using Quartz;
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using WIDESEA_Core;
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using WIDESEAWCS_Core.Caches;
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using WIDESEAWCS_Core.Helper;
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using WIDESEAWCS_ITaskInfoService;
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using WIDESEAWCS_QuartzJob;
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using WIDESEAWCS_Tasks.Workflow.Abstractions;
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using WIDESEAWCS_Tasks.Workflow;
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using WIDESEAWCS_Tasks.SocketServer;
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namespace WIDESEAWCS_Tasks
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{
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/// <summary>
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/// 机器人任务作业：负责调度与生命周期管理，具体状态机流程交给编排器。
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/// </summary>
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[DisallowConcurrentExecution]
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public class RobotJob : IJob
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{
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private const int MaxTaskTotalNum = 48;
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private static int _messageSubscribedFlag;
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private readonly RobotClientManager _clientManager;
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private readonly RobotStateManager _stateManager;
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private readonly IRobotMessageRouter _messageRouter;
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private readonly RobotTaskProcessor _taskProcessor;
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private readonly IRobotWorkflowOrchestrator _workflowOrchestrator;
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public RobotJob(
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TcpSocketServer tcpSocket,
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IRobotTaskService robotTaskService,
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ITaskService taskService,
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ICacheService cache,
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HttpClientHelper httpClientHelper)
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{
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_stateManager = new RobotStateManager(cache);
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// 收口 Socket 访问，后续若替换通信实现只需替换网关层。
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ISocketClientGateway socketGateway = new SocketClientGateway(tcpSocket);
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_taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper);
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_clientManager = new RobotClientManager(tcpSocket, _stateManager);
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var simpleCommandHandler = new RobotSimpleCommandHandler(_taskProcessor);
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var prefixCommandHandler = new RobotPrefixCommandHandler(robotTaskService, _taskProcessor, _stateManager, socketGateway);
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_messageRouter = new RobotMessageHandler(socketGateway, _stateManager, cache, simpleCommandHandler, prefixCommandHandler);
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_workflowOrchestrator = new RobotWorkflowOrchestrator(_stateManager, _clientManager, _taskProcessor, robotTaskService);
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_clientManager.OnClientDisconnected += OnClientDisconnected;
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// 全局只订阅一次消息事件，保持原有行为。
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if (System.Threading.Interlocked.CompareExchange(ref _messageSubscribedFlag, 1, 0) == 0)
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{
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tcpSocket.MessageReceived += _messageRouter.HandleMessageReceivedAsync;
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Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 机器手TCP消息事件已订阅");
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}
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}
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private void OnClientDisconnected(object? sender, RobotSocketState state)
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{
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Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 客户端已断开连接: {state.IPAddress}");
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}
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public async Task Execute(IJobExecutionContext context)
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{
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bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
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RobotCraneDevice robotCrane = (RobotCraneDevice?)value ?? new RobotCraneDevice();
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if (!flag || robotCrane.IsNullOrEmpty())
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{
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return;
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}
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string ipAddress = robotCrane.IPAddress;
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RobotSocketState state = _stateManager.GetOrCreateState(ipAddress, robotCrane);
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state.RobotCrane = robotCrane;
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try
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{
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if (!_clientManager.EnsureClientSubscribed(ipAddress, robotCrane))
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{
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return;
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}
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var task = _taskProcessor.GetTask(robotCrane);
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if (task != null)
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{
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var latestState = _stateManager.GetState(ipAddress);
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if (latestState == null)
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{
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return;
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}
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if (latestState.RobotTaskTotalNum < MaxTaskTotalNum)
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{
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await _workflowOrchestrator.ExecuteAsync(latestState, task, ipAddress);
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}
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}
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}
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catch (Exception)
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{
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// 异常处理已在组件内部进行，Job 层保持兜底吞吐语义。
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}
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}
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}
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}
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