From f288ccc545f8cc32bc922c96dfb3cab9a1f92ec6 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期一, 20 四月 2026 00:49:55 +0800
Subject: [PATCH] feat: 初始化WMS前端项目并实现基础功能
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs | 101 +++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 86 insertions(+), 15 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs
index a46f641..9bcf06b 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Tasks/RobotJob/RobotMessageHandler.cs
@@ -1,62 +1,133 @@
-锘縰sing System.Net.Sockets;
+using Microsoft.Extensions.Logging;
+using System.Net.Sockets;
using WIDESEAWCS_Common;
-using WIDESEAWCS_Core.Caches;
+using WIDESEAWCS_Core.LogHelper;
+using WIDESEAWCS_Model.Models;
using WIDESEAWCS_Tasks.Workflow.Abstractions;
namespace WIDESEAWCS_Tasks
{
/// <summary>
- /// 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�
+ /// 鏈哄櫒浜烘秷鎭鐞嗗櫒 - 娑堟伅璺敱鍏ュ彛
/// </summary>
+ /// <remarks>
+ /// 鏍稿績鑱岃矗锛�
+ /// 1. 鐘舵�佹帴鏀讹細浠庤皟鐢ㄦ柟鑾峰彇鏈哄櫒浜烘渶鏂扮殑鐘舵��
+ /// 2. 鍛戒护鍒嗗彂锛氭牴鎹秷鎭被鍨嬪垎鍙戠粰涓嶅悓鐨勫鐞嗗櫒
+ /// - 绠�鍗曞懡浠わ紙濡� homing銆乺unning锛夛細鐢� <see cref="IRobotSimpleCommandHandler"/> 澶勭悊
+ /// - 鍓嶇紑鍛戒护锛堝 pickfinished銆乸utfinished锛夛細鐢� <see cref="IRobotPrefixCommandHandler"/> 澶勭悊
+ /// 3. 鍥炲寘瑙﹀彂锛氬皢鍘熷娑堟伅鍥炲啓鍒板鎴风
+ ///
+ /// 杩欐槸娑堟伅澶勭悊绠￠亾鐨勫叆鍙ｇ偣锛岀敱 TcpSocketServer 鐨� MessageReceived 浜嬩欢瑙﹀彂銆�
+ /// </remarks>
public class RobotMessageHandler : IRobotMessageRouter
{
+ /// <summary>
+ /// Socket 瀹㈡埛绔綉鍏虫帴鍙�
+ /// </summary>
private readonly ISocketClientGateway _socketClientGateway;
+
+ /// <summary>
+ /// 鏈烘鎵嬬姸鎬佺鐞嗗櫒
+ /// </summary>
private readonly RobotStateManager _stateManager;
- private readonly ICacheService _cache;
+
+ /// <summary>
+ /// 绠�鍗曞懡浠ゅ鐞嗗櫒
+ /// </summary>
private readonly IRobotSimpleCommandHandler _simpleCommandHandler;
+
+ /// <summary>
+ /// 鍓嶇紑鍛戒护澶勭悊鍣�
+ /// </summary>
private readonly IRobotPrefixCommandHandler _prefixCommandHandler;
+ /// <summary>
+ /// 鏃ュ織璁板綍鍣�
+ /// </summary>
+ private readonly ILogger<RobotJob> _logger;
+
+ /// <summary>
+ /// 鏋勯�犲嚱鏁�
+ /// </summary>
+ /// <param name="socketClientGateway">Socket 缃戝叧</param>
+ /// <param name="stateManager">鐘舵�佺鐞嗗櫒</param>
+ /// <param name="simpleCommandHandler">绠�鍗曞懡浠ゅ鐞嗗櫒</param>
+ /// <param name="prefixCommandHandler">鍓嶇紑鍛戒护澶勭悊鍣�</param>
+ /// <param name="logger">鏃ュ織璁板綍鍣�</param>
public RobotMessageHandler(
ISocketClientGateway socketClientGateway,
RobotStateManager stateManager,
- ICacheService cache,
IRobotSimpleCommandHandler simpleCommandHandler,
- IRobotPrefixCommandHandler prefixCommandHandler)
+ IRobotPrefixCommandHandler prefixCommandHandler,
+ ILogger<RobotJob> logger)
{
_socketClientGateway = socketClientGateway;
_stateManager = stateManager;
- _cache = cache;
_simpleCommandHandler = simpleCommandHandler;
_prefixCommandHandler = prefixCommandHandler;
+ _logger = logger;
}
/// <summary>
- /// 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�
+ /// 澶勭悊鎺ユ敹鍒扮殑娑堟伅
/// </summary>
+ /// <remarks>
+ /// 澶勭悊娴佺▼锛�
+ /// 1. 璁板綍鏃ュ織锛堣褰曞師濮嬫秷鎭唴瀹癸級
+ /// 2. 灏濊瘯鐢ㄧ畝鍗曞懡浠ゅ鐞嗗櫒澶勭悊锛堢姸鎬佹洿鏂扮被鍛戒护锛�
+ /// - 濡傛灉澶勭悊鎴愬姛锛屽洖鍐欏師娑堟伅骞舵洿鏂扮姸鎬�
+ /// 3. 濡傛灉涓嶆槸绠�鍗曞懡浠わ紝妫�鏌ユ槸鍚︽槸鍓嶇紑鍛戒护锛坧ickfinished/putfinished锛�
+ /// - 濡傛灉鏄紝璋冪敤鍓嶇紑鍛戒护澶勭悊鍣ㄥ鐞�
+ /// 4. 淇濇寔鍘熸湁琛屼负锛氱畝鍗曞懡浠ゅ拰鍓嶇紑鍛戒护閮藉洖鍐欏師娑堟伅
+ ///
+ /// 娉ㄦ剰锛氭鏂规硶鍙兘鍦� TCP 娑堟伅鎺ユ敹鐨勪笂涓嬫枃涓棰戠箒璋冪敤锛岄渶娉ㄦ剰鎬ц兘銆�
+ /// </remarks>
+ /// <param name="message">鍘熷娑堟伅瀛楃涓�</param>
+ /// <param name="isJson">娑堟伅鏄惁涓� JSON 鏍煎紡锛堝綋鍓嶆湭浣跨敤锛�</param>
+ /// <param name="client">TCP 瀹㈡埛绔繛鎺�</param>
+ /// <param name="state">鏈哄櫒浜哄綋鍓嶇姸鎬�</param>
+ /// <returns>鍝嶅簲娑堟伅锛屽鏋滄棤闇�鍥炲鍒欒繑鍥� null</returns>
public async Task<string?> HandleMessageReceivedAsync(string message, bool isJson, TcpClient client, RobotSocketState state)
{
- var cacheKey = $"{RedisPrefix.Code}:{RedisName.SocketDevices}:{client.Client.RemoteEndPoint}";
- if (!_cache.TryGetValue(cacheKey, out RobotSocketState? cachedState) || cachedState == null)
+ // 璁板綍鎺ユ敹鍒扮殑娑堟伅鏃ュ織
+ _logger.LogInformation($"鎺ユ敹鍒板鎴风銆恵state.RobotCrane?.DeviceName}銆戝彂閫佹秷鎭�恵message}銆�");
+ QuartzLogger.Info($"鎺ユ敹鍒板鎴风娑堟伅銆恵message}銆�", state.RobotCrane?.DeviceName);
+
+ // 妫�鏌ヤ换鍔℃�绘暟鏄惁鏈揪鍒颁笂闄�
+ if (state.RobotTaskTotalNum > RobotConst.MaxTaskTotalNum)
{
+ _logger.LogInformation($"鎺ユ敹鍒板鎴风銆恵state.RobotCrane?.DeviceName}銆戝彂閫佹秷鎭�恵message}銆�");
+ QuartzLogger.Info($"鎺ユ敹鍒板鎴风娑堟伅銆恵message}銆�", state.RobotCrane?.DeviceName);
+ await _socketClientGateway.SendMessageAsync(client, message);
return null;
}
- var activeState = cachedState;
+ // 灏嗘秷鎭浆鎹负灏忓啓锛堢敤浜庣畝鍗曞懡浠ゅ尮閰嶏級
string messageLower = message.ToLowerInvariant();
- if (await _simpleCommandHandler.HandleAsync(messageLower, activeState))
+ // 灏濊瘯鐢ㄧ畝鍗曞懡浠ゅ鐞嗗櫒澶勭悊
+ // 绠�鍗曞懡浠ゅ寘鎷細homing銆乭omed銆乺unning銆乸ausing銆乺unmode銆乧ontrolmode 绛�
+ if (await _simpleCommandHandler.HandleAsync(messageLower, state))
{
+ // 澶勭悊鎴愬姛鍚庯紝灏嗗師娑堟伅鍥炲啓鍒板鎴风锛堜繚鎸佸師鏈夎涓猴級
await _socketClientGateway.SendMessageAsync(client, message);
- _stateManager.TryUpdateStateSafely(activeState.IPAddress, activeState);
+ QuartzLogger.Info($"鍙戦�佹秷鎭細銆恵message}銆�", state.RobotCrane?.DeviceName);
+
+ // 瀹夊叏鏇存柊鐘舵�佸埌鏁版嵁搴�
+ _stateManager.TryUpdateStateSafely(state.IPAddress, state);
return null;
}
+ // 濡傛灉涓嶆槸绠�鍗曞懡浠わ紝妫�鏌ユ槸鍚︽槸鍓嶇紑鍛戒护
+ // 鍓嶇紑鍛戒护鍖呮嫭锛歱ickfinished銆乸utfinished锛堝悗闈㈣窡閫楀彿鍒嗛殧鐨勪綅缃弬鏁帮級
if (_prefixCommandHandler.IsPrefixCommand(messageLower))
{
- await _prefixCommandHandler.HandleAsync(message, activeState, client);
+ // 璋冪敤鍓嶇紑鍛戒护澶勭悊鍣�
+ await _prefixCommandHandler.HandleAsync(message, state, client);
}
return null;
}
}
-}
+}
\ No newline at end of file
--
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