54 lines
3.1 KiB
C#
54 lines
3.1 KiB
C#
using RobotNet10.FleetManager.Script;
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using RobotNet10.FleetManager.Services.RobotManager;
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using RobotNet10.FleetManager.Services.TrafficControl;
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using System.Linq.Expressions;
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namespace RobotNet10.FleetManager.Services.Script;
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public class ScriptRobotmanager(IRobotManagerService RobotManager, IServiceScopeFactory ScopeFactory, IOrderControlService OrderControlService) : IRobotManager
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{
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public async Task<IRobot?> GetRobotById(string robotId)
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{
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using var scope = ScopeFactory.CreateScope();
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var _robotService = scope.ServiceProvider.GetRequiredService<IRobotService>();
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var robotDb = await _robotService.GetByRobotIdAsync(robotId);
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if (robotDb is null) return null;
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var robotController = RobotManager.GetRobotController(robotId);
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if (robotController is null) return null;
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return new ScriptRobot(robotDb.RobotId, robotDb.Name, robotDb.ModelId, robotDb.MapId, robotController);
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}
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public Task<RobotOrderStatus> GetRobotOrderStatus(string robotId)
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{
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var orderStatus = OrderControlService.GetRobotOrderStatus(robotId);
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return orderStatus switch
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{
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OrderStatus.IsError => Task.FromResult(RobotOrderStatus.IsError),
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OrderStatus.IsCompleted => Task.FromResult(RobotOrderStatus.IsCompleted),
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OrderStatus.IsProccessing => Task.FromResult(RobotOrderStatus.IsProccessing),
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OrderStatus.IsCanceled => Task.FromResult(RobotOrderStatus.IsCanceled),
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_ => Task.FromResult(RobotOrderStatus.Empty),
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};
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}
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public Task<RobotState?> GetRobotState(string robotId)
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{
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var robotController = RobotManager.GetRobotController(robotId);
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if (robotController is null || robotController.Data is null || robotController.Data.State is null || robotController.Data.Visualization is null) return Task.FromResult<RobotState?>(null);
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return Task.FromResult<RobotState?>(new RobotState(robotController.IsReady,
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robotController.Data.State.BatteryState.BatteryVoltage ?? 0,
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robotController.Data.State.Loads,
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robotController.Data.State.BatteryState.Charging,
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robotController.Data.Visualization.AgvPosition.X,
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robotController.Data.Visualization.AgvPosition.Y,
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robotController.Data.Visualization.AgvPosition.Theta));
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}
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public async Task<IEnumerable<string>> SearchRobots(string layout, string version, string level, string model)
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=> await RobotManager.GetAvailableRobots(layout, version, level, model, state => true);
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public async Task<IEnumerable<string>> SearchRobots(string layout, string version, string level, string model, Expression<Func<RobotState, bool>> expr)
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=> await RobotManager.GetAvailableRobots(layout, version, level, model, expr.Compile());
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}
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