From bd40cc9e7dd6352915568ce49baa4accd1d9645b Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期六, 18 四月 2026 14:23:35 +0800
Subject: [PATCH] feat: 添加机器人任务处理逻辑和消息去重功能
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs | 37 +++++++++++++++++++++++++++++++++++++
1 files changed, 37 insertions(+), 0 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
index d2b057b..00abc18 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
@@ -119,6 +119,11 @@
state.CurrentAction = "Putting";
return true;
+ // 鎵嬭噦鏃犵墿鏂欙紙鎵嬭噦绌洪棽锛�
+ case "batteryarrived":
+ state.BatteryArrived = true;
+ return true;
+
// ==================== 鍏ㄩ儴瀹屾垚鍛戒护 ====================
// 鍏ㄩ儴鍙栬揣瀹屾垚
@@ -143,6 +148,14 @@
{
if (state.ChangePalletPhase == 0)
{
+ // 璋冪敤鎵归噺鎷嗙洏纭鎺ュ彛锛堟崲鐩樺彇瀹岄樁娈碉級
+ var sourcePallet = state.CurrentTask.RobotSourceAddressPalletCode;
+ var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet);
+ if (!confirmResult.IsSuccess)
+ {
+ QuartzLogger.Error($"鎵归噺鎷嗙洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ }
+
// 鎵�鏈夐樁娈靛畬鎴愶紝澶勭悊鍏ュ簱
if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
{
@@ -165,6 +178,14 @@
// 鎷嗙洏浠诲姟锛氱洿鎺ュ鐞嗗叆搴�
if (robotTaskType == RobotTaskTypeEnum.SplitPallet)
{
+ // 璋冪敤鎵归噺鎷嗙洏纭鎺ュ彛
+ var sourcePallet = state.CurrentTask.RobotSourceAddressPalletCode;
+ var confirmResult = _taskProcessor.PostSplitPalletConfirmAsync(sourcePallet);
+ if (!confirmResult.IsSuccess)
+ {
+ QuartzLogger.Error($"鎵归噺鎷嗙洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ }
+
if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
{
// 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
@@ -198,6 +219,14 @@
{
if (state.ChangePalletPhase == 0)
{
+ // 璋冪敤鎵归噺缁勭洏纭鎺ュ彛锛堟崲鐩樻斁瀹岄樁娈碉級
+ var targetPallet = state.CurrentTask.RobotTargetAddressPalletCode;
+ var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet);
+ if (!confirmResult.IsSuccess)
+ {
+ QuartzLogger.Error($"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ }
+
// 鎵�鏈夐樁娈靛畬鎴愶紝澶勭悊鍏ュ簱
if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
{
@@ -226,6 +255,14 @@
// 缁勭洏浠诲姟锛氱洿鎺ュ鐞嗗叆搴�
if (robotTaskType == RobotTaskTypeEnum.GroupPallet)
{
+ // 璋冪敤鎵归噺缁勭洏纭鎺ュ彛
+ //var targetPallet = state.CurrentTask.RobotTargetAddressPalletCode;
+ //var confirmResult = _taskProcessor.PostGroupPalletConfirmAsync(targetPallet);
+ //if (!confirmResult.IsSuccess)
+ //{
+ // QuartzLogger.Error($"鎵归噺缁勭洏纭澶辫触: {confirmResult.ErrorMessage}", state.RobotCrane?.DeviceName ?? "Unknown");
+ //}
+
// 澶勭悊鍏ュ簱浠诲姟鍥炰紶
// useSourceAddress: false 琛ㄧず浣跨敤鐩爣鍦板潃锛堢粍鐩樺満鏅級
if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
--
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