diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java index fdb87a8..ca82b77 100644 --- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java +++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java @@ -28,7 +28,6 @@ import com.zhangy.skyeye.publics.consts.UavAirlineUploadEnum; import com.zhangy.skyeye.publics.consts.WebSocketKey; import com.zhangy.skyeye.publics.service.SysFileTypeService; import com.zhangy.skyeye.publics.utils.CoordUtil; -import com.zhangy.skyeye.py.service.IPyAirlineService; import com.zhangy.skyeye.quartz.service.QuartzService; import com.zhangy.skyeye.sar.consts.SarImageModeEnum; import com.zhangy.skyeye.sar.dto.SarControlParamDTO; @@ -353,7 +352,7 @@ public class JmJobServiceImpl implements JmJobService { JmJobUav uav = job.getUavList().get(0); List airlineList = uav.getAirlineList(); - for(JmAirline airline:airlineList) { + for (JmAirline airline : airlineList) { log.info("we are going to start job {}", job.getId()); log.info("airline origin status is {}, set to {}", airline.getStatus(), ExecStatusEnum.NOT); airline.setStatus(ExecStatusEnum.NOT.getValue()); @@ -377,6 +376,7 @@ public class JmJobServiceImpl implements JmJobService { // 4.任务状态放入缓存 jobStatusService.add(job); } catch (Throwable ex) { + log.warn("{}", ex.getMessage(), ex); jobStatusService.remove(job.getId()); throw ex; } diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/task/JmTaskScheduler.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/task/JmTaskScheduler.java index 04b0997..484f554 100644 --- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/task/JmTaskScheduler.java +++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/task/JmTaskScheduler.java @@ -129,7 +129,7 @@ public class JmTaskScheduler { controlInfoService.sendUdp(sar.getIp(), SarControlTypeEnum.CONNECT); } catch (SarConnectException ex) { // sar可能没通电，连接失败不做处理 - log.warn("连接雷达[" + sar.getIp() + "]失败：" + ex.getMessage()); +// log.warn("连接雷达[" + sar.getIp() + "]失败：" + ex.getMessage()); } } }); diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java index 230a7fa..bc35b1f 100644 --- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java +++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java @@ -24,6 +24,7 @@ import java.net.DatagramPacket; import java.net.DatagramSocket; import java.net.InetSocketAddress; import java.util.List; +import java.util.Objects; import java.util.stream.Collectors; /** @@ -78,9 +79,11 @@ public class SarControlContext { * @param param */ public void execute(SarControlParamDTO param) { + log.info("execute :{}",JSON.toJSONString(param)); List matchedStrategys = strategies.stream() .filter(strategy -> strategy.supports(param)) .collect(Collectors.toList()); + log.info("matchedStrategys :{}",JSON.toJSONString(matchedStrategys)); if (ObjectUtil.isEmpty(matchedStrategys)) { throw ServiceException.errorLog("无效的控制指令！"); } @@ -109,36 +112,20 @@ public class SarControlContext { private void sendUdp(SarControlDTO control) { SarControlTypeEnum controlType = control.getControlType(); String ip = control.getIp(); - // log.debug("开始发送雷达控制指令[" + controlType + "]----------------------"); - log.debug("send control:\n{}", JSON.toJSONString(control)); + log.trace("send control:{}", JSON.toJSONString(control)); try (DatagramSocket socket = new DatagramSocket()) { byte[] content = pack(control); socket.connect(new InetSocketAddress(ip, PORT)); DatagramPacket packet = new DatagramPacket(content, content.length); - - int failCount = 0; SarErrorDTO info = null; + int failCount = 0; while (info == null && failCount < RETRY_MAX) { // 失败重试 + log.info("发送雷达控制指令 [{}] -> {} (第{}次)", controlType, ip, failCount + 1); socket.send(packet); - // 每0.1秒取回执，1秒后超时 - long startTime = System.currentTimeMillis(); - String cacheKey = CacheKey.getSarControlBack(ip); - - while (System.currentTimeMillis() - startTime < ANSWER_TIMEOUT) { - if (redisUtil.hasKey(cacheKey)) { - info = (SarErrorDTO) redisUtil.get(cacheKey); - redisUtil.del(cacheKey); - break; - } else { - try { - Thread.sleep(POLLING_INTERVAL); - } catch (InterruptedException e) { - Thread.currentThread().interrupt(); - } - } - } - if (info == null) { // 超时未收到回执 + info = waitForReply(ip); + if (info == null) { failCount++; + log.warn("雷达 [{}] 未返回回执，第{}次重试", ip, failCount); } else if (info.getExecStatus() == 1) { // 只有发送的数据结构错误时才会返回错误状态，并不会因为业务不允许返回错误 throw new ServiceException("控制指令[" + controlType + "]执行状态错误，请重试"); @@ -146,9 +133,8 @@ public class SarControlContext { } if (info == null) { throw new SarConnectException("控制指令[" + controlType + "]发送失败，雷达[" + ip + "]无应答，请重试"); - } else { - log.info("雷达控制指令[" + controlType + "]发送完毕----------------------"); } + log.info("雷达控制指令 [{}] 发送成功 -> {}", controlType, ip); } catch (RedisConnectionFailureException ex) { throw ServiceException.errorLog("无法连接到Redis服务！"); } catch (IOException ex) { @@ -156,6 +142,26 @@ public class SarControlContext { } } + private SarErrorDTO waitForReply(String ip) { + String cacheKey = CacheKey.getSarControlBack(ip); + // 每0.1秒取回执，1秒后超时 + long startTime = System.currentTimeMillis(); + while (System.currentTimeMillis() - startTime < ANSWER_TIMEOUT) { + if (redisUtil.hasKey(cacheKey)) { + SarErrorDTO info = (SarErrorDTO) redisUtil.get(cacheKey); + redisUtil.del(cacheKey); + log.info("收到雷达回执 ip={}", ip); + return info; + } + try { + Thread.sleep(POLLING_INTERVAL); + } catch (InterruptedException e) { + Thread.currentThread().interrupt(); + } + } + return null; + } + /** * 封包 * @param sarControl diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java index 7d0c6f3..299cb76 100644 --- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java +++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java @@ -75,11 +75,10 @@ public class SarStatusListener extends SarAbstractListener { if (packet.getLength() != 100) { return; } - log.debug("接收到状态包----------------------"); String ip = packet.getAddress().getHostAddress(); // 处理接收到的数据 SarStatusPackDTO packDTO = SarStatusPackDTO.parse(ip, packet.getData()); - log.debug("recv status:\n{}", JSON.toJSONString(packDTO)); + log.trace("recv status:\n{}", JSON.toJSONString(packDTO)); if (packDTO == null) { if (running) log.warn("[" + packDTO.getPayloadIp() + "]状态包校验失败，已丢弃。错误包=" + @@ -91,7 +90,6 @@ public class SarStatusListener extends SarAbstractListener { if (errorStatus == 1) { SarErrorDTO info = packDTO.getDeviceErrorInfo(); if (info.getErrorPacketType() == SarErrorTypeEnum.RESULT) { - log.debug("收到回执包：" + ip); redisUtil.set(CacheKey.getSarControlBack(ip), info, answerTimeout, TimeUnit.SECONDS); } } @@ -99,11 +97,8 @@ public class SarStatusListener extends SarAbstractListener { int deviceStatus = packDTO.getDevicePacketStatus(); if (deviceStatus == 1) { JmSarStatusDTO info = packDTO.getDeviceStatusInfo(); - log.debug("sar开机状态：" + info.getIsBoot()); sarJobStatusService.update(ip, info); redisUtil.set(CacheKey.getSarConnect(ip), info, answerTimeout, TimeUnit.SECONDS); - //System.out.println(info); } - log.debug("----------------------状态包解析完毕"); } } \ No newline at end of file diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java index 4141cd8..2f507f7 100644 --- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java +++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java @@ -1,11 +1,11 @@ package com.zhangy.skyeye.sar.service.impl; +import com.alibaba.fastjson2.JSON; import com.zhangy.skyeye.common.extend.exception.ServiceException; import com.zhangy.skyeye.common.extend.util.JsonUtil; import com.zhangy.skyeye.jm.dto.JmJobDTO; import com.zhangy.skyeye.jm.dto.JmSarStatusDTO; import com.zhangy.skyeye.jm.entity.JmJobPayload; -import com.zhangy.skyeye.jm.entity.JmJobUav; import com.zhangy.skyeye.publics.consts.CacheKey; import com.zhangy.skyeye.redis.utils.RedisUtil; import com.zhangy.skyeye.sar.control.SarControlContext; @@ -36,6 +36,7 @@ public class SarControlServiceImpl implements ISarControlService { @Override public void sendUdp(JmJobDTO job) { + log.info("sendUdp：{}", JSON.toJSONString(job)); if (job == null || job.getUavList() == null) return; job.getUavList().forEach(uav -> { JmJobPayload sar = uav.getSar0(); @@ -48,7 +49,7 @@ public class SarControlServiceImpl implements ISarControlService { param.setImageBit(sar.getImageBit()); param.setResolution(sar.getResolution()); if (job.getMode().equals(CRUISE.getCode())) { - param.setControlType(SarControlTypeEnum.TURNON); + param.setControlType(SarControlTypeEnum.UPLOAD); } else { param.setControlType(SarControlTypeEnum.AUTO); }