车辆位姿干感知物

build.gradle.kts

@@ -6,9 +6,14 @@ plugins {
 }
 
 group = "com.inzy"
-version = "0.0.1-SNAPSHOT"
+version = "1.0"
 description = "ws 模拟"
 
+// 禁用普通 JAR 打包
+tasks.jar {
+	enabled = false
+}
+
 java {
 	toolchain {
 		languageVersion = JavaLanguageVersion.of(17)

src/main/kotlin/com/inzy/wsmock/AdasPushTask.kt

+package com.inzy.wsmock
+
+import com.alibaba.fastjson2.JSONObject
+import com.inzy.wsmock.RequestParamHandler.Companion.PARAM_TYPE_KEY
+import com.inzy.wsmock.RequestParamHandler.Companion.PARAM_TYPE_VALUE_1
+import com.inzy.wsmock.RequestParamHandler.Companion.PARAM_TYPE_VALUE_2
+import com.inzy.wsmock.RequestParamHandler.Companion.REQUEST_PARAMS_KEY
+import com.inzy.wsmock.RequestParamHandler.Companion.REQUEST_PATH_KEY
+import com.inzy.wsmock.utils.FileIoUtil
+import io.netty.channel.Channel
+import io.netty.handler.codec.http.websocketx.TextWebSocketFrame
+import jakarta.annotation.PostConstruct
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+import org.slf4j.LoggerFactory
+import org.springframework.core.io.ResourceLoader
+import org.springframework.scheduling.annotation.Scheduled
+import org.springframework.stereotype.Component
+import java.time.LocalDateTime
+
+
+@Component
+class AdasPushTask(
+    // 注入Spring资源加载器（Spring自动装配）
+    private val resourceLoader: ResourceLoader
+) {
+
+    private val logger = LoggerFactory.getLogger(javaClass)
+
+    // 注入ChannelManager单例
+    private val channelManager = ChannelManager.instance
+
+    //车辆位姿
+    private var carDst = mutableListOf<String>()
+    //感知物
+    private var preDst = mutableListOf<String>()
+
+    @PostConstruct
+    fun readMockFile() {
+        var classpathResource = resourceLoader.getResource("classpath:adasm/CarVehicle_fz.txt")
+        // 读取文件内容（Kotlin简化写法）
+        CoroutineScope(Dispatchers.IO).launch {
+            FileIoUtil.getMockToList(classpathResource.inputStream, carDst)
+//            println("读取到文件内容：${dst.count()}")
+            classpathResource = resourceLoader.getResource("classpath:adasm/PerTarget.txt")
+            FileIoUtil.getMockToList(classpathResource.inputStream, preDst)
+        }
+    }
+
+    /**根据路径推送***/
+    fun pushMsgFormPath(channel: Channel){
+        var path: String = ""
+        if (channel.hasAttr(REQUEST_PATH_KEY)) {
+             path = channel.attr(REQUEST_PATH_KEY).get()
+        }
+        when (path) {
+            "/ws/adas" -> {
+                pushMsgFromTypeAdas(channel)
+            }
+         }
+    }
+
+
+    /**根据type推送**/
+    private fun pushMsgFromTypeAdas(channel: Channel) {
+        var type: String? = ""
+        if (channel.hasAttr(REQUEST_PARAMS_KEY)) {
+            val params = channel.attr(REQUEST_PARAMS_KEY).get()
+            type = params.get(PARAM_TYPE_KEY)
+        }
+        when (type) {
+            PARAM_TYPE_VALUE_1 -> {//车辆位姿
+                if (carDst.isNotEmpty()){
+                    CoroutineScope(Dispatchers.Default).launch {
+                        delay(1000)
+                        carDst.forEachIndexed { index, string ->
+//                            println("index = ${index}")
+                            sendMsg(channel,string)
+                            delay(200)
+                        }
+                    }
+                }
+            }
+
+            PARAM_TYPE_VALUE_2 -> {//感知物
+                if (preDst.isNotEmpty()){
+                    CoroutineScope(Dispatchers.Default).launch {
+                        delay(2000)
+                        preDst.forEachIndexed { index, string ->
+//                            println("index = ${index}")
+                            sendMsg(channel,string)
+                            delay(500)
+                        }
+                    }
+                }
+            }
+
+            else -> {
+                val msg = JSONObject()
+                msg.put("type", "adas")
+                msg.put("data", "adas")
+                sendMsg(channel, msg.toJSONString())
+            }
+        }
+    }
+
+
+    private fun sendMsg(channel: Channel, msg: String) {
+        if (!channel.isActive()) {
+//            println("无在线客户端，跳过推送")
+            channelManager.removeChannel(channel)
+            return
+        }
+        val clientId = channel.id().asShortText()
+        val frame = TextWebSocketFrame(msg)
+        channel.writeAndFlush(frame)
+            .addListener { future ->
+                if (!future.isSuccess) {
+                    println("推送消息给客户端[$clientId]失败：${future.cause()?.message}")
+                    channelManager.removeChannel(channel) // 推送失败移除失效Channel
+                }
+            }
+    }
+
+
+}
\ No newline at end of file

src/main/kotlin/com/inzy/wsmock/ChannelManager.kt

@@ -4,6 +4,7 @@ package com.inzy.wsmock
 import io.netty.channel.Channel
 import io.netty.handler.codec.http.websocketx.TextWebSocketFrame
 import io.netty.util.AttributeKey
+import org.springframework.stereotype.Component
 import java.util.concurrent.ConcurrentHashMap
 
 /**
@@ -29,7 +30,7 @@ class ChannelManager private constructor() {
     fun removeChannel(channel: Channel) {
         val clientId = channel.id().asShortText()
         onlineChannels.remove(clientId)
-        println("Channel移除成功：$clientId，当前在线数：${onlineChannels.size}")
+//        println("Channel移除成功：$clientId，当前在线数：${onlineChannels.size}")
     }
 
     /**
@@ -67,14 +68,14 @@ class ChannelManager private constructor() {
 
 
     /***发送过滤好的通道**/
-    fun sendMsgFromType(typeChannels: Map<String, Channel>,msg: String) {
+    fun sendMsgFromType(typeChannels: Map<String, Channel>, msg: String) {
         if (typeChannels.isEmpty()) {
 //            println("无在线客户端，跳过推送")
             return
         }
-        val frame = TextWebSocketFrame(msg)
         typeChannels.forEach { (clientId, channel) ->
             if (channel.isActive) {
+                val frame = TextWebSocketFrame(msg)
                 channel.writeAndFlush(frame)
                     .addListener { future ->
                         if (!future.isSuccess) {
@@ -120,5 +121,6 @@ class ChannelManager private constructor() {
      */
     companion object {
         val instance: ChannelManager = ChannelManager()
+//        val instance: ChannelManager by lazy { ChannelManager() }
     }
 }
\ No newline at end of file

src/main/kotlin/com/inzy/wsmock/NettyWebSocketServer.kt

@@ -28,13 +28,13 @@ import java.net.ServerSocket
 @Slf4j
 @Component
 class NettyWebSocketServer(
-    @Value("\${netty.websocket.port:8089}") private val port: Int
-//    private val webSocketHandler: WebSocketHandler
+    @Value("\${netty.websocket.port:8089}") private val port: Int,
+    private val webSocketHandler: WebSocketHandler
 ) {
 
     private val logger = LoggerFactory.getLogger(javaClass)
 
-    private val websocketPath = "/gs-guide-websocket"
+    private val websocketPath = "/ws"
 
     // Netty主从线程组
     private val bossGroup = NioEventLoopGroup(1)
@@ -65,7 +65,7 @@ class NettyWebSocketServer(
                             pipeline.addLast(HttpObjectAggregator(1024 * 1024))
                             pipeline.addLast(RequestParamHandler())  // 添加HTTP请求拦截器
                             pipeline.addLast(WebSocketServerProtocolHandler(websocketPath))
-                            pipeline.addLast(WebSocketHandler())
+                            pipeline.addLast(webSocketHandler)
                             // 调试：打印处理器链顺序，确认RequestParamHandler在正确位置
 //                            logger.info("ChannelPipeline顺序：${pipeline.map { it.javaClass.simpleName }}")
                         }

src/main/kotlin/com/inzy/wsmock/RequestParamHandler.kt

@@ -36,7 +36,7 @@ class RequestParamHandler : SimpleChannelInboundHandler<TextWebSocketFrame?>() {
             ctx.channel().attr(REQUEST_PARAMS_KEY).set(params)
 
             // 4. 可选：去除查询参数后更新请求URI（不影响后续处理器解析路径）
-            request.uri = path
+            request.uri = path.substring(0..2)
 
             // 去除查询参数后更新URI（可选）
             /*   if (uri.contains("?")) {

src/main/kotlin/com/inzy/wsmock/ScheduledPushTask.kt → src/main/kotlin/com/inzy/wsmock/ScheduledAdasPushTask.kt

@@ -5,18 +5,25 @@ import com.inzy.wsmock.RequestParamHandler.Companion.PARAM_TYPE_KEY
 import com.inzy.wsmock.RequestParamHandler.Companion.PARAM_TYPE_VALUE_1
 import com.inzy.wsmock.RequestParamHandler.Companion.PARAM_TYPE_VALUE_2
 import com.inzy.wsmock.RequestParamHandler.Companion.REQUEST_PARAMS_KEY
+import com.inzy.wsmock.utils.FileIoUtil
 import io.netty.channel.Channel
-import lombok.extern.slf4j.Slf4j
+import jakarta.annotation.PostConstruct
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.launch
 import org.slf4j.LoggerFactory
+import org.springframework.core.io.ResourceLoader
 import org.springframework.scheduling.annotation.Scheduled
 import org.springframework.stereotype.Component
 import java.time.LocalDateTime
 
 
 @Component
-class ScheduledPushTask(
+class ScheduledAdasPushTask(
 //    private val webSocketHandler: WebSocketHandler,
-//    private val pushConfig: PushConfig
+//    private val pushConfig: PushConfig,
+    // 注入Spring资源加载器（Spring自动装配）
+    private val resourceLoader: ResourceLoader
 ) {
 
     private val logger = LoggerFactory.getLogger(javaClass)
@@ -24,29 +31,50 @@ class ScheduledPushTask(
     // 注入ChannelManager单例
     private val channelManager = ChannelManager.instance
 
+    //车辆位姿
+    private var carDst = mutableListOf<String>()
+    private var carDstIndex = 0
+
+//    @PostConstruct
+    fun readMockFile() {
+        val classpathResource = resourceLoader.getResource("classpath:adasm/CarVehicle_fz.txt")
+        // 读取文件内容（Kotlin简化写法）
+        CoroutineScope(Dispatchers.Default).launch {
+//            val content = classpathResource.inputStream.bufferedReader()
+            FileIoUtil.getMockToList(classpathResource.inputStream, carDst)
+//            println("读取到文件内容：${dst.count()}")
+        }
+    }
+
     /**
-     * 定时推送任务（type=1）
+     * 定时推送任务（type=1） 车辆位姿
      */
-    @Scheduled(fixedDelayString = "#{@pushConfig.pushInterval}")
+//    @Scheduled(fixedDelayString = "#{@pushConfig.pushInterval}")
+//    @Scheduled(fixedDelayString = "#{@pushConfig.pushInterval}")
     fun pushMsgToType1() {
-//        val onlineChannels = channelManager.getAllChannels()
+        val onlineChannels = channelManager.getAllChannels()
         //得到设置了type属性的channel
-        val typeChannels=filterTypeChannels(PARAM_TYPE_VALUE_1)
+        val typeChannels = filterTypeChannels(PARAM_TYPE_VALUE_1)
 //        println("onlineChannels.size = ${onlineChannels.size}  typeChannels.size = ${typeChannels.size}")
-        val msgObj = JSONObject()
-        msgObj["content"] = "定时推送消息 type=1  ${LocalDateTime.now()}"
-        channelManager.sendMsgFromType(typeChannels,msgObj.toJSONString())
+//        val msgObj = JSONObject()
+//        msgObj["content"] = "定时推送消息 type=1  ${LocalDateTime.now()}"
+        if (carDst.isNotEmpty()){
+            println("-------------carDstIndex = ${carDstIndex}")
+
+            channelManager.sendMsgFromType(typeChannels, carDst.get(carDstIndex))
+            carDstIndex = (carDstIndex + 1) % carDst.size // 循环索引
+        }
     }
 
 
-    @Scheduled(fixedDelayString = "200")
+//    @Scheduled(fixedDelayString = "200")
     fun pushMsgToType2() {
         //得到设置了type属性的channel
-        val typeChannels=filterTypeChannels(PARAM_TYPE_VALUE_2)
+        val typeChannels = filterTypeChannels(PARAM_TYPE_VALUE_2)
 //        println("onlineChannels.size = ${onlineChannels.size}  typeChannels.size = ${typeChannels.size}")
         val msgObj = JSONObject()
         msgObj["content"] = "定时推送消息 type=2 ${LocalDateTime.now()}"
-        channelManager.sendMsgFromType(typeChannels,msgObj.toJSONString())
+        channelManager.sendMsgFromType(typeChannels, msgObj.toJSONString())
     }
 
 
@@ -68,7 +96,6 @@ class ScheduledPushTask(
     }
 
 
-
     /**
      * 定时推送任务（固定延迟，避免任务叠加）
      */

src/main/kotlin/com/inzy/wsmock/WebSocketHandler.kt

@@ -7,13 +7,14 @@ import io.netty.handler.codec.http.websocketx.TextWebSocketFrame
 import io.netty.handler.codec.http.websocketx.WebSocketFrame
 import io.netty.handler.codec.http.websocketx.WebSocketServerProtocolHandler
 import org.slf4j.LoggerFactory
+import org.springframework.stereotype.Component
 
 /**
  * 自定义WebSocket处理器（专注处理消息交互，Channel管理交给ChannelManager）
  */
 @Sharable
-//@Component
-class WebSocketHandler : SimpleChannelInboundHandler<WebSocketFrame>() {
+@Component
+class WebSocketHandler(private val adasPushTask: AdasPushTask) : SimpleChannelInboundHandler<WebSocketFrame>() {
 
 //    private val logger = LoggerFactory.getLogger(javaClass)
 
@@ -26,12 +27,14 @@ class WebSocketHandler : SimpleChannelInboundHandler<WebSocketFrame>() {
             val channel = ctx.channel()
             // 交给ChannelManager管理
             channelManager.addChannel(channel)
+            //根据后缀路径推送
+            adasPushTask.pushMsgFormPath(channel)
+
             // 握手成功后读取参数（此时参数已存储）
 //            val params = ctx.channel().attr(RequestParamHandler.REQUEST_PARAMS_KEY).get()
 //            val path = ctx.channel().attr(RequestParamHandler.REQUEST_PATH_KEY).get()
-
 //            logger.info("WS握手成功，客户端查询参数：$params  请求路径：$path")
-            ctx.writeAndFlush(TextWebSocketFrame("Welcome!"))
+//            ctx.writeAndFlush(TextWebSocketFrame("Welcome!"))
 //            ctx.writeAndFlush(TextWebSocketFrame("Welcome! Client ID: $clientId, params: $params"))
         }
         super.userEventTriggered(ctx, evt)

src/main/kotlin/com/inzy/wsmock/utils/FileIoUtil.kt

+package com.inzy.wsmock.utils
+
+import java.io.InputStream
+
+object FileIoUtil {
+
+    fun getMockToList(inputStream: InputStream, dst: MutableList<String>) {
+        // 方式1：手动逐行读取（推荐，Kotlin简洁写法）
+        inputStream.use { inputStream -> // use 自动关闭流（AutoCloseable）
+            inputStream.bufferedReader().forEachLine { line ->
+                // 处理每行内容（示例：添加到列表 + 打印）
+                dst.add(line)
+//                println("读取到行 = ${line}")
+            }
+        }
+    }
+
+
+}
\ No newline at end of file