CustomProtocolService.cs
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using Microsoft.Extensions.Logging;
using Rcs.Application.Common;
using Rcs.Application.Services;
using Rcs.Application.Services.Protocol;
using Rcs.Cyaninetech.Services;
using Rcs.Domain.Entities;
using Rcs.Domain.Extensions;
using Rcs.Domain.Models.VDA5050;
namespace Rcs.Infrastructure.Services.Protocol;
/// <summary>
/// 自定义协议服务实现
/// 通过LanYin服务与机器人通信
/// @author zzy
/// </summary>
public class CustomProtocolService : IProtocolService
{
private readonly ILogger<CustomProtocolService> _logger;
private readonly ILanYinService _lanYinService;
private readonly IUnifiedTrafficControlService _unifiedTrafficControlService;
public CustomProtocolService(
ILogger<CustomProtocolService> logger,
ILanYinService lanYinService,
IUnifiedTrafficControlService unifiedTrafficControlService)
{
_logger = logger;
_lanYinService = lanYinService;
_unifiedTrafficControlService = unifiedTrafficControlService;
}
/// <summary>
/// 支持的协议类型：自定义协议
/// </summary>
public ProtocolType ProtocolType => ProtocolType.Custom;
/// <summary>
/// 发送订单指令
/// </summary>
public async Task<ApiResponse> SendOrderAsync(Robot robot, RobotTask task, CancellationToken ct = default)
{
var areaCode = task.EndLocation?.StorageArea?.AreaCode;
if (string.IsNullOrEmpty(areaCode))
{
return ApiResponse.Failed($"CustomProtocol - 未找到库区编码，任务: {task.TaskCode}");
}
var locationCode = task.BeginLocation?.LocationCode;
if (string.IsNullOrEmpty(locationCode))
{
return ApiResponse.Failed($"CustomProtocol - 未找到起始库位编码，任务: {task.TaskCode}");
}
var request = new Rcs.Cyaninetech.Models.LanYinDispatchTaskRequest
{
location_id = locationCode,
area = areaCode
};
var res = await _lanYinService.DispatchTaskAsync(request, ct);
if (res.Success)
{
if (!string.IsNullOrEmpty(res.Data.RunningId))
{
task.Relation = res.Data.RunningId;
}
return ApiResponse.Successful();
}
return ApiResponse.Failed($"发送任务失败：: {res.Message}，{res.Data}");
}
/// <summary>
/// 取消指定订单
/// </summary>
public async Task CancelOrderAsync(Robot robot, string? orderId, CancellationToken ct = default)
{
_logger.LogInformation("CustomProtocol - 取消订单，机器人: {SerialNumber}, 订单: {OrderId}",
robot.RobotSerialNumber, orderId);
var result = await _lanYinService.CancelTaskByRobotAsync(robot.RobotSerialNumber, ct);
if (!result.Success)
{
_logger.LogError($"取消订单失败: {result.Message}");
}
}
/// <summary>
/// 取消机器人所有任务
/// </summary>
/// <summary>
/// 取消机器人所有任务
/// @author zzy
/// </summary>
public async Task CancelRobotTasksAsync(Robot robot, CancellationToken ct = default)
{
_logger.LogInformation("CustomProtocol - 取消所有任务，机器人: {SerialNumber}", robot.RobotSerialNumber);
var result = await _lanYinService.CancelTaskByRobotAsync(robot.RobotSerialNumber, ct);
await ConfirmExceptionAsync(robot, ct);
if (!result.Success)
{
_logger.LogError($"取消任务失败: {result.Message}");
}
// 释放该机器人的所有路径锁
// @author zzy
// @date 2026-01-30
var releasedLockCount = await _unifiedTrafficControlService.ReleaseAllRobotLocksAsync(robot.RobotId);
_logger.LogInformation("CustomProtocol - 任务取消，释放机器人路径锁: RobotId={RobotId}, ReleasedCount={Count}",
robot.RobotId, releasedLockCount);
}
/// <summary>
/// 发送即时动作指令（自定义协议暂不支持）
/// </summary>
public Task SendInstantActionAsync(Robot robot, InstantAction actions, CancellationToken ct = default)
{
_logger.LogWarning("自定义协议暂不支持发送InstantAction指令，机器人: {SerialNumber}", robot.RobotSerialNumber);
return Task.CompletedTask;
}
/// <summary>
/// 复位机器人
/// </summary>
public async Task ResetRobotAsync(Robot robot, CancellationToken ct = default)
{
_logger.LogInformation("CustomProtocol - 复位机器人: {SerialNumber}", robot.RobotSerialNumber);
var result = await _lanYinService.ResetRobotAsync(robot.RobotSerialNumber, ct);
await ConfirmExceptionAsync(robot, ct);
if (!result.Success)
{
_logger.LogError($"复位机器人失败: {result.Message}");
}
}
/// <summary>
/// 确认异常
/// </summary>
public async Task ConfirmExceptionAsync(Robot robot, CancellationToken ct = default)
{
_logger.LogInformation("CustomProtocol - 确认异常，机器人: {SerialNumber}", robot.RobotSerialNumber);
var result = await _lanYinService.ConfirmExceptionAsync(robot.RobotSerialNumber, ct);
if (!result.Success)
{
_logger.LogError($"确认异常失败: {result.Message}");
}
}
public async Task RobotPauseAsync(Robot robot, CancellationToken ct = default)
{
_logger.LogInformation("CustomProtocol - 暂停，机器人: {SerialNumber}", robot.RobotSerialNumber);
var result = await _lanYinService.PauseRobotAsync(robot.RobotSerialNumber, ct);
if (!result.Success)
{
_logger.LogError($"机器人暂停失败: {result.Message}");
}
}
public async Task RobotUnPauseAsync(Robot robot, CancellationToken ct = default)
{
_logger.LogInformation("CustomProtocol - 取消暂停，机器人: {SerialNumber}", robot.RobotSerialNumber);
var result = await _lanYinService.UnPauseRobotAsync(robot.RobotSerialNumber, ct);
if (!result.Success)
{
_logger.LogError($"机器人取消暂停失败: {result.Message}");
}
}
public async Task<ApiResponse> ReLocationAsync(Robot robot,string mapCode, double x, double y, double theta, CancellationToken ct = default)
{
var result = await _lanYinService.RelocateRobotAsync(robot.RobotSerialNumber,Convert.ToInt32(mapCode),x,y,theta, ct);
if (!result.Success)
{
_logger.LogError($"机器人重定位失败: {result.Message}");
return ApiResponse.Failed($"机器人重定位失败: {result.Message}");
}
return ApiResponse.Successful();
}
/// <summary>
/// 发送下一段路径指令（自定义协议暂不支持分段下发）
/// </summary>
/// <param name="robot">机器人实体</param>
/// <param name="task">任务实体</param>
/// <param name="ct">取消令牌</param>
/// <returns>操作响应</returns>
public Task<ApiResponse> SendNextSegmentAsync(Robot robot, RobotSubTask currentSubTask, CancellationToken ct = default, bool reExec = false)
{
_logger.LogWarning("自定义协议暂不支持分段下发下一段路径指令，机器人: {SerialNumber}, 任务: {TaskCode}",
robot.RobotSerialNumber, currentSubTask.SubTaskId);
return Task.FromResult(ApiResponse.Failed("自定义协议暂不支持分段下发功能"));
}
public Task<ApiResponse> SendNextSegmentAsync(string robotManufacturer, string robotSerialNumber, CancellationToken ct = default, bool reExec = false)
{
return Task.FromResult(ApiResponse.Failed("自定义协议暂不支持分段下发功能"));
}
}