1

zhang

2026-03-24 881b89a0c0d07f5fc89784423799ab136e2f3f37

1

 zy-acs-gateway/src/main/java/com/zy/acs/gateway/handler/AgvPackageServerHandler.java

@@ -1,6 +1,5 @@
package com.zy.acs.gateway.handler;

import com.alibaba.fastjson.JSON;
import com.zy.acs.common.constant.RedisConstant;
import com.zy.acs.common.domain.AgvProtocol;
import com.zy.acs.common.domain.mq.DeviceMessage;
@@ -39,7 +38,6 @@
    private RabbitTemplate rabbitTemplate;



    @Override
    @SuppressWarnings("all")
    protected boolean channelRead0(ChannelHandlerContext ctx, AgvPackage pac) throws Exception {
@@ -48,7 +46,8 @@

        final String uniqueNo = pac.getHeader().getUniqueNo();

        label : switch (pac.getHeader().getProtocolType()){
        label:
        switch (pac.getHeader().getProtocolType()) {
            case PATH_ACK:      // 路径包 ack

                AGV_01_UP agv_01_up = (AGV_01_UP) pac.getBody().getMessageBody();
@@ -65,8 +64,9 @@
                ctx.writeAndFlush(pathAckPac);

                // 写入队列
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.PATH_ACK.name()), new DeviceMessage(pac.getSourceHexStr()));
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_DOWN.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.PATH_ACK_RESPONSE.name()), new DeviceMessage(pathAckPac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.PATH_ACK.name()), new DeviceMessage(pac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_DOWN.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.PATH_ACK_RESPONSE.name()), new DeviceMessage(pathAckPac.getSourceHexStr()));


                break label;

@@ -75,7 +75,8 @@
                AGV_06_UP agv_06_up = (AGV_06_UP) pac.getBody().getMessageBody();
                redis.push(RedisConstant.AGV_COMPLETE_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_06_up));
                // 写入队列
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.PICK_PLACE_REQUEST.name()), new DeviceMessage(pac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.PICK_PLACE_REQUEST.name()), new DeviceMessage(pac.getSourceHexStr()));


                break label;

@@ -87,7 +88,8 @@
                        , pac.getHeader().getUniqueNo() + "_" + agv_02_up.getSerialNo()
                        , agv_02_up);
                // 写入队列
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.COMMAND_ACK.name()), new DeviceMessage(pac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.COMMAND_ACK.name()), new DeviceMessage(pac.getSourceHexStr()));


                break label;

@@ -98,7 +100,8 @@
                redis.push(RedisConstant.AGV_COMPLETE_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_11_up));

                // 写入队列
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.ACTION_COMPLETE.name()), new DeviceMessage(pac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.ACTION_COMPLETE.name()), new DeviceMessage(pac.getSourceHexStr()));


                // 动作完成应答
                if (null != ackType) {
@@ -108,8 +111,8 @@
                    agv_a1_down.setAckSign((byte) agv_11_up.getCompleteCode());

                    ctx.writeAndFlush(ackPac);
                    saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_DOWN.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ackType.name()), new DeviceMessage(ackPac.getSourceHexStr()));

                    rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_DOWN.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ackType.name()), new DeviceMessage(ackPac.getSourceHexStr()));
                }

                break label;
@@ -127,7 +130,8 @@
//
//                });
                // 写入队列
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.DATA_CODE_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.DATA_CODE_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));


                break label;

@@ -143,9 +147,9 @@
//                    }
//
//                });

                // 写入队列
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.DATA_WITHOUT_CODE_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.DATA_WITHOUT_CODE_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));


                break label;

@@ -169,10 +173,11 @@
//
//                });
                // 写入队列
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.HEARTBEAT_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.HEARTBEAT_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));


                break label;
                

            case SILO_REPORT:  // 料仓信息包

                AGV_70_UP agv_70_up = (AGV_70_UP) pac.getBody().getMessageBody();
@@ -185,9 +190,8 @@
//                    }
//
//                });

                // 写入队列
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.SILO_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.SILO_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));

                break label;

@@ -196,14 +200,14 @@
                AGV_F0_UP agv_f0_up = (AGV_F0_UP) pac.getBody().getMessageBody();
                redis.push(RedisConstant.AGV_DATA_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_f0_up));
                // 写入队列
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.LOGIN_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.LOGIN_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));

                // 登录应答
                if (null != ackType) {
                    AgvPackage ackPac = AckMsgBuilder.ofSuccess(pac, ackType);

                    ctx.writeAndFlush(ackPac);
                    rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_DOWN.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ackType.name()), new DeviceMessage(ackPac.getSourceHexStr()));
                    saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_DOWN.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ackType.name()), new DeviceMessage(ackPac.getSourceHexStr()));
                }

                // 30s redis
@@ -217,7 +221,7 @@
                redis.push(RedisConstant.AGV_DATA_FLAG, AgvProtocol.build(uniqueNo).setMessageBody(agv_04_up));

                // 写入队列
                rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.FAULT_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));
                saveLogToMq(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_UP.replaceFirst(RabbitmqConstant.SPILT_REGEX, uniqueNo).replaceFirst(RabbitmqConstant.SPILT_REGEX, ProtocolType.FAULT_REPORT.name()), new DeviceMessage(pac.getSourceHexStr()));

                break label;

@@ -242,7 +246,14 @@
        }
    }


    public void saveLogToMq(String topic_exchange, String routingKey, DeviceMessage message) {
        if (rabbitTemplate.isRunning()) {
            // 写入队列
            rabbitTemplate.convertAndSend(topic_exchange, routingKey, message);
        } else {
            log.warn("RabbitTemplate is not running, message not sent");
        }
    }


}

 zy-acs-gateway/src/main/java/com/zy/acs/gateway/listen/MessageListener.java

@@ -54,9 +54,12 @@
                    if (!Cools.isEmpty(protocol.getAgvNo())) {
                        AgvPackage agvPackage = ProtocolUtils.installDownProtocol(protocol);
                        publisher.publish(agvPackage);
                        // 写入队列
                        log.info("<UNK> >>> {}", JSON.toJSONString(agvPackage));
                        rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_DOWN.replaceFirst(RabbitmqConstant.SPILT_REGEX, protocol.getAgvNo()).replaceFirst(RabbitmqConstant.SPILT_REGEX, agvPackage.getHeader().getProtocolType().name()),new DeviceMessage(agvPackage.getSourceHexStr()));
                        if (rabbitTemplate.isRunning()) {
                            // 写入队列
                            rabbitTemplate.convertAndSend(RabbitmqConstant.TOPIC_EXCHANGE, RabbitmqConstant.ROUTING_KEY_DOWN.replaceFirst(RabbitmqConstant.SPILT_REGEX, protocol.getAgvNo()).replaceFirst(RabbitmqConstant.SPILT_REGEX, agvPackage.getHeader().getProtocolType().name()),new DeviceMessage(agvPackage.getSourceHexStr()));
                        } else {
                            log.warn("RabbitTemplate is not running, message not sent");
                        }

                    }
                }