using Newtonsoft.Json;
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using SqlSugar;
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using WIDESEAWCS_Core.BaseRepository;
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using WIDESEAWCS_ITaskInfoRepository;
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using WIDESEAWCS_Model.Models;
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namespace WIDESEAWCS_TaskInfoRepository
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{
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/// <summary>
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/// 机械手状态 SqlSugar 仓储实现
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/// </summary>
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public class RobotStateRepository : RepositoryBase<Dt_RobotState>, IRobotStateRepository
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{
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public RobotStateRepository(IUnitOfWorkManage unitOfWork) : base(unitOfWork)
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{
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}
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public Dt_RobotState? GetByIp(string ipAddress)
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{
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return Db.Queryable<Dt_RobotState>()
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.Where(x => x.IPAddress == ipAddress)
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.First();
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}
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public Dt_RobotState GetOrCreate(string ipAddress, RobotCraneDevice robotCrane)
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{
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var existing = GetByIp(ipAddress);
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if (existing != null)
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{
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return existing;
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}
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var newState = new Dt_RobotState
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{
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IPAddress = ipAddress,
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Version = DateTime.UtcNow.Ticks,
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RobotCraneJson = JsonConvert.SerializeObject(robotCrane),
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CreateDate = DateTime.Now,
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ModifyDate = DateTime.Now
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};
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Db.Insertable(newState).ExecuteCommand();
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return newState;
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}
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public bool TryUpdate(string ipAddress, Dt_RobotState newState, long expectedVersion)
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{
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newState.ModifyDate = DateTime.Now;
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// 乐观锁：WHERE IPAddress = @ip AND Version = @expectedVersion，版本匹配才更新
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var affectedRows = Db.Updateable<Dt_RobotState>(newState)
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.Where(x => x.IPAddress == ipAddress && x.Version == expectedVersion)
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.ExecuteCommand();
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return affectedRows > 0;
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}
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public RobotSocketState ToSocketState(Dt_RobotState entity)
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{
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var state = new RobotSocketState
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{
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IPAddress = entity.IPAddress,
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Version = entity.Version,
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IsEventSubscribed = entity.IsEventSubscribed,
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RobotRunMode = entity.RobotRunMode,
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RobotControlMode = entity.RobotControlMode,
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RobotArmObject = entity.RobotArmObject,
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Homed = entity.Homed,
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CurrentAction = entity.CurrentAction,
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OperStatus = entity.OperStatus,
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IsSplitPallet = entity.IsSplitPallet,
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IsGroupPallet = entity.IsGroupPallet,
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RobotTaskTotalNum = entity.RobotTaskTotalNum,
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IsInFakeBatteryMode = entity.IsInFakeBatteryMode,
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CurrentBatchIndex = entity.CurrentBatchIndex,
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ChangePalletPhase = entity.ChangePalletPhase,
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IsScanNG = entity.IsScanNG,
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BatteryArrived = entity.BatteryArrived
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};
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// 反序列化复杂 JSON 字段
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if (!string.IsNullOrEmpty(entity.RobotCraneJson))
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{
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state.RobotCrane = JsonConvert.DeserializeObject<RobotCraneDevice>(entity.RobotCraneJson);
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}
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if (!string.IsNullOrEmpty(entity.CurrentTaskJson))
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{
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state.CurrentTask = JsonConvert.DeserializeObject<Dt_RobotTask>(entity.CurrentTaskJson);
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}
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if (!string.IsNullOrEmpty(entity.LastPickPositionsJson))
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{
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state.LastPickPositions = JsonConvert.DeserializeObject<int[]>(entity.LastPickPositionsJson);
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}
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if (!string.IsNullOrEmpty(entity.LastPutPositionsJson))
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{
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state.LastPutPositions = JsonConvert.DeserializeObject<int[]>(entity.LastPutPositionsJson);
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}
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if (!string.IsNullOrEmpty(entity.CellBarcodeJson))
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{
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state.CellBarcode = JsonConvert.DeserializeObject<List<string>>(entity.CellBarcodeJson) ?? new List<string>();
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}
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return state;
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}
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public Dt_RobotState ToEntity(RobotSocketState state)
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{
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var entity = new Dt_RobotState
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{
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IPAddress = state.IPAddress,
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IsEventSubscribed = state.IsEventSubscribed,
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RobotRunMode = state.RobotRunMode,
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RobotControlMode = state.RobotControlMode,
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RobotArmObject = state.RobotArmObject,
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Homed = state.Homed,
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CurrentAction = state.CurrentAction,
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OperStatus = state.OperStatus,
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IsSplitPallet = state.IsSplitPallet,
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IsGroupPallet = state.IsGroupPallet,
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RobotTaskTotalNum = state.RobotTaskTotalNum,
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IsInFakeBatteryMode = state.IsInFakeBatteryMode,
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CurrentBatchIndex = state.CurrentBatchIndex,
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ChangePalletPhase = state.ChangePalletPhase,
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IsScanNG = state.IsScanNG,
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BatteryArrived = state.BatteryArrived
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};
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// 序列化复杂对象为 JSON
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if (state.RobotCrane != null)
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{
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entity.RobotCraneJson = JsonConvert.SerializeObject(state.RobotCrane);
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}
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if (state.CurrentTask != null)
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{
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entity.CurrentTaskJson = JsonConvert.SerializeObject(state.CurrentTask);
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}
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if (state.LastPickPositions != null)
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{
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entity.LastPickPositionsJson = JsonConvert.SerializeObject(state.LastPickPositions);
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}
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if (state.LastPutPositions != null)
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{
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entity.LastPutPositionsJson = JsonConvert.SerializeObject(state.LastPutPositions);
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}
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if (state.CellBarcode != null && state.CellBarcode.Count > 0)
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{
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entity.CellBarcodeJson = JsonConvert.SerializeObject(state.CellBarcode);
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}
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return entity;
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}
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}
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}
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