fix(RobotJob): 修正机器人任务处理逻辑和注释错误

wanshenmean

12 小时以前 34ad8ad8e238d54d9695da9e8d101579c42516bb

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

@@ -253,7 +253,7 @@
            {
                if (state.IsScanNG)
                {
                    taskString = $"Putbattery,4";
                    taskString = $"Putbattery,1";
                }
                else
                {
@@ -332,11 +332,11 @@
            // 如果是组盘任务
            if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
            {

                //if (!stateForUpdate.BatteryArrived)
                //{
                //    return;
                //}
                // 检查电池是否已到位
                if (!stateForUpdate.BatteryArrived)
                {
                    return;
                }
                // 读取线体电芯条码
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
@@ -352,21 +352,19 @@
                        // 条码重复，记录错误日志并停止后续操作(后续放货时会用到这些条码信息，供后续放货时使用，调试后可能会取消此逻辑)

                        // 发送取货指令 标记扫码NG，放货时不使用这些条码，并放入NG口
                        //await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                        await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                        return;
                    }
                    else
                    {
                        _logger.LogInformation("HandlePutFinishedStateAsync：读取的托盘条码唯一，继续执行，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Info($"读取的托盘条码唯一，继续执行", stateForUpdate.RobotCrane.DeviceName);

                        // 将条码添加到状态中，供后续放货时使用
                        stateForUpdate.CellBarcode = new List<string>()
                        {
                            trayBarcode1,trayBarcode2
                        };

                        // 将条码添加到状态中，供后续放货时使用
                        //stateForUpdate.CellBarcode.Add(trayBarcode1);
                        //stateForUpdate.CellBarcode.Add(trayBarcode2);
                    }


@@ -385,7 +383,7 @@


                    // 发送取货指令 标记扫码NG，放货时不使用这些条码，并放入NG口
                    //await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                    return;
                }
            }