From 5bf10c1dafe485d506ec534f98e5220a3b83dd17 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 16 四月 2026 23:16:46 +0800
Subject: [PATCH] feat(WCS&WMS): 机械手扫码NG处理与线体条码读取与添加批量MES绑定解绑接口
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs | 336 ++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 301 insertions(+), 35 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
index 4f2960d..2ddad09 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
@@ -5,6 +5,7 @@
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
+using WIDESEAWCS_Tasks.SocketServer;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks.Workflow
@@ -111,20 +112,15 @@
// 1. 杩愯妯″紡涓鸿嚜鍔紙2锛�
// 2. 鎺у埗妯″紡涓哄鎴风鎺у埗锛�1锛�
// 3. 杩愯鐘舵�佹槸 Running
- if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running")
+ if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running" && latestState.Homed == "Homed")
{
- if(latestState.CurrentAction == "Picking" || latestState.CurrentAction == "Puting")
- {
- return;
- }
-
// ========== 鍙栬揣瀹屾垚鍚庣殑鏀捐揣澶勭悊 ==========
// 鏉′欢锛�
// - 褰撳墠鍔ㄤ綔鏄� PickFinished 鎴� AllPickFinished锛堝彇璐у畬鎴愶級
// - 鎵嬭噦涓婃湁鐗╂枡锛圧obotArmObject == 1锛�
// - 浠诲姟鐘舵�佷负 RobotPickFinish锛堝凡璁板綍鍙栬揣瀹屾垚锛�
if ((latestState.CurrentAction == "PickFinished" || latestState.CurrentAction == "AllPickFinished")
- && latestState.RobotArmObject == 0
+ && latestState.RobotArmObject == 1
&& task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode())
{
_logger.LogInformation("ExecuteAsync锛氭弧瓒虫斁璐ф潯浠讹紝寮�濮嬪鐞嗗彇璐у畬鎴愶紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
@@ -157,7 +153,7 @@
/// </summary>
/// <remarks>
/// 褰撳彇璐у畬鎴愬悗锛屽悜鏈哄櫒浜哄彂閫佹斁璐ф寚浠わ紙Putbattery锛夈��
- /// 鏈哄櫒浜烘敹鍒版寚浠ゅ悗浼氬皢璐х墿鏀剧疆鍒扮洰鏍囧湴鍧�銆�
+ /// 鎹㈢洏浠诲姟浣跨敤鎵规鏍煎紡 SendPutWithBatchAsync銆�
///
/// 鎸囦护鏍煎紡锛歅utbattery,{鐩爣鍦板潃}
/// 渚嬪锛歅utbattery,B01 琛ㄧず灏嗚揣鐗╂斁缃埌 B01 浣嶇疆
@@ -166,38 +162,113 @@
/// <param name="ipAddress">鏈哄櫒浜� IP 鍦板潃</param>
private async Task HandlePickFinishedStateAsync(Dt_RobotTask task, string ipAddress)
{
- // 鏋勫缓鏀捐揣鎸囦护锛屾牸寮忥細Putbattery,{鐩爣鍦板潃}
- string taskString = $"Putbattery,{task.RobotTargetAddress}";
+ string taskString;
- // 閫氳繃瀹㈡埛绔鐞嗗櫒鍙戦�佹寚浠ゅ埌鏈哄櫒浜�
+ var state = _stateManager.GetState(ipAddress);
+
+ // 鎹㈢洏浠诲姟浣跨敤鎵规鏍煎紡
+ if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
+ {
+ int targetNormalCount = task.RobotTaskTotalNum;
+ int currentCompletedCount = state?.RobotTaskTotalNum ?? 0;
+
+ bool isFlowA = task.RobotSourceAddressLineCode is "11001" or "11010";
+
+ // 娴佸悜A Phase 2锛氭斁鍋囩數鑺埌鐩爣鎵樼洏
+ if (isFlowA && state?.ChangePalletPhase == 2)
+ {
+ int remaining = 48 - currentCompletedCount;
+ if (remaining <= 0) return;
+
+ int batchStart = targetNormalCount + 1 + (state.CurrentBatchIndex - 1);
+ int putCount = Math.Min(4, remaining);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, state, task.RobotTargetAddress, start, end);
+ return;
+ }
+
+ // 娴佸悜B Phase 4锛氭斁鍋囩數鑺埌5鍙蜂綅
+ if (!isFlowA && state?.ChangePalletPhase == 4)
+ {
+ int fakeCount = 48 - targetNormalCount;
+ int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
+ int remainingFake = fakeCount - completedFake;
+
+ if (remainingFake <= 0) return;
+
+ var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(Math.Min(4, remainingFake));
+ if (positions.Count == 0)
+ {
+ _logger.LogError("HandlePickFinishedStateAsync锛氭棤鍙敤鍋囩數鑺偣浣嶏紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int start = positions.Min();
+ int end = positions.Max();
+
+ await _taskProcessor.SendPutWithBatchAsync(task, state, "5", start, end);
+ return;
+ }
+
+ // 娴佸悜B Phase 2锛氭斁姝ｅ父鐢佃姱鍒扮洰鏍囨墭鐩�
+ if (!isFlowA && state?.ChangePalletPhase == 2)
+ {
+ int remainingNormal = targetNormalCount - currentCompletedCount;
+ if (remainingNormal <= 0) return;
+
+ int batchStart = ((currentCompletedCount - 1) / 4) * 4 + 1;
+ int putCount = Math.Min(4, remainingNormal);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, state, task.RobotTargetAddress, start, end);
+ return;
+ }
+
+ // 榛樿锛氫娇鐢ㄥ師鏈夋牸寮�
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
+ }
+ else
+ {
+ // 闈炴崲鐩樹换鍔★細浣跨敤鍘熸湁鏍煎紡
+ if (state != null && state.IsGroupPallet && task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
+ {
+ // 缁勭洏浠诲姟锛氭斁璐ч渶鍒ゆ柇鏄惁NG锛屽鏋淣G鍒欐斁鍒癗G鍙�
+ if (state.IsScanNG)
+ {
+ taskString = $"Putbattery,NG";
+ }
+ else
+ {
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
+ }
+ }
+ else
+ taskString = $"Putbattery,{task.RobotTargetAddress}";
+ }
+
bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
if (result)
{
- // 鍙戦�佹垚鍔燂紝璁板綍 Info 鏃ュ織
_logger.LogInformation("HandlePickFinishedStateAsync锛氫笅鍙戞斁璐ф寚浠ゆ垚鍔燂紝鎸囦护: {TaskString}锛屼换鍔″彿: {TaskNum}", taskString, task.RobotTaskNum);
QuartzLogger.Info($"涓嬪彂鏀捐揣鎸囦护鎴愬姛锛屾寚浠�: {taskString}", task.RobotRoadway);
- // 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
- // 鑾峰彇鏈�鏂扮姸鎬佸苟鏇存柊浠诲姟鍏宠仈
var stateToUpdate = _stateManager.GetState(ipAddress);
if (stateToUpdate != null)
{
stateToUpdate.CurrentTask = task;
- // 瀹夊叏鏇存柊鐘舵�佸埌 Redis
if (_stateManager.TryUpdateStateSafely(ipAddress, stateToUpdate))
{
- // 鐘舵�佹洿鏂版垚鍔熷悗锛屾洿鏂颁换鍔¤褰�
await _robotTaskService.UpdateRobotTaskAsync(task);
}
}
}
else
{
- // 鍙戦�佸け璐ワ紝璁板綍 Error 鏃ュ織
_logger.LogError("HandlePickFinishedStateAsync锛氫笅鍙戞斁璐ф寚浠ゅけ璐ワ紝鎸囦护: {TaskString}锛屼换鍔″彿: {TaskNum}", taskString, task.RobotTaskNum);
QuartzLogger.Error($"涓嬪彂鏀捐揣鎸囦护澶辫触锛屾寚浠�: {taskString}", task.RobotRoadway);
}
@@ -242,41 +313,236 @@
|| task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
}
- // 濡傛灉鏄粍鐩樹换鍔★紙鍖呮嫭鎹㈢洏锛�
+ // 濡傛灉鏄粍鐩樹换鍔�
if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
{
- // 鐢熸垚鎵樼洏鏉＄爜鍓嶇紑
- const string prefix = "TRAY";
-
- // 鐢熸垚涓や釜鎵樼洏鏉＄爜锛堢敤浜庣粍鐩樻搷浣滐級
- string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
- string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
+ // 璇诲彇绾夸綋鐢佃姱鏉＄爜
+ string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
+ string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
// 濡傛灉鏉＄爜鐢熸垚鎴愬姛
if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
{
- // 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
- stateForUpdate.CellBarcode.Add(trayBarcode1);
- stateForUpdate.CellBarcode.Add(trayBarcode2);
+ if (stateForUpdate.CellBarcode.Contains(trayBarcode1) || stateForUpdate.CellBarcode.Contains(trayBarcode2))
+ {
+ _logger.LogError("HandlePutFinishedStateAsync锛氳鍙栫殑鎵樼洏鏉＄爜宸插瓨鍦紝鍙兘瀛樺湪閲嶅锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Error($"璇诲彇鐨勬墭鐩樻潯鐮佸凡瀛樺湪锛屽彲鑳藉瓨鍦ㄩ噸澶�", stateForUpdate.RobotCrane.DeviceName);
- // 璁板綍鏃ュ織锛氱敓鎴愭墭鐩樻潯鐮佹垚鍔�
- _logger.LogInformation("HandlePutFinishedStateAsync锛氱敓鎴愭墭鐩樻潯鐮佹垚鍔�: {Barcode1}+{Barcode2}锛屼换鍔″彿: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
- QuartzLogger.Info($"鐢熸垚鎵樼洏鏉＄爜鎴愬姛: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);
+ // 鏉＄爜閲嶅锛岃褰曢敊璇棩蹇楀苟鍋滄鍚庣画鎿嶄綔(鍚庣画鏀捐揣鏃朵細鐢ㄥ埌杩欎簺鏉＄爜淇℃伅锛屼緵鍚庣画鏀捐揣鏃朵娇鐢紝璋冭瘯鍚庡彲鑳戒細鍙栨秷姝ら�昏緫)
+
+ // 鍙戦�佸彇璐ф寚浠� 鏍囪鎵爜NG锛屾斁璐ф椂涓嶄娇鐢ㄨ繖浜涙潯鐮侊紝骞舵斁鍏G鍙�
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
+ }
+ else
+ {
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氳鍙栫殑鎵樼洏鏉＄爜鍞竴锛岀户缁墽琛岋紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Info($"璇诲彇鐨勬墭鐩樻潯鐮佸敮涓�锛岀户缁墽琛�", stateForUpdate.RobotCrane.DeviceName);
+ // 灏嗘潯鐮佹坊鍔犲埌鐘舵�佷腑锛屼緵鍚庣画鏀捐揣鏃朵娇鐢�
+ stateForUpdate.CellBarcode.Add(trayBarcode1);
+ stateForUpdate.CellBarcode.Add(trayBarcode2);
+ }
+
+
+ // 璁板綍鏃ュ織锛氳鍙栨墭鐩樻潯鐮佹垚鍔�
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氳鍙栨墭鐩樻潯鐮佹垚鍔�: {Barcode1}+{Barcode2}锛屼换鍔″彿: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
+ QuartzLogger.Info($"璇诲彇鎵樼洏鏉＄爜鎴愬姛: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);
// 鍙戦�佸彇璐ф寚浠�
- await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, false);
}
else
{
- // 鏉＄爜鐢熸垚澶辫触锛岃褰曢敊璇棩蹇�
- _logger.LogError("HandlePutFinishedStateAsync锛氱敓鎴愭墭鐩樻潯鐮佸け璐ワ紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
- QuartzLogger.Error($"鐢熸垚鎵樼洏鏉＄爜澶辫触", stateForUpdate.RobotCrane.DeviceName);
+ // 鏉＄爜璇诲彇澶辫触锛岃褰曢敊璇棩蹇�
+ _logger.LogError("HandlePutFinishedStateAsync锛氳鍙栨墭鐩樻潯鐮佸け璐ワ紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Error($"璇诲彇鎵樼洏鏉＄爜澶辫触", stateForUpdate.RobotCrane.DeviceName);
+
+
+ // 鍙戦�佸彇璐ф寚浠� 鏍囪鎵爜NG锛屾斁璐ф椂涓嶄娇鐢ㄨ繖浜涙潯鐮侊紝骞舵斁鍏G鍙�
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
+ }
+ }
+ else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
+ {
+ const int targetTotal = 48;
+ int targetNormalCount = task.RobotTaskTotalNum;
+ int currentCompletedCount = stateForUpdate.RobotTaskTotalNum;
+
+ // 鍒ゆ柇娴佸悜锛坣ull-safe锛�
+ bool isFlowA = task.RobotSourceAddressLineCode is "11001" or "11010";
+
+ // 鐩爣鏁伴噺涓�48锛氱洿鎺ヨ蛋鍘熸湁閫昏緫锛屼笉杩涘叆鎵规妯″紡
+ if (targetNormalCount == targetTotal)
+ {
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, false);
+ return;
+ }
+
+ // 鍒濆鍖栨壒娆℃ā寮�
+ if (stateForUpdate.ChangePalletPhase == 0)
+ {
+ stateForUpdate.ChangePalletPhase = 1;
+ stateForUpdate.CurrentBatchIndex = 1;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭崲鐩樹换鍔¤繘鍏ユ壒娆℃ā寮忥紝浠诲姟鍙�: {TaskNum}锛屾祦鍚�: {Flow}",
+ task.RobotTaskNum, isFlowA ? "A" : "B");
+ }
+
+ // ==================== 娴佸悜A锛氳ˉ鍋囩數鑺埌鐩爣鎵樼洏 ====================
+ if (isFlowA)
+ {
+ // Phase 1: 鍙栧亣鐢佃姱锛堜粠5鍙蜂綅锛屼娇鐢� PositionIndex锛�
+ if (stateForUpdate.ChangePalletPhase == 1)
+ {
+ int remaining = targetTotal - currentCompletedCount;
+ if (remaining <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚慉瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int pickCount = Math.Min(4, remaining);
+ var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(pickCount);
+ if (positions.Count == 0)
+ {
+ _logger.LogError("HandlePutFinishedStateAsync锛氭棤鍙敤鍋囩數鑺偣浣嶏紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ await _taskProcessor.SendSocketRobotFakeBatteryPickAsync(task, stateForUpdate, positions);
+ stateForUpdate.ChangePalletPhase = 2;
+ }
+ // Phase 2: 鏀惧亣鐢佃姱鍒扮洰鏍囨墭鐩橈紙浠� targetNormalCount+1 寮�濮嬮�掑锛�
+ else if (stateForUpdate.ChangePalletPhase == 2)
+ {
+ int remaining = targetTotal - currentCompletedCount;
+ if (remaining <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚慉瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ // 璁＄畻鏀捐揣鎵规缂栧彿锛氫粠 targetNormalCount + 1 寮�濮�
+ int batchStart = targetNormalCount + 1 + (stateForUpdate.CurrentBatchIndex - 1);
+ int putCount = Math.Min(4, remaining);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, task.RobotTargetAddress, start, end);
+
+ stateForUpdate.CurrentBatchIndex += putCount;
+ stateForUpdate.ChangePalletPhase = 1;
+ }
+ }
+ // ==================== 娴佸悜B锛氬彇姝ｅ父鐢佃姱 + 鍥炴敹鍋囩數鑺� ====================
+ else
+ {
+ // Phase 1: 鍙栨甯哥數鑺紙浠庢簮鍦板潃锛屼粠1寮�濮嬮�掑锛�
+ if (stateForUpdate.ChangePalletPhase == 1)
+ {
+ int remainingNormal = targetNormalCount - currentCompletedCount;
+ if (remainingNormal <= 0)
+ {
+ // 姝ｅ父鐢佃姱鍙栧畬锛屽垏鎹㈠埌 Phase 3
+ stateForUpdate.ChangePalletPhase = 3;
+ stateForUpdate.CurrentBatchIndex = targetNormalCount + 1;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭甯哥數鑺叏閮ㄥ彇瀹岋紝杩涘叆Phase 3鍥炴敹鍋囩數鑺紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int pickCount = Math.Min(4, remainingNormal);
+ var (start, end) = _taskProcessor.BuildBatchRange(stateForUpdate.CurrentBatchIndex, pickCount);
+
+ await _taskProcessor.SendPickWithBatchAsync(task, stateForUpdate, task.RobotSourceAddress, start, end);
+
+ stateForUpdate.CurrentBatchIndex += pickCount;
+ stateForUpdate.ChangePalletPhase = 2;
+ }
+ // Phase 2: 鏀炬甯哥數鑺埌鐩爣鎵樼洏锛堟斁璐х紪鍙蜂笌鍙栬揣缂栧彿涓�鑷达級
+ else if (stateForUpdate.ChangePalletPhase == 2)
+ {
+ int remainingNormal = targetNormalCount - currentCompletedCount;
+ if (remainingNormal <= 0)
+ {
+ // 姝ｅ父鐢佃姱鏀惧畬锛屽垏鎹㈠埌 Phase 3
+ stateForUpdate.ChangePalletPhase = 3;
+ stateForUpdate.CurrentBatchIndex = targetNormalCount + 1;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭甯哥數鑺叏閮ㄦ斁瀹岋紝杩涘叆Phase 3鍥炴敹鍋囩數鑺紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ // 璁＄畻鏈壒鏀捐揣缂栧彿锛氬熀浜� currentCompletedCount 鎺ㄥ鎵规璧峰
+ int batchStart = ((currentCompletedCount - 1) / 4) * 4 + 1;
+ int putCount = Math.Min(4, remainingNormal);
+ var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);
+
+ await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, task.RobotTargetAddress, start, end);
+
+ stateForUpdate.ChangePalletPhase = 1;
+ }
+ // Phase 3: 鍙栧亣鐢佃姱锛堜粠婧愬湴鍧�锛屼粠 targetNormalCount+1 寮�濮嬮�掑锛�
+ else if (stateForUpdate.ChangePalletPhase == 3)
+ {
+ int fakeCount = targetTotal - targetNormalCount;
+ int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
+ int remainingFake = fakeCount - completedFake;
+
+ if (remainingFake <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚態瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int pickCount = Math.Min(4, remainingFake);
+ var (start, end) = _taskProcessor.BuildBatchRange(stateForUpdate.CurrentBatchIndex, pickCount);
+
+ await _taskProcessor.SendPickWithBatchAsync(task, stateForUpdate, task.RobotSourceAddress, start, end);
+
+ stateForUpdate.CurrentBatchIndex += pickCount;
+ stateForUpdate.ChangePalletPhase = 4;
+ }
+ // Phase 4: 鏀惧亣鐢佃姱鍒�5鍙蜂綅锛堜娇鐢� PositionIndex锛�
+ else if (stateForUpdate.ChangePalletPhase == 4)
+ {
+ int fakeCount = targetTotal - targetNormalCount;
+ int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
+ int remainingFake = fakeCount - completedFake;
+
+ if (remainingFake <= 0)
+ {
+ stateForUpdate.ChangePalletPhase = 0;
+ stateForUpdate.CurrentBatchIndex = 1;
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭祦鍚態瀹屾垚锛屼换鍔″彿: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(Math.Min(4, remainingFake));
+ if (positions.Count == 0)
+ {
+ _logger.LogError("HandlePutFinishedStateAsync锛氭棤鍙敤鍋囩數鑺偣浣嶏紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ int start = positions.Min();
+ int end = positions.Max();
+
+ await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, "5", start, end);
+
+ stateForUpdate.ChangePalletPhase = 3;
+ }
}
}
else
{
// 闈炵粍鐩樹换鍔★紝鐩存帴鍙戦�佸彇璐ф寚浠�
- await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, false);
}
}
}
--
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