ak/zn-cloud-wcs
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

驾舱IP

Browse Source
This commit is contained in:
cbs 2025-05-22 10:23:59 +08:00
parent c7dc602b7f
commit 11501f8e96
8 changed files with 103 additions and 58 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

68
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java
View File

@ -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<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);

31
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/ip/IpProperties.java Normal file
View File

@ -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;
}
}

12
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/Cockpit.java Normal file
View File

@ -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;
}

7
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/RemoteControllerSocketDTO.java
View File

@ -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;
}

22
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java
View File

@ -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<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);
}
/**

7
yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-dev.yaml
View File

@ -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

7
yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-local.yaml
View File

@ -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

7
yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-test.yaml
View File

@ -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