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Commit d42c40cd authored by p x's avatar p x
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Http SSE 车辆位姿

parent 761ed3e9
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src/main/kotlin/com/inzy/wsmock/bean/CarSseReq.kt 0 → 100644
View file @ d42c40cd
package com.inzy.wsmock.bean
/**车辆位姿请求**/
class CarSseReq {
var id=""
}
\ No newline at end of file
src/main/kotlin/com/inzy/wsmock/bean/CarVehBak.kt
View file @ d42c40cd
package com.sd.cavphmi.bean package com.inzy.wsmock.bean
/***网联车辆位姿 /***网联车辆位姿
* { * {
......
src/main/kotlin/com/inzy/wsmock/bean/RouteCarVeh.kt
View file @ d42c40cd
package com.inzy.wsmock.bean package com.inzy.wsmock.bean
/***车辆位姿*/ /***车辆位姿模拟文件*/
class RouteCarVeh { class RouteCarVeh {
/**业务状态 park call park_com call_com**/ /**业务状态 park call park_com call_com**/
var status = "park" var status = "park"
/***车辆行驶的点位**/ /***车辆行驶的点位**/
var carPos = 0 // var carPos = 0
/***全局路径**/ /***全局路径**/
var rs: List<MutableList<Double>>? = null var rs: List<MutableList<Double>>? = null
}
/***车辆位姿模拟文件*/
class RouteCar {
/***全局路径**/
var rs: List<List<Double>>? = null
}
/***推给APP的数据***/
class CarVehicle {
//vehiclePos 里面分别是 经度、纬度、航向角
var vehiclePos: List<Double>? = null
} }
\ No newline at end of file
src/main/kotlin/com/inzy/wsmock/push/AvpPushTask.kt
View file @ d42c40cd
...@@ -10,13 +10,12 @@ import com.inzy.wsmock.bean.V2xStartBean ...@@ -10,13 +10,12 @@ import com.inzy.wsmock.bean.V2xStartBean
import com.inzy.wsmock.bean.VObject import com.inzy.wsmock.bean.VObject
import com.inzy.wsmock.utils.FileIoUtil import com.inzy.wsmock.utils.FileIoUtil
import com.inzy.wsmock.utils.MyMapUtils import com.inzy.wsmock.utils.MyMapUtils
import com.sd.cavphmi.bean.CarVehBak import com.inzy.wsmock.bean.CarVehBak
import io.netty.channel.Channel import io.netty.channel.Channel
import io.netty.handler.codec.http.websocketx.TextWebSocketFrame import io.netty.handler.codec.http.websocketx.TextWebSocketFrame
import jakarta.annotation.PostConstruct import jakarta.annotation.PostConstruct
import jakarta.annotation.PreDestroy import jakarta.annotation.PreDestroy
import kotlinx.coroutines.* import kotlinx.coroutines.*
import kotlinx.coroutines.time.delay
import org.slf4j.LoggerFactory import org.slf4j.LoggerFactory
import org.springframework.core.io.ResourceLoader import org.springframework.core.io.ResourceLoader
import org.springframework.stereotype.Component import org.springframework.stereotype.Component
...@@ -125,7 +124,7 @@ class AvpPushTask( ...@@ -125,7 +124,7 @@ class AvpPushTask(
override fun pushMsgFromType(type: String, channel: Channel) { override fun pushMsgFromType(type: String, channel: Channel) {
when (type) { when (type) {
RequestParamHandler.PARAM_TYPE_VALUE_1 -> {//车辆位姿 RequestParamHandler.PARAM_TYPE_VALUE_1 -> {//车辆位姿
pushCarPos(channel) // pushCarPos(channel)
} }
RequestParamHandler.PARAM_TYPE_VALUE_2 -> {//感知物 RequestParamHandler.PARAM_TYPE_VALUE_2 -> {//感知物
......
src/main/kotlin/com/inzy/wsmock/push/SseController.kt 0 → 100644
View file @ d42c40cd
package com.inzy.wsmock.push
import com.alibaba.fastjson2.JSON
import com.inzy.wsmock.bean.CarSseReq
import com.inzy.wsmock.bean.CarVehicle
import com.inzy.wsmock.bean.ParkPath
import com.inzy.wsmock.bean.RouteCar
import com.inzy.wsmock.utils.FileIoUtil
import jakarta.annotation.PreDestroy
import kotlinx.coroutines.*
import org.springframework.core.io.ResourceLoader
import org.springframework.http.MediaType
import org.springframework.stereotype.Controller
import org.springframework.web.bind.annotation.GetMapping
import org.springframework.web.bind.annotation.PostMapping
import org.springframework.web.bind.annotation.RequestBody
import org.springframework.web.context.request.async.AsyncRequestNotUsableException
import org.springframework.web.servlet.mvc.method.annotation.SseEmitter
import java.io.IOException
import java.time.LocalDateTime
import java.util.concurrent.CompletableFuture
import java.util.concurrent.ConcurrentHashMap
import java.util.concurrent.Executors
import java.util.concurrent.TimeUnit
import kotlin.random.Random
@Controller
class SseController(private val resourceLoader: ResourceLoader) {
companion object {
}
private val emitters = ConcurrentHashMap<String, SseEmitter>()
private val executor = Executors.newScheduledThreadPool(2)
init {
// 定时发送心跳消息以保持连接活跃
executor.scheduleAtFixedRate({
val heartbeatData = mapOf(
"type" to "heartbeat",
"timestamp" to LocalDateTime.now().toString()
)
emitters.entries.forEach { (userId, emitter) ->
try {
emitter.send(
SseEmitter.event()
.name("heartbeat")
.data(heartbeatData)
)
} catch (e: IOException) {
println("Heartbeat failed for user: $userId")
emitter.completeWithError(e)
true
}
}
}, 30, 30, TimeUnit.SECONDS)
}
//推给APP的
var carVehicle = CarVehicle()
@PostMapping("/api/avpweb/hmi/monitor/v1/monitorDrivenStatus", produces = [MediaType.TEXT_EVENT_STREAM_VALUE])
fun car(@RequestBody carSseReq: CarSseReq): SseEmitter {
val emitter = SseEmitter(0L) // 设置超时时间为0表示永不超时
val carid = carSseReq.id
emitter.onCompletion {
emitters.remove(carid)
println("SSE connection completed for carid: $carid")
}
emitter.onTimeout {
emitters.remove(carid)
println("SSE connection timed out for carId: $carid")
try {
emitter.complete()
} catch (e: Exception) {
e.printStackTrace()
}
}
emitter.onError { ex ->
emitters.remove(carid)
println("SSE connection error for carId: $carid - ${ex.message}")
try {
emitter.completeWithError(ex)
} catch (e: Exception) {
e.printStackTrace()
}
}
emitters[carid] = emitter
// println("New SSE connection established for user: $carid")
Thread.sleep(25 * 1000)
CoroutineScope(Dispatchers.Default).launch {
onVehicleMockPark()
onVehicleMockCall()
}
return emitter
}
//开始泊车
private suspend fun onVehicleMockPark(): Int {
return withContext(Dispatchers.IO) {
// Blocking network request code
var classpathResource = resourceLoader.getResource("classpath:avpm/Car_fangzhen_park.txt")
val parkStr = FileIoUtil.getFileDate(classpathResource.inputStream)
val routeCarPark = JSON.parseObject(parkStr, RouteCar::class.java)
routeCarPark.rs?.forEachIndexed { index, doubles ->
// var carVehicle = CarVehicle()
carVehicle.vehiclePos = doubles
sendCar(carVehicle)
delay(300)
}
//开始倒车入库 //读取倒车入库数据
classpathResource = resourceLoader.getResource("classpath:avpm/parkpath.txt")
val parking = FileIoUtil.getFileDate(classpathResource.inputStream)
var parkPath = JSON.parseObject(parking, ParkPath::class.java)
//开始后退
val forback = parkPath!!.result.routes.find { it.gear == 1 }
forback?.polyline?.forEachIndexed { index, doubles ->
// var carVehicle = CarVehicle()
carVehicle.vehiclePos = listOf(doubles[0], doubles[1], doubles[3])
sendCar(carVehicle)
delay(300)
}
return@withContext 1
}
}
//开始召车
private suspend fun onVehicleMockCall(): Int {
return withContext(Dispatchers.IO) {
//读取召车数据
var classpathResource = resourceLoader.getResource("classpath:avpm/Car_fangzhen_call.txt")
val callStr = FileIoUtil.getFileDate(classpathResource.inputStream)
var routeCarCall = JSON.parseObject(callStr, RouteCar::class.java)
routeCarCall.rs?.forEachIndexed { index, doubles ->
// var carVehicle = CarVehicle()
carVehicle.vehiclePos = doubles
sendCar(carVehicle)
delay(300)
}
return@withContext 1
}
}
private fun sendCar(carVehicle: CarVehicle) {
emitters.entries.forEachIndexed { index, entry ->
try {
entry.value.send(
SseEmitter.event()
.name("data")
.data(carVehicle)
)
} catch (e: AsyncRequestNotUsableException) {
// 客户端断开连接，移除对应的 emitter
emitters.remove(entry.key)
}
}
}
@PreDestroy
fun cleanup() {
emitters.forEach { (carId, emitter) ->
try {
emitter.complete()
} catch (e: Exception) {
e.printStackTrace()
}
}
executor.shutdown()
try {
if (!executor.awaitTermination(5, TimeUnit.SECONDS)) {
executor.shutdownNow()
}
} catch (e: InterruptedException) {
executor.shutdownNow()
Thread.currentThread().interrupt()
}
}
@GetMapping("/sse", produces = [MediaType.TEXT_EVENT_STREAM_VALUE])
fun sse(): SseEmitter {
val emitter = SseEmitter(0L) // 设置超时时间为0表示永不超时
// 在单独的线程中发送数据
CompletableFuture.runAsync {
try {
repeat(20) { index ->
val data = mapOf(
"id" to index,
"message" to "Server message #${index + 1}",
"timestamp" to System.currentTimeMillis(),
"randomValue" to Random.nextInt(100)
)
emitter.send(
SseEmitter.event()
.name("data")
.data(data)
)
Thread.sleep(1000) // 每秒发送一次
}
emitter.complete()
} catch (e: IOException) {
emitter.completeWithError(e)
}
}
return emitter
}
}
\ No newline at end of file
src/main/resources/avpm/Car_fangzhen_call.txt
View file @ d42c40cd
{ {
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\ No newline at end of file
src/main/resources/avpm/Car_fangzhen_park.txt
View file @ d42c40cd
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}
\ No newline at end of file
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