feat(Robot): 机械手换盘任务特殊处理

wanshenmean

7 小时以前 1515ffa15c11e106f35e1447bc990b7867c449bb

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs

@@ -268,6 +268,125 @@
        }

        /// <summary>
        /// 计算批次编号范围
        /// </summary>
        /// <remarks>
        /// 返回格式：(start, end)
        /// - remaining >= 4: (currentIndex, currentIndex + 3)
        /// - remaining > 1: (currentIndex, currentIndex + remaining - 1)
        /// - remaining == 1: (currentIndex, 0)  -- 单个物品用 0 表示 end
        /// </remarks>
        /// <param name="currentIndex">当前批次起始编号</param>
        /// <param name="remaining">剩余数量</param>
        /// <returns>(start, end) 元组</returns>
        public (int Start, int End) BuildBatchRange(int currentIndex, int remaining)
        {
            if (remaining >= 4)
                return (currentIndex, currentIndex + 3);
            else if (remaining > 1)
                return (currentIndex, currentIndex + remaining - 1);
            else  // remaining == 1
                return (currentIndex, 0);
        }

        /// <summary>
        /// 下发取货指令（带批次格式和总数）
        /// </summary>
        /// <remarks>
        /// 发送顺序：
        /// 1. PickTotalNum,{N} -- 真实电芯总数
        /// 2. Pickbattery,{位置},{start}-{end} -- 批次取货指令
        ///
        /// 下发成功后更新任务状态为"机器人执行中"。
        /// </remarks>
        /// <param name="task">要下发的任务对象</param>
        /// <param name="state">机器人当前状态</param>
        /// <param name="position">取货位置</param>
        /// <param name="batchStart">批次起始编号</param>
        /// <param name="batchEnd">批次结束编号</param>
        public async Task SendPickWithBatchAsync(Dt_RobotTask task, RobotSocketState state, string position, int batchStart, int batchEnd)
        {
            // 先发送总数指令
            string totalNumCmd = $"PickTotalNum,{task.RobotTaskTotalNum}";
            await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);

            // 再发送批次取货指令
            string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
            string taskString = $"Pickbattery,{position},{range}";

            bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);

            if (result)
            {
                _logger.LogInformation("下发批次取货指令成功，指令: {TaskString}，批次: {Range}，设备: {DeviceName}",
                    taskString, range, state.RobotCrane?.DeviceName);
                QuartzLogger.Info($"下发批次取货指令成功，指令: {taskString}，批次: {range}", state.RobotCrane?.DeviceName);

                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                state.CurrentTask = task;

                if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
                {
                    await _robotTaskService.UpdateRobotTaskAsync(task);
                }
            }
            else
            {
                _logger.LogError("下发批次取货指令失败，指令: {TaskString}，设备: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
                QuartzLogger.Error($"下发批次取货指令失败，指令: {taskString}", state.RobotCrane?.DeviceName);
            }
        }

        /// <summary>
        /// 下发放货指令（带批次格式和总数）
        /// </summary>
        /// <remarks>
        /// 发送顺序：
        /// 1. PutTotalNum,{N} -- 真实电芯总数
        /// 2. Putbattery,{位置},{start}-{end} -- 批次放货指令
        ///
        /// 下发成功后更新任务状态为"机器人执行中"。
        /// </remarks>
        /// <param name="task">要下发的任务对象</param>
        /// <param name="state">机器人当前状态</param>
        /// <param name="position">放货位置</param>
        /// <param name="batchStart">批次起始编号</param>
        /// <param name="batchEnd">批次结束编号</param>
        public async Task SendPutWithBatchAsync(Dt_RobotTask task, RobotSocketState state, string position, int batchStart, int batchEnd)
        {
            // 先发送总数指令
            string totalNumCmd = $"PutTotalNum,{task.RobotTaskTotalNum}";
            await _socketClientGateway.SendToClientAsync(state.IPAddress, totalNumCmd);

            // 再发送批次放货指令
            string range = batchEnd == 0 ? $"{batchStart}-0" : $"{batchStart}-{batchEnd}";
            string taskString = $"Putbattery,{position},{range}";

            bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);

            if (result)
            {
                _logger.LogInformation("下发放货指令成功，指令: {TaskString}，批次: {Range}，设备: {DeviceName}",
                    taskString, range, state.RobotCrane?.DeviceName);
                QuartzLogger.Info($"下发放货指令成功，指令: {taskString}，批次: {range}", state.RobotCrane?.DeviceName);

                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
                state.CurrentTask = task;

                if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
                {
                    await _robotTaskService.UpdateRobotTaskAsync(task);
                }
            }
            else
            {
                _logger.LogError("下发放货指令失败，指令: {TaskString}，设备: {DeviceName}",
                    taskString, state.RobotCrane?.DeviceName);
                QuartzLogger.Error($"下发放货指令失败，指令: {taskString}", state.RobotCrane?.DeviceName);
            }
        }

        /// <summary>
        /// 处理入库任务回传（拆盘/组盘/换盘场景）
        /// </summary>
        /// <remarks>