From ad64840cc04dac2278ca02f22ddc02b1a218e9cf Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期三, 15 四月 2026 22:44:18 +0800
Subject: [PATCH] feat(机器人任务): 实现换盘任务假电芯补充逻辑
---
Code/.omc/state/mission-state.json | 146 ++++++
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs | 2
Code/WMS/WIDESEA_WMSServer/WIDESEA_DTO/Task/WMSTaskDTO.cs | 5
Code/.omc/state/agent-replay-80f81c54-c5ed-4867-b777-d2d640ee3b40.jsonl | 1
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/FakeBatteryPositionRepository.cs | 90 +++
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/TaskInfo/WMSTaskDTO.cs | 5
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/IFakeBatteryPositionRepository.cs | 39 +
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 5
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs | 64 ++
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IFakeBatteryPositionService.cs | 49 ++
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs | 80 +++
Code/.omc/state/agent-replay-d836b656-7d6b-4a00-b9ed-f46b82f58345.jsonl | 21
Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/WCS/TaskService_Robot.cs | 3
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs | 8
Code/.omc/state/idle-notif-cooldown.json | 2
Code/.omc/state/last-tool-error.json | 8
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/FakeBatteryPositionService.cs | 69 +++
Code/.omc/state/subagent-tracking.json | 87 +++
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/TaskInfo/Dt_FakeBatteryPosition.cs | 50 ++
Code/docs/superpowers/plans/2026-04-15-change-pallet-fake-battery.md | 640 +++++++++++++++++++++++++++
20 files changed, 1,358 insertions(+), 16 deletions(-)
diff --git a/Code/.omc/state/agent-replay-80f81c54-c5ed-4867-b777-d2d640ee3b40.jsonl b/Code/.omc/state/agent-replay-80f81c54-c5ed-4867-b777-d2d640ee3b40.jsonl
new file mode 100644
index 0000000..ff39975
--- /dev/null
+++ b/Code/.omc/state/agent-replay-80f81c54-c5ed-4867-b777-d2d640ee3b40.jsonl
@@ -0,0 +1 @@
+{"t":0,"agent":"system","event":"skill_invoked","skill_name":"superpowers:brainstorming"}
diff --git a/Code/.omc/state/agent-replay-d836b656-7d6b-4a00-b9ed-f46b82f58345.jsonl b/Code/.omc/state/agent-replay-d836b656-7d6b-4a00-b9ed-f46b82f58345.jsonl
new file mode 100644
index 0000000..7b34b65
--- /dev/null
+++ b/Code/.omc/state/agent-replay-d836b656-7d6b-4a00-b9ed-f46b82f58345.jsonl
@@ -0,0 +1,21 @@
+{"t":0,"agent":"system","event":"skill_invoked","skill_name":"superpowers:writing-plans"}
+{"t":0,"agent":"system","event":"skill_invoked","skill_name":"superpowers:subagent-driven-development"}
+{"t":0,"agent":"a2061bd","agent_type":"general-purpose","event":"agent_start","parent_mode":"none"}
+{"t":0,"agent":"a2061bd","agent_type":"general-purpose","event":"agent_stop","success":true,"duration_ms":44758}
+{"t":0,"agent":"a33f78a","agent_type":"general-purpose","event":"agent_start","parent_mode":"none"}
+{"t":0,"agent":"a33f78a","agent_type":"general-purpose","event":"agent_stop","success":true,"duration_ms":81574}
+{"t":0,"agent":"a9c381b","agent_type":"general-purpose","event":"agent_start","parent_mode":"none"}
+{"t":0,"agent":"a9c381b","agent_type":"general-purpose","event":"agent_stop","success":true,"duration_ms":81306}
+{"t":0,"agent":"a614ea5","agent_type":"general-purpose","event":"agent_start","parent_mode":"none"}
+{"t":0,"agent":"a614ea5","agent_type":"general-purpose","event":"agent_stop","success":true,"duration_ms":72773}
+{"t":0,"agent":"a3143b3","agent_type":"general-purpose","event":"agent_start","parent_mode":"none"}
+{"t":0,"agent":"a3143b3","agent_type":"general-purpose","event":"agent_stop","success":true,"duration_ms":90995}
+{"t":0,"agent":"a177bc3","agent_type":"general-purpose","event":"agent_start","parent_mode":"none"}
+{"t":0,"agent":"a177bc3","agent_type":"general-purpose","event":"agent_stop","success":true,"duration_ms":88225}
+{"t":0,"agent":"a550b7f","agent_type":"general-purpose","event":"agent_start","parent_mode":"none"}
+{"t":0,"agent":"a550b7f","agent_type":"general-purpose","event":"agent_stop","success":true,"duration_ms":41024}
+{"t":0,"agent":"acd1aa5","agent_type":"general-purpose","event":"agent_start","parent_mode":"none"}
+{"t":0,"agent":"acd1aa5","agent_type":"general-purpose","event":"agent_stop","success":true,"duration_ms":90649}
+{"t":0,"agent":"a991ee2","agent_type":"general-purpose","event":"agent_start","parent_mode":"none"}
+{"t":0,"agent":"a991ee2","agent_type":"general-purpose","event":"agent_stop","success":true,"duration_ms":246360}
+{"t":0,"agent":"system","event":"skill_invoked","skill_name":"superpowers:finishing-a-development-branch"}
diff --git a/Code/.omc/state/idle-notif-cooldown.json b/Code/.omc/state/idle-notif-cooldown.json
index addf827..83bb211 100644
--- a/Code/.omc/state/idle-notif-cooldown.json
+++ b/Code/.omc/state/idle-notif-cooldown.json
@@ -1,3 +1,3 @@
{
- "lastSentAt": "2026-04-15T11:40:34.475Z"
+ "lastSentAt": "2026-04-15T14:42:46.838Z"
}
\ No newline at end of file
diff --git a/Code/.omc/state/last-tool-error.json b/Code/.omc/state/last-tool-error.json
index f5ba7de..8d171f3 100644
--- a/Code/.omc/state/last-tool-error.json
+++ b/Code/.omc/state/last-tool-error.json
@@ -1,7 +1,7 @@
{
"tool_name": "Bash",
- "tool_input_preview": "{\"command\":\"ls \\\"D:\\\\Git\\\\ShanMeiXinNengYuan\\\\Code\\\\WMS\\\\WIDESEA_WMSClient\\\\src\\\\api\\\\\\\" 2>/dev/null | head -20\",\"description\":\"Check api directory structure\"}",
- "error": "Exit code 2\n/usr/bin/bash: eval: line 1: unexpected EOF while looking for matching `\"'",
- "timestamp": "2026-04-13T03:27:59.200Z",
- "retry_count": 6
+ "tool_input_preview": "{\"command\":\"dotnet build D:/Git/ShanMeiXinNengYuan/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Server.sln\",\"timeout\":300000,\"description\":\"Build WCS solution to verify fix\"}",
+ "error": "Exit code 1\n 姝ｅ湪纭畾瑕佽繕鍘熺殑椤圭洰鈥r\n 鎵�鏈夐」鐩潎鏄渶鏂扮殑锛屾棤娉曡繕鍘熴�俓r\n WIDESEAWCS_Common -> D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Common\\bin\\Debug\\net8.0\\WIDESEAWCS_Common.dll\r\nD:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Communicator\\AllenBrandly\\AllenBrandlyEtherNetCommunicator.cs(110,80): warning CS1570: XML 娉ㄩ噴鍑虹幇 XML 鏍煎紡閿欒 --鈥滅粨鏉熸爣璁扳�減aram鈥濅笌寮�濮嬫爣璁扳�淭鈥濅笉鍖归厤銆傗�� [D:\\Git\\ShanMeiXinNengYuan\\Code\\WCS\\WIDESEAWCS_Server\\WIDESEAWCS_Communicator\\WIDESEAWCS_Communicator.csproj]\r\nD:\\Git\\ShanM...",
+ "timestamp": "2026-04-15T14:12:47.386Z",
+ "retry_count": 1
}
\ No newline at end of file
diff --git a/Code/.omc/state/mission-state.json b/Code/.omc/state/mission-state.json
index 5cd366a..46bc1bf 100644
--- a/Code/.omc/state/mission-state.json
+++ b/Code/.omc/state/mission-state.json
@@ -1,5 +1,5 @@
{
- "updatedAt": "2026-04-15T06:10:46.493Z",
+ "updatedAt": "2026-04-15T14:16:41.286Z",
"missions": [
{
"id": "session:9007b9ea-1eb6-4d24-8fe7-2c3a949eac88:none",
@@ -476,6 +476,150 @@
"sourceKey": "session-stop:a48e41df38204e6dc"
}
]
+ },
+ {
+ "id": "session:d836b656-7d6b-4a00-b9ed-f46b82f58345:none",
+ "source": "session",
+ "name": "none",
+ "objective": "Session mission",
+ "createdAt": "2026-04-15T14:00:27.304Z",
+ "updatedAt": "2026-04-15T14:16:41.286Z",
+ "status": "done",
+ "workerCount": 9,
+ "taskCounts": {
+ "total": 9,
+ "pending": 0,
+ "blocked": 0,
+ "inProgress": 0,
+ "completed": 9,
+ "failed": 0
+ },
+ "agents": [
+ {
+ "name": "general-purpose:a2061bd",
+ "role": "general-purpose",
+ "ownership": "a2061bd1c8b6f066e",
+ "status": "done",
+ "currentStep": null,
+ "latestUpdate": "completed",
+ "completedSummary": null,
+ "updatedAt": "2026-04-15T14:01:12.062Z"
+ },
+ {
+ "name": "general-purpose:a33f78a",
+ "role": "general-purpose",
+ "ownership": "a33f78a441c700f07",
+ "status": "done",
+ "currentStep": null,
+ "latestUpdate": "completed",
+ "completedSummary": null,
+ "updatedAt": "2026-04-15T14:03:00.165Z"
+ },
+ {
+ "name": "general-purpose:a9c381b",
+ "role": "general-purpose",
+ "ownership": "a9c381b5f67087dae",
+ "status": "done",
+ "currentStep": null,
+ "latestUpdate": "completed",
+ "completedSummary": null,
+ "updatedAt": "2026-04-15T14:04:44.132Z"
+ },
+ {
+ "name": "general-purpose:a614ea5",
+ "role": "general-purpose",
+ "ownership": "a614ea573436c827d",
+ "status": "done",
+ "currentStep": null,
+ "latestUpdate": "completed",
+ "completedSummary": null,
+ "updatedAt": "2026-04-15T14:06:11.349Z"
+ },
+ {
+ "name": "general-purpose:a3143b3",
+ "role": "general-purpose",
+ "ownership": "a3143b3511395abdc",
+ "status": "done",
+ "currentStep": null,
+ "latestUpdate": "completed",
+ "completedSummary": null,
+ "updatedAt": "2026-04-15T14:08:04.129Z"
+ },
+ {
+ "name": "general-purpose:a177bc3",
+ "role": "general-purpose",
+ "ownership": "a177bc320ae6cc4dc",
+ "status": "done",
+ "currentStep": null,
+ "latestUpdate": "completed",
+ "completedSummary": null,
+ "updatedAt": "2026-04-15T14:09:53.582Z"
+ },
+ {
+ "name": "general-purpose:a550b7f",
+ "role": "general-purpose",
+ "ownership": "a550b7f6cb598b4c0",
+ "status": "done",
+ "currentStep": null,
+ "latestUpdate": "completed",
+ "completedSummary": null,
+ "updatedAt": "2026-04-15T14:10:46.231Z"
+ },
+ {
+ "name": "general-purpose:acd1aa5",
+ "role": "general-purpose",
+ "ownership": "acd1aa52bf3dd06d4",
+ "status": "done",
+ "currentStep": null,
+ "latestUpdate": "completed",
+ "completedSummary": null,
+ "updatedAt": "2026-04-15T14:12:28.373Z"
+ },
+ {
+ "name": "general-purpose:a991ee2",
+ "role": "general-purpose",
+ "ownership": "a991ee262522932f5",
+ "status": "done",
+ "currentStep": null,
+ "latestUpdate": "completed",
+ "completedSummary": null,
+ "updatedAt": "2026-04-15T14:16:41.286Z"
+ }
+ ],
+ "timeline": [
+ {
+ "id": "session-start:acd1aa52bf3dd06d4:2026-04-15T14:10:57.724Z",
+ "at": "2026-04-15T14:10:57.724Z",
+ "kind": "update",
+ "agent": "general-purpose:acd1aa5",
+ "detail": "started general-purpose:acd1aa5",
+ "sourceKey": "session-start:acd1aa52bf3dd06d4"
+ },
+ {
+ "id": "session-stop:acd1aa52bf3dd06d4:2026-04-15T14:12:28.373Z",
+ "at": "2026-04-15T14:12:28.373Z",
+ "kind": "completion",
+ "agent": "general-purpose:acd1aa5",
+ "detail": "completed",
+ "sourceKey": "session-stop:acd1aa52bf3dd06d4"
+ },
+ {
+ "id": "session-start:a991ee262522932f5:2026-04-15T14:12:34.926Z",
+ "at": "2026-04-15T14:12:34.926Z",
+ "kind": "update",
+ "agent": "general-purpose:a991ee2",
+ "detail": "started general-purpose:a991ee2",
+ "sourceKey": "session-start:a991ee262522932f5"
+ },
+ {
+ "id": "session-stop:a991ee262522932f5:2026-04-15T14:16:41.286Z",
+ "at": "2026-04-15T14:16:41.286Z",
+ "kind": "completion",
+ "agent": "general-purpose:a991ee2",
+ "detail": "completed",
+ "sourceKey": "session-stop:a991ee262522932f5"
+ }
+ ]
}
]
}
\ No newline at end of file
diff --git a/Code/.omc/state/subagent-tracking.json b/Code/.omc/state/subagent-tracking.json
index c935479..8ac075d 100644
--- a/Code/.omc/state/subagent-tracking.json
+++ b/Code/.omc/state/subagent-tracking.json
@@ -296,10 +296,91 @@
"status": "completed",
"completed_at": "2026-04-15T06:10:46.493Z",
"duration_ms": 51400
+ },
+ {
+ "agent_id": "a2061bd1c8b6f066e",
+ "agent_type": "general-purpose",
+ "started_at": "2026-04-15T14:00:27.304Z",
+ "parent_mode": "none",
+ "status": "completed",
+ "completed_at": "2026-04-15T14:01:12.062Z",
+ "duration_ms": 44758
+ },
+ {
+ "agent_id": "a33f78a441c700f07",
+ "agent_type": "general-purpose",
+ "started_at": "2026-04-15T14:01:38.591Z",
+ "parent_mode": "none",
+ "status": "completed",
+ "completed_at": "2026-04-15T14:03:00.165Z",
+ "duration_ms": 81574
+ },
+ {
+ "agent_id": "a9c381b5f67087dae",
+ "agent_type": "general-purpose",
+ "started_at": "2026-04-15T14:03:22.826Z",
+ "parent_mode": "none",
+ "status": "completed",
+ "completed_at": "2026-04-15T14:04:44.132Z",
+ "duration_ms": 81306
+ },
+ {
+ "agent_id": "a614ea573436c827d",
+ "agent_type": "general-purpose",
+ "started_at": "2026-04-15T14:04:58.576Z",
+ "parent_mode": "none",
+ "status": "completed",
+ "completed_at": "2026-04-15T14:06:11.349Z",
+ "duration_ms": 72773
+ },
+ {
+ "agent_id": "a3143b3511395abdc",
+ "agent_type": "general-purpose",
+ "started_at": "2026-04-15T14:06:33.134Z",
+ "parent_mode": "none",
+ "status": "completed",
+ "completed_at": "2026-04-15T14:08:04.129Z",
+ "duration_ms": 90995
+ },
+ {
+ "agent_id": "a177bc320ae6cc4dc",
+ "agent_type": "general-purpose",
+ "started_at": "2026-04-15T14:08:25.357Z",
+ "parent_mode": "none",
+ "status": "completed",
+ "completed_at": "2026-04-15T14:09:53.582Z",
+ "duration_ms": 88225
+ },
+ {
+ "agent_id": "a550b7f6cb598b4c0",
+ "agent_type": "general-purpose",
+ "started_at": "2026-04-15T14:10:05.207Z",
+ "parent_mode": "none",
+ "status": "completed",
+ "completed_at": "2026-04-15T14:10:46.231Z",
+ "duration_ms": 41024
+ },
+ {
+ "agent_id": "acd1aa52bf3dd06d4",
+ "agent_type": "general-purpose",
+ "started_at": "2026-04-15T14:10:57.724Z",
+ "parent_mode": "none",
+ "status": "completed",
+ "completed_at": "2026-04-15T14:12:28.373Z",
+ "duration_ms": 90649
+ },
+ {
+ "agent_id": "a991ee262522932f5",
+ "agent_type": "general-purpose",
+ "started_at": "2026-04-15T14:12:34.926Z",
+ "parent_mode": "none",
+ "status": "completed",
+ "completed_at": "2026-04-15T14:16:41.286Z",
+ "duration_ms": 246360
}
],
- "total_spawned": 33,
- "total_completed": 33,
+ "total_spawned": 42,
+ "total_completed": 42,
"total_failed": 0,
- "last_updated": "2026-04-15T06:10:46.596Z"
+ "last_updated": "2026-04-15T14:16:41.394Z"
}
\ No newline at end of file
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/TaskInfo/WMSTaskDTO.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/TaskInfo/WMSTaskDTO.cs
index de3829d..d3d36ef 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/TaskInfo/WMSTaskDTO.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_DTO/TaskInfo/WMSTaskDTO.cs
@@ -66,6 +66,11 @@
public int Grade { get; set; }
/// <summary>
+ /// 浠诲姟鏁伴噺
+ /// </summary>
+ public int TaskQuantity { get; set; }
+
+ /// <summary>
///
/// </summary>
public int WarehouseId { get; set; }
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/IFakeBatteryPositionRepository.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/IFakeBatteryPositionRepository.cs
new file mode 100644
index 0000000..72701e1
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/IFakeBatteryPositionRepository.cs
@@ -0,0 +1,39 @@
+using WIDESEAWCS_Core.BaseRepository;
+using WIDESEAWCS_Model.Models;
+
+namespace WIDESEAWCS_ITaskInfoRepository
+{
+ /// <summary>
+ /// 鍋囩數鑺綅缃粨鍌ㄦ帴鍙�
+ /// </summary>
+ public interface IFakeBatteryPositionRepository : IRepository<Dt_FakeBatteryPosition>
+ {
+ /// <summary>
+ /// 鑾峰彇涓婲涓彲鐢ㄧ殑鍋囩數鑺钩闈㈢偣浣�
+ /// </summary>
+ /// <param name="count">闇�瑕佽幏鍙栫殑鐐逛綅鏁伴噺</param>
+ /// <returns>鍙敤鐐逛綅鍒楄〃锛屾寜PositionIndex鍗囧簭</returns>
+ List<int> GetNextAvailable(int count);
+
+ /// <summary>
+ /// 閲嶇疆鎵�鏈夌偣浣嶄负鏈娇鐢�
+ /// </summary>
+ /// <returns>褰卞搷鐨勮鏁�</returns>
+ int ResetAll();
+
+ /// <summary>
+ /// 鏍囪鎸囧畾鐐逛綅涓哄凡浣跨敤
+ /// </summary>
+ /// <param name="positions">鐐逛綅绱㈠紩鍒楄〃</param>
+ /// <returns>鏄惁鎴愬姛</returns>
+ bool MarkAsUsed(List<int> positions);
+
+ /// <summary>
+ /// 鏍规嵁琛屽拰鍒楄幏鍙栫偣浣嶇储寮�
+ /// </summary>
+ /// <param name="row">琛岋紙1-3锛�</param>
+ /// <param name="col">鍒楋紙1-16锛�</param>
+ /// <returns>鐐逛綅绱㈠紩锛�1-48锛夛紝鎵句笉鍒拌繑鍥瀗ull</returns>
+ int? GetPositionIndex(int row, int col);
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IFakeBatteryPositionService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IFakeBatteryPositionService.cs
new file mode 100644
index 0000000..11771e7
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IFakeBatteryPositionService.cs
@@ -0,0 +1,49 @@
+using WIDESEAWCS_Core.BaseServices;
+using WIDESEAWCS_Model.Models;
+
+namespace WIDESEAWCS_ITaskInfoService
+{
+ /// <summary>
+ /// 鍋囩數鑺綅缃湇鍔℃帴鍙�
+ /// </summary>
+ public interface IFakeBatteryPositionService : IService<Dt_FakeBatteryPosition>
+ {
+ /// <summary>
+ /// 鑾峰彇涓婲涓彲鐢ㄧ殑鍋囩數鑺钩闈㈢偣浣�
+ /// </summary>
+ /// <param name="count">闇�瑕佽幏鍙栫殑鐐逛綅鏁伴噺</param>
+ /// <returns>鍙敤鐐逛綅鍒楄〃锛屾寜PositionIndex鍗囧簭</returns>
+ List<int> GetNextAvailable(int count);
+
+ /// <summary>
+ /// 閲嶇疆鎵�鏈夌偣浣嶄负鏈娇鐢�
+ /// </summary>
+ /// <returns>褰卞搷鐨勮鏁�</returns>
+ int ResetAll();
+
+ /// <summary>
+ /// 鏍囪鎸囧畾鐐逛綅涓哄凡浣跨敤
+ /// </summary>
+ /// <param name="positions">鐐逛綅绱㈠紩鍒楄〃</param>
+ /// <returns>鏄惁鎴愬姛</returns>
+ bool MarkAsUsed(List<int> positions);
+
+ /// <summary>
+ /// 鏍规嵁琛屽拰鍒楄幏鍙栫偣浣嶇储寮�
+ /// </summary>
+ /// <param name="row">琛岋紙1-3锛�</param>
+ /// <param name="col">鍒楋紙1-16锛�</param>
+ /// <returns>鐐逛綅绱㈠紩锛�1-48锛夛紝鎵句笉鍒拌繑鍥瀗ull</returns>
+ int? GetPositionIndex(int row, int col);
+
+ /// <summary>
+ /// 鍒濆鍖栧亣鐢佃姱鐐逛綅琛紙48涓偣浣嶏級
+ /// </summary>
+ /// <remarks>
+ /// 浠呭綋琛ㄤ负绌烘椂鎻掑叆1-48鐨勫垵濮嬫暟鎹��
+ /// 3琛屆�16鍒楋紝琛屼紭鍏堟帓鍒椼��
+ /// </remarks>
+ /// <returns>鏄惁鎴愬姛</returns>
+ bool InitializeIfEmpty();
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/TaskInfo/Dt_FakeBatteryPosition.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/TaskInfo/Dt_FakeBatteryPosition.cs
new file mode 100644
index 0000000..c06e006
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/TaskInfo/Dt_FakeBatteryPosition.cs
@@ -0,0 +1,50 @@
+using SqlSugar;
+using WIDESEAWCS_Core.DB.Models;
+
+namespace WIDESEAWCS_Model.Models
+{
+ /// <summary>
+ /// 鍋囩數鑺钩闈㈢偣浣嶈〃
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬绠＄悊鍋囩數鑺姄鍙栫偣鐨勫钩闈㈢偣浣嶄俊鎭��
+ /// 3琛屆�16鍒楀竷灞�锛屽叡48涓偣浣嶏紙1-48锛夛紝琛屼紭鍏堟帓鍒椼��
+ /// 绗�1琛岋細1-16锛岀2琛岋細17-32锛岀3琛岋細33-48銆�
+ /// </remarks>
+ [SugarTable(nameof(Dt_FakeBatteryPosition), "鍋囩數鑺钩闈㈢偣浣嶈〃")]
+ public class Dt_FakeBatteryPosition : BaseEntity
+ {
+ /// <summary>
+ /// 涓婚敭ID
+ /// </summary>
+ [SugarColumn(IsPrimaryKey = true, IsIdentity = true, ColumnDescription = "涓婚敭ID")]
+ public int Id { get; set; }
+
+ /// <summary>
+ /// 骞抽潰鐐逛綅绱㈠紩锛�1-48锛�
+ /// </summary>
+ /// <remarks>
+ /// 3脳16甯冨眬锛岃浼樺厛锛�1-16涓虹1琛岋紝17-32涓虹2琛岋紝33-48涓虹3琛岋級銆�
+ /// </remarks>
+ [SugarColumn(ColumnDescription = "骞抽潰鐐逛綅绱㈠紩")]
+ public int PositionIndex { get; set; }
+
+ /// <summary>
+ /// 鎵�鍦ㄨ锛�1-3锛�
+ /// </summary>
+ [SugarColumn(ColumnDescription = "鎵�鍦ㄨ")]
+ public int Row { get; set; }
+
+ /// <summary>
+ /// 鎵�鍦ㄥ垪锛�1-16锛�
+ /// </summary>
+ [SugarColumn(ColumnDescription = "鎵�鍦ㄥ垪")]
+ public int Col { get; set; }
+
+ /// <summary>
+ /// 鏄惁宸蹭娇鐢�
+ /// </summary>
+ [SugarColumn(ColumnDescription = "鏄惁宸蹭娇鐢�")]
+ public bool IsUsed { get; set; }
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/FakeBatteryPositionRepository.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/FakeBatteryPositionRepository.cs
new file mode 100644
index 0000000..f66fef7
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/FakeBatteryPositionRepository.cs
@@ -0,0 +1,90 @@
+using WIDESEAWCS_Core.BaseRepository;
+using WIDESEAWCS_ITaskInfoRepository;
+using WIDESEAWCS_Model.Models;
+
+namespace WIDESEAWCS_TaskInfoRepository
+{
+ /// <summary>
+ /// 鍋囩數鑺綅缃粨鍌ㄥ疄鐜�
+ /// </summary>
+ public class FakeBatteryPositionRepository : RepositoryBase<Dt_FakeBatteryPosition>, IFakeBatteryPositionRepository
+ {
+ public FakeBatteryPositionRepository(IUnitOfWorkManage unitOfWorkManage) : base(unitOfWorkManage)
+ {
+ }
+
+ /// <inheritdoc/>
+ public List<int> GetNextAvailable(int count)
+ {
+ // 鎸夎鍜屽垪鍗囧簭鏌ヨ鎵�鏈夌偣浣�
+ var allPositions = Db.Queryable<Dt_FakeBatteryPosition>()
+ .OrderBy(x => x.Row)
+ .OrderBy(x => x.Col)
+ .ToList();
+
+ // 鎸夎鍒嗙粍锛屽湪姣忚鍐呮煡鎵捐繛缁彲鐢ㄧ殑鐐逛綅
+ var rows = allPositions.GroupBy(p => p.Row).OrderBy(g => g.Key);
+
+ foreach (var rowGroup in rows)
+ {
+ var rowPositions = rowGroup.OrderBy(p => p.Col).ToList();
+
+ // 鍦ㄨ繖涓�琛屽唴鏌ユ壘杩炵画鐨刢ount涓湭浣跨敤鐐逛綅
+ for (int i = 0; i <= rowPositions.Count - count; i++)
+ {
+ var candidate = rowPositions.Skip(i).Take(count).ToList();
+
+ // 妫�鏌ヨ繖count涓偣浣嶆槸鍚﹂兘鏄繛缁殑鍒楋紙Col杩炵画锛変笖鏈娇鐢�
+ bool allAvailable = candidate.All(p => !p.IsUsed);
+ bool allConsecutive = true;
+ for (int j = 1; j < candidate.Count; j++)
+ {
+ if (candidate[j].Col != candidate[j - 1].Col + 1)
+ {
+ allConsecutive = false;
+ break;
+ }
+ }
+
+ if (allAvailable && allConsecutive)
+ {
+ return candidate.Select(p => p.PositionIndex).ToList();
+ }
+ }
+ }
+
+ // 娌℃湁鎵惧埌杩炵画鐨勭┖鐐逛綅锛岃繑鍥炵┖鍒楄〃
+ return new List<int>();
+ }
+
+ /// <inheritdoc/>
+ public int ResetAll()
+ {
+ return Db.Updateable<Dt_FakeBatteryPosition>()
+ .SetColumns(x => x.IsUsed, false)
+ .ExecuteCommand();
+ }
+
+ /// <inheritdoc/>
+ public bool MarkAsUsed(List<int> positions)
+ {
+ if (positions == null || positions.Count == 0)
+ return true;
+
+ return Db.Updateable<Dt_FakeBatteryPosition>()
+ .SetColumns(x => x.IsUsed, true)
+ .Where(x => positions.Contains(x.PositionIndex))
+ .ExecuteCommand() > 0;
+ }
+
+ /// <inheritdoc/>
+ public int? GetPositionIndex(int row, int col)
+ {
+ var entity = Db.Queryable<Dt_FakeBatteryPosition>()
+ .Where(x => x.Row == row && x.Col == col)
+ .Select(x => new { x.PositionIndex })
+ .First();
+ return entity?.PositionIndex;
+ }
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/FakeBatteryPositionService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/FakeBatteryPositionService.cs
new file mode 100644
index 0000000..7016216
--- /dev/null
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/FakeBatteryPositionService.cs
@@ -0,0 +1,69 @@
+using WIDESEAWCS_Core.BaseServices;
+using WIDESEAWCS_ITaskInfoRepository;
+using WIDESEAWCS_ITaskInfoService;
+using WIDESEAWCS_Model.Models;
+
+namespace WIDESEAWCS_TaskInfoService
+{
+ /// <summary>
+ /// 鍋囩數鑺綅缃湇鍔″疄鐜�
+ /// </summary>
+ public class FakeBatteryPositionService : ServiceBase<Dt_FakeBatteryPosition, IFakeBatteryPositionRepository>, IFakeBatteryPositionService
+ {
+ public FakeBatteryPositionService(IFakeBatteryPositionRepository BaseDal) : base(BaseDal)
+ {
+ }
+
+ /// <inheritdoc/>
+ public List<int> GetNextAvailable(int count)
+ {
+ return BaseDal.GetNextAvailable(count);
+ }
+
+ /// <inheritdoc/>
+ public int ResetAll()
+ {
+ return BaseDal.ResetAll();
+ }
+
+ /// <inheritdoc/>
+ public bool MarkAsUsed(List<int> positions)
+ {
+ return BaseDal.MarkAsUsed(positions);
+ }
+
+ /// <inheritdoc/>
+ public int? GetPositionIndex(int row, int col)
+ {
+ return BaseDal.GetPositionIndex(row, col);
+ }
+
+ /// <inheritdoc/>
+ public bool InitializeIfEmpty()
+ {
+ var existing = BaseDal.QueryFirst(x => true);
+ if (existing != null)
+ return true;
+
+ // 鐢熸垚48涓偣浣嶏細3琛屆�16鍒楋紝琛屼紭鍏�
+ var positions = new List<Dt_FakeBatteryPosition>();
+ for (int row = 1; row <= 3; row++)
+ {
+ for (int col = 1; col <= 16; col++)
+ {
+ int positionIndex = (row - 1) * 16 + col;
+ positions.Add(new Dt_FakeBatteryPosition
+ {
+ PositionIndex = positionIndex,
+ Row = row,
+ Col = col,
+ IsUsed = false,
+ Creater = "System"
+ });
+ }
+ }
+
+ return BaseDal.AddData(positions) > 0;
+ }
+ }
+}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
index 4941164..894b992 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/RobotTaskService.cs
@@ -90,7 +90,7 @@
RobotTaskState = taskDTO.TaskStatus,
RobotGrade = taskDTO.Grade,
Creater = "WMS",
- RobotTaskTotalNum = 48,
+ RobotTaskTotalNum = taskDTO.TaskQuantity,
};
BaseDal.AddData(task);
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index c35e485..5d3cf9e 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -104,7 +104,8 @@
ITaskService taskService,
ICacheService cache,
HttpClientHelper httpClientHelper,
- ILogger<RobotJob> logger)
+ ILogger<RobotJob> logger,
+ IFakeBatteryPositionService fakeBatteryPositionService)
{
// 鍒濆鍖栫姸鎬佺鐞嗗櫒锛屼紶鍏ョ紦瀛樻湇鍔�
_stateManager = new RobotStateManager(cache, _logger);
@@ -115,7 +116,7 @@
ISocketClientGateway socketGateway = new SocketClientGateway(tcpSocket);
// 鍒濆鍖栦换鍔″鐞嗗櫒
- _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper, _logger);
+ _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper, _logger, fakeBatteryPositionService);
// 鍒濆鍖栧鎴风绠＄悊鍣�
_clientManager = new RobotClientManager(tcpSocket, _stateManager, _logger);
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs
index 60844dc..6697b01 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs
@@ -173,5 +173,13 @@
/// 褰撹揪鍒� MaxTaskTotalNum (48) 鏃讹紝涓嶅啀涓嬪彂鏂颁换鍔°��
/// </remarks>
public int RobotTaskTotalNum { get; set; }
+
+ /// <summary>
+ /// 鏄惁澶勪簬鍋囩數鑺ˉ鍏呮ā寮�
+ /// </summary>
+ /// <remarks>
+ /// 褰撴甯哥數鑺换鍔″畬鎴愬悗璁句负 true锛屾満鍣ㄤ汉浠庡亣鐢佃姱浣嶇疆琛ュ厖鐢佃姱鑷�48涓��
+ /// </remarks>
+ public bool IsInFakeBatteryMode { get; set; }
}
}
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
index cd89884..fb5ef53 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
@@ -69,6 +69,14 @@
private readonly HttpClientHelper _httpClientHelper;
/// <summary>
+ /// 鍋囩數鑺钩闈㈢偣浣嶆湇鍔�
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬绠＄悊鍋囩數鑺钩闈㈢偣浣嶇殑鍒嗛厤鍜岀姸鎬併��
+ /// </remarks>
+ private readonly IFakeBatteryPositionService _fakeBatteryPositionService;
+
+ /// <summary>
/// 鏃ュ織璁板綍鍣�
/// </summary>
private readonly ILogger _logger;
@@ -88,7 +96,8 @@
IRobotTaskService robotTaskService,
ITaskService taskService,
HttpClientHelper httpClientHelper,
- ILogger logger)
+ ILogger logger,
+ IFakeBatteryPositionService fakeBatteryPositionService)
{
_socketClientGateway = socketClientGateway;
_stateManager = stateManager;
@@ -96,6 +105,7 @@
_taskService = taskService;
_httpClientHelper = httpClientHelper;
_logger = logger;
+ _fakeBatteryPositionService = fakeBatteryPositionService;
}
/// <summary>
@@ -190,6 +200,74 @@
}
/// <summary>
+ /// 涓嬪彂鍋囩數鑺彇璐ф寚浠ゅ埌鏈哄櫒浜哄鎴风
+ /// </summary>
+ /// <remarks>
+ /// 鍙戦�佹牸寮忥細Pickbattery,5,{startPosition}-{endPosition}
+ /// 渚嬪锛歅ickbattery,5,1-3 琛ㄧず浠庡亣鐢佃姱浣嶇疆5鎶撳彇锛屽钩闈㈢偣浣�1鍒�3
+ ///
+ /// 涓嬪彂鎴愬姛鍚庯細
+ /// 1. 鏍囪鐐逛綅涓哄凡浣跨敤
+ /// 2. 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
+ /// 3. 瀹夊叏鏇存柊鐘舵�佸埌 Redis
+ /// </remarks>
+ /// <param name="task">瑕佷笅鍙戠殑浠诲姟瀵硅薄</param>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
+ /// <param name="positions">瑕佹姄鍙栫殑骞抽潰鐐逛綅鍒楄〃</param>
+ public async Task SendSocketRobotFakeBatteryPickAsync(Dt_RobotTask task, RobotSocketState state, List<int> positions)
+ {
+ if (positions == null || positions.Count == 0)
+ {
+ _logger.LogWarning("SendSocketRobotFakeBatteryPickAsync锛氬钩闈㈢偣浣嶅垪琛ㄤ负绌猴紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ // 璁＄畻鐐逛綅鑼冨洿锛屾牸寮忥細1-3
+ int startPos = positions.Min();
+ int endPos = positions.Max();
+ string taskString = $"Pickbattery,5,{startPos}-{endPos}";
+
+ // 鏍囪鐐逛綅涓哄凡浣跨敤
+ _fakeBatteryPositionService.MarkAsUsed(positions);
+
+ // 閫氳繃 Socket 缃戝叧鍙戦�佹寚浠ゅ埌鏈哄櫒浜哄鎴风
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+
+ if (result)
+ {
+ _logger.LogInformation("涓嬪彂鍋囩數鑺彇璐ф寚浠ゆ垚鍔燂紝鎸囦护: {TaskString}锛岀偣浣�: {Positions}锛岃澶�: {DeviceName}",
+ taskString, string.Join(",", positions), state.RobotCrane?.DeviceName);
+ QuartzLogger.Info($"涓嬪彂鍋囩數鑺彇璐ф寚浠ゆ垚鍔燂紝鎸囦护: {taskString}", state.RobotCrane?.DeviceName);
+
+ // 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+
+ // 灏嗕换鍔″叧鑱斿埌鐘舵�佸璞�
+ state.CurrentTask = task;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ await _robotTaskService.UpdateRobotTaskAsync(task);
+ }
+ }
+ else
+ {
+ _logger.LogError("涓嬪彂鍋囩數鑺彇璐ф寚浠ゅけ璐ワ紝鎸囦护: {TaskString}锛岃澶�: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
+ QuartzLogger.Error($"涓嬪彂鍋囩數鑺彇璐ф寚浠ゅけ璐ワ紝鎸囦护: {taskString}", state.RobotCrane?.DeviceName);
+ }
+ }
+
+ /// <summary>
+ /// 鑾峰彇涓婲涓彲鐢ㄧ殑鍋囩數鑺钩闈㈢偣浣�
+ /// </summary>
+ /// <param name="count">闇�瑕佽幏鍙栫殑鐐逛綅鏁伴噺</param>
+ /// <returns>鍙敤鐐逛綅鍒楄〃</returns>
+ public List<int> GetNextAvailableFakeBatteryPositions(int count)
+ {
+ return _fakeBatteryPositionService.GetNextAvailable(count);
+ }
+
+ /// <summary>
/// 澶勭悊鍏ュ簱浠诲姟鍥炰紶锛堟媶鐩�/缁勭洏/鎹㈢洏鍦烘櫙锛�
/// </summary>
/// <remarks>
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
index f5c193d..e0211a5 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
@@ -237,13 +237,13 @@
|| task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
}
- // 濡傛灉鏄粍鐩樹换鍔★紙鍖呮嫭鎹㈢洏锛�
+ // 濡傛灉鏄粍鐩樹换鍔�
if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
{
// 鐢熸垚鎵樼洏鏉＄爜鍓嶇紑
const string prefix = "TRAY";
- // 鐢熸垚涓や釜鎵樼洏鏉＄爜锛堢敤浜庣粍鐩樻搷浣滐級
+ // 鐢熸垚涓や釜鎵樼洏鏉＄爜锛堢敤浜庣粍鐩樻搷浣滐級锛堟祴璇曠敤锛屽悗缁鍙栫嚎浣撴潯鐮侊級
string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
@@ -282,6 +282,66 @@
QuartzLogger.Error($"鐢熸垚鎵樼洏鏉＄爜澶辫触", stateForUpdate.RobotCrane.DeviceName);
}
}
+ else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
+ {
+ // 鎹㈢洏浠诲姟
+ // 鐩爣锛氭甯哥數鑺姄鍙栧畬鎴愬悗锛岃ˉ鍏呭亣鐢佃姱鑷�48涓�
+ const int targetTotal = 48;
+ const int fakeBatteryPickPosition = 5; // 鍋囩數鑺姄鍙栦綅缃�
+ const int pickCountPerExecution = 4; // 姣忔鎶撳彇鏁伴噺
+
+ int targetNormalCount = task.RobotTaskTotalNum; // 姝ｅ父鐢佃姱鐩爣鏁伴噺
+ int currentCompletedCount = stateForUpdate.RobotTaskTotalNum; // 宸插畬鎴愭暟閲�
+
+ // 濡傛灉鐩爣鏁伴噺涓�48锛岀洿鎺ヤ笅鍙戞甯镐换鍔�
+ if (targetNormalCount == targetTotal)
+ {
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ }
+ // 濡傛灉宸插畬鎴愭暟閲忓皬浜庣洰鏍囨暟閲忥紝缁х画鎶撳彇姝ｅ父鐢佃姱
+ else if (currentCompletedCount < targetNormalCount)
+ {
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ }
+ // 姝ｅ父鐢佃姱宸插畬鎴愶紝杩涘叆鍋囩數鑺ˉ鍏呮ā寮�
+ else if (currentCompletedCount == targetNormalCount && !stateForUpdate.IsInFakeBatteryMode)
+ {
+ // 棣栨杩涘叆鍋囩數鑺ā寮忥紝璁剧疆鏍囧織
+ stateForUpdate.IsInFakeBatteryMode = true;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭甯哥數鑺姄鍙栧畬鎴愶紝杩涘叆鍋囩數鑺ˉ鍏呮ā寮忥紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Info($"姝ｅ父鐢佃姱鎶撳彇瀹屾垚锛岃繘鍏ュ亣鐢佃姱琛ュ厖妯″紡", stateForUpdate.RobotCrane?.DeviceName);
+ }
+
+ // 濡傛灉澶勪簬鍋囩數鑺ˉ鍏呮ā寮忥紝璁＄畻骞朵笅鍙戣ˉ鏁颁换鍔�
+ if (stateForUpdate.IsInFakeBatteryMode)
+ {
+ int remaining = targetTotal - currentCompletedCount;
+ if (remaining > 0)
+ {
+ // 璁＄畻姣忔鎶撳彇鐨勬暟閲忥紙鏈�澶�4涓級
+ int pickCount = Math.Min(pickCountPerExecution, remaining);
+
+ // 鑾峰彇鍙敤鐨勫亣鐢佃姱骞抽潰鐐逛綅
+ var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(pickCount);
+ if (positions.Count == 0)
+ {
+ _logger.LogError("HandlePutFinishedStateAsync锛氭棤鍙敤鍋囩數鑺偣浣嶏紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Error($"鏃犲彲鐢ㄥ亣鐢佃姱鐐逛綅", stateForUpdate.RobotCrane?.DeviceName);
+ return;
+ }
+
+ // 涓嬪彂鍋囩數鑺彇璐ф寚浠�
+ await _taskProcessor.SendSocketRobotFakeBatteryPickAsync(task, stateForUpdate, positions);
+ }
+ else
+ {
+ // 鍋囩數鑺ˉ鍏呭畬鎴愶紝閲嶇疆鏍囧織
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭崲鐩樹换鍔″畬鎴愶紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Info($"鎹㈢洏浠诲姟瀹屾垚", stateForUpdate.RobotCrane?.DeviceName);
+ }
+ }
+ }
else
{
// 闈炵粍鐩樹换鍔★紝鐩存帴鍙戦�佸彇璐ф寚浠�
diff --git a/Code/WMS/WIDESEA_WMSServer/WIDESEA_DTO/Task/WMSTaskDTO.cs b/Code/WMS/WIDESEA_WMSServer/WIDESEA_DTO/Task/WMSTaskDTO.cs
index 3313000..00a9a46 100644
--- a/Code/WMS/WIDESEA_WMSServer/WIDESEA_DTO/Task/WMSTaskDTO.cs
+++ b/Code/WMS/WIDESEA_WMSServer/WIDESEA_DTO/Task/WMSTaskDTO.cs
@@ -67,6 +67,11 @@
public int Grade { get; set; }
/// <summary>
+ /// 浠诲姟鏁伴噺
+ /// </summary>
+ public int TaskQuantity { get; set; }
+
+ /// <summary>
///
/// </summary>
public int WarehouseId { get; set; }
diff --git a/Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/WCS/TaskService_Robot.cs b/Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/WCS/TaskService_Robot.cs
index 82b24b2..c897ea3 100644
--- a/Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/WCS/TaskService_Robot.cs
+++ b/Code/WMS/WIDESEA_WMSServer/WIDESEA_TaskInfoService/WCS/TaskService_Robot.cs
@@ -100,7 +100,7 @@
if (string.IsNullOrWhiteSpace(stockPalletCode))
return WebResponseContent.Instance.Error("婧愭墭鐩樺彿涓嶈兘涓虹┖");
- stockInfo = await _stockInfoService.GetStockInfoAsync(stockPalletCode);
+ stockInfo = await _stockInfoService.Repository.QueryDataNavFirstAsync(x => x.PalletCode == stockPalletCode);
if (stockInfo == null)
return WebResponseContent.Instance.Error($"鎵樼洏[{stockPalletCode}]搴撳瓨涓嶅瓨鍦�");
@@ -134,6 +134,7 @@
return WebResponseContent.Instance.Error($"鏈烘鎵媨taskName}浠诲姟鍒涘缓澶辫触");
var wmstaskDto = _mapper.Map<WMSTaskDTO>(task) ?? new WMSTaskDTO();
+ wmstaskDto.TaskQuantity = stock.Details?.Sum(d => d.Quantity) ?? 0;
return WebResponseContent.Instance.OK($"鏈烘鎵媨taskName}浠诲姟鍒涘缓鎴愬姛", wmstaskDto);
}
catch (Exception ex)
diff --git a/Code/docs/superpowers/plans/2026-04-15-change-pallet-fake-battery.md b/Code/docs/superpowers/plans/2026-04-15-change-pallet-fake-battery.md
new file mode 100644
index 0000000..3e5daa5
--- /dev/null
+++ b/Code/docs/superpowers/plans/2026-04-15-change-pallet-fake-battery.md
@@ -0,0 +1,640 @@
+# 鎹㈢洏浠诲姟鍋囩數鑺ˉ鍏呴�昏緫 Implementation Plan
+
+> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
+
+**Goal:** 鍦� `HandlePutFinishedStateAsync` 涓疄鐜版崲鐩樹换鍔＄殑鐗规畩閫昏緫锛氬綋 `task.RobotTaskTotalNum != 48` 鏃讹紝姝ｅ父鐢佃姱浠诲姟瀹屾垚鍚庨渶琛ュ厖鍋囩數鑺嚦48涓��
+
+**Architecture:** 鎹㈢洏浠诲姟鍒嗕袱闃舵鎵ц锛�(1) 姝ｅ父鐢佃姱鎶撳彇闃舵锛�(2) 鍋囩數鑺ˉ鍏呴樁娈点�傚亣鐢佃姱浠庝綅缃�5鎶撳彇锛屾寚浠ゆ牸寮� `Pickbattery,5,1-3`銆傛柊澧� `Dt_FakeBatteryPosition` 琛ㄧ鐞�3脳16骞抽潰鐐逛綅鐨勫崰鐢ㄧ姸鎬併��
+
+**Tech Stack:** C# / .NET 6, SqlSugar ORM, Redis缂撳瓨
+
+---
+
+## File Structure
+
+```
+WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/TaskInfo/
+ + Dt_FakeBatteryPosition.cs # 鍋囩數鑺钩闈㈢偣浣嶈〃瀹炰綋
+
+WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/
+ + IFakeBatteryPositionRepository.cs # 鍋囩數鑺綅缃粨鍌ㄦ帴鍙�
+
+WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/
+ + FakeBatteryPositionRepository.cs # 鍋囩數鑺綅缃粨鍌ㄥ疄鐜�
+
+WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/
+ + IFakeBatteryPositionService.cs # 鍋囩數鑺綅缃湇鍔℃帴鍙�
+
+WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/
+ + FakeBatteryPositionService.cs # 鍋囩數鑺綅缃湇鍔″疄鐜�
+
+WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/
+ = RobotSocketState.cs # +IsInFakeBatteryMode 鏍囧織
+ = RobotTaskProcessor.cs # +SendSocketRobotFakeBatteryPickAsync 鏂规硶
+
+WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/
+ = RobotWorkflowOrchestrator.cs # 瀹炵幇 ChangePallet 鍒嗘敮瀹屾暣閫昏緫
+```
+
+---
+
+## Task 1: 鍒涘缓鍋囩數鑺钩闈㈢偣浣嶈〃瀹炰綋
+
+**Files:**
+- Create: `WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/TaskInfo/Dt_FakeBatteryPosition.cs`
+
+- [ ] **Step 1: 鍒涘缓 Dt_FakeBatteryPosition.cs**
+
+```csharp
+using SqlSugar;
+using WIDESEAWCS_Core.DB.Models;
+
+namespace WIDESEAWCS_Model.Models
+{
+ /// <summary>
+ /// 鍋囩數鑺钩闈㈢偣浣嶈〃
+ /// </summary>
+ /// <remarks>
+ /// 鐢ㄤ簬绠＄悊鍋囩數鑺姄鍙栫偣鐨勫钩闈㈢偣浣嶄俊鎭��
+ /// 3琛屆�16鍒楀竷灞�锛屽叡48涓偣浣嶏紙1-48锛夛紝琛屼紭鍏堟帓鍒椼��
+ /// 绗�1琛岋細1-16锛岀2琛岋細17-32锛岀3琛岋細33-48銆�
+ /// </remarks>
+ [SugarTable(nameof(Dt_FakeBatteryPosition), "鍋囩數鑺钩闈㈢偣浣嶈〃")]
+ public class Dt_FakeBatteryPosition : BaseEntity
+ {
+ /// <summary>
+ /// 涓婚敭ID
+ /// </summary>
+ [SugarColumn(IsPrimaryKey = true, IsIdentity = true, ColumnDescription = "涓婚敭ID")]
+ public int Id { get; set; }
+
+ /// <summary>
+ /// 骞抽潰鐐逛綅绱㈠紩锛�1-48锛�
+ /// </summary>
+ /// <remarks>
+ /// 3脳16甯冨眬锛岃浼樺厛锛�1-16涓虹1琛岋紝17-32涓虹2琛岋紝33-48涓虹3琛岋級銆�
+ /// </remarks>
+ [SugarColumn(ColumnDescription = "骞抽潰鐐逛綅绱㈠紩")]
+ public int PositionIndex { get; set; }
+
+ /// <summary>
+ /// 鎵�鍦ㄨ锛�1-3锛�
+ /// </summary>
+ [SugarColumn(ColumnDescription = "鎵�鍦ㄨ")]
+ public int Row { get; set; }
+
+ /// <summary>
+ /// 鎵�鍦ㄥ垪锛�1-16锛�
+ /// </summary>
+ [SugarColumn(ColumnDescription = "鎵�鍦ㄥ垪")]
+ public int Col { get; set; }
+
+ /// <summary>
+ /// 鏄惁宸蹭娇鐢�
+ /// </summary>
+ [SugarColumn(ColumnDescription = "鏄惁宸蹭娇鐢�")]
+ public bool IsUsed { get; set; }
+ }
+}
+```
+
+- [ ] **Step 2: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Model/Models/TaskInfo/Dt_FakeBatteryPosition.cs
+git commit -m "feat(Robot): 娣诲姞鍋囩數鑺钩闈㈢偣浣嶈〃瀹炰綋 Dt_FakeBatteryPosition"
+```
+
+---
+
+## Task 2: 鍒涘缓鍋囩數鑺綅缃粨鍌ㄥ眰
+
+**Files:**
+- Create: `WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/IFakeBatteryPositionRepository.cs`
+- Create: `WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/FakeBatteryPositionRepository.cs`
+
+- [ ] **Step 1: 鍒涘缓 IFakeBatteryPositionRepository.cs**
+
+```csharp
+using WIDESEAWCS_Core.BaseRepository;
+using WIDESEAWCS_Model.Models;
+
+namespace WIDESEAWCS_ITaskInfoRepository
+{
+ /// <summary>
+ /// 鍋囩數鑺綅缃粨鍌ㄦ帴鍙�
+ /// </summary>
+ public interface IFakeBatteryPositionRepository : IRepository<Dt_FakeBatteryPosition>
+ {
+ /// <summary>
+ /// 鑾峰彇涓婲涓彲鐢ㄧ殑鍋囩數鑺钩闈㈢偣浣�
+ /// </summary>
+ /// <param name="count">闇�瑕佽幏鍙栫殑鐐逛綅鏁伴噺</param>
+ /// <returns>鍙敤鐐逛綅鍒楄〃锛屾寜PositionIndex鍗囧簭</returns>
+ List<int> GetNextAvailable(int count);
+
+ /// <summary>
+ /// 閲嶇疆鎵�鏈夌偣浣嶄负鏈娇鐢�
+ /// </summary>
+ /// <returns>褰卞搷鐨勮鏁�</returns>
+ int ResetAll();
+
+ /// <summary>
+ /// 鏍囪鎸囧畾鐐逛綅涓哄凡浣跨敤
+ /// </summary>
+ /// <param name="positions">鐐逛綅绱㈠紩鍒楄〃</param>
+ /// <returns>鏄惁鎴愬姛</returns>
+ bool MarkAsUsed(List<int> positions);
+
+ /// <summary>
+ /// 鏍规嵁琛屽拰鍒楄幏鍙栫偣浣嶇储寮�
+ /// </summary>
+ /// <param name="row">琛岋紙1-3锛�</param>
+ /// <param name="col">鍒楋紙1-16锛�</param>
+ /// <returns>鐐逛綅绱㈠紩锛�1-48锛夛紝鎵句笉鍒拌繑鍥瀗ull</returns>
+ int? GetPositionIndex(int row, int col);
+ }
+}
+```
+
+- [ ] **Step 2: 鍒涘缓 FakeBatteryPositionRepository.cs**
+
+```csharp
+using WIDESEAWCS_Core.BaseRepository;
+using WIDESEAWCS_ITaskInfoRepository;
+using WIDESEAWCS_Model.Models;
+
+namespace WIDESEAWCS_TaskInfoRepository
+{
+ /// <summary>
+ /// 鍋囩數鑺綅缃粨鍌ㄥ疄鐜�
+ /// </summary>
+ public class FakeBatteryPositionRepository : RepositoryBase<Dt_FakeBatteryPosition>, IFakeBatteryPositionRepository
+ {
+ public FakeBatteryPositionRepository(IUnitOfWorkManage unitOfWorkManage) : base(unitOfWorkManage)
+ {
+ }
+
+ /// <inheritdoc/>
+ public List<int> GetNextAvailable(int count)
+ {
+ return Db.Queryable<Dt_FakeBatteryPosition>()
+ .Where(x => !x.IsUsed)
+ .OrderBy(x => x.PositionIndex)
+ .Take(count)
+ .Select(x => x.PositionIndex)
+ .ToList();
+ }
+
+ /// <inheritdoc/>
+ public int ResetAll()
+ {
+ return Db.Updateable<Dt_FakeBatteryPosition>()
+ .SetColumns(x => x.IsUsed, false)
+ .ExecuteCommand();
+ }
+
+ /// <inheritdoc/>
+ public bool MarkAsUsed(List<int> positions)
+ {
+ if (positions == null || positions.Count == 0)
+ return true;
+
+ return Db.Updateable<Dt_FakeBatteryPosition>()
+ .SetColumns(x => x.IsUsed, true)
+ .Where(x => positions.Contains(x.PositionIndex))
+ .ExecuteCommand() > 0;
+ }
+
+ /// <inheritdoc/>
+ public int? GetPositionIndex(int row, int col)
+ {
+ return Db.Queryable<Dt_FakeBatteryPosition>()
+ .Where(x => x.Row == row && x.Col == col)
+ .Select(x => x.PositionIndex)
+ .FirstOrDefault();
+ }
+ }
+}
+```
+
+- [ ] **Step 3: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoRepository/IFakeBatteryPositionRepository.cs
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoRepository/FakeBatteryPositionRepository.cs
+git commit -m "feat(Robot): 娣诲姞鍋囩數鑺綅缃粨鍌ㄥ眰"
+```
+
+---
+
+## Task 3: 鍒涘缓鍋囩數鑺綅缃湇鍔″眰
+
+**Files:**
+- Create: `WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IFakeBatteryPositionService.cs`
+- Create: `WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/FakeBatteryPositionService.cs`
+
+- [ ] **Step 1: 鍒涘缓 IFakeBatteryPositionService.cs**
+
+```csharp
+using WIDESEAWCS_Core.BaseServices;
+using WIDESEAWCS_Model.Models;
+
+namespace WIDESEAWCS_ITaskInfoService
+{
+ /// <summary>
+ /// 鍋囩數鑺綅缃湇鍔℃帴鍙�
+ /// </summary>
+ public interface IFakeBatteryPositionService : IService<Dt_FakeBatteryPosition>
+ {
+ /// <summary>
+ /// 鑾峰彇涓婲涓彲鐢ㄧ殑鍋囩數鑺钩闈㈢偣浣�
+ /// </summary>
+ /// <param name="count">闇�瑕佽幏鍙栫殑鐐逛綅鏁伴噺</param>
+ /// <returns>鍙敤鐐逛綅鍒楄〃锛屾寜PositionIndex鍗囧簭</returns>
+ List<int> GetNextAvailable(int count);
+
+ /// <summary>
+ /// 閲嶇疆鎵�鏈夌偣浣嶄负鏈娇鐢�
+ /// </summary>
+ /// <returns>褰卞搷鐨勮鏁�</returns>
+ int ResetAll();
+
+ /// <summary>
+ /// 鏍囪鎸囧畾鐐逛綅涓哄凡浣跨敤
+ /// </summary>
+ /// <param name="positions">鐐逛綅绱㈠紩鍒楄〃</param>
+ /// <returns>鏄惁鎴愬姛</returns>
+ bool MarkAsUsed(List<int> positions);
+
+ /// <summary>
+ /// 鏍规嵁琛屽拰鍒楄幏鍙栫偣浣嶇储寮�
+ /// </summary>
+ /// <param name="row">琛岋紙1-3锛�</param>
+ /// <param name="col">鍒楋紙1-16锛�</param>
+ /// <returns>鐐逛綅绱㈠紩锛�1-48锛夛紝鎵句笉鍒拌繑鍥瀗ull</returns>
+ int? GetPositionIndex(int row, int col);
+
+ /// <summary>
+ /// 鍒濆鍖栧亣鐢佃姱鐐逛綅琛紙48涓偣浣嶏級
+ /// </summary>
+ /// <remarks>
+ /// 浠呭綋琛ㄤ负绌烘椂鎻掑叆1-48鐨勫垵濮嬫暟鎹��
+ /// 3琛屆�16鍒楋紝琛屼紭鍏堟帓鍒椼��
+ /// </remarks>
+ /// <returns>鏄惁鎴愬姛</returns>
+ bool InitializeIfEmpty();
+ }
+}
+```
+
+- [ ] **Step 2: 鍒涘缓 FakeBatteryPositionService.cs**
+
+```csharp
+using WIDESEAWCS_Core.BaseServices;
+using WIDESEAWCS_ITaskInfoRepository;
+using WIDESEAWCS_Model.Models;
+
+namespace WIDESEAWCS_TaskInfoService
+{
+ /// <summary>
+ /// 鍋囩數鑺綅缃湇鍔″疄鐜�
+ /// </summary>
+ public class FakeBatteryPositionService : ServiceBase<Dt_FakeBatteryPosition, IFakeBatteryPositionRepository>, IFakeBatteryPositionService
+ {
+ public FakeBatteryPositionService(IFakeBatteryPositionRepository BaseDal) : base(BaseDal)
+ {
+ }
+
+ /// <inheritdoc/>
+ public List<int> GetNextAvailable(int count)
+ {
+ return BaseDal.GetNextAvailable(count);
+ }
+
+ /// <inheritdoc/>
+ public int ResetAll()
+ {
+ return BaseDal.ResetAll();
+ }
+
+ /// <inheritdoc/>
+ public bool MarkAsUsed(List<int> positions)
+ {
+ return BaseDal.MarkAsUsed(positions);
+ }
+
+ /// <inheritdoc/>
+ public int? GetPositionIndex(int row, int col)
+ {
+ return BaseDal.GetPositionIndex(row, col);
+ }
+
+ /// <inheritdoc/>
+ public bool InitializeIfEmpty()
+ {
+ var existing = BaseDal.QueryFirst(x => true);
+ if (existing != null)
+ return true;
+
+ // 鐢熸垚48涓偣浣嶏細3琛屆�16鍒楋紝琛屼紭鍏�
+ var positions = new List<Dt_FakeBatteryPosition>();
+ for (int row = 1; row <= 3; row++)
+ {
+ for (int col = 1; col <= 16; col++)
+ {
+ int positionIndex = (row - 1) * 16 + col;
+ positions.Add(new Dt_FakeBatteryPosition
+ {
+ PositionIndex = positionIndex,
+ Row = row,
+ Col = col,
+ IsUsed = false,
+ Creater = "System"
+ });
+ }
+ }
+
+ return BaseDal.AddData(positions) > 0;
+ }
+ }
+}
+```
+
+- [ ] **Step 3: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_ITaskInfoService/IFakeBatteryPositionService.cs
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_TaskInfoService/FakeBatteryPositionService.cs
+git commit -m "feat(Robot): 娣诲姞鍋囩數鑺綅缃湇鍔″眰"
+```
+
+---
+
+## Task 4: 淇敼 RobotSocketState 娣诲姞 IsInFakeBatteryMode 鏍囧織
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs:175` (鍦� `RobotTaskTotalNum` 灞炴�у悗娣诲姞)
+
+- [ ] **Step 1: 娣诲姞 IsInFakeBatteryMode 灞炴��**
+
+鍦� `RobotSocketState.cs` 鐨� `RobotTaskTotalNum` 灞炴�у悗娣诲姞锛�
+
+```csharp
+ /// <summary>
+ /// 鏈哄櫒浜哄凡澶勭悊鐨勪换鍔℃�绘暟
+ /// </summary>
+ public int RobotTaskTotalNum { get; set; }
+
+ /// <summary>
+ /// 鏄惁澶勪簬鍋囩數鑺ˉ鍏呮ā寮�
+ /// </summary>
+ /// <remarks>
+ /// 褰撴甯哥數鑺换鍔″畬鎴愬悗璁句负 true锛屾満鍣ㄤ汉浠庡亣鐢佃姱浣嶇疆琛ュ厖鐢佃姱鑷�48涓��
+ /// </remarks>
+ public bool IsInFakeBatteryMode { get; set; }
+```
+
+- [ ] **Step 2: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotSocketState.cs
+git commit -m "feat(Robot): RobotSocketState 娣诲姞 IsInFakeBatteryMode 鏍囧織"
+```
+
+---
+
+## Task 5: 淇敼 RobotTaskProcessor 娣诲姞鍋囩數鑺彇璐ф寚浠ゆ柟娉�
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs` (鍦� `SendSocketRobotPickAsync` 鍚庢坊鍔犳柊鏂规硶)
+
+- [ ] **Step 1: 娣诲姞 IFakeBatteryPositionService 渚濊禆**
+
+鍦� `RobotTaskProcessor` 鏋勯�犲嚱鏁颁腑娣诲姞锛�
+
+```csharp
+private readonly IFakeBatteryPositionService _fakeBatteryPositionService;
+
+// 鏋勯�犲嚱鏁板弬鏁颁腑娣诲姞锛�
+, IFakeBatteryPositionService fakeBatteryPositionService
+
+// 鏋勯�犲嚱鏁拌祴鍊硷細
+_fakeBatteryPositionService = fakeBatteryPositionService;
+```
+
+- [ ] **Step 2: 娣诲姞 SendSocketRobotFakeBatteryPickAsync 鏂规硶**
+
+鍦� `SendSocketRobotPickAsync` 鏂规硶鍚庢坊鍔狅細
+
+```csharp
+ /// <summary>
+ /// 涓嬪彂鍋囩數鑺彇璐ф寚浠ゅ埌鏈哄櫒浜哄鎴风
+ /// </summary>
+ /// <remarks>
+ /// 鍙戦�佹牸寮忥細Pickbattery,5,{startPosition}-{endPosition}
+ /// 渚嬪锛歅ickbattery,5,1-3 琛ㄧず浠庡亣鐢佃姱浣嶇疆5鎶撳彇锛屽钩闈㈢偣浣�1鍒�3
+ ///
+ /// 涓嬪彂鎴愬姛鍚庯細
+ /// 1. 鏍囪鐐逛綅涓哄凡浣跨敤
+ /// 2. 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
+ /// 3. 瀹夊叏鏇存柊鐘舵�佸埌 Redis
+ /// </remarks>
+ /// <param name="task">瑕佷笅鍙戠殑浠诲姟瀵硅薄</param>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
+ /// <param name="positions">瑕佹姄鍙栫殑骞抽潰鐐逛綅鍒楄〃</param>
+ public async Task SendSocketRobotFakeBatteryPickAsync(Dt_RobotTask task, RobotSocketState state, List<int> positions)
+ {
+ if (positions == null || positions.Count == 0)
+ {
+ _logger.LogWarning("SendSocketRobotFakeBatteryPickAsync锛氬钩闈㈢偣浣嶅垪琛ㄤ负绌猴紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ return;
+ }
+
+ // 璁＄畻鐐逛綅鑼冨洿锛屾牸寮忥細1-3
+ int startPos = positions.Min();
+ int endPos = positions.Max();
+ string taskString = $"Pickbattery,5,{startPos}-{endPos}";
+
+ // 鏍囪鐐逛綅涓哄凡浣跨敤
+ _fakeBatteryPositionService.MarkAsUsed(positions);
+
+ // 閫氳繃 Socket 缃戝叧鍙戦�佹寚浠ゅ埌鏈哄櫒浜哄鎴风
+ bool result = await _socketClientGateway.SendToClientAsync(state.IPAddress, taskString);
+
+ if (result)
+ {
+ _logger.LogInformation("涓嬪彂鍋囩數鑺彇璐ф寚浠ゆ垚鍔燂紝鎸囦护: {TaskString}锛岀偣浣�: {Positions}锛岃澶�: {DeviceName}",
+ taskString, string.Join(",", positions), state.RobotCrane?.DeviceName);
+ QuartzLogger.Info($"涓嬪彂鍋囩數鑺彇璐ф寚浠ゆ垚鍔燂紝鎸囦护: {taskString}", state.RobotCrane?.DeviceName);
+
+ // 鏇存柊浠诲姟鐘舵�佷负"鏈哄櫒浜烘墽琛屼腑"
+ task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
+
+ // 灏嗕换鍔″叧鑱斿埌鐘舵�佸璞�
+ state.CurrentTask = task;
+
+ if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
+ {
+ await _robotTaskService.UpdateRobotTaskAsync(task);
+ }
+ }
+ else
+ {
+ _logger.LogError("涓嬪彂鍋囩數鑺彇璐ф寚浠ゅけ璐ワ紝鎸囦护: {TaskString}锛岃澶�: {DeviceName}", taskString, state.RobotCrane?.DeviceName);
+ QuartzLogger.Error($"涓嬪彂鍋囩數鑺彇璐ф寚浠ゅけ璐ワ紝鎸囦护: {taskString}", state.RobotCrane?.DeviceName);
+ }
+ }
+```
+
+- [ ] **Step 3: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
+git commit -m "feat(Robot): RobotTaskProcessor 娣诲姞鍋囩數鑺彇璐ф寚浠ゆ柟娉�"
+```
+
+---
+
+## Task 6: 瀹炵幇 HandlePutFinishedStateAsync 涓殑 ChangePallet 瀹屾暣閫昏緫
+
+**Files:**
+- Modify: `WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs:285-300`
+
+- [ ] **Step 1: 瀹炵幇 ChangePallet 鍒嗘敮閫昏緫**
+
+灏嗙幇鏈夌殑鍗犱綅浠ｇ爜鏇挎崲涓猴細
+
+```csharp
+ else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
+ {
+ // 鎹㈢洏浠诲姟
+ // 鐩爣锛氭甯哥數鑺姄鍙栧畬鎴愬悗锛岃ˉ鍏呭亣鐢佃姱鑷�48涓�
+ const int targetTotal = 48;
+ const int fakeBatteryPickPosition = 5; // 鍋囩數鑺姄鍙栦綅缃�
+ const int pickCountPerExecution = 4; // 姣忔鎶撳彇鏁伴噺
+
+ int targetNormalCount = task.RobotTaskTotalNum; // 姝ｅ父鐢佃姱鐩爣鏁伴噺
+ int currentCompletedCount = stateForUpdate.RobotTaskTotalNum; // 宸插畬鎴愭暟閲�
+
+ // 濡傛灉鐩爣鏁伴噺涓�48锛岀洿鎺ヤ笅鍙戞甯镐换鍔�
+ if (targetNormalCount == targetTotal)
+ {
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ }
+ // 濡傛灉宸插畬鎴愭暟閲忓皬浜庣洰鏍囨暟閲忥紝缁х画鎶撳彇姝ｅ父鐢佃姱
+ else if (currentCompletedCount < targetNormalCount)
+ {
+ await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ }
+ // 姝ｅ父鐢佃姱宸插畬鎴愶紝杩涘叆鍋囩數鑺ˉ鍏呮ā寮�
+ else if (currentCompletedCount == targetNormalCount && !stateForUpdate.IsInFakeBatteryMode)
+ {
+ // 棣栨杩涘叆鍋囩數鑺ā寮忥紝璁剧疆鏍囧織
+ stateForUpdate.IsInFakeBatteryMode = true;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭甯哥數鑺姄鍙栧畬鎴愶紝杩涘叆鍋囩數鑺ˉ鍏呮ā寮忥紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Info($"姝ｅ父鐢佃姱鎶撳彇瀹屾垚锛岃繘鍏ュ亣鐢佃姱琛ュ厖妯″紡", stateForUpdate.RobotCrane?.DeviceName);
+ }
+
+ // 濡傛灉澶勪簬鍋囩數鑺ˉ鍏呮ā寮忥紝璁＄畻骞朵笅鍙戣ˉ鏁颁换鍔�
+ if (stateForUpdate.IsInFakeBatteryMode)
+ {
+ int remaining = targetTotal - currentCompletedCount;
+ if (remaining > 0)
+ {
+ // 璁＄畻姣忔鎶撳彇鐨勬暟閲忥紙鏈�澶�4涓級
+ int pickCount = Math.Min(pickCountPerExecution, remaining);
+
+ // 鑾峰彇鍙敤鐨勫亣鐢佃姱骞抽潰鐐逛綅
+ 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);
+ QuartzLogger.Error($"鏃犲彲鐢ㄥ亣鐢佃姱鐐逛綅", stateForUpdate.RobotCrane?.DeviceName);
+ return;
+ }
+
+ // 涓嬪彂鍋囩數鑺彇璐ф寚浠�
+ await _taskProcessor.SendSocketRobotFakeBatteryPickAsync(task, stateForUpdate, positions);
+ }
+ else
+ {
+ // 鍋囩數鑺ˉ鍏呭畬鎴愶紝閲嶇疆鏍囧織
+ stateForUpdate.IsInFakeBatteryMode = false;
+ _logger.LogInformation("HandlePutFinishedStateAsync锛氭崲鐩樹换鍔″畬鎴愶紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
+ QuartzLogger.Info($"鎹㈢洏浠诲姟瀹屾垚", stateForUpdate.RobotCrane?.DeviceName);
+ }
+ }
+ }
+```
+
+- [ ] **Step 2: 鍦� RobotTaskProcessor 涓坊鍔� GetNextAvailableFakeBatteryPositions 杈呭姪鏂规硶**
+
+鍦� `RobotTaskProcessor` 涓坊鍔狅細
+
+```csharp
+ /// <summary>
+ /// 鑾峰彇涓婲涓彲鐢ㄧ殑鍋囩數鑺钩闈㈢偣浣�
+ /// </summary>
+ /// <param name="count">闇�瑕佽幏鍙栫殑鐐逛綅鏁伴噺</param>
+ /// <returns>鍙敤鐐逛綅鍒楄〃</returns>
+ public List<int> GetNextAvailableFakeBatteryPositions(int count)
+ {
+ return _fakeBatteryPositionService.GetNextAvailable(count);
+ }
+```
+
+- [ ] **Step 3: Commit**
+
+```bash
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+git add WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotTaskProcessor.cs
+git commit -m "feat(Robot): 瀹炵幇鎹㈢洏浠诲姟鍋囩數鑺ˉ鍏呴�昏緫"
+```
+
+---
+
+## Task 7: 楠岃瘉鏋勫缓
+
+- [ ] **Step 1: 杩愯 dotnet build**
+
+```bash
+dotnet build WCS/WIDESEAWCS_Server/WIDESEAWCS_Server.sln
+```
+
+- [ ] **Step 2: 妫�鏌ユ槸鍚︽湁缂栬瘧閿欒**
+
+---
+
+## 闄勫綍锛氭暟鎹簱鍒濆鍖朣QL
+
+```sql
+-- 鍒濆鍖栧亣鐢佃姱骞抽潰鐐逛綅琛紙48涓偣浣嶏細3琛屆�16鍒楋紝琛屼紭鍏堬級
+-- 绗�1琛岋細1-16锛岀2琛岋細17-32锛岀3琛岋細33-48
+IF NOT EXISTS (SELECT 1 FROM Dt_FakeBatteryPosition)
+BEGIN
+ INSERT INTO Dt_FakeBatteryPosition (PositionIndex, Row, Col, IsUsed, Creater, CreateDate)
+ SELECT
+ ((row - 1) * 16 + col) AS PositionIndex,
+ row AS Row,
+ col AS Col,
+ 0 AS IsUsed,
+ 'System' AS Creater,
+ GETDATE() AS CreateDate
+ FROM (SELECT 1 AS row UNION SELECT 2 UNION SELECT 3) AS rows
+ CROSS JOIN (SELECT 1 AS col UNION SELECT 2 UNION SELECT 3 UNION SELECT 4 UNION SELECT 5 UNION SELECT 6
+ UNION SELECT 7 UNION SELECT 8 UNION SELECT 9 UNION SELECT 10 UNION SELECT 11 UNION SELECT 12
+ UNION SELECT 13 UNION SELECT 14 UNION SELECT 15 UNION SELECT 16) AS cols
+ ORDER BY row, col;
+END
+```
+
+---
+
+**Plan complete and saved to `docs/superpowers/plans/2026-04-15-change-pallet-fake-battery.md`. Two execution options:**
+
+**1. Subagent-Driven (recommended)** - I dispatch a fresh subagent per task, review between tasks, fast iteration
+
+**2. Inline Execution** - Execute tasks in this session using executing-plans, batch execution with checkpoints
+
+**Which approach?**
--
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