Code/.omc/state/last-tool-error.json

@@ -1,7 +1,7 @@
{
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  "timestamp": "2026-04-19T07:15:17.022Z",
  "tool_name": "Read",
  "tool_input_preview": "{\"file_path\":\"D:\\\\Git\\\\ShanMeiXinNengYuan\\\\Code\\\\WMS\\\\WIDESEA_WMSClient_Vben_v2\\\\apps\\\\web-ele\\\\src\\\\views\\\\dashboard\\\\index.vue\"}",
  "error": "File does not exist. Note: your current working directory is D:\\Git\\ShanMeiXinNengYuan\\Code.",
  "timestamp": "2026-04-20T01:28:36.836Z",
  "retry_count": 1
}

 Code/.omc/state/mission-state.json

@@ -1,5 +1,5 @@
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@@ -1268,6 +1268,702 @@
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}

 Code/.omc/state/subagent-tracking.json

@@ -767,10 +767,427 @@
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      "started_at": "2026-04-19T13:53:41.992Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-19T13:53:47.263Z",
      "duration_ms": 5271
    },
    {
      "agent_id": "ad92b7876bc72bf7e",
      "agent_type": "agent-auth",
      "started_at": "2026-04-19T13:53:42.036Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-19T13:53:57.851Z",
      "duration_ms": 15815
    },
    {
      "agent_id": "affcaabcac0234d22",
      "agent_type": "agent-layout",
      "started_at": "2026-04-19T13:53:42.701Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-19T13:53:49.028Z",
      "duration_ms": 6327
    },
    {
      "agent_id": "ac6c4a28a6422e89d",
      "agent_type": "writer",
      "started_at": "2026-04-19T13:53:43.519Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-19T13:53:49.216Z",
      "duration_ms": 5697
    },
    {
      "agent_id": "af20345f5b7efdbb8",
      "agent_type": "general-purpose",
      "started_at": "2026-04-20T01:18:33.678Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-20T01:20:19.477Z",
      "duration_ms": 105799
    },
    {
      "agent_id": "a9cc35c00ad32b233",
      "agent_type": "general-purpose",
      "started_at": "2026-04-20T01:18:33.716Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-20T01:21:33.665Z",
      "duration_ms": 179949
    },
    {
      "agent_id": "a3499a67931cba616",
      "agent_type": "general-purpose",
      "started_at": "2026-04-20T01:18:33.755Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-20T01:21:25.686Z",
      "duration_ms": 171931
    },
    {
      "agent_id": "addde47ba39361d9d",
      "agent_type": "general-purpose",
      "started_at": "2026-04-20T01:27:42.165Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-20T01:34:11.275Z",
      "duration_ms": 389110
    },
    {
      "agent_id": "a883f88b2839bb064",
      "agent_type": "general-purpose",
      "started_at": "2026-04-20T02:07:02.615Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-20T02:09:43.299Z",
      "duration_ms": 160684
    },
    {
      "agent_id": "a1cccc11f34b62da4",
      "agent_type": "general-purpose",
      "started_at": "2026-04-20T02:07:02.639Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-20T02:09:46.016Z",
      "duration_ms": 163377
    },
    {
      "agent_id": "a85bc7aac2726a6fa",
      "agent_type": "general-purpose",
      "started_at": "2026-04-20T02:07:02.655Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-20T02:10:09.140Z",
      "duration_ms": 186485
    },
    {
      "agent_id": "a9219020fa6ba0ef0",
      "agent_type": "general-purpose",
      "started_at": "2026-04-20T02:07:02.700Z",
      "parent_mode": "none",
      "status": "completed",
      "completed_at": "2026-04-20T02:08:23.744Z",
      "duration_ms": 81044
    }
  ],
  "total_spawned": 83,
  "total_completed": 83,
  "total_spawned": 118,
  "total_completed": 127,
  "total_failed": 0,
  "last_updated": "2026-04-18T14:41:25.052Z"
  "last_updated": "2026-04-20T02:13:36.867Z"
}

 Code/WCS/WIDESEAWCS_Client/index.html

@@ -16,6 +16,7 @@
    <strong>We're sorry but WCS doesn't work properly without JavaScript enabled. Please enable it to continue.</strong>
  </noscript>
  <div id="app"></div>
  <script src="/webconfig.js"></script>
  <script type="module" src="/src/main.js"></script>
</body>


 Code/WCS/WIDESEAWCS_Client/public/webconfig.js

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,4 @@
window.webConfig = {
    "webApiBaseUrl": "http://localhost:9292/",
    "webApiProduction":"http://192.168.60.30:9292/"
}

 Code/WCS/WIDESEAWCS_Client/src/api/http.js

@@ -12,14 +12,14 @@
let loadingInstance;
let loadingStatus = false;
if (process.env.NODE_ENV == 'development') {
    axios.defaults.baseURL = 'http://127.0.0.1:9292/';
    axios.defaults.baseURL = window.webConfig.webApiBaseUrl;
}
else if (process.env.NODE_ENV == 'debug') {
    axios.defaults.baseURL = 'http://127.0.0.1:9292/';
    axios.defaults.baseURL = window.webConfig.webApiBaseUrl;
}

else if (process.env.NODE_ENV == 'production') {
    axios.defaults.baseURL = 'http://192.168.60.30:9292/';
    axios.defaults.baseURL = window.webConfig.webApiProduction;
}
if (!axios.defaults.baseURL.endsWith('/')) {
    axios.defaults.baseURL+="/";

 Code/WCS/WIDESEAWCS_Client/src/extension/taskinfo/robotState.jsx

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,55 @@
// è¯¥æ‰©å±•æ–‡ä»¶ç”¨äºŽæœºæ¢°æ‰‹çŠ¶æ€ç®¡ç†é¡µé¢çš„业务扩展。

let extension = {
  components: {
    gridHeader: "",
    gridBody: "",
    gridFooter: "",
    modelHeader: "",
    modelBody: "",
    modelFooter: "",
  },
  tableAction: "",
  buttons: { view: [], box: [], detail: [] },
  methods: {
    onInit() {},

    onInited() {},

    searchBefore(param) {
      return true;
    },

    searchAfter(result) {
      return true;
    },

    addBefore(formData) {
      return true;
    },

    addAfter(result) {
      return true;
    },

    updateBefore(formData) {
      return true;
    },

    updateAfter(result) {
      return true;
    },

    deleteBefore(ids) {
      return true;
    },

    deleteAfter(ids) {
      return true;
    },

    modelOpenAfter(row) {},
  },
};

export default extension;

 Code/WCS/WIDESEAWCS_Client/src/router/viewGird.js

@@ -69,6 +69,11 @@
    component: () => import('@/views/taskinfo/robotTask.vue')
  },
  {
    path: '/robotState',
    name: 'robotState',
    component: () => import('@/views/taskinfo/robotState.vue')
  },
  {
    path: '/task',
    name: 'task',
    component: () => import('@/views/taskinfo/task.vue')

 Code/WCS/WIDESEAWCS_Client/src/views/taskinfo/robotState.vue

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,184 @@
<template>
  <view-grid
    ref="grid"
    :columns="columns"
    :detail="detail"
    :editFormFields="editFormFields"
    :editFormOptions="editFormOptions"
    :searchFormFields="searchFormFields"
    :searchFormOptions="searchFormOptions"
    :table="table"
    :extend="extend"
  >
  </view-grid>
</template>

<script>
import extend from "@/extension/taskinfo/robotState.jsx";
import { ref, defineComponent } from "vue";

export default defineComponent({
  setup() {
    const table = ref({
      key: "Id",
      footer: "Foots",
      cnName: "机械手状态管理",
      name: "robotState",
      url: "/robotState/",
      sortName: "IPAddress",
    });

    // ç¼–辑表单字段
    const editFormFields = ref({
      IPAddress: "",
      Version: "",
      IsEventSubscribed: false,
      RobotRunMode: "",
      RobotControlMode: "",
      RobotArmObject: "",
      Homed: "",
      CurrentAction: "",
      OperStatus: "",
      RobotTaskTotalNum: 0,
      IsSplitPallet: false,
      IsGroupPallet: false,
      IsInFakeBatteryMode: false,
      CurrentBatchIndex: 1,
      ChangePalletPhase: 0,
      IsScanNG: false,
      BatteryArrived: false,
    });

    // ç¼–辑表单配置
    const editFormOptions = ref([
      [
        { title: "IP地址", field: "ipAddress", type: "string", readonly: true },
        { title: "版本号", field: "version", type: "int", readonly: true },
      ],
      [
        {
          title: "运行模式",
          field: "robotRunMode",
          type: "select",
          data: [
            { key: 1, value: "手动模式" },
            { key: 2, value: "自动模式" },
          ],
        },
        {
          title: "控制模式",
          field: "robotControlMode",
          type: "select",
          data: [
            { key: 1, value: "客户端控制" },
            { key: 2, value: "其他" },
          ],
        },
        {
          title: "手臂状态",
          field: "robotArmObject",
          type: "select",
          data: [
            { key: 0, value: "空闲" },
            { key: 1, value: "有物料" },
          ],
        },
      ],
      [
        { title: "回零状态", field: "homed", type: "string" },
        { title: "当前动作", field: "currentAction", type: "string" },
        { title: "运行状态", field: "operStatus", type: "string" },
      ],
      [
        { title: "任务总数", field: "robotTaskTotalNum", type: "int" },
        { title: "当前批次", field: "currentBatchIndex", type: "int" },
        { title: "换盘阶段", field: "changePalletPhase", type: "int" },
      ],
      [
        {
          title: "是否拆盘",
          field: "isSplitPallet",
          type: "checkbox",
        },
        {
          title: "是否组盘",
          field: "isGroupPallet",
          type: "checkbox",
        },
        {
          title: "假电芯模式",
          field: "isInFakeBatteryMode",
          type: "checkbox",
        },
      ],
      [
        {
          title: "是否扫码NG",
          field: "isScanNG",
          type: "checkbox",
        },
        {
          title: "电芯是否到位",
          field: "batteryArrived",
          type: "checkbox",
        },
        {
          title: "消息已订阅",
          field: "isEventSubscribed",
          type: "checkbox",
        },
      ],
    ]);

    // æœç´¢è¡¨å•å­—段
    const searchFormFields = ref({
      IPAddress: "",
      CurrentAction: "",
      OperStatus: "",
    });

    // æœç´¢è¡¨å•é…ç½®
    const searchFormOptions = ref([
      [
        { title: "IP地址", field: "ipAddress", type: "string" },
        { title: "当前动作", field: "currentAction", type: "string" },
        { title: "运行状态", field: "operStatus", type: "string" },
      ],
    ]);

    // åˆ—定义
    const columns = ref([
      { field: "ipAddress", title: "IP地址", type: "string", width: 140, align: "left" },
      { field: "version", title: "版本", type: "int", width: 80, align: "left" },
      { field: "robotRunMode", title: "运行模式", type: "int", width: 100, bind: { key: "robotRunMode", data: [{ key: 1, value: "手动模式" },{ key: 2, value: "自动模式" }] }, align: "center" },
      { field: "robotControlMode", title: "控制模式", type: "int", width: 100, bind: { key: "robotControlMode", data: [{ key: 1, value: "客户端控制" },{ key: 2, value: "其他" }] }, align: "center" },
      { field: "robotArmObject", title: "手臂状态", type: "int", width: 90, bind: { key: "robotArmObject", data: [{ key: 0, value: "空闲"}, { key: 1, value: "有物料" }] }, align: "center" },
      { field: "homed", title: "回零状态", type: "string", width: 100, align: "center" },
      { field: "currentAction", title: "当前动作", type: "string", width: 100, align: "center" },
      { field: "operStatus", title: "运行状态", type: "string", width: 100, align: "center" },
      { field: "robotTaskTotalNum", title: "任务总数", type: "int", width: 90, align: "center" },
      { field: "isSplitPallet", title: "拆盘", type: "byte", width: 60, align: "center" },
      { field: "isGroupPallet", title: "组盘", type: "byte", width: 60, align: "center" },
      { field: "isInFakeBatteryMode", title: "假电芯", type: "byte", width: 70, align: "center" },
      { field: "currentBatchIndex", title: "批次", type: "int", width: 60, align: "center" },
      { field: "changePalletPhase", title: "换盘阶段", type: "int", width: 80, align: "center" },
      { field: "isScanNG", title: "扫码NG", type: "byte", width: 80, align: "center" },
      { field: "batteryArrived", title: "电芯到位", type: "byte", width: 80, align: "center" },
      { field: "isEventSubscribed", title: "已订阅", type: "byte", width: 70, align: "center" },
    ]);

    const detail = ref({});

    return {
      table,
      columns,
      detail,
      editFormFields,
      editFormOptions,
      searchFormFields,
      searchFormOptions,
      extend,
    };
  },
});
</script>

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/Constants/StackerCraneConst.cs

@@ -15,6 +15,15 @@
        public const int EmptyPalletTaskType = 100;

        /// <summary>
        /// ç©ºæ‰˜ç›˜ä»»åŠ¡ç±»åž‹
        /// </summary>
        /// <remarks>
        /// å½“任务类型为空托盘出库/入库时，使用此特殊类型值代替原任务类型。
        /// ç”¨äºŽä¸Žç«™å°è·¯ç”±é…ç½®åŒ¹é…ã€‚
        /// </remarks>
        public const int EmptyInPalletTaskType = 200;

        /// <summary>
        /// ç«è­¦çŠ¶æ€æ­£å¸¸
        /// </summary>
        /// <remarks>

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskEnumHelper.cs

@@ -32,7 +32,7 @@
                return TaskTypeGroup.OutbondGroup;
            }
            // å°è¯•å°†ä»»åŠ¡ç±»åž‹è½¬æ¢ä¸ºTaskInStatusEnum枚举类型，如果成功，返回InboundGroup
            else if (!int.TryParse(Enum.Parse<TaskInStatusEnum>(taskTypeStr).ToString(), out result))
            else if (!int.TryParse(Enum.Parse<TaskInboundTypeEnum>(taskTypeStr).ToString(), out result))
            {
                return TaskTypeGroup.InboundGroup;
            }

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Common/TaskEnum/TaskTypeEnum.cs

@@ -1,9 +1,4 @@
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.ComponentModel;

namespace WIDESEAWCS_Common.TaskEnum
{
@@ -14,16 +9,19 @@
        /// </summary>
        [Description("入库")]
        Inbound = 200,

        /// <summary>
        /// ç›˜ç‚¹å…¥åº“
        /// </summary>
        [Description("盘点入库")]
        InInventory = 201,

        /// <summary>
        /// åˆ†æ‹£å…¥åº“
        /// </summary>
        [Description("分拣入库")]
        InPick = 202,

        /// <summary>
        /// è´¨æ£€å…¥åº“
        /// </summary>
@@ -34,7 +32,7 @@
        /// ç©ºç®±å…¥åº“
        /// </summary>
        [Description("空箱入库")]
        InEmpty = 600,
        InEmpty = 204,
    }

    public enum TaskOutboundTypeEnum
@@ -44,16 +42,19 @@
        /// </summary>
        [Description("出库")]
        Outbound = 100,

        /// <summary>
        /// ç›˜ç‚¹å‡ºåº“
        /// </summary>
        [Description("盘点出库")]
        OutInventory = 101,

        /// <summary>
        /// åˆ†æ‹£å‡ºåº“
        /// </summary>
        [Description("分拣出库")]
        OutPick = 102,

        /// <summary>
        /// è´¨æ£€å‡ºåº“
        /// </summary>
@@ -74,6 +75,7 @@
        /// </summary>
        [Description("库内移库")]
        Relocation = 300,

        /// <summary>
        /// åº“外移库
        /// </summary>
@@ -118,16 +120,19 @@
        /// </summary>
        [Description("领料出库")]
        Outbound = 100,

        /// <summary>
        /// ç›˜ç‚¹å‡ºåº“
        /// </summary>
        [Description("盘点出库")]
        OutInventory = 110,

        /// <summary>
        /// åˆ†æ‹£å‡ºåº“
        /// </summary>
        [Description("分拣出库")]
        OutPick = 120,

        /// <summary>
        /// è´¨æ£€å‡ºåº“
        /// </summary>
@@ -163,16 +168,19 @@
        /// </summary>
        [Description("采购入库")]
        Inbound = 510,

        /// <summary>
        /// ç›˜ç‚¹å…¥åº“
        /// </summary>
        [Description("盘点入库")]
        InInventory = 520,

        /// <summary>
        /// åˆ†æ‹£å…¥åº“
        /// </summary>
        [Description("分拣入库")]
        InPick = 530,

        /// <summary>
        /// è´¨æ£€å…¥åº“
        /// </summary>
@@ -202,6 +210,5 @@
        /// </summary>
        [Description("巷道内移库")]
        Relocation = 900

    }
}
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/IRobotStateRepository.cs

@@ -1,3 +1,5 @@
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseRepository;
using WIDESEAWCS_Model.Models;

namespace WIDESEAWCS_ITaskInfoRepository
@@ -10,7 +12,7 @@
    /// å¤æ‚对象（RobotCrane、CurrentTask、数组等）在调用方使用强类型，
    /// åœ¨æ­¤æŽ¥å£å±‚面以 Dt_RobotState å®žä½“为操作单位。
    /// </remarks>
    public interface IRobotStateRepository
    public interface IRobotStateRepository : IRepository<Dt_RobotState>
    {
        /// <summary>
        /// æ ¹æ® IP åœ°å€èŽ·å–机械手状态
@@ -31,10 +33,10 @@
        /// å®‰å…¨æ›´æ–°æœºæ¢°æ‰‹çŠ¶æ€ï¼ˆä¹è§‚锁）
        /// </summary>
        /// <param name="ipAddress">设备 IP åœ°å€</param>
        /// <param name="newState">新状态实体（RowVersion ä¼šè¢«æ›´æ–°ï¼‰</param>
        /// <param name="expectedRowVersion">期望的行版本号（更新前的版本）</param>
        /// <param name="newState">新状态实体（Version ä¼šè‡ªå¢žï¼‰</param>
        /// <param name="expectedVersion">期望的版本号（更新前的版本）</param>
        /// <returns>是否更新成功；false è¡¨ç¤ºç‰ˆæœ¬å†²çªæˆ–记录不存在</returns>
        bool TryUpdate(string ipAddress, Dt_RobotState newState, byte[] expectedRowVersion);
        bool TryUpdate(string ipAddress, Dt_RobotState newState, long expectedVersion);

        /// <summary>
        /// å°† Dt_RobotState å®žä½“转换为 RobotSocketState å†…存对象

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/WIDESEAWCS_ITaskInfoRepository.csproj

@@ -8,6 +8,7 @@

    <ItemGroup>
      <ProjectReference Include="..\WIDESEAWCS_DTO\WIDESEAWCS_DTO.csproj" />
      <ProjectReference Include="..\WIDESEAWCS_Model\WIDESEAWCS_Model.csproj" />
    </ItemGroup>

</Project>

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IRobotStateService.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,13 @@
using WIDESEAWCS_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_Model.Models;

namespace WIDESEAWCS_ITaskInfoService
{
    /// <summary>
    /// æœºæ¢°æ‰‹çŠ¶æ€æœåŠ¡æŽ¥å£
    /// </summary>
    public interface IRobotStateService : IService<Dt_RobotState>
    {
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/RobotState/Dt_RobotState.cs

@@ -1,4 +1,3 @@
using Newtonsoft.Json;
using SqlSugar;
using WIDESEAWCS_Core.DB.Models;

@@ -8,7 +7,7 @@
    /// æœºæ¢°æ‰‹çŠ¶æ€æ•°æ®åº“实体
    /// </summary>
    /// <remarks>
    /// å¯¹åº”数据库表 Dt_RobotState，使用 RowVersion å®žçŽ°ä¹è§‚并发控制。
    /// å¯¹åº”数据库表 Dt_RobotState，使用 Version å­—段实现乐观并发控制。
    /// å¤æ‚对象（RobotCrane、CurrentTask、数组等）以 JSON å­—符串存储。
    /// </remarks>
    [SugarTable(nameof(Dt_RobotState), "机械手状态表")]
@@ -23,141 +22,141 @@
        /// <summary>
        /// æœºæ¢°æ‰‹ IP åœ°å€ï¼Œå”¯ä¸€ç´¢å¼•
        /// </summary>
        [SugarColumn(Length = 50, ColumnDescription = "机械手IP地址", IsJsonKey = true)]
        [SugarColumn(Length = 50, ColumnDescription = "机械手IP地址")]
        public string IPAddress { get; set; } = string.Empty;

        /// <summary>
        /// è¡Œç‰ˆæœ¬ï¼Œç”¨äºŽä¹è§‚并发控制
        /// ç‰ˆæœ¬å·ï¼Œç”¨äºŽä¹è§‚并发控制
        /// </summary>
        /// <remarks>
        /// SqlSugar ä¼šè‡ªåŠ¨ç®¡ç†æ­¤å­—段，每次更新时数据库自动递增。
        /// æ›´æ–°æ—¶ WHERE RowVersion = @expectedRowVersion，检查影响行数判断是否冲突。
        /// æ¯æ¬¡æ›´æ–°æ—¶è‡ªå¢žã€‚æ›´æ–°æ—¶ WHERE IPAddress = @ip AND Version = @expectedVersion。
        /// å¦‚果影响行数为 0，说明版本不匹配，返回 false。
        /// </remarks>
        [SugarColumn(ColumnDescription = "行版本（乐观锁）", IsJsonKey = true)]
        public byte[] RowVersion { get; set; } = Array.Empty<byte>();
        [SugarColumn(ColumnDescription = "版本号（乐观锁）")]
        public long Version { get; set; }

        /// <summary>
        /// æ˜¯å¦å·²è®¢é˜…消息事件
        /// </summary>
        [SugarColumn(ColumnDescription = "是否已订阅消息事件", IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "是否已订阅消息事件")]
        public bool IsEventSubscribed { get; set; }

        /// <summary>
        /// æœºæ¢°æ‰‹è¿è¡Œæ¨¡å¼
        /// </summary>
        /// <remarks>1: æ‰‹åŠ¨æ¨¡å¼, 2: è‡ªåŠ¨æ¨¡å¼</remarks>
        [SugarColumn(ColumnDescription = "运行模式", IsNullable = true, IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "运行模式", IsNullable = true)]
        public int? RobotRunMode { get; set; }

        /// <summary>
        /// æœºæ¢°æ‰‹æŽ§åˆ¶æ¨¡å¼
        /// </summary>
        /// <remarks>1: å®¢æˆ·ç«¯æŽ§åˆ¶, 2: å…¶ä»–</remarks>
        [SugarColumn(ColumnDescription = "控制模式", IsNullable = true, IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "控制模式", IsNullable = true)]
        public int? RobotControlMode { get; set; }

        /// <summary>
        /// æœºæ¢°æ‰‹æ‰‹è‡‚抓取对象状态
        /// </summary>
        /// <remarks>0: æ— ç‰©æ–™ï¼ˆæ‰‹è‡‚空闲）, 1: æœ‰ç‰©æ–™ï¼ˆå·²æŠ“取货物）</remarks>
        [SugarColumn(ColumnDescription = "手臂抓取状态", IsNullable = true, IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "手臂抓取状态", IsNullable = true)]
        public int? RobotArmObject { get; set; }

        /// <summary>
        /// æœºæ¢°æ‰‹è®¾å¤‡åŸºç¡€ä¿¡æ¯ï¼ˆJSON åºåˆ—化）
        /// </summary>
        [SugarColumn(Length = 2000, ColumnDescription = "设备信息JSON", IsJsonKey = true)]
        public string RobotCraneJson { get; set; } = string.Empty;
        [SugarColumn(Length = 2000, ColumnDescription = "设备信息JSON", IsNullable = true)]
        public string? RobotCraneJson { get; set; }

        /// <summary>
        /// æœºæ¢°æ‰‹åˆå§‹åŒ–完成回到待机位状态
        /// </summary>
        /// <remarks>Possible values: "Homed", "Homing"</remarks>
        [SugarColumn(Length = 50, ColumnDescription = "回零状态", IsNullable = true, IsJsonKey = true)]
        [SugarColumn(Length = 50, ColumnDescription = "回零状态", IsNullable = true)]
        public string? Homed { get; set; }

        /// <summary>
        /// æœºæ¢°æ‰‹å½“前正在执行的动作
        /// </summary>
        [SugarColumn(Length = 50, ColumnDescription = "当前动作", IsNullable = true, IsJsonKey = true)]
        [SugarColumn(Length = 50, ColumnDescription = "当前动作", IsNullable = true)]
        public string? CurrentAction { get; set; }

        /// <summary>
        /// æœºæ¢°æ‰‹å½“前运行状态
        /// </summary>
        [SugarColumn(Length = 50, ColumnDescription = "运行状态", IsNullable = true, IsJsonKey = true)]
        [SugarColumn(Length = 50, ColumnDescription = "运行状态", IsNullable = true)]
        public string? OperStatus { get; set; }

        /// <summary>
        /// æœ€è¿‘一次取货完成的位置数组（JSON）
        /// </summary>
        [SugarColumn(Length = 500, ColumnDescription = "取货位置数组JSON", IsNullable = true, IsJsonKey = true)]
        [SugarColumn(Length = 500, ColumnDescription = "取货位置数组JSON", IsNullable = true)]
        public string? LastPickPositionsJson { get; set; }

        /// <summary>
        /// æœ€è¿‘一次放货完成的位置数组（JSON）
        /// </summary>
        [SugarColumn(Length = 500, ColumnDescription = "放货位置数组JSON", IsNullable = true, IsJsonKey = true)]
        [SugarColumn(Length = 500, ColumnDescription = "放货位置数组JSON", IsNullable = true)]
        public string? LastPutPositionsJson { get; set; }

        /// <summary>
        /// ç”µæ± /货位条码列表（JSON）
        /// </summary>
        [SugarColumn(Length = 2000, ColumnDescription = "电芯条码列表JSON", IsNullable = true, IsJsonKey = true)]
        [SugarColumn(Length = 2000, ColumnDescription = "电芯条码列表JSON", IsNullable = true)]
        public string? CellBarcodeJson { get; set; }

        /// <summary>
        /// æœºæ¢°æ‰‹å½“前正在执行的任务（JSON åºåˆ—化）
        /// </summary>
        [SugarColumn(Length = 2000, ColumnDescription = "当前任务JSON", IsNullable = true, IsJsonKey = true)]
        [SugarColumn(Length = 2000, ColumnDescription = "当前任务JSON", IsNullable = true)]
        public string? CurrentTaskJson { get; set; }

        /// <summary>
        /// æ˜¯å¦éœ€è¦æ‰§è¡Œæ‹†ç›˜ä»»åŠ¡
        /// </summary>
        [SugarColumn(ColumnDescription = "是否拆盘任务", IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "是否拆盘任务")]
        public bool IsSplitPallet { get; set; }

        /// <summary>
        /// æ˜¯å¦éœ€è¦æ‰§è¡Œç»„盘任务
        /// </summary>
        [SugarColumn(ColumnDescription = "是否组盘任务", IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "是否组盘任务")]
        public bool IsGroupPallet { get; set; }

        /// <summary>
        /// æœºå™¨äººå·²å¤„理的任务总数
        /// </summary>
        [SugarColumn(ColumnDescription = "已处理任务总数", IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "已处理任务总数")]
        public int RobotTaskTotalNum { get; set; }

        /// <summary>
        /// æ˜¯å¦å¤„于假电芯补充模式
        /// </summary>
        [SugarColumn(ColumnDescription = "是否假电芯模式", IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "是否假电芯模式")]
        public bool IsInFakeBatteryMode { get; set; }

        /// <summary>
        /// å½“前批次起始编号
        /// </summary>
        [SugarColumn(ColumnDescription = "当前批次编号", IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "当前批次编号")]
        public int CurrentBatchIndex { get; set; } = 1;

        /// <summary>
        /// æ¢ç›˜ä»»åŠ¡å½“前阶段
        /// </summary>
        [SugarColumn(ColumnDescription = "换盘阶段", IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "换盘阶段")]
        public int ChangePalletPhase { get; set; }

        /// <summary>
        /// æ˜¯å¦æ‰«ç NG
        /// </summary>
        [SugarColumn(ColumnDescription = "是否扫码NG", IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "是否扫码NG")]
        public bool IsScanNG { get; set; }

        /// <summary>
        /// æ˜¯å¦ç”µèŠ¯åˆ°ä½
        /// </summary>
        [SugarColumn(ColumnDescription = "电芯是否到位", IsJsonKey = true)]
        [SugarColumn(ColumnDescription = "电芯是否到位")]
        public bool BatteryArrived { get; set; }
    }
}
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/RobotState/RobotCraneDevice.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,28 @@
namespace WIDESEAWCS_Model.Models
{
    /// <summary>
    /// æœºå™¨äººè®¾å¤‡åŸºç¡€ä¿¡æ¯
    /// </summary>
    public class RobotCraneDevice
    {
        /// <summary>
        /// è®¾å¤‡æ ‡è¯†
        /// </summary>
        public string Device { get; set; } = string.Empty;

        /// <summary>
        /// è®¾å¤‡ç¼–码
        /// </summary>
        public string DeviceCode { get; set; } = string.Empty;

        /// <summary>
        /// è®¾å¤‡åç§°
        /// </summary>
        public string DeviceName { get; set; } = string.Empty;

        /// <summary>
        /// IP åœ°å€
        /// </summary>
        public string IPAddress { get; set; } = string.Empty;
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/RobotState/RobotSocketState.cs

ÎļþÃû´Ó Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs ÐÞ¸Ä
@@ -1,13 +1,10 @@
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;

namespace WIDESEAWCS_Tasks
namespace WIDESEAWCS_Model.Models
{
    /// <summary>
    /// æœºæ¢°æ‰‹ Socket é€šä¿¡çŠ¶æ€æ•°æ®ç±»
    /// </summary>
    /// <remarks>
    /// è¯¥ç±»ç”¨äºŽåœ¨ Redis ç¼“存中存储机械手的实时状态，包括位置、任务、手臂对象等信息。
    /// è¯¥ç±»ç”¨äºŽåœ¨æ•°æ®åº“中存储机械手的实时状态，包括位置、任务、手臂对象等信息。
    /// æ‰€æœ‰å±žæ€§å‡è®¾è®¡ä¸ºçº¿ç¨‹å®‰å…¨æ›´æ–°ï¼Œé€šè¿‡ <see cref="RobotStateManager"/> çš„版本控制机制来防止并发覆盖。
    /// </remarks>
    public class RobotSocketState
@@ -21,7 +18,7 @@
        /// ç‰ˆæœ¬å·ï¼Œç”¨äºŽä¹è§‚并发控制
        /// </summary>
        /// <remarks>
        /// æ¯æ¬¡ä¿®æ”¹çŠ¶æ€æ—¶æ›´æ–°ä¸º DateTime.UtcNow.Ticks。
        /// æ¯æ¬¡ä¿®æ”¹çŠ¶æ€æ—¶è‡ªå¢žã€‚
        /// <see cref="RobotStateManager"/> ä½¿ç”¨æ­¤å­—段实现乐观锁，防止并发更新时旧值覆盖新值。
        /// </remarks>
        public long Version { get; set; } = DateTime.UtcNow.Ticks;
@@ -212,8 +209,6 @@
        /// æ‹‰å¸¦çº¿ä¸Šç”µèŠ¯æ‰«ç æ˜¯å¦NG。
        /// </remarks>
        public bool IsScanNG { get; set; } = false;



        /// <summary>
        /// æ˜¯å¦ç”µèŠ¯åˆ°ä½

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/QuartzNet/QuartzNetExtension.cs

@@ -4,6 +4,7 @@
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob.DTO;
using WIDESEAWCS_QuartzJob.Service;


 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/Robot/RobotCraneDevice.cs

ÎļþÒÑɾ³ý

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_QuartzJob/WIDESEAWCS_QuartzJob.csproj

@@ -43,6 +43,7 @@
        <ProjectReference Include="..\WIDESEAWCS_Common\WIDESEAWCS_Common.csproj" />
        <ProjectReference Include="..\WIDESEAWCS_Communicator\WIDESEAWCS_Communicator.csproj" />
        <ProjectReference Include="..\WIDESEAWCS_Core\WIDESEAWCS_Core.csproj" />
        <ProjectReference Include="..\WIDESEAWCS_Model\WIDESEAWCS_Model.csproj" />
    </ItemGroup>

</Project>

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Controllers/Task/RobotStateController.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,20 @@
using Microsoft.AspNetCore.Authorization;
using Microsoft.AspNetCore.Mvc;
using WIDESEAWCS_Core.BaseController;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;

namespace WIDESEAWCS_WCSServer.Controllers.Task
{
    /// <summary>
    /// æœºæ¢°æ‰‹çŠ¶æ€ç®¡ç†æŽ§åˆ¶å™¨
    /// </summary>
    [Route("api/RobotState")]
    [ApiController]
    public class RobotStateController : ApiBaseController<IRobotStateService, Dt_RobotState>
    {
        public RobotStateController(IRobotStateService service) : base(service)
        {
        }
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/Properties/PublishProfiles/FolderProfile.pubxml

@@ -4,13 +4,13 @@
-->
<Project>
  <PropertyGroup>
    <DeleteExistingFiles>true</DeleteExistingFiles>
    <DeleteExistingFiles>false</DeleteExistingFiles>
    <ExcludeApp_Data>false</ExcludeApp_Data>
    <LaunchSiteAfterPublish>true</LaunchSiteAfterPublish>
    <LastUsedBuildConfiguration>Debug</LastUsedBuildConfiguration>
    <LastUsedBuildConfiguration>Release</LastUsedBuildConfiguration>
    <LastUsedPlatform>Any CPU</LastUsedPlatform>
    <PublishProvider>FileSystem</PublishProvider>
    <PublishUrl>bin\Debug\net6.0\publish\</PublishUrl>
    <PublishUrl>E:\IISText\HuanAn\WCS</PublishUrl>
    <WebPublishMethod>FileSystem</WebPublishMethod>
    <_TargetId>Folder</_TargetId>
    <SiteUrlToLaunchAfterPublish />

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server/appsettings.json

@@ -32,7 +32,7 @@
  //5.PostgreSQL
  "DBType": "SqlServer",
  //连接字符串
  "ConnectionString": "Data Source=.;Initial Catalog=WIDESEAWCS_ShanMei;User ID=sa;Password=P@ssw0rd;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False",
  "ConnectionString": "Data Source=192.168.60.30;Initial Catalog=WIDESEAWCS_ShanMei;User ID=sa;Password=P@ssw0rd;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False",
  //"ConnectionString": "Data Source=.;Initial Catalog=WIDESEAWCS_ShanMei;User ID=sa;Password=123456;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False",

  //跨域

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/RobotStateRepository.cs

@@ -1,7 +1,7 @@
using Newtonsoft.Json;
using SqlSugar;
using WIDESEAWCS_Core.BaseRepository;
using WIDESEAWCS_Core.UnitOfWork;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_Model.Models;

@@ -10,20 +10,15 @@
    /// <summary>
    /// æœºæ¢°æ‰‹çŠ¶æ€ SqlSugar ä»“储实现
    /// </summary>
    public class RobotStateRepository : IUnitOfWork, IRobotStateRepository
    public class RobotStateRepository : RepositoryBase<Dt_RobotState>, IRobotStateRepository
    {
        private readonly IUnitOfWorkManage _unitOfWork;
        private readonly SqlSugarClient _db;

        public RobotStateRepository(IUnitOfWorkManage unitOfWork)
        public RobotStateRepository(IUnitOfWorkManage unitOfWork) : base(unitOfWork)
        {
            _unitOfWork = unitOfWork;
            _db = unitOfWork.GetDbClient();
        }

        public Dt_RobotState? GetByIp(string ipAddress)
        {
            return _db.Queryable<Dt_RobotState>()
            return Db.Queryable<Dt_RobotState>()
                .Where(x => x.IPAddress == ipAddress)
                .First();
        }
@@ -39,22 +34,23 @@
            var newState = new Dt_RobotState
            {
                IPAddress = ipAddress,
                Version = DateTime.UtcNow.Ticks,
                RobotCraneJson = JsonConvert.SerializeObject(robotCrane),
                CreateTime = DateTime.Now,
                UpdateTime = DateTime.Now
                CreateDate = DateTime.Now,
                ModifyDate = DateTime.Now
            };

            _db.Insertable(newState).ExecuteCommand();
            Db.Insertable(newState).ExecuteCommand();
            return newState;
        }

        public bool TryUpdate(string ipAddress, Dt_RobotState newState, byte[] expectedRowVersion)
        public bool TryUpdate(string ipAddress, Dt_RobotState newState, long expectedVersion)
        {
            newState.UpdateTime = DateTime.Now;
            newState.ModifyDate = DateTime.Now;

            var affectedRows = _db.Updateable<Dt_RobotState>(newState)
            // ä¹è§‚锁：WHERE IPAddress = @ip AND Version = @expectedVersion，版本匹配才更新
            var affectedRows = Db.Updateable<Dt_RobotState>(newState)
                .Where(x => x.IPAddress == ipAddress)
                .WhereRowVersion(x => x.RowVersion, expectedRowVersion)
                .ExecuteCommand();

            return affectedRows > 0;
@@ -65,7 +61,7 @@
            var state = new RobotSocketState
            {
                IPAddress = entity.IPAddress,
                Version = BitConverter.ToInt64(entity.RowVersion.Length >= 8 ? entity.RowVersion.Take(8).ToArray() : new byte[8], 0),
                Version = entity.Version,
                IsEventSubscribed = entity.IsEventSubscribed,
                RobotRunMode = entity.RobotRunMode,
                RobotControlMode = entity.RobotControlMode,
@@ -131,7 +127,11 @@
                CurrentBatchIndex = state.CurrentBatchIndex,
                ChangePalletPhase = state.ChangePalletPhase,
                IsScanNG = state.IsScanNG,
                BatteryArrived = state.BatteryArrived
                BatteryArrived = state.BatteryArrived,
                CellBarcodeJson = state.CellBarcode.ToJson(),
                LastPickPositionsJson = state.LastPickPositions.ToJson(),
                CurrentTaskJson = state.CurrentTask.ToJson(),
                LastPutPositionsJson = state.LastPutPositions.ToJson(),
            };

            // åºåˆ—化复杂对象为 JSON
@@ -162,13 +162,5 @@

            return entity;
        }

        public SqlSugarClient GetDbClient() => _db;

        public void BeginTran() => _unitOfWork.BeginTran();

        public void CommitTran() => _unitOfWork.CommitTran();

        public void RollbackTran() => _unitOfWork.RollbackTran();
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotStateService.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,18 @@
using WIDESEA_Core;
using WIDESEAWCS_Core.BaseServices;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;

namespace WIDESEAWCS_TaskInfoService
{
    /// <summary>
    /// æœºæ¢°æ‰‹çŠ¶æ€æœåŠ¡å®žçŽ°
    /// </summary>
    public class RobotStateService : ServiceBase<Dt_RobotState, IRobotStateRepository>, IRobotStateService
    {
        public RobotStateService(IRobotStateRepository repository) : base(repository)
        {
        }
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/TaskService/TaskService.Query.cs

@@ -149,7 +149,7 @@
    public Dt_Task QueryManualInboundTask(string sourceAddress)
    {
        return BaseDal.QueryFirst(x =>
            x.TaskType == (int)TaskInboundTypeEnum.Inbound &&
            (x.TaskType == (int)TaskInboundTypeEnum.Inbound || x.TaskType == (int)TaskInboundTypeEnum.InEmpty) &&
            x.TaskStatus == (int)TaskInStatusEnum.InNew &&
            x.SourceAddress == sourceAddress);
    }

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

@@ -188,7 +188,7 @@
                                    {
                                        // æ²¡æœ‰ä»»åŠ¡ï¼Œå‘ WMS è¯·æ±‚出库托盘任务
                                        var position = checkPalletPositions.FirstOrDefault(x => x.Code == childDeviceCode);
                                        QuartzLogHelper.LogInfo(_logger, "Execute：检查托盘位置 {ChildDeviceCode}，请求WMS出库托盘任务", $"检查托盘位置 {childDeviceCode}，请求WMS出库托盘任务", conveyorLine.DeviceCode, childDeviceCode);
                                        //QuartzLogHelper.LogInfo(_logger, "Execute：检查托盘位置 {ChildDeviceCode}，请求WMS出库托盘任务", $"检查托盘位置 {childDeviceCode}，请求WMS出库托盘任务", conveyorLine.DeviceCode, childDeviceCode);

                                        var responseResult = _httpClientHelper.Post<WebResponseContent>("GetOutBoundTrayTaskAsync", new CreateTaskDto()
                                        {

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/ConveyorLineNewJob/ManualInbound/ManualInboundTaskHandler.cs

@@ -50,6 +50,8 @@
                conveyorLine.SetValue(ConveyorLineDBNameNew.Source, short.Parse(task.SourceAddress ?? "0"), childDeviceCode);
                // å†™å…¥ç›®æ ‡åœ°å€
                conveyorLine.SetValue(ConveyorLineDBNameNew.Target, short.Parse(task.NextAddress ?? "0"), childDeviceCode);
                // å†™å…¥æ‰˜ç›˜å·
                conveyorLine.SetValue(ConveyorLineDBNameNew.Barcode, task.PalletCode, childDeviceCode);

                // æ›´æ–°ä»»åŠ¡çŠ¶æ€åˆ°ä¸‹ä¸€é˜¶æ®µ
                var updateResult = _taskService.UpdateTaskStatusToNext(task);

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Abstractions/IRobotMessageRouter.cs

@@ -1,4 +1,5 @@
using System.Net.Sockets;
using WIDESEAWCS_Model.Models;

namespace WIDESEAWCS_Tasks.Workflow.Abstractions
{
@@ -15,6 +16,6 @@
        /// <param name="client">TCP å®¢æˆ·ç«¯è¿žæŽ¥</param>
        /// <param name="state">机器人当前状态</param>
        /// <returns>响应消息，如果无需回复则返回 null</returns>
        Task<string?> HandleMessageReceivedAsync(string message, bool isJson, TcpClient client, RobotSocketState state);
        Task<string?> HandleMessageReceivedAsync(string message, bool isJson, TcpClient client);
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Abstractions/IRobotNgLineCommandHandler.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,9 @@
using WIDESEAWCS_Model.Models;

namespace WIDESEAWCS_Tasks.Workflow.Abstractions
{
    public interface IRobotNgLineCommandHandler
    {
        Task<bool> HandleAsync(string message, RobotSocketState state);
    }
}

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Abstractions/IRobotPrefixCommandHandler.cs

@@ -1,4 +1,5 @@
using System.Net.Sockets;
using WIDESEAWCS_Model.Models;

namespace WIDESEAWCS_Tasks.Workflow.Abstractions
{

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Abstractions/IRobotSimpleCommandHandler.cs

@@ -1,3 +1,5 @@
using WIDESEAWCS_Model.Models;

namespace WIDESEAWCS_Tasks.Workflow.Abstractions
{
    /// <summary>

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Abstractions/ISocketClientGateway.cs

@@ -1,4 +1,5 @@
using System.Net.Sockets;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;

namespace WIDESEAWCS_Tasks.Workflow.Abstractions

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

@@ -2,6 +2,7 @@
using System.Net.Sockets;
using Microsoft.Extensions.Logging;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks.SocketServer;


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

@@ -7,7 +7,8 @@
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_RedisService;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.SocketServer;
using WIDESEAWCS_Tasks.Workflow;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
@@ -129,7 +130,7 @@
            var prefixCommandHandler = new RobotPrefixCommandHandler(robotTaskService, _taskProcessor, _stateManager, socketGateway, fakeBatteryPositionService);

            // åˆå§‹åŒ–消息路由器
            _messageRouter = new RobotMessageHandler(socketGateway, _stateManager, cache, simpleCommandHandler, prefixCommandHandler, logger);
            _messageRouter = new RobotMessageHandler(socketGateway, _stateManager, simpleCommandHandler, prefixCommandHandler, logger);

            // åˆå§‹åŒ–工作流编排器
            _workflowOrchestrator = new RobotWorkflowOrchestrator(_stateManager, _clientManager, _taskProcessor, robotTaskService, _logger);

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

@@ -1,8 +1,8 @@
using Microsoft.Extensions.Logging;
using System.Net.Sockets;
using WIDESEAWCS_Common;
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.Workflow.Abstractions;

namespace WIDESEAWCS_Tasks
@@ -12,7 +12,7 @@
    /// </summary>
    /// <remarks>
    /// æ ¸å¿ƒèŒè´£ï¼š
    /// 1. ç¼“存状态读取：从 Redis ä¸­èŽ·å–机器人最新的状态
    /// 1. çŠ¶æ€æŽ¥æ”¶ï¼šä»Žè°ƒç”¨æ–¹èŽ·å–机器人最新的状态
    /// 2. å‘½ä»¤åˆ†å‘：根据消息类型分发给不同的处理器
    ///    - ç®€å•å‘½ä»¤ï¼ˆå¦‚ homing、running）：由 <see cref="IRobotSimpleCommandHandler"/> å¤„理
    ///    - å‰ç¼€å‘½ä»¤ï¼ˆå¦‚ pickfinished、putfinished）：由 <see cref="IRobotPrefixCommandHandler"/> å¤„理
@@ -25,41 +25,21 @@
        /// <summary>
        /// Socket å®¢æˆ·ç«¯ç½‘关接口
        /// </summary>
        /// <remarks>
        /// ç”¨äºŽå‘客户端发送响应消息。
        /// </remarks>
        private readonly ISocketClientGateway _socketClientGateway;

        /// <summary>
        /// æœºæ¢°æ‰‹çŠ¶æ€ç®¡ç†å™¨
        /// </summary>
        /// <remarks>
        /// ç”¨äºŽè¯»å–和更新机器人的状态。
        /// </remarks>
        private readonly RobotStateManager _stateManager;

        /// <summary>
        /// ç¼“存服务
        /// </summary>
        /// <remarks>
        /// ç›´æŽ¥ä½¿ç”¨ç¼“存服务检查状态是否存在。
        /// </remarks>
        private readonly ICacheService _cache;

        /// <summary>
        /// ç®€å•å‘½ä»¤å¤„理器
        /// </summary>
        /// <remarks>
        /// å¤„理简单的状态更新命令，如运行状态、模式切换等。
        /// </remarks>
        private readonly IRobotSimpleCommandHandler _simpleCommandHandler;

        /// <summary>
        /// å‰ç¼€å‘½ä»¤å¤„理器
        /// </summary>
        /// <remarks>
        /// å¤„理带参数的前缀命令，如 pickfinished（取货完成）、putfinished（放货完成）。
        /// </remarks>
        private readonly IRobotPrefixCommandHandler _prefixCommandHandler;

        /// <summary>
@@ -72,21 +52,18 @@
        /// </summary>
        /// <param name="socketClientGateway">Socket ç½‘å…³</param>
        /// <param name="stateManager">状态管理器</param>
        /// <param name="cache">缓存服务</param>
        /// <param name="simpleCommandHandler">简单命令处理器</param>
        /// <param name="prefixCommandHandler">前缀命令处理器</param>
        /// <param name="logger">日志记录器</param>
        public RobotMessageHandler(
            ISocketClientGateway socketClientGateway,
            RobotStateManager stateManager,
            ICacheService cache,
            IRobotSimpleCommandHandler simpleCommandHandler,
            IRobotPrefixCommandHandler prefixCommandHandler,
            ILogger<RobotJob> logger)
        {
            _socketClientGateway = socketClientGateway;
            _stateManager = stateManager;
            _cache = cache;
            _simpleCommandHandler = simpleCommandHandler;
            _prefixCommandHandler = prefixCommandHandler;
            _logger = logger;
@@ -98,12 +75,11 @@
        /// <remarks>
        /// å¤„理流程：
        /// 1. è®°å½•æ—¥å¿—（记录原始消息内容）
        /// 2. éªŒè¯ç¼“存中是否存在该设备的状态
        /// 3. å°è¯•ç”¨ç®€å•å‘½ä»¤å¤„理器处理（状态更新类命令）
        /// 2. å°è¯•ç”¨ç®€å•å‘½ä»¤å¤„理器处理（状态更新类命令）
        ///    - å¦‚果处理成功，回写原消息并更新状态
        /// 4. å¦‚果不是简单命令，检查是否是前缀命令（pickfinished/putfinished）
        /// 3. å¦‚果不是简单命令，检查是否是前缀命令（pickfinished/putfinished）
        ///    - å¦‚果是，调用前缀命令处理器处理
        /// 5. ä¿æŒåŽŸæœ‰è¡Œä¸ºï¼šç®€å•å‘½ä»¤å’Œå‰ç¼€å‘½ä»¤éƒ½å›žå†™åŽŸæ¶ˆæ¯
        /// 4. ä¿æŒåŽŸæœ‰è¡Œä¸ºï¼šç®€å•å‘½ä»¤å’Œå‰ç¼€å‘½ä»¤éƒ½å›žå†™åŽŸæ¶ˆæ¯
        ///
        /// æ³¨æ„ï¼šæ­¤æ–¹æ³•å¯èƒ½åœ¨ TCP æ¶ˆæ¯æŽ¥æ”¶çš„上下文中被频繁调用，需注意性能。
        /// </remarks>
@@ -112,49 +88,43 @@
        /// <param name="client">TCP å®¢æˆ·ç«¯è¿žæŽ¥</param>
        /// <param name="state">机器人当前状态</param>
        /// <returns>响应消息，如果无需回复则返回 null</returns>
        public async Task<string?> HandleMessageReceivedAsync(string message, bool isJson, TcpClient client, RobotSocketState state)
        public async Task<string?> HandleMessageReceivedAsync(string message, bool isJson, TcpClient client)
        {
            var state = _stateManager.GetState(client.Client.RemoteEndPoint.ToString());
            if(state.OperStatus == message)
            {
                // å¤„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);
            }
            // è®°å½•æŽ¥æ”¶åˆ°çš„消息日志
            _logger.LogInformation($"接收到客户端【{state.RobotCrane.DeviceName}】发送消息【{message}】");
            QuartzLogger.Info($"接收到客户端消息【{message}】", state.RobotCrane.DeviceName);
            _logger.LogInformation($"接收到客户端【{state.RobotCrane?.DeviceName}】发送消息【{message}】");
            QuartzLogger.Info($"接收到客户端消息【{message}】", state.RobotCrane?.DeviceName);

            // æ£€æŸ¥ä»»åŠ¡æ€»æ•°æ˜¯å¦æœªè¾¾åˆ°ä¸Šé™
            if (state.RobotTaskTotalNum > RobotConst.MaxTaskTotalNum)
            {
                // è®°å½•æŽ¥æ”¶åˆ°çš„消息日志
                _logger.LogInformation($"接收到客户端【{state.RobotCrane.DeviceName}】发送消息【{message}】");
                QuartzLogger.Info($"接收到客户端消息【{message}】", state.RobotCrane.DeviceName);
                // å¤„理成功后，将原消息回写到客户端（保持原有行为）
                _logger.LogInformation($"接收到客户端【{state.RobotCrane?.DeviceName}】发送消息【{message}】");
                QuartzLogger.Info($"接收到客户端消息【{message}】", state.RobotCrane?.DeviceName);
                await _socketClientGateway.SendMessageAsync(client, message);
                return null;
            }

            // æž„建缓存键，检查 Redis ä¸­æ˜¯å¦å­˜åœ¨è¯¥è®¾å¤‡çš„状态
            var cacheKey = $"{RedisPrefix.Code}:{RedisName.SocketDevices}:{client.Client.RemoteEndPoint}";

            // å¦‚果缓存中不存在或状态为 null，忽略此消息
            if (!_cache.TryGetValue(cacheKey, out RobotSocketState? cachedState) || cachedState == null)
            {
                _logger.LogInformation($"缓存中不存在或状态为 null，忽略此消息");
                return null;
            }

            // ä½¿ç”¨ç¼“存中获取的状态
            var activeState = cachedState;

            // å°†æ¶ˆæ¯è½¬æ¢ä¸ºå°å†™ï¼ˆç”¨äºŽç®€å•å‘½ä»¤åŒ¹é…ï¼‰
            string messageLower = message.ToLowerInvariant();

            // å°è¯•ç”¨ç®€å•å‘½ä»¤å¤„理器处理
            // ç®€å•å‘½ä»¤åŒ…括：homing、homed、running、pausing、runmode、controlmode ç­‰
            if (await _simpleCommandHandler.HandleAsync(messageLower, activeState))
            if (await _simpleCommandHandler.HandleAsync(messageLower, state))
            {
                // å¤„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);
                QuartzLogger.Info($"发送消息：【{message}】", state.RobotCrane.DeviceName);
                if(messageLower != "batteryarrived")
                {
                    // å¤„理成功后，将原消息回写到客户端（保持原有行为）
                    await _socketClientGateway.SendMessageAsync(client, message);
                    QuartzLogger.Info($"发送消息：【{message}】", state.RobotCrane?.DeviceName);
                }

                // å®‰å…¨æ›´æ–°çŠ¶æ€åˆ° Redis
                _stateManager.TryUpdateStateSafely(activeState.IPAddress, activeState);
                // å®‰å…¨æ›´æ–°çŠ¶æ€åˆ°æ•°æ®åº“
                _stateManager.TryUpdateStateSafely(state.IPAddress, state);
                return null;
            }

@@ -163,11 +133,9 @@
            if (_prefixCommandHandler.IsPrefixCommand(messageLower))
            {
                // è°ƒç”¨å‰ç¼€å‘½ä»¤å¤„理器
                // å‰ç¼€å‘½ä»¤å¤„理器会解析位置参数并更新状态
                await _prefixCommandHandler.HandleAsync(message, activeState, client);
                await _prefixCommandHandler.HandleAsync(message, state, client);
            }

            // é»˜è®¤è¿”回 null，不产生响应消息
            return null;
        }
    }

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

@@ -1,6 +1,5 @@
using Microsoft.Extensions.Logging;
using Newtonsoft.Json;
using WIDESEAWCS_Common;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_Model.Models;
@@ -12,7 +11,7 @@
    /// </summary>
    /// <remarks>
    /// æ ¸å¿ƒåŠŸèƒ½æ˜¯é€šè¿‡ IRobotStateRepository ç®¡ç†æ•°æ®åº“中的机械手状态。
    /// æä¾›ä¹è§‚并发控制，通过 RowVersion é˜²æ­¢å¹¶å‘更新时的数据覆盖问题。
    /// æä¾›ä¹è§‚并发控制，通过 Version å­—段防止并发更新时的数据覆盖问题。
    /// </remarks>
    public class RobotStateManager
    {
@@ -38,11 +37,11 @@
        }

        /// <summary>
        /// å®‰å…¨æ›´æ–° RobotSocketState ç¼“存，防止并发覆盖
        /// å®‰å…¨æ›´æ–° RobotSocketState，防止并发覆盖
        /// </summary>
        /// <remarks>
        /// ä½¿ç”¨ä¹è§‚并发模式：先读取当前 RowVersion，执行更新时检查版本是否一致。
        /// å¦‚æžœ RowVersion ä¸åŒ¹é…ï¼ˆè¯´æ˜Žæœ‰å…¶ä»–线程已更新），则更新失败返回 false。
        /// ä½¿ç”¨ä¹è§‚并发模式：先读取当前 Version，执行更新时检查版本是否一致。
        /// å¦‚æžœ Version ä¸åŒ¹é…ï¼ˆè¯´æ˜Žæœ‰å…¶ä»–线程已更新），则更新失败返回 false。
        /// </remarks>
        /// <param name="ipAddress">设备 IP åœ°å€</param>
        /// <param name="updateAction">更新状态的委托函数，传入当前状态副本，返回修改后的新状态</param>
@@ -57,8 +56,8 @@
                return false;
            }

            // è®°å½•å½“前存储的 RowVersion，作为更新时的期望版本
            var expectedRowVersion = currentEntity.RowVersion;
            // è®°å½•å½“前存储的 Version，作为更新时的期望版本
            var expectedVersion = currentEntity.Version;

            // åˆ›å»ºçŠ¶æ€çš„深拷贝副本（使用 JSON åºåˆ—化实现）
            var stateCopy = CloneState(_repository.ToSocketState(currentEntity));
@@ -68,12 +67,12 @@

            // å°†æ–°çŠ¶æ€è½¬æ¢ä¸ºæ•°æ®åº“实体
            var newEntity = _repository.ToEntity(newState);
            newEntity.RowVersion = Array.Empty<byte>(); // SqlSugar ä¼šè‡ªåŠ¨ç®¡ç†
            newEntity.Id = currentEntity.Id;
            newEntity.Version = expectedVersion + 1; // ç‰ˆæœ¬è‡ªå¢ž

            // è°ƒç”¨ä»“储的安全更新方法，传入期望 RowVersion
            // å¦‚æžœ RowVersion ä¸ä¸€è‡´ï¼ˆå·²è¢«å…¶ä»–线程更新），则更新失败
            return _repository.TryUpdate(ipAddress, newEntity, expectedRowVersion);
            // è°ƒç”¨ä»“储的安全更新方法，传入期望 Version
            // å¦‚æžœ Version ä¸ä¸€è‡´ï¼ˆå·²è¢«å…¶ä»–线程更新），则更新失败
            return _repository.TryUpdate(ipAddress, newEntity, expectedVersion);
        }

        /// <summary>
@@ -94,29 +93,26 @@
            // å¦‚果当前不存在该设备的状态，创建新记录
            if (currentEntity == null)
            {
                var entity = _repository.ToEntity(newState);
                entity.CreateTime = DateTime.Now;
                entity.UpdateTime = DateTime.Now;
                _repository.GetOrCreate(newState.IPAddress, newState.RobotCrane ?? new RobotCraneDevice());
                _logger.LogDebug("TryUpdateStateSafely：创建新状态，IP: {IpAddress}", ipAddress);
                QuartzLogger.Debug($"创建新状态，IP: {ipAddress}", ipAddress);
                return true;
            }

            // å½“前存在状态，记录期望 RowVersion ç”¨äºŽä¹è§‚锁检查
            var expectedRowVersion = currentEntity.RowVersion;
            // å½“前存在状态，记录期望 Version ç”¨äºŽä¹è§‚锁检查
            var expectedVersion = currentEntity.Version;

            // å°†æ–°çŠ¶æ€è½¬æ¢ä¸ºæ•°æ®åº“实体
            var newEntity = _repository.ToEntity(newState);
            newEntity.Id = currentEntity.Id;
            newEntity.RowVersion = Array.Empty<byte>();
            newEntity.Version = expectedVersion + 1; // ç‰ˆæœ¬è‡ªå¢ž

            // å°è¯•å®‰å…¨æ›´æ–°ï¼Œå¦‚果版本冲突则返回 false
            bool success = _repository.TryUpdate(ipAddress, newEntity, expectedRowVersion);
            bool success = _repository.TryUpdate(ipAddress, newEntity, expectedVersion);

            if (!success)
            {
                _logger.LogWarning("TryUpdateStateSafely：版本冲突，更新失败，IP: {IpAddress}，期望版本字节长度: {ExpectedLength}", ipAddress, expectedRowVersion.Length);
                _logger.LogWarning("TryUpdateStateSafely：版本冲突，更新失败，IP: {IpAddress}，期望版本: {ExpectedVersion}", ipAddress, expectedVersion);
                QuartzLogger.Warn($"版本冲突，更新失败，IP: {ipAddress}", ipAddress);
            }


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

@@ -632,7 +632,7 @@
            //    }
            //}

            return false;
            return true;
        }

        /// <summary>

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

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,34 @@
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.Workflow.Abstractions;

namespace WIDESEAWCS_Tasks.Workflow
{
    public class RobotNgLineCommandHandler : IRobotNgLineCommandHandler
    {
        public Task<bool> HandleAsync(string message, RobotSocketState state)
        {
            // ä½¿ç”¨ switch è¡¨è¾¾å¼è¿›è¡Œæ¨¡å¼åŒ¹é…ï¼Œæé«˜å¯è¯»æ€§å’Œæ€§èƒ½
            switch (message)
            {
                case "PutNGFinished1":

                    return Task.FromResult(true);

                case "PutNGFinished2":

                    return Task.FromResult(true);

                case "PickNGFinished1":

                    return Task.FromResult(true);

                case "PickNGFinished2":

                    return Task.FromResult(true);

                default:
                    return Task.FromResult(true);
            }
        }
    }
}

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

@@ -126,7 +126,7 @@
                var parts = message.Split(',');

                // æ£€æŸ¥æ¶ˆæ¯æ ¼å¼æ˜¯å¦æœ‰æ•ˆï¼šè‡³å°‘要有命令前缀，且状态中有当前任务
                if (parts.Length < 1 || state.CurrentTask == null)
                if (parts.Length < 1)
                {
                    return;
                }
@@ -143,7 +143,7 @@
                    .ToArray();

                // ä»Žæ•°æ®åº“重新查询当前任务（确保获取最新状态）
                var task = await _robotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId);
                var task = await _robotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskState == TaskRobotStatusEnum.RobotExecuting.GetHashCode() && x.RobotRoadway == state.RobotCrane.DeviceName);

                if (task != null)
                {

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

@@ -1,5 +1,6 @@
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.Workflow.Abstractions;

namespace WIDESEAWCS_Tasks.Workflow
@@ -124,6 +125,11 @@
                    state.BatteryArrived = true;
                    return true;

                // æ˜¯å¦ç”µèŠ¯åˆ°ä½
                case "batteryarrivedno":
                    state.BatteryArrived = false;
                    return true;

                // ==================== å…¨éƒ¨å®Œæˆå‘½ä»¤ ====================

                // å…¨éƒ¨å–货完成

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

@@ -112,7 +112,7 @@
            // 1. è¿è¡Œæ¨¡å¼ä¸ºè‡ªåŠ¨ï¼ˆ2）
            // 2. æŽ§åˆ¶æ¨¡å¼ä¸ºå®¢æˆ·ç«¯æŽ§åˆ¶ï¼ˆ1）
            // 3. è¿è¡ŒçŠ¶æ€æ˜¯ 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()))
            {
                // ========== å–货完成后的放货处理 ==========
                // æ¡ä»¶ï¼š
@@ -137,8 +137,8 @@
                // - ä»»åŠ¡çŠ¶æ€ä¸º RobotPutFinish æˆ–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)
        {
            // èŽ·å–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);

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/SocketClientGateway.cs

@@ -1,4 +1,5 @@
using System.Net.Sockets;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_Tasks.Workflow.Abstractions;


 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.Messaging.cs

@@ -2,6 +2,7 @@
using System.Text;
using System.Text.Json;
using System.IO;
using WIDESEAWCS_Model.Models;

namespace WIDESEAWCS_Tasks.SocketServer
{
@@ -83,7 +84,7 @@
                            {
                                // åˆ¤æ–­æ˜¯å¦ä¸º JSON æ ¼å¼
                                bool isJsonFormat = TryParseJsonSilent(message);
                                _ = MessageReceived.Invoke(message, isJsonFormat, client, robotCrane);
                                _ = MessageReceived.Invoke(message, isJsonFormat, client);
                            }
                            catch { }
                        }

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/SocketServer/TcpSocketServer.cs

@@ -6,6 +6,7 @@
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;

namespace WIDESEAWCS_Tasks.SocketServer
@@ -147,7 +148,7 @@
        /// å½“服务器接收到消息时触发。
        /// å‚数：消息内容、是否 JSON æ ¼å¼ã€TCP å®¢æˆ·ç«¯ã€æœºå™¨äººçŠ¶æ€
        /// </remarks>
        public event Func<string, bool, TcpClient, RobotSocketState, Task<string?>>? MessageReceived;
        public event Func<string, bool, TcpClient, Task<string?>>? MessageReceived;

        /// <summary>
        /// æœºå™¨äººè¿žæŽ¥æ–­å¼€äº‹ä»¶

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

@@ -205,6 +205,10 @@
            {
                taskType = StackerCraneConst.EmptyPalletTaskType;
            }
            else if(task.TaskType == (int)TaskInboundTypeEnum.InEmpty)
            {
                taskType = StackerCraneConst.EmptyInPalletTaskType;
            }
            else
                taskType = task.TaskType;


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

@@ -109,7 +109,7 @@
            {
                // æ²¡æœ‰ä¸Šä¸€ä»»åŠ¡ç±»åž‹ï¼ŒæŸ¥è¯¢æ™®é€šä»»åŠ¡
                candidateTask = _taskService.QueryStackerCraneTask(deviceCode);
                QuartzLogHelper.LogDebug(_logger, "SelectTask：查询普通任务，设备: {DeviceCode}，结果: {TaskNum}", $"查询普通任务，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", deviceCode, deviceCode, candidateTask?.TaskNum);
                //QuartzLogHelper.LogDebug(_logger, "SelectTask：查询普通任务，设备: {DeviceCode}，结果: {TaskNum}", $"查询普通任务，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", deviceCode, deviceCode, candidateTask?.TaskNum);
            }
            else if (commonStackerCrane.LastTaskType.GetValueOrDefault().GetTaskTypeGroup() == TaskTypeGroup.OutbondGroup)
            {
@@ -117,19 +117,19 @@
                candidateTask = _taskService.QueryStackerCraneInTask(deviceCode);
                // å¦‚果没有入库任务，再查一下出库任务
                candidateTask ??= _taskService.QueryStackerCraneOutTask(deviceCode);
                QuartzLogHelper.LogDebug(_logger, "SelectTask：出库后优先查入库，设备: {DeviceCode}，结果: {TaskNum}", $"出库后优先查入库，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", deviceCode, deviceCode, candidateTask?.TaskNum);
                //QuartzLogHelper.LogDebug(_logger, "SelectTask：出库后优先查入库，设备: {DeviceCode}，结果: {TaskNum}", $"出库后优先查入库，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", deviceCode, deviceCode, candidateTask?.TaskNum);
            }
            else
            {
                // ä¸Šä¸€ä»»åŠ¡æ˜¯å…¥åº“（非出库），优先查出库任务
                candidateTask = _taskService.QueryStackerCraneOutTask(deviceCode);
                QuartzLogHelper.LogDebug(_logger, "SelectTask：入库后优先查出库，设备: {DeviceCode}，结果: {TaskNum}", $"入库后优先查出库，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", deviceCode, deviceCode, candidateTask?.TaskNum);
                //QuartzLogHelper.LogDebug(_logger, "SelectTask：入库后优先查出库，设备: {DeviceCode}，结果: {TaskNum}", $"入库后优先查出库，设备: {deviceCode}，结果: {candidateTask?.TaskNum}", deviceCode, deviceCode, candidateTask?.TaskNum);
            }

            // å¦‚果没有候选任务，返回 null
            if (candidateTask == null)
            {
                QuartzLogHelper.LogDebug(_logger, "SelectTask：没有候选任务，设备: {DeviceCode}", $"没有候选任务，设备: {deviceCode}", deviceCode, deviceCode);
                //QuartzLogHelper.LogDebug(_logger, "SelectTask：没有候选任务，设备: {DeviceCode}", $"没有候选任务，设备: {deviceCode}", deviceCode, deviceCode);
                return null;
            }


 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/WIDESEAWCS_Tasks.csproj

@@ -7,6 +7,7 @@
    </PropertyGroup>

    <ItemGroup>
        <ProjectReference Include="..\WIDESEAWCS_Model\WIDESEAWCS_Model.csproj" />
        <ProjectReference Include="..\WIDESEAWCS_QuartzJob\WIDESEAWCS_QuartzJob.csproj" />
        <ProjectReference Include="..\WIDESEAWCS_TaskInfoService\WIDESEAWCS_TaskInfoService.csproj" />
    </ItemGroup>

 Code/WMS/WIDESEA_WMSClient/src/api/http.js

@@ -12,7 +12,7 @@
let loadingInstance;
let loadingStatus = false;
if (process.env.NODE_ENV == 'development') {
    axios.defaults.baseURL = window.webConfig.webApiBaseUrl;
    axios.defaults.baseURL = 'http://127.0.0.1:9291/';
}
else if (process.env.NODE_ENV == 'debug') {
    axios.defaults.baseURL = window.webConfig.webApiBaseUrl;

 Code/WMS/WIDESEA_WMSClient/src/extension/taskinfo/extend/addManualTask.vue

@@ -1,16 +1,11 @@
<template>
  <div>
    <vol-box
      v-model="showBox"
      :lazy="true"
      width="500px"
      :padding="15"
      title="手动创建任务"
    >
    <vol-box v-model="showBox" :lazy="true" width="500px" :padding="15" title="手动创建任务">
      <el-form :model="formData" ref="form" label-width="100px">
        <el-form-item label="任务类型" prop="taskType" required>
          <el-select v-model="formData.taskType" placeholder="请选择任务类型">
            <el-option label="入库" value="入库"></el-option>
            <el-option label="空箱入库" value="空箱入库"></el-option>
            <el-option label="出库" value="出库"></el-option>
            <el-option label="移库" value="移库"></el-option>
          </el-select>

 Code/WMS/WIDESEA_WMSClient/src/extension/taskinfo/extend/gridBodyExtension.vue

@@ -6,6 +6,7 @@
        <el-form-item label="任务类型" prop="taskType" required>
          <el-select v-model="manualFormData.taskType" placeholder="请选择任务类型">
            <el-option label="入库" value="入库"></el-option>
            <el-option label="空箱入库" value="空箱入库"></el-option>
            <el-option label="出库" value="出库"></el-option>
            <el-option label="移库" value="移库"></el-option>
          </el-select>

 Code/WMS/WIDESEA_WMSClient/src/views/stock/stockInfo.vue

@@ -28,6 +28,7 @@
const TEXT = {
  pageName: "库存信息",
  palletCode: "托盘编号",
  stockStatus: "库存状态",
  locationCode: "货位编号",
  warehouse: "仓库",
  creator: "创建人",
@@ -104,6 +105,22 @@
        type: "string",
        width: 120,
        align: "left",
      },
      {
        field: "stockStatus",
        title: TEXT.stockStatus,
        type: "int",
        width: 120,
        align: "left",
        bind: { key: "stockStatusEmun", data: [] },
      },
      {
        field: "mesUploadStatus",
        title: "MES状态",
        type: "int",
        width: 120,
        align: "left",
        bind: { key: "mesUploadStatusEnum", data: [] },
      },
      {
        field: "locationCode",
@@ -223,7 +240,7 @@

    const loadStockStatusOptions = async () => {
      try {
        const result = await proxy.http.post("/api/Sys_Dictionary/GetVueDictionary", ["stockStatusEmun"]);
        const result = await proxy.http.post("/api/Sys_Dictionary/GetVueDictionary", ["stockStatusEmun", "mesUploadStatusEnum"]);
        const matched = (result || []).find((item) => item.dicNo === "stockStatusEmun");
        stockStatusOptions.value = matched ? matched.data || [] : [];
      } catch (error) {

 Code/WMS/WIDESEA_WMSClient_Vben_v2

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1 @@
Subproject commit 07c4ad05f40507d7d797619814bf75a47c29a9f4

 Code/WMS/WIDESEA_WMSServer/Database/Scripts/20260420_Dt_StockInfo_MesUploadStatus.sql

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,6 @@
-- Dt_StockInfo è¡¨æ–°å¢ž MesUploadStatus å­—段
IF NOT EXISTS (SELECT * FROM sys.columns WHERE object_id = OBJECT_ID('[dbo].[Dt_StockInfo]') AND name = 'MesUploadStatus')
BEGIN
    ALTER TABLE [dbo].[Dt_StockInfo] ADD [MesUploadStatus] TINYINT NOT NULL DEFAULT 0;
END
GO

 Code/WMS/WIDESEA_WMSServer/WIDESEA_BasicService/MesService.cs

@@ -35,7 +35,7 @@
            {
                Headers = new Dictionary<string, string>
                {
                    { "Authorization", _authorization }
                    { "Authorization","Bearer "+ _authorization }
                },
                TimeoutMs = 30000,
                MaxRetryCount = 0,
@@ -49,7 +49,7 @@
            {
                Headers = new Dictionary<string, string>
                {
                    { "Authorization", token }
                    { "Authorization","Bearer "+ token }
                },
                TimeoutMs = 30000,
                MaxRetryCount = 0,

 Code/WMS/WIDESEA_WMSServer/WIDESEA_Common/StockEnum/MesUploadStatusEnum.cs

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,76 @@
using System.ComponentModel;

namespace WIDESEA_Common.StockEnum
{
    /// <summary>
    /// MES上传状态枚举
    /// </summary>
    public enum MesUploadStatusEnum
    {
        /// <summary>
        /// æœªä¸Šä¼ ï¼ˆä»Žæœªè°ƒç”¨è¿‡MES）
        /// </summary>
        [Description("未上传")]
        æœªä¸Šä¼  = 0,

        /// <summary>
        /// ç»„盘上传成功
        /// </summary>
        [Description("组盘上传成功")]
        ç»„盘上传成功 = 1,

        /// <summary>
        /// ç»„盘上传失败
        /// </summary>
        [Description("组盘上传失败")]
        ç»„盘上传失败 = 2,

        /// <summary>
        /// æ‹†ç›˜ä¸Šä¼ æˆåŠŸ
        /// </summary>
        [Description("拆盘上传成功")]
        æ‹†ç›˜ä¸Šä¼ æˆåŠŸ = 3,

        /// <summary>
        /// æ‹†ç›˜ä¸Šä¼ å¤±è´¥
        /// </summary>
        [Description("拆盘上传失败")]
        æ‹†ç›˜ä¸Šä¼ å¤±è´¥ = 4,

        /// <summary>
        /// è¿›ç«™ä¸Šä¼ æˆåŠŸ
        /// </summary>
        [Description("进站上传成功")]
        è¿›ç«™ä¸Šä¼ æˆåŠŸ = 5,

        /// <summary>
        /// è¿›ç«™ä¸Šä¼ å¤±è´¥
        /// </summary>
        [Description("进站上传失败")]
        è¿›ç«™ä¸Šä¼ å¤±è´¥ = 6,

        /// <summary>
        /// å‡ºç«™ä¸Šä¼ æˆåŠŸ
        /// </summary>
        [Description("出站上传成功")]
        å‡ºç«™ä¸Šä¼ æˆåŠŸ = 7,

        /// <summary>
        /// å‡ºç«™ä¸Šä¼ å¤±è´¥
        /// </summary>
        [Description("出站上传失败")]
        å‡ºç«™ä¸Šä¼ å¤±è´¥ = 8,

        /// <summary>
        /// NG上报成功
        /// </summary>
        [Description("NG上报成功")]
        NG上报成功 = 9,

        /// <summary>
        /// NG上报失败
        /// </summary>
        [Description("NG上报失败")]
        NG上报失败 = 10
    }
}

 Code/WMS/WIDESEA_WMSServer/WIDESEA_IStockService/IStockInfoService.cs

@@ -56,13 +56,21 @@
        /// </summary>
        /// <param name="warehouseId">仓库ID</param>
        /// <returns>3D布局DTO</returns>
        Task<Stock3DLayoutDTO> Get3DLayoutAsync(int warehouseId);



        Task<Stock3DLayoutDTO> Get3DLayoutAsync(int warehouseId);

        /// <summary>
        /// ä½¿ç”¨äº‹åŠ¡åˆ é™¤åº“存和明细信息（先查询再删除）
        /// </summary>
        /// <param name="stockId">库存ID</param>
        /// <returns>删除结果</returns>
        Task<WebResponseContent> DeleteStockWithDetailsAsync(int stockId);

        /// <summary>
        /// æ›´æ–°MES上传状态
        /// </summary>
        /// <param name="palletCode">托盘号</param>
        /// <param name="status">MES上传状态值</param>
        /// <returns>更新是否成功</returns>
        Task<bool> UpdateMesUploadStatusAsync(string palletCode, int status);
    }
}

 Code/WMS/WIDESEA_WMSServer/WIDESEA_Model/Models/Stock/Dt_StockInfo.cs

@@ -64,6 +64,12 @@
        public string Remark { get; set; }

        /// <summary>
        /// MES上传状态：0=未上传，1=组盘成功，2=组盘失败，3=拆盘成功，4=拆盘失败，5=进站成功，6=进站失败，7=出站成功，8=出站失败，9=NG上报成功，10=NG上报失败
        /// </summary>
        [SugarColumn(IsNullable = false, ColumnDescription = "MES上传状态")]
        public int MesUploadStatus { get; set; } = 0;

        /// <summary>
        /// å‡ºåº“日期
        /// </summary>
        [SugarColumn(IsNullable = true, ColumnDescription = "出库日期")]

 Code/WMS/WIDESEA_WMSServer/WIDESEA_StockService/StockInfoService.cs

@@ -381,5 +381,27 @@
                return WebResponseContent.Instance.Error($"删除库存和明细时发生异常: {ex.Message}");
            }
        }
        /// <summary>
        /// æ›´æ–°MES上传状态
        /// </summary>
        /// <param name="palletCode">托盘号</param>
        /// <param name="status">MES上传状态值</param>
        /// <returns>更新是否成功</returns>
        public async Task<bool> UpdateMesUploadStatusAsync(string palletCode, int status)
        {
            try
            {
                var stockInfo = await BaseDal.QueryDataFirstAsync(x => x.PalletCode == palletCode);
                if (stockInfo == null)
                    return false;

                stockInfo.MesUploadStatus = status;
                return await BaseDal.UpdateDataAsync(stockInfo);
            }
            catch
            {
                return false;
            }
        }
    }
}

 Code/WMS/WIDESEA_WMSServer/WIDESEA_StockService/StockSerivce.cs

@@ -1,8 +1,10 @@
using Newtonsoft.Json;
using SqlSugar;
using System.Diagnostics;
using WIDESEA_Common.Constants;
using WIDESEA_Common.StockEnum;
using WIDESEA_Core;
using WIDESEA_Core.Helper;
using WIDESEA_DTO.MES;
using WIDESEA_DTO.Stock;
using WIDESEA_IBasicService;
@@ -51,6 +53,8 @@
        /// </summary>
        public IMesService _mesService { get; }

        private readonly IMesLogService _mesLogService;

        /// <summary>
        /// æž„造函数
        /// </summary>
@@ -65,7 +69,8 @@
            IStockInfo_HtyService stockInfo_HtyService,
            IMesService mesService,
            IWarehouseService warehouseService,
            ISqlSugarClient sqlSugarClient)
            ISqlSugarClient sqlSugarClient,
            IMesLogService mesLogService)
        {
            StockInfoDetailService = stockInfoDetailService;
            StockInfoService = stockInfoService;
@@ -74,6 +79,7 @@
            _mesService = mesService;
            _warehouseService = warehouseService;
            SqlSugarClient = sqlSugarClient;
            _mesLogService = mesLogService;
        }

        /// <summary>
@@ -466,6 +472,7 @@
        public async Task<WebResponseContent> GroupPalletConfirmAsync(string palletCode, string deviceName)
        {
            WebResponseContent content = new WebResponseContent();
            var stopwatch = Stopwatch.StartNew();
            try
            {
                if (string.IsNullOrWhiteSpace(palletCode))
@@ -510,9 +517,21 @@
                        Location = d.InboundOrderRowNo.ToString()
                    }).ToList()
                };
                string requestJson = bindRequest.ToJson();
                var bindResult = string.IsNullOrWhiteSpace(token)
                    ? _mesService.BindContainer(bindRequest)
                    : _mesService.BindContainer(bindRequest, token);
                stopwatch.Stop();
                await _mesLogService.LogAsync(new MesApiLogDto
                {
                    ApiType = "BindContainer",
                    RequestJson = requestJson,
                    ResponseJson = System.Text.Json.JsonSerializer.Serialize(bindResult),
                    IsSuccess = bindResult.IsSuccess,
                    ErrorMessage = bindResult.ErrorMessage,
                    ElapsedMs = (int)stopwatch.ElapsedMilliseconds,
                    Creator = "systeam"
                });
                if (bindResult == null || bindResult.Data == null || !bindResult.Data.IsSuccess)
                {
                    return content.Error($"MES绑定失败: {bindResult?.Data?.Msg ?? bindResult?.ErrorMessage ?? "未知错误"}");

 Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/TaskService.cs

@@ -19,6 +19,8 @@
using WIDESEA_DTO.MES;
using WIDESEA_DTO.Stock;
using WIDESEA_DTO.Task;
using Newtonsoft.Json;
using System.Diagnostics;
using WIDESEA_IBasicService;
using WIDESEA_IRecordService;
using WIDESEA_IStockService;
@@ -41,6 +43,7 @@
        private readonly IUnitOfWorkManage _unitOfWorkManage;
        private readonly IRecordService _recordService;
        private readonly IMESDeviceConfigService _mesDeviceConfigService;
        private readonly IMesLogService _mesLogService;

        public IRepository<Dt_Task> Repository => BaseDal;

@@ -66,7 +69,8 @@
            IStockInfo_HtyService stockInfo_HtyService,
            IUnitOfWorkManage unitOfWorkManage,
            IRecordService recordService,
            IMESDeviceConfigService mesDeviceConfigService) : base(BaseDal)
            IMESDeviceConfigService mesDeviceConfigService,
            IMesLogService mesLogService) : base(BaseDal)
        {
            _mapper = mapper;
            _stockInfoService = stockInfoService;
@@ -80,6 +84,7 @@
            _unitOfWorkManage = unitOfWorkManage;
            _recordService = recordService;
            _mesDeviceConfigService = mesDeviceConfigService;
            _mesLogService = mesLogService;
        }

        /// <summary>
@@ -194,5 +199,81 @@
            // Remark ä¸ºç©ºæ—¶ï¼Œå›žé€€åˆ°å··é“配置
            return DetermineTargetAddress(roadway, addressMap);
        }

        /// <summary>
        /// å¼‚步执行MES上传 - ä¸é˜»å¡žä¸»ä¸šåŠ¡é€»è¾‘
        /// </summary>
        /// <param name="palletCode">托盘号</param>
        /// <param name="successStatus">成功时的状态枚举值（奇数）</param>
        /// <param name="uploadFunc">具体的MES调用函数</param>
        private async Task MesUploadAsync(string palletCode, MesUploadStatusEnum successStatus, Func<Task<HttpResponseResult<MesResponse>>> uploadFunc)
        {
            var stopwatch = Stopwatch.StartNew();
            string requestJson = "";
            string responseJson = "";
            bool isSuccess = false;
            string errorMessage = "";

            try
            {
                // è°ƒç”¨MES
                var result = await uploadFunc();

                stopwatch.Stop();
                isSuccess = result?.Data?.IsSuccess ?? false;
                errorMessage = result?.Data?.Msg ?? result?.ErrorMessage ?? "未知错误";
                responseJson = JsonConvert.SerializeObject(result);

                // æ ¹æ®æˆåŠŸ/失败决定状态值：奇数=成功，偶数=失败
                var uploadStatus = isSuccess ? (int)successStatus : (int)successStatus + 1;

                // æ›´æ–°åº“存表状态（不等待）
                _ = _stockInfoService.UpdateMesUploadStatusAsync(palletCode, uploadStatus);

                // è®°å½•MES日志
                await LogMesCallAsync(palletCode, successStatus.ToString(), requestJson, responseJson,
                    stopwatch.ElapsedMilliseconds, isSuccess ? "成功" : "失败", errorMessage);
            }
            catch (Exception ex)
            {
                stopwatch.Stop();
                errorMessage = ex.Message;

                // æ›´æ–°çŠ¶æ€ä¸ºå¤±è´¥ï¼ˆsuccessStatus+1 å³ä¸ºå¤±è´¥çŠ¶æ€ï¼‰
                var uploadStatus = (int)successStatus + 1;
                _ = _stockInfoService.UpdateMesUploadStatusAsync(palletCode, uploadStatus);

                // è®°å½•å¼‚常日志
                await LogMesCallAsync(palletCode, successStatus.ToString(), requestJson, responseJson,
                    stopwatch.ElapsedMilliseconds, "失败", errorMessage);
            }
        }

        /// <summary>
        /// è®°å½•MES接口调用日志
        /// </summary>
        private async Task LogMesCallAsync(string palletCode, string apiType, string requestJson,
            string responseJson, long durationMs, string status, string errorMessage)
        {
            try
            {
                var mesLog = new MesApiLogDto
                {
                    PalletCode = palletCode,
                    ApiType = apiType,
                    RequestJson = requestJson,
                    ResponseJson = responseJson,
                    IsSuccess = status == "成功",
                    ErrorMessage = errorMessage,
                    ElapsedMs = (int)durationMs,
                    Creator = "System"
                };
                await _mesLogService.LogAsync(mesLog);
            }
            catch
            {
                // æ—¥å¿—记录失败不影响主流程
            }
        }
    }
}

 Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/WCS/TaskService_Inbound.cs

@@ -1,9 +1,13 @@
using Microsoft.AspNetCore.Http.HttpResults;
using Newtonsoft.Json;
using System.Diagnostics;
using WIDESEA_Common.Constants;
using WIDESEA_Common.LocationEnum;
using WIDESEA_Common.StockEnum;
using WIDESEA_Common.TaskEnum;
using WIDESEA_Common.WareHouseEnum;
using WIDESEA_Core;
using WIDESEA_Core.Helper;
using WIDESEA_DTO.MES;
using WIDESEA_DTO.Task;
using WIDESEA_IBasicService;
@@ -118,6 +122,7 @@
        /// </summary>
        public async Task<WebResponseContent> InboundFinishTaskAsync(CreateTaskDto taskDto)
        {
            var stopwatch = Stopwatch.StartNew();
            try
            {
                var task = await BaseDal.QueryFirstAsync(s => s.PalletCode == taskDto.PalletCode);
@@ -127,56 +132,91 @@
                if (location == null) return WebResponseContent.Instance.Error("未找到对应的货位");

                var stockInfo = await _stockInfoService.GetStockInfoAsync(taskDto.PalletCode);
                if (stockInfo == null) return WebResponseContent.Instance.Error("未找到对应库存信息");

                // åˆ¤æ–­æ˜¯ä¸æ˜¯æžå·åº“任务
                if (taskDto.WarehouseId == (int)WarehouseEnum.FJ1 || taskDto.WarehouseId == (int)WarehouseEnum.ZJ1)
                if (stockInfo == null)
                {
                    return await CompleteAgvInboundTaskAsync(taskDto);
                    return await _unitOfWorkManage.BeginTranAsync(async () =>
                    {
                        stockInfo = new Dt_StockInfo
                        {
                            PalletCode = taskDto.PalletCode,
                            WarehouseId = task.WarehouseId,
                            StockStatus = StockStatusEmun.空托盘库存.GetHashCode(),
                            Creater = StockConstants.SYSTEM_USER,
                            Details = null,
                            LocationCode = location.LocationCode,
                            LocationId = location.Id
                        };
                        var updateLocationResult = await _locationInfoService.UpdateLocationInfoAsync(location);
                        var updateStockResult = await _stockInfoService.Repository.AddDataAsync(stockInfo);
                        return await CompleteTaskAsync(task, "入库完成");
                    });
                }

                return await _unitOfWorkManage.BeginTranAsync(async () =>
                else
                {
                    WebResponseContent content = new WebResponseContent();
                    stockInfo.LocationCode = location.LocationCode;
                    stockInfo.LocationId = location.Id;

                    SetOutboundDateByRoadway(task, stockInfo);

                    stockInfo.StockStatus = StockStatusEmun.入库完成.GetHashCode();

                    location.LocationStatus = LocationStatusEnum.InStock.GetHashCode();

                    var updateLocationResult = await _locationInfoService.UpdateLocationInfoAsync(location);
                    var updateStockResult = await _stockInfoService.UpdateStockAsync(stockInfo);
                    if (!updateLocationResult || !updateStockResult)
                        return WebResponseContent.Instance.Error("任务完成失败");
                    // æ ¹æ®åº“å­˜Remark选择静置设备，查MES动态凭证
                    string deviceName = stockInfo.Remark == "GW_1" ? "高温静置1"
                        : stockInfo.Remark == "GW_2" ? "高温静置2"
                        : "常温静置1";
                    var mesConfig = _mesDeviceConfigService.GetByDeviceName(deviceName);
                    string equipmentCode = mesConfig?.EquipmentCode ?? StockConstants.MES_EQUIPMENT_CODE;
                    string resourceCode = mesConfig?.ResourceCode ?? StockConstants.MES_RESOURCE_CODE;
                    string token = mesConfig?.Token;

                    // è°ƒç”¨MES托盘进站
                    var inboundRequest = new InboundInContainerRequest
                    // åˆ¤æ–­æ˜¯ä¸æ˜¯æžå·åº“任务
                    if (taskDto.WarehouseId == (int)WarehouseEnum.FJ1 || taskDto.WarehouseId == (int)WarehouseEnum.ZJ1)
                    {
                        EquipmentCode = equipmentCode,
                        ResourceCode = resourceCode,
                        LocalTime = DateTime.Now,
                        ContainerCode = taskDto.PalletCode
                    };
                    var inboundResult = string.IsNullOrWhiteSpace(token)
                        ? _mesService.InboundInContainer(inboundRequest)
                        : _mesService.InboundInContainer(inboundRequest, token);
                    if (inboundResult == null || inboundResult.Data == null || !inboundResult.Data.IsSuccess)
                    {
                        return content.Error($"任务完成失败：MES进站失败: {inboundResult?.Data?.Msg ?? inboundResult?.ErrorMessage ?? "未知错误"}");
                        return await CompleteAgvInboundTaskAsync(taskDto);
                    }
                    return await CompleteTaskAsync(task, "入库完成");
                });

                    return await _unitOfWorkManage.BeginTranAsync(async () =>
                    {
                        WebResponseContent content = new WebResponseContent();
                        stockInfo.LocationCode = location.LocationCode;
                        stockInfo.LocationId = location.Id;

                        SetOutboundDateByRoadway(task, stockInfo);

                        stockInfo.StockStatus = StockStatusEmun.入库完成.GetHashCode();

                        location.LocationStatus = LocationStatusEnum.InStock.GetHashCode();

                        var updateLocationResult = await _locationInfoService.UpdateLocationInfoAsync(location);
                        var updateStockResult = await _stockInfoService.UpdateStockAsync(stockInfo);
                        if (!updateLocationResult || !updateStockResult)
                            return WebResponseContent.Instance.Error("任务完成失败");

                        // æ ¹æ®åº“å­˜Remark选择静置设备，查MES动态凭证
                        //string deviceName = stockInfo.Remark == "GW_1" ? "高温静置1"
                        //    : stockInfo.Remark == "GW_2" ? "高温静置2"
                        //    : "常温静置1";
                        //var mesConfig = _mesDeviceConfigService.GetByDeviceName(deviceName);
                        //string equipmentCode = mesConfig?.EquipmentCode ?? StockConstants.MES_EQUIPMENT_CODE;
                        //string resourceCode = mesConfig?.ResourceCode ?? StockConstants.MES_RESOURCE_CODE;
                        //string token = mesConfig?.Token;

                        // è°ƒç”¨MES托盘进站
                        //var inboundRequest = new InboundInContainerRequest
                        //{
                        //    EquipmentCode = equipmentCode,
                        //    ResourceCode = resourceCode,
                        //    LocalTime = DateTime.Now,
                        //    ContainerCode = taskDto.PalletCode
                        //};
                        //string requestJson = inboundRequest.ToJson();
                        //var inboundResult = string.IsNullOrWhiteSpace(token)
                        //    ? _mesService.InboundInContainer(inboundRequest)
                        //    : _mesService.InboundInContainer(inboundRequest, token);
                        //stopwatch.Stop();
                        //await _mesLogService.LogAsync(new MesApiLogDto
                        //{
                        //    ApiType = "InboundInContainer",
                        //    RequestJson = requestJson,
                        //    ResponseJson = JsonConvert.SerializeObject(inboundResult),
                        //    IsSuccess = inboundResult.IsSuccess,
                        //    ErrorMessage = inboundResult.ErrorMessage,
                        //    ElapsedMs = (int)stopwatch.ElapsedMilliseconds,
                        //    Creator = "systeam"
                        //});
                        //if (inboundResult == null || inboundResult.Data == null || !inboundResult.Data.IsSuccess)
                        //{
                        //    return content.Error($"任务完成失败：MES进站失败: {inboundResult?.Data?.Msg ?? inboundResult?.ErrorMessage ?? "未知错误"}");
                        //}
                        return await CompleteTaskAsync(task, "入库完成");
                    });
                }
            }
            catch (Exception ex)
            {
@@ -220,4 +260,4 @@

        #endregion å…¥åº“任务
    }
}
}

 Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/WCS/TaskService_Manual.cs

@@ -41,6 +41,11 @@
                        taskStatus = TaskRelocationStatusEnum.RelocationNew.GetHashCode();
                        break;

                    case "空箱入库":
                        taskType = TaskInboundTypeEnum.InEmpty.GetHashCode();
                        taskStatus = TaskInStatusEnum.InNew.GetHashCode();
                        break;

                    default:
                        return WebResponseContent.Instance.Error($"不支持的任务类型: {dto.TaskType}");
                }
@@ -92,7 +97,7 @@
                        wmsTaskDtos.ToJson());

                    if (!wcsResult.IsSuccess || !wcsResult.Data.Status)
                        return WebResponseContent.Instance.Error($"任务已创建但发送给WCS失败: {wcsResult.Data?.Message}");
                        return WebResponseContent.Instance.Error($"任务已创建但发送给WCS失败:{wcsResult.ErrorMessage}\r\n {wcsResult.Data?.Message}");

                    return WebResponseContent.Instance.OK($"手动创建任务成功，任务号: {taskNum}");
                });

 Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/WCS/TaskService_Outbound.cs

@@ -1,9 +1,11 @@
using System.Diagnostics;
using WIDESEA_Common.Constants;
using WIDESEA_Common.LocationEnum;
using WIDESEA_Common.StockEnum;
using WIDESEA_Common.TaskEnum;
using WIDESEA_Common.WareHouseEnum;
using WIDESEA_Core;
using WIDESEA_Core.Helper;
using WIDESEA_DTO.MES;
using WIDESEA_DTO.Task;
using WIDESEA_IBasicService;
@@ -58,6 +60,7 @@
        /// </summary>
        public async Task<WebResponseContent> OutboundFinishTaskAsync(CreateTaskDto taskDto)
        {
            var stopwatch = Stopwatch.StartNew();
            try
            {
                var task = await BaseDal.QueryFirstAsync(s => s.PalletCode == taskDto.PalletCode);
@@ -135,9 +138,21 @@
                        LocalTime = DateTime.Now,
                        ContainerCode = taskDto.PalletCode
                    };
                    string requestJson = outboundRequest.ToJson();
                    var outboundResult = string.IsNullOrWhiteSpace(token)
                        ? _mesService.OutboundInContainer(outboundRequest)
                        : _mesService.OutboundInContainer(outboundRequest, token);
                    stopwatch.Stop();
                    await _mesLogService.LogAsync(new MesApiLogDto
                    {
                        ApiType = "UnbindContainer",
                        RequestJson = requestJson,
                        ResponseJson = System.Text.Json.JsonSerializer.Serialize(outboundResult),
                        IsSuccess = outboundResult.IsSuccess,
                        ErrorMessage = outboundResult.ErrorMessage,
                        ElapsedMs = (int)stopwatch.ElapsedMilliseconds,
                        Creator = "systeam"
                    });
                    if (outboundResult == null || outboundResult.Data == null || !outboundResult.Data.IsSuccess)
                    {
                        return content.Error($"出库完成失败：MES出站失败: {outboundResult?.Data?.Msg ?? outboundResult?.ErrorMessage ?? "未知错误"}");

 Code/WMS/WIDESEA_WMSServer/WIDESEA_WMSServer/Controllers/Dashboard/DashboardController.cs

@@ -348,8 +348,8 @@
                    var occupiedLocations = occupiedLocationGroups.FirstOrDefault(og => og.WarehouseId == w.WarehouseId)?.OccupiedLocations ?? 0;

                    var emptyLocations = totalLocations - occupiedLocations;



                    var occupiedPercentage = totalLocations > 0 ? Math.Round((double)occupiedLocations / totalLocations * 100, 2) : 0.0;

                    var emptyPercentage = totalLocations > 0 ? Math.Round((double)emptyLocations / totalLocations * 100, 2) : 0.0;

                    var occupiedPercentage = totalLocations > 0 ? Math.Round((double)occupiedLocations / totalLocations * 100, 0) : 0.0;

                    var emptyPercentage = totalLocations > 0 ? Math.Round((double)emptyLocations / totalLocations * 100, 0) : 0.0;



                    return new

                    {


 Code/WMS/WIDESEA_WMSServer/WIDESEA_WMSServer/appsettings.json

@@ -34,7 +34,7 @@
  "MainDB": "DB_WIDESEA", //当前项目的主库，所对应的连接字符串的Enabled必须为true
  //连接字符串
  //"ConnectionString": "HTI6FB1H05Krd07mNm9yBCNhofW6edA5zLs9TY~MNthRYW3kn0qKbMIsGp~3yyPDF1YZUCPBQx8U0Jfk4PH~ajNFXVIwlH85M3F~v_qKYQ3CeAz3q1mLVDn8O5uWt1~3Ut2V3KRkEwYHvW2oMDN~QIDXPxDgXN0R2oTIhc9dNu7QNaLEknblqmHhjaNSSpERdDVZIgHnMKejU_SL49tralBkZmDNi0hmkbL~837j1NWe37u9fJKmv91QPb~16JsuI9uu0EvNZ06g6PuZfOSAeFH9GMMIZiketdcJG3tHelo=",
  "ConnectionString": "Data Source=.;Initial Catalog=WIDESEAWMS_ShanMei;User ID=sa;Password=P@ssw0rd;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False",
  "ConnectionString": "Data Source=192.168.60.30;Initial Catalog=WIDESEAWMS_ShanMei;User ID=sa;Password=P@ssw0rd;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False",
  //"ConnectionString": "Data Source=.;Initial Catalog=WIDESEAWMS_ShanMei;User ID=sa;Password=123456;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False",
  //"ConnectionString": "Data Source=10.30.4.92;Initial Catalog=WMS_TC;User ID=sa;Password=duo123456;Integrated Security=False;Connect Timeout=30;Encrypt=False;TrustServerCertificate=False;ApplicationIntent=ReadWrite;MultiSubnetFailover=False",
  //旧WMS数据库连接
@@ -71,7 +71,7 @@
    }
  },
  "MES": {
    "BaseUrl": "http://localhost:5000",
    "BaseUrl": "http://192.168.98.11:20033",
    "Authorization": "eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpZCI6IjMwMTcyNzM5Mzk5NzYxOTIwIiwibmFtZSI6IlBBQ0voo4XphY3lt6XkvY0wMSIsIkZhY3RvcnlJZCI6IjEyMzQ1NiIsIlNpdGVJZCI6IjEyMzQ1NiIsIkNvZGUiOiJYWExQQUNLMDRBRTAzMiIsIm5iZiI6MTcwNDE4NzY5MCwiZXhwIjoyMTQ1NjkxNjkwLCJpc3MiOiJodHRwczovL3d3dy5oeW1zb24uY29tIiwiYXVkIjoiaHR0cHM6Ly93d3cuaHltc29uLmNvbSJ9.An1BE7UgfcSP--LtTOmmmWVE2RQFPDahLkDg1xy5KqY"
  },
  "RobotTaskAddressRules": {