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wanshenmean
19 小时以前 e2bf7bc6b494439e182d333041e22b2774056fc3 
 Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs


@@ -7,6 +7,7 @@


using WIDESEAWCS_Core.LogHelper;


using WIDESEAWCS_ITaskInfoService;


using WIDESEAWCS_QuartzJob;


using WIDESEAWCS_RedisService;


using WIDESEAWCS_Tasks.SocketServer;


using WIDESEAWCS_Tasks.Workflow;


using WIDESEAWCS_Tasks.Workflow.Abstractions;


@@ -95,19 +96,20 @@


        /// <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="robotStateRepository">机器人状态仓储</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,


            IRobotStateRepository robotStateRepository,


            HttpClientHelper httpClientHelper,


            ILogger<RobotJob> logger)


            ILogger<RobotJob> logger,


            IFakeBatteryPositionService fakeBatteryPositionService)


        {


            // 初始化状态管理器，传入缓存服务


            _stateManager = new RobotStateManager(cache, _logger);


            // 初始化状态管理器，传入仓储服务


            _stateManager = new RobotStateManager(robotStateRepository, _logger);


            _logger = logger;




            // 创建 Socket 网关，封装 TcpSocketServer 的访问


@@ -115,7 +117,7 @@


            ISocketClientGateway socketGateway = new SocketClientGateway(tcpSocket);




            // 初始化任务处理器


            _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper, _logger);


            _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper, _logger, fakeBatteryPositionService);




            // 初始化客户端管理器


            _clientManager = new RobotClientManager(tcpSocket, _stateManager, _logger);


@@ -124,7 +126,7 @@


            // 简单命令处理器：处理状态更新等简单命令


            var simpleCommandHandler = new RobotSimpleCommandHandler(_taskProcessor, socketGateway);


            // 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);


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




            // 初始化消息路由器


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