SuZhouGuanHong/ShanMeiXinNengYuan.git

			@@ -1,4 +1,5 @@
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_Core.LogHelper;
			using WIDESEAWCS_Tasks.Workflow.Abstractions;

			namespace WIDESEAWCS_Tasks.Workflow
			@@ -26,12 +27,21 @@
			private readonly RobotTaskProcessor _taskProcessor;

			/// <summary>
			/// Socket 网关
			/// </summary>
			/// <remarks>
			/// 用于向客户端发送响应消息。
			/// </remarks>
			private readonly ISocketClientGateway _socketClientGateway;

			/// <summary>
			/// 构造函数
			/// </summary>
			/// <param name="taskProcessor">任务处理器实例</param>
			public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor)
			public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway)
			{
			_taskProcessor = taskProcessor;
			_socketClientGateway = socketClientGateway;
			}

			/// <summary>
			@@ -71,95 +81,13 @@

			// 机器人正在回零
			case "homing":
			state.OperStatus = "Homing";
			state.Homed = "Homing";
			return true;

			// 机器人已完成回零
			case "homed":
			state.OperStatus = "Homed";
			state.Homed = "Homed";
			return true;

			// 机器人正在取货
			case "picking":
			state.CurrentAction = "Picking";
			return true;

			// 机器人正在放货
			case "puting":
			state.CurrentAction = "Putting";
			return true;

			// ==================== 全部完成命令 ====================

			// 全部取货完成
			case "allpickfinished":
			{
			// 更新当前动作为"全部取货完成"
			state.CurrentAction = "AllPickFinished";

			// 获取当前关联的任务
			var currentTask = state.CurrentTask;
			if (currentTask == null)
			{
			// 没有任务关联，返回 false
			return false;
			}

			// 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)
			{
			// 处理入库任务回传
			// useSourceAddress: true 表示使用源地址（拆盘/换盘场景）
			if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
			{
			// 入库成功，删除任务记录
			_taskProcessor.DeleteTask(currentTask.RobotTaskId);
			return true;
			}
			}
			return false;
			}

			// 全部放货完成
			case "allputfinished":
			{
			// 更新当前动作为"全部放货完成"
			state.CurrentAction = "AllPutFinished";

			// 获取当前关联的任务
			var currentTask = state.CurrentTask;
			if (currentTask == null)
			{
			return false;
			}

			// 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)
			{
			// 处理入库任务回传
			// useSourceAddress: false 表示使用目标地址（组盘/换盘场景）
			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
			return true;
			}
			}
			return false;
			}

			// ==================== 运行状态命令（续） ====================

			// 机器人正在运行
			case "running":
			@@ -180,6 +108,268 @@
			case "emstoping":
			state.OperStatus = "Emstoping";
			return true;

			// 机器人正在取货
			case "picking":
			state.CurrentAction = "Picking";
			return true;

			// 机器人正在放货
			case "puting":
			state.CurrentAction = "Putting";
			return true;

			// 是否电芯到位
			case "batteryarrived":
			state.BatteryArrived = true;
			return true;

			// ==================== 全部完成命令 ====================

			// 全部取货完成
			case "allpickfinished":
			{
			// 更新当前动作为"全部取货完成"
			state.CurrentAction = "AllPickFinished";

			// 获取当前关联的任务
			var currentTask = state.CurrentTask;
			if (currentTask == null)
			{
			// 没有任务关联，返回 false
			return false;
			}

			// 判断任务类型
			var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;

			// 换盘任务：根据阶段区分处理
			if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
			{
			// 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)
			{
			QuartzLogger.Error($"批量拆盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			if (state.ChangePalletPhase == 5)
			{
			// FlowB 最终阶段：假电芯取完，源空托盘回库 HCSC1
			if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
			{
			return false;
			}

			if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
			{
			QuartzLogger.Error($"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, $"Swap,diskFinished");
			QuartzLogger.Info($"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);

			state.CurrentTask = null;
			state.RobotTaskTotalNum = 0;
			state.CellBarcode = new List<string>();
			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			state.IsInFakeBatteryMode = false;
			return true;
			}
			else if (state.ChangePalletPhase != 0)
			{
			// FlowA 中间阶段：正常电芯取完，源空托盘回库 GWSC1
			// 不删除任务，不重置状态，继续 Phase 3-4 假电芯流程
			if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
			{
			return false;
			}
			return true;
			}

			// Phase == 0: 非批次模式（目标总数==48）
			if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
			{
			return false;
			}

			if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
			{
			QuartzLogger.Error($"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, $"Swap,diskFinished");
			QuartzLogger.Info($"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);

			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			state.IsInFakeBatteryMode = false;
			return true;
			}

			// 拆盘任务：直接处理入库
			if (robotTaskType == RobotTaskTypeEnum.SplitPallet)
			{
			// 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)
			{
			QuartzLogger.Error($"批量拆盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
			{
			return false;
			}

			// 入库成功，删除任务记录
			if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
			{
			QuartzLogger.Error($"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, $"Swap,diskFinished");
			QuartzLogger.Info($"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
			return true;
			}
			return false;
			}

			// 全部放货完成
			case "allputfinished":
			{
			// 更新当前动作为"全部放货完成"
			state.CurrentAction = "AllPutFinished";

			// 获取当前关联的任务
			var currentTask = state.CurrentTask;
			if (currentTask == null)
			{
			return false;
			}

			// 判断任务类型
			var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;

			// 换盘任务：根据阶段区分处理
			if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
			{
			// 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)
			{
			QuartzLogger.Error($"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			if (state.ChangePalletPhase == 5)
			{
			// FlowA 最终阶段：假电芯放完，目标托盘满48入库 HCSC1
			if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
			{
			return false;
			}

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

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

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

			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			state.IsInFakeBatteryMode = false;
			return true;
			}
			else if (state.ChangePalletPhase != 0)
			{
			// FlowB 中间阶段：正常电芯放完，有货托盘组盘入库 GWSC1
			// 不删除任务，不重置状态，继续 Phase 3-4 假电芯流程
			if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
			{
			return false;
			}
			return true;
			}

			// Phase == 0: 非批次模式（目标总数==48）
			if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
			{
			return false;
			}

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

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

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

			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			state.IsInFakeBatteryMode = false;
			return true;
			}

			// 组盘任务：直接处理入库
			if (robotTaskType == RobotTaskTypeEnum.GroupPallet)
			{
			// 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)
			{
			QuartzLogger.Error($"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			// 处理入库任务回传
			// useSourceAddress: false 表示使用目标地址（组盘场景）
			if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
			{
			return false;
			}

			// 入库成功，删除任务记录
			if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
			{
			QuartzLogger.Error($"allputfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			// 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);
			return true;
			}
			return false;
			}

			// ==================== 模式切换命令 ====================

			@@ -223,4 +413,4 @@
			}
			}
			}
			}
			}