Merge branch 'xiaoyang' into dev

wanshenmean

5 小时以前 e4921e003cc293fea714bdaf74dc6a6b6b750295

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

@@ -92,7 +92,7 @@
            if (state.OperStatus == message)
            {
                // 处理成功后，将原消息回写到客户端（保持原有行为）
                await _socketClientGateway.SendMessageAsync(client, message);
                //await _socketClientGateway.SendMessageAsync(client, message);
            }
            // 记录接收到的消息日志
            QuartzLogHelper.LogInfo(_logger, $"接收到客户端【{state.RobotCrane?.DeviceName}】发送消息【{message}】", state.RobotCrane?.DeviceName);
@@ -112,12 +112,12 @@
            // 简单命令包括：homing、homed、running、pausing、runmode、controlmode 等
            if (await _simpleCommandHandler.HandleAsync(messageLower, state))
            {
                if (messageLower != "batteryarrived")
                {
                    // 处理成功后，将原消息回写到客户端（保持原有行为）
                    await _socketClientGateway.SendMessageAsync(client, message);
                    QuartzLogHelper.LogInfo(_logger, $"发送消息：【{message}】", state.RobotCrane?.DeviceName);
                }
                //if (messageLower != "batteryarrived")
                //{
                // 处理成功后，将原消息回写到客户端（保持原有行为）
                //await _socketClientGateway.SendMessageAsync(client, message);
                QuartzLogHelper.LogInfo(_logger, $"接收到消息消息【{message}】，约定不返回发送消息：【{message}】", state.RobotCrane?.DeviceName);
                //}

                // 安全更新状态到数据库
                _stateManager.TryUpdateStateSafely(state.IPAddress, state);