {
                                    // 入库成功，删除任务记录
                                    _taskProcessor.DeleteTask(currentTask.RobotTaskId);

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

                                    await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
                                    QuartzLogger.Info($"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);

                                    // 重置批次状态
                                    state.ChangePalletPhase = 0;
                                    state.CurrentBatchIndex = 1;
                                    state.IsInFakeBatteryMode = false;
                                    return true;
                                }
                            }
                            // 中间阶段不处理，仅更新状态
                            return true;
                        }

                        // 组盘任务：直接处理入库
                        if (robotTaskType == RobotTaskTypeEnum.GroupPallet)
                        {
                            // 处理入库任务回传
                            // useSourceAddress: false 表示使用目标地址（组盘/换盘场景）
                            // useSourceAddress: false 表示使用目标地址（组盘场景）
                            if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
                            {
                                // 入库成功，删除任务记录