115 lines
4.4 KiB
Markdown
115 lines
4.4 KiB
Markdown
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# 扫码失败废料搬运流程
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**日期**: 2026-05-20
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**状态**: 已确认
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**类型**: 新功能
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## 1. 概述
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从接驳台取料扫码后，如果扫码失败，工件放到暂存台（状态 `WAITING_WASTE`），等 `WasteReady` 信号为 true 时搬运到废料台，释放暂存台槽位，Job 标记为 `SCRAPPED`。
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### 流程
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```
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接驳台取料 → 扫码失败 → 放入暂存台(WAITING_WASTE) → 等待 WasteReady → 搬运至废料台 → 释放暂存台槽位 → Job SCRAPPED
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```
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## 2. 涉及模块
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| 模块 | 改动 |
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|------|------|
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| `constants/constants.go` | 新增 `JobStatus_WaitingWaste` |
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| `schema/job.go` | ent 枚举更新（先改，再 `go generate`） |
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| `internal/processor/replenisher.go` | 扫码失败时写 `WAITING_WASTE` + alarm |
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| `internal/processor/scheduler/types.go` | `SystemState` 新增 `WasteReady bool` |
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| `internal/processor/eventloop/scheduler_bridge.go` | 快照读取 WasteReady 信号 |
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| `internal/processor/scheduler/generator.go` | 为 WAITING_WASTE job 生成废料搬运任务 |
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| `internal/processor/robot_worker.go` | 新增 `executeLoadToWaste` 分发 |
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| `internal/robot/dock.go` | 新增 `PlaceWorkpieceToWasteStation`（M1140） |
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| `internal/processor/eventloop/worker_dispatch.go` | 废料搬运完成后 ScrapJob + ReleaseSlot |
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## 3. 详细设计
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### 3.1 Job 状态
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新增 `JobStatus_WaitingWaste = "WAITING_WASTE"`。
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- **PositionType**: `ON_BUFFER`（工件物理占用暂存台槽位）
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- **SuspendedReason**: `"SCAN_FAILED"`
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- 调度器 `JobSuspended` filter 需要同步排除此状态（WAITING_WASTE 不应被常规调度选中）
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### 3.2 Replenisher 扫码失败逻辑
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`replenishOne` 方法中，扫码失败后：
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1. 工件物理已在暂存台（机器人已放置）
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2. 写 DB：`SetStatus(WAITING_WASTE)` + `SetPositionType(ON_BUFFER)` + `SetSuspendedReason("SCAN_FAILED")`
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3. DockSlot 清空（status=0），可继续接收新料
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4. 创建 alarm（`alarm_code: SCAN_FAILED`），供追溯
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5. 不阻塞后续补料（continue 下一个 dock item）
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### 3.3 WasteReady 信号
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- 信号已定义：`WasteReady` = `M1150.1`（`doc/signal.csv` 行 19）
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- 通过 `preload.GetMAddress("WasteReady")` 获取地址，在 `trySchedule` 时读取 PLC 当前值
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- `SystemState.WasteReady bool` — 调度快照中携带，供 Generator 判断
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### 3.4 调度
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**Generator**: 遍历 `RuntimeSnapshot` 中 `Status == WAITING_WASTE` 的 job，若 `WasteReady == true`，生成：
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```
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CandidateTask{
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Action: ActionLoadWaste, // 已在 types.go 中定义
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TargetID: tempSlotNo,
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Priority: PriorityHigh,
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}
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```
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**SchedulerBridge**: 映射 `ActionLoadWaste` → `RobotAction{Kind: "load_to_waste", SrcSlot: tempSlotNo}`。
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**优先级**: `PriorityHigh`，释放暂存台资源不应被普通装料阻塞。
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### 3.5 RobotWorker
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新增 `executeLoadToWaste`:
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```go
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// 暂存台取料 → 放入废料台
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func (w *RobotWorker) executeLoadToWaste(ctx context.Context, action action.RobotAction) error {
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// 1. 从暂存台取料
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if err := w.robotCtrl.FetchWorkpieceFromTempStation(ctx, ...); err != nil {
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return fmt.Errorf("fetch from temp station: %w", err)
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}
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// 2. 放入废料台 (M1140)
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if err := w.robotCtrl.PlaceWorkpieceToWasteStation(ctx, ...); err != nil {
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return fmt.Errorf("place to waste station: %w", err)
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}
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return nil
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}
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```
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### 3.6 Robot Controller
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`internal/robot/dock.go` 新增:
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```go
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func (c *Controller) PlaceWorkpieceToWasteStation(ctx context.Context, ...) error {
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// 发送 M1140 信号
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}
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```
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### 3.7 EventLoop 完成处理
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废料搬运成功后:
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1. `TempStoreActor.ReleaseSlot(slotNo)` — 释放暂存台槽位
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2. `DBState.ScrapJob(jobID)` — Job 标记 SCRAPPED（终态）
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### 3.8 启动恢复
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`RecoverOnStartup` 中：`WAITING_WASTE` 状态的 job 视为已正确放置在暂存台，**不**转为 PAUSED。等待下次 `trySchedule` 时 `WasteReady` 信号触发搬运。
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## 4. 边缘情况
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- **多个 WAITING_WASTE job**: Generator 一次生成多个候选任务，由 PriorityPolicy 按优先级排序后依次执行
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- **WasteReady 长时间为 false**: job 留在暂存台，占用槽位，不阻塞其他正常 job 调度（JobSuspended filter 排除）
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- **暂存台满**: replenisher 的 `reserveFreeTempSlot` 分配失败会正常停止补料，不会抢占废料等待工件的槽位
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- **废料台满**: PLC 不会设置 WasteReady=true，搬运不会触发（硬件层保证）
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