fix(RobotJob): 修正机器人任务处理逻辑和注释错误

wanshenmean

12 小时以前 34ad8ad8e238d54d9695da9e8d101579c42516bb

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

@@ -112,7 +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：
@@ -120,11 +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);
                }
@@ -136,12 +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);
                }
@@ -166,7 +166,7 @@

            var state = _stateManager.GetState(ipAddress);

            // 换盘任务使用批次格式
            // 换盘任务批次模式
            if (task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode())
            {
                int targetNormalCount = task.RobotTaskTotalNum;
@@ -174,78 +174,94 @@

                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)
                // ==================== 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 remaining = 48 - currentCompletedCount;
                    if (remaining <= 0) return;
                    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 = targetNormalCount + 1 + (state.CurrentBatchIndex - 1);
                    int putCount = Math.Min(4, remaining);
                    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;
                }

                // 流向B Phase 4：放假电芯到5号位
                if (!isFlowA && state?.ChangePalletPhase == 4)
                // ==================== 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) return;

                    var positions = _taskProcessor.GetNextAvailableFakeBatteryPositions(Math.Min(4, remainingFake));
                    if (positions.Count == 0)
                    if (remainingFake <= 0)
                    {
                        _logger.LogError("HandlePickFinishedStateAsync：无可用假电芯点位，任务号: {TaskNum}", task.RobotTaskNum);
                        // 假电芯全部放完，等待 allputfinished 触发 Phase 5 入库
                        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
                if (state != null && state.IsGroupPallet && task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
                {
                    // 组盘任务：放货需判断是否NG，如果NG则放到NG口
                    if (state.IsScanNG)
                    if (isFlowA)
                    {
                        taskString = $"Putbattery,NG";
                        // 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
                    {
                        taskString = $"Putbattery,{task.RobotTargetAddress}";
                        // 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,1";
                }
                else
                {
                    taskString = $"Putbattery,{task.RobotTargetAddress}";
                }
            }
            else
                taskString = $"Putbattery,{task.RobotTargetAddress}";

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

@@ -316,6 +332,11 @@
            // 如果是组盘任务
            if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
            {
                // 检查电池是否已到位
                if (!stateForUpdate.BatteryArrived)
                {
                    return;
                }
                // 读取线体电芯条码
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.990");
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode("DB40.1020");
@@ -332,14 +353,18 @@

                        // 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：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);

                        // 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 = new List<string>()
                        {
                            trayBarcode1,trayBarcode2
                        };
                    }


@@ -348,7 +373,7 @@
                    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, false);
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
                }
                else
                {
@@ -359,12 +384,15 @@

                    // 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）
@@ -373,7 +401,7 @@
                // 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, false);
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
                    return;
                }

@@ -384,165 +412,88 @@
                    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);
                }

                // ==================== 流向A：补假电芯到目标托盘 ====================
                if (isFlowA)
                // ==================== Phase 1: 取正常电芯（两流向相同）====================
                if (stateForUpdate.ChangePalletPhase == 1)
                {
                    // Phase 1: 取假电芯（从5号位，使用 PositionIndex）
                    if (stateForUpdate.ChangePalletPhase == 1)
                    int remainingNormal = targetNormalCount - currentCompletedCount;
                    if (remainingNormal <= 0)
                    {
                        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;
                        // 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;
                    }
                    // 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);
                    int pickCount = Math.Min(4, remainingNormal);
                    var (start, end) = _taskProcessor.BuildBatchRange(stateForUpdate.CurrentBatchIndex, pickCount);

                        await _taskProcessor.SendPutWithBatchAsync(task, stateForUpdate, task.RobotTargetAddress, start, end);
                    await _taskProcessor.SendPickWithBatchAsync(task, stateForUpdate, task.RobotSourceAddress, start, end);

                        stateForUpdate.CurrentBatchIndex += putCount;
                        stateForUpdate.ChangePalletPhase = 1;
                    }
                    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;
                }
                // ==================== 流向B：取正常电芯 + 回收假电芯 ====================
                else

                // ==================== Phase 3: 处理假电芯（流向A/B 分叉），自己循环 ====================
                if (stateForUpdate.ChangePalletPhase == 3)
                {
                    // Phase 1: 取正常电芯（从源地址，从1开始递增）
                    if (stateForUpdate.ChangePalletPhase == 1)
                    int fakeCount = targetTotal - targetNormalCount;
                    int completedFake = Math.Max(0, currentCompletedCount - targetNormalCount);
                    int remainingFake = fakeCount - completedFake;

                    if (remainingFake <= 0)
                    {
                        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;
                        // 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;
                    }
                    // 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)

                    if (isFlowA)
                    {
                        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;
                        }

                        // 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;
                        }

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

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

                        stateForUpdate.ChangePalletPhase = 3;
                        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
            {
                // 非组盘任务，直接发送取货指令
                await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate, false);
                await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
            }
        }
    }