feat: 添加空箱入库功能及相关优化

wanshenmean

8 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);
@@ -253,7 +253,7 @@
            {
                if (state.IsScanNG)
                {
                    taskString = $"Putbattery,4";
                    taskString = $"Putbattery,1";
                }
                else
                {
@@ -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);
@@ -332,11 +332,11 @@
            // 如果是组盘任务
            if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
            {

                //if (!stateForUpdate.BatteryArrived)
                //{
                //    return;
                //}
                // 检查电池是否已到位
                if (!stateForUpdate.BatteryArrived)
                {
                    return;
                }
                // 读取线体电芯条码
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
@@ -359,16 +359,13 @@
                    {
                        _logger.LogInformation("HandlePutFinishedStateAsync：读取的托盘条码唯一，继续执行，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Info($"读取的托盘条码唯一，继续执行", stateForUpdate.RobotCrane.DeviceName);

                        // 将条码添加到状态中，供后续放货时使用
                        stateForUpdate.CellBarcode = new List<string>()
                        {
                            trayBarcode1,trayBarcode2
                        };

                        // 将条码添加到状态中，供后续放货时使用
                        //stateForUpdate.CellBarcode.Add(trayBarcode1);
                        //stateForUpdate.CellBarcode.Add(trayBarcode2);
                    }


                    // 记录日志：读取托盘条码成功
                    _logger.LogInformation("HandlePutFinishedStateAsync：读取托盘条码成功: {Barcode1}+{Barcode2}，任务号: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
@@ -380,8 +377,8 @@
                else
                {
                    // 条码读取失败，记录错误日志
                    _logger.LogError("HandlePutFinishedStateAsync：读取托盘条码失败，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Error($"读取托盘条码失败", stateForUpdate.RobotCrane.DeviceName);
                    _logger.LogError("HandlePutFinishedStateAsync：读取托盘条码失败，任务号: {TaskNum}，一号位: {trayBarcode1}，二号位: {trayBarcode2}", task.RobotTaskNum,trayBarcode1,trayBarcode2);
                    QuartzLogger.Error($"读取托盘条码失败,一号位：{trayBarcode1},二号位：{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);


                    // 发送取货指令 标记扫码NG，放货时不使用这些条码，并放入NG口