SuZhouGuanHong/ShanMeiXinNengYuan.git

			@@ -1,8 +1,5 @@
			using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
			using Serilog;
			using System.Net;
			using WIDESEAWCS_Common.TaskEnum;
			using WIDESEAWCS_Core.LogHelper;
			using WIDESEAWCS_Model.Models;
			using WIDESEAWCS_Tasks.Workflow.Abstractions;

			@@ -108,8 +105,20 @@
			case "homed":
			state.Homed = "Homed";

			await _socketClientGateway.SendToClientAsync(state.IPAddress, "Homed");
			return true;
			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			for (int i = 0; i < 5; i++)
			{
			QuartzLogHelper.LogDebug(_logger, $"发送回零完成消息，IP: {state.IPAddress}，正在重试...", state.RobotCrane?.DeviceName ?? "Unknown");
			await _socketClientGateway.SendToClientAsync(state.IPAddress, "Homed");
			}
			return true;
			}
			else
			{
			QuartzLogHelper.LogError(_logger, $"发送回零完成消息失败，IP: {state.IPAddress}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			// 机器人正在运行
			case "running":
			@@ -144,14 +153,42 @@
			// 是否电芯到位
			case "batteryarrived":
			state.BatteryArrived = true;
			return true;

			// 是否电芯到位
			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			for (int i = 0; i < 5; i++)
			{
			QuartzLogHelper.LogDebug(_logger, $"发送电芯到位消息，IP: {state.IPAddress}，正在重试...", state.RobotCrane?.DeviceName ?? "Unknown");
			await _socketClientGateway.SendToClientAsync(state.IPAddress, "batteryarrived");
			}
			return true;
			}
			else
			{
			QuartzLogHelper.LogError(_logger, $"发送电芯未到位消息失败，IP: {state.IPAddress}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			// 是否电芯没到位
			case "batteryarrivedno":
			state.BatteryArrived = false;

			await _socketClientGateway.SendToClientAsync(state.IPAddress, "batteryarrivedno");
			return true;
			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			for (int i = 0; i < 5; i++)
			{
			QuartzLogHelper.LogDebug(_logger, $"发送电芯未到位消息，IP: {state.IPAddress}，正在重试...", state.RobotCrane?.DeviceName ?? "Unknown");
			await _socketClientGateway.SendToClientAsync(state.IPAddress, "batteryarrivedno");
			}

			return true;
			}
			else
			{
			QuartzLogHelper.LogError(_logger, $"发送电芯未到位消息失败，IP: {state.IPAddress}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			// ==================== 接收任务反馈 ====================

			// 取货接收
			@@ -159,14 +196,42 @@
			var isResult = UpdateStatus(state, true);
			if (!isResult)
			return false;
			return true;

			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			for (int i = 0; i < 5; i++)
			{
			QuartzLogHelper.LogDebug(_logger, $"发送取货接收完成，IP: {state.IPAddress}，正在重试...", state.RobotCrane?.DeviceName ?? "Unknown");
			await _socketClientGateway.SendToClientAsync(state.IPAddress, "pickbatteryover");
			}
			return true;
			}
			else
			{
			QuartzLogHelper.LogError(_logger, $"发送取货完成消息失败，IP: {state.IPAddress}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			// 放货接收
			case "putbatteryover":
			isResult = UpdateStatus(state, false);
			if (!isResult)
			return false;
			return true;

			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			for (int i = 0; i < 5; i++)
			{
			QuartzLogHelper.LogDebug(_logger, $"发送放货接收消息，IP: {state.IPAddress}，正在重试...", state.RobotCrane?.DeviceName ?? "Unknown");
			await _socketClientGateway.SendToClientAsync(state.IPAddress, "putbatteryover");
			}
			return true;
			}
			else
			{
			QuartzLogHelper.LogError(_logger, $"发送放货完成消息失败，IP: {state.IPAddress}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			// ==================== 全部完成命令 ====================

			@@ -190,15 +255,6 @@
			// 换盘任务：根据阶段区分处理
			if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
			{
			// 调用批量拆盘确认接口
			var sourcePallet = state.CurrentTask.RobotSourceAddressPalletCode;
			var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet, state.RobotCrane?.DeviceName);
			if (!confirmResult.IsSuccess)
			{
			QuartzLogHelper.LogError(_logger, $"批量拆盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			if (state.ChangePalletPhase == 5)
			{
			// FlowB 最终阶段：假电芯取完，源空托盘回库 HCSC1
			@@ -213,16 +269,25 @@
			return false;
			}

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);

			state.CurrentTask = null;
			state.CurrentTaskNum = null;
			state.RobotTaskTotalNum = 0;
			state.CellBarcode = new List<string>();
			state.CurrentBatchBarcodes = new List<string>();
			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			state.IsInFakeBatteryMode = false;
			return true;

			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
			return true;
			}
			else
			{
			return false;
			}
			}
			else if (state.ChangePalletPhase != 0)
			{
			@@ -242,19 +307,25 @@
			return false;
			}

			if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
			{
			QuartzLogHelper.LogError(_logger, $"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
			//if (_taskProcessor.DeleteTask(currentTask.RobotTaskId) != true)
			//{
			// QuartzLogHelper.LogError(_logger, $"allpickfinished：删除任务记录失败，任务号: {currentTask.RobotTaskNum}", state.RobotCrane?.DeviceName ?? "Unknown");
			// return false;
			//}

			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			state.IsInFakeBatteryMode = false;
			return true;
			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
			return true;
			}
			else
			{
			return false;
			}
			}

			// 拆盘任务：直接处理入库
			@@ -281,9 +352,16 @@
			return false;
			}

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);
			return true;
			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
			return true;
			}
			else
			{
			return false;
			}
			}
			return false;
			}
			@@ -307,10 +385,19 @@
			// 换盘任务：根据阶段区分处理
			if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
			{
			// 调用批量拆盘确认接口
			var sourcePallet = state.CurrentTask.RobotSourceAddressPalletCode;
			var splitConfirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet, state.RobotCrane?.DeviceName);
			if (!splitConfirmResult.IsSuccess && !splitConfirmResult.Data.Status)
			{
			QuartzLogHelper.LogError(_logger, $"批量拆盘确认失败: {splitConfirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}

			// 调用批量组盘确认接口
			var targetPallet = state.CurrentTask.RobotTargetAddressPalletCode;
			var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet, state.RobotCrane?.DeviceName);
			if (!confirmResult.IsSuccess)
			if (!confirmResult.IsSuccess && !confirmResult.Data.Status)
			{
			QuartzLogHelper.LogError(_logger, $"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			@@ -331,16 +418,24 @@
			}

			state.CurrentTask = null;
			state.CurrentTaskNum = null;
			state.RobotTaskTotalNum = 0;
			state.CellBarcode = new List<string>();

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);

			state.CurrentBatchBarcodes = new List<string>();
			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			state.IsInFakeBatteryMode = false;
			return true;

			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
			return true;
			}
			else
			{
			return false;
			}
			}
			else if (state.ChangePalletPhase != 0)
			{
			@@ -367,16 +462,24 @@
			}

			state.CurrentTask = null;
			state.CurrentTaskNum = null;
			state.RobotTaskTotalNum = 0;
			state.CellBarcode = new List<string>();

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Swap,diskFinished】", state.RobotCrane.DeviceName);

			state.CurrentBatchBarcodes = new List<string>();
			state.ChangePalletPhase = 0;
			state.CurrentBatchIndex = 1;
			state.IsInFakeBatteryMode = false;
			return true;

			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
			return true;
			}
			else
			{
			return false;
			}
			}

			// 组盘任务：直接处理入库
			@@ -407,12 +510,21 @@

			// 清理状态，为下一个任务做准备
			state.CurrentTask = null; // 清除当前任务
			state.CurrentTaskNum = null; // 清除当前任务编号
			state.RobotTaskTotalNum = 0; // 重置任务计数
			state.CellBarcode = new List<string>(); // 清空条码列表
			state.CurrentBatchBarcodes = new List<string>(); // 清空当前批次条码

			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
			return true;
			if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
			{
			await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
			QuartzLogHelper.LogInfo(_logger, $"发送消息：【Group,diskFinished】", state.RobotCrane.DeviceName);
			return true;
			}
			else
			{
			return false;
			}
			}
			return false;
			}
			@@ -461,14 +573,14 @@

			public bool UpdateStatus(RobotSocketState state, bool isPick)
			{
			var task = _taskProcessor.GetTask(state?.RobotCrane);
			var task = _taskProcessor.GetRobotTask(state?.RobotCrane);
			if (task == null)
			{
			QuartzLogHelper.LogError(_logger, $"取货接收失败: 未找到【{state?.RobotCrane}】的任务", state.RobotCrane?.DeviceName ?? "Unknown");
			return false;
			}
			task.RobotTaskState = (int)TaskRobotStatusEnum.RobotExecuting;
			_taskProcessor.UpdateRobotTask(task);
			return true;
			return _taskProcessor.UpdateRobotTask(task);
			}
			}
			}