From 11501f8e96f140baf7f5e0612c2f656305e9fc2f Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Thu, 22 May 2025 10:23:59 +0800 Subject: [PATCH] =?UTF-8?q?=E9=A9=BE=E8=88=B1IP?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../api/robot/RemoteControllerProcessor.java | 68 ++++++++----------- .../module/remote/config/ip/IpProperties.java | 31 +++++++++ .../controller/admin/robot/dto/Cockpit.java | 12 ++++ .../robot/dto/RemoteControllerSocketDTO.java | 7 +- .../service/robot/RemoteRobotServiceImpl.java | 22 +++--- .../src/main/resources/application-dev.yaml | 7 +- .../src/main/resources/application-local.yaml | 7 +- .../src/main/resources/application-test.yaml | 7 +- 8 files changed, 103 insertions(+), 58 deletions(-) create mode 100644 yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/ip/IpProperties.java create mode 100644 yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/Cockpit.java diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java index c967e24b2..b16aad6ff 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java @@ -1,13 +1,14 @@ package cn.iocoder.yudao.module.remote.api.robot; import cn.hutool.core.util.ObjectUtil; +import cn.iocoder.yudao.module.remote.config.ip.IpProperties; +import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.Cockpit; import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.RemoteControllerSocketDTO; import cn.iocoder.yudao.module.remote.enums.robot.RemoteIpTypeEnum; import cn.iocoder.yudao.module.remote.util.crc.CRCUtil; import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotTransferDTO; -import com.alibaba.fastjson.JSON; -import lombok.SneakyThrows; import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Component; @@ -35,11 +36,6 @@ public class RemoteControllerProcessor { @Value("${remote.msg}") private String defaultMsg; - @Value("${remote.controller-ip}") - private String remoteControllerIp; - - @Value("${remote.controller-port}") - private int remoteControllerPort; @Value("${remote.cockpit-time-out}") private int cockpitTimeOut; @@ -53,8 +49,15 @@ public class RemoteControllerProcessor { private final String ONE = "01"; private final String TWO = "02"; - public void addCache(RemoteRobotTransferDTO dto) { - RemoteControllerSocketDTO remoteControllerSocketDTO = cache.get(remoteControllerIp); + @Autowired + private IpProperties ipProperties; + + public void addCache(RemoteRobotTransferDTO dto,String ip) { + Cockpit cockpit = ipProperties.getCockpitByIp(ip); + String cockpitIp = cockpit.getControllerIp(); + int cockpitPort = cockpit.getControllerPort(); + + RemoteControllerSocketDTO remoteControllerSocketDTO = cache.get(cockpitIp); log.info("是否为空 :{}",ObjectUtil.isEmpty(remoteControllerSocketDTO)); if (ObjectUtil.isNotEmpty(remoteControllerSocketDTO)) { try { @@ -62,26 +65,26 @@ public class RemoteControllerProcessor { if (socket != null && !socket.isClosed()) { socket.close(); } - log.info("关闭socket :{}", remoteControllerIp); + log.info("关闭socket :{}", cockpitIp); } catch (IOException e) { - log.error("关闭socket出现异常 :{}", remoteControllerIp); + log.error("关闭socket出现异常 :{}", cockpitIp); throw new RuntimeException(e); } } else { remoteControllerSocketDTO = new RemoteControllerSocketDTO(); } - remoteControllerSocketDTO.setHost(remoteControllerIp); - remoteControllerSocketDTO.setPort(remoteControllerPort); + remoteControllerSocketDTO.setControllerIp(cockpitIp); + remoteControllerSocketDTO.setControllerPort(cockpitPort); Socket socket = new Socket(); try { - socket.connect(new InetSocketAddress(remoteControllerIp, remoteControllerPort), 1000); + socket.connect(new InetSocketAddress(cockpitIp, cockpitPort), 1000); remoteControllerSocketDTO.setSocket(socket); } catch (IOException e) { log.error("添加socket失败 :{}", e); throw exception(REMOTE_ROBOT_CONNECT_FAIL); } setMsg(remoteControllerSocketDTO, RemoteIpTypeEnum.ONE.getType(), dto); - cache.put(remoteControllerIp, remoteControllerSocketDTO); + cache.put(cockpitIp, remoteControllerSocketDTO); } /** @@ -136,34 +139,36 @@ public class RemoteControllerProcessor { remoteControllerSocket.setMsg(msg); } - public void remoteCache(RemoteRobotTransferDTO dto) { - RemoteControllerSocketDTO remoteControllerSocketDTO = cache.get(remoteControllerIp); + public void remoteCache(RemoteRobotTransferDTO dto,String ip) { + Cockpit cockpit = ipProperties.getCockpitByIp(ip); + String cockpitIp = cockpit.getControllerIp(); + RemoteControllerSocketDTO remoteControllerSocketDTO = cache.get(cockpitIp); if (ObjectUtil.isEmpty(remoteControllerSocketDTO)) { return; } setMsg(remoteControllerSocketDTO, RemoteIpTypeEnum.THREE.getType(), dto); - cache.remove(remoteControllerIp); + cache.remove(cockpitIp); Socket socket = remoteControllerSocketDTO.getSocket(); if (socket == null || socket.isClosed()) { try { socket = new Socket(); - socket.connect(new InetSocketAddress(remoteControllerIp, remoteControllerPort), 1000); + socket.connect(new InetSocketAddress(cockpitIp, cockpit.getControllerPort()), 1000); } catch (IOException e) { - log.error("连接socket出现异常 :{}", remoteControllerIp); + log.error("连接socket出现异常 :{}", cockpitIp); } } OutputStream os = null; try { os = socket.getOutputStream(); - log.info("断开连接 :{} ,对应的IP :{}", remoteControllerSocketDTO.getMsg(), remoteControllerSocketDTO.getHost()); + log.info("断开连接 :{} ,对应的IP :{}", remoteControllerSocketDTO.getMsg(), remoteControllerSocketDTO.getControllerIp()); os.write(remoteControllerSocketDTO.getMsg().getBytes()); socket.shutdownInput(); socket.close(); - log.info("关闭socket :{}", remoteControllerIp); + log.info("关闭socket :{}", cockpitIp); } catch (IOException e) { - log.error("关闭socket出现异常 :{}", remoteControllerIp); + log.error("关闭socket出现异常 :{}", cockpitIp); } finally { if (ObjectUtil.isNotEmpty(os)) { try { @@ -173,7 +178,7 @@ public class RemoteControllerProcessor { } } - remoteCache(dto); + remoteCache(dto,ip); } @@ -189,25 +194,12 @@ public class RemoteControllerProcessor { // log.info("socket发送数据开始"); for (Map.Entry v : cache.entrySet()) { RemoteControllerSocketDTO remoteControllerSocketDTO = v.getValue(); - if (ObjectUtil.isEmpty(remoteControllerSocketDTO)) { - remoteControllerSocketDTO = new RemoteControllerSocketDTO(); - remoteControllerSocketDTO.setHost(v.getKey()); - remoteControllerSocketDTO.setPort(remoteControllerPort); - try { - Socket socket = new Socket(); - socket.connect(new InetSocketAddress(v.getKey(), remoteControllerPort), 1000); - remoteControllerSocketDTO.setSocket(socket); - } catch (IOException e) { - throw new RuntimeException(e); - } - cache.put(v.getKey(), remoteControllerSocketDTO); - } Socket socket = remoteControllerSocketDTO.getSocket(); if (socket == null || socket.isClosed()) { socket = new Socket(); try { - socket.connect(new InetSocketAddress(v.getKey(), remoteControllerPort), 1000); + socket.connect(new InetSocketAddress(v.getKey(), remoteControllerSocketDTO.getControllerPort()), 1000); remoteControllerSocketDTO.setSocket(socket); } catch (IOException e) { log.error("socket重连异常 :{}", e); diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/ip/IpProperties.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/ip/IpProperties.java new file mode 100644 index 000000000..295a0f70d --- /dev/null +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/ip/IpProperties.java @@ -0,0 +1,31 @@ +package cn.iocoder.yudao.module.remote.config.ip; + + +import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.Cockpit; +import lombok.Getter; +import lombok.Setter; +import org.springframework.boot.context.properties.ConfigurationProperties; +import org.springframework.stereotype.Component; + +import java.util.List; + +@Component +@ConfigurationProperties(prefix ="remote",ignoreInvalidFields = true) +@Getter +@Setter +public class IpProperties { + + private List cockpit; + + public Cockpit getCockpitByIp(String ip) { + for (Cockpit v : cockpit) { + if (ip.equals(v.getControllerIp())){ + return v; + } + } + Cockpit data = new Cockpit(); + data.setControllerIp("127.0.0.1"); + data.setControllerPort(9000); + return data; + } +} diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/Cockpit.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/Cockpit.java new file mode 100644 index 000000000..78d244dec --- /dev/null +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/Cockpit.java @@ -0,0 +1,12 @@ +package cn.iocoder.yudao.module.remote.controller.admin.robot.dto; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + +@Data +public class Cockpit { + @Schema(description = "驾舱端口") + private int controllerPort; + @Schema(description = "驾舱IP") + private String controllerIp; +} diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/RemoteControllerSocketDTO.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/RemoteControllerSocketDTO.java index 55ab45522..2bc4c1968 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/RemoteControllerSocketDTO.java +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/RemoteControllerSocketDTO.java @@ -1,13 +1,16 @@ package cn.iocoder.yudao.module.remote.controller.admin.robot.dto; +import io.swagger.v3.oas.annotations.media.Schema; import lombok.Data; import java.net.Socket; @Data public class RemoteControllerSocketDTO { - private String host; - private int port; + @Schema(description = "驾舱IP") + private String controllerIp; + @Schema(description = "驾舱端口") + private int controllerPort; private Socket socket; private String msg; } diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java index 785bab137..e96a312cd 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java @@ -8,7 +8,9 @@ import cn.iocoder.yudao.module.remote.api.path.dto.RemoteRobotDistanceInformatio import cn.iocoder.yudao.module.remote.api.path.dto.RemoteRobotWirelessSignalDTO; import cn.iocoder.yudao.module.remote.api.robot.RemoteControllerProcessor; import cn.iocoder.yudao.module.remote.api.webSocket.RequestProcessor; +import cn.iocoder.yudao.module.remote.config.ip.IpProperties; import cn.iocoder.yudao.module.remote.constant.robot.RobotTaskChcheConstant; +import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.Cockpit; import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.PositionMapRespDTO; import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.RemoteRobotChangeModeDTO; import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.RemoteRobotTaskDoneDTO; @@ -23,6 +25,7 @@ import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotTransferDTO; import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO; import com.alibaba.fastjson.JSON; import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Service; @@ -43,17 +46,11 @@ public class RemoteRobotServiceImpl implements RemoteRobotService { @Resource private RedisUtil redisUtil; - @Resource - private RequestProcessor processor; - @Resource private RemoteControllerProcessor remoteControllerProcessor; - @Value("${remote.controller-port}") - private int remoteControllerPort; - - @Value("${remote.controller-ip}") - private String remoteControllerIp; + @Autowired + private IpProperties ipProperties; /** * 获取地图区域对应的机器人信息 @@ -128,15 +125,16 @@ public class RemoteRobotServiceImpl implements RemoteRobotService { @Override public void robotChangeMode(RemoteRobotChangeModeDTO data, HttpServletRequest request) { String ip = IpUtils.getIp(request); - CommonResult result = remoteRobotApi.robotChangeMode(data.getRemoteMode(), ip, data.getRobotNo(),remoteControllerPort,remoteControllerIp); + Cockpit cockpit = ipProperties.getCockpitByIp(ip); + CommonResult result = remoteRobotApi.robotChangeMode(data.getRemoteMode(), ip, data.getRobotNo(),cockpit.getControllerPort(),cockpit.getControllerIp()); if (!result.isSuccess()) { throw exception0(TASK_COMMONG_FAIL.getCode(), result.getMsg()); } //非自动模式 if (0!= data.getRemoteMode()) { - remoteControllerProcessor.addCache(result.getData()); + remoteControllerProcessor.addCache(result.getData(),ip); }else { - remoteControllerProcessor.remoteCache(result.getData()); + remoteControllerProcessor.remoteCache(result.getData(),ip); } } @@ -163,7 +161,7 @@ public class RemoteRobotServiceImpl implements RemoteRobotService { return; } - remoteControllerProcessor.remoteCache(result.getData()); + remoteControllerProcessor.remoteCache(result.getData(),ip); } /** diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-dev.yaml b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-dev.yaml index e4fef5258..a9792108e 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-dev.yaml +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-dev.yaml @@ -53,8 +53,11 @@ logging: name: ${user.home}/logs/${spring.application.name}.log # 日志文件名，全路径 remote: - controller-port: 9000 - controller-ip: 127.0.0.1 + cockpit: + - controllerPort: 9001 + controllerIp: 127.0.0.2 + - controllerPort: 9001 + controllerIp: 127.0.0.3 msg: AA 55 13 04 01 88 88 # 驾舱socket头信息 cockpit-time-out: 120 # 驾舱超时报警时间 industrial-control-time-out: 120 # 工控通信超时报警时间 diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-local.yaml b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-local.yaml index d76de0aa5..e32c98277 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-local.yaml +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-local.yaml @@ -53,8 +53,11 @@ logging: name: C:\system\install\log/${spring.application.name}.log remote: - controller-port: 9000 - controller-ip: 127.0.0.1 + cockpit: # 远遥控制车辆最大速度 m/s + - controllerPort: 9001 + controllerIp: 127.0.0.2 + - controllerPort: 9001 + controllerIp: 127.0.0.3 msg: AA 55 13 04 01 88 88 # 驾舱socket头信息 cockpit-time-out: 120 # 驾舱超时报警时间 industrial-control-time-out: 120 # 工控通信超时报警时间 diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-test.yaml b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-test.yaml index ac3799d90..242813052 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-test.yaml +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-test.yaml @@ -34,8 +34,11 @@ logging: name: D:/project/rcs/logs/${spring.application.name}.log remote: - controller-port: 9000 - controller-ip: 127.0.0.1 + cockpit: + - controllerPort: 9001 + controllerIp: 127.0.0.2 + - controllerPort: 9001 + controllerIp: 127.0.0.3 msg: AA 55 13 04 01 88 88 # 驾舱socket头信息 cockpit-time-out: 120 # 驾舱超时报警时间 industrial-control-time-out: 120 # 工控通信超时报警时间