RobotController.cs
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using Microsoft.AspNetCore.Mvc;
using Rcs.Application.Common;
using Rcs.Application.DTOs;
using MassTransit.Mediator;
using Rcs.Application.MessageBus.Commands;
using Rcs.Application.MessageBus.Responses;
using Rcs.Infrastructure.MessageBus.Handlers.Commands;
using StatusCodes = Microsoft.AspNetCore.Http.StatusCodes;
namespace Rcs.Api.Controllers
{
/// <summary>
/// 机器人管理控制器
/// </summary>
[ApiController]
[Route("api/[controller]")]
public class RobotController : ControllerBase
{
private readonly ILogger<RobotController> _logger;
private readonly IMediator _mediator;
public RobotController(
ILogger<RobotController> logger,
IMediator mediator)
{
_logger = logger ?? throw new ArgumentNullException(nameof(logger));
_mediator = mediator;
}
/// <summary>
/// 获取机器人列表
/// </summary>
/// <returns>机器人列表</returns>
[HttpGet("list")]
public async Task<IActionResult> GetRobotList([FromQuery] GetRobotsQuery query, CancellationToken cancellationToken = default)
{
var client = _mediator.CreateRequestClient<GetRobotsQuery>();
var response = await client.GetResponse<PagedResponse<RobotListItemDto>>(query, cancellationToken);
return Ok(response.Message);
}
/// <summary>
/// 根据ID获取机器人详情
/// </summary>
/// <param name="query"></param>
/// <param name="cancellationToken"></param>
/// <returns>机器人详情</returns>
[HttpGet("{id}")]
public async Task<IActionResult> GetRobotById(string id, CancellationToken cancellationToken = default)
{
if(!Guid.TryParse(id, out Guid robotId))
{
return BadRequest(ApiResponse.Failed("无效的机器人ID格式", StatusCodes.Status400BadRequest));
}
var client = _mediator.CreateRequestClient<GetRobotQuery>();
var response = await client.GetResponse<ApiResponse<RobotDto>>(new GetRobotQuery()
{
RobotId = robotId
}, cancellationToken);
return Ok(response.Message);
}
/// <summary>
/// 创建机器人
/// </summary>
/// <param name="command">创建命令</param>
/// <returns>创建的机器人信息</returns>
[HttpPost]
public async Task<IActionResult> CreateOrUpdateRobot([FromBody] CreateOrUpdateRobotCommand command)
{
/*
test model
{
"robotCode": "1001",
"robotName": "ROBOT",
"robotVersion": "2.0.0",
"protocolName": "VDA",
"protocolVersion": "2.0.0",
"robotManufacturer": "HuaHeng",
"robotSerialNumber": "1001",
"robotType": 1,
"isOmnidirectional": true,
"active": true
}
*/
var client = _mediator.CreateRequestClient<CreateOrUpdateRobotCommand>();
var response = await client.GetResponse<ApiResponse>(command);
return Ok(response.Message);
}
/// <summary>
/// 根据ID获取机器人详情
/// </summary>
/// <param name="query"></param>
/// <param name="cancellationToken"></param>
/// <returns>机器人详情</returns>
[HttpPost("{id}")]
public async Task<IActionResult> DeleteRobotById(string id, CancellationToken cancellationToken = default)
{
if(!Guid.TryParse(id, out Guid robotId))
{
return BadRequest(ApiResponse.Failed("无效的机器人ID格式", StatusCodes.Status400BadRequest));
}
var client = _mediator.CreateRequestClient<DeleteRobotCommand>();
var response = await client.GetResponse<ApiResponse>(new DeleteRobotCommand()
{
RobotId = robotId
}, cancellationToken);
return Ok(response.Message);
}
/// <summary>
/// 复位指定机器人
/// @author zzy
/// </summary>
/// <param name="id">机器人ID</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
[HttpPost("{id}/reset")]
public async Task<IActionResult> ResetRobot(string id, CancellationToken cancellationToken = default)
{
if (!Guid.TryParse(id, out Guid robotId))
{
return BadRequest(ApiResponse.Failed("无效的机器人ID格式", StatusCodes.Status400BadRequest));
}
var client = _mediator.CreateRequestClient<ResetRobotCommand>();
var response = await client.GetResponse<ApiResponse>(new ResetRobotCommand { RobotId = robotId }, cancellationToken);
return Ok(response.Message);
}
/// <summary>
/// 取消指定机器人的任务
/// @author zzy
/// </summary>
/// <param name="id">机器人ID</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
[HttpPost("{id}/cancel-task")]
public async Task<IActionResult> CancelRobotTask(string id, CancellationToken cancellationToken = default)
{
if (!Guid.TryParse(id, out Guid robotId))
{
return BadRequest(ApiResponse.Failed("无效的机器人ID格式", StatusCodes.Status400BadRequest));
}
var client = _mediator.CreateRequestClient<CancelRobotTaskCommand>();
var response = await client.GetResponse<ApiResponse>(new CancelRobotTaskCommand { RobotId = robotId }, cancellationToken);
return Ok(response.Message);
}
/// <summary>
/// 暂停机器人
/// @author zzy
/// </summary>
/// <param name="id">机器人ID</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
[HttpPost("{id}/pause")]
public async Task<IActionResult> RobotPause(string id, CancellationToken cancellationToken = default)
{
if (!Guid.TryParse(id, out Guid robotId))
{
return BadRequest(ApiResponse.Failed("无效的机器人ID格式", StatusCodes.Status400BadRequest));
}
var client = _mediator.CreateRequestClient<PauseRobotCommand>();
var response = await client.GetResponse<ApiResponse>(new PauseRobotCommand { RobotId = robotId }, cancellationToken);
return Ok(response.Message);
}
/// <summary>
/// 取消暂停机器人
/// @author zzy
/// </summary>
/// <param name="id">机器人ID</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
[HttpPost("{id}/unpause")]
public async Task<IActionResult> RobotUnPause(string id, CancellationToken cancellationToken = default)
{
if (!Guid.TryParse(id, out Guid robotId))
{
return BadRequest(ApiResponse.Failed("无效的机器人ID格式", StatusCodes.Status400BadRequest));
}
var client = _mediator.CreateRequestClient<UnPauseRobotCommand>();
var response = await client.GetResponse<ApiResponse>(new UnPauseRobotCommand { RobotId = robotId }, cancellationToken);
return Ok(response.Message);
}
/// <summary>
/// 重定位机器人
/// @author zzy
/// </summary>
/// <param name="id">机器人ID</param>
/// <param name="request">重定位请求（包含x, y, theta）</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>操作结果</returns>
[HttpPost("{id}/relocate")]
public async Task<IActionResult> RelocateRobot(string id, [FromBody] RelocationCommand request, CancellationToken cancellationToken = default)
{
if (!Guid.TryParse(id, out Guid robotId))
{
return BadRequest(ApiResponse.Failed("无效的机器人ID格式", StatusCodes.Status400BadRequest));
}
var client = _mediator.CreateRequestClient<RelocationCommand>();
var response = await client.GetResponse<ApiResponse>(request, cancellationToken);
return Ok(response.Message);
}
}
}