From 1515ffa15c11e106f35e1447bc990b7867c449bb Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 16 四月 2026 16:07:14 +0800
Subject: [PATCH] feat(Robot): 机械手换盘任务特殊处理
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs | 66 +++++++++++++++++++++++++++++---
1 files changed, 59 insertions(+), 7 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 b564835..d2b057b 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotSimpleCommandHandler.cs
@@ -138,11 +138,33 @@
// 鍒ゆ柇浠诲姟绫诲瀷
var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
- // 鍙湁鎷嗙洏鎴栨崲鐩樹换鍔￠渶瑕佸鐞嗗叆搴�
- if (robotTaskType == RobotTaskTypeEnum.SplitPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ // 鎹㈢洏浠诲姟锛氫粎褰撴墍鏈夐樁娈靛畬鎴愭椂鎵嶅鐞嗗叆搴�
+ if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
{
- // 澶勭悊鍏ュ簱浠诲姟鍥炰紶
- // useSourceAddress: true 琛ㄧず浣跨敤婧愬湴鍧�锛堟媶鐩�/鎹㈢洏鍦烘櫙锛�
+ if (state.ChangePalletPhase == 0)
+ {
+ // 鎵�鏈夐樁娈靛畬鎴愶紝澶勭悊鍏ュ簱
+ if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
+ {
+ // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
+ _taskProcessor.DeleteTask(currentTask.RobotTaskId);
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Swap,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怱wap,diskFinished銆�", state.RobotCrane.DeviceName);
+
+ // 閲嶇疆鎵规鐘舵��
+ state.ChangePalletPhase = 0;
+ state.CurrentBatchIndex = 1;
+ state.IsInFakeBatteryMode = false;
+ return true;
+ }
+ }
+ // 涓棿闃舵涓嶅鐞嗭紝浠呮洿鏂扮姸鎬�
+ return true;
+ }
+
+ // 鎷嗙洏浠诲姟锛氱洿鎺ュ鐞嗗叆搴�
+ if (robotTaskType == RobotTaskTypeEnum.SplitPallet)
+ {
if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
{
// 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
@@ -171,11 +193,41 @@
// 鍒ゆ柇浠诲姟绫诲瀷
var robotTaskType = (RobotTaskTypeEnum)currentTask.RobotTaskType;
- // 鍙湁缁勭洏鎴栨崲鐩樹换鍔￠渶瑕佸鐞嗗叆搴�
- if (robotTaskType == RobotTaskTypeEnum.GroupPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ // 鎹㈢洏浠诲姟锛氫粎褰撴墍鏈夐樁娈靛畬鎴愭椂鎵嶅鐞嗗叆搴�
+ if (robotTaskType == RobotTaskTypeEnum.ChangePallet)
+ {
+ if (state.ChangePalletPhase == 0)
+ {
+ // 鎵�鏈夐樁娈靛畬鎴愶紝澶勭悊鍏ュ簱
+ if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
+ {
+ // 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
+ _taskProcessor.DeleteTask(currentTask.RobotTaskId);
+
+ // 娓呯悊鐘舵�侊紝涓轰笅涓�涓换鍔″仛鍑嗗
+ state.CurrentTask = null; // 娓呴櫎褰撳墠浠诲姟
+ state.RobotTaskTotalNum = 0; // 閲嶇疆浠诲姟璁℃暟
+ state.CellBarcode = new List<string>(); // 娓呯┖鏉＄爜鍒楄〃
+
+ await _socketClientGateway.SendToClientAsync(state.IPAddress, $"Group,diskFinished");
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆怗roup,diskFinished銆�", state.RobotCrane.DeviceName);
+
+ // 閲嶇疆鎵规鐘舵��
+ state.ChangePalletPhase = 0;
+ state.CurrentBatchIndex = 1;
+ state.IsInFakeBatteryMode = false;
+ return true;
+ }
+ }
+ // 涓棿闃舵涓嶅鐞嗭紝浠呮洿鏂扮姸鎬�
+ return true;
+ }
+
+ // 缁勭洏浠诲姟锛氱洿鎺ュ鐞嗗叆搴�
+ if (robotTaskType == RobotTaskTypeEnum.GroupPallet)
{
// 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�/鎹㈢洏鍦烘櫙锛�
+ // 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))
{
// 鍏ュ簱鎴愬姛锛屽垹闄や换鍔¤褰�
--
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