ThirdController.cs
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using MassTransit.Internals;
using MassTransit.Mediator;
using Microsoft.AspNetCore.Mvc;
using Microsoft.EntityFrameworkCore;
using Rcs.Application.Common;
using Rcs.Application.MessageBus.Commands;
using Rcs.Application.ThirdModels;
using Rcs.Domain.Entities;
using Rcs.Domain.Repositories;
namespace Rcs.Api.OtherControllers;
/// <summary>
/// 第三方接口控制器
/// </summary>
[Route("/[controller]")]
[ApiController]
public class ThirdController : Controller
{
private readonly ILogger<ThirdController> _logger;
private readonly IMediator _mediator;
private readonly IStorageLocationRepository _storageLocationRepository;
private readonly IRobotRepository _robotRepository;
public ThirdController(
ILogger<ThirdController> logger,
IMediator mediator,
IStorageLocationRepository storageLocationRepository,
IRobotRepository robotRepository)
{
_logger = logger ?? throw new ArgumentNullException(nameof(logger));
_mediator = mediator;
_storageLocationRepository = storageLocationRepository ?? throw new ArgumentNullException(nameof(storageLocationRepository));
_robotRepository = robotRepository ?? throw new ArgumentNullException(nameof(robotRepository));
}
/// <summary>
/// 任务完成接口 - 由车控系统调用，用于通知RCS任务已完成
/// </summary>
/// <param name="request">任务完成请求数据</param>
/// <param name="cancellationToken">取消令牌</param>
/// <returns>统一响应模型</returns>
[HttpPost("task_send")]
[ProducesResponseType(typeof(ValidationProblemDetails), StatusCodes.Status400BadRequest)]
[ProducesResponseType(typeof(ApiResponse<object>), StatusCodes.Status404NotFound)]
public async Task<IActionResult> TaskReceive(
[FromBody] ThirdTaskSend request,
CancellationToken cancellationToken = default)
{
// [ApiController] 特性会自动验证模型状态
_logger.LogInformation("接收到任务发送请求: TaskId={TaskId}, LocationId={LocationId}, StoreLocationId={StoreLocationId}",
request.task_id,
request.location_id,
request.store_location_id);
// 1. 检查目标库位是否存在
var targetLocation = await _storageLocationRepository
.GetQueryable()
.Include(l => l.MapNode)
.FirstOrDefaultAsync(l => l.LocationCode == request.location_id && l.IsActive, cancellationToken);
if (targetLocation == null)
{
_logger.LogWarning("目标库位不存在或未启用: LocationId={LocationId}", request.location_id);
return NotFound(new ApiResponse<object>
{
Code = 404,
Message = $"目标库位 '{request.location_id}' 不存在或未启用",
Data = null
});
}
// 2. 检查存储库位是否存在
var storeLocation = await _storageLocationRepository
.GetQueryable()
.Include(l => l.MapNode)
.FirstOrDefaultAsync(l => l.LocationCode == request.store_location_id && l.IsActive, cancellationToken);
if (storeLocation == null)
{
_logger.LogWarning("存储库位不存在或未启用: StoreLocationId={StoreLocationId}", request.store_location_id);
return NotFound(new ApiResponse<object>
{
Code = 404,
Message = $"存储库位 '{request.store_location_id}' 不存在或未启用",
Data = null
});
}
// 3. 检查库位是否关联到地图节点
if (targetLocation.MapNode == null)
{
_logger.LogWarning("目标库位未关联地图节点: LocationId={LocationId}", request.location_id);
return BadRequest(new ApiResponse<object>
{
Code = 400,
Message = $"目标库位 '{request.location_id}' 未关联地图节点",
Data = null
});
}
if (storeLocation.MapNode == null)
{
_logger.LogWarning("存储库位未关联地图节点: StoreLocationId={StoreLocationId}", request.store_location_id);
return BadRequest(new ApiResponse<object>
{
Code = 400,
Message = $"存储库位 '{request.store_location_id}' 未关联地图节点",
Data = null
});
}
// 获取目标库位和存储库位的地图ID
var targetMapId = targetLocation.MapNode.MapId;
var storeMapId = storeLocation.MapNode.MapId;
// 4. 如果指定了机器人，检查机器人是否存在并验证地图一致性
Robot? specifiedRobot = null;
if (!string.IsNullOrEmpty(request.user_specified_robot_id))
{
specifiedRobot = await _robotRepository
.GetQueryable()
.FirstOrDefaultAsync(r => r.RobotCode == request.user_specified_robot_id && r.Active, cancellationToken);
if (specifiedRobot == null)
{
_logger.LogWarning("指定机器人不存在或未启用: RobotId={RobotId}", request.user_specified_robot_id);
return NotFound(new ApiResponse<object>
{
Code = 404,
Message = $"指定机器人 '{request.user_specified_robot_id}' 不存在或未启用",
Data = null
});
}
// 检查机器人当前地图与库位地图是否一致
var robotMapId = specifiedRobot.CurrentMapCodeId;
if (robotMapId.HasValue && robotMapId.Value != targetMapId)
{
_logger.LogWarning("机器人所在地图与目标库位地图不一致: RobotId={RobotId}, RobotMapId={RobotMapId}, TargetMapId={TargetMapId}",
request.user_specified_robot_id, robotMapId.Value, targetMapId);
return BadRequest(new ApiResponse<object>
{
Code = 400,
Message = $"机器人 '{request.user_specified_robot_id}' 所在地图与目标库位 '{request.location_id}' 所在地图不一致",
Data = new
{
RobotMapId = robotMapId.Value,
TargetLocationMapId = targetMapId
}
});
}
if (robotMapId.HasValue && robotMapId.Value != storeMapId)
{
_logger.LogWarning("机器人所在地图与存储库位地图不一致: RobotId={RobotId}, RobotMapId={RobotMapId}, StoreMapId={StoreMapId}",
request.user_specified_robot_id, robotMapId.Value, storeMapId);
return BadRequest(new ApiResponse<object>
{
Code = 400,
Message = $"机器人 '{request.user_specified_robot_id}' 所在地图与存储库位 '{request.store_location_id}' 所在地图不一致",
Data = new
{
RobotMapId = robotMapId.Value,
StoreLocationMapId = storeMapId
}
});
}
_logger.LogInformation("指定机器人验证通过: RobotId={RobotId}, RobotMapId={RobotMapId}",
request.user_specified_robot_id, robotMapId);
}
else
{
// 检查两个库位是否在同一个地图
if (targetMapId != storeMapId)
{
_logger.LogWarning("目标库位和存储库位不在同一地图: TargetMapId={TargetMapId}, StoreMapId={StoreMapId}",
targetMapId, storeMapId);
return BadRequest(new ApiResponse<object>
{
Code = 400,
Message = "目标库位和存储库位不在同一地图",
Data = new
{
TargetLocationMapId = targetMapId,
StoreLocationMapId = storeMapId
}
});
}
}
_logger.LogInformation("任务参数验证通过: TaskId={TaskId}, LocationId={LocationId}, StoreLocationId={StoreLocationId}, MapId={MapId}",
request.task_id, request.location_id, request.store_location_id, targetMapId);
// TODO: 实现创建任务的后续业务逻辑（如：创建 RobotTask 实体，发布创建任务命令等）
var client = _mediator.CreateRequestClient<CreateOrUpdateRobotTaskCommand>();
var response = await client.GetResponse<ApiResponse>(new CreateOrUpdateRobotTaskCommand
{
TaskCode = request.task_id,
TaskName = request.task_id,
BeginLocationId = targetLocation.LocationId.ToString(),
EndLocationId = storeLocation.LocationId.ToString(),
RobotId = specifiedRobot?.RobotId.ToString(),
Priority = request.priority
}, cancellationToken);
return Ok(response);
}
}
/// <summary>
/// 任务接收结果
/// </summary>
public class TaskReceiveResult
{
/// <summary>
/// 任务ID
/// </summary>
public string TaskId { get; set; } = string.Empty;
/// <summary>
/// 目标位置ID
/// </summary>
public string LocationId { get; set; } = string.Empty;
/// <summary>
/// 存储位置ID
/// </summary>
public string StoreLocationId { get; set; } = string.Empty;
/// <summary>
/// 地图ID
/// </summary>
public Guid MapId { get; set; }
/// <summary>
/// 指定机器人ID（如有）
/// </summary>
public string? RobotId { get; set; }
}