feat(机器人任务): 实现本地创建机器人任务功能

wanshenmean

10 小时以前 419159c8611dca81b94b3103cdeaeb9272aed5ea

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

@@ -118,7 +118,7 @@
                // - 手臂上有物料（RobotArmObject == 1）
                // - 任务状态为 RobotPickFinish（已记录取货完成）
                if ((latestState.CurrentAction == "PickFinished" || latestState.CurrentAction == "AllPickFinished")
                    && (latestState.RobotArmObject.IsNullOrEmpty() || latestState.RobotArmObject == 1)
                    //&& (latestState.RobotArmObject.IsNullOrEmpty() || latestState.RobotArmObject == 1)
                    && task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode())
                {
                    QuartzLogHelper.LogInfo(_logger, $"ExecuteAsync：满足放货条件，开始下发放货任务,任务号: {task.RobotTaskNum}", latestState.RobotCrane?.DeviceName ?? ipAddress);
@@ -133,7 +133,7 @@
                // - 手臂上无物料（RobotArmObject == 0）
                // - 任务状态为 RobotPutFinish 或不是 RobotExecuting
                else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction.IsNullOrEmpty())
                    && (latestState.RobotArmObject.IsNullOrEmpty() || latestState.RobotArmObject == 0)
                    //&& (latestState.RobotArmObject.IsNullOrEmpty() || latestState.RobotArmObject == 0)
                    && (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode() || task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
                {
                    QuartzLogHelper.LogInfo(_logger, $"ExecuteAsync：满足取货条件，开始下发取货任务，任务号: {task.RobotTaskNum}", latestState.RobotCrane?.DeviceName ?? ipAddress);
@@ -327,18 +327,19 @@
                // 检查电池是否已到位
                if (!stateForUpdate.BatteryArrived)
                {
                    QuartzLogHelper.LogError(_logger, $"HandlePutFinishedStateAsync：电芯未到位，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);
                    return;
                }
                // 读取线体电芯条码
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");

                // 如果条码生成成功
                if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
                {
                    if (stateForUpdate.CellBarcode.Contains(trayBarcode1) || stateForUpdate.CellBarcode.Contains(trayBarcode2))
                    {
                        QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：读取的托盘条码已存在，可能存在重复，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);
                        QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：读取的电芯条码已存在，可能存在重复，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);

                        // 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);
@@ -346,7 +347,13 @@
                    }
                    else
                    {
                        QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：读取的托盘条码唯一，继续执行，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);
                        if (trayBarcode1.Length < 13 || trayBarcode2.Length < 13)
                        {
                            QuartzLogHelper.LogError(_logger, $"HandlePutFinishedStateAsync：电芯条码长度不达标，任务号: {task.RobotTaskNum}，读取电芯条码成功: 【{trayBarcode1}】-----【{trayBarcode2}】", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);
                            return;
                        }

                        QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：读取的电芯条码唯一，继续执行，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);

                        // 将条码添加到状态中，供后续放货时使用
                        stateForUpdate.CellBarcode = new List<string>()
@@ -356,7 +363,7 @@
                    }

                    // 记录日志：读取托盘条码成功
                    QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：读取托盘条码成功: 【{trayBarcode1}】-----【{trayBarcode2}】，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);
                    QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：读取电芯条码成功: 【{trayBarcode1}】-----【{trayBarcode2}】，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);

                    // 发送取货指令
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);