feat: 更新机器人任务处理逻辑和接口配置

wanshenmean

13 小时以前 b6c983ac19c0c80744795e122575f4b9ac145414

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

@@ -119,7 +119,7 @@
                    state.CurrentAction = "Putting";
                    return true;

                // 手臂无物料（手臂空闲）
                // 是否电芯到位
                case "batteryarrived":
                    state.BatteryArrived = true;
                    return true;
@@ -158,7 +158,7 @@
                            if (state.ChangePalletPhase == 5)
                            {
                                // FlowB 最终阶段：假电芯取完，源空托盘回库 HCSC1
                                if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
                                if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true, isRoadway: "HCSC1"))
                                {
                                    return false;
                                }
@@ -184,15 +184,16 @@
                            {
                                // FlowA 中间阶段：正常电芯取完，源空托盘回库 GWSC1
                                // 不删除任务，不重置状态，继续 Phase 3-4 假电芯流程
                                if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
                                if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true, isRoadway: "GWSC1"))
                                {
                                    return false;
                                }
                                return true;
                            }

                            List<string> str = new List<string>() { "11001", "11010" };
                            // Phase == 0: 非批次模式（目标总数==48）
                            if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
                            if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true, isRoadway: str.Contains(currentTask.RobotSourceAddressLineCode) ? "GWSC1" : "HCSC1"))
                            {
                                return false;
                            }
@@ -274,7 +275,7 @@
                            if (state.ChangePalletPhase == 5)
                            {
                                // FlowA 最终阶段：假电芯放完，目标托盘满48入库 HCSC1
                                if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
                                if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false, isRoadway: "HCSC1"))
                                {
                                    return false;
                                }
@@ -301,15 +302,16 @@
                            {
                                // FlowB 中间阶段：正常电芯放完，有货托盘组盘入库 GWSC1
                                // 不删除任务，不重置状态，继续 Phase 3-4 假电芯流程
                                if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
                                if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false, isRoadway: "GWSC1"))
                                {
                                    return false;
                                }
                                return true;
                            }

                            List<string> str = new List<string>() { "11001", "11010" };
                            // Phase == 0: 非批次模式（目标总数==48）
                            if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
                            if (!await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false, str.Contains(currentTask.RobotTargetAddressLineCode) ? "GWSC1" : "HCSC1"))
                            {
                                return false;
                            }