feat: 更新机器人任务处理逻辑和接口配置

wanshenmean

11 小时以前 b6c983ac19c0c80744795e122575f4b9ac145414

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

@@ -253,7 +253,7 @@
            {
                if (state.IsScanNG)
                {
                    taskString = $"Putbattery,4";
                    taskString = $"Putbattery,1";
                }
                else
                {
@@ -332,11 +332,11 @@
            // 如果是组盘任务
            if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
            {

                //if (!stateForUpdate.BatteryArrived)
                //{
                //    return;
                //}
                // 检查电池是否已到位
                if (!stateForUpdate.BatteryArrived)
                {
                    return;
                }
                // 读取线体电芯条码
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
@@ -359,16 +359,13 @@
                    {
                        _logger.LogInformation("HandlePutFinishedStateAsync：读取的托盘条码唯一，继续执行，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Info($"读取的托盘条码唯一，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 = new List<string>()
                        {
                            trayBarcode1,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);
                    }


                    // 记录日志：读取托盘条码成功
                    _logger.LogInformation("HandlePutFinishedStateAsync：读取托盘条码成功: {Barcode1}+{Barcode2}，任务号: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
@@ -380,8 +377,8 @@
                else
                {
                    // 条码读取失败，记录错误日志
                    _logger.LogError("HandlePutFinishedStateAsync：读取托盘条码失败，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Error($"读取托盘条码失败", stateForUpdate.RobotCrane.DeviceName);
                    _logger.LogError("HandlePutFinishedStateAsync：读取托盘条码失败，任务号: {TaskNum}，一号位: {trayBarcode1}，二号位: {trayBarcode2}", task.RobotTaskNum,trayBarcode1,trayBarcode2);
                    QuartzLogger.Error($"读取托盘条码失败,一号位：{trayBarcode1},二号位：{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);


                    // 发送取货指令 标记扫码NG，放货时不使用这些条码，并放入NG口