Merge branch 'xiaoyang' into dev

wanshenmean

5 小时以前 e4921e003cc293fea714bdaf74dc6a6b6b750295

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

@@ -1,4 +1,6 @@
using OfficeOpenXml.FormulaParsing.Excel.Functions.RefAndLookup;
using Serilog;
using System.Net;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Model.Models;
@@ -42,15 +44,24 @@
        private readonly ILogger _logger;

        /// <summary>
        /// 机械手状态管理器
        /// </summary>
        /// <remarks>
        /// 用于读取和更新机器人的状态。
        /// </remarks>
        private readonly RobotStateManager _stateManager;

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="taskProcessor">任务处理器实例</param>
        /// <param name="logger">日志记录器</param>
        public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway, ILogger logger)
        public RobotSimpleCommandHandler(RobotTaskProcessor taskProcessor, ISocketClientGateway socketClientGateway, ILogger logger, RobotStateManager stateManager)
        {
            _taskProcessor = taskProcessor;
            _socketClientGateway = socketClientGateway;
            _logger = logger;
            _stateManager = stateManager;
        }

        /// <summary>
@@ -96,6 +107,8 @@
                // 机器人已完成回零
                case "homed":
                    state.Homed = "Homed";

                    await _socketClientGateway.SendToClientAsync(state.IPAddress, "Homed");
                    return true;

                // 机器人正在运行
@@ -136,6 +149,23 @@
                // 是否电芯到位
                case "batteryarrivedno":
                    state.BatteryArrived = false;

                    await _socketClientGateway.SendToClientAsync(state.IPAddress, "batteryarrivedno");
                    return true;
                // ==================== 接收任务反馈 ====================

                // 取货接收
                case "pickbatteryover":
                    var isResult = UpdateStatus(state, true);
                    if (!isResult)
                        return false;
                    return true;

                // 放货接收
                case "putbatteryover":
                    isResult = UpdateStatus(state, false);
                    if (!isResult)
                        return false;
                    return true;

                // ==================== 全部完成命令 ====================
@@ -428,5 +458,17 @@
                    return false;
            }
        }

        public bool UpdateStatus(RobotSocketState state, bool isPick)
        {
            var task = _taskProcessor.GetTask(state?.RobotCrane);
            if (task == null)
            {
                QuartzLogHelper.LogError(_logger, $"取货接收失败: 未找到【{state?.RobotCrane}】的任务", state.RobotCrane?.DeviceName ?? "Unknown");
            }
            task.RobotTaskState = (int)TaskRobotStatusEnum.RobotExecuting;
            _taskProcessor.UpdateRobotTask(task);
            return true;
        }
    }
}