From 5507e49ff7f2a66860ec0343c18338bb51bbd936 Mon Sep 17 00:00:00 2001
From: cbs <18617195505@163.com>
Date: Thu, 22 May 2025 17:19:04 +0800
Subject: [PATCH] =?UTF-8?q?socket=E8=BF=9E=E6=8E=A5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../module/remote/api/robot/RemoteControllerProcessor.java   | 5 ++++-
 .../module/system/service/robot/RobotTaskServiceImpl.java    | 4 ++--
 2 files changed, 6 insertions(+), 3 deletions(-)

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 b16aad6ff..3a4a8804e 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
@@ -77,7 +77,8 @@ public class RemoteControllerProcessor {
         remoteControllerSocketDTO.setControllerPort(cockpitPort);
         Socket socket = new Socket();
         try {
-            socket.connect(new InetSocketAddress(cockpitIp, cockpitPort), 1000);
+            socket.setKeepAlive(true);
+            socket.connect(new InetSocketAddress(cockpitIp, cockpitPort), 500);
             remoteControllerSocketDTO.setSocket(socket);
         } catch (IOException e) {
             log.error("添加socket失败 :{}", e);
@@ -153,6 +154,8 @@ public class RemoteControllerProcessor {
         if (socket == null || socket.isClosed()) {
             try {
                 socket = new Socket();
+                log.info("连接新的的socket");
+                socket.setKeepAlive(true);
                 socket.connect(new InetSocketAddress(cockpitIp, cockpit.getControllerPort()), 1000);
             } catch (IOException e) {
                 log.error("连接socket出现异常 :{}", cockpitIp);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
index 9ab18ad76..5701b79af 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
@@ -526,12 +526,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             throw exception(TASK_CHECK_HAVE_DOING_TASK);
         }
 
-        List<String> commandTypes = PathTaskTypeEnum.getMistakeTaskTypes();
+        /*List<String> commandTypes = PathTaskTypeEnum.getMistakeTaskTypes();
         List<RobotTaskDetailActionLogDO> actionLogDOList = taskDetailActionLogMapper.getMistakeTaskByCommandType(commandTypes);
         if (ObjectUtil.isNotEmpty(actionLogDOList)) {
             log.info("编辑地图存在未完成的移动到等待点/自动充电任务");
             throw exception(TASK_CHECK_HAVE_DOING_TASK);
-        }
+        }*/
     }
 
     /**