ResetRobotCommandHandler.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;
using TaskStatus = Rcs.Domain.Entities.TaskStatus;
namespace Rcs.Infrastructure.MessageBus.Handlers.Commands;
/// <summary>
/// 复位机器人命令处理器
/// @author zzy
/// </summary>
public class ResetRobotCommandHandler : IConsumer<ResetRobotCommand>
{
private readonly ILogger<ResetRobotCommandHandler> _logger;
private readonly IRobotRepository _robotRepository;
private readonly IRobotTaskRepository _robotTaskRepository;
private readonly IProtocolServiceFactory _protocolServiceFactory;
private readonly IRequestClient<ExecuteRobotSubTaskCommand> _executeRobotSubTaskClient;
public ResetRobotCommandHandler(
ILogger<ResetRobotCommandHandler> logger,
IRobotRepository robotRepository,
IRobotTaskRepository robotTaskRepository,
IProtocolServiceFactory protocolServiceFactory,
IRequestClient<ExecuteRobotSubTaskCommand> executeRobotSubTaskClient)
{
_logger = logger;
_robotRepository = robotRepository;
_robotTaskRepository = robotTaskRepository;
_protocolServiceFactory = protocolServiceFactory;
_executeRobotSubTaskClient = executeRobotSubTaskClient;
}
public async Task Consume(ConsumeContext<ResetRobotCommand> 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 protocolService = _protocolServiceFactory.GetService(robot);
// 先对执行中的子任务进行重新执行处理，确保子任务上下文（含SubTaskId）先重建
var inProgressSubTask = await FindInProgressSubTaskAsync(command.RobotId, context.CancellationToken);
if (inProgressSubTask != null)
{
_logger.LogInformation(
"复位前先重执行执行中子任务: RobotId={RobotId}, TaskId={TaskId}, SubTaskId={SubTaskId}, Sequence={Sequence}",
command.RobotId,
inProgressSubTask.TaskId,
inProgressSubTask.SubTaskId,
inProgressSubTask.Sequence);
var subTaskResp = await _executeRobotSubTaskClient.GetResponse<ApiResponse>(
new ExecuteRobotSubTaskCommand
{
SubTaskId = inProgressSubTask.SubTaskId
},
context.CancellationToken);
if (!subTaskResp.Message.Success)
{
throw new BusinessException(
$"复位前重执行子任务失败，SubTaskId={inProgressSubTask.SubTaskId}，原因：{subTaskResp.Message.Message}");
}
}
// 复位机器人
await protocolService.ResetRobotAsync(robot, context.CancellationToken);
await context.RespondAsync(ApiResponse.Successful());
}
catch (Exception ex)
{
_logger.LogError(ex, "复位机器人失败: {RobotId}", command.RobotId);
await context.RespondAsync(ApiResponse.Failed(ex.Message));
}
}
private async Task<Domain.Entities.RobotSubTask?> FindInProgressSubTaskAsync(Guid robotId, CancellationToken cancellationToken)
{
var tasks = (await _robotTaskRepository.GetByRobotIdAsync(robotId, cancellationToken))
.Where(t => t.SubTasks != null && t.SubTasks.Any())
.ToList();
var inProgressSubTask = tasks
.Where(t => t.Status == TaskStatus.InProgress)
.SelectMany(t => t.SubTasks.Select(st => new { Task = t, SubTask = st }))
.Where(x => x.SubTask.Status == TaskStatus.InProgress)
.OrderBy(x => x.SubTask.Sequence)
.Select(x => x.SubTask)
.FirstOrDefault();
if (inProgressSubTask != null)
{
return inProgressSubTask;
}
// 兜底：若主任务状态尚未同步为InProgress，仍允许取机器人下第一个执行中子任务
return tasks
.SelectMany(t => t.SubTasks)
.Where(st => st.Status == TaskStatus.InProgress)
.OrderBy(st => st.Sequence)
.FirstOrDefault();
}
}