feat: 添加空箱入库功能及相关优化

wanshenmean

9 小时以前 f423e1277f91427f0a767bd1224c1260dcb73086

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

@@ -112,7 +112,7 @@
            // 1. 运行模式为自动（2）
            // 2. 控制模式为客户端控制（1）
            // 3. 运行状态是 Running
            if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running" && (latestState.Homed == "Homed" || latestState.Homed.IsNullOrEmpty()))
            if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ /*&& latestState.OperStatus == "Running"*/ && (latestState.Homed == "Homed" || latestState.Homed.IsNullOrEmpty()))
            {
                // ========== 取货完成后的放货处理 ==========
                // 条件：
@@ -137,8 +137,8 @@
                // - 任务状态为 RobotPutFinish 或不是 RobotExecuting
                else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction.IsNullOrEmpty())
                    && (latestState.RobotArmObject.IsNullOrEmpty() || latestState.RobotArmObject == 0)
                    && (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode()
                    || task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
                    && (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode() || task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode())
                    && latestState.BatteryArrived)
                {
                    _logger.LogInformation("ExecuteAsync：满足取货条件，开始下发取货任务，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Info($"ExecuteAsync：满足取货条件，开始下发取货任务", latestState.RobotCrane?.DeviceName ?? ipAddress);
@@ -312,7 +312,7 @@
        private async Task HandlePutFinishedStateAsync(Dt_RobotTask task, string ipAddress)
        {
            // 获取最新状态
            var stateForUpdate = _stateManager.GetState(ipAddress);
            RobotSocketState? stateForUpdate = _stateManager.GetState(ipAddress);
            if (stateForUpdate == null)
            {
                _logger.LogWarning("HandlePutFinishedStateAsync：获取状态失败，IP: {IpAddress}", ipAddress);