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wanshenmean
13 小时以前 627371d0ffdf50239313f2c86d022a0c5c69550d 
 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs


@@ -1,13 +1,11 @@


using Microsoft.Extensions.Logging;


using Quartz;


using Serilog;


using WIDESEA_Core;


using WIDESEAWCS_Common;


using WIDESEAWCS_Core.Caches;


using WIDESEAWCS_Core.Helper;


using WIDESEAWCS_Core.LogHelper;


using WIDESEAWCS_ITaskInfoRepository;


using WIDESEAWCS_ITaskInfoService;


using WIDESEAWCS_QuartzJob;


using WIDESEAWCS_RedisService;


using WIDESEAWCS_Model.Models;


using WIDESEAWCS_Tasks.SocketServer;


using WIDESEAWCS_Tasks.Workflow;


using WIDESEAWCS_Tasks.Workflow.Abstractions;


@@ -84,7 +82,7 @@


        /// <summary>


        /// 日志记录器


        /// </summary>


        private readonly ILogger<RobotJob> _logger;


        private readonly ILogger _logger;




        /// <summary>


        /// 构造函数


@@ -105,7 +103,7 @@


            ITaskService taskService,


            IRobotStateRepository robotStateRepository,


            HttpClientHelper httpClientHelper,


            ILogger<RobotJob> logger,


            ILogger logger,


            IFakeBatteryPositionService fakeBatteryPositionService)


        {


            // 初始化状态管理器，传入仓储服务


@@ -124,12 +122,12 @@




            // 初始化命令处理器


            // 简单命令处理器：处理状态更新等简单命令


            var simpleCommandHandler = new RobotSimpleCommandHandler(_taskProcessor, socketGateway);


            var simpleCommandHandler = new RobotSimpleCommandHandler(_taskProcessor, socketGateway, _logger);


            // 前缀命令处理器：处理 pickfinished、putfinished 等带参数的命令


            var prefixCommandHandler = new RobotPrefixCommandHandler(robotTaskService, _taskProcessor, _stateManager, socketGateway, fakeBatteryPositionService);


            var prefixCommandHandler = new RobotPrefixCommandHandler(robotTaskService, _taskProcessor, _stateManager, socketGateway, fakeBatteryPositionService, _logger);




            // 初始化消息路由器


            _messageRouter = new RobotMessageHandler(socketGateway, _stateManager, cache, simpleCommandHandler, prefixCommandHandler, logger);


            _messageRouter = new RobotMessageHandler(socketGateway, _stateManager, simpleCommandHandler, prefixCommandHandler, logger);




            // 初始化工作流编排器


            _workflowOrchestrator = new RobotWorkflowOrchestrator(_stateManager, _clientManager, _taskProcessor, robotTaskService, _logger);


@@ -143,8 +141,7 @@


            {


                // 将消息路由器的处理方法绑定到 TCP 服务器的消息接收事件


                tcpSocket.MessageReceived += _messageRouter.HandleMessageReceivedAsync;


                _logger.LogError("机器手TCP消息事件已订阅");


                QuartzLogger.Error($"机器手TCP消息事件已订阅");


                QuartzLogHelper.LogError(_logger, $"机器手TCP消息事件已订阅", "Unknown");


            }


        }




@@ -158,8 +155,7 @@


        /// <param name="state">断开连接的机械手状态</param>


        private void OnClientDisconnected(object? sender, RobotSocketState state)


        {


            _logger.LogError("客户端已断开连接");


            QuartzLogger.Error($"客户端已断开连接", state.RobotCrane.DeviceName);


            QuartzLogHelper.LogError(_logger, $"客户端已断开连接", state.RobotCrane.DeviceName);


        }




        /// <summary>


@@ -245,8 +241,7 @@


            {


                // 异常处理已在组件内部进行，Job 层保持兜底语义


                // 记录异常而不是静默吞掉，便于排查问题


                _logger?.LogError(ex, "RobotJob执行异常，IP: {IpAddress}", ipAddress);


                QuartzLogger.Error($"RobotJob执行异常，IP: {ipAddress}", state.RobotCrane.DeviceName, ex);


                QuartzLogHelper.LogError(_logger, ex, $"RobotJob执行异常，IP: {ipAddress}", $"RobotJob执行异常，IP: {ipAddress}", state.RobotCrane.DeviceName);


            }


        }


    }