fix(RobotJob): 修正机器人任务处理逻辑和注释错误

wanshenmean

14 小时以前 34ad8ad8e238d54d9695da9e8d101579c42516bb

fix(RobotJob): 修正机器人任务处理逻辑和注释错误

- 修正RobotSimpleCommandHandler中batteryarrived的注释说明
- 删除无用的调试日志代码和注释
- 统一RobotPrefixCommandHandler中换盘API的调用逻辑
- 修复RobotWorkflowOrchestrator中组盘任务的电池到位检查
- 修正Putbattery任务参数和条码处理逻辑

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/CommonConveyorLineNewJob.cs

@@ -144,9 +144,6 @@
                    //    MaxDegreeOfParallelism = Math.Min(childDeviceCodes.Count, Environment.ProcessorCount * 2),
                    //};

                    //_logger.LogDebug("Execute：开始并行处理输送线 {DeviceCode}，子设备数量: {Count}", conveyorLine.DeviceCode, childDeviceCodes.Count);
                    //QuartzLogger.Debug($"开始并行处理输送线，子设备数量: {childDeviceCodes.Count}", conveyorLine.DeviceCode);

                    // å¹¶è¡Œå¤„理每个子设备
                    //Parallel.For(0, childDeviceCodes.Count, parallelOptions, i =>
                    foreach (var childDeviceCode in childDeviceCodes)

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

@@ -1,7 +1,6 @@
using System.Net.Sockets;
using WIDESEAWCS_Common.HttpEnum;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_DTO.TaskInfo;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
@@ -275,17 +274,10 @@
                        if (task != null)
                            task.RobotTaskTotalNum -= positions.Length;

                        if (isFlowA)
                        {
                            // æµå‘A：不调用 API，仅递增计数
                        }
                        else
                        {
                            // æµå‘B：调用换盘 API
                        // ä¸¤æµå‘均调用换盘 API
                            var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
                            var result = _taskProcessor.PostGroupPalletAsync(nameof(ConfigKey.ChangePalletAsync), stockDTO);
                            putSuccess = result.Data.Status && result.IsSuccess;
                        }

                        // åˆ‡å›ž Phase 1，继续取正常电芯
                        state.ChangePalletPhase = 1;
@@ -294,14 +286,10 @@
                    {
                        if (isFlowA)
                        {
                            // æµå‘A：放假电芯到目标托盘，递增计数，调用换盘 API
                            // æµå‘A：放假电芯到目标托盘，仅递增计数，不调用 API
                            state.RobotTaskTotalNum += positions.Length;
                            if (task != null)
                                task.RobotTaskTotalNum -= positions.Length;

                            var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
                            var result = _taskProcessor.PostGroupPalletAsync(nameof(ConfigKey.ChangePalletAsync), stockDTO);
                            putSuccess = result.Data.Status && result.IsSuccess;
                        }
                        else
                        {

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

@@ -119,7 +119,7 @@
                    state.CurrentAction = "Putting";
                    return true;

                // æ‰‹è‡‚无物料（手臂空闲）
                // æ˜¯å¦ç”µèŠ¯åˆ°ä½
                case "batteryarrived":
                    state.BatteryArrived = true;
                    return true;

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

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

                //if (!stateForUpdate.BatteryArrived)
                //{
                //    return;
                //}
                // æ£€æŸ¥ç”µæ± æ˜¯å¦å·²åˆ°ä½
                if (!stateForUpdate.BatteryArrived)
                {
                    return;
                }
                // è¯»å–线体电芯条码
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
@@ -352,21 +352,19 @@
                        // æ¡ç é‡å¤ï¼Œè®°å½•é”™è¯¯æ—¥å¿—并停止后续操作(后续放货时会用到这些条码信息，供后续放货时使用，调试后可能会取消此逻辑)

                        // å‘送取货指令 æ ‡è®°æ‰«ç NG，放货时不使用这些条码，并放入NG口
                        //await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                        await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                        return;
                    }
                    else
                    {
                        _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);

                        // å°†æ¡ç æ·»åŠ åˆ°çŠ¶æ€ä¸­ï¼Œä¾›åŽç»­æ”¾è´§æ—¶ä½¿ç”¨
                        stateForUpdate.CellBarcode = new List<string>()
                        {
                            trayBarcode1,trayBarcode2
                        };

                        // å°†æ¡ç æ·»åŠ åˆ°çŠ¶æ€ä¸­ï¼Œä¾›åŽç»­æ”¾è´§æ—¶ä½¿ç”¨
                        //stateForUpdate.CellBarcode.Add(trayBarcode1);
                        //stateForUpdate.CellBarcode.Add(trayBarcode2);
                    }


@@ -385,7 +383,7 @@


                    // å‘送取货指令 æ ‡è®°æ‰«ç NG，放货时不使用这些条码，并放入NG口
                    //await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                    return;
                }
            }

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/StackerCraneJob/CommonStackerCraneJob.cs

@@ -190,16 +190,12 @@

                // ========== æ£€æŸ¥å †åž›æœºä»»åŠ¡å®ŒæˆçŠ¶æ€ ==========
                commonStackerCrane.CheckStackerCraneTaskCompleted();
                //_logger.LogDebug("Execute：检查任务完成状态，设备: {DeviceCode}", _deviceCode);
                //QuartzLogger.Debug($"检查任务完成状态，设备: {_deviceCode}", _deviceCode);

                // ========== æ£€æŸ¥æ˜¯å¦å¯ä»¥å‘送新任务 ==========
                //if (!commonStackerCrane.IsCanSendTask(commonStackerCrane.Communicator, commonStackerCrane.DeviceProDTOs, commonStackerCrane.DeviceProtocolDetailDTOs))
                if (commonStackerCrane.StackerCraneStatusValue != StackerCraneStatus.Normal /*&& commonStackerCrane.StackerCraneAutoStatusValue != StackerCraneAutoStatus.Automatic && commonStackerCrane.StackerCraneWorkStatusValue != StackerCraneWorkStatus.Standby*/)
                if (commonStackerCrane.StackerCraneStatusValue != StackerCraneStatus.Normal )
                {
                    // å †åž›æœºä¸å¯ç”¨ï¼ˆå¦‚正在执行上一任务），直接返回
                    //_logger.LogDebug("Execute：堆垛机不可用，设备: {DeviceCode}", _deviceCode);
                    //QuartzLogger.Debug($"堆垛机不可用，设备: {_deviceCode}", _deviceCode);
                    return Task.CompletedTask;
                }

@@ -209,13 +205,8 @@
                if (task == null)
                {
                    // æ²¡æœ‰å¯ç”¨ä»»åŠ¡
                    //_logger.LogDebug("Execute：没有可用任务，设备: {DeviceCode}", _deviceCode);
                    //QuartzLogger.Debug($"没有可用任务，设备: {_deviceCode}", _deviceCode);
                    return Task.CompletedTask;
                }

                //_logger.LogInformation("Execute：选择任务，设备: {DeviceCode}，任务号: {TaskNum}", _deviceCode, task.TaskNum);
                //QuartzLogger.Info($"选择任务，任务号: {task.TaskNum}", _deviceCode);

                // ========== æž„建命令 ==========
                // å‘½ä»¤æž„建下沉到专用构建器

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