RobotSubTask.cs
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using System;
using System.ComponentModel.DataAnnotations;
using System.ComponentModel.DataAnnotations.Schema;
using Rcs.Domain.Entities.DomainEvents.RobotSubTask;
namespace Rcs.Domain.Entities;
/// <summary>
/// 子任务实体类
/// @author zzy
/// </summary>
[Table("robot_sub_tasks")]
public partial class RobotSubTask : Entity
{
/// <summary>
/// 子任务ID
/// </summary>
[Key]
[DatabaseGenerated(DatabaseGeneratedOption.None)]
[Column("sub_task_id")]
public Guid SubTaskId { get; set; }
/// <summary>
/// 父任务ID（外键）
/// </summary>
[Required]
[Column("task_id")]
public Guid TaskId { get; set; }
/// <summary>
/// 机器人ID（外键）
/// </summary>
[Column("robot_id")]
public Guid? RobotId { get; set; }
/// <summary>
/// 起点NodeID（外键）
/// </summary>
[Required]
[Column("begin_node_id")]
public Guid BeginNodeId { get; set; }
/// <summary>
/// 终点NodeID（外键）
/// </summary>
[Required]
[Column("end_node_id")]
public Guid EndNodeId { get; set; }
/// <summary>
/// 执行顺序
/// </summary>
[Required]
[Column("sequence")]
public int Sequence { get; set; }
/// <summary>
/// 子任务状态
/// </summary>
[Column("status")]
public TaskStatus Status { get; set; }
/// <summary>
/// 执行次数（用于VDA5050协议OrderUpdateId）
/// 每次发送订单时递增，记录该子任务已下发的次数
/// @author zzy
/// </summary>
[Required]
[Column("execution_count")]
public int ExecutionCount { get; set; } = 0;
/// <summary>
/// 创建时间
/// </summary>
[Column("created_at", TypeName = "timestamp")]
public DateTime CreatedAt { get; set; }
/// <summary>
/// 更新时间
/// </summary>
[Column("updated_at", TypeName = "timestamp")]
public DateTime? UpdatedAt { get; set; }
#region 外键 => 导航属性，ManyToOne/OneToOne
/// <summary>
/// 父任务导航属性
/// </summary>
[ForeignKey(nameof(TaskId))]
public virtual RobotTask? Task { get; set; }
/// <summary>
/// 机器人导航属性
/// </summary>
[ForeignKey(nameof(RobotId))]
public virtual Robot? Robot { get; set; }
/// <summary>
/// 起点Node导航属性
/// </summary>
[ForeignKey(nameof(BeginNodeId))]
public virtual MapNode? BeginNode { get; set; }
/// <summary>
/// 终点Node导航属性
/// </summary>
[ForeignKey(nameof(EndNodeId))]
public virtual MapNode? EndNode { get; set; }
#endregion
/// <summary>
/// 跳过子任务
/// @author zzy
/// </summary>
public void Skip()
{
Status = TaskStatus.Completed;
UpdatedAt = DateTime.Now;
AddDomainEvent(new SubTaskSkippedDomainEvent(SubTaskId, TaskId));
}
/// <summary>
/// 重新执行子任务
/// @author zzy
/// </summary>
public void Retry()
{
Status = TaskStatus.Pending;
UpdatedAt = DateTime.Now;
AddDomainEvent(new SubTaskRetryDomainEvent(SubTaskId, TaskId));
}
/// <summary>
/// 执行子任务
/// @author zzy
/// </summary>
public void Start()
{
Status = TaskStatus.InProgress;
UpdatedAt = DateTime.Now;
}
}