修改远遥socket连接

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

@@ -4,6 +4,7 @@ import cn.hutool.core.util.ObjectUtil;
 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;
@@ -52,7 +53,7 @@ public class RemoteControllerProcessor {
     private final String ONE = "01";
     private final String TWO = "02";
 
-    public void addCache() {
+    public void addCache(RemoteRobotTransferDTO dto) {
         RemoteControllerSocketDTO remoteControllerSocketDTO = cache.get(remoteControllerIp);
         log.info("缓存的数据 :{}", JSON.toJSONString(remoteControllerSocketDTO));
         if (ObjectUtil.isNotEmpty(remoteControllerSocketDTO)) {
@@ -71,15 +72,15 @@ public class RemoteControllerProcessor {
         }
         remoteControllerSocketDTO.setHost(remoteControllerIp);
         remoteControllerSocketDTO.setPort(remoteControllerPort);
-        try {
         Socket socket = new Socket();
+        try {
             socket.connect(new InetSocketAddress(remoteControllerIp, remoteControllerPort), 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());
+        setMsg(remoteControllerSocketDTO, RemoteIpTypeEnum.ONE.getType(), dto);
         cache.put(remoteControllerIp, remoteControllerSocketDTO);
     }
 
@@ -89,7 +90,7 @@ public class RemoteControllerProcessor {
      * @param remoteControllerSocket
      * @param type
      */
-    public void setMsg(RemoteControllerSocketDTO remoteControllerSocket, Integer type) {
+    public void setMsg(RemoteControllerSocketDTO remoteControllerSocket, Integer type, RemoteRobotTransferDTO dto) {
         String msg = defaultMsg;
         if (RemoteIpTypeEnum.ONE.getType().equals(type)) {
             msg = msg + " " + ONE;
@@ -97,14 +98,14 @@ public class RemoteControllerProcessor {
             msg = msg + " " + TWO;
         }
 
-        String[] split = remoteControllerSocket.getHost().split("\\.");
+        String[] split = dto.getRobotIp().split("\\.");
         for (String ipItem : split) {
             String hex = Integer.toHexString(Integer.valueOf(ipItem));
             msg = msg + " " + hex;
             log.info("组装 :{}", hex);
         }
 
-        String portHex = Integer.toHexString(remoteControllerSocket.getPort());
+        String portHex = Integer.toHexString(dto.getRobotPort().intValue());
         String portHexOne = portHex.substring(0, 2);
         String portHexTwo = portHex.substring(2);
         msg = msg + " " + portHexOne + " " + portHexTwo;
@@ -135,24 +136,31 @@ public class RemoteControllerProcessor {
         remoteControllerSocket.setMsg(msg);
     }
 
-    public void remoteCache() {
+    public void remoteCache(RemoteRobotTransferDTO dto) {
         RemoteControllerSocketDTO remoteControllerSocketDTO = cache.get(remoteControllerIp);
         if (ObjectUtil.isEmpty(remoteControllerSocketDTO)) {
             return;
         }
-        setMsg(remoteControllerSocketDTO, RemoteIpTypeEnum.THREE.getType());
+        setMsg(remoteControllerSocketDTO, RemoteIpTypeEnum.THREE.getType(), dto);
         cache.remove(remoteControllerIp);
 
         Socket socket = remoteControllerSocketDTO.getSocket();
+        if (socket == null ||socket.isClosed()) {
+            try {
+                socket = new Socket();
+                socket.connect(new InetSocketAddress(remoteControllerIp, remoteControllerPort), 1000);
+            } catch (IOException e) {
+                log.error("连接socket出现异常 :{}", remoteControllerIp);
+            }
+        }
 
         OutputStream os = null;
         try {
-            if (socket != null && !socket.isClosed()) {
             os = socket.getOutputStream();
             log.info("断开连接 :{} ,对应的IP  :{}", remoteControllerSocketDTO.getMsg(), remoteControllerSocketDTO.getHost());
             os.write(remoteControllerSocketDTO.getMsg().getBytes());
+            socket.shutdownInput();
             socket.close();
-            }
             log.info("关闭socket :{}", remoteControllerIp);
         } catch (IOException e) {
             log.error("关闭socket出现异常 :{}", remoteControllerIp);
@@ -165,7 +173,7 @@ public class RemoteControllerProcessor {
             }
         }
 
-        remoteCache();
+        remoteCache(dto);
     }
 
 
@@ -197,8 +205,8 @@ public class RemoteControllerProcessor {
 
             Socket socket = remoteControllerSocketDTO.getSocket();
             if (socket == null || socket.isClosed()) {
-                try {
                 socket = new Socket();
+                try {
                     socket.connect(new InetSocketAddress(v.getKey(), remoteControllerPort), 1000);
                     remoteControllerSocketDTO.setSocket(socket);
                 } catch (IOException e) {
@@ -210,7 +218,7 @@ public class RemoteControllerProcessor {
             try {
                 os = socket.getOutputStream();
                 String str = remoteControllerSocketDTO.getMsg();
-                System.out.println(str);
+                log.info("socket推送的数据 :{}", str);
                 os.write(remoteControllerSocketDTO.getMsg().getBytes());
             } catch (IOException e) {
                 log.error("socket发送异常 :{}", e);

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/server/TCPServerApplicationRunner.java

@@ -0,0 +1,62 @@
+package cn.iocoder.yudao.module.remote.config.server;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.stereotype.Component;
+
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
+import java.net.ServerSocket;
+import java.net.Socket;
+
+@Slf4j
+@Component
+public class TCPServerApplicationRunner  implements ApplicationRunner {
+
+    @Override
+    public void run(ApplicationArguments args)  {
+        new  Thread(new Runnable() {
+            @Override
+            public void run() {
+                initServer();
+            }
+        }).start();
+    }
+
+    public void initServer() {
+        try {
+            log.info("开始初始化socket服务");
+            ServerSocket server=new ServerSocket(9000);
+            while (true){
+                // 监听客户端的请求,没有的话就会进行阻塞
+                Socket socket=server.accept();
+                //开启一个线程进行处理客户端的请求
+                new  Thread(new Runnable() {
+                    @Override
+                    public void run() {
+                        try {
+
+                            InputStream is=socket.getInputStream();
+                            byte[] bytes=new byte[1024];
+                            int len=is.read(bytes);
+                            System.out.println(new String(bytes,0,len));
+                            OutputStream os= socket.getOutputStream();
+                            //响应给客户端
+                            os.write("收到谢谢".getBytes());
+                            socket.close();
+                        } catch (IOException e) {
+                            e.printStackTrace();
+                        }
+
+
+                    }
+                }).start();
+                log.info("初始化socket服务完成");
+            }
+        } catch (Exception e) {
+
+        }
+    }
+}

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

@@ -18,6 +18,7 @@ import cn.iocoder.yudao.module.remote.util.redis.RedisUtil;
 import cn.iocoder.yudao.module.system.api.remote.RemoteRobotApi;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
+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;
@@ -126,15 +127,15 @@ public class RemoteRobotServiceImpl implements RemoteRobotService {
     @Override
     public void robotChangeMode(RemoteRobotChangeModeDTO data, HttpServletRequest request) {
         String ip = IpUtils.getIp(request);
-        CommonResult<Boolean> result = remoteRobotApi.robotChangeMode(data.getRemoteMode(), ip, data.getRobotNo(),remoteControllerPort,remoteControllerIp);
+        CommonResult<RemoteRobotTransferDTO> result = remoteRobotApi.robotChangeMode(data.getRemoteMode(), ip, data.getRobotNo(),remoteControllerPort,remoteControllerIp);
         if (!result.isSuccess()) {
             throw exception0(TASK_COMMONG_FAIL.getCode(), result.getMsg());
         }
         //非自动模式
         if (0!= data.getRemoteMode()) {
-            remoteControllerProcessor.addCache();
+            remoteControllerProcessor.addCache(result.getData());
         }else {
-            remoteControllerProcessor.remoteCache();
+            remoteControllerProcessor.remoteCache(result.getData());
         }
     }
 
@@ -151,11 +152,17 @@ public class RemoteRobotServiceImpl implements RemoteRobotService {
     @Override
     public void remoteDisconnect(HttpServletRequest request) {
         String ip = IpUtils.getIp(request);
-        CommonResult<Boolean> result = remoteRobotApi.remoteDisconnect(ip);
+        CommonResult<RemoteRobotTransferDTO> result = remoteRobotApi.remoteDisconnect(ip);
         if (!result.isSuccess()) {
             throw exception0(TASK_COMMONG_FAIL.getCode(), result.getMsg());
         }
-        remoteControllerProcessor.remoteCache();
+
+        if (ObjectUtil.isEmpty(result.getData())) {
+            log.info("断开连接, 未查到远遥绑定的信息 :{}",ip);
+            return;
+        }
+
+        remoteControllerProcessor.remoteCache(result.getData());
     }
 
     /**

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

@@ -54,7 +54,7 @@ logging:
 
 remote:
   controller-port: 9000
-  controller-ip: 10.10.110.17
+  controller-ip: 127.0.0.1
   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

@@ -54,7 +54,7 @@ logging:
 
 remote:
   controller-port: 9000
-  controller-ip: 10.10.110.17
+  controller-ip: 127.0.0.1
   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-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.api.remote;
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotTransferDTO;
 import cn.iocoder.yudao.module.system.enums.ApiConstants;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
@@ -40,7 +41,7 @@ public interface RemoteRobotApi {
 
     @PostMapping(PREFIX + "/robotChangeMode")
     @Operation(summary = "切换模式")
-    CommonResult<Boolean> robotChangeMode(@RequestParam(value = "remoteMode") Integer remoteMode,
+    CommonResult<RemoteRobotTransferDTO> robotChangeMode(@RequestParam(value = "remoteMode") Integer remoteMode,
                                                          @RequestParam(value = "ip") String ip,
                                                          @RequestParam(value = "robotNo") String robotNo,
                                                          @RequestParam(value = "remoteControllerPort") int remoteControllerPort,
@@ -52,7 +53,7 @@ public interface RemoteRobotApi {
 
     @PostMapping(PREFIX + "/remoteDisconnect")
     @Operation(summary = "断开连接")
-    CommonResult<Boolean> remoteDisconnect(@RequestParam(value = "remoteIp") String remoteIp);
+    CommonResult<RemoteRobotTransferDTO> remoteDisconnect(@RequestParam(value = "remoteIp") String remoteIp);
 
     @PostMapping(PREFIX + "/remoteTaskDone")
     @Operation(summary = "任务完成/取货完成")

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotTransferDTO.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.api.remote.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class RemoteRobotTransferDTO {
+    @Schema(description = "车辆IP")
+    private String robotIp;
+
+    @Schema(description = "车辆端口")
+    private Long robotPort;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+}

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java

@@ -201,6 +201,7 @@ public interface ErrorCodeConstants {
     ErrorCode ROBOT_HAVE_TASK = new ErrorCode(1-002-034-015, "车辆当前有处理中的任务,请断开连接后,选取其他空闲车辆");
     ErrorCode ROBOT_PORT_NOT_COMPLIANCE = new ErrorCode(1-002-034-016, "车辆端口范围在4096至65535之间");
     ErrorCode ROBOT_IP_NOT_COMPLIANCE = new ErrorCode(1-002-034-017, "请检测车辆IP是否符合规范");
+    ErrorCode ROBOT_IP_OR_PORT_EMPTY = new ErrorCode(1-002-034-020, "车辆IP或者端口为空");
 
     // ========== 机器人任务主表 1-002-035-000 ==========
     ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "车辆任务主表不存在");

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.api.remote;
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotTransferDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapDTO;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
 import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
@@ -100,9 +101,9 @@ public class RemoteRobotApiImpl implements RemoteRobotApi {
      * @return
      */
     @Override
-    public CommonResult<Boolean> robotChangeMode(Integer remoteMode, String remoteIp, String robotNo,int remoteControllerPort,String remoteControllerIp) {
+    public CommonResult<RemoteRobotTransferDTO> robotChangeMode(Integer remoteMode, String remoteIp, String robotNo, int remoteControllerPort, String remoteControllerIp) {
-        controllerInformationService.robotChangeMode(remoteMode, remoteIp, robotNo,remoteControllerPort,remoteControllerIp);
+        RemoteRobotTransferDTO dto = controllerInformationService.robotChangeMode(remoteMode, remoteIp, robotNo,remoteControllerPort,remoteControllerIp);
-        return CommonResult.success(true);
+        return CommonResult.success(dto);
     }
 
     @Override
@@ -118,9 +119,9 @@ public class RemoteRobotApiImpl implements RemoteRobotApi {
      * @return
      */
     @Override
-    public CommonResult<Boolean> remoteDisconnect(String remoteIp) {
+    public CommonResult<RemoteRobotTransferDTO> remoteDisconnect(String remoteIp) {
-        controllerInformationService.remoteDisconnect(remoteIp);
+        RemoteRobotTransferDTO data = controllerInformationService.remoteDisconnect(remoteIp);
-        return CommonResult.success(true);
+        return CommonResult.success(data);
     }
 
     /**

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java

@@ -6,6 +6,7 @@ import javax.validation.*;
 import cn.iocoder.yudao.module.mqtt.api.path.dto.PathPosedsDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.LoginCheckDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotTransferDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskTransferDTO;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationSaveReqVO;
@@ -103,7 +104,7 @@ public interface RemoteControllerInformationService extends IService<RemoteContr
      * @param remoteMode
      * @param remoteIp
      */
-    void robotChangeMode(Integer remoteMode, String remoteIp, String robotNo,int remoteControllerPort,String remoteControllerIp);
+    RemoteRobotTransferDTO robotChangeMode(Integer remoteMode, String remoteIp, String robotNo, int remoteControllerPort, String remoteControllerIp);
 
     /**
      * 任务转移给空闲车辆
@@ -121,7 +122,7 @@ public interface RemoteControllerInformationService extends IService<RemoteContr
      * 断开连接
      * @param remoteIp
      */
-    void remoteDisconnect(String remoteIp);
+    RemoteRobotTransferDTO remoteDisconnect(String remoteIp);
 
     /**
      * 重复发送断开连接的请求

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java

@@ -8,6 +8,7 @@ import cn.iocoder.yudao.module.mqtt.api.path.dto.remote.RemotePathPlanningDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.dto.remote.RobotModeDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.LoginCheckDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
+import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotTransferDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskTransferDTO;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
@@ -305,7 +306,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
      */
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public void robotChangeMode(Integer remoteMode, String remoteIp, String robotNo,int remoteControllerPort,String remoteControllerIp) {
+    public RemoteRobotTransferDTO robotChangeMode(Integer remoteMode, String remoteIp, String robotNo, int remoteControllerPort, String remoteControllerIp) {
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
         if (lock.tryLock()) {
             try {
@@ -316,7 +317,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
                 } catch (InterruptedException e) {
                     throw new RuntimeException(e);
                 }
-                doRobotChangeMode(remoteMode, remoteIp, robotNo,remoteControllerPort,remoteControllerIp);
+               return doRobotChangeMode(remoteMode, remoteIp, robotNo,remoteControllerPort,remoteControllerIp);
             } finally {
                 lock.unlock();
             }
@@ -377,12 +378,12 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
      */
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public void remoteDisconnect(String remoteIp) {
+    public RemoteRobotTransferDTO remoteDisconnect(String remoteIp) {
         RemoteControllerInformationDO information = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>()
                 .eq(RemoteControllerInformationDO::getRemoteIp, remoteIp)
                 .last("limit 1"));
         if (ObjectUtil.isEmpty(information.getRobotNo())) {
-            return;
+            return null;
         }
         checkGraphMatch(information.getRobotNo());
 
@@ -403,6 +404,12 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
 
         RemoteSendMessage remoteSendMessage = RemoteSendMessage.builder().robotNo(robotNo).build();
         remoteControllerProducer.sendSmsSendMessage(remoteSendMessage);
+
+        RobotInformationDO robotInformation = informationService.getInformationByRobotNo(robotNo);
+        return RemoteRobotTransferDTO.builder()
+                        .robotNo(robotInformation.getRobotNo())
+                        .robotIp(robotInformation.getRobotIp())
+                        .robotPort(robotInformation.getRobotPort()).build();
     }
 
     @Override
@@ -554,7 +561,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
      * @param robotNo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doRobotChangeMode(Integer remoteMode, String remoteIp, String robotNo,int remoteControllerPort,String remoteControllerIp) {
+    public RemoteRobotTransferDTO doRobotChangeMode(Integer remoteMode, String remoteIp, String robotNo,int remoteControllerPort,String remoteControllerIp) {
         log.info("切换模式的车辆 :{}", robotNo);
 
         //后续判断下，如果协控中，能不能切换模式
@@ -581,6 +588,15 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
         }
 
         RobotInformationDO robotInformation = informationService.getInformationByRobotNo(robotNo);
+        informationService.checkIpAndPort(robotInformation);
+        if (ObjectUtil.isEmpty(robotInformation.getRobotIp()) || ObjectUtil.isEmpty(robotInformation.getRobotPort()) ) {
+            throw exception(ROBOT_IP_OR_PORT_EMPTY);
+        }
+        RemoteRobotTransferDTO build =
+                RemoteRobotTransferDTO.builder()
+                        .robotNo(robotInformation.getRobotNo())
+                        .robotIp(robotInformation.getRobotIp())
+                        .robotPort(robotInformation.getRobotPort()).build();
 
 
         if (ObjectUtil.isNotEmpty(information.getRobotNo()) && !information.getRobotNo().equals(robotNo)) {
@@ -608,7 +624,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
             sendRemoteMsgToPP(robotNo, PathPlanningTopicConstant.START_REMOTE_CONTROLLER, RemoteOperationModeEnum.AUTO.getType());
             sendModeToRobot(robotNo, RemoteOperationModeEnum.AUTO.getType());
-            return;
+            return build;
         }
 
         if (ObjectUtil.isNotEmpty(information.getRobotNo()) && information.getRobotNo().equals(robotNo)
@@ -619,7 +635,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             userOperationLogService.createUserOperationLog(operationLog);
             sendRemoteMsgToPP(robotNo, PathPlanningTopicConstant.START_REMOTE_CONTROLLER, RemoteOperationModeEnum.getType(information.getRemoteMode()));
             sendModeToRobot(robotNo, RemoteOperationModeEnum.getType(remoteMode));
-            return;
+            return build;
         }
 
         //自动切手动
@@ -636,7 +652,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
             sendRemoteMsgToPP(robotNo, PathPlanningTopicConstant.START_REMOTE_CONTROLLER, RemoteOperationModeEnum.MAN.getType());
             sendModeToRobot(robotNo, RemoteOperationModeEnum.MAN.getType());
-            return;
+            return build;
         }
 
         //自动切自由
@@ -661,7 +677,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
             sendRemoteMsgToPP(robotNo, PathPlanningTopicConstant.START_REMOTE_CONTROLLER, RemoteOperationModeEnum.MAN.getType());
             sendModeToRobot(robotNo, RemoteOperationModeEnum.MAN.getType());
-            return;
+            return build;
         }
 
         //手动切自动
@@ -672,7 +688,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
             sendRemoteMsgToPP(robotNo, PathPlanningTopicConstant.START_REMOTE_CONTROLLER, RemoteOperationModeEnum.AUTO.getType());
             sendModeToRobot(robotNo, RemoteOperationModeEnum.AUTO.getType());
-            return;
+            return build;
         }
 
         //手动切自由
@@ -695,7 +711,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             sendRemoteMsgToPP(robotNo, PathPlanningTopicConstant.START_REMOTE_CONTROLLER, RemoteOperationModeEnum.AUTO.getType());
             sendModeToRobot(robotNo, RemoteOperationModeEnum.AUTO.getType());
         }
-
+        return build;
     }
 
     /**

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java

@@ -227,4 +227,10 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * @param robotNo
      */
     void setRobotFree(String robotNo);
+
+    /**
+     * 校验端口和IP
+     * @param updateObj
+     */
+    void checkIpAndPort(RobotInformationDO updateObj);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java

@@ -190,8 +190,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             throw exception(ROBOT_MAC_ADDRESS_EXISTS);
         }
 
-        checkIpAndPort(createReqVO);
-
         //判断机器人编号
         RobotInformationDO existRobotNo = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotNo, createReqVO.getRobotNo())
@@ -218,6 +216,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         createReqVO.setChargeType(robotModelDO.getChargeType());
         // 插入
         RobotInformationDO information = BeanUtils.toBean(createReqVO, RobotInformationDO.class);
+
+        checkIpAndPort(information);
+
         informationMapper.insert(information);
         redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + information.getMacAddress(), information.getRobotNo());
         redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_MAC_BY_NO + information.getRobotNo(), information.getMacAddress());
@@ -246,15 +247,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         return information.getId();
     }
 
-    private void checkIpAndPort(RobotInformationSaveReqVO createReqVO) {
+    @Override
-        if (ObjectUtil.isNotEmpty(createReqVO.getRobotPort())) {
+    public void checkIpAndPort(RobotInformationDO updateObj) {
-            String hexString = Integer.toHexString(createReqVO.getRobotPort().intValue());
+        if (ObjectUtil.isNotEmpty(updateObj.getRobotPort())) {
+            String hexString = Integer.toHexString(updateObj.getRobotPort().intValue());
             if (hexString.length() != 4) {
                 throw exception(ROBOT_PORT_NOT_COMPLIANCE);
             }
         }
-        if (ObjectUtil.isNotEmpty(createReqVO.getRobotIp())) {
+        if (ObjectUtil.isNotEmpty(updateObj.getRobotIp())) {
-            boolean validSubnet = isValidIpAddress(createReqVO.getRobotIp());
+            boolean validSubnet = isValidIpAddress(updateObj.getRobotIp());
             if (!validSubnet) {
                 throw exception(ROBOT_IP_NOT_COMPLIANCE);
             }
@@ -294,8 +296,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             }
         }
 
-        checkIpAndPort(updateReqVO);
-
         //校验MAC地址
         RobotInformationDO query = new RobotInformationDO();
         query.setMacAddress(updateReqVO.getMacAddress());
@@ -332,6 +332,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         }
         // 更新
         RobotInformationDO updateObj = BeanUtils.toBean(updateReqVO, RobotInformationDO.class);
+
+        checkIpAndPort(updateObj);
+
         informationMapper.updateById(updateObj);
 
         if (!robotInformationDO.getRobotNo().equals(updateReqVO.getRobotNo())) {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/socket/TCPClient.java

@@ -4,6 +4,7 @@ package cn.iocoder.yudao.module.system.util.socket;
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.OutputStream;
+import java.net.InetSocketAddress;
 import java.net.Socket;
 
 //客服端
@@ -16,7 +17,8 @@ public class TCPClient {
                 public void run() {
                     try {
                         //和服务器创建连接
-                        Socket socket =new Socket("127.0.0.1",8800);
+                        Socket socket = new Socket();
+                        socket.connect(new InetSocketAddress("10.10.100.17", 9000), 1000);
 
                         OutputStream os = socket.getOutputStream();
                         String str="你好服务器====:___:";