From 8e42d0c1b7ae36cff2e7c69999117911a4b6f300 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期四, 26 三月 2026 17:31:06 +0800
Subject: [PATCH] feat(WCS): 完善 WIDESEAWCS_Tasks 模块代码注释
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 160 +++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 149 insertions(+), 11 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index c7b91b3..8a55144 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,33 +1,112 @@
-锘縰sing Quartz;
+using Microsoft.Extensions.Logging;
+using Quartz;
+using System.Net;
using WIDESEA_Core;
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
+using WIDESEAWCS_Core.LogHelper;
using WIDESEAWCS_ITaskInfoService;
using WIDESEAWCS_QuartzJob;
-using WIDESEAWCS_Tasks.Workflow.Abstractions;
-using WIDESEAWCS_Tasks.Workflow;
using WIDESEAWCS_Tasks.SocketServer;
-using Microsoft.Extensions.Logging;
+using WIDESEAWCS_Tasks.Workflow;
+using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks
{
/// <summary>
- /// 鏈哄櫒浜轰换鍔′綔涓氾細璐熻矗璋冨害涓庣敓鍛藉懆鏈熺鐞嗭紝鍏蜂綋鐘舵�佹満娴佺▼浜ょ粰缂栨帓鍣ㄣ��
+ /// 鏈哄櫒浜轰换鍔′綔涓氾紙Quartz Job锛�- 璐熻矗璋冨害涓庣敓鍛藉懆鏈熺鐞�
/// </summary>
+ /// <remarks>
+ /// Quartz 瀹氭椂浠诲姟锛屾瘡绉掓墽琛屼竴娆★紙榛樿锛夛紝涓昏鑱岃矗锛�
+ /// 1. 浠� JobDataMap 鑾峰彇璁惧淇℃伅
+ /// 2. 纭繚 TCP 瀹㈡埛绔凡杩炴帴骞惰闃呮秷鎭�
+ /// 3. 杞寰呭鐞嗙殑鏈哄櫒浜轰换鍔�
+ /// 4. 璋冪敤宸ヤ綔娴佺紪鎺掑櫒鎵ц浠诲姟鐘舵�佹満
+ ///
+ /// 浣跨敤 [DisallowConcurrentExecution] 绂佹骞跺彂鎵ц锛岀‘淇濆悓涓�璁惧鐨勪换鍔′覆琛屽鐞嗐��
+ /// 鍏蜂綋鐨勭姸鎬佹満娴佺▼閫昏緫濮旀墭缁� <see cref="RobotWorkflowOrchestrator"/> 澶勭悊銆�
+ /// </remarks>
[DisallowConcurrentExecution]
public class RobotJob : IJob
{
+ /// <summary>
+ /// 浠诲姟鎬绘暟涓婇檺
+ /// </summary>
+ /// <remarks>
+ /// 褰撴満鍣ㄤ汉澶勭悊鐨勮揣鐗╂暟閲忚揪鍒版涓婇檺鏃讹紝涓嶅啀涓嬪彂鏂颁换鍔°��
+ /// 闃叉鏈哄櫒浜鸿繃搴﹀姵绱垨绯荤粺杩囪浇銆�
+ /// </remarks>
private const int MaxTaskTotalNum = 48;
+ /// <summary>
+ /// 娑堟伅浜嬩欢璁㈤槄鏍囧織
+ /// </summary>
+ /// <remarks>
+ /// 浣跨敤鍘熷瓙鎿嶄綔纭繚鍏ㄥ眬鍙闃呬竴娆� TCP 娑堟伅浜嬩欢銆�
+ /// 闃叉澶氫釜 Job 瀹炰緥閲嶅璁㈤槄瀵艰嚧娑堟伅琚娆″鐞嗐��
+ /// </remarks>
private static int _messageSubscribedFlag;
+ /// <summary>
+ /// 鏈烘鎵嬪鎴风杩炴帴绠＄悊鍣�
+ /// </summary>
+ /// <remarks>
+ /// 璐熻矗绠＄悊 TCP 杩炴帴鐨勭敓鍛藉懆鏈燂紝鍖呮嫭杩炴帴銆佹柇寮�銆佹秷鎭彂閫佺瓑銆�
+ /// </remarks>
private readonly RobotClientManager _clientManager;
+
+ /// <summary>
+ /// 鏈烘鎵嬬姸鎬佺鐞嗗櫒
+ /// </summary>
+ /// <remarks>
+ /// 璐熻矗绠＄悊 Redis 缂撳瓨涓殑鏈烘鎵嬬姸鎬侊紝鍖呮嫭璇诲啓鍜屽苟鍙戞帶鍒躲��
+ /// </remarks>
private readonly RobotStateManager _stateManager;
+
+ /// <summary>
+ /// 娑堟伅璺敱鍣�
+ /// </summary>
+ /// <remarks>
+ /// 璐熻矗澶勭悊浠� TCP 鏈嶅姟鍣ㄦ帴鏀跺埌鐨勬秷鎭紝骞跺垎鍙戠粰鍚堥�傜殑澶勭悊鍣ㄣ��
+ /// 鏄秷鎭鐞嗙閬撶殑鍏ュ彛銆�
+ /// </remarks>
private readonly IRobotMessageRouter _messageRouter;
+
+ /// <summary>
+ /// 鏈哄櫒浜轰换鍔″鐞嗗櫒
+ /// </summary>
+ /// <remarks>
+ /// 璐熻矗浠诲姟鐨勪笅鍙戙�佺姸鎬佹洿鏂般�佷笌 WMS 鐨勪氦浜掔瓑銆�
+ /// </remarks>
private readonly RobotTaskProcessor _taskProcessor;
+
+ /// <summary>
+ /// 鏈哄櫒浜哄伐浣滄祦缂栨帓鍣�
+ /// </summary>
+ /// <remarks>
+ /// 璐熻矗鎵ц浠诲姟鐨勭姸鎬佹満娴佽浆锛屾牴鎹綋鍓嶇姸鎬佸喅瀹氫笅涓�姝ュ姩浣溿��
+ /// 杩欐槸鏍稿績鐨勪笟鍔￠�昏緫缂栨帓缁勪欢銆�
+ /// </remarks>
private readonly IRobotWorkflowOrchestrator _workflowOrchestrator;
+
+ /// <summary>
+ /// 鏃ュ織璁板綍鍣�
+ /// </summary>
private readonly ILogger<RobotJob> _logger;
+ /// <summary>
+ /// 鏋勯�犲嚱鏁�
+ /// </summary>
+ /// <remarks>
+ /// 閲囩敤渚濊禆娉ㄥ叆鏂瑰紡鑾峰彇鎵�闇�鏈嶅姟锛屽苟瀹屾垚缁勪欢鐨勫垵濮嬪寲鍜岀粍瑁呫��
+ /// 杩欓噷浣撶幇浜�"鎺у埗鍙嶈浆"鍜�"渚濊禆娉ㄥ叆"鐨勮璁″師鍒欍��
+ /// </remarks>
+ /// <param name="tcpSocket">TCP Socket 鏈嶅姟鍣ㄥ疄渚�</param>
+ /// <param name="robotTaskService">鏈哄櫒浜轰换鍔℃湇鍔�</param>
+ /// <param name="taskService">閫氱敤浠诲姟鏈嶅姟</param>
+ /// <param name="cache">缂撳瓨鏈嶅姟</param>
+ /// <param name="httpClientHelper">HTTP 瀹㈡埛绔府鍔╃被锛岀敤浜庤皟鐢� WMS 鎺ュ彛</param>
+ /// <param name="logger">鏃ュ織璁板綍鍣�</param>
public RobotJob(
TcpSocketServer tcpSocket,
IRobotTaskService robotTaskService,
@@ -36,75 +115,134 @@
HttpClientHelper httpClientHelper,
ILogger<RobotJob> logger)
{
+ // 鍒濆鍖栫姸鎬佺鐞嗗櫒锛屼紶鍏ョ紦瀛樻湇鍔�
_stateManager = new RobotStateManager(cache);
_logger = logger;
- // 鏀跺彛 Socket 璁块棶锛屽悗缁嫢鏇挎崲閫氫俊瀹炵幇鍙渶鏇挎崲缃戝叧灞傘��
+ // 鍒涘缓 Socket 缃戝叧锛屽皝瑁� TcpSocketServer 鐨勮闂�
+ // 鍚庣画鏇挎崲閫氫俊瀹炵幇鏃跺彧闇�鏇挎崲缃戝叧灞�
ISocketClientGateway socketGateway = new SocketClientGateway(tcpSocket);
+ // 鍒濆鍖栦换鍔″鐞嗗櫒
_taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper);
+
+ // 鍒濆鍖栧鎴风绠＄悊鍣�
_clientManager = new RobotClientManager(tcpSocket, _stateManager);
+ // 鍒濆鍖栧懡浠ゅ鐞嗗櫒
+ // 绠�鍗曞懡浠ゅ鐞嗗櫒锛氬鐞嗙姸鎬佹洿鏂扮瓑绠�鍗曞懡浠�
var simpleCommandHandler = new RobotSimpleCommandHandler(_taskProcessor);
+ // 鍓嶇紑鍛戒护澶勭悊鍣細澶勭悊 pickfinished銆乸utfinished 绛夊甫鍙傛暟鐨勫懡浠�
var prefixCommandHandler = new RobotPrefixCommandHandler(robotTaskService, _taskProcessor, _stateManager, socketGateway);
+
+ // 鍒濆鍖栨秷鎭矾鐢卞櫒
_messageRouter = new RobotMessageHandler(socketGateway, _stateManager, cache, simpleCommandHandler, prefixCommandHandler, logger);
+ // 鍒濆鍖栧伐浣滄祦缂栨帓鍣�
_workflowOrchestrator = new RobotWorkflowOrchestrator(_stateManager, _clientManager, _taskProcessor, robotTaskService);
+ // 璁㈤槄瀹㈡埛绔柇寮�杩炴帴浜嬩欢
_clientManager.OnClientDisconnected += OnClientDisconnected;
- // 鍏ㄥ眬鍙闃呬竴娆℃秷鎭簨浠讹紝淇濇寔鍘熸湁琛屼负銆�
+ // 鍏ㄥ眬鍙闃呬竴娆� TCP 娑堟伅浜嬩欢锛堜繚鎸佸師鏈夎涓猴級
+ // 浣跨敤 Interlocked.CompareExchange 瀹炵幇鍘熷瓙鎿嶄綔
if (System.Threading.Interlocked.CompareExchange(ref _messageSubscribedFlag, 1, 0) == 0)
{
+ // 灏嗘秷鎭矾鐢卞櫒鐨勫鐞嗘柟娉曠粦瀹氬埌 TCP 鏈嶅姟鍣ㄧ殑娑堟伅鎺ユ敹浜嬩欢
tcpSocket.MessageReceived += _messageRouter.HandleMessageReceivedAsync;
- Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 鏈哄櫒鎵婽CP娑堟伅浜嬩欢宸茶闃�");
+ _logger.LogError("鏈哄櫒鎵婽CP娑堟伅浜嬩欢宸茶闃�");
+ QuartzLogger.Error($"鏈哄櫒鎵婽CP娑堟伅浜嬩欢宸茶闃�");
}
}
+ /// <summary>
+ /// 瀹㈡埛绔柇寮�杩炴帴鐨勪簨浠跺鐞�
+ /// </summary>
+ /// <remarks>
+ /// 褰撳鎴风鏂紑杩炴帴鏃惰褰曟棩蹇楋紝渚夸簬鎺掓煡闂銆�
+ /// </remarks>
+ /// <param name="sender">浜嬩欢鍙戦�佽��</param>
+ /// <param name="state">鏂紑杩炴帴鐨勬満姊版墜鐘舵��</param>
private void OnClientDisconnected(object? sender, RobotSocketState state)
{
- Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 瀹㈡埛绔凡鏂紑杩炴帴: {state.IPAddress}");
+ _logger.LogError("瀹㈡埛绔凡鏂紑杩炴帴");
+ QuartzLogger.Error($"瀹㈡埛绔凡鏂紑杩炴帴", state.RobotCrane.DeviceName);
}
+ /// <summary>
+ /// Quartz Job 鐨勬墽琛屽叆鍙�
+ /// </summary>
+ /// <remarks>
+ /// 鎵ц娴佺▼锛�
+ /// 1. 浠� JobDataMap 鑾峰彇璁惧淇℃伅
+ /// 2. 纭繚瀹㈡埛绔凡杩炴帴骞惰闃呮秷鎭�
+ /// 3. 杞寰呭鐞嗕换鍔�
+ /// 4. 璋冪敤宸ヤ綔娴佺紪鎺掑櫒鎵ц浠诲姟
+ ///
+ /// 娉ㄦ剰锛氭鏂规硶鍙兘棰戠箒璋冪敤锛堟瘡绉掍竴娆★級锛岄渶娉ㄦ剰鎬ц兘銆�
+ /// </remarks>
+ /// <param name="context">Quartz 浣滀笟鎵ц涓婁笅鏂囷紝鍖呭惈浣滀笟璇︽儏鍜屾暟鎹�</param>
public async Task Execute(IJobExecutionContext context)
{
+ // 浠� JobDataMap 涓幏鍙栦綔涓氬弬鏁�
bool flag = context.JobDetail.JobDataMap.TryGetValue("JobParams", out object? value);
+
+ // 灏嗗弬鏁拌浆鎹负鏈哄櫒浜鸿澶囦俊鎭�
RobotCraneDevice robotCrane = (RobotCraneDevice?)value ?? new RobotCraneDevice();
+
+ // 濡傛灉娌℃湁鑾峰彇鍒版湁鏁堢殑璁惧淇℃伅锛岀洿鎺ヨ繑鍥�
if (!flag || robotCrane.IsNullOrEmpty())
{
return;
}
+ // 鑾峰彇璁惧 IP 鍦板潃锛屼綔涓虹姸鎬佺紦瀛樼殑閿�
string ipAddress = robotCrane.IPAddress;
+ // 鑾峰彇鎴栧垱寤鸿澶囩姸鎬佸璞�
RobotSocketState state = _stateManager.GetOrCreateState(ipAddress, robotCrane);
+
+ // 鏇存柊璁惧鍩虹淇℃伅锛堜互闃茶澶囦俊鎭湪杩愯鏈熼棿鍙戠敓鍙樺寲锛�
state.RobotCrane = robotCrane;
try
{
+ // 纭繚瀹㈡埛绔凡杩炴帴骞惰闃呮秷鎭簨浠�
+ // 濡傛灉瀹㈡埛绔湭杩炴帴鎴栬闃呭け璐ワ紝鐩存帴杩斿洖绛夊緟涓嬫璋冨害
if (!_clientManager.EnsureClientSubscribed(ipAddress, robotCrane))
{
return;
}
+ // 杞鑾峰彇璇ヨ澶囩殑寰呭鐞嗕换鍔�
var task = _taskProcessor.GetTask(robotCrane);
+
+ // 濡傛灉鏈夊緟澶勭悊浠诲姟
if (task != null)
{
+ // 鑾峰彇鏈�鏂扮殑璁惧鐘舵��
var latestState = _stateManager.GetState(ipAddress);
if (latestState == null)
{
+ // 鐘舵�佷笉瀛樺湪锛屽彲鑳借澶囨湭鍒濆鍖�
return;
}
+ // 妫�鏌ヤ换鍔℃�绘暟鏄惁鏈揪鍒颁笂闄�
if (latestState.RobotTaskTotalNum < MaxTaskTotalNum)
{
+ // 璋冪敤宸ヤ綔娴佺紪鎺掑櫒鎵ц浠诲姟
+ // 缂栨帓鍣ㄤ細鏍规嵁褰撳墠鐘舵�佸喅瀹氫笅涓�姝ュ姩浣�
await _workflowOrchestrator.ExecuteAsync(latestState, task, ipAddress);
}
}
}
- catch (Exception)
+ catch (Exception ex)
{
- // 寮傚父澶勭悊宸插湪缁勪欢鍐呴儴杩涜锛孞ob 灞備繚鎸佸厹搴曞悶鍚愯涔夈��
+ // 寮傚父澶勭悊宸插湪缁勪欢鍐呴儴杩涜锛孞ob 灞備繚鎸佸厹搴曡涔�
+ // 璁板綍寮傚父鑰屼笉鏄潤榛樺悶鎺夛紝渚夸簬鎺掓煡闂
+ _logger?.LogError(ex, "RobotJob鎵ц寮傚父锛孖P: {IpAddress}", ipAddress);
+ QuartzLogger.Error($"RobotJob鎵ц寮傚父锛孖P: {ipAddress}", state.RobotCrane.DeviceName, ex);
}
}
}
--
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