From a8f45091019012eeafec563913dee71cda3d9790 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期三, 11 三月 2026 16:36:49 +0800
Subject: [PATCH] refactor: modularize WIDESEAWCS_Tasks workflows
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs | 141 +++++++++-------------------------------------
1 files changed, 29 insertions(+), 112 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
index 028248c..f6b1ac5 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotJob.cs
@@ -1,17 +1,17 @@
-using Quartz;
+锘縰sing Quartz;
using WIDESEA_Core;
-using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.Caches;
using WIDESEAWCS_Core.Helper;
using WIDESEAWCS_ITaskInfoService;
-using WIDESEAWCS_Model.Models;
using WIDESEAWCS_QuartzJob;
+using WIDESEAWCS_Tasks.Workflow.Abstractions;
+using WIDESEAWCS_Tasks.Workflow;
using WIDESEAWCS_Tasks.SocketServer;
namespace WIDESEAWCS_Tasks
{
/// <summary>
- /// 鏈烘鎵嬩换鍔′綔涓� - 璐熻矗鍗忚皟鏈烘鎵嬪鎴风杩炴帴銆佹秷鎭鐞嗗拰浠诲姟鎵ц
+ /// 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��
/// </summary>
[DisallowConcurrentExecution]
public class RobotJob : IJob
@@ -22,9 +22,9 @@
private readonly RobotClientManager _clientManager;
private readonly RobotStateManager _stateManager;
- private readonly RobotMessageHandler _messageHandler;
+ private readonly IRobotMessageRouter _messageRouter;
private readonly RobotTaskProcessor _taskProcessor;
- private readonly IRobotTaskService _robotTaskService;
+ private readonly IRobotWorkflowOrchestrator _workflowOrchestrator;
public RobotJob(
TcpSocketServer tcpSocket,
@@ -33,31 +33,32 @@
ICacheService cache,
HttpClientHelper httpClientHelper)
{
- _robotTaskService = robotTaskService;
-
- // 鍒濆鍖栫鐞嗗櫒
_stateManager = new RobotStateManager(cache);
- _taskProcessor = new RobotTaskProcessor(tcpSocket, _stateManager, robotTaskService, taskService, httpClientHelper);
- _clientManager = new RobotClientManager(tcpSocket, _stateManager);
- _messageHandler = new RobotMessageHandler(tcpSocket, _stateManager, cache, robotTaskService, _taskProcessor);
- // 璁㈤槄瀹㈡埛绔鐞嗗櫒鐨勪簨浠�
+ // 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��
+ ISocketClientGateway socketGateway = new SocketClientGateway(tcpSocket);
+
+ _taskProcessor = new RobotTaskProcessor(socketGateway, _stateManager, robotTaskService, taskService, httpClientHelper);
+ _clientManager = new RobotClientManager(tcpSocket, _stateManager);
+
+ var simpleCommandHandler = new RobotSimpleCommandHandler(_taskProcessor);
+ var prefixCommandHandler = new RobotPrefixCommandHandler(robotTaskService, _taskProcessor, _stateManager, socketGateway);
+ _messageRouter = new RobotMessageHandler(socketGateway, _stateManager, cache, simpleCommandHandler, prefixCommandHandler);
+
+ _workflowOrchestrator = new RobotWorkflowOrchestrator(_stateManager, _clientManager, _taskProcessor, robotTaskService);
+
_clientManager.OnClientDisconnected += OnClientDisconnected;
- // 璁㈤槄TCP鏈嶅姟鍣ㄧ殑娑堟伅浜嬩欢锛堝叏灞�鍙闃呬竴娆★級
+ // 鍏ㄥ眬鍙闃呬竴娆℃秷鎭簨浠讹紝淇濇寔鍘熸湁琛屼负銆�
if (System.Threading.Interlocked.CompareExchange(ref _messageSubscribedFlag, 1, 0) == 0)
{
- tcpSocket.MessageReceived += _messageHandler.HandleMessageReceivedAsync;
- Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 鏈哄櫒浜篢CP娑堟伅浜嬩欢宸茶闃�");
+ tcpSocket.MessageReceived += _messageRouter.HandleMessageReceivedAsync;
+ Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 鏈哄櫒鎵婽CP娑堟伅浜嬩欢宸茶闃�");
}
}
- /// <summary>
- /// 瀹㈡埛绔柇寮�杩炴帴鏃剁殑澶勭悊
- /// </summary>
private void OnClientDisconnected(object? sender, RobotSocketState state)
{
- // 鍙互鍦ㄨ繖閲屾坊鍔犳柇寮�杩炴帴鍚庣殑澶勭悊閫昏緫
Console.WriteLine($"[{DateTime.Now:yyyy-MM-dd HH:mm:ss}] 瀹㈡埛绔凡鏂紑杩炴帴: {state.IPAddress}");
}
@@ -72,118 +73,34 @@
string ipAddress = robotCrane.IPAddress;
- // 鑾峰彇鎴栧垱寤虹姸鎬�
RobotSocketState state = _stateManager.GetOrCreateState(ipAddress, robotCrane);
state.RobotCrane = robotCrane;
try
{
- // 纭繚瀹㈡埛绔凡杩炴帴骞惰闃呮秷鎭簨浠�
if (!_clientManager.EnsureClientSubscribed(ipAddress, robotCrane))
{
- return; // 瀹㈡埛绔湭杩炴帴鎴栬闃呭け璐ワ紝璺宠繃鏈鎵ц
+ return;
}
- // 鑾峰彇浠诲姟骞跺鐞�
- Dt_RobotTask? task = _taskProcessor.GetTask(robotCrane);
+ var task = _taskProcessor.GetTask(robotCrane);
if (task != null)
{
- // 姣忔鍒ゆ柇鍓嶉噸鏂颁粠缂撳瓨鑾峰彇鏈�鏂扮姸鎬�
var latestState = _stateManager.GetState(ipAddress);
- if (latestState == null) return;
+ if (latestState == null)
+ {
+ return;
+ }
if (latestState.RobotTaskTotalNum < MaxTaskTotalNum)
{
- await ProcessTaskAsync(latestState, task, ipAddress);
+ await _workflowOrchestrator.ExecuteAsync(latestState, task, ipAddress);
}
}
}
catch (Exception)
{
- // 寮傚父澶勭悊宸插湪鍚勭粍浠朵腑澶勭悊
- }
- }
-
- /// <summary>
- /// 澶勭悊鏈烘鎵嬩换鍔�
- /// </summary>
- private async Task ProcessTaskAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
- {
- // 澶勭悊姝ｅ湪鎵ц鐨勪换鍔�
- if (latestState.RobotRunMode == 2 && latestState.RobotControlMode == 1 && latestState.OperStatus != "Running")
- {
- // 鍙栬揣瀹屾垚鐘舵�佸鐞�
- if ((latestState.CurrentAction == "PickFinished" || latestState.CurrentAction == "AllPickFinished") && latestState.RobotArmObject == 1 &&
- task.RobotTaskState == TaskRobotStatusEnum.RobotPickFinish.GetHashCode())
- {
- await HandlePickFinishedStateAsync(latestState, task, ipAddress);
- }
- // 鏀捐揣瀹屾垚鐘舵�佸鐞�
- else if ((latestState.CurrentAction == "PutFinished" || latestState.CurrentAction == "AllPutFinished") && latestState.OperStatus == "Homed" &&
- latestState.RobotArmObject == 0 &&
- (task.RobotTaskState == TaskRobotStatusEnum.RobotPutFinish.GetHashCode() ||
- task.RobotTaskState != TaskRobotStatusEnum.RobotExecuting.GetHashCode()))
- {
- await HandlePutFinishedStateAsync(latestState, task, ipAddress);
- }
- }
- }
-
- /// <summary>
- /// 澶勭悊鍙栬揣瀹屾垚鐘舵��
- /// </summary>
- private async Task HandlePickFinishedStateAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
- {
- string taskString = $"Putbattery,{task.RobotTargetAddress}";
- bool result = await _clientManager.SendToClientAsync(ipAddress, taskString);
- if (result)
- {
- task.RobotTaskState = TaskRobotStatusEnum.RobotExecuting.GetHashCode();
-
- // 閲嶆柊鑾峰彇鏈�鏂扮姸鎬佸苟鏇存柊
- var stateToUpdate = _stateManager.GetState(ipAddress);
- if (stateToUpdate != null)
- {
- stateToUpdate.CurrentTask = task;
- if (_stateManager.TryUpdateStateSafely(ipAddress, stateToUpdate))
- await _robotTaskService.UpdateRobotTaskAsync(task);
- }
- }
- }
-
- /// <summary>
- /// 澶勭悊鏀捐揣瀹屾垚鐘舵��
- /// </summary>
- private async Task HandlePutFinishedStateAsync(RobotSocketState latestState, Dt_RobotTask task, string ipAddress)
- {
- // 閲嶆柊鑾峰彇鏈�鏂扮姸鎬�
- var stateForUpdate = _stateManager.GetState(ipAddress);
- if (stateForUpdate == null) return;
-
- if (!stateForUpdate.IsSplitPallet && !stateForUpdate.IsGroupPallet)
- {
- stateForUpdate.IsSplitPallet = task.RobotTaskType == RobotTaskTypeEnum.SplitPallet.GetHashCode();
- stateForUpdate.IsGroupPallet = task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode() ||
- task.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode();
- }
-
- if (task.RobotTaskType == RobotTaskTypeEnum.GroupPallet.GetHashCode())
- {
- string prefix = "TRAY";
-
- // 鐢熸垚涓や釜鎵樼洏鏉＄爜
- string trayBarcode1 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
- string trayBarcode2 = RobotBarcodeGenerator.GenerateTrayBarcode(prefix);
- if (!trayBarcode1.IsNullOrEmpty() && !trayBarcode2.IsNullOrEmpty())
- {
- stateForUpdate.CellBarcode.Add(trayBarcode1);
- stateForUpdate.CellBarcode.Add(trayBarcode2);
- await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
- }
- }
- else // 浠诲姟寮�濮嬫墽琛岀洿鎺ュ彂閫佸彇璐у湴鍧�
- {
- await _taskProcessor.SendSocketRobotPickAsync(task, stateForUpdate);
+ // 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��
}
}
}
--
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