穿梭车连接

web/src/main/java/com/zhehekeji/web/config/ConfigProperties.java

@@ -32,6 +32,7 @@ public class ConfigProperties {
     private String userUrl;
 
     private KSEC ksec;
+    private KSEC shuttleCar;
 
     private LightSource lightSource;
 

web/src/main/java/com/zhehekeji/web/controller/PLCController.java

@@ -8,6 +8,7 @@ import com.zhehekeji.web.mapper.StreetMapper;
 import com.zhehekeji.web.service.*;
 import com.zhehekeji.web.service.ksec.KsecNettyClient;
 import com.zhehekeji.web.service.robotic.NettyClient;
+import com.zhehekeji.web.service.shuttleCar.ShuttleNettyClient;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
 import org.springframework.web.bind.annotation.*;
@@ -32,15 +33,27 @@ public class PLCController {
     @Resource
     private KsecNettyClient ksecNettyClient;
 
+    @Resource
+    private ShuttleNettyClient shuttleNettyClient;
+
+
 
     @GetMapping("/tcp")
     @ApiOperation(value = "连接plc,发起请求")
     public Result tcp(@RequestParam Integer id){
         if(configProperties.getServerMode() == 1){
+            if(id==1) {
                 try {
                     ksecNettyClient.createClient(configProperties.getKsec());
-            }catch (Exception e){
+                } catch (Exception e) {
-                Assert.isTrue(false,"连接失败，ip："+configProperties.getKsec().getIp()+",port:"+configProperties.getKsec().getPort());
+                    Assert.isTrue(false, "连接失败，ip：" + configProperties.getKsec().getIp() + ",port:" + configProperties.getKsec().getPort());
+                }
+            }else {
+                try {
+                    shuttleNettyClient.createClient(configProperties.getShuttleCar());
+                } catch (Exception e) {
+                    Assert.isTrue(false, "连接失败，ip：" + configProperties.getShuttleCar().getIp() + ",port:" + configProperties.getShuttleCar().getPort());
+                }
             }
 
         }else {

web/src/main/java/com/zhehekeji/web/service/InitService.java

@@ -11,6 +11,7 @@ import com.zhehekeji.web.mapper.CameraMapper;
 import com.zhehekeji.web.mapper.StreetMapper;
 import com.zhehekeji.web.service.ksec.KsecNettyClient;
 import com.zhehekeji.web.service.robotic.NettyClient;
+import com.zhehekeji.web.service.shuttleCar.ShuttleNettyClient;
 import com.zhehekeji.web.service.sick.SickNettyClient;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.boot.ApplicationArguments;
@@ -42,6 +43,10 @@ public class InitService implements ApplicationRunner {
     @Resource
     private KsecNettyClient ksecNettyClient;
 
+    @Resource
+    private ShuttleNettyClient shuttleNettyClient;
+
+
     @Resource
     private ConfigProperties configProperties;
 
@@ -85,6 +90,8 @@ public class InitService implements ApplicationRunner {
             LoginThread loginThread = new LoginThread(camera);
             loginThread.start();
         });
+
+        TaskDelayExecutor.runMp4DownloadExecutor();
         LPLicense.createLicKeyIfNotExist();
         //plc连接
         if(configProperties.getServerMode() == 0){
@@ -101,6 +108,7 @@ public class InitService implements ApplicationRunner {
                 }
             });
         }else if(configProperties.getServerMode() == 1){
+            Thread thread = new Thread(()->{
                 log.info("KESC JSON MODE");
                 // 昆船协议
                 ConfigProperties.KSEC ksec = configProperties.getKsec();
@@ -109,13 +117,35 @@ public class InitService implements ApplicationRunner {
                     try {
                         ksecNettyClient.createClient(ksec);
                     }catch (Exception e){
+                        ksecNettyClient.reconnect(1);
                         log.error("kesc connect error,url:{},port:{}",ksec.getIp(),ksec.getPort());
                     }
                 }else {
                     log.error("ksec no config");
                 }
+            });
+            thread.start();
+
+            Thread thread1 = new Thread(()->{
+
+                log.info("shuttleCar JSON MODE");
+                ConfigProperties.KSEC shuttleCar = configProperties.getShuttleCar();
+                if(shuttleCar != null){
+                    StreetConn.init(0,"shuttleCar");
+                    try {
+                        shuttleNettyClient.createClient(shuttleCar);
+                    }catch (Exception e){
+                        shuttleNettyClient.reconnect(0);
+                        log.error("shuttleCar connect error,url:{},port:{}",shuttleCar.getIp(),shuttleCar.getPort());
+                    }
+                }else {
+                    log.error("shuttleCar no config");
+                }
+            });
+            thread1.start();
+
+
         }
-        TaskDelayExecutor.runMp4DownloadExecutor();
     }
 
     class LoginThread extends Thread{

web/src/main/java/com/zhehekeji/web/service/PlcService.java

@@ -87,7 +87,7 @@ public class PlcService {
     private static String originalPoint = "C6";
 
     public Integer plcStatus() {
-        Integer count = 1;
+        Integer count = 2;
         if(configProperties.getServerMode() == 0){
             count = streetMapper.selectCount(new QueryWrapper<>());
         }

web/src/main/java/com/zhehekeji/web/service/StreetConn.java

@@ -9,6 +9,7 @@ import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
 
 /**
  * PLC连接状态
@@ -16,7 +17,7 @@ import java.util.Map;
 @Data
 public class StreetConn {
 
-    private static Map<Integer,PlcStatus> connMap = new HashMap<>();
+    private static Map<Integer,PlcStatus> connMap = new ConcurrentHashMap<>();
 
     /**
      * plc连接成功

web/src/main/java/com/zhehekeji/web/service/ksec/KsecNettyClient.java

@@ -74,7 +74,9 @@ public class KsecNettyClient {
             } catch (Exception e) {
                 //没连上 继续
                 log.error("reconnect error num:{}", num);
+                if(channel != null) {
                     channel.close();
+                }
                 num++;
                 try {
                     Thread.sleep(ksec.getReconnectInterval()*1000);

web/src/main/java/com/zhehekeji/web/service/shuttleCar/ShuttleNettyClient.java

@@ -0,0 +1,108 @@
+package com.zhehekeji.web.service.shuttleCar;
+
+
+import com.zhehekeji.common.util.FileUtil;
+import com.zhehekeji.web.config.ConfigProperties;
+import com.zhehekeji.web.service.PlcService;
+import com.zhehekeji.web.service.ksec.KsecDecoder;
+import com.zhehekeji.web.service.ksec.KsecInfo;
+import io.netty.bootstrap.Bootstrap;
+import io.netty.channel.Channel;
+import io.netty.channel.EventLoopGroup;
+import io.netty.channel.nio.NioEventLoopGroup;
+import io.netty.channel.socket.nio.NioSocketChannel;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+import org.springframework.util.StringUtils;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Component
+public class ShuttleNettyClient {
+
+    private static EventLoopGroup group = new NioEventLoopGroup();
+    @Resource
+    private PlcService plcService;
+    @Resource
+    private ConfigProperties configProperties;
+
+
+    private static Channel channel;
+
+    public void createClient(ConfigProperties.KSEC ksec) throws InterruptedException {
+        String lotnum = FileUtil.getText("lastLotnum");
+        if(lotnum != null){
+            KsecDecoder.setLastLotnum(lotnum);
+        }
+        if (StringUtils.isEmpty(ksec.getIp()) || ksec.getPort() == null) {
+            return;
+        }
+        Bootstrap client = new Bootstrap();
+        client.group(group);
+        client.channel(NioSocketChannel.class);
+        KsecInfo heart = KsecInfo.heart();
+        client.handler(new ShuttleNettyFilter(heart, plcService,this));
+        // 连接服务端
+
+        channel = client.connect(ksec.getIp(), ksec.getPort()).sync().channel();
+
+    }
+
+    /**
+     * 断线重连 尝试 RECONNECT_NUM 次
+     *
+     * @param upId
+     */
+    public void reconnect(Integer upId) {
+        Boolean isConnected = false;
+        int num = 0;
+        ConfigProperties.KSEC ksec = configProperties.getShuttleCar();
+        if (ksec == null) {
+            log.error("reconnect ,upPc is null ,id:{}", upId);
+            return;
+        }
+        try {
+            Thread.sleep(1500);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
+
+        /**
+         * 重连最大次数
+         */
+        while ((ksec.getReconnectNum() == -1 || num < ksec.getReconnectNum() ) && !isConnected) {
+            try {
+                createClient(ksec);
+            } catch (Exception e) {
+                //没连上 继续
+                log.error("reconnect error num:{}", num);
+                if(channel != null) {
+                    channel.close();
+                }
+                num++;
+                try {
+                    Thread.sleep(ksec.getReconnectInterval()*1000);
+                } catch (InterruptedException ex) {
+                    throw new RuntimeException(ex);
+                }
+                continue;
+            }
+            isConnected = true;
+        }
+        if (isConnected) {
+            log.info("plc reconnect success");
+        } else {
+            log.error("plc reconnect error .upPcId:{},reconnect num:{},ip:{},port:{}", upId, num, ksec.getIp(), ksec.getPort());
+        }
+    }
+
+    public static void write(KsecInfo ksecInfo){
+        if(channel != null){
+            channel.writeAndFlush(ksecInfo);
+        }else {
+            log.error(" no connected upPc");
+        }
+
+    }
+}

web/src/main/java/com/zhehekeji/web/service/shuttleCar/ShuttleNettyFilter.java

@@ -0,0 +1,45 @@
+package com.zhehekeji.web.service.shuttleCar;
+
+import com.zhehekeji.web.service.PlcService;
+import com.zhehekeji.web.service.ksec.*;
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.Unpooled;
+import io.netty.channel.ChannelInitializer;
+import io.netty.channel.ChannelPipeline;
+import io.netty.channel.socket.SocketChannel;
+import io.netty.handler.timeout.IdleStateHandler;
+
+import java.util.concurrent.TimeUnit;
+
+/**
+ * 客户端过滤器，编解码和心跳的设置
+ *
+ * @author Administrator
+ *
+ */
+public class ShuttleNettyFilter extends ChannelInitializer<SocketChannel> {
+
+    private KsecInfo ksecInfo;
+
+    private PlcService plcService;
+
+    private ShuttleNettyClient nettyClient;
+
+    public ShuttleNettyFilter(KsecInfo ksecInfo, PlcService plcService, ShuttleNettyClient nettyClient){
+        this.ksecInfo = ksecInfo;
+        this.plcService = plcService;
+        this.nettyClient = nettyClient;
+
+    }
+
+    @Override
+    protected void initChannel(SocketChannel ch) throws Exception {
+        ChannelPipeline ph = ch.pipeline();
+        //4秒发一次心跳
+        ph.addLast(new IdleStateHandler(0, 4, 0, TimeUnit.SECONDS));
+        ByteBuf byteBuf = Unpooled.copiedBuffer(">".getBytes());
+        ph.addLast(new KsecDecoder(10000,byteBuf,plcService));
+        ph.addLast(new KescEncoder());
+        ph.addLast(new ShuttleNettyHandler(ksecInfo,nettyClient));
+    }
+}

web/src/main/java/com/zhehekeji/web/service/shuttleCar/ShuttleNettyHandler.java

@@ -0,0 +1,71 @@
+package com.zhehekeji.web.service.shuttleCar;
+
+import com.zhehekeji.web.service.StreetConn;
+import com.zhehekeji.web.service.ksec.KsecInfo;
+import com.zhehekeji.web.service.ksec.KsecNettyClient;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.channel.ChannelInboundHandlerAdapter;
+import io.netty.handler.timeout.IdleStateEvent;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ *    与PLC心跳 处理
+ *
+ * @author Administrator
+ *
+ */
+@Slf4j
+public class ShuttleNettyHandler extends ChannelInboundHandlerAdapter {
+    /** 客户端请求的心跳命令 */
+    private KsecInfo heart;
+
+
+    private ShuttleNettyClient nettyClient;
+
+    public ShuttleNettyHandler(KsecInfo ksecInfo, ShuttleNettyClient nettyClient){
+
+        this.heart = ksecInfo;
+        this.nettyClient = nettyClient;
+    }
+
+    /**
+     * 建立连接时
+     */
+    @Override
+    public void channelActive(ChannelHandlerContext ctx) throws Exception {
+        log.info("upPc connected ");
+        StreetConn.conn(0);
+        ctx.fireChannelActive();
+    }
+
+    /**
+     * 关闭连接时
+     */
+    @Override
+    public void channelInactive(ChannelHandlerContext ctx) throws Exception {
+        log.info("upPc closed");
+        StreetConn.disConn(0);
+        log.info(" streetId reconnect......");
+        nettyClient.reconnect(0);
+    }
+
+    /**
+     * 心跳请求处理，每4秒发送一次心跳请求;
+     *
+     */
+    @Override
+    public void userEventTriggered(ChannelHandlerContext ctx, Object obj) throws Exception {
+        if (obj instanceof IdleStateEvent) {
+            log.debug("upPc send heart");
+            ctx.channel().writeAndFlush(heart);
+            IdleStateEvent event = (IdleStateEvent) obj;
+
+//            if (IdleState.WRITER_IDLE.equals(event.state())) { // 如果写通道处于空闲状态就发送心跳命令
+//
+//            }
+        }
+
+    }
+
+
+}

web/src/main/resources/application-prod.yml

@@ -67,6 +67,13 @@ ksec:
   reconnectNum: -1
   #重连间隔 默认10s
   reconnectInterval: 10
+shuttleCar:
+  ip: 127.0.0.1
+  port: 8002
+  #重连次数 默认10次
+  reconnectNum: -1
+  #重连间隔 默认10s
+  reconnectInterval: 10
 # ------------ 实时视频流  全部页面的格式  行列数量
 videoStyleConfig:
   videoStyleRow: 4