refactor: 提取任务策略、自动充电和连接服务到独立类

将 MainActivity 中的任务策略逻辑、自动充电调度和连接管理代码提取到独立的类中，以提高代码的可维护性和可测试性。具体包括：
- 创建 MainTaskPolicy 对象封装任务类型定义和行为决策逻辑
- 创建 AutoRechargeScheduler 类处理空闲到达后的自动充电调度
- 创建 WorkflowService 类管理门控和工作流执行
- 创建 ConnectionService 类统一管理 MQTT 和 LiveKit 连接
- 重命名 ConnectionCoordinator 为 ConnectionService 以更准确反映其职责

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

@@ -0,0 +1,54 @@
+package com.example.lzwcai_terminal_temi
+
+import android.util.Log
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+
+class AutoRechargeScheduler(
+    private val scope: CoroutineScope,
+    private val navController: NavController,
+    private val getCurrentTask: () -> String,
+    private val isSpecialStateEnabled: () -> Boolean,
+    private val getLastArrivalLocation: () -> String?,
+    private val normalizeLocation: (String?) -> String
+) {
+    private var autoRechargeJob: Job? = null
+
+    fun scheduleAfterIdleArrival() {
+        if (!isAutoRechargeAllowedTask()) {
+            return
+        }
+        if (normalizeLocation(getLastArrivalLocation()) == "homebase") {
+            return
+        }
+        autoRechargeJob?.cancel()
+        autoRechargeJob = scope.launch {
+            delay(10_000L)
+            if (!isAutoRechargeAllowedTask()) {
+                return@launch
+            }
+            if (normalizeLocation(getLastArrivalLocation()) == "homebase") {
+                return@launch
+            }
+            Log.i("MainActivity", "Auto recharge triggered after idle arrival timeout.")
+            navController.recharge()
+        }
+    }
+
+    fun cancel(reason: String) {
+        if (autoRechargeJob?.isActive == true) {
+            Log.i("MainActivity", "Auto recharge canceled: $reason")
+        }
+        autoRechargeJob?.cancel()
+        autoRechargeJob = null
+    }
+
+    private fun isAutoRechargeAllowedTask(): Boolean {
+        if (isSpecialStateEnabled()) {
+            return false
+        }
+        return MainTaskPolicy.isIdleTask(getCurrentTask())
+    }
+}

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

@@ -6,7 +6,7 @@ import android.util.Log
 import com.robotemi.sdk.Robot
 import java.net.URL
 
-class ConnectionCoordinator(
+class ConnectionService(
     private val context: Context,
     private val prefs: SharedPreferences,
     private val robot: Robot,
@@ -64,7 +64,7 @@ class ConnectionCoordinator(
         if (host.isNullOrEmpty()) {
             mqttManager = null
             mqttStatusListener(false)
-            Log.w("ConnectionCoordinator", "MQTT disabled: base_url is invalid or not set.")
+            Log.w("ConnectionService", "MQTT disabled: base_url is invalid or not set.")
             return
         }
         mqttManager = MqttManager(
@@ -82,7 +82,7 @@ class ConnectionCoordinator(
             onPublishStatusSnapshot = onPublishStatusSnapshot
         )
         mqttManager?.connect()
-        Log.i("ConnectionCoordinator", "MQTT updated with host=$host")
+        Log.i("ConnectionService", "MQTT updated with host=$host")
     }
 
     fun updateLiveKitConnection(isActivated: Boolean) {

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

@@ -25,6 +25,8 @@ object HttpManager {
     const val PREF_KEY_OD_WF_KEY = "od_wf_key"
     const val PREF_KEY_CD_WFID = "cd_wfid"
     const val PREF_KEY_CD_WF_KEY = "cd_wf_key"
+    const val PREF_KEY_VR_WFID = "vr_wfid"
+    const val PREF_KEY_VR_WF_KEY = "vr_wf_key"
 
     fun getBaseUrl(context: Context): String {
         val prefs = context.getSharedPreferences("app_prefs", Context.MODE_PRIVATE)
@@ -98,6 +100,8 @@ object HttpManager {
             .put(PREF_KEY_OD_WF_KEY)
             .put(PREF_KEY_CD_WFID)
             .put(PREF_KEY_CD_WF_KEY)
+            .put(PREF_KEY_VR_WFID)
+            .put(PREF_KEY_VR_WF_KEY)
             .put(PREF_KEY_MQTT_PASSWORD)
         val response = postJsonArray(context, "/system/config/getConfig", body, token)
         if (response == null) {

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

@@ -52,11 +52,20 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     OnDetectionStateChangedListener, OnReposeStatusChangedListener, SharedPreferences.OnSharedPreferenceChangeListener,
     OnRequestPermissionResultListener, OnBatteryStatusChangedListener, OnMovementStatusChangedListener,
     OnCurrentPositionChangedListener {
+    companion object {
+        private const val STATE_KEY_CURRENT_TASK = "currentTask"
+        private const val STATE_KEY_RECEPTION_LOCATION = "receptionLocation"
+        private const val STATE_KEY_RECEPTION_TEXT = "receptionText"
+        private const val STATE_KEY_RECEPTION_DESTINATION = "receptionDestination"
+        private const val STATE_KEY_NOTIFICATION_LOCATION = "notificationLocation"
+        private const val STATE_KEY_NOTIFICATION_TEXT = "notificationText"
+        private const val STATE_KEY_LAST_ARRIVAL_LOCATION = "lastArrivalLocation"
+    }
 
     private lateinit var robot: Robot
     private lateinit var binding: ActivityMainBinding
     private lateinit var uiState: UiState
-    private lateinit var connectionCoordinator: ConnectionCoordinator
+    private lateinit var connectionService: ConnectionService
     private val mainScope = CoroutineScope(Dispatchers.Main + SupervisorJob())
     private lateinit var prefs: SharedPreferences
     private val specialStateKey = "special_state"
@@ -79,14 +88,6 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     private var lastArrivalLocation: String? = null
     private var lastArrivalAt: Long = 0L
 
-    private var initialTask: String = ""
-    private var initialReceptionLocation: String = ""
-    private var initialReceptionText: String = ""
-    private var initialReceptionDestination: String = ""
-    private var initialNotificationLocation: String = ""
-    private var initialNotificationText: String = ""
-
-
     private var closeDoorJob: Job? = null
     private var detectConfirmJob: Job? = null
     private var idleConfirmJob: Job? = null
@@ -96,9 +97,11 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     private val idleConfirmDelayMs = 5000L
     private var blinkJob: Job? = null
     private var networkErrorJob: Job? = null
-    private var autoRechargeJob: Job? = null
     private var latestYaw: Float? = null
     private var receptionAnchorYaw: Float? = null
+    private var isTtsSpeaking: Boolean = false
+    private lateinit var autoRechargeScheduler: AutoRechargeScheduler
+    private lateinit var workflowService: WorkflowService
     private lateinit var telemetryManager: TelemetryManager
     private lateinit var taskController: TaskController
     private val robotEventHandler = RobotEventHandler()
@@ -129,17 +132,15 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         navCon = NavController(robot)
         permissionManager = PermissionManager(robot)
 
+        val restoredTask = (savedInstanceState?.getString(STATE_KEY_CURRENT_TASK, "") ?: "")
+            .let { if (it == MainTaskPolicy.LEGACY_TASK_SPECIAL) "" else it }
+        val restoredReceptionLocation = savedInstanceState?.getString(STATE_KEY_RECEPTION_LOCATION, "") ?: ""
+        val restoredReceptionText = savedInstanceState?.getString(STATE_KEY_RECEPTION_TEXT, "") ?: ""
+        val restoredReceptionDestination = savedInstanceState?.getString(STATE_KEY_RECEPTION_DESTINATION, "") ?: ""
+        val restoredNotificationLocation = savedInstanceState?.getString(STATE_KEY_NOTIFICATION_LOCATION, "") ?: ""
+        val restoredNotificationText = savedInstanceState?.getString(STATE_KEY_NOTIFICATION_TEXT, "") ?: ""
         if (savedInstanceState != null) {
-            initialTask = savedInstanceState.getString("currentTask", "") ?: ""
+            lastArrivalLocation = savedInstanceState.getString(STATE_KEY_LAST_ARRIVAL_LOCATION)
-            initialReceptionLocation = savedInstanceState.getString("receptionLocation", "") ?: ""
-            initialReceptionText = savedInstanceState.getString("receptionText", "") ?: ""
-            initialReceptionDestination = savedInstanceState.getString("receptionDestination", "") ?: ""
-            initialNotificationLocation = savedInstanceState.getString("notificationLocation", "") ?: ""
-            initialNotificationText = savedInstanceState.getString("notificationText", "") ?: ""
-            lastArrivalLocation = savedInstanceState.getString("lastArrivalLocation")
-        }
-        if (initialTask == "special") {
-            initialTask = ""
         }
 
         prefs = getSharedPreferences("app_prefs", Context.MODE_PRIVATE)
@@ -164,7 +165,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             clearTaskLauncher.launch(Intent(this, SettingsActivity::class.java))
         }
 
-        connectionCoordinator = ConnectionCoordinator(
+        connectionService = ConnectionService(
             context = this,
             prefs = prefs,
             robot = robot,
@@ -218,12 +219,27 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             }
         )
         taskController.restoreState(
-            initialTask,
+            restoredTask,
-            initialReceptionLocation,
+            restoredReceptionLocation,
-            initialReceptionText,
+            restoredReceptionText,
-            initialReceptionDestination,
+            restoredReceptionDestination,
-            initialNotificationLocation,
+            restoredNotificationLocation,
-            initialNotificationText
+            restoredNotificationText
+        )
+        autoRechargeScheduler = AutoRechargeScheduler(
+            scope = mainScope,
+            navController = navCon,
+            getCurrentTask = { taskController.currentTask },
+            isSpecialStateEnabled = { isSpecialStateEnabled() },
+            getLastArrivalLocation = { lastArrivalLocation },
+            normalizeLocation = { value -> robotEventHandler.normalizeLocation(value) }
+        )
+        workflowService = WorkflowService(
+            context = this@MainActivity,
+            prefs = prefs,
+            scope = mainScope,
+            normalizeLocation = { value -> robotEventHandler.normalizeLocation(value) },
+            onWorkflowFailed = { showNetworkErrorBanner() }
         )
 
         binding.btnReception.setOnClickListener {
@@ -231,6 +247,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             if (destination.isNullOrBlank()) {
                 return@setOnClickListener
             }
+            workflowService.markReceptionReturnPending()
             val ttsRequest = TtsRequest.create("接待任务确认，请跟我来", false, language = TtsRequest.Language.ZH_CN)
             robot.speak(ttsRequest)
             navCon.goTo(destination, false)
@@ -242,7 +259,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             locationProvider = { lastArrivalLocation },
             mqttConnectedProvider = { isMqttConnected },
             liveKitConnectedProvider = { isLiveKitConnected },
-            publish = { topic, payload -> connectionCoordinator.publish(topic, payload) },
+            publish = { topic, payload -> connectionService.publish(topic, payload) },
             onLowBattery = { _ ->
                 val ttsRequest = TtsRequest.create("电量低，请及时充电。", false, language = TtsRequest.Language.ZH_CN)
                 robot.speak(ttsRequest)
@@ -268,8 +285,8 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         robot.constraintBeWith()
         updateActivationBanner()
         if (!isActivated()) {
-            connectionCoordinator.disconnectMqtt()
+            connectionService.disconnectMqtt()
-            connectionCoordinator.disconnectLiveKit()
+            connectionService.disconnectLiveKit()
             setMqttConnectionStatus(false)
             setLiveKitStatus(false)
             stopBlinking()
@@ -295,7 +312,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         robot.removeOnCurrentPositionChangedListener(this)
         robot.removeOnRequestPermissionResultListener(this)
         // Keep MQTT alive in background/settings
-        connectionCoordinator.disconnectLiveKit()
+        connectionService.disconnectLiveKit()
         stopBlinking()
         telemetryManager.stop()
     }
@@ -303,7 +320,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     override fun onDestroy() {
         super.onDestroy()
         prefs.unregisterOnSharedPreferenceChangeListener(this)
-        connectionCoordinator.release()
+        connectionService.release()
         LogManager.stopLogcatListener()
         mainScope.cancel()
         Log.i("MainActivity", "All resources released on destroy.")
@@ -331,9 +348,10 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     override fun onTtsStatusChanged(ttsRequest: TtsRequest) {
-        connectionCoordinator.handleTtsStatusChange(ttsRequest)
+        connectionService.handleTtsStatusChange(ttsRequest)
         when (ttsRequest.status) {
             TtsRequest.Status.STARTED -> {
+                isTtsSpeaking = true
                 Log.i("MainActivity", "TTS started")
                 binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.TALKING
                 liveKitManager?.setTtsMute(true)
@@ -341,8 +359,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             TtsRequest.Status.COMPLETED, 
             TtsRequest.Status.CANCELED,
             TtsRequest.Status.NOT_ALLOWED -> {
+                isTtsSpeaking = false
                 Log.i("MainActivity", "TTS finished: ${ttsRequest.speech}")
-                if (taskController.currentTask == "patrol") {
+                if (MainTaskPolicy.isTask(taskController.currentTask, MainTaskPolicy.TASK_PATROL)) {
                     binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.ANGRY
                 } else {
                     binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.SMILE
@@ -350,6 +369,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
                 liveKitManager?.setTtsMute(false)
             }
             TtsRequest.Status.ERROR -> {
+                isTtsSpeaking = false
                 Log.e("MainActivity", "TTS error: ${ttsRequest.speech}")
                 binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.SAD
                 liveKitManager?.setTtsMute(false)
@@ -380,14 +400,14 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         val isAbort = robotEventHandler.isAbortStatus(status)
         val isMoving = robotEventHandler.isMovingStatus(status)
         if (isMoving) {
-            cancelAutoRecharge("movement_started:$location/$status")
+            autoRechargeScheduler.cancel("movement_started:$location/$status")
             taskController.cancelTaskWaitTimeout()
         }
         if (normalized != "complete" && !isAbort) {
             return
         }
         if (isAbort) {
-            cancelAutoRecharge("movement_aborted:$location/$status")
+            autoRechargeScheduler.cancel("movement_aborted:$location/$status")
             taskController.cancelTaskWaitTimeout()
             taskController.clearLeavingHomeBase()
             taskController.endNonSpecialTask("goTo aborted: $location, status=$status")
@@ -403,23 +423,26 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         prefs.edit().putString("current_location", location).apply()
         if (robotEventHandler.normalizeLocation(location) == "homebase") {
             navCon.tiltAngle(20)
+            workflowService.triggerReceptionReturnWorkflowIfNeeded(location)
         }
-        if (taskController.currentTask == "patrol") {
+        if (MainTaskPolicy.isTask(taskController.currentTask, MainTaskPolicy.TASK_PATROL)) {
             taskController.handlePatrolArrival(location)
         }
-        if (taskController.currentTask == "reception" &&
+        if (MainTaskPolicy.isTask(taskController.currentTask, MainTaskPolicy.TASK_RECEPTION) &&
-            location.equals(taskController.getReceptionLocation(), ignoreCase = true)
+            robotEventHandler.normalizeLocation(location) ==
+            robotEventHandler.normalizeLocation(taskController.getReceptionLocation())
         ) {
             captureReceptionAnchorYawIfNeeded()
             taskController.startTaskWaitTimeout()
         }
-        if (taskController.currentTask != "reception") {
+        if (!MainTaskPolicy.isTask(taskController.currentTask, MainTaskPolicy.TASK_RECEPTION)) {
             receptionAnchorYaw = null
         }
         if (taskController.handleNotificationArrival(location)) {
             return
         }
-        if (isSpecialStateEnabled() && taskController.currentTask.isEmpty()) {
+        val behavior = MainTaskPolicy.resolveBehaviorDecision(taskController.currentTask, isSpecialStateEnabled())
+        if (behavior.skipArrivalAnnouncement) {
             Log.i("MainActivity", "Special state: arrival announcement skipped at $location.")
             return
         }
@@ -427,7 +450,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         val ttsRequest = TtsRequest.create(text, false, language = TtsRequest.Language.ZH_CN)
         robot.speak(ttsRequest)
         Log.i("MainActivity", "Arrived at $location, announcement sent.")
-        scheduleAutoRechargeAfterIdleArrival()
+        if (behavior.allowAutoRecharge) {
+            autoRechargeScheduler.scheduleAfterIdleArrival()
+        }
     }
 
     override fun onDetectionStateChanged(state: Int) {
@@ -467,7 +492,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     private fun handleStableDetectionStateChanged(state: Int) {
         Log.i("MainActivity", "Stable detection state: $state")
         liveKitManager?.setDetectionActive(state == DETECTED)
-        if (taskController.currentTask == "reception") {
+        if (MainTaskPolicy.isTask(taskController.currentTask, MainTaskPolicy.TASK_RECEPTION)) {
             if (state == DETECTED) {
                 captureReceptionAnchorYawIfNeeded()
             } else if (state == IDLE) {
@@ -478,10 +503,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             Log.i("MainActivity", "Detection event handled by task controller.")
             return
         }
-        val isSpecialState = isSpecialStateEnabled()
+        val behavior = MainTaskPolicy.resolveBehaviorDecision(taskController.currentTask, isSpecialStateEnabled())
-        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 -> {
@@ -490,7 +514,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
                     val ttsRequest = TtsRequest.create("正在为你开门，请稍等。", false, language = TtsRequest.Language.ZH_CN)
                     robot.speak(ttsRequest)
                     mainScope.launch {
-                        val result = executeDoorWorkflow(openDoor = true)
+                        val result = workflowService.executeDoorWorkflow(openDoor = true)
                         if (result == null) {
                             showNetworkErrorBanner()
                         }
@@ -501,7 +525,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
                         val ttsRequest = TtsRequest.create("正准备关门，请小心被夹。", false, language = TtsRequest.Language.ZH_CN)
                         robot.speak(ttsRequest)
                         mainScope.launch {
-                            val result = executeDoorWorkflow(openDoor = false)
+                            val result = workflowService.executeDoorWorkflow(openDoor = false)
                             if (result == null) {
                                 showNetworkErrorBanner()
                             }
@@ -510,7 +534,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
                 }
             }
         }
-        if (isIdleTask && !atHomeBase && state == DETECTED && !isSpecialState) {
+        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"
@@ -537,9 +561,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
 
     fun setCurrentTask(task: String) {
         if (task.trim().isNotEmpty()) {
-            cancelAutoRecharge("task_set:$task")
+            autoRechargeScheduler.cancel("task_set:$task")
         }
-        if (!task.equals("reception", ignoreCase = true)) {
+        if (!MainTaskPolicy.isTask(task, MainTaskPolicy.TASK_RECEPTION)) {
             receptionAnchorYaw = null
         }
         taskController.setCurrentTask(task)
@@ -574,6 +598,9 @@ 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) {
+                autoRechargeScheduler.cancel("special_state_enabled")
+            }
         }
         if (key == LiveKitManager.PREF_KEY_URL ||
             key == LiveKitManager.PREF_KEY_ROOM ||
@@ -592,11 +619,11 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     private fun updateMqttConnection() {
-        connectionCoordinator.updateMqttConnection(isActivated())
+        connectionService.updateMqttConnection(isActivated())
     }
 
     private fun updateLiveKitConnection() {
-        connectionCoordinator.updateLiveKitConnection(isActivated())
+        connectionService.updateLiveKitConnection(isActivated())
     }
 
     private fun hasAudioPermission(): Boolean {
@@ -679,7 +706,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     private fun updateLiveKitStatusSnapshot() {
-        connectionCoordinator.updateLiveKitStatusSnapshot(isActivated())
+        connectionService.updateLiveKitStatusSnapshot(isActivated())
     }
 
     private fun setLiveKitStatus(connected: Boolean) {
@@ -706,7 +733,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             .put("topic", topicLabel)
             .put("participant", participantLabel)
             .put("ts", System.currentTimeMillis())
-        connectionCoordinator.publish("robot/asr", data.toString())
+        connectionService.publish("robot/asr", data.toString())
     }
 
     private fun extractAsrText(payload: String): String? {
@@ -736,35 +763,6 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         }
     }
 
-    private fun scheduleAutoRechargeAfterIdleArrival() {
-        if (taskController.currentTask.isNotEmpty()) {
-            return
-        }
-        if (robotEventHandler.normalizeLocation(lastArrivalLocation) == "homebase") {
-            return
-        }
-        autoRechargeJob?.cancel()
-        autoRechargeJob = mainScope.launch {
-            delay(10_000L)
-            if (taskController.currentTask.isNotEmpty()) {
-                return@launch
-            }
-            if (robotEventHandler.normalizeLocation(lastArrivalLocation) == "homebase") {
-                return@launch
-            }
-            Log.i("MainActivity", "Auto recharge triggered after idle arrival timeout.")
-            navCon.recharge()
-        }
-    }
-
-    private fun cancelAutoRecharge(reason: String) {
-        if (autoRechargeJob?.isActive == true) {
-            Log.i("MainActivity", "Auto recharge canceled: $reason")
-        }
-        autoRechargeJob?.cancel()
-        autoRechargeJob = null
-    }
-
     private fun captureReceptionAnchorYawIfNeeded() {
         if (receptionAnchorYaw != null) {
             return
@@ -775,10 +773,12 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     private fun recoverReceptionFacingDirection() {
-        if (taskController.currentTask != "reception") {
+        if (!MainTaskPolicy.isTask(taskController.currentTask, MainTaskPolicy.TASK_RECEPTION)) {
             return
         }
-        val atReceptionLocation = lastArrivalLocation?.equals(taskController.getReceptionLocation(), ignoreCase = true) == true
+        val atReceptionLocation =
+            robotEventHandler.normalizeLocation(lastArrivalLocation) ==
+            robotEventHandler.normalizeLocation(taskController.getReceptionLocation())
         if (!atReceptionLocation) {
             return
         }
@@ -797,23 +797,6 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         Log.i("MainActivity", "Reception facing recovered by $turn degrees (delta=$delta).")
     }
 
-    private suspend fun executeDoorWorkflow(openDoor: Boolean): String? {
-        val workflowIdKey = if (openDoor) HttpManager.PREF_KEY_OD_WFID else HttpManager.PREF_KEY_CD_WFID
-        val workflowApiKey = if (openDoor) HttpManager.PREF_KEY_OD_WF_KEY else HttpManager.PREF_KEY_CD_WF_KEY
-        val workflowId = prefs.getString(workflowIdKey, "").orEmpty().trim()
-        val apiKey = prefs.getString(workflowApiKey, "").orEmpty().trim()
-        if (workflowId.isEmpty() || apiKey.isEmpty()) {
-            Log.w("MainActivity", "Door workflow config missing: openDoor=$openDoor")
-            return null
-        }
-        return HttpManager.workflow_execute(
-            context = this@MainActivity,
-            apiKey = apiKey,
-            workflowId = workflowId,
-            inputs = emptyMap<String, Any>()
-        )
-    }
-
     private fun isActivated(): Boolean {
         if (!::prefs.isInitialized) {
             return false
@@ -854,13 +837,13 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
 
     override fun onSaveInstanceState(outState: Bundle) {
         super.onSaveInstanceState(outState)
-        outState.putString("currentTask", taskController.currentTask)
+        outState.putString(STATE_KEY_CURRENT_TASK, taskController.currentTask)
-        outState.putString("receptionLocation", taskController.getReceptionLocation())
+        outState.putString(STATE_KEY_RECEPTION_LOCATION, taskController.getReceptionLocation())
-        outState.putString("receptionText", taskController.getReceptionText())
+        outState.putString(STATE_KEY_RECEPTION_TEXT, taskController.getReceptionText())
-        outState.putString("receptionDestination", taskController.getReceptionDestination())
+        outState.putString(STATE_KEY_RECEPTION_DESTINATION, taskController.getReceptionDestination())
-        outState.putString("notificationLocation", taskController.getNotificationLocation())
+        outState.putString(STATE_KEY_NOTIFICATION_LOCATION, taskController.getNotificationLocation())
-        outState.putString("notificationText", taskController.getNotificationText())
+        outState.putString(STATE_KEY_NOTIFICATION_TEXT, taskController.getNotificationText())
-        outState.putString("lastArrivalLocation", lastArrivalLocation)
+        outState.putString(STATE_KEY_LAST_ARRIVAL_LOCATION, lastArrivalLocation)
     }
 
     override fun onReposeStatusChanged(status: Int, description: String) {

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

@@ -0,0 +1,38 @@
+package com.example.lzwcai_terminal_temi
+
+object MainTaskPolicy {
+    const val TASK_PATROL = "patrol"
+    const val TASK_RECEPTION = "reception"
+    const val TASK_SPEECH = "speech"
+    const val LEGACY_TASK_SPECIAL = "special"
+
+    data class BehaviorDecision(
+        val skipArrivalAnnouncement: Boolean,
+        val allowAutoRecharge: Boolean,
+        val allowDoorWorkflow: Boolean,
+        val allowIdleGreeting: Boolean
+    )
+
+    fun normalizeTask(task: String?): String {
+        return task.orEmpty().trim().lowercase()
+    }
+
+    fun isTask(task: String?, expected: String): Boolean {
+        return normalizeTask(task) == expected
+    }
+
+    fun isIdleTask(task: String?): Boolean {
+        val normalized = normalizeTask(task)
+        return normalized.isEmpty() || normalized == TASK_SPEECH
+    }
+
+    fun resolveBehaviorDecision(task: String?, isSpecialState: Boolean): BehaviorDecision {
+        val isIdleTask = isIdleTask(task)
+        return BehaviorDecision(
+            skipArrivalAnnouncement = isSpecialState && normalizeTask(task).isEmpty(),
+            allowAutoRecharge = !isSpecialState && isIdleTask,
+            allowDoorWorkflow = !isSpecialState && isIdleTask,
+            allowIdleGreeting = !isSpecialState && isIdleTask
+        )
+    }
+}

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

@@ -36,6 +36,8 @@ class MqttManager(
     private val job = SupervisorJob()
     private val scope = CoroutineScope(Dispatchers.IO + job)
     private var reconnectJob: Job? = null
+    @Volatile
+    private var isConnecting: Boolean = false
     private val prefs = appContext.getSharedPreferences("app_prefs", Context.MODE_PRIVATE)
     private val agentDempIdKey = "agent_demp_id"
 
@@ -57,10 +59,15 @@ class MqttManager(
     private var danceJob: Job? = null
 
     init {
+        createMqttClient()
+    }
+
+    private fun createMqttClient() {
         try {
             mqttClient = MqttClient(brokerUri, clientId, MemoryPersistence())
             mqttClient?.setCallback(object : MqttCallbackExtended {
                 override fun connectComplete(reconnect: Boolean, serverURI: String?) {
+                    isConnecting = false
                     Log.i(TAG, "MQTT connection complete. Reconnect: $reconnect")
                     subscribeTopic("robot/cmd")
                     subscribeTopic("soul2user")
@@ -68,6 +75,7 @@ class MqttManager(
                 }
 
                 override fun connectionLost(cause: Throwable?) {
+                    isConnecting = false
                     Log.e(TAG, "Connection lost: ${cause?.message}")
                     updateConnectionStatus(false)
                     scheduleReconnect()
@@ -96,6 +104,10 @@ class MqttManager(
                 updateConnectionStatus(true)
                 return@launch
             }
+            if (isConnecting) {
+                Log.d(TAG, "MQTT connect skipped: already connecting.")
+                return@launch
+            }
             val username = prefs.getString(HttpManager.PREF_KEY_MQTT_USERNAME, "").orEmpty().trim()
             val password = prefs.getString(HttpManager.PREF_KEY_MQTT_PASSWORD, "").orEmpty()
             if (username.isEmpty() || password.isEmpty()) {
@@ -103,8 +115,12 @@ class MqttManager(
                 updateConnectionStatus(false)
                 return@launch
             }
+            if (mqttClient == null) {
+                createMqttClient()
+            }
             Log.i(TAG, "Attempting to connect to MQTT broker at $brokerUri")
             try {
+                isConnecting = true
                 val options = MqttConnectOptions().apply {
                     isAutomaticReconnect = false
                     isCleanSession = true
@@ -114,8 +130,10 @@ class MqttManager(
                     this.password = password.toCharArray()
                 }
                 mqttClient?.connect(options)
-            } catch (e: MqttException) {
+            } catch (t: Throwable) {
-                Log.e(TAG, "Initial connection failed: ${e.message}")
+                Log.e(TAG, "Initial connection failed", t)
+                isConnecting = false
+                resetClientSafely()
                 updateConnectionStatus(false)
                 scheduleReconnect()
             }
@@ -137,6 +155,7 @@ class MqttManager(
         scope.launch {
             try {
                 reconnectJob?.cancel() 
+                isConnecting = false
                 if (mqttClient?.isConnected == true) {
                     mqttClient?.disconnect()
                     Log.i(TAG, "Disconnected from MQTT broker.")
@@ -151,7 +170,7 @@ class MqttManager(
 
     fun shutdown() {
         reconnectJob?.cancel()
-        job.cancel()
+        isConnecting = false
         try {
             if (mqttClient?.isConnected == true) {
                 mqttClient?.disconnect()
@@ -165,6 +184,16 @@ class MqttManager(
         }
     }
 
+    private fun resetClientSafely() {
+        try {
+            mqttClient?.close()
+        } catch (_: Exception) {
+        } finally {
+            mqttClient = null
+        }
+        createMqttClient()
+    }
+
     private fun updateConnectionStatus(connected: Boolean) {
         Handler(Looper.getMainLooper()).post {
             statusListener(connected)
@@ -284,7 +313,8 @@ class MqttManager(
 
     private fun handleJsonCommand(obj: JSONObject) {
         val action = obj.optString("action", obj.optString("cmd", obj.optString("type", ""))).lowercase()
-        val actionsResetTask = setOf("recharge", "goto", "notification", "reception", "patrol", "repose", "turn", "tilt", "terminate")
+        // Only interrupt current task for explicit navigation/termination commands.
+        val actionsResetTask = setOf("recharge", "goto", "terminate")
         if (action in actionsResetTask) {
             scope.launch(Dispatchers.Main) {
                 onSetCurrentTask("")
@@ -395,9 +425,9 @@ class MqttManager(
             }
             "reception" -> {
                 speak("接到接待任务", "zh")
-                val location = obj.optString("location", "前台")
+                val location = "前台"
-                val text = obj.optString("text", "你是我要接待的贵宾吗？")
+                val text = obj.optString("text", "你是我要接待的贵宾吗？").trim()
-                val destination = obj.optString("destination", "会议室")
+                val destination = obj.optString("destination", "会议室").trim()
                 scope.launch(Dispatchers.Main) {
                     onStartReceptionMode(location, text, destination)
                 }

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

@@ -103,6 +103,8 @@ class SettingsActivity : AppCompatActivity() {
                         .remove(HttpManager.PREF_KEY_OD_WF_KEY)
                         .remove(HttpManager.PREF_KEY_CD_WFID)
                         .remove(HttpManager.PREF_KEY_CD_WF_KEY)
+                        .remove(HttpManager.PREF_KEY_VR_WFID)
+                        .remove(HttpManager.PREF_KEY_VR_WF_KEY)
                     binding.etActivationCode.setText("")
                     binding.etDeviceName.setText("")
                     updateActivationUi(false)
@@ -154,8 +156,15 @@ class SettingsActivity : AppCompatActivity() {
                 val odWfKey = runtimeConfigs?.get(HttpManager.PREF_KEY_OD_WF_KEY).orEmpty()
                 val cdWfid = runtimeConfigs?.get(HttpManager.PREF_KEY_CD_WFID).orEmpty()
                 val cdWfKey = runtimeConfigs?.get(HttpManager.PREF_KEY_CD_WF_KEY).orEmpty()
+                val vrWfid = runtimeConfigs?.get(HttpManager.PREF_KEY_VR_WFID).orEmpty()
+                val vrWfKey = runtimeConfigs?.get(HttpManager.PREF_KEY_VR_WF_KEY).orEmpty()
                 val mqttReady = mqttUser.isNotBlank() && mqttPass.isNotBlank()
-                val workflowReady = odWfid.isNotBlank() && odWfKey.isNotBlank() && cdWfid.isNotBlank() && cdWfKey.isNotBlank()
+                val workflowReady = odWfid.isNotBlank() &&
+                    odWfKey.isNotBlank() &&
+                    cdWfid.isNotBlank() &&
+                    cdWfKey.isNotBlank() &&
+                    vrWfid.isNotBlank() &&
+                    vrWfKey.isNotBlank()
                 val configReady = mqttReady && workflowReady
                 val editor = prefs.edit()
                     .putString(HttpManager.PREF_KEY_ACTIVATION_CODE, activationCode)
@@ -168,6 +177,8 @@ class SettingsActivity : AppCompatActivity() {
                     .putString(HttpManager.PREF_KEY_OD_WF_KEY, odWfKey)
                     .putString(HttpManager.PREF_KEY_CD_WFID, cdWfid)
                     .putString(HttpManager.PREF_KEY_CD_WF_KEY, cdWfKey)
+                    .putString(HttpManager.PREF_KEY_VR_WFID, vrWfid)
+                    .putString(HttpManager.PREF_KEY_VR_WF_KEY, vrWfKey)
                 editor.apply()
                 updateActivationUi(true)
                 if (!configReady) {

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

@@ -15,6 +15,15 @@ class TaskController(
     private val setEmoji: (AnimatedEmojiView.Expression) -> Unit,
     private val setReceptionButtonVisible: (Boolean) -> Unit
 ) {
+    private fun normalizeLocation(value: String?): String {
+        return value.orEmpty()
+            .trim()
+            .lowercase()
+            .replace(" ", "")
+            .replace("_", "")
+            .replace("-", "")
+    }
+
     var currentTask: String = ""
         private set
 
@@ -120,14 +129,21 @@ class TaskController(
     }
 
     fun startReceptionMode(location: String, text: String, destination: String) {
+        val targetLocation = location.trim()
+        val promptText = text.trim()
+        val targetDestination = destination.trim()
+        if (targetLocation.isEmpty()) {
+            setCurrentTask("")
+            return
+        }
         setCurrentTask("reception")
-        receptionLocation = location
+        receptionLocation = targetLocation
-        receptionText = text
+        receptionText = promptText.ifEmpty { "你是我要接待的贵宾吗？" }
-        receptionDestination = destination
+        receptionDestination = targetDestination
         isReceptionPromptVisible = false
         setReceptionButtonVisible(false)
-        if (getLastArrivalLocation() != location) {
+        if (getLastArrivalLocation()?.trim()?.equals(targetLocation, ignoreCase = true) != true) {
-            navController.goTo(location, false)
+            navController.goTo(targetLocation, false)
         } else {
             startTaskWaitTimeout()
         }
@@ -177,9 +193,13 @@ class TaskController(
             speak("别妨碍我，我正在巡逻呢")
             return true
         }
-        if (currentTask == "reception" &&
+        if (currentTask == "reception") {
-            getLastArrivalLocation()?.equals(receptionLocation, ignoreCase = true) == true
+            val isAtReceptionLocation =
-        ) {
+                normalizeLocation(getLastArrivalLocation()) == normalizeLocation(receptionLocation)
+            if (!isAtReceptionLocation) {
+                // Keep default greeting disabled during reception even before arriving at spot.
+                return true
+            }
             when (state) {
                 DETECTED -> {
                     startTaskWaitTimeout()
@@ -194,8 +214,9 @@ class TaskController(
                     setReceptionButtonVisible(false)
                 }
             }
+            return true
         }
-        return currentTask == "reception"
+        return false
     }
 
     fun endNonSpecialTask(reason: String) {

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

@@ -0,0 +1,117 @@
+package com.example.lzwcai_terminal_temi
+
+import android.content.Context
+import android.content.SharedPreferences
+import android.util.Log
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.launch
+import java.text.SimpleDateFormat
+import java.util.Date
+import java.util.Locale
+
+class WorkflowService(
+    private val context: Context,
+    private val prefs: SharedPreferences,
+    private val scope: CoroutineScope,
+    private val normalizeLocation: (String?) -> String,
+    private val onWorkflowFailed: () -> Unit
+) {
+    private var pendingReceptionReturnWorkflow: Boolean = false
+    private var lastWorkflowConfigRefreshAt: Long = 0L
+
+    fun markReceptionReturnPending() {
+        pendingReceptionReturnWorkflow = true
+    }
+
+    fun triggerReceptionReturnWorkflowIfNeeded(location: String) {
+        if (!pendingReceptionReturnWorkflow) {
+            return
+        }
+        if (normalizeLocation(location) != "homebase") {
+            return
+        }
+        pendingReceptionReturnWorkflow = false
+        scope.launch {
+            val nowText = SimpleDateFormat("yyyy-MM-dd HH:mm:ss", Locale.getDefault()).format(Date())
+            val inputs = mapOf("flag" to nowText)
+            val result = executeConfiguredWorkflow(
+                workflowIdKey = HttpManager.PREF_KEY_VR_WFID,
+                workflowApiKey = HttpManager.PREF_KEY_VR_WF_KEY,
+                workflowName = "reception-return-home",
+                inputs = inputs
+            )
+            if (result == null) {
+                onWorkflowFailed()
+            }
+        }
+    }
+
+    suspend fun executeDoorWorkflow(openDoor: Boolean): String? {
+        val workflowIdKey = if (openDoor) HttpManager.PREF_KEY_OD_WFID else HttpManager.PREF_KEY_CD_WFID
+        val workflowApiKey = if (openDoor) HttpManager.PREF_KEY_OD_WF_KEY else HttpManager.PREF_KEY_CD_WF_KEY
+        val workflowName = if (openDoor) "open-door" else "close-door"
+        return executeConfiguredWorkflow(workflowIdKey, workflowApiKey, workflowName)
+    }
+
+    private suspend fun executeConfiguredWorkflow(
+        workflowIdKey: String,
+        workflowApiKey: String,
+        workflowName: String,
+        inputs: Any = emptyMap<String, Any>()
+    ): String? {
+        var workflowId = prefs.getString(workflowIdKey, "").orEmpty().trim()
+        var apiKey = prefs.getString(workflowApiKey, "").orEmpty().trim()
+        if (workflowId.isEmpty() || apiKey.isEmpty()) {
+            refreshWorkflowConfigsIfNeeded()
+            workflowId = prefs.getString(workflowIdKey, "").orEmpty().trim()
+            apiKey = prefs.getString(workflowApiKey, "").orEmpty().trim()
+        }
+        if (workflowId.isEmpty() || apiKey.isEmpty()) {
+            Log.w(
+                "MainActivity",
+                "Workflow config missing after refresh: workflow=$workflowName, " +
+                    "workflowIdKey=$workflowIdKey, workflowApiKey=$workflowApiKey"
+            )
+            return null
+        }
+        return HttpManager.workflow_execute(
+            context = context,
+            apiKey = apiKey,
+            workflowId = workflowId,
+            inputs = inputs
+        )
+    }
+
+    private suspend fun refreshWorkflowConfigsIfNeeded() {
+        val now = System.currentTimeMillis()
+        if (now - lastWorkflowConfigRefreshAt < 5000L) {
+            return
+        }
+        lastWorkflowConfigRefreshAt = now
+        val runtimeConfigs = HttpManager.fetchRuntimeConfigs(context) ?: return
+        val workflowKeys = listOf(
+            HttpManager.PREF_KEY_OD_WFID,
+            HttpManager.PREF_KEY_OD_WF_KEY,
+            HttpManager.PREF_KEY_CD_WFID,
+            HttpManager.PREF_KEY_CD_WF_KEY,
+            HttpManager.PREF_KEY_VR_WFID,
+            HttpManager.PREF_KEY_VR_WF_KEY
+        )
+        val editor = prefs.edit()
+        var changed = false
+        for (key in workflowKeys) {
+            val value = runtimeConfigs[key]?.trim().orEmpty()
+            if (value.isEmpty()) {
+                continue
+            }
+            if (prefs.getString(key, "").orEmpty() != value) {
+                editor.putString(key, value)
+                changed = true
+            }
+        }
+        if (changed) {
+            editor.apply()
+            Log.i("MainActivity", "Workflow configs refreshed from server.")
+        }
+    }
+}

app/src/main/res/layout-land/activity_main.xml

@@ -93,7 +93,7 @@
         android:layout_marginEnd="40dp"
         android:layout_marginTop="40dp"
         android:layout_marginBottom="40dp"
-        android:text="是的，请带我去"
+        android:text="带我去接待地点"
         android:textSize="48sp"
         android:visibility="gone"
         app:layout_constraintTop_toTopOf="parent"

app/src/main/res/layout/activity_main.xml

@@ -93,7 +93,7 @@
         android:layout_marginEnd="40dp"
         android:layout_marginTop="40dp"
         android:layout_marginBottom="40dp"
-        android:text="是的，请带我去"
+        android:text="带我去接待地点"
         android:textSize="48sp"
         android:visibility="gone"
         app:layout_constraintTop_toTopOf="parent"