feat(router): 添加托盘操作页面路由

wanshenmean

3 天以前 b690250002ee04f4309e6a90fd16fbfd9bd959e2

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

@@ -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
@@ -160,8 +197,20 @@
                    if (!isResult)
                        return false;

                    await _socketClientGateway.SendToClientAsync(state.IPAddress, "pickbatteryover");
                    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":
@@ -169,8 +218,20 @@
                    if (!isResult)
                        return false;

                    await _socketClientGateway.SendToClientAsync(state.IPAddress, "putbatteryover");
                    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 ====================

@@ -194,15 +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 && !confirmResult.Data.Status)
                            {
                                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
@@ -217,9 +269,6 @@
                                    return false;
                                }

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

                                state.CurrentTask = null;
                                state.CurrentTaskNum = null;
                                state.RobotTaskTotalNum = 0;
@@ -228,7 +277,17 @@
                                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)
                            {
@@ -254,13 +313,19 @@
                            //    return false;
                            //}

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

                            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
@@ -287,9 +352,16 @@
                                return false;
                            }

                            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;
                    }
@@ -313,6 +385,15 @@
                        // 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);
@@ -341,14 +422,20 @@
                                state.RobotTaskTotalNum = 0;
                                state.CellBarcode = new List<string>();
                                state.CurrentBatchBarcodes = new List<string>();

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

                                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)
                            {
@@ -379,14 +466,20 @@
                            state.RobotTaskTotalNum = 0;
                            state.CellBarcode = new List<string>();
                            state.CurrentBatchBarcodes = new List<string>();

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

                            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
@@ -422,9 +515,16 @@
                            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;
                    }