feat(机械手任务): 实现换盘任务多阶段处理逻辑

wanshenmean

16 小时以前 2f7c7a0621ee2e84c47ccd054889a71e8ce4fdd0

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

@@ -5,6 +5,7 @@
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.SocketServer;
using WIDESEAWCS_Tasks.Workflow.Abstractions;

namespace WIDESEAWCS_Tasks.Workflow
@@ -111,7 +112,7 @@
            // 1. 运行模式为自动（2）
            // 2. 控制模式为客户端控制（1）
            // 3. 运行状态是 Running
            if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running" && latestState.Homed == "Homed")
            if (latestState.RobotRunMode == 2 /*&& latestState.RobotControlMode == 1*/ && latestState.OperStatus == "Running" && (latestState.Homed == "Homed" || latestState.Homed.IsNullOrEmpty()))
            {
                // ========== 取货完成后的放货处理 ==========
                // 条件：
@@ -119,11 +120,11 @@
                // - 手臂上有物料（RobotArmObject == 1）
                // - 任务状态为 RobotPickFinish（已记录取货完成）
                if ((latestState.CurrentAction == "PickFinished" || latestState.CurrentAction == "AllPickFinished")
                    && latestState.RobotArmObject == 1
                    && (latestState.RobotArmObject.IsNullOrEmpty() || 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($"ExecuteAsync：满足放货条件，开始处理取货完成", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    _logger.LogInformation("ExecuteAsync：满足放货条件，开始下发放货任务，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Info($"ExecuteAsync：满足放货条件，开始下发放货任务", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    // 发送放货指令
                    await HandlePickFinishedStateAsync(task, ipAddress);
                }
@@ -135,12 +136,12 @@
                // - 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.IsNullOrEmpty())
                    && latestState.RobotArmObject == 0
                    && (latestState.RobotArmObject.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($"ExecuteAsync：满足取货条件，开始处理放货完成", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    _logger.LogInformation("ExecuteAsync：满足取货条件，开始下发取货任务，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Info($"ExecuteAsync：满足取货条件，开始下发取货任务", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    // 发送取货指令
                    await HandlePutFinishedStateAsync(task, ipAddress);
                }
@@ -152,7 +153,7 @@
        /// </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
@@ -161,38 +162,129 @@
        /// <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
            var state = _stateManager.GetState(ipAddress);

            // 换盘任务批次模式
            if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
            {
                int targetNormalCount = task.RobotTaskTotalNum;
                int currentCompletedCount = state?.RobotTaskTotalNum ?? 0;

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

                // ==================== Phase 2: 放正常电芯到目标托盘（两流向相同）====================
                // PickFinished 到达：Phase 1 的 Pick 命令完成，现在下发 Put 命令放正常电芯
                if (state?.ChangePalletPhase == 2)
                {
                    int remainingNormal = targetNormalCount - currentCompletedCount;
                    if (remainingNormal <= 0)
                    {
                        // 正常电芯全部放完，等待 HandlePutFinishedAsync 切换到 Phase 3
                        return;
                    }

                    int batchStart = (currentCompletedCount / 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);

                    // Phase 保持为 2，等 HandlePutFinishedAsync 处理完放货计数后再切回 Phase 1
                    _stateManager.TryUpdateStateSafely(ipAddress, state);
                    return;
                }

                // ==================== Phase 4: 放假电芯（两流向分叉）====================
                // PickFinished 到达：Phase 3 的 Pick 命令完成，现在下发 Put 命令放假电芯
                if (state?.ChangePalletPhase == 4)
                {
                    int fakeCount = 48 - targetNormalCount;
                    int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
                    int remainingFake = fakeCount - completedFake;

                    if (remainingFake <= 0)
                    {
                        // 假电芯全部放完，等待 allputfinished 触发 Phase 5 入库
                        return;
                    }

                    if (isFlowA)
                    {
                        // 流向A：放假电芯到目标托盘
                        int batchStart = targetNormalCount + 1 + (state.CurrentBatchIndex - 1);
                        int putCount = Math.Min(4, remainingFake);
                        var (start, end) = _taskProcessor.BuildBatchRange(batchStart, putCount);

                        await _taskProcessor.SendPutWithBatchAsync(task, state, task.RobotTargetAddress, start, end);

                        state.CurrentBatchIndex += putCount;
                        // Phase 保持为 4，等 HandlePutFinishedAsync 处理完后再切回 Phase 3
                        _stateManager.TryUpdateStateSafely(ipAddress, state);
                    }
                    else
                    {
                        // 流向B：放假电芯到5号位
                        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);

                        // Phase 保持为 4，等 HandlePutFinishedAsync 处理完后再切回 Phase 3
                        _stateManager.TryUpdateStateSafely(ipAddress, state);
                    }
                    return;
                }

                // 非批次模式或其他阶段不下发指令
                return;
            }

            // 非换盘任务：使用原有格式
            if (state != null && state.IsGroupPallet && task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
            {
                if (state.IsScanNG)
                {
                    taskString = $"Putbattery,4";
                }
                else
                {
                    taskString = $"Putbattery,{task.RobotTargetAddress}";
                }
            }
            else
                taskString = $"Putbattery,{task.RobotTargetAddress}";

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

            if (result)
            {
                // 发送成功，记录 Info 日志
                _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
            {
                // 发送失败，记录 Error 日志
                _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);
            }
@@ -237,49 +329,167 @@
                    || 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）
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
                //if (!stateForUpdate.BatteryArrived)
                //{
                //    return;
                //}
                // 读取线体电芯条码
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");

                // 如果条码生成成功
                if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
                {
                    if(stateForUpdate.CellBarcode.Contains(trayBarcode1)|| stateForUpdate.CellBarcode.Contains(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($"生成的托盘条码已存在，可能存在重复", stateForUpdate.RobotCrane.DeviceName);
                        _logger.LogError("HandlePutFinishedStateAsync：读取的托盘条码已存在，可能存在重复，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Error($"读取的托盘条码已存在，可能存在重复", 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)

                        // 发送取货指令 标记扫码NG，放货时不使用这些条码，并放入NG口
                        //await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                        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($"生成的托盘条码唯一，继续执行", stateForUpdate.RobotCrane.DeviceName);
                        _logger.LogInformation("HandlePutFinishedStateAsync：读取的托盘条码唯一，继续执行，任务号: {TaskNum}", task.RobotTaskNum);
                        QuartzLogger.Info($"读取的托盘条码唯一，继续执行", stateForUpdate.RobotCrane.DeviceName);
                        stateForUpdate.CellBarcode = new List<string>()
                        {
                            trayBarcode1,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);
                        //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($"生成托盘条码成功: {trayBarcode1}+{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);
                    // 记录日志：读取托盘条码成功
                    _logger.LogInformation("HandlePutFinishedStateAsync：读取托盘条码成功: {Barcode1}+{Barcode2}，任务号: {TaskNum}", trayBarcode1, trayBarcode2, task.RobotTaskNum);
                    QuartzLogger.Info($"读取托盘条码成功: {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($"生成托盘条码失败", stateForUpdate.RobotCrane.DeviceName);
                    // 条码读取失败，记录错误日志
                    _logger.LogError("HandlePutFinishedStateAsync：读取托盘条码失败，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Error($"读取托盘条码失败", stateForUpdate.RobotCrane.DeviceName);


                    // 发送取货指令 标记扫码NG，放货时不使用这些条码，并放入NG口
                    //await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, true);
                    return;
                }
            }
            else if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
            {
                const int targetTotal = 48;
                // 换盘任务进入批次模式，分阶段处理正常电芯和假电芯 （机器人任务总数）
                int targetNormalCount = task.RobotTaskTotalNum;
                // 当前已完成数量（取货完成的数量），初始为状态中的 RobotTaskTotalNum，后续根据取货完成的数量动态更新
                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");
                    _stateManager.TryUpdateStateSafely(ipAddress, stateForUpdate);
                }

                // ==================== Phase 1: 取正常电芯（两流向相同）====================
                if (stateForUpdate.ChangePalletPhase == 1)
                {
                    int remainingNormal = targetNormalCount - currentCompletedCount;
                    if (remainingNormal <= 0)
                    {
                        // 正常电芯取完，切换到 Phase 3 取假电芯
                        stateForUpdate.ChangePalletPhase = 3;
                        stateForUpdate.CurrentBatchIndex = 1; // 假电芯批次从头开始
                        _logger.LogInformation("HandlePutFinishedStateAsync：正常电芯取完，切换到Phase 3取假电芯，任务号: {TaskNum}", task.RobotTaskNum);
                        _stateManager.TryUpdateStateSafely(ipAddress, stateForUpdate);
                        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;
                    // 发完 Pick 后切换到 Phase=2，等 PickFinished 触发 HandlePickFinishedStateAsync 下发放货指令
                    stateForUpdate.ChangePalletPhase = 2;
                    _stateManager.TryUpdateStateSafely(ipAddress, stateForUpdate);
                    return;
                }

                // ==================== Phase 3: 处理假电芯（流向A/B 分叉），自己循环 ====================
                if (stateForUpdate.ChangePalletPhase == 3)
                {
                    int fakeCount = targetTotal - targetNormalCount;
                    int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
                    int remainingFake = fakeCount - completedFake;

                    if (remainingFake <= 0)
                    {
                        // 假电芯全部处理完，切换到 Phase 5 等待入库
                        stateForUpdate.ChangePalletPhase = 5;
                        _logger.LogInformation("HandlePutFinishedStateAsync：假电芯处理完毕，切换到Phase 5等待入库，任务号: {TaskNum}", task.RobotTaskNum);
                        _stateManager.TryUpdateStateSafely(ipAddress, stateForUpdate);
                        return;
                    }

                    if (isFlowA)
                    {
                        // 流向A：从5号位取假电芯
                        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;
                        }
                        await _taskProcessor.SendSocketRobotFakeBatteryPickAsync(task, stateForUpdate, positions);
                    }
                    else
                    {
                        // 流向B：从源地址取假电芯
                        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;
                    }

                    // 发完 Pick 后切换到 Phase=4，等 PickFinished 触发 HandlePickFinishedStateAsync 下发放货指令
                    stateForUpdate.ChangePalletPhase = 4;
                    _stateManager.TryUpdateStateSafely(ipAddress, stateForUpdate);
                    return;
                }

                // ==================== Phase 5: 完成入库（allputfinished / allpickfinished 触发）====================
                if (stateForUpdate.ChangePalletPhase == 5)
                {
                    // Phase 5 由 allpickfinished/allputfinished 触发入库，本方法不再下发指令
                    return;
                }
            }
            else