CreateOrUpdateRobotTaskCommandHandler.cs
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using MassTransit;
using Microsoft.Extensions.Logging;
using Rcs.Application.Common;
using Rcs.Application.MessageBus.Commands;
using Rcs.Domain.Entities;
using Rcs.Domain.Repositories;
using TaskStatus = Rcs.Domain.Entities.TaskStatus;
namespace Rcs.Infrastructure.MessageBus.Handlers.Commands;
/// <summary>
/// 创建或更新任务命令处理器
/// @author zzy
/// </summary>
public class CreateOrUpdateRobotTaskCommandHandler : IConsumer<CreateOrUpdateRobotTaskCommand>
{
private readonly ILogger<CreateOrUpdateRobotTaskCommandHandler> _logger;
private readonly IRobotTaskRepository _robotTaskRepository;
private readonly IRobotRepository _robotRepository;
private readonly ITaskTemplateRepository _taskTemplateRepository;
private readonly IStorageLocationRepository _storageLocationRepository;
private readonly IMapResourceRepository _mapResourceRepository;
public CreateOrUpdateRobotTaskCommandHandler(
ILogger<CreateOrUpdateRobotTaskCommandHandler> logger,
IRobotTaskRepository robotTaskRepository,
IRobotRepository robotRepository,
ITaskTemplateRepository taskTemplateRepository,
IStorageLocationRepository storageLocationRepository,
IMapResourceRepository mapResourceRepository)
{
_logger = logger;
_robotTaskRepository = robotTaskRepository;
_robotRepository = robotRepository;
_taskTemplateRepository = taskTemplateRepository;
_storageLocationRepository = storageLocationRepository;
_mapResourceRepository = mapResourceRepository;
}
public async Task Consume(ConsumeContext<CreateOrUpdateRobotTaskCommand> context)
{
var command = context.Message;
try
{
// 验证机器人（可选）
Guid? robotId = null;
Guid? mapId = null;
if (!string.IsNullOrWhiteSpace(command.RobotId))
{
if (!Guid.TryParse(command.RobotId, out Guid parsedRobotId))
{
throw new InvalidOperationException("无效的机器人ID格式");
}
var robot = await _robotRepository.GetByIdAsync(parsedRobotId, context.CancellationToken);
if (robot == null)
{
throw new InvalidOperationException($"机器人ID {command.RobotId} 不存在");
}
robotId = parsedRobotId;
}
// 验证起点库位（可选）
Guid? beginLocationId = null;
if (!string.IsNullOrWhiteSpace(command.BeginLocationId))
{
if (!Guid.TryParse(command.BeginLocationId, out Guid parsedBeginLocationId))
{
throw new InvalidOperationException("无效的起点库位ID格式");
}
var beginLocation = await _storageLocationRepository.GetByIdAsync(parsedBeginLocationId, context.CancellationToken);
if (beginLocation == null)
{
throw new InvalidOperationException($"起点库位ID {command.BeginLocationId} 不存在");
}
beginLocationId = parsedBeginLocationId;
}
// 验证终点库位（可选）
Guid? endLocationId = null;
if (!string.IsNullOrWhiteSpace(command.EndLocationId))
{
if (!Guid.TryParse(command.EndLocationId, out Guid parsedEndLocationId))
{
throw new InvalidOperationException("无效的终点库位ID格式");
}
var endLocation = await _storageLocationRepository.GetByIdAsync(parsedEndLocationId, context.CancellationToken);
if (endLocation == null)
{
throw new InvalidOperationException($"终点库位ID {command.EndLocationId} 不存在");
}
endLocationId = parsedEndLocationId;
}
// 如果未指定终点库位和区域但指定了终点资源，根据资源多边形区域查找空货位
else if (!string.IsNullOrWhiteSpace(command.EndResourceId))
{
if (!Guid.TryParse(command.EndResourceId, out Guid parsedEndResourceId))
{
throw new InvalidOperationException("无效的终点资源ID格式");
}
var resource = await _mapResourceRepository.GetByIdAsync(parsedEndResourceId, context.CancellationToken);
if (resource == null)
{
throw new InvalidOperationException($"终点资源 {command.EndResourceId} 不存在");
}
if (resource.LocationCoordinates == null)
{
throw new InvalidOperationException($"终点资源 {command.EndResourceId} 未配置多边形区域");
}
var emptyLocations = await _storageLocationRepository.GetEmptyLocationsInPolygonAsync(
resource.MapId, resource.LocationCoordinates, context.CancellationToken);
var emptyLocation = emptyLocations.FirstOrDefault();
if (emptyLocation == null)
{
throw new InvalidOperationException($"终点资源 {command.EndResourceId} 区域内无可用空货位");
}
endLocationId = emptyLocation.LocationId;
}
if (!Guid.TryParse(command.TaskId, out Guid taskId))
{
// 新建任务
var existingCode = await _robotTaskRepository.GetByTaskCodeAsync(command.TaskCode, context.CancellationToken);
if (existingCode != null)
{
throw new InvalidOperationException($"任务编码 {command.TaskCode} 已存在");
}
var task = new RobotTask();
task.Create(
command.TaskCode,
command.TaskName ?? command.TaskCode,
beginLocationId,
endLocationId,
command.Priority,
shelfCode: command.ShelfCode
);
if (robotId.HasValue)
task.Assign(robotId.Value);
await _robotTaskRepository.AddAsync(task, context.CancellationToken);
}
else
{
// 更新任务
var task = await _robotTaskRepository.GetByIdAsync(taskId, context.CancellationToken);
if (task == null)
{
throw new InvalidOperationException($"未找到任务ID为 {taskId} 的任务");
}
if (task.Status != TaskStatus.Pending)
{
throw new InvalidOperationException("仅允许等待中状态的任务");
}
task.RobotId = robotId;
task.BeginLocationId = beginLocationId;
task.EndLocationId = endLocationId;
task.Priority = command.Priority;
task.ShelfCode = command.ShelfCode;
task.UpdatedAt = DateTime.Now;
await _robotTaskRepository.UpdateAsync(task, context.CancellationToken);
}
await context.RespondAsync(ApiResponse.Successful());
}
catch (Exception ex)
{
_logger.LogError(ex, "创建或更新任务失败");
await context.RespondAsync(ApiResponse.Failed(ex.Message));
}
}
}