添加堆垛机配置并重构任务

wanshenmean

2026-02-11 88724eca51a5863f20ee0a552af741aeebf4e8f2

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

@@ -134,7 +134,6 @@
        /// <returns></returns>
        private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, RobotSocketState state)
        {
            WebResponseContent content = new WebResponseContent();
            string messageLower = message.ToLowerInvariant();

            if (await IsSimpleCommandAsync(messageLower, state))
@@ -178,10 +177,8 @@
                            state.LastPickPositions = positions;

                            var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), state.CurrentTask?.RobotTaskType == 2 ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.SplitPalletAsync));
                            WebResponseContent? contentNullable = JsonConvert.DeserializeObject<WebResponseContent>(result);
                            content = contentNullable ?? new WebResponseContent();

                            if (content.Status)
                            if (result.Status)
                            {
                                state.CurrentAction = "PickFinished";
                            }
@@ -210,10 +207,8 @@
                                        .ToList()
                                };
                                var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), stockDTO.ToJsonString(), nameof(ConfigKey.GroupPalletAsync));
                                WebResponseContent? contentNullable = JsonConvert.DeserializeObject<WebResponseContent>(result);
                                content = contentNullable ?? new WebResponseContent();

                                if (content.Status)
                                if (result.Status)
                                {
                                    state.CurrentAction = "PutFinished";
                                }
@@ -339,18 +334,14 @@
            };

            var result = await HttpRequestHelper.HTTPPostAsync(nameof(Category.WMS), taskDto.ToJsonString(), nameof(ConfigKey.CreateTaskInboundAsync));
            WebResponseContent content = JsonConvert.DeserializeObject<WebResponseContent>(result) ?? new WebResponseContent();
            if (!content.Status)
            if (!result.Status)
            {
                return;
            }

            WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(content.Data.ToString() ?? string.Empty) ?? new WMSTaskDTO();
            content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
            if (!content.Status)
            {
                return;
            }
            WMSTaskDTO taskDTO = JsonConvert.DeserializeObject<WMSTaskDTO>(result.Data.ToString() ?? string.Empty) ?? new WMSTaskDTO();
            var content = _taskService.ReceiveWMSTask(new List<WMSTaskDTO> { taskDTO });
            if (!content.Status) return;

            var taskInfo = _taskService.QueryByTaskNum(taskDTO.TaskNum);