feat(机器人任务): 实现换盘任务假电芯补充逻辑

wanshenmean

6 小时以前 ad64840cc04dac2278ca02f22ddc02b1a218e9cf

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

@@ -237,13 +237,13 @@
                    || task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
            }

            // 如果是组盘任务（包括换盘）
            // 如果是组盘任务
            if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
            {
                // 生成托盘条码前缀
                const string prefix = "TRAY";

                // 生成两个托盘条码（用于组盘操作）
                // 生成两个托盘条码（用于组盘操作）（测试用，后续读取线体条码）
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);

@@ -282,6 +282,66 @@
                    QuartzLogger.Error($"生成托盘条码失败", stateForUpdate.RobotCrane.DeviceName);
                }
            }
            else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
            {
                // 换盘任务
                // 目标：正常电芯抓取完成后，补充假电芯至48个
                const int targetTotal = 48;
                const int fakeBatteryPickPosition = 5;  // 假电芯抓取位置
                const int pickCountPerExecution = 4;     // 每次抓取数量

                int targetNormalCount = task.RobotTaskTotalNum;  // 正常电芯目标数量
                int currentCompletedCount = stateForUpdate.RobotTaskTotalNum;  // 已完成数量

                // 如果目标数量为48，直接下发正常任务
                if (targetNormalCount == targetTotal)
                {
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
                }
                // 如果已完成数量小于目标数量，继续抓取正常电芯
                else if (currentCompletedCount < targetNormalCount)
                {
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
                }
                // 正常电芯已完成，进入假电芯补充模式
                else if (currentCompletedCount == targetNormalCount && !stateForUpdate.IsInFakeBatteryMode)
                {
                    // 首次进入假电芯模式，设置标志
                    stateForUpdate.IsInFakeBatteryMode = true;
                    _logger.LogInformation("HandlePutFinishedStateAsync：正常电芯抓取完成，进入假电芯补充模式，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Info($"正常电芯抓取完成，进入假电芯补充模式", stateForUpdate.RobotCrane?.DeviceName);
                }

                // 如果处于假电芯补充模式，计算并下发补数任务
                if (stateForUpdate.IsInFakeBatteryMode)
                {
                    int remaining = targetTotal - currentCompletedCount;
                    if (remaining > 0)
                    {
                        // 计算每次抓取的数量（最多4个）
                        int pickCount = Math.Min(pickCountPerExecution, remaining);

                        // 获取可用的假电芯平面点位
                        var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(pickCount);
                        if (positions.Count == 0)
                        {
                            _logger.LogError("HandlePutFinishedStateAsync：无可用假电芯点位，任务号: {TaskNum}", task.RobotTaskNum);
                            QuartzLogger.Error($"无可用假电芯点位", stateForUpdate.RobotCrane?.DeviceName);
                            return;
                        }

                        // 下发假电芯取货指令
                        await _taskProcessor.SendSocketRobotFakeBatteryPickAsync(task, stateForUpdate, positions);
                    }
                    else
                    {
                        // 假电芯补充完成，重置标志
                        stateForUpdate.IsInFakeBatteryMode = false;
                        _logger.LogInformation("HandlePutFinishedStateAsync：换盘任务完成，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Info($"换盘任务完成", stateForUpdate.RobotCrane?.DeviceName);
                    }
                }
            }
            else
            {
                // 非组盘任务，直接发送取货指令