From f423e1277f91427f0a767bd1224c1260dcb73086 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期一, 20 四月 2026 22:47:54 +0800
Subject: [PATCH] feat: 添加空箱入库功能及相关优化
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs | 8 ++++----
1 files changed, 4 insertions(+), 4 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 0ac900b..2f516f6 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs
@@ -112,7 +112,7 @@
// 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" && (latestState.Homed == "Homed" || latestState.Homed.IsNullOrEmpty()))
+ if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ /*&& latestState.OperStatus == "Running"*/ && (latestState.Homed == "Homed" || latestState.Homed.IsNullOrEmpty()))
{
// ========== 鍙栬揣瀹屾垚鍚庣殑鏀捐揣澶勭悊 ==========
// 鏉′欢锛�
@@ -137,8 +137,8 @@
// - 浠诲姟鐘舵�佷负 RobotPutFinish 鎴栦笉鏄� 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锛氭弧瓒冲彇璐ф潯浠讹紝寮�濮嬩笅鍙戝彇璐т换鍔★紝浠诲姟鍙�: {TaskNum}", task.RobotTaskNum);
QuartzLogger.Info($"ExecuteAsync锛氭弧瓒冲彇璐ф潯浠讹紝寮�濮嬩笅鍙戝彇璐т换鍔�", latestState.RobotCrane?.DeviceName ?? ipAddress);
@@ -312,7 +312,7 @@
private async Task HandlePutFinishedStateAsync(Dt_RobotTask task, string ipAddress)
{
// 鑾峰彇鏈�鏂扮姸鎬�
- var stateForUpdate = _stateManager.GetState(ipAddress);
+ RobotSocketState? stateForUpdate = _stateManager.GetState(ipAddress);
if (stateForUpdate == null)
{
_logger.LogWarning("HandlePutFinishedStateAsync锛氳幏鍙栫姸鎬佸け璐ワ紝IP: {IpAddress}", ipAddress);
--
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