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@ -14,14 +14,14 @@ import lombok.extern.slf4j.Slf4j; |
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import org.java_websocket.client.WebSocketClient; |
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import org.java_websocket.enums.ReadyState; |
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import org.java_websocket.handshake.ServerHandshake; |
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import org.springframework.beans.factory.annotation.Autowired; |
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import org.springframework.scheduling.annotation.Scheduled; |
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import org.springframework.stereotype.Component; |
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import java.net.URI; |
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import java.nio.ByteBuffer; |
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import java.nio.ByteOrder; |
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import java.util.HashMap; |
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import java.util.List; |
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import java.util.Map; |
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import java.util.concurrent.BlockingQueue; |
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import java.util.concurrent.LinkedBlockingQueue; |
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import java.util.concurrent.TimeUnit; |
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@ -32,13 +32,58 @@ public class A8kCanBusConnection extends WebSocketClient { |
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@Resource |
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AppEventBusService eventBus; |
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private A8kPacket txPacketContext; |
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// 接收回执上下文 |
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public BlockingQueue<A8kPacket> receiptQueue = new LinkedBlockingQueue<>(); // |
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boolean isWaitingReceipt = false; // |
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int waitingReceiptIndex = 0;// |
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int packetIndex = 0;//发送包的packetIndex |
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boolean debugFlag = true;//调试标志位 |
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static class ProcessContext { |
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BlockingQueue<A8kPacket> receiptQueue = new LinkedBlockingQueue<>(); // |
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int waitingReceiptIndex = 0;// |
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Map<MId, CmdId> txcmdcache = new HashMap<>(); |
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public A8kPacket getReceipt(int overtime) { |
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long end = System.currentTimeMillis() + overtime; |
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while (System.currentTimeMillis() < end) { |
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int left = (int) (end - System.currentTimeMillis()); |
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A8kPacket packet = null; |
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try { |
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packet = receiptQueue.poll(left, TimeUnit.MILLISECONDS); |
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} catch (InterruptedException ignored) { |
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} |
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if (packet != null) { |
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return packet; |
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} |
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} |
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return null; |
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} |
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synchronized void pushReceipt(A8kPacket packet) { |
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if (waitingReceiptIndex >= 0 && waitingReceiptIndex == packet.getPacketIndex()) { |
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log.debug("pushReceipt:| {}", packet); |
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receiptQueue.add(packet); |
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waitingReceiptIndex = -1; |
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} |
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} |
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synchronized void setWaitingReceiptIndex(int index) { |
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receiptQueue.clear(); |
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waitingReceiptIndex = index; |
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} |
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synchronized void storageTxLastCmd(A8kPacket pack) { |
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MId mid = MId.valueOf(pack.getModuleId()); |
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CmdId cmdId = CmdId.valueOf(pack.getCmdId()); |
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if (cmdId != null && cmdId.isActionCmd()) |
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txcmdcache.put(mid, cmdId); |
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} |
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synchronized CmdId getLastTxCmd(MId mid) { |
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return txcmdcache.get(mid); |
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} |
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} |
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ProcessContext context = new ProcessContext(); |
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int packetIndex = 0;//发送包的packetIndex |
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public A8kCanBusConnection(String url) { |
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@ -146,39 +191,33 @@ public class A8kCanBusConnection extends WebSocketClient { |
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} |
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} |
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AppException buildOvertimeError(A8kPacket pack) { |
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return AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId()))); |
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} |
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private A8kPacket _priSend(A8kPacket pack, int overtime) throws AppException { |
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pack.setPacketIndex(packetIndex); |
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waitingReceiptIndex = packetIndex; |
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packetIndex = packetIndex + 1; |
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// alloc new packetIndex |
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packetIndex = packetIndex + 1; |
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if (packetIndex > 10000) { |
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packetIndex = 1; |
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} |
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receiptQueue.clear(); |
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isWaitingReceipt = true; |
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String txpacket = pack.toByteString(); |
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CmdId cmdid = CmdId.valueOf(pack.getCmdId()); |
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if (cmdid == null) { |
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// throw new AppException(MId.valueOf(pack.getModuleId()), A8kEcode.CmdNotSupport.index); |
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throw AppException.of(new AEHardwareError(A8kEcode.LOW_EXT_ERROR_CMD_NOT_SUPPORT, MId.valueOf(pack.getModuleId()), null)); |
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} |
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if (debugFlag && pack.isTrace()) { |
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String packstr = pack.toString(); |
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log.debug("Tx:|RAW:{}| {}", txpacket, packstr); |
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} |
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//set waiting receipt index |
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pack.setPacketIndex(packetIndex); |
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context.storageTxLastCmd(pack); |
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context.setWaitingReceiptIndex(packetIndex); |
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txPacketContext = pack; |
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// TX packet |
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String txpacket = pack.toByteString(); |
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log.debug("Tx:|RAW:{}| {}", txpacket, pack); |
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send(txpacket); |
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A8kPacket receipt; |
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try { |
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receipt = receiptQueue.poll(overtime, TimeUnit.MILLISECONDS); |
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} catch (InterruptedException e) { |
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isWaitingReceipt = false; |
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throw AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId()))); |
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} |
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isWaitingReceipt = false; |
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receipt = context.getReceipt(overtime); |
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if (receipt == null) { |
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throw AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_OVERTIME, MId.valueOf(pack.getModuleId()), CmdId.valueOf(pack.getCmdId()))); |
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throw buildOvertimeError(pack); |
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} |
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if (receipt.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) { |
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@ -191,7 +230,7 @@ public class A8kCanBusConnection extends WebSocketClient { |
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} |
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/** |
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* |
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* 处理接收到的消息 |
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*/ |
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private void processMessage(String s) { |
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byte[] rx = ByteArray.hexStringToBytes(s); |
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@ -212,32 +251,21 @@ public class A8kCanBusConnection extends WebSocketClient { |
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return; |
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} |
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A8kPacket tpCxt = this.txPacketContext; |
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if (debugFlag) { |
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if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK) { |
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if (tpCxt != null && tpCxt.getPacketIndex() == packet.getPacketIndex()) { |
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if (tpCxt.isTrace()) { |
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log.debug("RX-ACK |RAW:{}| {}", s, packet); |
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} |
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} |
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} else { |
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log.debug("RX-REPORT |RAW:{}| {}", s, packet); |
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} |
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} |
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if (packet.getPacketType() == A8kPacket.PACKET_TYPE_ACK || packet.getPacketType() == A8kPacket.PACKET_TYPE_ERROR_ACK) { |
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if (isWaitingReceipt) { |
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if (waitingReceiptIndex == packet.getPacketIndex()) { |
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receiptQueue.add(packet); |
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} |
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} |
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} |
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if (packet.getPacketType() == A8kPacket.PACKET_TYPE_EVENT) { |
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log.debug("RX-ACK |RAW:{}| {}", s, packet); |
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context.pushReceipt(packet); |
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} else if (packet.getPacketType() == A8kPacket.PACKET_TYPE_EVENT) { |
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log.debug("RX-REPORT |RAW:{}| {}", s, packet); |
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eventBus.pushEvent(new A8kHardwareReport(packet)); |
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} else { |
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log.warn("RX-UNPROCESSABLE: |RAW:{}| {}", s, packet); |
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} |
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} |
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public synchronized CmdId getLastTxCmd(MId mid) { |
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return context.getLastTxCmd(mid); |
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} |
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} |
