SuZhouGuanHong/ShanMeiXinNengYuan.git

			@@ -1,8 +1,15 @@
			using Quartz;
			using HslCommunication;
			using Newtonsoft.Json;
			using Quartz;
			using System.Collections.Concurrent;
			using System.Net.Sockets;
			using System.Text.Json;
			using WIDESEAWCS_Common.HttpEnum;
			using WIDESEAWCS_Core;
			using WIDESEAWCS_Core.Helper;
			using WIDESEAWCS_Core.Http;
			using WIDESEAWCS_DTO.Stock;
			using WIDESEAWCS_DTO.TaskInfo;
			using WIDESEAWCS_ITaskInfoRepository;
			using WIDESEAWCS_ITaskInfoService;
			using WIDESEAWCS_Model.Models;
			@@ -123,6 +130,7 @@
			/// <returns></returns>
			private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, RobotSocketState state)
			{
			WebResponseContent content = new WebResponseContent();
			string messageLower = message.ToLowerInvariant();

			if (IsSimpleCommand(messageLower, state))
			@@ -146,13 +154,6 @@

			if (cmd.StartsWith("pickfinished"))
			{
			state.LastPickPositions = positions;
			state.CurrentAction = "PickFinished";
			}
			else if (cmd.StartsWith("putfinished"))
			{
			state.LastPutPositions = positions;
			// 发送数据给WMS组盘/换盘
			StockDTO stockDTO = new StockDTO
			{
			SourceLineNo = state.CurrentTask?.RobotSourceAddressLineCode,
			@@ -160,17 +161,57 @@
			TargetPalletNo = state.CurrentTask?.RobotTargetAddressPalletCode,
			TargetLineNo = state.CurrentTask?.RobotTargetAddressLineCode,
			Details = positions
			.Where(x => x > 0)
			.OrderBy(x => x)
			.Select((x, idx) => new StockDetailDTO
			{
			Quantity = state.CurrentTask?.RobotTaskTotalNum ?? 1,
			Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
			CellBarcode = state.CellBarcode[idx]
			})
			.ToList()
			.Where(x => x > 0)
			.OrderBy(x => x)
			.Select((x, idx) => new StockDetailDTO
			{
			Quantity = state.CurrentTask?.RobotTaskTotalNum ?? 1,
			Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
			CellBarcode = state.CellBarcode[idx]
			})
			.ToList()
			};
			state.CurrentAction = "PutFinished";
			state.LastPickPositions = positions;

			var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), state.CurrentTask?.RobotTaskType == 2 ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.SplitPalletAsync));
			content = JsonConvert.DeserializeObject<WebResponseContent>(result);

			if (content.Status)
			{
			state.CurrentAction = "PickFinished";
			}
			}
			else if (cmd.StartsWith("putfinished"))
			{
			state.LastPutPositions = positions;
			if (state.CurrentTask?.RobotTaskType == 1)
			{
			// 发送数据给WMS组盘/换盘
			StockDTO stockDTO = new StockDTO
			{
			SourceLineNo = state.CurrentTask?.RobotSourceAddressLineCode,
			SourcePalletNo = state.CurrentTask?.RobotSourceAddressPalletCode,
			TargetPalletNo = state.CurrentTask?.RobotTargetAddressPalletCode,
			TargetLineNo = state.CurrentTask?.RobotTargetAddressLineCode,
			Details = positions
			.Where(x => x > 0)
			.OrderBy(x => x)
			.Select((x, idx) => new StockDetailDTO
			{
			Quantity = state.CurrentTask?.RobotTaskTotalNum ?? 1,
			Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
			CellBarcode = state.CellBarcode[idx]
			})
			.ToList()
			};
			var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.GroupPalletAsync));
			content = JsonConvert.DeserializeObject<WebResponseContent>(result);

			if (content.Status)
			{
			state.CurrentAction = "PutFinished";
			}
			}
			}
			}
			}
			@@ -210,7 +251,7 @@

			case "allpickfinished":
			state.CurrentAction = "AllPickFinished";
			if(state.CurrentTask?.RobotTaskType == 2\|\| state.CurrentTask?.RobotTaskType == 3)
			if (state.CurrentTask?.RobotTaskType == 2 \|\| state.CurrentTask?.RobotTaskType == 3)
			{
			// TODO 机械手取货完成，判断是否换盘、拆盘任务，创建空托盘回库任务
			}
			@@ -218,9 +259,19 @@

			case "allputfinished":
			state.CurrentAction = "AllPutFinished";
			if (state.CurrentTask?.RobotTaskType == 1 )
			if (state.CurrentTask?.RobotTaskType == 1)
			{
			// TODO 机械手取货完成，判断是否组盘任务，创建组盘入库任务
			CreateTaskDto taskDto = new CreateTaskDto()
			{
			PalletCode = state.CurrentTask?.RobotTargetAddressPalletCode ?? string.Empty,
			SourceAddress = state.CurrentTask?.RobotTargetAddress ?? string.Empty,
			TargetAddress = state.CurrentTask?.RobotTargetAddress ?? string.Empty,
			Roadway = state.CurrentTask?.RobotRoadway == "1" ? "GWSC001" : state.CurrentTask?.RobotRoadway == "2" ? "HCSC001" : "SC001" ?? string.Empty,
			WarehouseId = state.CurrentTask?.RobotRoadway == "1" ? 1 : state.CurrentTask?.RobotRoadway == "2" ? 2 : 3,
			PalletType = 1,
			TaskType = 4
			};
			}
			return true;