feat(WCS&WMS): 机械手扫码NG处理与线体条码读取与添加批量MES绑定解绑接口

wanshenmean

20 小时以前 5bf10c1dafe485d506ec534f98e5220a3b83dd17

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

@@ -143,6 +143,14 @@
                        {
                            if (state.ChangePalletPhase == 0)
                            {
                                // 调用批量拆盘确认接口（换盘取完阶段）
                                var sourcePallet = state.CurrentTask.RobotSourceAddressPalletCode;
                                var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet);
                                if (!confirmResult.IsSuccess)
                                {
                                    QuartzLogger.Error($"批量拆盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                                }

                                // 所有阶段完成，处理入库
                                if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
                                {
@@ -165,6 +173,14 @@
                        // 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);
                            if (!confirmResult.IsSuccess)
                            {
                                QuartzLogger.Error($"批量拆盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                            }

                            if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
                            {
                                // 入库成功，删除任务记录
@@ -198,6 +214,14 @@
                        {
                            if (state.ChangePalletPhase == 0)
                            {
                                // 调用批量组盘确认接口（换盘放完阶段）
                                var targetPallet = state.CurrentTask.RobotTargetAddressPalletCode;
                                var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet);
                                if (!confirmResult.IsSuccess)
                                {
                                    QuartzLogger.Error($"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                                }

                                // 所有阶段完成，处理入库
                                if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
                                {
@@ -226,6 +250,14 @@
                        // 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);
                            if (!confirmResult.IsSuccess)
                            {
                                QuartzLogger.Error($"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                            }

                            // 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))