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/RobotMessageHandler.cs | 265 +++++-----------------------------------------------
1 files changed, 26 insertions(+), 239 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs
index 36b521f..a46f641 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs
@@ -1,275 +1,62 @@
-using System.Net.Sockets;
+锘縰sing System.Net.Sockets;
using WIDESEAWCS_Common;
-using WIDESEAWCS_Common.HttpEnum;
-using WIDESEAWCS_Common.TaskEnum;
using WIDESEAWCS_Core.Caches;
-using WIDESEAWCS_Core.Helper;
-using WIDESEAWCS_DTO.Stock;
-using WIDESEAWCS_DTO.TaskInfo;
-using WIDESEAWCS_ITaskInfoService;
-using WIDESEAWCS_Model.Models;
-using WIDESEAWCS_Tasks.SocketServer;
+using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks
{
/// <summary>
- /// 鏈烘鎵嬫秷鎭鐞嗗櫒 - 璐熻矗澶勭悊鏉ヨ嚜TCP瀹㈡埛绔殑娑堟伅
+ /// 鏈哄櫒浜烘秷鎭矾鐢卞叆鍙ｏ細璐熻矗缂撳瓨鐘舵�佽鍙栥�佸懡浠ゅ垎鍙戝拰鍥炲寘瑙﹀彂銆�
/// </summary>
- public class RobotMessageHandler
+ public class RobotMessageHandler : IRobotMessageRouter
{
- private readonly TcpSocketServer _tcpSocket;
+ private readonly ISocketClientGateway _socketClientGateway;
private readonly RobotStateManager _stateManager;
private readonly ICacheService _cache;
- private readonly IRobotTaskService _robotTaskService;
- private readonly RobotTaskProcessor _taskProcessor;
+ private readonly IRobotSimpleCommandHandler _simpleCommandHandler;
+ private readonly IRobotPrefixCommandHandler _prefixCommandHandler;
public RobotMessageHandler(
- TcpSocketServer tcpSocket,
+ ISocketClientGateway socketClientGateway,
RobotStateManager stateManager,
ICacheService cache,
- IRobotTaskService robotTaskService,
- RobotTaskProcessor taskProcessor)
+ IRobotSimpleCommandHandler simpleCommandHandler,
+ IRobotPrefixCommandHandler prefixCommandHandler)
{
- _tcpSocket = tcpSocket;
+ _socketClientGateway = socketClientGateway;
_stateManager = stateManager;
_cache = cache;
- _robotTaskService = robotTaskService;
- _taskProcessor = taskProcessor;
+ _simpleCommandHandler = simpleCommandHandler;
+ _prefixCommandHandler = prefixCommandHandler;
}
/// <summary>
- /// 澶勭悊鎺ユ敹鍒扮殑娑堟伅
+ /// 澶勭悊鎺ユ敹鍒扮殑娑堟伅銆備繚鎸佸師鏈夎涓猴細绠�鍗曞懡浠ゅ拰鍓嶇紑鍛戒护閮藉洖鍐欏師娑堟伅銆�
/// </summary>
public async Task<string?> HandleMessageReceivedAsync(string message, bool isJson, TcpClient client, RobotSocketState state)
{
- if (!(_cache?.TryGetValue($"{RedisPrefix.Code}:{RedisName.SocketDevices}:{client.Client.RemoteEndPoint}", out state)) ?? false)
+ var cacheKey = $"{RedisPrefix.Code}:{RedisName.SocketDevices}:{client.Client.RemoteEndPoint}";
+ if (!_cache.TryGetValue(cacheKey, out RobotSocketState? cachedState) || cachedState == null)
+ {
return null;
+ }
+ var activeState = cachedState;
string messageLower = message.ToLowerInvariant();
- if (await IsSimpleCommandAsync(messageLower, state))
+ if (await _simpleCommandHandler.HandleAsync(messageLower, activeState))
{
- await _tcpSocket.SendMessageAsync(client, message);
- if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
- return null;
+ await _socketClientGateway.SendMessageAsync(client, message);
+ _stateManager.TryUpdateStateSafely(activeState.IPAddress, activeState);
+ return null;
}
- else if (IsPrefixCommand(messageLower))
+
+ if (_prefixCommandHandler.IsPrefixCommand(messageLower))
{
- await HandlePrefixCommandAsync(message, state, client);
+ await _prefixCommandHandler.HandleAsync(message, activeState, client);
}
return null;
- }
-
- /// <summary>
- /// 澶勭悊鍓嶇紑鍛戒护锛坧ickfinished, putfinished锛�
- /// </summary>
- private async Task HandlePrefixCommandAsync(string message, RobotSocketState state, TcpClient client)
- {
- try
- {
- var parts = message.Split(',');
- if (parts.Length >= 1 && state.CurrentTask != null)
- {
- var cmd = parts[0].ToLowerInvariant();
- int[] positions = parts.Skip(1)
- .Select(p => int.TryParse(p, out int value) ? value : (int?)null)
- .Where(v => v.HasValue && v.Value != 0)
- .Select(v => v!.Value)
- .ToArray();
-
- var task = await _robotTaskService.Repository.QueryFirstAsync(x => x.RobotTaskId == state.CurrentTask.RobotTaskId);
-
- if (cmd.StartsWith("pickfinished"))
- {
- await HandlePickFinishedAsync(state, positions, task, client);
- }
- else if (cmd.StartsWith("putfinished"))
- {
- await HandlePutFinishedAsync(state, positions, task, client);
- }
-
- await _tcpSocket.SendMessageAsync(client, message);
- }
- }
- catch (Exception ex)
- {
- Console.WriteLine($"RobotJob MessageReceived Error: {ex.Message}");
- }
- }
-
- /// <summary>
- /// 澶勭悊鍙栬揣瀹屾垚鍛戒护
- /// </summary>
- private async Task HandlePickFinishedAsync(RobotSocketState state, int[] positions, Dt_RobotTask? task, TcpClient client)
- {
- if (state.IsSplitPallet)
- {
- var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
- state.LastPickPositions = positions;
-
- var result = _taskProcessor.PostSplitPalletAsync(stockDTO);
-
- if (result.Data.Status && result.IsSuccess)
- {
- state.CurrentAction = "PickFinished";
- }
- }
- else
- {
- state.CurrentAction = "PickFinished";
- }
-
- state.LastPickPositions = positions;
- if (task != null)
- {
- task.RobotTaskState = TaskRobotStatusEnum.RobotPickFinish.GetHashCode();
- if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
- await _robotTaskService.Repository.UpdateDataAsync(task);
- }
- }
-
- /// <summary>
- /// 澶勭悊鏀捐揣瀹屾垚鍛戒护
- /// </summary>
- private async Task HandlePutFinishedAsync(RobotSocketState state, int[] positions, Dt_RobotTask? task, TcpClient client)
- {
- bool putSuccess = true;
- if (state.IsGroupPallet)
- {
- state.LastPutPositions = positions;
- var stockDTO = RobotTaskProcessor.BuildStockDTO(state, positions);
- var configKey = state.CurrentTask?.RobotTaskType == RobotTaskTypeEnum.ChangePallet.GetHashCode()
- ? nameof(ConfigKey.ChangePalletAsync) : nameof(ConfigKey.GroupPalletAsync);
-
- var result = _taskProcessor.PostGroupPalletAsync(configKey, stockDTO);
- putSuccess = result.Data.Status && result.IsSuccess;
- }
-
- if (putSuccess)
- {
- state.CurrentAction = "PutFinished";
- state.RobotTaskTotalNum += positions.Length;
- if (task != null)
- {
- task.RobotTaskTotalNum += positions.Length;
- }
- }
-
- if (task != null)
- {
- task.RobotTaskState = TaskRobotStatusEnum.RobotPutFinish.GetHashCode();
- if (_stateManager.TryUpdateStateSafely(state.IPAddress, state))
- await _robotTaskService.Repository.UpdateDataAsync(task);
- }
- }
-
- /// <summary>
- /// 鏈烘鎵嬬畝鍗曞懡浠ゅ鐞�
- /// </summary>
- private async Task<bool> IsSimpleCommandAsync(string message, RobotSocketState state)
- {
- RobotTaskTypeEnum? GetRobotTaskType() => state.CurrentTask != null ? (RobotTaskTypeEnum)state.CurrentTask.RobotTaskType : null;
- switch (message)
- {
- case "homing":
- state.OperStatus = "Homing";
- return true;
-
- case "homed":
- state.OperStatus = "Homed";
- return true;
-
- case "picking":
- state.CurrentAction = "Picking";
- return true;
-
- case "puting":
- state.CurrentAction = "Putting";
- return true;
-
- case "allpickfinished": // 鍙栬揣瀹屾垚
- state.CurrentAction = "AllPickFinished";
- var robotTaskType = GetRobotTaskType();
-
- if (robotTaskType == RobotTaskTypeEnum.SplitPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
- {
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: true))
- {
- _taskProcessor.DeleteTask(state.CurrentTask.RobotTaskId);
- return true;
- }
- }
- return false;
-
- case "allputfinished": // 鏀捐揣瀹屾垚
- state.CurrentAction = "AllPutFinished";
- robotTaskType = GetRobotTaskType();
-
- if (robotTaskType == RobotTaskTypeEnum.GroupPallet || robotTaskType == RobotTaskTypeEnum.ChangePallet)
- {
- if (await _taskProcessor.HandleInboundTaskAsync(state, useSourceAddress: false))
- {
- _taskProcessor.DeleteTask(state.CurrentTask.RobotTaskId);
- state.CurrentTask = null;
- state.RobotTaskTotalNum = 0;
- state.CellBarcode = new List<string>();
- return true;
- }
- }
- return false;
-
- 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>
- /// 鍒ゆ柇鏄惁涓哄墠缂�鍛戒护
- /// </summary>
- private static bool IsPrefixCommand(string message)
- {
- return message.StartsWith("pickfinished") || message.StartsWith("putfinished");
}
}
}
--
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