ReLocationCommandHandler.cs
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using MassTransit;
using Microsoft.Extensions.Logging;
using Rcs.Application.Common;
using Rcs.Application.MessageBus.Commands;
using Rcs.Application.Services.Protocol;
using Rcs.Domain.Extensions;
using Rcs.Domain.Repositories;
namespace Rcs.Infrastructure.MessageBus.Handlers.Commands;
/// <summary>
/// 取消机器人任务命令处理器
/// 职责：协调领域操作，实际取消指令下发由领域事件处理器完成
/// @author zzy
/// </summary>
public class ReLocationCommandHandler : IConsumer<RelocationCommand>
{
private readonly ILogger<ReLocationCommandHandler> _logger;
private readonly IProtocolServiceFactory _protocolServiceFactory;
private readonly IRobotRepository _robotRepository;
private readonly IMapRepository _mapRepository;
public ReLocationCommandHandler(
ILogger<ReLocationCommandHandler> logger,
IRobotRepository robotRepository,
IProtocolServiceFactory protocolServiceFactory,
IMapRepository mapRepository)
{
_logger = logger;
_robotRepository = robotRepository;
_protocolServiceFactory = protocolServiceFactory;
_mapRepository = mapRepository;
}
public async Task Consume(ConsumeContext<RelocationCommand> context)
{
var command = context.Message;
try
{
var robot = await _robotRepository.GetByIdAsync(command.RobotId, context.CancellationToken);
if (robot == null)
{
throw new BusinessException($"机器人ID {command.RobotId} 不存在");
}
var map = await _mapRepository.GetByIdAsync(robot.CurrentMapCodeId, context.CancellationToken);
if (map == null)
{
throw new BusinessException($"请先维护机器人{robot.RobotCode}所属地图");
}
var protocolService = _protocolServiceFactory.GetService(robot);
var protocol = _protocolServiceFactory.GetService(robot);
var result = await protocol.ReLocationAsync(robot,
map.MapCode,
command.X,
command.Y,
command.Theta,
context.CancellationToken);
await context.RespondAsync(ApiResponse.Successful());
}
catch (Exception ex)
{
_logger.LogError(ex, "取消机器人任务失败: {RobotId}", command.RobotId);
await context.RespondAsync(ApiResponse.Failed(ex.Message));
}
}
}