refactor(logging): 重构日志记录模块，统一使用Serilog和QuartzLogHelper

wanshenmean

21 小时以前 627371d0ffdf50239313f2c86d022a0c5c69550d

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

@@ -1,11 +1,9 @@
using Microsoft.Extensions.Logging;
using WIDESEA_Core;
using Serilog;
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
@@ -112,7 +110,7 @@
            // 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" || latestState.Homed.IsNullOrEmpty()))
            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：
@@ -123,8 +121,7 @@
                    && (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);
                    QuartzLogHelper.LogInfo(_logger, $"ExecuteAsync：满足放货条件，开始下发放货任务,任务号: {task.RobotTaskNum}", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    // 发送放货指令
                    await HandlePickFinishedStateAsync(task, ipAddress);
                }
@@ -137,11 +134,9 @@
                // - 任务状态为 RobotPutFinish 或不是 RobotExecuting
                else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished" || latestState.CurrentAction.IsNullOrEmpty())
                    && (latestState.RobotArmObject.IsNullOrEmpty() || latestState.RobotArmObject == 0)
                    && (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode()
                    || task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
                    && (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode() || task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
                {
                    _logger.LogInformation("ExecuteAsync：满足取货条件，开始下发取货任务，任务号: {TaskNum}", task.RobotTaskNum);
                    QuartzLogger.Info($"ExecuteAsync：满足取货条件，开始下发取货任务", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    QuartzLogHelper.LogInfo(_logger, $"ExecuteAsync：满足取货条件，开始下发取货任务，任务号: {task.RobotTaskNum}", latestState.RobotCrane?.DeviceName ?? ipAddress);
                    // 发送取货指令
                    await HandlePutFinishedStateAsync(task, ipAddress);
                }
@@ -229,7 +224,7 @@
                        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);
                            QuartzLogHelper.LogInfo(_logger, $"HandlePickFinishedStateAsync：无可用假电芯点位，任务号: {task.RobotTaskNum}", state?.RobotCrane?.DeviceName ?? ipAddress);
                            return;
                        }

@@ -267,8 +262,7 @@

            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);
                QuartzLogHelper.LogInfo(_logger, $"HandlePickFinishedStateAsync：下发放货指令成功，指令: {taskString}，任务号: {task.RobotTaskNum}", state?.RobotCrane?.DeviceName ?? ipAddress);

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

@@ -285,8 +279,7 @@
            }
            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);
                QuartzLogHelper.LogInfo(_logger, $"HandlePickFinishedStateAsync：下发放货指令失败，指令: {taskString}，任务号: {task.RobotTaskNum}", state?.RobotCrane?.DeviceName ?? ipAddress);
            }
        }

@@ -312,11 +305,10 @@
        private async Task HandlePutFinishedStateAsync(Dt_RobotTask task, string ipAddress)
        {
            // 获取最新状态
            var stateForUpdate = _stateManager.GetState(ipAddress);
            RobotSocketState? 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);
                QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：获取状态失败，IP: {ipAddress}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);
                return;
            }

@@ -346,10 +338,7 @@
                {
                    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)
                        QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：读取的托盘条码已存在，可能存在重复，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);

                        // 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);
@@ -357,8 +346,7 @@
                    }
                    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);
                        QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：读取的托盘条码唯一，继续执行，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);

                        // 将条码添加到状态中，供后续放货时使用
                        stateForUpdate.CellBarcode = new List<string>()
@@ -368,8 +356,7 @@
                    }

                    // 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);
                    QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：读取托盘条码成功: 【{trayBarcode1}】-----【{trayBarcode2}】，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);

                    // 发送取货指令
                    await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
@@ -377,9 +364,7 @@
                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}，一号位: {trayBarcode1}，二号位: {trayBarcode2}", task.RobotTaskNum,trayBarcode1,trayBarcode2);
                    QuartzLogger.Error($"读取托盘条码失败,一号位：{trayBarcode1},二号位：{trayBarcode2}", stateForUpdate.RobotCrane.DeviceName);

                    QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：读取托盘条码失败，【{trayBarcode1}】-----【{trayBarcode2}】，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);

                    // 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);
@@ -409,8 +394,8 @@
                {
                    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");

                    QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：换盘任务进入批次模式，任务号: {{TaskNum}}，流向: {(isFlowA ? "A" : "B")}，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);
                    _stateManager.TryUpdateStateSafely(ipAddress, stateForUpdate);
                }

@@ -423,7 +408,8 @@
                        // 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);

                        QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：正常电芯取完，切换到Phase 3取假电芯，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);
                        _stateManager.TryUpdateStateSafely(ipAddress, stateForUpdate);
                        return;
                    }
@@ -451,7 +437,8 @@
                    {
                        // 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);

                        QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：假电芯处理完毕，切换到Phase 5等待入库，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);
                        _stateManager.TryUpdateStateSafely(ipAddress, stateForUpdate);
                        return;
                    }
@@ -462,7 +449,7 @@
                        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);
                            QuartzLogHelper.LogInfo(_logger, $"HandlePutFinishedStateAsync：无可用假电芯点位，任务号: {task.RobotTaskNum}", stateForUpdate?.RobotCrane?.DeviceName ?? ipAddress);
                            return;
                        }
                        await _taskProcessor.SendSocketRobotFakeBatteryPickAsync(task, stateForUpdate, positions);
@@ -496,4 +483,4 @@
            }
        }
    }
}
}