feat(Robot): 机械手换盘任务特殊处理

wanshenmean

昨天 1515ffa15c11e106f35e1447bc990b7867c449bb

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/Workflow/RobotWorkflowOrchestrator.cs

@@ -1,5 +1,7 @@
using Microsoft.Extensions.Logging;
using WIDESEA_Core;
using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
@@ -58,22 +60,30 @@
        private readonly IRobotTaskService _robotTaskService;

        /// <summary>
        /// 日志记录器
        /// </summary>
        private readonly ILogger _logger;

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="stateManager">状态管理器</param>
        /// <param name="clientManager">客户端管理器</param>
        /// <param name="taskProcessor">任务处理器</param>
        /// <param name="robotTaskService">任务服务</param>
        /// <param name="logger">日志记录器</param>
        public RobotWorkflowOrchestrator(
            RobotStateManager stateManager,
            RobotClientManager clientManager,
            RobotTaskProcessor taskProcessor,
            IRobotTaskService robotTaskService)
            IRobotTaskService robotTaskService,
            ILogger logger)
        {
            _stateManager = stateManager;
            _clientManager = clientManager;
            _taskProcessor = taskProcessor;
            _robotTaskService = robotTaskService;
            _logger = logger;
        }

        /// <summary>
@@ -100,8 +110,8 @@
            // 检查是否满足自动控制条件：
            // 1. 运行模式为自动（2）
            // 2. 控制模式为客户端控制（1）
            // 3. 运行状态不是 Running（说明已完成当前动作）
            if (latestState.RobotRunMode == 2 && latestState.RobotControlMode == 1 && latestState.OperStatus != "Running")
            // 3. 运行状态是 Running
            if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running" && latestState.Homed == "Homed")
            {
                // ========== 取货完成后的放货处理 ==========
                // 条件：
@@ -112,21 +122,25 @@
                    && latestState.RobotArmObject == 1
                    && task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode())
                {
                    _logger.LogInformation("ExecuteAsync：满足放货条件，开始处理取货完成，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Info($"ExecuteAsync：满足放货条件，开始处理取货完成", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    // 发送放货指令
                    await HandlePickFinishedStateAsync(task, ipAddress);
                }
                // ========== 放货完成后的取货处理 ==========

                // ========== 初始化或者放货完成后的取货处理 ==========
                // 条件：
                // - 当前动作是 PutFinished、AllPutFinished 或 null（放货完成）
                // - 运行状态为 Homed（已归位）
                // - 手臂上无物料（RobotArmObject == 0）
                // - 任务状态为 RobotPutFinish 或不是 RobotExecuting
                else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction == null)
                    && latestState.OperStatus == "Homed"
                else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction.IsNullOrEmpty())
                    && latestState.RobotArmObject == 0
                    && (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode()
                    || task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
                {
                    _logger.LogInformation("ExecuteAsync：满足取货条件，开始处理放货完成，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Info($"ExecuteAsync：满足取货条件，开始处理放货完成", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    // 发送取货指令
                    await HandlePutFinishedStateAsync(task, ipAddress);
                }
@@ -138,7 +152,7 @@
        /// </summary>
        /// <remarks>
        /// 当取货完成后，向机器人发送放货指令（Putbattery）。
        /// 机器人收到指令后会将货物放置到目标地址。
        /// 换盘任务使用批次格式 SendPutWithBatchAsync。
        ///
        /// 指令格式：Putbattery,{目标地址}
        /// 例如：Putbattery,B01 表示将货物放置到 B01 位置
@@ -147,33 +161,101 @@
        /// <param name="ipAddress">机器人 IP 地址</param>
        private async Task HandlePickFinishedStateAsync(Dt_RobotTask task, string ipAddress)
        {
            // 构建放货指令，格式：Putbattery,{目标地址}
            string taskString = $"Putbattery,{task.RobotTargetAddress}";
            string taskString;

            // 通过客户端管理器发送指令到机器人
            // 换盘任务使用批次格式
            if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
            {
                int targetNormalCount = task.RobotTaskTotalNum;
                var state = _stateManager.GetState(ipAddress);
                int currentCompletedCount = state?.RobotTaskTotalNum ?? 0;

                bool isFlowA = task.RobotSourceAddressLineCode is "11001" or "11010";

                // 流向A Phase 2：放假电芯到目标托盘
                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;
                }

                // 流向B Phase 4：放假电芯到5号位
                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：无可用假电芯点位，任务号: {TaskNum}", task.RobotTaskNum);
                        return;
                    }

                    int start = positions.Min();
                    int end = positions.Max();

                    await _taskProcessor.SendPutWithBatchAsync(task, state, "5", start, end);
                    return;
                }

                // 流向B Phase 2：放正常电芯到目标托盘
                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;
                }

                // 默认：使用原有格式
                taskString = $"Putbattery,{task.RobotTargetAddress}";
            }
            else
            {
                // 非换盘任务：使用原有格式
                taskString = $"Putbattery,{task.RobotTargetAddress}";
            }

            bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);

            if (result)
            {
                // 发送成功，记录日志
                QuartzLogger.Error($"下发放货指令，指�?: {taskString}", task.RobotRoadway);
                _logger.LogInformation("HandlePickFinishedStateAsync：下发放货指令成功，指令: {TaskString}，任务号: {TaskNum}", taskString, task.RobotTaskNum);
                QuartzLogger.Info($"下发放货指令成功，指令: {taskString}", task.RobotRoadway);

                // 更新任务状态为"机器人执行中"
                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();

                // 获取最新状态并更新任务关联
                var stateToUpdate = _stateManager.GetState(ipAddress);
                if (stateToUpdate != null)
                {
                    stateToUpdate.CurrentTask = task;

                    // 安全更新状态到 Redis
                    if (_stateManager.TryUpdateStateSafely(ipAddress, stateToUpdate))
                    {
                        // 状态更新成功后，更新任务记录
                        await _robotTaskService.UpdateRobotTaskAsync(task);
                    }
                }
            }
            else
            {
                _logger.LogError("HandlePickFinishedStateAsync：下发放货指令失败，指令: {TaskString}，任务号: {TaskNum}", taskString, task.RobotTaskNum);
                QuartzLogger.Error($"下发放货指令失败，指令: {taskString}", task.RobotRoadway);
            }
        }

@@ -202,6 +284,8 @@
            var stateForUpdate = _stateManager.GetState(ipAddress);
            if (stateForUpdate == null)
            {
                _logger.LogWarning("HandlePutFinishedStateAsync：获取状态失败，IP: {IpAddress}", ipAddress);
                QuartzLogger.Warn($"HandlePutFinishedStateAsync：获取状态失败，IP: {ipAddress}", ipAddress);
                return;
            }

@@ -214,29 +298,228 @@
                    || task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
            }

            // 如果是组盘任务（包括换盘）
            // 如果是组盘任务
            if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
            {
                // 生成托盘条码前缀
                const string prefix = "TRAY";

                // 生成两个托盘条码（用于组盘操作）
                // 生成两个托盘条码（用于组盘操作）（测试用，后续读取线体条码）
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);

                // 如果条码生成成功
                if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
                {
                    // 将条码添加到状态中，供后续放货时使用
                    stateForUpdate.CellBarcode.Add(trayBarcode1);
                    stateForUpdate.CellBarcode.Add(trayBarcode2);
                    if(stateForUpdate.CellBarcode.Contains(trayBarcode1)|| stateForUpdate.CellBarcode.Contains(trayBarcode2))
                    {
                        _logger.LogError("HandlePutFinishedStateAsync：生成的托盘条码已存在，可能存在重复，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Error($"生成的托盘条码已存在，可能存在重复", stateForUpdate.RobotCrane.DeviceName);

                    // 记录日志
                    QuartzLogger.Error($"ȡ�������о�ţ���о: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);
                        // 条码重复，记录错误日志并停止后续操作(后续放货时会用到这些条码信息，供后续放货时使用，调试后可能会取消此逻辑)
                        return;
                    }
                    else
                    {
                        _logger.LogInformation("HandlePutFinishedStateAsync：生成的托盘条码唯一，继续执行，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Info($"生成的托盘条码唯一，继续执行", stateForUpdate.RobotCrane.DeviceName);
                        // 将条码添加到状态中，供后续放货时使用
                        stateForUpdate.CellBarcode.Add(trayBarcode1);
                        stateForUpdate.CellBarcode.Add(trayBarcode2);
                    }


                    // 记录日志：生成托盘条码成功
                    _logger.LogInformation("HandlePutFinishedStateAsync：生成托盘条码成功: {Barcode1}+{Barcode2}，任务号: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
                    QuartzLogger.Info($"生成托盘条码成功: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);

                    // 发送取货指令
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
                }
                else
                {
                    // 条码生成失败，记录错误日志
                    _logger.LogError("HandlePutFinishedStateAsync：生成托盘条码失败，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Error($"生成托盘条码失败", stateForUpdate.RobotCrane.DeviceName);
                }
            }
            else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
            {
                const int targetTotal = 48;
                int targetNormalCount = task.RobotTaskTotalNum;
                int currentCompletedCount = stateForUpdate.RobotTaskTotalNum;

                // 判断流向（null-safe）
                bool isFlowA = task.RobotSourceAddressLineCode is "11001" or "11010";

                // 目标数量为48：直接走原有逻辑，不进入批次模式
                if (targetNormalCount == targetTotal)
                {
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
                    return;
                }

                // 初始化批次模式
                if (stateForUpdate.ChangePalletPhase == 0)
                {
                    stateForUpdate.ChangePalletPhase = 1;
                    stateForUpdate.CurrentBatchIndex = 1;
                    _logger.LogInformation("HandlePutFinishedStateAsync：换盘任务进入批次模式，任务号: {TaskNum}，流向: {Flow}",
                        task.RobotTaskNum, isFlowA ? "A" : "B");
                }

                // ==================== 流向A：补假电芯到目标托盘 ====================
                if (isFlowA)
                {
                    // Phase 1: 取假电芯（从5号位，使用 PositionIndex）
                    if (stateForUpdate.ChangePalletPhase == 1)
                    {
                        int remaining = targetTotal - currentCompletedCount;
                        if (remaining <= 0)
                        {
                            stateForUpdate.ChangePalletPhase = 0;
                            stateForUpdate.CurrentBatchIndex = 1;
                            stateForUpdate.IsInFakeBatteryMode = false;
                            _logger.LogInformation("HandlePutFinishedStateAsync：流向A完成，任务号: {TaskNum}", task.RobotTaskNum);
                            return;
                        }

                        int pickCount = Math.Min(4, remaining);
                        var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(pickCount);
                        if (positions.Count == 0)
                        {
                            _logger.LogError("HandlePutFinishedStateAsync：无可用假电芯点位，任务号: {TaskNum}", task.RobotTaskNum);
                            return;
                        }

                        await _taskProcessor.SendSocketRobotFakeBatteryPickAsync(task, stateForUpdate, positions);
                        stateForUpdate.ChangePalletPhase = 2;
                    }
                    // Phase 2: 放假电芯到目标托盘（从 targetNormalCount+1 开始递增）
                    else if (stateForUpdate.ChangePalletPhase == 2)
                    {
                        int remaining = targetTotal - currentCompletedCount;
                        if (remaining <= 0)
                        {
                            stateForUpdate.ChangePalletPhase = 0;
                            stateForUpdate.CurrentBatchIndex = 1;
                            stateForUpdate.IsInFakeBatteryMode = false;
                            _logger.LogInformation("HandlePutFinishedStateAsync：流向A完成，任务号: {TaskNum}", task.RobotTaskNum);
                            return;
                        }

                        // 计算放货批次编号：从 targetNormalCount + 1 开始
                        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;
                    }
                }
                // ==================== 流向B：取正常电芯 + 回收假电芯 ====================
                else
                {
                    // Phase 1: 取正常电芯（从源地址，从1开始递增）
                    if (stateForUpdate.ChangePalletPhase == 1)
                    {
                        int remainingNormal = targetNormalCount - currentCompletedCount;
                        if (remainingNormal <= 0)
                        {
                            // 正常电芯取完，切换到 Phase 3
                            stateForUpdate.ChangePalletPhase = 3;
                            stateForUpdate.CurrentBatchIndex = targetNormalCount + 1;
                            _logger.LogInformation("HandlePutFinishedStateAsync：正常电芯全部取完，进入Phase 3回收假电芯，任务号: {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: 放正常电芯到目标托盘（放货编号与取货编号一致）
                    else if (stateForUpdate.ChangePalletPhase == 2)
                    {
                        int remainingNormal = targetNormalCount - currentCompletedCount;
                        if (remainingNormal <= 0)
                        {
                            // 正常电芯放完，切换到 Phase 3
                            stateForUpdate.ChangePalletPhase = 3;
                            stateForUpdate.CurrentBatchIndex = targetNormalCount + 1;
                            _logger.LogInformation("HandlePutFinishedStateAsync：正常电芯全部放完，进入Phase 3回收假电芯，任务号: {TaskNum}", task.RobotTaskNum);
                            return;
                        }

                        // 计算本批放货编号：基于 currentCompletedCount 推导批次起始
                        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: 取假电芯（从源地址，从 targetNormalCount+1 开始递增）
                    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：流向B完成，任务号: {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: 放假电芯到5号位（使用 PositionIndex）
                    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：流向B完成，任务号: {TaskNum}", task.RobotTaskNum);
                            return;
                        }

                        var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(Math.Min(4, remainingFake));
                        if (positions.Count == 0)
                        {
                            _logger.LogError("HandlePutFinishedStateAsync：无可用假电芯点位，任务号: {TaskNum}", task.RobotTaskNum);
                            return;
                        }

                        int start = positions.Min();
                        int end = positions.Max();

                        await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, "5", start, end);

                        stateForUpdate.ChangePalletPhase = 3;
                    }
                }
            }
            else
            {