package com.ruoyi.ams.agv.ndc; import cn.hutool.core.date.DateUnit; import cn.hutool.core.date.DateUtil; import cn.hutool.core.thread.ThreadUtil; import com.alibaba.fastjson.JSON; import com.ruoyi.ams.agv.ndc.common.Aci; import com.ruoyi.ams.agv.ndc.common.ByteUtil; import com.ruoyi.ams.agv.ndc.domain.AmsHexdefineDetail; import com.ruoyi.ams.agv.ndc.domain.AmsTask; import com.ruoyi.ams.agv.ndc.entity.Order; import com.ruoyi.ams.agv.ndc.service.IAmsHexdefineDetailService; import com.ruoyi.ams.agv.ndc.service.IAmsTaskService; import com.ruoyi.ams.agv.ndc.service.SocketBufferService; import com.ruoyi.base.constant.Constant; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.io.IOException; import java.net.InetSocketAddress; import java.net.SocketAddress; import java.nio.ByteBuffer; import java.nio.channels.SocketChannel; import java.util.Date; import java.util.List; /** * Created by IntelliJ IDEA. * User: andy.qu * Date: 2022/8/5 */ @Slf4j @Service public class AciService { private static final int TIMEOUT = 3000; private static final int BUFF_SIZE = 2048; private static final String IP_ADDR = "10.95.2.66"; private static final int IP_PORT = 50001; @Autowired private SocketBufferService socketBufferService; @Autowired private IAmsTaskService amsTaskService; @Autowired private IAmsHexdefineDetailService amsHexdefineDetailService; @SuppressWarnings("InfiniteLoopStatement") public void start() throws IOException { String ip_addr = IP_ADDR; //redisUtils.get(RedisEnum.NDC_IP.getMessage()); int ip_port = IP_PORT; //redisUtils.getInt(RedisEnum.NDC_PORT.getMessage()); SocketChannel socketChannel = SocketChannel.open(); socketChannel.configureBlocking(false); // 解决了IO阻塞 while (true) { try { //链接服务端Socket if (!socketChannel.isConnected()) { if (!socketChannel.isOpen()) { socketChannel = SocketChannel.open(); socketChannel.configureBlocking(false); // 解决了IO阻塞 } // 非阻塞模式下 这段代码并不是等到连接建立之后再往下执行 SocketAddress socketAddress = new InetSocketAddress(ip_addr, ip_port); socketChannel.connect(socketAddress); Thread.sleep(2000); if (socketChannel.isConnectionPending()) { socketChannel.finishConnect(); } } ByteBuffer buffer = ByteBuffer.allocate(BUFF_SIZE); buffer.clear(); //删除指令 AmsTask taskBean = new AmsTask(); taskBean.setIsDelete(1); taskBean.setAciAccept(0); taskBean = amsTaskService.selectAmsTaskByModel(taskBean); String s = "87CD000800060001006E0002%04X"; if (taskBean != null) { if (taskBean.getAciIndex() == null) { //还没有提交给aci系统 taskBean.setAciAccept(1); amsTaskService.updateAmsTask(taskBean); } else { //已经提交给aci系统 s = String.format(s, taskBean.getAciIndex()); buffer.put(ByteUtil.hexString2ByteArray(s)); buffer.flip(); socketChannel.write(buffer); buffer.clear(); log.info("cancelOrder: " + s); } if (DateUtil.between(taskBean.getAddtime(), new Date(), DateUnit.MINUTE) > 1) { taskBean.setAciAccept(2); taskBean.setRemark("下发超时1分钟未接收自动取消"); amsTaskService.updateAmsTask(taskBean); } } //充电指令 taskBean = new AmsTask(); taskBean.setIsDelete(0); taskBean.setAciAccept(0); taskBean.setBusinessType(Constant.TASK_BUSINESS_TYPE.TASK_POWER.getValue()); taskBean = amsTaskService.selectAmsTaskByModel(taskBean); s = "87CD0008000C00010071000663010001%04X"; if (taskBean != null) { s = String.format(s, Integer.parseInt(taskBean.getDeviceName())); buffer.put(ByteUtil.hexString2ByteArray(s)); buffer.flip(); socketChannel.write(buffer); buffer.clear(); log.info("AGV-Power: " + s); taskBean.setServerAck(0); taskBean.setAciAccept(1); taskBean.setIsDelete(null); amsTaskService.updateAmsTask(taskBean); } //添加指令 List taskBeans = amsTaskService.selectTaskNotIssued(); if (taskBeans != null && taskBeans.size() > 0) { for (AmsTask t : taskBeans) { t.init(); List basTask = amsHexdefineDetailService.selectAmsHexdefineDetailByBusinessType(t.getBusinessType()); if (basTask == null || basTask.size() == 0) { t.setIsDelete(1); t.setRemark("该任务类型未定义"); log.info("任务类型未定义------" + JSON.toJSONString(t)); continue; } // try { String order = amsHexdefineDetailService.concatOrder(t, basTask); log.info("writeOrder:" + order); if (t.getBusinessType().equals("01")) { buffer.put(ByteUtil.hexString2ByteArray(order)); buffer.flip(); socketChannel.write(buffer); buffer.clear(); if (DateUtil.between(t.getAddtime(), new Date(), DateUnit.MINUTE) > 2) { t.setAciAccept(2); t.setRoadway("下发超时2分钟未接收自动取消"); amsTaskService.updateAmsTask(t); } } else { buffer.put(ByteUtil.hexString2ByteArray(order)); buffer.flip(); socketChannel.write(buffer); buffer.clear(); // 修改已发送 t.setAciAccept(1); t.setRoadway("TS请求反馈任务发送成功！"); amsTaskService.updateAmsTask(t); } // } catch (Exception e) { // e.printStackTrace(); // t.setServerAck(0); // t.setAciAccept(1); // t.setRoadway("程序异常自动ack"); // t.setIsDelete(null); // amsTaskService.updateAmsTask(t); // } } } //从服务端读取 buffer.clear(); //因为设置了异步 这边不会阻塞 测试了一下 服务器断开这边会抛出异常 但是写的时候不会抛出异常 可能是设置了异步的原因 int readLenth = socketChannel.read(buffer); if (readLenth == -1) { // throw new IOException(); } if (readLenth > 0) { buffer.flip(); byte[] bytes = new byte[readLenth]; buffer.get(bytes); List bufferSeparators = socketBufferService.bufferSeparator(bytes); for (Order order : bufferSeparators) { // log.info("消息类型：" + order.getMessageType() + "，消息参数：" + ByteUtil.byteArray2HexString(order.getParameters())); switch (order.getMessageType()) { case Aci.MSG_ORDER_STATUS://车体状态信息、位置信息 socketBufferService.handleMsgOrderStatus(order.getParameters()); break; case Aci.MSG_EVENT://任务反馈、自定义消息 socketBufferService.handleMsgEvent(order.getParameters()); break; case Aci.MSG_STOP://交通管制暂停 socketBufferService.handleMsgStopStart(order.getParameters(), true); break; case Aci.MSG_START://启动信息 socketBufferService.handleMsgStopStart(order.getParameters(), false); break; case Aci.MSG_ORDER_ACK://信息接收反馈 socketBufferService.handleMsgOrderAck(order.getParameters()); break; } } } buffer.clear(); try { Thread.sleep(500); } catch (InterruptedException e) { e.printStackTrace(); } } catch (IOException i) { log.error("NDC通讯异常！", i); try { socketChannel.close(); } catch (Exception exception) { i.printStackTrace(); } } catch (Exception e) { e.printStackTrace(); try { socketChannel.close(); } catch (Exception exception) { e.printStackTrace(); } } } } }