MqttClientService.cs
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using System.Collections.Concurrent;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;
using Microsoft.Extensions.Logging;
using Microsoft.Extensions.Options;
using MQTTnet;
using MQTTnet.Client;
using MQTTnet.Formatter;
using MQTTnet.Protocol;
using Rcs.Application.Shared;
using Rcs.Domain.Repositories;
using Rcs.Domain.Settings;
using Task = System.Threading.Tasks.Task;
namespace Rcs.Infrastructure.Mqtt
{
public class MqttClientService : BackgroundService, IMqttClientService
{
private readonly ILogger<MqttClientService> _logger;
private readonly IOptions<AppSettings> _options;
private readonly IMqttClient _client;
private readonly IServiceProvider _serviceProvider;
private readonly IMqttMessageHandler _messageHandler;
private readonly List<Protocol> ? _protocols;
// 记录已订阅的主题及其 QoS
private readonly ConcurrentDictionary<string, MqttQualityOfServiceLevel> _subscriptions = new(StringComparer.OrdinalIgnoreCase);
public MqttClientService(ILogger<MqttClientService> logger, IOptions<AppSettings> options, IServiceProvider serviceProvider, IMqttMessageHandler messageHandler)
{
_logger = logger;
_options = options;
_serviceProvider = serviceProvider;
_messageHandler = messageHandler;
_protocols = _options.Value.Mqtt.Protocols;
var factory = new MqttFactory();
_client = factory.CreateMqttClient();
_client.ApplicationMessageReceivedAsync += async e =>
{
try
{
// 使用专门的消息处理器处理接收到的消息
await _messageHandler.HandleMessageAsync(e);
}
catch (Exception ex)
{
_logger.LogError(ex, "MQTT消息处理发生错误");
}
};
_client.DisconnectedAsync += async e =>
{
_logger.LogWarning("[MQTT] 连接断开: {ReasonString}", e.ReasonString);
// 简单重连策略
while (!_client.IsConnected)
{
try
{
await Task.Delay(TimeSpan.FromSeconds(_options.Value.Mqtt.ReconnectDelaySeconds));
await ConnectAsync(CancellationToken.None);
await ResubscribeAllAsync(CancellationToken.None);
}
catch (Exception ex)
{
_logger.LogError("[MQTT] 连接失败，正在重连");
}
}
};
}
protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
try
{
await ConnectAsync(stoppingToken);
using var scope = _serviceProvider.CreateScope();
var robotRepo = scope.ServiceProvider.GetRequiredService<IRobotRepository>();
var robots = await robotRepo.GetActiveRobotsAsync();
// 可在此添加默认订阅
if (!robots.Any()) return;
List<(string,MqttQualityOfServiceLevel)> mqttParameters = new();
foreach (var robot in robots)
{
// if(!robot.RealtimeScheduling) continue;// 非实时调度robot不订阅mqtt
await _messageHandler.ResetHeaderIdsAsync(robot);
var protocol = _protocols.FirstOrDefault(p => p.ProtocolName == robot.ProtocolName);
if (protocol is null || protocol.Topics.Count <= 0) continue;
foreach (var topic in protocol.Topics)
{
mqttParameters.Add((
$"{robot.ProtocolName}/{robot.ProtocolVersion}/{robot.RobotManufacturer}/{robot.RobotSerialNumber}/{topic}",
topic.Equals("connection") ? MqttQualityOfServiceLevel.AtLeastOnce : MqttQualityOfServiceLevel.AtMostOnce));
}
}
await AddOrUpdateSubscriptionsAsync(mqttParameters, stoppingToken);
}
catch (Exception ex )
{
_logger.LogError("MQTT连接失败,{msg}",ex.Message);
}
}
private async Task ConnectAsync(CancellationToken ct)
{
var builder = new MqttClientOptionsBuilder()
.WithClientId(_options.Value.Mqtt.ClientId)
.WithTcpServer(_options.Value.Mqtt.Broker, _options.Value.Mqtt.Port)
.WithCleanSession(_options.Value.Mqtt.CleanSession)
.WithKeepAlivePeriod(TimeSpan.FromSeconds(_options.Value.Mqtt.KeepAlivePeriodSeconds))
.WithProtocolVersion(MqttProtocolVersion.V311);
if (!string.IsNullOrWhiteSpace(_options.Value.Mqtt.Username))
{
builder = builder.WithCredentials(_options.Value.Mqtt.Username, _options.Value.Mqtt.Password);
}
if (_options.Value.Mqtt.UseTls)
{
builder = builder.WithTls();
}
var clientOptions = builder.Build();
await _client.ConnectAsync(clientOptions, ct);
_logger.LogInformation("[MQTT] 连接到 {Broker}:{Port}, 客户端ID {ClientId}, 连接状态 {status}", _options.Value.Mqtt.Broker, _options.Value.Mqtt.Port, _options.Value.Mqtt.ClientId, _client.IsConnected);
}
private async Task ResubscribeAllAsync(CancellationToken ct)
{
if (_subscriptions.IsEmpty || !_client.IsConnected) return;
foreach (var kv in _subscriptions)
{
await _client.SubscribeAsync(new MqttTopicFilterBuilder().WithTopic(kv.Key).WithQualityOfServiceLevel(kv.Value).Build(), ct);
_logger.LogInformation("[MQTT] 重新订阅: {Topic} (QoS {QoS})", kv.Key, kv.Value);
}
}
public async Task PublishAsync(string topic, string payload, MqttQualityOfServiceLevel qos = MqttQualityOfServiceLevel.AtMostOnce, bool retain = false, CancellationToken ct = default)
{
var msg = new MqttApplicationMessageBuilder()
.WithTopic(topic)
.WithPayload(payload)
.WithQualityOfServiceLevel(qos)
.WithRetainFlag(retain)
.Build();
if (!_client.IsConnected)
{
_logger.LogWarning("[MQTT] 未连接到Broker，请重新连接后再试");
await ConnectAsync(ct);
await ResubscribeAllAsync(ct);
}
await _client.PublishAsync(msg, ct);
_logger.LogInformation("[MQTT] Send | Topic={Topic} | QoS={QoS} | Payload={Payload}", topic, qos, payload);
}
public async Task AddOrUpdateSubscriptionsAsync(IEnumerable<(string topic, MqttQualityOfServiceLevel qos)> subscriptions, CancellationToken ct = default)
{
if (!_client.IsConnected)
{
_logger.LogWarning("[MQTT] 未连接");
return;
}
// 构建批量订阅过滤器
var topicFilters = subscriptions.Select(sub =>
new MqttTopicFilterBuilder().WithTopic(sub.topic).WithQualityOfServiceLevel(sub.qos).Build()).ToList();
foreach (var tf in topicFilters){
if (!_subscriptions.ContainsKey(tf.Topic)){
await _client.SubscribeAsync(tf, ct);
_subscriptions[tf.Topic] = tf.QualityOfServiceLevel;
_logger.LogInformation("[MQTT] 订阅主题: {Topic} (QoS {QoS})", tf.Topic, tf.QualityOfServiceLevel);
}
}
}
public async Task RemoveSubscriptionAsync(string topic, CancellationToken ct = default)
{
_subscriptions.TryRemove(topic, out _);
if (_client.IsConnected)
{
await _client.UnsubscribeAsync(topic, ct);
_logger.LogInformation("[MQTT] Unsubscribed: {Topic}", topic);
}
}
public IReadOnlyCollection<(string topic, MqttQualityOfServiceLevel qos)> GetSubscriptions()
=> _subscriptions.Select(kv => (kv.Key, kv.Value)).ToArray();
public async Task PublishInstantActionsAsync(string protocolName, string protocolVersion, string RobotManufacturer, string RobotSerialNumber, string payload, MqttQualityOfServiceLevel qos = MqttQualityOfServiceLevel.AtMostOnce, bool retain = false, CancellationToken ct = default)
{
var topic = $"{protocolName}/{protocolVersion}/{RobotManufacturer}/{RobotSerialNumber}/instantActions";
var msg = new MqttApplicationMessageBuilder()
.WithTopic(topic)
.WithPayload(payload)
.WithQualityOfServiceLevel(qos)
.WithRetainFlag(retain)
.Build();
if (!_client.IsConnected)
{
_logger.LogWarning("[MQTT] 未连接到Broker，请重新连接后再试");
await ConnectAsync(ct);
await ResubscribeAllAsync(ct);
}
await _client.PublishAsync(msg, ct);
_logger.LogInformation("[MQTT] Send | Topic={Topic} | QoS={QoS} | Payload={Payload}", topic, qos, payload);
}
public async Task PublishOrderAsync(string protocolName, string protocolVersion, string RobotManufacturer, string RobotSerialNumber, string payload, MqttQualityOfServiceLevel qos = MqttQualityOfServiceLevel.AtMostOnce, bool retain = false, CancellationToken ct = default)
{
var topic = $"{protocolName}/{protocolVersion}/{RobotManufacturer}/{RobotSerialNumber}/order";
var msg = new MqttApplicationMessageBuilder()
.WithTopic(topic)
.WithPayload(payload)
.WithQualityOfServiceLevel(qos)
.WithRetainFlag(retain)
.Build();
if (!_client.IsConnected)
{
_logger.LogWarning("[MQTT] 未连接到Broker，请重新连接后再试");
await ConnectAsync(ct);
await ResubscribeAllAsync(ct);
}
await _client.PublishAsync(msg, ct);
_logger.LogInformation("[MQTT] Send | Topic={Topic} | QoS={QoS} | Payload={Payload}", topic, qos, payload);
}
}
}