feat: 更新分容库出库地址并添加巷道号常量

wanshenmean

19 小时以前 9f27cbd178b7f60975d388fa4c8a94f8b8e38117

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

@@ -170,14 +170,6 @@
            // 构建取货指令，格式：Pickbattery,{源地址}
            string taskString = $"Pickbattery,{task.RobotSourceAddress}";

            // 通过 Socket 网关发送指令到机器人客户端
            bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);

            if (result)
            {
                // 发送成功，记录 Info 日志
                QuartzLogHelper.LogInfo(_logger, $"下发取货指令成功，指令: {taskString}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);

                // 更新任务状态为"机器人执行中"
                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();

@@ -193,13 +185,20 @@
                // 这样可以确保状态和任务记录的一致性
                if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
                {
                    await _robotTaskService.UpdateRobotTaskAsync(task);
                }
                QuartzLogHelper.LogInfo(_logger, $"状态更新成功，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
                // 通过 Socket 网关发送指令到机器人客户端
                bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
                if (result)
                {
                    // 发送成功，记录 Info 日志
                    QuartzLogHelper.LogInfo(_logger, $"下发取货指令成功，指令: {taskString}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
                    //await _robotTaskService.UpdateRobotTaskAsync(task);
            }
            else
            {
                // 发送失败，记录 Error 日志
                QuartzLogHelper.LogError(_logger, $"下发取货指令失败，指令: {taskString}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
                }
            }
        }

@@ -234,13 +233,6 @@
            // 标记点位为已使用
            _fakeBatteryPositionService.MarkAsUsed(positions);

            // 通过 Socket 网关发送指令到机器人客户端
            bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);

            if (result)
            {
                QuartzLogHelper.LogInfo(_logger, $"下发假电芯取货指令成功，指令: {taskString}，点位: {string.Join(",", positions)}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);

                // 更新任务状态为"机器人执行中"
                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();

@@ -249,12 +241,18 @@

                if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
                {
                    await _robotTaskService.UpdateRobotTaskAsync(task);
                }
                // 通过 Socket 网关发送指令到机器人客户端
                bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);

                if (result)
                {
                    QuartzLogHelper.LogInfo(_logger, $"下发假电芯取货指令成功，指令: {taskString}，点位: {string.Join(",", positions)}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
                    //await _robotTaskService.UpdateRobotTaskAsync(task);
            }
            else
            {
                QuartzLogHelper.LogError(_logger, $"下发假电芯取货指令失败，指令: {taskString}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
                }
            }
        }

@@ -307,6 +305,12 @@
        /// <param name="batchEnd">批次结束编号</param>
        public async Task SendPickWithBatchAsync(Dt_RobotTask task, RobotSocketState state, string position, int batchStart, int batchEnd)
        {

            task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
            state.CurrentTask = task;

            if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
            {
            // 先发送总数指令
            string totalNumCmd = $"PickTotalNum,{task.RobotTaskTotalNum}";
            await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
@@ -320,18 +324,12 @@
            if (result)
            {
                QuartzLogHelper.LogInfo(_logger, $"下发批次取货指令成功，指令: {taskString}，批次: {range}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);

                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                state.CurrentTask = task;

                if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
                {
                    await _robotTaskService.UpdateRobotTaskAsync(task);
                }
                    //await _robotTaskService.UpdateRobotTaskAsync(task);
            }
            else
            {
                QuartzLogHelper.LogError(_logger, $"下发批次取货指令失败，指令: {taskString}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
                }
            }
        }

@@ -351,6 +349,11 @@
        /// <param name="batchEnd">批次结束编号</param>
        public async Task SendFakeBatteryPickWithBatchAsync(Dt_RobotTask task, RobotSocketState state, int batchStart, int batchEnd)
        {
            task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
            state.CurrentTask = task;

            if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
            {
            // 先发送总数指令
            string totalNumCmd = $"PickTotalNum,{task.RobotTaskTotalNum}";
            await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
@@ -365,17 +368,12 @@
            {
                QuartzLogHelper.LogInfo(_logger, $"下发假电芯批次取货指令成功，指令: {taskString}，批次: {range}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);

                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                state.CurrentTask = task;

                if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
                {
                    await _robotTaskService.UpdateRobotTaskAsync(task);
                }
                    //await _robotTaskService.UpdateRobotTaskAsync(task);
            }
            else
            {
                QuartzLogHelper.LogError(_logger, $"下发假电芯批次取货指令失败，指令: {taskString}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
                }
            }
        }

@@ -396,6 +394,11 @@
        /// <param name="batchEnd">批次结束编号</param>
        public async Task SendPutWithBatchAsync(Dt_RobotTask task, RobotSocketState state, string position, int batchStart, int batchEnd)
        {
            task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
            state.CurrentTask = task;

            if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
            {
            // 先发送总数指令
            string totalNumCmd = $"PutTotalNum,{task.RobotTaskTotalNum}";
            await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);
@@ -410,17 +413,12 @@
            {
                QuartzLogHelper.LogInfo(_logger, $"下发放货指令成功，指令: {taskString}，批次: {range}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);

                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                state.CurrentTask = task;

                if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
                {
                    await _robotTaskService.UpdateRobotTaskAsync(task);
                }
                    //await _robotTaskService.UpdateRobotTaskAsync(task);
            }
            else
            {
                QuartzLogHelper.LogError(_logger, $"下发放货指令失败，指令: {taskString}，设备: {state.RobotCrane?.DeviceName}", state.RobotCrane?.DeviceName);
                }
            }
        }

@@ -785,5 +783,11 @@

            return result;
        }

        public bool UpdateRobotTask(Dt_RobotTask task)
        {
            WebResponseContent content = _robotTaskService.UpdateData(task);
            return content.Status;
        }
    }
}