From fb593e35f84b238c49f5600d38090a9337643a8e Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Wed, 7 May 2025 18:04:14 +0800 Subject: [PATCH] =?UTF-8?q?=E8=BF=9C=E9=81=A5socket=E8=BF=9E=E6=8E=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../api/robot/RemoteControllerProcessor.java | 239 ++++++++++++++++++ .../robot/dto/RemoteControllerSocketDTO.java | 13 + .../remote/enums/robot/RemoteIpTypeEnum.java | 23 ++ .../service/robot/RemoteRobotServiceImpl.java | 20 +- .../yudao/module/remote/util/crc/CRCUtil.java | 91 +++++++ .../src/main/resources/application-dev.yaml | 7 + .../src/main/resources/application-local.yaml | 8 + .../src/main/resources/application-test.yaml | 8 + .../system/api/remote/RemoteRobotApi.java | 4 +- .../system/enums/ErrorCodeConstants.java | 3 + .../module/system/api/path/PathApiImpl.java | 7 +- .../system/api/remote/RemoteRobotApiImpl.java | 4 +- .../system/config/SystemJobConfiguration.java | 2 + .../path/PathPlanningTopicConstant.java | 2 +- .../WareHouseLocationController.java | 8 + .../WareHouseLocationMapper.java | 1 + .../service/path/PathPlanningServiceImpl.java | 7 +- .../RemoteControllerInformationService.java | 2 +- ...emoteControllerInformationServiceImpl.java | 18 +- .../remote/RobotMaxSpeedServiceImpl.java | 3 + .../robot/RobotInformationServiceImpl.java | 30 +++ .../robot/RobotTaskDetailServiceImpl.java | 2 +- .../module/system/util/socket/TCPClient.java | 46 ++++ .../module/system/util/socket/TCPServer.java | 48 ++++ 24 files changed, 576 insertions(+), 20 deletions(-) create mode 100644 yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java create mode 100644 yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/RemoteControllerSocketDTO.java create mode 100644 yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/enums/robot/RemoteIpTypeEnum.java create mode 100644 yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/util/crc/CRCUtil.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/socket/TCPClient.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/socket/TCPServer.java 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 new file mode 100644 index 000000000..22c68e3df --- /dev/null +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java @@ -0,0 +1,239 @@ +package cn.iocoder.yudao.module.remote.api.robot; + +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 com.alibaba.fastjson.JSON; +import lombok.SneakyThrows; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.stereotype.Component; + +import javax.annotation.PreDestroy; +import java.io.IOException; +import java.io.OutputStream; +import java.net.InetSocketAddress; +import java.net.Socket; +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; +import java.util.concurrent.Executors; +import java.util.concurrent.ScheduledExecutorService; +import java.util.concurrent.TimeUnit; + +import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception; +import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.REMOTE_ROBOT_CONNECT_FAIL; + +@Component +@Slf4j +public class RemoteControllerProcessor { + private final ConcurrentHashMap cache = new ConcurrentHashMap<>(); + + private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1); + + @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; + + @Value("${remote.industrial-control-time-out}") + private int industrialControlTimeOut; + + @Value("${remote.robot-communication-time-out}") + private int robotCommunicationTimeOut; + + private final String ONE = "01"; + private final String TWO = "02"; + + public void addCache() { + RemoteControllerSocketDTO remoteControllerSocketDTO = cache.get(remoteControllerIp); + log.info("缓存的数据 :{}", JSON.toJSONString(remoteControllerSocketDTO)); + if (ObjectUtil.isNotEmpty(remoteControllerSocketDTO)) { + try { + Socket socket = remoteControllerSocketDTO.getSocket(); + if (socket != null && !socket.isClosed()) { + socket.close(); + } + log.info("关闭socket :{}", remoteControllerIp); + } catch (IOException e) { + log.error("关闭socket出现异常 :{}", remoteControllerIp); + throw new RuntimeException(e); + } + } else { + remoteControllerSocketDTO = new RemoteControllerSocketDTO(); + } + remoteControllerSocketDTO.setHost(remoteControllerIp); + remoteControllerSocketDTO.setPort(remoteControllerPort); + try { + Socket socket = new Socket(); + 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()); + cache.put(remoteControllerIp, remoteControllerSocketDTO); + } + + /** + * 设置 + * + * @param remoteControllerSocket + * @param type + */ + public void setMsg(RemoteControllerSocketDTO remoteControllerSocket, Integer type) { + String msg = defaultMsg; + if (RemoteIpTypeEnum.ONE.getType().equals(type)) { + msg = msg + " " + ONE; + } else { + msg = msg + " " + TWO; + } + + String[] split = remoteControllerSocket.getHost().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 portHexOne = portHex.substring(0, 2); + String portHexTwo = portHex.substring(2); + msg = msg + " " + portHexOne + " " + portHexTwo; + if (cockpitTimeOut > 0) { + msg = msg + " " + ONE + " " + Integer.toHexString(cockpitTimeOut); + } else { + msg = msg + " " + TWO + " " + Integer.toHexString(cockpitTimeOut); + } + + if (industrialControlTimeOut > 0) { + msg = msg + " " + ONE + " " + Integer.toHexString(industrialControlTimeOut); + } else { + msg = msg + " " + TWO + " " + Integer.toHexString(industrialControlTimeOut); + } + + if (robotCommunicationTimeOut > 0) { + msg = msg + " " + ONE + " " + Integer.toHexString(robotCommunicationTimeOut); + } else { + msg = msg + " " + TWO + " " + Integer.toHexString(robotCommunicationTimeOut); + } + + String crc = CRCUtil.getCRC(msg); + String crcOne = crc.substring(0, 2); + String crcTwo = crc.substring(2); + + msg = msg + " " + crcOne + " " + crcTwo; + + remoteControllerSocket.setMsg(msg); + } + + public void remoteCache() { + RemoteControllerSocketDTO remoteControllerSocketDTO = cache.get(remoteControllerIp); + if (ObjectUtil.isEmpty(remoteControllerSocketDTO)) { + return; + } + setMsg(remoteControllerSocketDTO, RemoteIpTypeEnum.THREE.getType()); + cache.remove(remoteControllerIp); + + Socket socket = remoteControllerSocketDTO.getSocket(); + + 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.close(); + } + log.info("关闭socket :{}", remoteControllerIp); + } catch (IOException e) { + log.error("关闭socket出现异常 :{}", remoteControllerIp); + } finally { + if (ObjectUtil.isNotEmpty(os)) { + try { + os.close(); + } catch (IOException e) { + } + } + } + + remoteCache(); + } + + + public RemoteControllerProcessor() { + // 每秒执行一次 - 处理并发送数据 - 避免数据丢失 + scheduler.scheduleAtFixedRate(this::processAndSend, 150, 150, TimeUnit.MILLISECONDS); + } + + private void processAndSend() { + if (ObjectUtil.isEmpty(cache)) { + return; + } + log.info("socket发送数据开始"); + for (Map.Entry 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()) { + try { + socket = new Socket(); + socket.connect(new InetSocketAddress(v.getKey(), remoteControllerPort), 1000); + remoteControllerSocketDTO.setSocket(socket); + } catch (IOException e) { + log.error("socket重连异常 :{}", e); + } + } + + OutputStream os = null; + try { + os = socket.getOutputStream(); + String str = remoteControllerSocketDTO.getMsg(); + System.out.println(str); + os.write(remoteControllerSocketDTO.getMsg().getBytes()); + } catch (IOException e) { + log.error("socket发送异常 :{}", e); + } finally { + if (ObjectUtil.isNotEmpty(os)) { + try { + os.close(); + } catch (IOException e) { + } + } + } + log.info("socket发送数据成功"); + } + } + + + public void shutdown() { + scheduler.shutdown(); + } + + @PreDestroy + public void destroy() { + // 在Bean销毁前关闭去啊 + shutdown(); + } +} diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/RemoteControllerSocketDTO.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/RemoteControllerSocketDTO.java new file mode 100644 index 000000000..55ab45522 --- /dev/null +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/RemoteControllerSocketDTO.java @@ -0,0 +1,13 @@ +package cn.iocoder.yudao.module.remote.controller.admin.robot.dto; + +import lombok.Data; + +import java.net.Socket; + +@Data +public class RemoteControllerSocketDTO { + private String host; + private int port; + private Socket socket; + private String msg; +} diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/enums/robot/RemoteIpTypeEnum.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/enums/robot/RemoteIpTypeEnum.java new file mode 100644 index 000000000..8e9d8c502 --- /dev/null +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/enums/robot/RemoteIpTypeEnum.java @@ -0,0 +1,23 @@ +package cn.iocoder.yudao.module.remote.enums.robot; + +import lombok.AllArgsConstructor; +import lombok.Getter; + +@Getter +@AllArgsConstructor +public enum RemoteIpTypeEnum { + + ONE(1, "有效，设置车辆IP信息"), + TWO(2, "有效，设置工控主机IP信息"), + THREE(3, "有效：断开当前车辆IP"), + FOUR(4, "无效，IP信息直接舍弃"); + + /** + * 类型 + */ + private final Integer type; + /** + * 说明 + */ + private final String msg; +} diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java index 4277e6ce7..07f8b94ad 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java @@ -5,6 +5,7 @@ import cn.hutool.json.JSONUtil; import cn.iocoder.yudao.framework.common.pojo.CommonResult; import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; import cn.iocoder.yudao.module.remote.api.path.dto.RemoteRobotDistanceInformationDTO; +import cn.iocoder.yudao.module.remote.api.robot.RemoteControllerProcessor; import cn.iocoder.yudao.module.remote.api.webSocket.RequestProcessor; import cn.iocoder.yudao.module.remote.constant.robot.RobotTaskChcheConstant; import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.PositionMapRespDTO; @@ -20,6 +21,7 @@ import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO; 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.Value; import org.springframework.stereotype.Service; import javax.annotation.Resource; @@ -42,6 +44,15 @@ public class RemoteRobotServiceImpl implements RemoteRobotService { @Resource private RequestProcessor processor; + @Resource + private RemoteControllerProcessor remoteControllerProcessor; + + @Value("${remote.controller-port}") + private int remoteControllerPort; + + @Value("${remote.controller-ip}") + private String remoteControllerIp; + /** * 获取地图区域对应的机器人信息 * @@ -115,10 +126,16 @@ public class RemoteRobotServiceImpl implements RemoteRobotService { @Override public void robotChangeMode(RemoteRobotChangeModeDTO data, HttpServletRequest request) { String ip = IpUtils.getIp(request); - CommonResult result = remoteRobotApi.robotChangeMode(data.getRemoteMode(), ip, data.getRobotNo()); + CommonResult 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(); + }else { + remoteControllerProcessor.remoteCache(); + } } @Override @@ -138,6 +155,7 @@ public class RemoteRobotServiceImpl implements RemoteRobotService { if (!result.isSuccess()) { throw exception0(TASK_COMMONG_FAIL.getCode(), result.getMsg()); } + remoteControllerProcessor.remoteCache(); } /** diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/util/crc/CRCUtil.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/util/crc/CRCUtil.java new file mode 100644 index 000000000..473e23e5e --- /dev/null +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/util/crc/CRCUtil.java @@ -0,0 +1,91 @@ +package cn.iocoder.yudao.module.remote.util.crc; + + + +/** + * @author lwt + * @date 2018-06-26 + * + * CRC16校验码计算 + *

+ * (1)．预置1个16位的寄存器为十六进制FFFF（即全为1），称此寄存器为CRC寄存器； + * (2)．把第一个8位二进制数据（既通讯信息帧的第一个字节）与16位的CRC寄存器的低 + * 8位相异或，把结果放于CRC寄存器； + * (3)．把CRC寄存器的内容右移一位（朝低位）用0填补最高位，并检查右移后的移出位； + * (4)．如果移出位为0：重复第3步（再次右移一位）；如果移出位为1：CRC寄存器与多项式A001（1010 0000 0000 0001）进行异或； + * (5)．重复步骤3和4，直到右移8次，这样整个8位数据全部进行了处理； + * (6)．重复步骤2到步骤5，进行通讯信息帧下一个字节的处理； + * (7)．将该通讯信息帧所有字节按上述步骤计算完成后，得到的16位CRC寄存器的高、低 + * 字节进行交换； + * (8)．最后得到的CRC寄存器内容即为CRC16码。(注意得到的CRC码即为低前高后顺序) + */ +public class CRCUtil { + /** + * 计算CRC16校验码 + * + * @param data 需要校验的字符串 + * @return 校验码 + */ + public static String getCRC(String data) { + data = data.replace(" ", ""); + int len = data.length(); + if (!(len % 2 == 0)) { + return "0000"; + } + int num = len / 2; + byte[] para = new byte[num]; + for (int i = 0; i < num; i++) { + int value = Integer.valueOf(data.substring(i * 2, 2 * (i + 1)), 16); + para[i] = (byte) value; + } + return getCRC(para); + } + + + /** + * 计算CRC16校验码 + * + * @param bytes 字节数组 + * @return {@link String} 校验码 + * @since 1.0 + */ + public static String getCRC(byte[] bytes) { + //CRC寄存器全为1 + int CRC = 0x0000ffff; + //多项式校验值 + int POLYNOMIAL = 0x0000a001; + int i, j; + for (i = 0; i < bytes.length; i++) { + CRC ^= ((int) bytes[i] & 0x000000ff); + for (j = 0; j < 8; j++) { + if ((CRC & 0x00000001) != 0) { + CRC >>= 1; + CRC ^= POLYNOMIAL; + } else { + CRC >>= 1; + } + } + } + //结果转换为16进制 + String result = Integer.toHexString(CRC).toUpperCase(); + if (result.length() != 4) { + StringBuffer sb = new StringBuffer("0000"); + result = sb.replace(4 - result.length(), 4, result).toString(); + } + //交换高低位 + return result.substring(2, 4) + result.substring(0, 2); + } + + + public static void main(String[] args) { + //01 03 20 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 8C 45 + //01 03 00 00 00 08 44 0C + //01 03 10 00 8F 02 4E 00 91 02 44 00 92 02 5A 00 8B 02 47 40 D8 + + System.out.println(getCRC("01 03 20 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF 7F FF")); + System.out.println(getCRC("01 03 00 00 00 08")); + System.out.println(getCRC("01 03 10 00 8F 02 4E 00 91 02 44 00 92 02 5A 00 8B 02 47")); + + + } +} \ No newline at end of file diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-dev.yaml b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-dev.yaml index 1123ad64a..15a79e097 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-dev.yaml +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-dev.yaml @@ -52,3 +52,10 @@ logging: file: name: ${user.home}/logs/${spring.application.name}.log # 日志文件名，全路径 +remote: + controller-port: 9000 + controller-ip: 10.10.110.17 + 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 + robot-communication-time-out: 120 # 车辆通信超时报警时间 \ No newline at end of file diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-local.yaml b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-local.yaml index eaa73c742..8928b220d 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-local.yaml +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-local.yaml @@ -52,3 +52,11 @@ logging: file: name: C:\system\install\log/${spring.application.name}.log +remote: + controller-port: 9000 + controller-ip: 10.10.110.17 + msg: AA 55 13 04 01 88 88 # 驾舱socket头信息 + cockpit-time-out: 120 # 驾舱超时报警时间 + industrial-control-time-out: 120 # 工控通信超时报警时间 + robot-communication-time-out: 120 # 车辆通信超时报警时间 + diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-test.yaml b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-test.yaml index 8a57bd597..6beea06c3 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-test.yaml +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-test.yaml @@ -32,3 +32,11 @@ management: logging: file: name: D:/project/rcs/logs/${spring.application.name}.log + +remote: + controller-port: 9000 + controller-ip: 10.10.110.17 + 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 + robot-communication-time-out: 120 # 车辆通信超时报警时间 \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java index bbbf4a7c8..e9260017b 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java @@ -42,7 +42,9 @@ public interface RemoteRobotApi { @Operation(summary = "切换模式") CommonResult robotChangeMode(@RequestParam(value = "remoteMode") Integer remoteMode, @RequestParam(value = "ip") String ip, - @RequestParam(value = "robotNo") String robotNo); + @RequestParam(value = "robotNo") String robotNo, + @RequestParam(value = "remoteControllerPort") int remoteControllerPort, + @RequestParam(value = "remoteControllerIp") String remoteControllerIp); @PostMapping(PREFIX + "/getRemotePositionMapList") @Operation(summary = "远遥查询地图") diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java index 48a3de670..d04b8e23a 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java @@ -199,6 +199,8 @@ public interface ErrorCodeConstants { ErrorCode ROBOT_NOT_STAND_BY = new ErrorCode(1-002-034-013, "车辆非空闲"); ErrorCode ROBOT_ELECTRICITY_INSUFFICIENT = new ErrorCode(1-002-034-014, "车辆电量不足"); 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"); // ========== 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"); @@ -296,6 +298,7 @@ public interface ErrorCodeConstants { ErrorCode REMOTE_ALREADY_CHOOSE_ROBOT = new ErrorCode(1_002_053_014, "此车辆已经被其他远遥设备控制中"); ErrorCode REMOTE_ROBOT_HAVE_MORE_TASK = new ErrorCode(1_002_053_015, "此车辆有一个以上的处理中任务,请先检查数据"); ErrorCode REMOTE_ROBOT_HAVE_NOT_TASK = new ErrorCode(1_002_053_016, "此车辆没有处理中的任务"); + ErrorCode REMOTE_ROBOT_CONNECT_FAIL = new ErrorCode(1_002_053_017, "与远遥工控机连接失败"); // ========== 车辆摄像头信息 1_002_054_001 ========== ErrorCode CAMERA_NOT_EXISTS = new ErrorCode(1_002_054_001, "车辆摄像头信息不存在"); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java index 9625b2fda..3d23f68fe 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java @@ -19,8 +19,6 @@ import org.springframework.web.bind.annotation.RestController; import javax.annotation.Resource; -import static cn.iocoder.yudao.module.system.config.SystemJobConfiguration.NOTIFY_THREAD_POOL_TASK_EXECUTOR; - @Slf4j @RestController // 提供 RESTful API 接口，给 Feign 调用 @Validated @@ -56,14 +54,15 @@ public class PathApiImpl implements PathApi { //同步点位信息 PositionMapSaveReqVO positionMapSaveReqVO = new PositionMapSaveReqVO(); pathPlanningService.synchronousAllItem(positionMapSaveReqVO); + //同步区域变更点的绑定信息 + pathPlanningService.sendPositionChangePointBinding(); //同步线的信息 pathPlanningService.synchronousPoint(positionMapSaveReqVO); //车辆尺寸 pathPlanningService.robotDimensions(); //距离、优先级、时间权重 toolsService.sendPPsortConfig(); - //同步区域变更点的绑定信息 - pathPlanningService.sendPositionChangePointBinding(); + log.info("初始化数据发送个PP---完成"); }); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java index 965de64ea..4d9df3a30 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java @@ -100,8 +100,8 @@ public class RemoteRobotApiImpl implements RemoteRobotApi { * @return */ @Override - public CommonResult robotChangeMode(Integer remoteMode, String remoteIp, String robotNo) { - controllerInformationService.robotChangeMode(remoteMode, remoteIp, robotNo); + public CommonResult robotChangeMode(Integer remoteMode, String remoteIp, String robotNo,int remoteControllerPort,String remoteControllerIp) { + controllerInformationService.robotChangeMode(remoteMode, remoteIp, robotNo,remoteControllerPort,remoteControllerIp); return CommonResult.success(true); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/SystemJobConfiguration.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/SystemJobConfiguration.java index abbea565a..85d50e808 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/SystemJobConfiguration.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/SystemJobConfiguration.java @@ -1,3 +1,4 @@ +/* package cn.iocoder.yudao.module.system.config; import org.springframework.context.annotation.Bean; @@ -24,3 +25,4 @@ public class SystemJobConfiguration { return executor; } } +*/ diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java index 84024ed41..cf4f11390 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java @@ -107,7 +107,7 @@ public class PathPlanningTopicConstant { /** * 区域等待点绑定信息 */ - public static String SYNCHRONOUS_ALL_CHANGE_POINT_BINDING = "SYNCHRONOUS_ALL_CHANGE_POINT_BINDING"; + public static String SYNCHRONOUS_ALL_SWITCH_POINT_BINDING = "SYNCHRONOUS_ALL_SWITCH_POINT_BINDING"; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java index 240a6d29a..05364f78c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java @@ -80,6 +80,14 @@ public class WareHouseLocationController { return success(BeanUtils.toBean(list, WareHouseLocationRespVO.class)); } + @GetMapping("/getByMapId") + @Operation(summary = "根据地图id查询，此地图对应的所有库位") + @Parameter(name = "mapId", description = "地图id", required = true, example = "1024") + public CommonResult> getByMapId(@RequestParam("mapId") Long mapId) { + List list = houseLocationService.getByMapId(mapId); + return success(BeanUtils.toBean(list, WareHouseLocationRespVO.class)); + } + @PostMapping("/page") @Operation(summary = "获得库位分页") @PreAuthorize("@ss.hasPermission('ware:house-location:query')") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java index 31dcf0462..cc7d3c875 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java @@ -50,6 +50,7 @@ public interface WareHouseLocationMapper extends BaseMapperX bindingDTOS = positionChangePointBindingService.getAllPositionChangePointBinding(); if (ObjectUtil.isNotEmpty(bindingDTOS)) { - commonApi.commonMethod(bindingDTOS, PathPlanningTopicConstant.SYNCHRONOUS_ALL_CHANGE_POINT_BINDING); + commonApi.commonMethod(bindingDTOS, PathPlanningTopicConstant.SYNCHRONOUS_ALL_SWITCH_POINT_BINDING); } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java index c26d3923c..8e76bd8e5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java @@ -103,7 +103,7 @@ public interface RemoteControllerInformationService extends IService() .eq(RobotInformationDO::getRobotNo, createReqVO.getRobotNo()) @@ -243,6 +246,31 @@ public class RobotInformationServiceImpl extends ServiceImpl warnMsgs = warnMsgService.getWarnMsgByDetailIds(detailIds); Map warnMsgMap = null; if (ObjectUtil.isNotEmpty(warnMsgs)) { - warnMsgMap = warnMsgs.stream().collect(Collectors.toMap(RobotWarnMsgDO::getTaskDetailId, RobotWarnMsgDO::getWarnMsg)); + warnMsgMap = warnMsgs.stream().collect(Collectors.toMap(RobotWarnMsgDO::getTaskDetailId, RobotWarnMsgDO::getWarnMsg,(existingValue, newValue) -> existingValue)); } for (RemoteExceptionTaskDetailDTO record : page.getRecords()) { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/socket/TCPClient.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/socket/TCPClient.java new file mode 100644 index 000000000..4a9091f35 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/socket/TCPClient.java @@ -0,0 +1,46 @@ +package cn.iocoder.yudao.module.system.util.socket; + + +import java.io.IOException; +import java.io.InputStream; +import java.io.OutputStream; +import java.net.Socket; + +//客服端 +public class TCPClient { + public static void main(String[] args) throws IOException { + //发送100个客户端请求 + for (int i = 0; i < 100; i++) { + new Thread(new Runnable() { + @Override + public void run() { + try { + //和服务器创建连接 + Socket socket =new Socket("127.0.0.1",8800); + + OutputStream os = socket.getOutputStream(); + String str="你好服务器====:___:"; + os.write(str.getBytes()); + //服务器返回的信息 + InputStream is=socket.getInputStream(); + byte[] bytes=new byte[1024]; + int len=is.read(bytes); + System.out.println(new String(bytes,0,len)); + + socket.close(); + } catch (IOException e) { + e.printStackTrace(); + } + } + }).start(); + } + + + + + + } + +} + + diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/socket/TCPServer.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/socket/TCPServer.java new file mode 100644 index 000000000..19dddc543 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/socket/TCPServer.java @@ -0,0 +1,48 @@ +package cn.iocoder.yudao.module.system.util.socket; + + +import java.io.IOException; +import java.io.InputStream; +import java.io.OutputStream; +import java.net.ServerSocket; +import java.net.Socket; +import java.util.concurrent.ExecutorService; +import java.util.concurrent.Executors; + +public class TCPServer { + + + + public static void main(String[] args) throws IOException { + + 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(); + } + + } + +} +