feat(机械手任务): 实现换盘任务多阶段处理逻辑

wanshenmean

14 小时以前 2f7c7a0621ee2e84c47ccd054889a71e8ce4fdd0

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

@@ -165,7 +165,7 @@
        /// <param name="task">要下发的任务对象</param>
        /// <param name="state">机器人当前状态</param>
        /// <param name="isScanNG">是否扫码NG</param>
        public async Task SendSocketRobotPickAsync(Dt_RobotTask task, RobotSocketState state, bool isScanNG)
        public async Task SendSocketRobotPickAsync(Dt_RobotTask task, RobotSocketState state, bool isScanNG = false)
        {
            // 构建取货指令，格式：Pickbattery,{源地址}
            string taskString = $"Pickbattery,{task.RobotSourceAddress}";
@@ -340,6 +340,53 @@
            {
                _logger.LogError("下发批次取货指令失败，指令: {TaskString}，设备: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
                QuartzLogger.Error($"下发批次取货指令失败，指令: {taskString}", state.RobotCrane?.DeviceName);
            }
        }

        /// <summary>
        /// 下发假电芯取货指令（带批次格式和总数）
        /// </summary>
        /// <remarks>
        /// 发送顺序：
        /// 1. PickTotalNum,{N} -- 真实电芯总数
        /// 2. Pickbattery,5,{start}-{end} -- 批次取货指令（固定从5号位取）
        ///
        /// 下发成功后更新任务状态为"机器人执行中"。
        /// </remarks>
        /// <param name="task">要下发的任务对象</param>
        /// <param name="state">机器人当前状态</param>
        /// <param name="batchStart">批次起始编号</param>
        /// <param name="batchEnd">批次结束编号</param>
        public async Task SendFakeBatteryPickWithBatchAsync(Dt_RobotTask task, RobotSocketState state, int batchStart, int batchEnd)
        {
            // 先发送总数指令
            string totalNumCmd = $"PickTotalNum,{task.RobotTaskTotalNum}";
            await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);

            // 再发送批次取货指令（假电芯固定从5号位取）
            string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
            string taskString = $"Pickbattery,5,{range}";

            bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);

            if (result)
            {
                _logger.LogInformation("下发假电芯批次取货指令成功，指令: {TaskString}，批次: {Range}，设备: {DeviceName}",
                    taskString, range, state.RobotCrane?.DeviceName);
                QuartzLogger.Info($"下发假电芯批次取货指令成功，指令: {taskString}，批次: {range}", state.RobotCrane?.DeviceName);

                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                state.CurrentTask = task;

                if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
                {
                    await _robotTaskService.UpdateRobotTaskAsync(task);
                }
            }
            else
            {
                _logger.LogError("下发假电芯批次取货指令失败，指令: {TaskString}，设备: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
                QuartzLogger.Error($"下发假电芯批次取货指令失败，指令: {taskString}", state.RobotCrane?.DeviceName);
            }
        }

@@ -600,7 +647,8 @@
                        Channel = x,

                        // 电池条码：如果状态中有条码列表，取对应位置的条码；否则为空
                        CellBarcode = state.CellBarcode?.Count > 0 ? state.CellBarcode[x - 1] : ""
                        //CellBarcode = state.CellBarcode?.Count > 0 ? state.CellBarcode[x - 1] : ""
                        CellBarcode = state.CellBarcode[idx].ToString()
                    })
                    .ToList()
            };
@@ -646,10 +694,11 @@
        /// 当拆盘任务全部取完时调用，一次性上传整个托盘的解绑数据到 MES。
        /// </remarks>
        /// <param name="palletCode">源托盘号</param>
        /// <param name="deviceName">设备名称，用于传递到 WMS</param>
        /// <returns>HTTP 响应结果</returns>
        public HttpResponseResult<WebResponseContent> PostSplitPalletConfirmAsync(string palletCode)
        public HttpResponseResult<WebResponseContent> PostSplitPalletConfirmAsync(string palletCode, string deviceName)
        {
            var request = new { PalletCode = palletCode };
            var request = new { PalletCode = palletCode, DeviceName = deviceName };
            return _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.SplitPalletConfirm), request.ToJson());
        }

@@ -660,10 +709,11 @@
        /// 当组盘任务全部放完时调用，一次性上传整个托盘的绑定数据到 MES。
        /// </remarks>
        /// <param name="palletCode">目标托盘号</param>
        /// <param name="deviceName">设备名称，用于传递到 WMS</param>
        /// <returns>HTTP 响应结果</returns>
        public HttpResponseResult<WebResponseContent> PostGroupPalletConfirmAsync(string palletCode)
        public HttpResponseResult<WebResponseContent> PostGroupPalletConfirmAsync(string palletCode, string deviceName)
        {
            var request = new { PalletCode = palletCode };
            var request = new { PalletCode = palletCode, DeviceName = deviceName };
            return _httpClientHelper.Post<WebResponseContent>(nameof(ConfigKey.GroupPalletConfirm), request.ToJson());
        }
    }