Socket推送客户端数据
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cbs
parent
20e0a18dd3
commit
d5d0f5bdcb
@ -18,6 +18,7 @@ import java.io.IOException;
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import java.io.OutputStream;
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import java.net.InetSocketAddress;
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import java.net.Socket;
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import java.util.Arrays;
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import java.util.HashMap;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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@ -146,7 +147,35 @@ public class RemoteControllerProcessor {
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msg = msg + " " + crcOne + " " + crcTwo;
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remoteControllerSocket.setMsg(msg);
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remoteControllerSocket.setMsg(hexStringToByteArray(msg));
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}
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public String hexStringToByteArray(String hexString) {
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// 移除所有空格（包括中间和两端的空格）
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String cleaned = hexString.replaceAll("\\s", "");
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// 验证字符串长度是否为偶数
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if (cleaned.length() % 2 != 0) {
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throw new IllegalArgumentException("无效的十六进制字符串长度: " + cleaned.length());
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}
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// 创建结果字节数组
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byte[] byteArray = new byte[cleaned.length() / 2];
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for (int i = 0; i < cleaned.length(); i += 2) {
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// 提取两个连续的十六进制字符
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String hexPair = cleaned.substring(i, i + 2);
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try {
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// 将十六进制字符串转换为字节
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byteArray[i / 2] = (byte) Integer.parseInt(hexPair, 16);
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} catch (NumberFormatException e) {
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throw new IllegalArgumentException("无效的十六进制字符: " + hexPair);
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}
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}
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String str = Arrays.toString(byteArray);
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return str.substring(1, str.length() - 1);
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}
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public void remoteCache(RemoteRobotTransferDTO dto, String ip) {
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@ -223,7 +252,10 @@ public class RemoteControllerProcessor {
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try {
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os = socket.getOutputStream();
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String str = remoteControllerSocketDTO.getMsg();
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os.write(remoteControllerSocketDTO.getMsg().getBytes());
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String[] split = str.split(",");
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for (String meg : split) {
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os.write(Integer.parseInt(meg.trim()));
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}
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log.info("socket推送的数据 :{}", str);
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} catch (IOException e) {
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log.error("socket发送异常 :{}", e);
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@ -0,0 +1,58 @@
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package cn.iocoder.yudao.module.remote.util;
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import java.util.Arrays;
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public class HexConverter {
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public static byte[] hexStringToByteArray(String hexString) {
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// 移除所有空格（包括中间和两端的空格）
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String cleaned = hexString.replaceAll("\\s", "");
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// 验证字符串长度是否为偶数
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if (cleaned.length() % 2 != 0) {
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throw new IllegalArgumentException("无效的十六进制字符串长度: " + cleaned.length());
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}
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// 创建结果字节数组
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byte[] byteArray = new byte[cleaned.length() / 2];
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for (int i = 0; i < cleaned.length(); i += 2) {
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// 提取两个连续的十六进制字符
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String hexPair = cleaned.substring(i, i + 2);
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try {
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// 将十六进制字符串转换为字节
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byteArray[i / 2] = (byte) Integer.parseInt(hexPair, 16);
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} catch (NumberFormatException e) {
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throw new IllegalArgumentException("无效的十六进制字符: " + hexPair);
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}
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}
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return byteArray;
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}
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public static void main(String[] args) {
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String input = "AA 55 13 04 01 88 88 02 C0 A8 09 09 0f 27 01 78 01 78 01 78 EE 27"; // 可以测试 "ab c5 ef" 或 "A B C 5 E F"
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try {
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byte[] result = hexStringToByteArray(input);
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// 格式化输出为 {0xAB, 0xC5, 0xEF} 形式
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StringBuilder sb = new StringBuilder("{");
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for (int i = 0; i < result.length; i++) {
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// 使用 & 0xFF 将字节转换为无符号整数
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sb.append(String.format("0x%02X", result[i] & 0xFF));
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if (i < result.length - 1) sb.append(", ");
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}
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sb.append("}");
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System.out.println("输入: \"" + input + "\"");
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System.out.println("十六进制数组: " + sb.toString());
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System.out.println("字节数组内容: " + Arrays.toString(result));
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} catch (IllegalArgumentException e) {
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System.err.println("错误: " + e.getMessage());
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}
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}
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}
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@ -55,8 +55,11 @@ logging:
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remote:
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cockpit: # 远遥控制车辆IP和端口
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- controllerPort: 9000
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controllerIp: 127.0.0.1
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ipcIp: 10.10.7.132
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controllerIp: 10.10.100.19
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ipcIp: 10.10.100.19
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- controllerPort: 9000
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controllerIp: 10.10.100.19
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ipcIp: 10.10.5.26
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msg: AA 55 13 04 01 88 88 # 驾舱socket头信息
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cockpit-time-out: 120 # 驾舱超时报警时间
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industrial-control-time-out: 120 # 工控通信超时报警时间
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@ -77,6 +77,10 @@ public class TaskDistributionConsumer {
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} else if (RobotTaskEventTypeEnum.DONE.getType().equals(message.getEventType())) {
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String orderId = message.getMessage();
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String endTime = DateUtils.getYearMonthDayHourMinuteSecon();
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try {
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Thread.sleep(5000);
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} catch (Exception e) {
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}
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RobotTaskDetailDO taskDetail = robotTaskDetailService.getTaskDetail(Long.valueOf(orderId));
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if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(taskDetail.getTaskType())) {
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takeRelease(taskDetail, endTime, orderId);
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@ -10,6 +10,7 @@ import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskLineTimeC
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import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskLineTimeConsumingDO;
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import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
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import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskLineTimeConsumingMapper;
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import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
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import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
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import com.alibaba.fastjson.JSON;
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import lombok.extern.slf4j.Slf4j;
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@ -97,6 +98,9 @@ public class RobotTaskLineTimeConsumingServiceImpl extends ServiceImpl<RobotTask
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RobotTaskDetailDO taskDetail = robotTaskDetailService.getTaskDetail(orderId);
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List<RobotTaskLineTimeConsumingDO> addList = new ArrayList<>();
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for (RobotTaskLineTimeConsumingDetailDTO v : list) {
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if ((ZeroOneEnum.ZERO.getType()+"").equals(v.getTimeConsuming())) {
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continue;
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}
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RobotTaskLineTimeConsumingDO line = BeanUtils.toBean(v, RobotTaskLineTimeConsumingDO.class);
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line.setTaskNo(taskNo);
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line.setTaskDetailId(orderId);
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@ -555,7 +555,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
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}
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WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX<WareHouseLocationDO>()
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.eq(WareHouseLocationDO::getId, fromLocation.getMapItemId())
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.eq(WareHouseLocationDO::getMapItemId, fromLocation.getMapItemId())
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.eq(WareHouseLocationDO::getLocationStorey, fromLocation.getLocationStorey() - 1)
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.last("limit 1"));
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if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {
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@ -590,7 +590,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
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}
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WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX<WareHouseLocationDO>()
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.eq(WareHouseLocationDO::getId, toLocation.getMapItemId())
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.eq(WareHouseLocationDO::getMapItemId, toLocation.getMapItemId())
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.eq(WareHouseLocationDO::getLocationStorey, toLocation.getLocationStorey() - 1)
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.last("limit 1"));
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if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {
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