LanYinWsHostedService.cs
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using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Microsoft.Extensions.Logging;
using Microsoft.Extensions.Options;
using Rcs.Application.Services;
using Rcs.Cyaninetech.Models;
using Rcs.Cyaninetech.Services;
using Rcs.Domain.Entities;
using Rcs.Domain.Settings;
using Rcs.Shared.Utils;
namespace Rcs.Cyaninetech.BackgroundServices
{
/// <summary>
/// 蓝音 WebSocket 后台服务 - 自动连接并订阅消息
/// @author zzy
/// </summary>
public class LanYinWsHostedService : BackgroundService
{
private readonly string DefaultManufacturer = "lanyin";
private readonly ILogger<LanYinWsHostedService> _logger;
private readonly ILanYinWsClientService _wsClient;
private readonly LanYinWsSettings _settings;
private readonly IServiceScopeFactory _scopeFactory;
private readonly TimeSpan _reconnectInterval = TimeSpan.FromSeconds(5);
public LanYinWsHostedService(
ILogger<LanYinWsHostedService> logger,
ILanYinWsClientService wsClient,
IOptions<AppSettings> settings,
IServiceScopeFactory scopeFactory)
{
_logger = logger;
_wsClient = wsClient;
_settings = settings.Value.LanYinSettings.WebSocket;
_scopeFactory = scopeFactory;
// 注册事件处理
_wsClient.OnRobotStatusReceived += HandleRobotStatus;
_wsClient.OnRobotInfoReceived += HandleRobotInfo;
_wsClient.OnRobotRealtimePathReceived += HandleRobotRealtimePath;
}
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
_logger.LogInformation("[LanYin WS] 后台服务启动");
while (!stoppingToken.IsCancellationRequested)
{
try
{
if (!_wsClient.IsConnected)
{
await _wsClient.ConnectAsync(stoppingToken);
// 连接成功后发送订阅请求（使用配置）
await _wsClient.SubscribeAsync(_settings.Topics.ToList());
}
await Task.Delay(_reconnectInterval, stoppingToken);
}
catch (OperationCanceledException)
{
break;
}
catch (Exception ex)
{
_logger.LogError(ex, "[LanYin WS] 连接异常，{Interval}秒后重试", _reconnectInterval.TotalSeconds);
await Task.Delay(_reconnectInterval, stoppingToken);
}
}
}
public override async Task StopAsync(CancellationToken cancellationToken)
{
_logger.LogInformation("[LanYin WS] 后台服务停止");
await _wsClient.DisconnectAsync();
await base.StopAsync(cancellationToken);
}
/// <summary>
/// 处理机器人状态数据（直接使用消息中的制造商和序列号更新缓存）
/// @author zzy
/// </summary>
private void HandleRobotStatus(object? sender, List<LanYinRobotStatus> data)
{
_ = Task.Run(async () =>
{
using var scope = _scopeFactory.CreateScope();
var cacheService = scope.ServiceProvider.GetRequiredService<IRobotCacheService>();
foreach (var status in data)
{
try
{
//更新操作模式
var operatingMode = status.OperatingMode.ToUpper() switch
{
"AUTOMATIC" => OperatingMode.Automatic,
"SEMIAUTOMATIC" => OperatingMode.Semiautomatic,
"MANUAL" => OperatingMode.Manual,
"SERVICE" => OperatingMode.Service,
"TEACHIN" => OperatingMode.Teachin,
_ => OperatingMode.Manual
};
await cacheService.UpdateStatusAsync(
status.Manufacturer,
status.SerialNumber,
null,
OnlineStatus.Online,
status.BatteryState?.BatteryCharge ?? 0,
status.Driving,
status.Paused,
status.BatteryState?.Charging,
operatingMode,
status.Errors.ToJsonWithChinese()
);
// 更新位置缓存
if (status.Position != null)
{
var basic = await cacheService.GetBasicAsync(status.Manufacturer, status.SerialNumber);
var scale = basic?.CoordinateScale ?? 1d;
await cacheService.UpdateLocationAsync(
status.Manufacturer,
status.SerialNumber,
null,
null,
status.Position.X * scale,
status.Position.Y * scale,
status.Position.Rad);
}
}
catch (Exception ex)
{
_logger.LogError(ex, "[LanYin WS] 更新机器人状态缓存失败: {Manufacturer}:{SerialNumber}",
status.Manufacturer, status.SerialNumber);
}
}
});
}
/// <summary>
/// 处理机器人信息数据（直接使用消息中的序列号和固定制造商更新缓存）
/// @author zzy
/// </summary>
private void HandleRobotInfo(object? sender, List<LanYinRobotInfo> data)
{
_ = Task.Run(async () =>
{
using var scope = _scopeFactory.CreateScope();
var cacheService = scope.ServiceProvider.GetRequiredService<IRobotCacheService>();
foreach (var info in data)
{
var status = RobotStatus.Idle;
if (info.RunningStatus.ToUpper().Equals("FAULT") || info.RunningStatus.ToUpper().Equals("DISCONNECT"))
{
status = RobotStatus.Error;
}
else
{
// 根据 task_status 映射 RobotStatus
// free - 空闲（无任务）, resting/prerest - 休息中 → Idle
// use/pre_use/precharge/charging → Busy
status = info.TaskStatus switch
{
"free" or "prerest" or "resting" or "charging" => RobotStatus.Idle,
"use" or "pre_use" or "precharge" => RobotStatus.Busy,
_ => RobotStatus.Busy
};
}
await cacheService.UpdateStatusAsync(
DefaultManufacturer,
info.Id,
status,
OnlineStatus.Online,
null,
null,
null,
null,
null,
null
);
}
});
}
/// <summary>
/// 处理机器人实时路径数据
/// @author zzy
/// </summary>
private void HandleRobotRealtimePath(object? sender, LanYinRobotRealtimePath data)
{
_ = Task.Run(async () =>
{
using var scope = _scopeFactory.CreateScope();
var cacheService = scope.ServiceProvider.GetRequiredService<IRobotCacheService>();
foreach (var (robotId, path) in data)
{
var basic = await cacheService.GetBasicAsync(DefaultManufacturer, robotId);
var scale = basic?.CoordinateScale ?? 1d;
foreach (var point in path)
{
point[0] *= scale;
point[1] *= scale;
}
await cacheService.SetLocationValueAsync(DefaultManufacturer, robotId, "Path", path.ToJsonWithChinese());
}
});
}
}
}