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

@@ -1,108 +1,500 @@
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;
using WIDESEAWCS_Tasks.SocketServer;
using WIDESEAWCS_Tasks.Workflow.Abstractions;

namespace WIDESEAWCS_Tasks.Workflow
{
    /// <summary>
    /// RobotJob 流程编排器：迁移原 RobotJob 状态机分支，降低 Job 类复杂度。
    /// 机器人任务编排器 - 负责 RobotJob 中的状态机流转和执行步骤编排
    /// </summary>
    /// <remarks>
    /// 迁移原 RobotJob 状态机流转支持，降低 Job 层的复杂度。
    ///
    /// 核心职责：
    /// 1. 根据机器人当前状态和任务状态，决定下一步动作
    /// 2. 处理取货完成后的放货指令下发
    /// 3. 处理放货完成后的取货指令下发（组盘场景）
    ///
    /// 状态机流转规则：
    /// - 条件：RobotRunMode == 2（自动模式）且 RobotControlMode == 1（客户端控制）且 OperStatus != "Running"
    /// - 取货完成 -> 放货：PickFinished + RobotArmObject == 1 + RobotPickFinish -> 发送 Putbattery
    /// - 放货完成 -> 取货：PutFinished + Homed + RobotArmObject == 0 -> 发送 Pickbattery（组盘/换盘场景）
    /// </remarks>
    public class RobotWorkflowOrchestrator : IRobotWorkflowOrchestrator
    {
        /// <summary>
        /// 机械手状态管理器
        /// </summary>
        /// <remarks>
        /// 用于读取和更新机器人的状态。
        /// </remarks>
        private readonly RobotStateManager _stateManager;

        /// <summary>
        /// 机械手客户端管理器
        /// </summary>
        /// <remarks>
        /// 用于向机器人客户端发送指令。
        /// </remarks>
        private readonly RobotClientManager _clientManager;

        /// <summary>
        /// 任务处理器
        /// </summary>
        /// <remarks>
        /// 用于执行任务相关的业务逻辑，如发送取货指令。
        /// </remarks>
        private readonly RobotTaskProcessor _taskProcessor;

        /// <summary>
        /// 机器人任务服务
        /// </summary>
        /// <remarks>
        /// 用于更新任务状态。
        /// </remarks>
        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>
        /// 执行任务编排流程
        /// </summary>
        /// <remarks>
        /// 根据机器人当前状态和任务状态，决定是否下发指令。
        ///
        /// 执行条件：
        /// 1. 机器人处于自动模式（RobotRunMode == 2）
        /// 2. 机器人处于客户端控制模式（RobotControlMode == 1）
        /// 3. 机器人不在运行中（OperStatus != "Running"）
        ///
        /// 流转逻辑：
        /// - 取货完成且手臂有货 -> 发送放货指令（Putbattery）
        /// - 放货完成且手臂无货 -> 发送取货指令（Pickbattery）
        /// </remarks>
        /// <param name="latestState">机器人最新状态</param>
        /// <param name="task">待执行的机器人任务</param>
        /// <param name="ipAddress">机器人 IP 地址</param>
        public async Task ExecuteAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
        {
            // 保持原有分支判定条件不变，确保行为一致。
            if (latestState.RobotRunMode == 2 && latestState.RobotControlMode == 1 && latestState.OperStatus != "Running")
            // 按原方案分支判断，确保逻辑一致
            // 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. 运行状态是 Running
            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：
                // - 当前动作是 PickFinished 或 AllPickFinished（取货完成）
                // - 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);
                }
                else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction == null)
                    && latestState.OperStatus == "Homed"
                    && latestState.RobotArmObject == 0

                // ========== 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.IsNullOrEmpty())
                    && (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);
                }
            }
        }

        /// <summary>
        /// 处理取货完成后的放货指令
        /// </summary>
        /// <remarks>
        /// 当取货完成后，向机器人发送放货指令（Putbattery）。
        /// 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
        /// </remarks>
        /// <param name="task">当前任务</param>
        /// <param name="ipAddress">机器人 IP 地址</param>
        private async Task HandlePickFinishedStateAsync(Dt_RobotTask task, string ipAddress)
        {
            string taskString = $"Putbattery,{task.RobotTargetAddress}";
            string taskString;

            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,1";
                }
                else
                {
                    taskString = $"Putbattery,{task.RobotTargetAddress}";
                }
            }
            else
                taskString = $"Putbattery,{task.RobotTargetAddress}";

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

            if (result)
            {
                _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);

                task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();

                var stateToUpdate = _stateManager.GetState(ipAddress);
                if (stateToUpdate != null)
                {
                    stateToUpdate.CurrentTask = task;

                    if (_stateManager.TryUpdateStateSafely(ipAddress, stateToUpdate))
                    {
                        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);
            }
        }

        /// <summary>
        /// 处理放货完成后的取货指令
        /// </summary>
        /// <remarks>
        /// 当放货完成后，根据任务类型决定下一步：
        ///
        /// 1. 如果不是拆盘也不是组盘（普通任务）：
        ///    - 直接发送取货指令
        ///
        /// 2. 如果是组盘或换盘任务：
        ///    - 生成新的托盘条码
        ///    - 将条码添加到状态中
        ///    - 发送取货指令
        ///
        /// 组盘任务的条码用于标识新生成的托盘，
        /// 后续放货时会用到这些条码信息。
        /// </remarks>
        /// <param name="task">当前任务</param>
        /// <param name="ipAddress">机器人 IP 地址</param>
        private async Task HandlePutFinishedStateAsync(Dt_RobotTask task, string ipAddress)
        {
            // 获取最新状态
            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;
            }

            // 如果状态中还没有设置任务类型标志，根据任务类型设置
            if (!stateForUpdate.IsSplitPallet && !stateForUpdate.IsGroupPallet)
            {
                // 判断任务类型并设置相应的标志
                stateForUpdate.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
                stateForUpdate.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode()
                    || task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
            }

            // 如果是组盘任务
            if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
            {
                const string prefix = "TRAY";
                string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
                string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
                // 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");

                // 如果条码生成成功
                if (!string.IsNullOrEmpty(trayBarcode1) && !string.IsNullOrEmpty(trayBarcode2))
                {
                    stateForUpdate.CellBarcode.Add(trayBarcode1);
                    stateForUpdate.CellBarcode.Add(trayBarcode2);
                    if (stateForUpdate.CellBarcode.Contains(trayBarcode1) || stateForUpdate.CellBarcode.Contains(trayBarcode2))
                    {
                        _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：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 = new List<string>()
                        {
                            trayBarcode1,trayBarcode2
                        };
                    }


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