refactor: 重构行为决策逻辑以集中控制特殊状态行为

将特殊状态检查和行为决策集中到 `resolveBehaviorDecision` 方法中
- 新增 `BehaviorDecision` 数据类封装行为决策
- 在到达、检测状态变化等场景中使用统一决策逻辑
- 修复特殊状态下自动充电未正确取消的问题

app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt

@@ -55,6 +55,12 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     OnDetectionStateChangedListener, OnReposeStatusChangedListener, SharedPreferences.OnSharedPreferenceChangeListener,
     OnRequestPermissionResultListener, OnBatteryStatusChangedListener, OnMovementStatusChangedListener,
     OnCurrentPositionChangedListener {
+    private data class BehaviorDecision(
+        val skipArrivalAnnouncement: Boolean,
+        val allowAutoRecharge: Boolean,
+        val allowDoorWorkflow: Boolean,
+        val allowIdleGreeting: Boolean
+    )
 
     private lateinit var robot: Robot
     private lateinit var binding: ActivityMainBinding
@@ -431,16 +437,22 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         if (taskController.handleNotificationArrival(location)) {
             return
         }
-        if (isSpecialStateEnabled() && taskController.currentTask.isEmpty()) {
+        val behavior = resolveBehaviorDecision()
+        if (behavior.skipArrivalAnnouncement) {
             Log.i("MainActivity", "Special state: arrival announcement skipped at $location.")
+            if (behavior.allowAutoRecharge) {
+                scheduleAutoRechargeAfterIdleArrival()
+            }
             return
         }
         val text = "已到达$location"
         val ttsRequest = TtsRequest.create(text, false, language = TtsRequest.Language.ZH_CN)
         robot.speak(ttsRequest)
         Log.i("MainActivity", "Arrived at $location, announcement sent.")
+        if (behavior.allowAutoRecharge) {
             scheduleAutoRechargeAfterIdleArrival()
         }
+    }
 
     override fun onDetectionStateChanged(state: Int) {
         latestDetectionState = state
@@ -490,10 +502,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             Log.i("MainActivity", "Detection event handled by task controller.")
             return
         }
-        val isSpecialState = isSpecialStateEnabled()
+        val behavior = resolveBehaviorDecision()
-        val isIdleTask = taskController.currentTask.isEmpty() || taskController.currentTask == "speech"
         val atHomeBase = robotEventHandler.normalizeLocation(lastArrivalLocation) == "homebase"
-        val canHandleDoor = isIdleTask && atHomeBase && !taskController.isLeavingHomeBase && !isSpecialState
+        val canHandleDoor = behavior.allowDoorWorkflow && atHomeBase && !taskController.isLeavingHomeBase
         if (canHandleDoor) {
             when (state) {
                 DETECTED -> {
@@ -522,7 +533,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
                 }
             }
         }
-        if (isIdleTask && !atHomeBase && state == DETECTED && !isSpecialState && !isTtsSpeaking) {
+        if (behavior.allowIdleGreeting && !atHomeBase && state == DETECTED && !isTtsSpeaking) {
             val hour = java.util.Calendar.getInstance().get(java.util.Calendar.HOUR_OF_DAY)
             val greeting = when (hour) {
                 in 6..11 -> "早上好"
@@ -586,6 +597,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         if (key == specialStateKey) {
             val isSpecial = isSpecialStateEnabled()
             Log.i("MainActivity", "Special state pref changed: $isSpecial, currentTask: ${taskController.currentTask}")
+            if (isSpecial) {
+                cancelAutoRecharge("special_state_enabled")
+            }
         }
         if (key == LiveKitManager.PREF_KEY_URL ||
             key == LiveKitManager.PREF_KEY_ROOM ||
@@ -749,7 +763,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     private fun scheduleAutoRechargeAfterIdleArrival() {
-        if (!isAutoRechargeAllowedTask()) {
+        if (!shouldAutoRechargeAfterIdleArrival()) {
             return
         }
         if (robotEventHandler.normalizeLocation(lastArrivalLocation) == "homebase") {
@@ -758,7 +772,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         autoRechargeJob?.cancel()
         autoRechargeJob = mainScope.launch {
             delay(10_000L)
-            if (!isAutoRechargeAllowedTask()) {
+            if (!shouldAutoRechargeAfterIdleArrival()) {
                 return@launch
             }
             if (robotEventHandler.normalizeLocation(lastArrivalLocation) == "homebase") {
@@ -769,11 +783,26 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         }
     }
 
-    private fun isAutoRechargeAllowedTask(): Boolean {
+    private fun shouldAutoRechargeAfterIdleArrival(): Boolean {
+        if (isSpecialStateEnabled()) {
+            return false
+        }
         val task = taskController.currentTask.trim().lowercase()
         return task.isEmpty() || task == "speech"
     }
 
+    private fun resolveBehaviorDecision(): BehaviorDecision {
+        val task = taskController.currentTask.trim().lowercase()
+        val isSpecialState = isSpecialStateEnabled()
+        val isIdleTask = task.isEmpty() || task == "speech"
+        return BehaviorDecision(
+            skipArrivalAnnouncement = isSpecialState && task.isEmpty(),
+            allowAutoRecharge = !isSpecialState && isIdleTask,
+            allowDoorWorkflow = !isSpecialState && isIdleTask,
+            allowIdleGreeting = !isSpecialState && isIdleTask
+        )
+    }
+
     private fun cancelAutoRecharge(reason: String) {
         if (autoRechargeJob?.isActive == true) {
             Log.i("MainActivity", "Auto recharge canceled: $reason")