驾舱IP

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) {
+    @Autowired
-        RemoteControllerSocketDTO remoteControllerSocketDTO = cache.get(remoteControllerIp);
+    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.setControllerIp(cockpitIp);
-        remoteControllerSocketDTO.setPort(remoteControllerPort);
+        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) {
+    public void remoteCache(RemoteRobotTransferDTO dto,String ip) {
-        RemoteControllerSocketDTO remoteControllerSocketDTO = cache.get(remoteControllerIp);
+        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<String, RemoteControllerSocketDTO> 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);

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> 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;
+    }
+}

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;
+}

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;
+    @Schema(description = "驾舱IP")
-    private int port;
+    private String controllerIp;
+    @Schema(description = "驾舱端口")
+    private int controllerPort;
     private Socket socket;
     private String msg;
 }

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("${remote.controller-port}")
+    @Autowired
-    private int remoteControllerPort;
+    private IpProperties ipProperties;
-
-    @Value("${remote.controller-ip}")
-    private String remoteControllerIp;
 
     /**
      * 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<RemoteRobotTransferDTO> result = remoteRobotApi.robotChangeMode(data.getRemoteMode(), ip, data.getRobotNo(),remoteControllerPort,remoteControllerIp);
+        Cockpit cockpit = ipProperties.getCockpitByIp(ip);
+        CommonResult<RemoteRobotTransferDTO> 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);
     }
 
     /**

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
+  cockpit:
-  controller-ip: 127.0.0.1
+    - 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

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
+  cockpit:  # 远遥控制车辆最大速度 m/s
-  controller-ip: 127.0.0.1
+    - 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

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
+  cockpit:
-  controller-ip: 127.0.0.1
+    - 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