using System.Net.Sockets;
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using WIDESEAWCS_Common.HttpEnum;
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using WIDESEAWCS_Common.TaskEnum;
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using WIDESEAWCS_DTO.TaskInfo;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_Model.Models;
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using WIDESEAWCS_Tasks.Workflow.Abstractions;
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namespace WIDESEAWCS_Tasks.Workflow
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{
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/// <summary>
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/// 前缀命令处理：迁移原 RobotMessageHandler 的 pickfinished/putfinished 分支。
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/// </summary>
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public class RobotPrefixCommandHandler : IRobotPrefixCommandHandler
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{
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private readonly IRobotTaskService _robotTaskService;
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private readonly RobotTaskProcessor _taskProcessor;
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private readonly RobotStateManager _stateManager;
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private readonly ISocketClientGateway _socketClientGateway;
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public RobotPrefixCommandHandler(
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IRobotTaskService robotTaskService,
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RobotTaskProcessor taskProcessor,
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RobotStateManager stateManager,
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ISocketClientGateway socketClientGateway)
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{
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_robotTaskService = robotTaskService;
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_taskProcessor = taskProcessor;
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_stateManager = stateManager;
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_socketClientGateway = socketClientGateway;
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}
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public bool IsPrefixCommand(string message)
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{
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return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
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}
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public async Task HandleAsync(string message, RobotSocketState state, TcpClient client)
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{
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try
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{
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var parts = message.Split(',');
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if (parts.Length < 1 || state.CurrentTask == null)
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{
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return;
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}
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var cmd = parts[0].ToLowerInvariant();
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int[] positions = parts.Skip(1)
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.Select(p => int.TryParse(p, out int value) ? value : (int?)null)
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.Where(v => v.HasValue && v.Value != 0)
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.Select(v => v!.Value)
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.ToArray();
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var task = await _robotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId);
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if (cmd.StartsWith("pickfinished"))
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{
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await HandlePickFinishedAsync(state, positions, task);
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}
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else if (cmd.StartsWith("putfinished"))
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{
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await HandlePutFinishedAsync(state, positions, task);
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}
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await _socketClientGateway.SendMessageAsync(client, message);
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}
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catch (Exception ex)
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{
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Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
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}
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}
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private async Task HandlePickFinishedAsync(RobotSocketState state, int[] positions, Dt_RobotTask? task)
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{
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if (state.IsSplitPallet)
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{
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var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
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state.LastPickPositions = positions;
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var result = _taskProcessor.PostSplitPalletAsync(stockDTO);
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if (result.Data.Status && result.IsSuccess)
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{
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state.CurrentAction = "PickFinished";
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}
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}
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else
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{
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state.CurrentAction = "PickFinished";
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}
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state.LastPickPositions = positions;
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if (task != null)
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{
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task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode();
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if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
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{
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await _robotTaskService.Repository.UpdateDataAsync(task);
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}
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}
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}
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private async Task HandlePutFinishedAsync(RobotSocketState state, int[] positions, Dt_RobotTask? task)
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{
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bool putSuccess = true;
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if (state.IsGroupPallet)
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{
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state.LastPutPositions = positions;
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var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
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var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
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? nameof(ConfigKey.ChangePalletAsync)
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: nameof(ConfigKey.GroupPalletAsync);
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var result = _taskProcessor.PostGroupPalletAsync(configKey, stockDTO);
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putSuccess = result.Data.Status && result.IsSuccess;
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}
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if (putSuccess)
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{
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state.CurrentAction = "PutFinished";
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state.RobotTaskTotalNum += positions.Length;
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if (task != null)
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{
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task.RobotTaskTotalNum += positions.Length;
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}
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}
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if (task != null)
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{
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task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode();
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if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
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{
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await _robotTaskService.Repository.UpdateDataAsync(task);
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}
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}
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}
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}
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}
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