Vda5050ProtocolService.cs
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using System.Text.Json;
using Microsoft.Extensions.Logging;
using Rcs.Application.Common;
using Rcs.Application.Services.Protocol;
using Rcs.Application.Shared;
using Rcs.Domain.Entities;
using Rcs.Domain.Models.VDA5050;
namespace Rcs.Infrastructure.Services.Protocol;
/// <summary>
/// VDA5050协议服务实现
/// 通过MQTT与机器人通信
/// @author zzy
/// </summary>
public class Vda5050ProtocolService : IProtocolService
{
private readonly ILogger<Vda5050ProtocolService> _logger;
private readonly IMqttClientService _mqttClientService;
private IProtocolService _protocolServiceImplementation;
public Vda5050ProtocolService(
ILogger<Vda5050ProtocolService> logger,
IMqttClientService mqttClientService)
{
_logger = logger;
_mqttClientService = mqttClientService;
}
/// <summary>
/// 支持的协议类型：VDA5050
/// </summary>
public ProtocolType ProtocolType => ProtocolType.VDA;
public async Task<ApiResponse> SendOrderAsync(Robot robot, RobotTask task, CancellationToken ct = default)
{
_logger.LogInformation("VDA5050 - 发送Order，机器人: {SerialNumber}, 订单: {OrderId}",
robot.RobotSerialNumber, task.TaskCode);
return ApiResponse.Successful();
}
/// <summary>
/// 取消指定订单（通过发送cancelOrder即时动作）
/// </summary>
public async Task CancelOrderAsync(Robot robot, string? orderId, CancellationToken ct = default)
{
_logger.LogInformation("VDA5050 - 取消订单，机器人: {SerialNumber}, 订单: {OrderId}",
robot.RobotSerialNumber, orderId);
var instantAction = CreateInstantAction(robot, "cancelOrder");
await SendInstantActionAsync(robot, instantAction, ct);
}
/// <summary>
/// 取消机器人所有任务
/// </summary>
public async Task CancelRobotTasksAsync(Robot robot, CancellationToken ct = default)
{
_logger.LogInformation("VDA5050 - 取消所有任务，机器人: {SerialNumber}", robot.RobotSerialNumber);
var instantAction = CreateInstantAction(robot, "cancelOrder");
await SendInstantActionAsync(robot, instantAction, ct);
}
/// <summary>
/// 发送即时动作指令
/// </summary>
public async Task SendInstantActionAsync(Robot robot, InstantAction actions, CancellationToken ct = default)
{
_logger.LogInformation("VDA5050 - 发送InstantAction，机器人: {SerialNumber}, 动作数: {Count}",
robot.RobotSerialNumber, actions.Actions.Count);
var payload = JsonSerializer.Serialize(actions);
await _mqttClientService.PublishInstantActionsAsync(
robot.ProtocolName,
robot.ProtocolVersion,
robot.RobotManufacturer,
robot.RobotSerialNumber,
payload,
ct: ct);
}
/// <summary>
/// 复位机器人（通过发送stateRequest即时动作）
/// </summary>
public async Task ResetRobotAsync(Robot robot, CancellationToken ct = default)
{
_logger.LogInformation("VDA5050 - 复位机器人: {SerialNumber}", robot.RobotSerialNumber);
var instantAction = CreateInstantAction(robot, "stateRequest");
await SendInstantActionAsync(robot, instantAction, ct);
}
/// <summary>
/// 确认异常（VDA5050协议无此操作，记录日志）
/// </summary>
public Task ConfirmExceptionAsync(Robot robot, CancellationToken ct = default)
{
_logger.LogInformation("VDA5050 - 确认异常（协议无此操作），机器人: {SerialNumber}", robot.RobotSerialNumber);
return Task.CompletedTask;
}
/// <summary>
/// 构建VDA5050 Order消息
/// @author zzy
/// </summary>
private Order BuildVdaOrder(RobotTask task, Robot robot)
{
var order = new Order
{
HeaderId = (int)(robot.HeaderId + 1),
Timestamp = DateTime.UtcNow.ToString("O"),
Version = robot.ProtocolVersion,
Manufacturer = robot.RobotManufacturer,
SerialNumber = robot.RobotSerialNumber,
OrderId = task.TaskCode,
OrderUpdateId = 0,
Nodes = new List<Node>(),
Edges = new List<Edge>()
};
if (task.BeginLocation?.MapNode != null)
{
order.Nodes.Add(new Node
{
NodeId = task.BeginLocation.MapNode.NodeCode,
SequenceId = 0,
Released = true
});
}
if (task.EndLocation?.MapNode != null)
{
order.Nodes.Add(new Node
{
NodeId = task.EndLocation.MapNode.NodeCode,
SequenceId = 2,
Released = true
});
if (task.BeginLocation?.MapNode != null)
{
order.Edges.Add(new Edge
{
EdgeId = $"{task.BeginLocation.MapNode.NodeCode}_{task.EndLocation.MapNode.NodeCode}",
SequenceId = 1,
StartNodeId = task.BeginLocation.MapNode.NodeCode,
EndNodeId = task.EndLocation.MapNode.NodeCode,
Released = true
});
}
}
return order;
}
/// <summary>
/// 创建即时动作消息
/// </summary>
private InstantAction CreateInstantAction(Robot robot, string actionType)
{
var action = new Domain.Models.VDA5050.Action
{
ActionId = Guid.NewGuid().ToString(),
ActionType = actionType,
BlockingType = "HARD"
};
return new InstantAction(
(int)robot.HeaderId + 1,
robot.ProtocolVersion,
robot.RobotManufacturer,
robot.RobotSerialNumber,
new List<Domain.Models.VDA5050.Action> { action });
}
}