feat(WCS): 完善 WIDESEAWCS_Tasks 模块日志系统

wanshenmean

2026-03-27 bf2aa9dd56432a74940ca1bb08fb4d7eaee37045

 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs

@@ -1,347 +1,249 @@
using Quartz;
using System.Collections.Concurrent;
using System.Net.Sockets;
using Microsoft.Extensions.Logging;
using Quartz;
using System.Net;
using WIDESEA_Core;
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_DTO.Stock;
using WIDESEAWCS_ITaskInfoRepository;
using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
using WIDESEAWCS_QuartzJob.Service;
using WIDESEAWCS_Tasks.SocketServer;
using WIDESEAWCS_Tasks.Workflow;
using WIDESEAWCS_Tasks.Workflow.Abstractions;

namespace WIDESEAWCS_Tasks
{
    /// <summary>
    /// 机器人任务作业（Quartz Job）- 负责调度与生命周期管理
    /// </summary>
    /// <remarks>
    /// Quartz 定时任务，每秒执行一次（默认），主要职责：
    /// 1. 从 JobDataMap 获取设备信息
    /// 2. 确保 TCP 客户端已连接并订阅消息
    /// 3. 轮询待处理的机器人任务
    /// 4. 调用工作流编排器执行任务状态机
    ///
    /// 使用 [DisallowConcurrentExecution] 禁止并发执行，确保同一设备的任务串行处理。
    /// 具体的状态机流程逻辑委托给 <see cref="RobotWorkflowOrchestrator"/> 处理。
    /// </remarks>
    [DisallowConcurrentExecution]
    public class RobotJob : IJob
    {
        private readonly TcpSocketServer _TcpSocket;
        private static readonly ConcurrentDictionary<string, RobotSocketState> _socketStates = new();
        private static int _eventSubscribedFlag;
        private readonly IRobotTaskService _taskService;
        private readonly ITaskExecuteDetailService _taskExecuteDetailService;
        private readonly ITaskRepository _taskRepository;
        private readonly IRouterService _routerService;
        /// <summary>
        /// 任务总数上限
        /// </summary>
        /// <remarks>
        /// 当机器人处理的货物数量达到此上限时，不再下发新任务。
        /// 防止机器人过度劳累或系统过载。
        /// </remarks>
        private const int MaxTaskTotalNum = 48;

        public RobotJob(TcpSocketServer TcpSocket, IRobotTaskService taskService)
        /// <summary>
        /// 消息事件订阅标志
        /// </summary>
        /// <remarks>
        /// 使用原子操作确保全局只订阅一次 TCP 消息事件。
        /// 防止多个 Job 实例重复订阅导致消息被多次处理。
        /// </remarks>
        private static int _messageSubscribedFlag;

        /// <summary>
        /// 机械手客户端连接管理器
        /// </summary>
        /// <remarks>
        /// 负责管理 TCP 连接的生命周期，包括连接、断开、消息发送等。
        /// </remarks>
        private readonly RobotClientManager _clientManager;

        /// <summary>
        /// 机械手状态管理器
        /// </summary>
        /// <remarks>
        /// 负责管理 Redis 缓存中的机械手状态，包括读写和并发控制。
        /// </remarks>
        private readonly RobotStateManager _stateManager;

        /// <summary>
        /// 消息路由器
        /// </summary>
        /// <remarks>
        /// 负责处理从 TCP 服务器接收到的消息，并分发给合适的处理器。
        /// 是消息处理管道的入口。
        /// </remarks>
        private readonly IRobotMessageRouter _messageRouter;

        /// <summary>
        /// 机器人任务处理器
        /// </summary>
        /// <remarks>
        /// 负责任务的下发、状态更新、与 WMS 的交互等。
        /// </remarks>
        private readonly RobotTaskProcessor _taskProcessor;

        /// <summary>
        /// 机器人工作流编排器
        /// </summary>
        /// <remarks>
        /// 负责执行任务的状态机流转，根据当前状态决定下一步动作。
        /// 这是核心的业务逻辑编排组件。
        /// </remarks>
        private readonly IRobotWorkflowOrchestrator _workflowOrchestrator;

        /// <summary>
        /// 日志记录器
        /// </summary>
        private readonly ILogger<RobotJob> _logger;

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <remarks>
        /// 采用依赖注入方式获取所需服务，并完成组件的初始化和组装。
        /// 这里体现了"控制反转"和"依赖注入"的设计原则。
        /// </remarks>
        /// <param name="tcpSocket">TCP Socket 服务器实例</param>
        /// <param name="robotTaskService">机器人任务服务</param>
        /// <param name="taskService">通用任务服务</param>
        /// <param name="cache">缓存服务</param>
        /// <param name="httpClientHelper">HTTP 客户端帮助类，用于调用 WMS 接口</param>
        /// <param name="logger">日志记录器</param>
        public RobotJob(
            TcpSocketServer tcpSocket,
            IRobotTaskService robotTaskService,
            ITaskService taskService,
            ICacheService cache,
            HttpClientHelper httpClientHelper,
            ILogger<RobotJob> logger)
        {
            _TcpSocket = TcpSocket;
            _taskService = taskService;
            // 初始化状态管理器，传入缓存服务
            _stateManager = new RobotStateManager(cache, _logger);
            _logger = logger;

            // 创建 Socket 网关，封装 TcpSocketServer 的访问
            // 后续替换通信实现时只需替换网关层
            ISocketClientGateway socketGateway = new SocketClientGateway(tcpSocket);

            // 初始化任务处理器
            _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper, _logger);

            // 初始化客户端管理器
            _clientManager = new RobotClientManager(tcpSocket, _stateManager, _logger);

            // 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);
            // 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);

            // 初始化消息路由器
            _messageRouter = new RobotMessageHandler(socketGateway, _stateManager, cache, simpleCommandHandler, prefixCommandHandler, logger);

            // 初始化工作流编排器
            _workflowOrchestrator = new RobotWorkflowOrchestrator(_stateManager, _clientManager, _taskProcessor, robotTaskService, _logger);

            // 订阅客户端断开连接事件
            _clientManager.OnClientDisconnected += OnClientDisconnected;

            // 全局只订阅一次 TCP 消息事件（保持原有行为）
            // 使用 Interlocked.CompareExchange 实现原子操作
            if (System.Threading.Interlocked.CompareExchange(ref _messageSubscribedFlag, 1, 0) == 0)
            {
                // 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");
            }
        }

        /// <summary>
        /// 客户端断开连接的事件处理
        /// </summary>
        /// <remarks>
        /// 当客户端断开连接时记录日志，便于排查问题。
        /// </remarks>
        /// <param name="sender">事件发送者</param>
        /// <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);
        }

        /// <summary>
        /// Quartz Job 的执行入口
        /// </summary>
        /// <remarks>
        /// 执行流程：
        /// 1. 从 JobDataMap 获取设备信息
        /// 2. 确保客户端已连接并订阅消息
        /// 3. 轮询待处理任务
        /// 4. 调用工作流编排器执行任务
        ///
        /// 注意：此方法可能频繁调用（每秒一次），需注意性能。
        /// </remarks>
        /// <param name="context">Quartz 作业执行上下文，包含作业详情和数据</param>
        public async Task Execute(IJobExecutionContext context)
        {
            // 从 JobDataMap 中获取作业参数
            bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);

            // 将参数转换为机器人设备信息
            RobotCraneDevice robotCrane = (RobotCraneDevice?)value ?? new RobotCraneDevice();

            // 如果没有获取到有效的设备信息，直接返回
            if (!flag || robotCrane.IsNullOrEmpty())
            {
                return;
            }

            // 获取设备 IP 地址，作为状态缓存的键
            string ipAddress = robotCrane.IPAddress;

            // 获取或创建状态
            RobotSocketState state = _socketStates.GetOrAdd(ipAddress, _ => new RobotSocketState
            {
                IPAddress = ipAddress,
                RobotCrane = robotCrane
            });
            // 获取或创建设备状态对象
            RobotSocketState state = _stateManager.GetOrCreateState(ipAddress, robotCrane);

            // 更新设备信息
            // 更新设备基础信息（以防设备信息在运行期间发生变化）
            state.RobotCrane = robotCrane;

            // 检查是否有该客户端连接
            var clientIds = _TcpSocket.GetClientIds();
            if (!clientIds.Contains(ipAddress))
            try
            {
                return;
            }

            // 订阅一次 message 事件（全局一次）
            if (Interlocked.CompareExchange(ref _eventSubscribedFlag, 1, 0) == 0)
            {
                _TcpSocket.MessageReceived += _TcpSocket_MessageReceived;
                _TcpSocket.RobotReceived += _TcpSocket_RobotReceived;
            }

            if (!state.IsEventSubscribed)
            {
                _TcpSocket._clients.TryGetValue(ipAddress, out TcpClient client);
                Task clientTask = _TcpSocket.HandleClientAsync(client, robotCrane.IPAddress, _TcpSocket._cts.Token, state);
                state.IsEventSubscribed = true;
            }

            // 获取任务并缓存到状态中
            Dt_RobotTask? task = GetTask(robotCrane);
            if (task != null)
            {
                state.CurrentTask = task;
                if (task.RobotTaskTotalNum != 48)
                // 确保客户端已连接并订阅消息事件
                // 如果客户端未连接或订阅失败，直接返回等待下次调度
                if (!_clientManager.EnsureClientSubscribed(ipAddress, robotCrane))
                {
                    // 处理正在执行的任务
                    if (state.RobotRunMode == 1 && state.RobotControlMode == 1)
                    {
                        await Task.Delay(1000);
                        if ((state.CurrentAction == "Homed" || state.CurrentAction == "PickFinished" || state.CurrentAction == "PutFinished") && state.OperStatus == "Running")
                        {
                            // TODO 读取线体电池条码，发送取电池指令
                            if (true)
                            {
                                // 模拟读取条码
                                state.CellBarcode = new string[] { "CellBarcode1", "CellBarcode2", "CellBarcode3", "CellBarcode4" };
                    return;
                }

                                string taskString = $"Pickbattery,{task.RobotSourceAddress}";
                                // 发送任务指令
                                bool result = await _TcpSocket.SendToClientAsync(ipAddress, taskString);
                            }
                        }
                // 轮询获取该设备的待处理任务
                var task = _taskProcessor.GetTask(robotCrane);

                // 如果有待处理任务
                if (task != null)
                {
                    // 获取最新的设备状态
                    var latestState = _stateManager.GetState(ipAddress);
                    if (latestState == null)
                    {
                        // 状态不存在，可能设备未初始化
                        return;
                    }

                    // 检查任务总数是否未达到上限
                    if (latestState.RobotTaskTotalNum < MaxTaskTotalNum)
                    {
                        // 调用工作流编排器执行任务
                        // 编排器会根据当前状态决定下一步动作
                        await _workflowOrchestrator.ExecuteAsync(latestState, task, ipAddress);
                    }
                }
            }

            return;
        }

        /// <summary>
        ///  事件：客户端断开连接时触发
        /// </summary>
        /// <param name="clientId"></param>
        /// <returns></returns>
        private Task<string?> _TcpSocket_RobotReceived(string clientId)
        {
            _socketStates.TryRemove(clientId, out _);
            return Task.FromResult<string?>(null);
        }

        /// <summary>
        /// 事件：收到消息时触发
        /// </summary>
        /// <param name="message"></param>
        /// <param name="isJson"></param>
        /// <param name="client"></param>
        /// <param name="state"></param>
        /// <returns></returns>
        private async Task<string?> _TcpSocket_MessageReceived(string message, bool isJson, TcpClient client, RobotSocketState state)
        {
            string messageLower = message.ToLowerInvariant();

            if (IsSimpleCommand(messageLower, state))
            catch (Exception ex)
            {
                return null;
                // 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);
            }

            if (IsPrefixCommand(messageLower))
            {
                try
                {
                    var parts = message.Split(',');
                    if (parts.Length >= 1)
                    {
                        var cmd = parts[0].ToLowerInvariant();
                        int[] positions = new int[4];
                        for (int i = 1; i <= 4 && i < parts.Length; i++)
                        {
                            int.TryParse(parts[i], out positions[i - 1]);
                        }

                        if (cmd.StartsWith("pickfinished"))
                        {
                            state.LastPickPositions = positions;
                            state.CurrentAction = "PickFinished";
                        }
                        else if (cmd.StartsWith("putfinished"))
                        {
                            state.LastPutPositions = positions;
                            // 发送数据给WMS组盘/换盘
                            StockDTO stockDTO = new StockDTO
                            {
                                SourceLineNo = state.CurrentTask?.RobotSourceAddressLineCode,
                                SourcePalletNo = state.CurrentTask?.RobotSourceAddressPalletCode,
                                TargetPalletNo = state.CurrentTask?.RobotTargetAddressPalletCode,
                                TargetLineNo = state.CurrentTask?.RobotTargetAddressLineCode,
                                Details = positions
                                    .Where(x => x > 0)
                                    .OrderBy(x => x)
                                    .Select((x, idx) => new StockDetailDTO
                                    {
                                        Quantity = state.CurrentTask?.RobotTaskTotalNum ?? 1,
                                        Channel = x > 0 ? x : throw new ArgumentOutOfRangeException(nameof(x), "Channel must be positive"),
                                        CellBarcode = state.CellBarcode[idx]
                                    })
                                    .ToList()
                            };
                            state.CurrentAction = "PutFinished";
                        }
                    }
                }
                catch { }

                return null;
            }

            return null;
        }

        /// <summary>
        /// 机械手简单命令处理
        /// </summary>
        /// <param name="message"></param>
        /// <param name="state"></param>
        /// <returns></returns>
        private bool IsSimpleCommand(string message, RobotSocketState state)
        {
            switch (message)
            {
                case "homing":
                    state.CurrentAction = "Homing";
                    return true;

                case "homed":
                    state.CurrentAction = "Homed";
                    return true;

                case "picking":
                    state.CurrentAction = "Picking";
                    return true;

                case "puting":
                    state.CurrentAction = "Putting";
                    return true;

                case "allpickfinished":
                    state.CurrentAction = "AllPickFinished";
                    if(state.CurrentTask?.RobotTaskType == 2|| state.CurrentTask?.RobotTaskType == 3)
                    {
                        // TODO 机械手取货完成，判断是否换盘、拆盘任务，创建空托盘回库任务
                    }
                    return true;

                case "allputfinished":
                    state.CurrentAction = "AllPutFinished";
                    if (state.CurrentTask?.RobotTaskType == 1 )
                    {
                        // TODO 机械手取货完成，判断是否组盘任务，创建组盘入库任务
                    }
                    return true;

                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>
        /// 机械手前缀命令处理
        /// </summary>
        /// <param name="message"></param>
        /// <returns></returns>
        private static bool IsPrefixCommand(string message)
        {
            return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
        }

        private Dt_RobotTask? GetTask(RobotCraneDevice robotCrane)
        {
            return _taskService.QueryRobotCraneTask(robotCrane.DeviceCode);
        }
    }

    public class RobotSocketState
    {
        public string IPAddress { get; set; } = string.Empty;

        /// <summary>
        /// 是否已订阅消息事件
        /// </summary>
        public bool IsEventSubscribed { get; set; }

        /// <summary>
        /// 机械手运行模式
        /// </summary>
        public int? RobotRunMode { get; set; }

        /// <summary>
        /// 机械手控制模式
        /// </summary>
        public int? RobotControlMode { get; set; }

        /// <summary>
        /// 机械手抓取对象
        /// </summary>
        public int? RobotArmObject { get; set; }

        /// <summary>
        /// 机械手设备信息
        /// </summary>
        public RobotCraneDevice? RobotCrane { get; set; }

        /// <summary>
        /// 当前动作
        /// </summary>
        public string? CurrentAction { get; set; }

        /// <summary>
        /// 当前状态
        /// </summary>
        public string? OperStatus { get; set; }

        /// <summary>
        /// 取货完成位置
        /// </summary>
        public int[]? LastPickPositions { get; set; }

        /// <summary>
        /// 放货完成位置
        /// </summary>
        public int[]? LastPutPositions { get; set; }

        /// <summary>
        /// 抓取位置条码
        /// </summary>
        public string[] CellBarcode { get; set; }

        /// <summary>
        /// 当前抓取任务
        /// </summary>
        public Dt_RobotTask? CurrentTask { get; set; }
    }
}
}