| | |
|---|
| | | using Microsoft.Extensions.Logging; |
|---|
| | | using System.Net.Sockets; |
|---|
| | | using WIDESEAWCS_Common; |
|---|
| | | using WIDESEAWCS_Common.HttpEnum; |
|---|
| | | using WIDESEAWCS_Common.TaskEnum; |
|---|
| | | using WIDESEAWCS_Core.Caches; |
|---|
| | | using WIDESEAWCS_Core.Helper; |
|---|
| | | using WIDESEAWCS_DTO.Stock; |
|---|
| | | using WIDESEAWCS_DTO.TaskInfo; |
|---|
| | | using WIDESEAWCS_ITaskInfoService; |
|---|
| | | using WIDESEAWCS_Model.Models; |
|---|
| | | using WIDESEAWCS_Tasks.SocketServer; |
|---|
| | | using WIDESEAWCS_Core.LogHelper; |
|---|
| | | using WIDESEAWCS_Tasks.Workflow.Abstractions; |
|---|
| | | |
|---|
| | | namespace WIDESEAWCS_Tasks |
|---|
| | | { |
|---|
| | | /// <summary> |
|---|
| | | /// 机械手消息处理器 - 负责处理来自TCP客户端的消息 |
|---|
| | | /// 机器人消息处理器 - 消息路由入口 |
|---|
| | | /// </summary> |
|---|
| | | public class RobotMessageHandler |
|---|
| | | /// <remarks> |
|---|
| | | /// 核心职责： |
|---|
| | | /// 1. 缓存状态读取：从 Redis 中获取机器人最新的状态 |
|---|
| | | /// 2. 命令分发：根据消息类型分发给不同的处理器 |
|---|
| | | /// - 简单命令（如 homing、running）：由 <see cref="IRobotSimpleCommandHandler"/> 处理 |
|---|
| | | /// - 前缀命令（如 pickfinished、putfinished）：由 <see cref="IRobotPrefixCommandHandler"/> 处理 |
|---|
| | | /// 3. 回包触发：将原始消息回写到客户端 |
|---|
| | | /// |
|---|
| | | /// 这是消息处理管道的入口点，由 TcpSocketServer 的 MessageReceived 事件触发。 |
|---|
| | | /// </remarks> |
|---|
| | | public class RobotMessageHandler : IRobotMessageRouter |
|---|
| | | { |
|---|
| | | private readonly TcpSocketServer _tcpSocket; |
|---|
| | | private readonly RobotStateManager _stateManager; |
|---|
| | | private readonly ICacheService _cache; |
|---|
| | | private readonly IRobotTaskService _robotTaskService; |
|---|
| | | private readonly RobotTaskProcessor _taskProcessor; |
|---|
| | | /// <summary> |
|---|
| | | /// Socket 客户端网关接口 |
|---|
| | | /// </summary> |
|---|
| | | /// <remarks> |
|---|
| | | /// 用于向客户端发送响应消息。 |
|---|
| | | /// </remarks> |
|---|
| | | private readonly ISocketClientGateway _socketClientGateway; |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 机械手状态管理器 |
|---|
| | | /// </summary> |
|---|
| | | /// <remarks> |
|---|
| | | /// 用于读取和更新机器人的状态。 |
|---|
| | | /// </remarks> |
|---|
| | | private readonly RobotStateManager _stateManager; |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 缓存服务 |
|---|
| | | /// </summary> |
|---|
| | | /// <remarks> |
|---|
| | | /// 直接使用缓存服务检查状态是否存在。 |
|---|
| | | /// </remarks> |
|---|
| | | private readonly ICacheService _cache; |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 简单命令处理器 |
|---|
| | | /// </summary> |
|---|
| | | /// <remarks> |
|---|
| | | /// 处理简单的状态更新命令，如运行状态、模式切换等。 |
|---|
| | | /// </remarks> |
|---|
| | | private readonly IRobotSimpleCommandHandler _simpleCommandHandler; |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 前缀命令处理器 |
|---|
| | | /// </summary> |
|---|
| | | /// <remarks> |
|---|
| | | /// 处理带参数的前缀命令，如 pickfinished（取货完成）、putfinished（放货完成）。 |
|---|
| | | /// </remarks> |
|---|
| | | private readonly IRobotPrefixCommandHandler _prefixCommandHandler; |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 日志记录器 |
|---|
| | | /// </summary> |
|---|
| | | private readonly ILogger<RobotJob> _logger; |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 构造函数 |
|---|
| | | /// </summary> |
|---|
| | | /// <param name="socketClientGateway">Socket 网关</param> |
|---|
| | | /// <param name="stateManager">状态管理器</param> |
|---|
| | | /// <param name="cache">缓存服务</param> |
|---|
| | | /// <param name="simpleCommandHandler">简单命令处理器</param> |
|---|
| | | /// <param name="prefixCommandHandler">前缀命令处理器</param> |
|---|
| | | /// <param name="logger">日志记录器</param> |
|---|
| | | public RobotMessageHandler( |
|---|
| | | TcpSocketServer tcpSocket, |
|---|
| | | ISocketClientGateway socketClientGateway, |
|---|
| | | RobotStateManager stateManager, |
|---|
| | | ICacheService cache, |
|---|
| | | IRobotTaskService robotTaskService, |
|---|
| | | RobotTaskProcessor taskProcessor) |
|---|
| | | IRobotSimpleCommandHandler simpleCommandHandler, |
|---|
| | | IRobotPrefixCommandHandler prefixCommandHandler, |
|---|
| | | ILogger<RobotJob> logger) |
|---|
| | | { |
|---|
| | | _tcpSocket = tcpSocket; |
|---|
| | | _socketClientGateway = socketClientGateway; |
|---|
| | | _stateManager = stateManager; |
|---|
| | | _cache = cache; |
|---|
| | | _robotTaskService = robotTaskService; |
|---|
| | | _taskProcessor = taskProcessor; |
|---|
| | | _simpleCommandHandler = simpleCommandHandler; |
|---|
| | | _prefixCommandHandler = prefixCommandHandler; |
|---|
| | | _logger = logger; |
|---|
| | | } |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 处理接收到的消息 |
|---|
| | | /// </summary> |
|---|
| | | /// <remarks> |
|---|
| | | /// 处理流程： |
|---|
| | | /// 1. 记录日志（记录原始消息内容） |
|---|
| | | /// 2. 验证缓存中是否存在该设备的状态 |
|---|
| | | /// 3. 尝试用简单命令处理器处理（状态更新类命令） |
|---|
| | | /// - 如果处理成功，回写原消息并更新状态 |
|---|
| | | /// 4. 如果不是简单命令，检查是否是前缀命令（pickfinished/putfinished） |
|---|
| | | /// - 如果是，调用前缀命令处理器处理 |
|---|
| | | /// 5. 保持原有行为：简单命令和前缀命令都回写原消息 |
|---|
| | | /// |
|---|
| | | /// 注意：此方法可能在 TCP 消息接收的上下文中被频繁调用，需注意性能。 |
|---|
| | | /// </remarks> |
|---|
| | | /// <param name="message">原始消息字符串</param> |
|---|
| | | /// <param name="isJson">消息是否为 JSON 格式（当前未使用）</param> |
|---|
| | | /// <param name="client">TCP 客户端连接</param> |
|---|
| | | /// <param name="state">机器人当前状态</param> |
|---|
| | | /// <returns>响应消息，如果无需回复则返回 null</returns> |
|---|
| | | public async Task<string?> HandleMessageReceivedAsync(string message, bool isJson, TcpClient client, RobotSocketState state) |
|---|
| | | { |
|---|
| | | if (!(_cache?.TryGetValue($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{client.Client.RemoteEndPoint}", out state)) ?? false) |
|---|
| | | return null; |
|---|
| | | // 记录接收到的消息日志 |
|---|
| | | _logger.LogInformation($"接收到客户端【{state.RobotCrane.DeviceName}】发送消息【{message}】"); |
|---|
| | | QuartzLogger.Info($"接收到客户端消息【{message}】", state.RobotCrane.DeviceName); |
|---|
| | | |
|---|
| | | // 检查任务总数是否未达到上限 |
|---|
| | | if (state.RobotTaskTotalNum > RobotConst.MaxTaskTotalNum) |
|---|
| | | { |
|---|
| | | // 记录接收到的消息日志 |
|---|
| | | _logger.LogInformation($"接收到客户端【{state.RobotCrane.DeviceName}】发送消息【{message}】"); |
|---|
| | | QuartzLogger.Info($"接收到客户端消息【{message}】", state.RobotCrane.DeviceName); |
|---|
| | | // 处理成功后，将原消息回写到客户端（保持原有行为） |
|---|
| | | await _socketClientGateway.SendMessageAsync(client, message); |
|---|
| | | return null; |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 构建缓存键，检查 Redis 中是否存在该设备的状态 |
|---|
| | | var cacheKey = $"{RedisPrefix.Code}:{RedisName.SocketDevices}:{client.Client.RemoteEndPoint}"; |
|---|
| | | |
|---|
| | | // 如果缓存中不存在或状态为 null，忽略此消息 |
|---|
| | | if (!_cache.TryGetValue(cacheKey, out RobotSocketState? cachedState) || cachedState == null) |
|---|
| | | { |
|---|
| | | return null; |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 使用缓存中获取的状态 |
|---|
| | | var activeState = cachedState; |
|---|
| | | |
|---|
| | | // 将消息转换为小写（用于简单命令匹配） |
|---|
| | | string messageLower = message.ToLowerInvariant(); |
|---|
| | | |
|---|
| | | if (await IsSimpleCommandAsync(messageLower, state)) |
|---|
| | | // 尝试用简单命令处理器处理 |
|---|
| | | // 简单命令包括：homing、homed、running、pausing、runmode、controlmode 等 |
|---|
| | | if (await _simpleCommandHandler.HandleAsync(messageLower, activeState)) |
|---|
| | | { |
|---|
| | | await _tcpSocket.SendMessageAsync(client, message); |
|---|
| | | if (_stateManager.TryUpdateStateSafely(state.IPAddress, state)) |
|---|
| | | return null; |
|---|
| | | } |
|---|
| | | else if (IsPrefixCommand(messageLower)) |
|---|
| | | { |
|---|
| | | await HandlePrefixCommandAsync(message, state, client); |
|---|
| | | // 处理成功后，将原消息回写到客户端（保持原有行为） |
|---|
| | | await _socketClientGateway.SendMessageAsync(client, message); |
|---|
| | | _logger.LogInformation($"发送消息【{message}】"); |
|---|
| | | QuartzLogger.Info($"发送消息：【{message}】", state.RobotCrane.DeviceName); |
|---|
| | | |
|---|
| | | // 安全更新状态到 Redis |
|---|
| | | _stateManager.TryUpdateStateSafely(activeState.IPAddress, activeState); |
|---|
| | | return null; |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 如果不是简单命令，检查是否是前缀命令 |
|---|
| | | // 前缀命令包括：pickfinished、putfinished（后面跟逗号分隔的位置参数） |
|---|
| | | if (_prefixCommandHandler.IsPrefixCommand(messageLower)) |
|---|
| | | { |
|---|
| | | // 调用前缀命令处理器 |
|---|
| | | // 前缀命令处理器会解析位置参数并更新状态 |
|---|
| | | await _prefixCommandHandler.HandleAsync(message, activeState, client); |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 默认返回 null，不产生响应消息 |
|---|
| | | return null; |
|---|
| | | } |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 处理前缀命令（pickfinished, putfinished） |
|---|
| | | /// </summary> |
|---|
| | | private async Task HandlePrefixCommandAsync(string message, RobotSocketState state, TcpClient client) |
|---|
| | | { |
|---|
| | | try |
|---|
| | | { |
|---|
| | | var parts = message.Split(','); |
|---|
| | | if (parts.Length >= 1 && state.CurrentTask != null) |
|---|
| | | { |
|---|
| | | var cmd = parts[0].ToLowerInvariant(); |
|---|
| | | int[] positions = parts.Skip(1) |
|---|
| | | .Select(p => int.TryParse(p, out int value) ? value : (int?)null) |
|---|
| | | .Where(v => v.HasValue && v.Value != 0) |
|---|
| | | .Select(v => v!.Value) |
|---|
| | | .ToArray(); |
|---|
| | | |
|---|
| | | var task = await _robotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId); |
|---|
| | | |
|---|
| | | if (cmd.StartsWith("pickfinished")) |
|---|
| | | { |
|---|
| | | await HandlePickFinishedAsync(state, positions, task, client); |
|---|
| | | } |
|---|
| | | else if (cmd.StartsWith("putfinished")) |
|---|
| | | { |
|---|
| | | await HandlePutFinishedAsync(state, positions, task, client); |
|---|
| | | } |
|---|
| | | |
|---|
| | | await _tcpSocket.SendMessageAsync(client, message); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | catch (Exception ex) |
|---|
| | | { |
|---|
| | | Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}"); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 处理取货完成命令 |
|---|
| | | /// </summary> |
|---|
| | | private async Task HandlePickFinishedAsync(RobotSocketState state, int[] positions, Dt_RobotTask? task, TcpClient client) |
|---|
| | | { |
|---|
| | | if (state.IsSplitPallet) |
|---|
| | | { |
|---|
| | | var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions); |
|---|
| | | state.LastPickPositions = positions; |
|---|
| | | |
|---|
| | | var result = _taskProcessor.PostSplitPalletAsync(stockDTO); |
|---|
| | | |
|---|
| | | if (result.Data.Status && result.IsSuccess) |
|---|
| | | { |
|---|
| | | state.CurrentAction = "PickFinished"; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | else |
|---|
| | | { |
|---|
| | | state.CurrentAction = "PickFinished"; |
|---|
| | | } |
|---|
| | | |
|---|
| | | state.LastPickPositions = positions; |
|---|
| | | if (task != null) |
|---|
| | | { |
|---|
| | | task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode(); |
|---|
| | | if (_stateManager.TryUpdateStateSafely(state.IPAddress, state)) |
|---|
| | | await _robotTaskService.Repository.UpdateDataAsync(task); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 处理放货完成命令 |
|---|
| | | /// </summary> |
|---|
| | | private async Task HandlePutFinishedAsync(RobotSocketState state, int[] positions, Dt_RobotTask? task, TcpClient client) |
|---|
| | | { |
|---|
| | | bool putSuccess = true; |
|---|
| | | if (state.IsGroupPallet) |
|---|
| | | { |
|---|
| | | state.LastPutPositions = positions; |
|---|
| | | var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions); |
|---|
| | | var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode() |
|---|
| | | ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.GroupPalletAsync); |
|---|
| | | |
|---|
| | | var result = _taskProcessor.PostGroupPalletAsync(configKey, stockDTO); |
|---|
| | | putSuccess = result.Data.Status && result.IsSuccess; |
|---|
| | | } |
|---|
| | | |
|---|
| | | if (putSuccess) |
|---|
| | | { |
|---|
| | | state.CurrentAction = "PutFinished"; |
|---|
| | | state.RobotTaskTotalNum += positions.Length; |
|---|
| | | if (task != null) |
|---|
| | | { |
|---|
| | | task.RobotTaskTotalNum += positions.Length; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | if (task != null) |
|---|
| | | { |
|---|
| | | task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode(); |
|---|
| | | if (_stateManager.TryUpdateStateSafely(state.IPAddress, state)) |
|---|
| | | await _robotTaskService.Repository.UpdateDataAsync(task); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 机械手简单命令处理 |
|---|
| | | /// </summary> |
|---|
| | | private async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state) |
|---|
| | | { |
|---|
| | | RobotTaskTypeEnum? GetRobotTaskType() => state.CurrentTask != null ? (RobotTaskTypeEnum)state.CurrentTask.RobotTaskType : null; |
|---|
| | | switch (message) |
|---|
| | | { |
|---|
| | | case "homing": |
|---|
| | | state.OperStatus = "Homing"; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "homed": |
|---|
| | | state.OperStatus = "Homed"; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "picking": |
|---|
| | | state.CurrentAction = "Picking"; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "puting": |
|---|
| | | state.CurrentAction = "Putting"; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "allpickfinished": // 取货完成 |
|---|
| | | state.CurrentAction = "AllPickFinished"; |
|---|
| | | var robotTaskType = GetRobotTaskType(); |
|---|
| | | |
|---|
| | | if (robotTaskType == RobotTaskTypeEnum.SplitPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet) |
|---|
| | | { |
|---|
| | | if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true)) |
|---|
| | | { |
|---|
| | | _taskProcessor.DeleteTask(state.CurrentTask.RobotTaskId); |
|---|
| | | return true; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | return false; |
|---|
| | | |
|---|
| | | case "allputfinished": // 放货完成 |
|---|
| | | state.CurrentAction = "AllPutFinished"; |
|---|
| | | robotTaskType = GetRobotTaskType(); |
|---|
| | | |
|---|
| | | if (robotTaskType == RobotTaskTypeEnum.GroupPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet) |
|---|
| | | { |
|---|
| | | if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false)) |
|---|
| | | { |
|---|
| | | _taskProcessor.DeleteTask(state.CurrentTask.RobotTaskId); |
|---|
| | | state.CurrentTask = null; |
|---|
| | | state.RobotTaskTotalNum = 0; |
|---|
| | | state.CellBarcode = new List<string>(); |
|---|
| | | return true; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | return false; |
|---|
| | | |
|---|
| | | case "running": |
|---|
| | | state.OperStatus = "Running"; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "pausing": |
|---|
| | | state.OperStatus = "Pausing"; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "warming": |
|---|
| | | state.OperStatus = "Warming"; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "emstoping": |
|---|
| | | state.OperStatus = "Emstoping"; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "runmode,1": |
|---|
| | | state.RobotRunMode = 1; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "runmode,2": |
|---|
| | | state.RobotRunMode = 2; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "controlmode,1": |
|---|
| | | state.RobotControlMode = 1; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "controlmode,2": |
|---|
| | | state.RobotControlMode = 2; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "armobject,1": |
|---|
| | | state.RobotArmObject = 1; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | case "armobject,0": |
|---|
| | | state.RobotArmObject = 0; |
|---|
| | | return true; |
|---|
| | | |
|---|
| | | default: |
|---|
| | | return false; |
|---|
| | | } |
|---|
| | | } |
|---|
| | | |
|---|
| | | /// <summary> |
|---|
| | | /// 判断是否为前缀命令 |
|---|
| | | /// </summary> |
|---|
| | | private static bool IsPrefixCommand(string message) |
|---|
| | | { |
|---|
| | | return message.StartsWith("pickfinished") || message.StartsWith("putfinished"); |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
| | | } |
|---|
