feat: 添加机器人任务处理逻辑和消息去重功能

wanshenmean

7 小时以前 bd40cc9e7dd6352915568ce49baa4accd1d9645b

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

@@ -119,6 +119,11 @@
                    state.CurrentAction = "Putting";
                    return true;

                // 手臂无物料（手臂空闲）
                case "batteryarrived":
                    state.BatteryArrived = true;
                    return true;

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

                // 全部取货完成
@@ -251,12 +256,12 @@
                        if (robotTaskType == RobotTaskTypeEnum.GroupPallet)
                        {
                            // 调用批量组盘确认接口
                            var targetPallet = state.CurrentTask.RobotTargetAddressPalletCode;
                            var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet);
                            if (!confirmResult.IsSuccess)
                            {
                                QuartzLogger.Error($"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                            }
                            //var targetPallet = state.CurrentTask.RobotTargetAddressPalletCode;
                            //var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet);
                            //if (!confirmResult.IsSuccess)
                            //{
                            //    QuartzLogger.Error($"批量组盘确认失败: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
                            //}

                            // 处理入库任务回传
                            // useSourceAddress: false 表示使用目标地址（组盘场景）