linxmouse/HikRCS.AspNetCore

说明

独立出与海康RCS通信交互部分，可以有更多的精力关注业务层，更好的代码复用节约开发时间

包括RCS的消息推送：状态、告警、Sync等的处理
提供对RCS API接口的调用：创建、继续、取消任务，释放AGV等

完全插件式使用

使用默认的HikAGVService

public static IMvcBuilder AddHikRCSIntegration(this IMvcBuilder builder, Action<HikRCSOptions> options)
{
    builder.Services.AddOptions();
    builder.Services.Configure<HikRCSOptions>(options);

    builder.Services.AddTransient<IHikAGVService, HikAGVService>();
    builder.AddApplicationPart(typeof(HikRCSController).Assembly);

    return builder;
}

使用自定义实现的IHikAGVService

public static IMvcBuilder AddHikRCSIntegration<T>(this IMvcBuilder builder, Action<HikRCSOptions> options)
    where T : class, IHikAGVService
{
    builder.Services.AddOptions();
    builder.Services.Configure<HikRCSOptions>(options);

    builder.Services.AddTransient<IHikAGVService, T>();
    builder.AddApplicationPart(typeof(HikRCSController).Assembly);

    return builder;
}

GettingStarted（食用方法）

创建一个测试使用的WebAPI项目，如下

using HikRCS.AspNetCore.Extensions;
using MediatR;

var builder = WebApplication.CreateBuilder(args);

// Add services to the container.

builder.Services.AddMediatR(typeof(Program).Assembly);
builder.Services.AddControllers();
// Learn more about configuring Swagger/OpenAPI at https://aka.ms/aspnetcore/swashbuckle
builder.Services.AddEndpointsApiExplorer();
builder.Services.AddSwaggerGen();

var app = builder.Build();

// Configure the HTTP request pipeline.
if (app.Environment.IsDevelopment())
{
    app.UseSwagger();
    app.UseSwaggerUI();
}

// 添加回调控制器的跨域支持
// 调用必须放在UseRouting之后,但在UseAuthorization之前,参考https://docs.microsoft.com/zh-cn/aspnet/core/fundamentals/middleware/?view=aspnetcore-6.0#middleware-order
app.ApplyHikRCSIntegration();
app.UseAuthorization();

app.MapControllers();

app.Run();

在AddControllers()后面也就是本HikRCSIntegration中实现的IMvcBuilder的扩展方法，如下

builder.Services
    .AddControllers()
    .AddHikRCSIntegration(options =>
    {
        options.RCSUrl = "http://192.168.2.3";

        //// default configuration
        //options.CreateTaskRouter = ":8182/rcms/services/rest/hikRpcService/genAgvSchedulingTask";
        //options.ContinueTaskRouter = ":8182/rcms/services/rest/hikRpcService/continueTask";
        //options.CancelTaskRouter = ":8182/rcms/services/rest/hikRpcService/cancelTask";
        //options.GetTaskStatusRouter = ":8182/rcms/services/rest/hikRpcService/queryTaskStatus";
        //options.GetRobotStatusRouter = ":8083/rcms-dps/rest/queryAgvStatus";
        //options.FreeRobotRouter = ":8182/rcms/services/rest/hikRpcService/freeRobot";
        //options.StopRobotRouter = ":8182/rcms/services/rest/hikRpcService/stopRobot";
        //options.ResumeRobotRouter = ":8182/rcms/services/rest/hikRpcService/resumeRobot";
    });

现实MediatR的INotificationHandler<HikRCSCallEvent>，如下

HikRCSCallCommand

using HikRCS.AspNetCore.Models;
using MediatR;

namespace HikRCSIntegration.Test.MediatorCommand
{
    public class HikRCSCallCommand : INotificationHandler<HikRCSCallEvent>
    {
        private readonly ILogger<HikRCSCallCommand> _logger;

        public HikRCSCallCommand(ILogger<HikRCSCallCommand> logger)
        {
            _logger = logger;
        }

        /// <summary>
        /// 处理状态回调逻辑
        /// </summary>
        /// <param name="notification"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        public Task Handle(HikRCSCallEvent notification, CancellationToken cancellationToken)
        {
            _logger.LogInformation($"Method: {notification.Method}");

            return Task.CompletedTask;
        }
    }
}

HikRCSWarnCommand

using HikRCS.AspNetCore.Models;
using MediatR;

namespace HikRCSIntegration.Test.MediatorCommand
{
    public class HikRCSWarnCommand : INotificationHandler<HikRCSWarnEvent>
    {
        private readonly ILogger<HikRCSCallCommand> _logger;

        public HikRCSWarnCommand(ILogger<HikRCSCallCommand> logger)
        {
            _logger = logger;
        }

        /// <summary>
        /// 告警回调逻辑
        /// </summary>
        /// <param name="notification"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        public Task Handle(HikRCSWarnEvent notification, CancellationToken cancellationToken)
        {
            if (notification.WarnDescs.Any())
            {
                foreach (var item in notification.WarnDescs)
                {
                    _logger.LogInformation($"Begin Date: {item.beginDate}, Task code: {item.taskCode}, Warn content: {item.warnContent}");
                }
            }

            return Task.CompletedTask;
        }
    }
}

欧克，下面来验证一下结果

分别使用丝袜哥调用两个提供给HikRCS的两个接口

curl -X 'POST' \
  'http://localhost:5244/restapi/HikIntegration/Status' \
  -H 'accept: */*' \
  -H 'Content-Type: application/json' \
  -d '{
  "reqCode": "string",
  "reqTime": "string",
  "cooX": "string",
  "cooY": "string",
  "currentPositionCode": "string",
  "data": "string",
  "mapCode": "string",
  "mapDataCode": "string",
  "method": "RCS回调.method=测试",
  "podCode": "string",
  "podDir": "string",
  "robotCode": "string",
  "taskCode": "string",
  "wbCode": "string"
}'

curl -X 'POST' \
  'http://localhost:5244/restapi/HikIntegration/Warn' \
  -H 'accept: */*' \
  -H 'Content-Type: application/json' \
  -d '{
  "reqCode": "string",
  "reqTime": "string",
  "clientCode": "string",
  "tokenCode": "string",
  "warnInfos": [
    {
      "robotCode": "034",
      "beginDate": "2022-06-18T13:56:30.521Z",
      "warnContent": "爆炸告警测试",
      "taskCode": "001122334455"
    }
  ]
}'

查看结果

info: HikRCSIntegration.Test.MediatorCommand.HikRCSCallCommand[0]
      Method: RCS回调.method=测试
info: HikRCSIntegration.Test.MediatorCommand.HikRCSCallCommand[0]
      Begin Date: 2022/6/18 13:56:30, Task code: 001122334455, Warn content: 爆炸告警测试

linxmouse / HikRCS.AspNetCore

说明

GettingStarted（食用方法）

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