fix(WCS): 修复输送线任务处理逻辑并更新设备映射

wanshenmean

13 小时以前 853f7a71577bd8694c848985e1eb21c74d30eba9

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

@@ -1,12 +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_Model.Models;
using WIDESEAWCS_Tasks.SocketServer;
using WIDESEAWCS_Tasks.Workflow;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
@@ -83,7 +82,7 @@
        /// <summary>
        /// 日志记录器
        /// </summary>
        private readonly ILogger<RobotJob> _logger;
        private readonly ILogger _logger;

        /// <summary>
        /// 构造函数
@@ -95,20 +94,20 @@
        /// <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 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
@@ -123,12 +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);
            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);
@@ -142,8 +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");
            }
        }

@@ -157,8 +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>
@@ -244,8 +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);
            }
        }
    }