feat(机器人任务): 实现换盘任务假电芯补充逻辑

wanshenmean

9 小时以前 ad64840cc04dac2278ca02f22ddc02b1a218e9cf

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

@@ -1,6 +1,7 @@
using Microsoft.Extensions.Logging;
using WIDESEA_Core;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
@@ -109,8 +110,8 @@
            // 检查是否满足自动控制条件：
            // 1. 运行模式为自动（2）
            // 2. 控制模式为客户端控制（1）
            // 3. 运行状态不是 Running（说明已完成当前动作）
            if (latestState.RobotRunMode == 2 && latestState.RobotControlMode == 1 && latestState.OperStatus != "Running")
            // 3. 运行状态是 Running
            if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running" && latestState.Homed == "Homed")
            {
                // ========== 取货完成后的放货处理 ==========
                // 条件：
@@ -126,14 +127,14 @@
                    // 发送放货指令
                    await HandlePickFinishedStateAsync(task, ipAddress);
                }
                // ========== 放货完成后的取货处理 ==========

                // ========== 初始化或者放货完成后的取货处理 ==========
                // 条件：
                // - 当前动作是 PutFinished、AllPutFinished 或 null（放货完成）
                // - 运行状态为 Homed（已归位）
                // - 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 == null)
                    && latestState.OperStatus == "Homed"
                else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction.IsNullOrEmpty())
                    && latestState.RobotArmObject == 0
                    && (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode()
                    || task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
@@ -236,22 +237,36 @@
                    || 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);

                // 如果条码生成成功
                if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
                {
                    // 将条码添加到状态中，供后续放货时使用
                    stateForUpdate.CellBarcode.Add(trayBarcode1);
                    stateForUpdate.CellBarcode.Add(trayBarcode2);
                    if(stateForUpdate.CellBarcode.Contains(trayBarcode1)|| stateForUpdate.CellBarcode.Contains(trayBarcode2))
                    {
                        _logger.LogError("HandlePutFinishedStateAsync：生成的托盘条码已存在，可能存在重复，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Error($"生成的托盘条码已存在，可能存在重复", stateForUpdate.RobotCrane.DeviceName);

                        // 条码重复，记录错误日志并停止后续操作(后续放货时会用到这些条码信息，供后续放货时使用，调试后可能会取消此逻辑)
                        return;
                    }
                    else
                    {
                        _logger.LogInformation("HandlePutFinishedStateAsync：生成的托盘条码唯一，继续执行，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Info($"生成的托盘条码唯一，继续执行", stateForUpdate.RobotCrane.DeviceName);
                        // 将条码添加到状态中，供后续放货时使用
                        stateForUpdate.CellBarcode.Add(trayBarcode1);
                        stateForUpdate.CellBarcode.Add(trayBarcode2);
                    }


                    // 记录日志：生成托盘条码成功
                    _logger.LogInformation("HandlePutFinishedStateAsync：生成托盘条码成功: {Barcode1}+{Barcode2}，任务号: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
@@ -267,6 +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